Wall-climbing robot with ultrasonic detection function

Abstract

The invention provides a wall-climbing robot with an ultrasonic detection function, and relates to the field of wall-climbing robots. The wall climbing device comprises two wall climbing units, each wall climbing unit comprises a bottom framework and a top framework, and a plurality of adsorption parts are installed on the sides, close to a water cooling wall, of the bottom frameworks and the top frameworks in an arc shape; the adsorption part can be adsorbed on the water cooling wall when powered off and can be far away from the water cooling wall when powered on, and a rotating base is installed in the middle of the bottom framework. By arranging the wall climbing unit, not only can the water cooling wall tube in the middle be detected, but also the water cooling wall tube at the edge can be detected, the detection range is wide, and the adaptability is high; the adsorption piece and the walking piece can be directly adsorbed on the water cooling wall during power failure, the use safety is improved, the walking piece can provide walking supporting force and adsorption force, and the overall stability is further improved; and an identification unit is arranged, so that the target water wall pipe fitting at the ultrasonic detection position can be identified.

Description

Technical Field

[0001] The invention relates to the technical field of wall-climbing robots, in particular to a wall-climbing robot with ultrasonic detection. Background Art

[0002] The water-cooled wall, also known as the water-cooled wall tube or riser tube, is the main heat-receiving part of the boiler. It is mainly composed of several rows of steel pipes distributed around the boiler furnace. The main function of the water-cooled wall is to absorb the radiation heat of the high-temperature flame or flue gas in the furnace, generate steam or hot water in the tube, and at the same time reduce the temperature of the furnace wall and protect the furnace wall. When the water-cooled wall is in use, the boiler water-cooled wall tube is very easy to be worn under the scouring of circulating materials. The power station staff needs to accurately measure the wall thickness of the tube and replace it in time to ensure the safe and stable operation of the boiler.

[0003] The detection method commonly used by the staff is to use ultrasonic detectors for detection. The ultrasonic detectors mainly include transmitting circuits, receiving circuits, timing circuits, synchronization circuits and displays. Commonly used ultrasonic detector models include: Type A ultrasonic detector, KW-4C digital ultrasonic flaw detector and HS 730 high-frequency ultrasonic detector.

[0004] Due to the high height of the water-cooled wall, a wall-climbing robot is usually used for inspection. A wall-climbing robot is an automated robot that can climb and complete tasks on vertical walls.

[0005] In the related technology, there is a water-cooled wall climbing robot that uses an ultrasonic rangefinder for positioning, such as the announcement number: CN105460092B, which includes an ultrasonic rangefinder, a connecting part and two wheel groups with a left-right symmetrical structure; the connecting part includes: a shock-absorbing plate group, a shock-absorbing plate support frame and a screw; the shock-absorbing plate group is in a grid shape, and the shock-absorbing plate group can be extended and retracted in the horizontal and longitudinal directions, the shock-absorbing plate support frame includes two parts separated from each other, the two ends of the shock-absorbing plate group are respectively hinged to the two parts of the shock-absorbing plate support frame, the screw is used to drive the shock-absorbing plate group to perform telescopic movement, the two wheel groups are respectively fixed on the two parts of the shock-absorbing plate support frame, the ultrasonic rangefinder is fixed on a part of the shock-absorbing plate support frame, and the ultrasonic rangefinder is used to measure the distance between the boiler water-cooled wall climbing robot and the ground.

[0006] This patent utilizes the mutual adsorption contact between the crawler-type synchronous belt and the water-cooled wall tube. Although it can provide friction for walking, the position of its ultrasonic detection is located on the inner side of the synchronous belt. If it is necessary to detect the water-cooled wall tube at the edge, the robot cannot be used for ultrasonic detection. Therefore, it has limitations in use and a small scope of application. Summary of the invention

[0007] 1. Technical issues to be resolved In view of the deficiencies in the prior art, the present invention provides a wall-climbing robot with ultrasonic detection, which solves the problems of being unable to ultrasonically detect water-cooled wall tubes at the edges, having limitations on the detection position, and having a small scope of use.

[0008] (II) Technical solution To achieve the above objectives, the present invention is implemented through the following technical solutions: A wall-climbing robot with ultrasonic detection, comprising: Two wall climbing units, each of which comprises a bottom frame and a top frame, and a plurality of adsorption members are installed on one side of the bottom frame and the top frame close to the water-cooled wall in an arc shape; The adsorption member can be adsorbed on the water-cooled wall when the power is off, and can be away from the water-cooled wall when the power is on. A rotating seat is installed in the middle of the bottom frame, and a wall-climbing motor is installed on the rotating seat. The output end of the wall-climbing motor is fixedly connected to a screw rod. The lower part of the bottom frame is fixedly connected to a mounting tail frame and a spotlight. A walking member adsorbed on the cold water wall and capable of rolling and walking is installed in the middle of the bottom frame and the top frame near the water-cooled wall. A threaded sleeve is fixedly mounted on the top frame, the screw rod passes through the threaded sleeve and is threadedly matched with each other, a screw rod stopper is fixedly connected to the end of the screw rod, a polished rod is fixedly connected to the bottom frame, a sliding sleeve is fixedly connected to the top frame, the polished rod passes through the sliding sleeve and is slidably matched with each other, and a polished rod stopper is fixedly connected to one end of the polished rod close to the top frame; A transverse connection unit is installed between two wall-climbing units. The transverse connection unit can connect the two wall-climbing units into one and adjust the distance between the two wall-climbing units. An intermediate frame is detachably connected to the transverse connection unit. An identification unit, which is installed on the mounting tail frame and the intermediate frame and is arranged concentrically with the water-cooled wall. The identification unit can spray an identification mark on the water-cooled wall; An ultrasonic detector is installed on the mounting tail frame and the intermediate frame.

[0009] Preferably, the walking member includes a fixed block installed on the frame, the lower part of the fixed block is fixedly connected to a sliding rod member, the sliding rod member is sleeved with a pressure spring, a walking frame is slidably connected on the sliding rod member and located below the pressure spring, the walking frame is rotatably mounted with walking wheels, and strong magnets are evenly mounted on the circumferential surface of the walking wheels.

[0010] Preferably, the adsorption part includes a mounting tube fixedly mounted on the frame, a connecting slide is slidably connected in the mounting tube, one end of the connecting slide extending into the mounting tube is fixedly connected to a magnet block, a return spring is provided on the connecting slide and located in the mounting tube, one end of the connecting slide away from the mounting tube is fixedly connected to a special-shaped permanent magnet, an iron core is installed in the mounting tube, and a coil is wound on the iron core.

[0011] Preferably, limit switches are installed on both the bottom frame and the top frame, and a limit convex block is fixedly connected to the top frame, and the positions of the limit convex block and the limit switch correspond to each other.

[0012] Preferably, the transverse connection unit includes a left transverse plate and a right transverse plate installed on the frame, the left transverse plate is fixedly connected to a left plate at one end close to the right transverse plate, the right transverse plate passes through the left plate, and is fixedly connected to the right plate at one end close to the left transverse plate, an adjustment screw is rotatably installed on the right plate, the adjustment screw passes through the left plate, and they are threadedly matched with each other, a knob is fixedly connected to one end of the adjustment screw close to the right transverse plate, and the left transverse plate is provided with a mounting hole for installing the intermediate frame.

[0013] Preferably, the identification unit includes a top frame fixedly mounted on the mounting tail frame and the intermediate frame, an arc frame is fixedly connected to the top frame, an arc groove is provided on the arc frame, a slider seat is slidably connected in the arc groove, a driving motor and an identification tank body are installed on the slider seat, a driving gear is fixedly connected to the output end of the driving motor, an arc rack is fixedly connected to the arc frame, and the driving gear and the arc rack are meshed with each other.

[0014] Preferably, a nozzle is installed on the marking tank body, a solenoid valve is arranged on the nozzle head, and paint and gas are arranged in the marking tank body.

[0015] Preferably, the shape of the special-shaped permanent magnet is any one of an arc shape and an L shape, and the spotlight is arranged on the water-cooled wall facing the detection location of the ultrasonic detector.

[0016] (III) Beneficial effects The present invention provides a wall-climbing robot with ultrasonic detection, which has the following beneficial effects: 1. The wall climbing unit provided in the present invention can detect not only the water-cooled wall tubes in the middle, but also the water-cooled wall tubes at the edges, with a wide detection range and strong adaptability.

[0017] 2. The adsorption parts and the walking parts provided in the present invention can be directly adsorbed on the water-cooled wall when the power is off, thereby improving the safety of use. The walking parts can provide support and adsorption force for walking, further improving the overall stability.

[0018] 3. The present invention can mark the target water-cooled wall pipe at the ultrasonic detection location by setting up the marking unit, so as to facilitate the subsequent replacement and maintenance thereof.

[0019] 4. The present invention can control the distance between two wall climbing units by setting the transverse connection unit, which is suitable for water-cooled walls with different distances, and further ensures the stability of the overall wall climbing operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the use state of the present invention; Figure 2 is a three-dimensional diagram of a wall climbing unit of the present invention; Figure 3 It is a partial stereoscopic diagram of the wall climbing unit of the present invention; Figure 4 It is a partial stereoscopic diagram of the wall climbing unit of the present invention; Figure 5 A three-dimensional diagram of a walking member of the present invention; Figure 6 is a cross-sectional perspective view of the adsorption member of the present invention; Figure 7 A bottom view of the bottom frame of the present invention; Figure 8 A three-dimensional diagram of the connection state of the intermediate frame and the identification unit of the present invention; Fig. 9 is a three-dimensional diagram of a transverse connection unit of the present invention; Fig.10 It is a three-dimensional diagram of the identification unit of the present invention.

[0021] Among them, 1. Horizontal connection unit; 2. Wall climbing unit; 3. Identification unit; 4. Ultrasonic detector; 201. Bottom frame; 2011. Tail frame installation; 2012. Rotating seat; 202. Top frame; 2021. Limiting convex block; 2022. Sliding sleeve; 203. Wall climbing motor; 204. Threaded sleeve; 205. Screw; 2051. Screw stopper; 206. Light rod; 2061. Light rod stopper; 207. Adsorption part; 208. Traveling part; 209. Limit switch; 210. Spotlight; 2081. Traveling wheel; 2082. Traveling frame; 2083. Sliding rod; 2084. Pressure spring; 2085 , fixing block; 2086, strong magnet; 2071, mounting tube; 2072, coil; 2073, iron core; 2074, magnet block; 2075, reset spring; 2076, connecting slide; 2077, special-shaped permanent magnet; 101, left horizontal plate; 1011, middle frame; 102, right horizontal plate; 103, mounting hole; 104, adjustment screw; 105, right plate; 106, left plate; 107, knob; 301, top frame; 302, arc frame; 303, arc groove; 304, arc rack; 305, drive gear; 306, drive motor; 307, identification tank; 308, slider seat. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] like Figure 1-Figure 10 As shown, an embodiment of the present invention provides a wall-climbing robot with ultrasonic detection, two wall-climbing units 2, the wall-climbing unit 2 includes a bottom frame 201 and a top frame 202, a plurality of adsorption members 207 are installed on the arc side of the bottom frame 201 and the top frame 202 close to the water-cooled wall, a limit switch 209 is installed on the bottom frame 201 and the top frame 202, a limit convex block 2021 is fixedly connected to the top frame 202, and the position of the limit convex block 2021 corresponds to the position of the limit switch 209; refer to Figure 2 By utilizing the mutual contact between the limit switch 209 and the limit protrusion 2021, the position of the top frame 202 is restricted, thereby improving the smoothness of wall climbing.

[0024] The adsorption member 207 includes a mounting tube 2071 fixedly mounted on the frame, a connecting slide 2076 is slidably connected in the mounting tube 2071, one end of the connecting slide 2076 extending into the mounting tube 2071 is fixedly connected to a magnet block 2074, a return spring 2075 is sleeved on the connecting slide 2076 and located in the mounting tube 2071, and one end of the connecting slide 2076 away from the mounting tube 2071 is fixedly connected to a special-shaped permanent magnet 2077, and the shape of the special-shaped permanent magnet 2077 is any one of an arc shape and an L shape. The arc-shaped and L-shaped special-shaped permanent magnets 2077 can be suitable for the shape of the water-cooled wall, and the fitting surface is more tightly, and an iron core 2073 is installed in the mounting tube 2071, and a coil 2072 is wound around the iron core 2073; refer to Figure 2 , Figure 3 , Figure 6 During the adsorption operation, when the power is off, the special-shaped permanent magnet 2077 is tightly attached to the water-cooled wall tube under the elastic force of the reset spring 2075, and is tightly adsorbed on the water-cooled wall tube, which can provide good support and friction for the whole and ensure the overall stability; when the power is turned on, the coil 2072 is energized, and the iron core 2073 in the coil 2072 generates magnetic force, and the iron core 2073 adsorbs the magnet block 2074, and the magnet block 2074 drives the connecting slide 2076, and the connecting slide 2076 drives the special-shaped permanent magnet 2077 away from the water-cooled wall and squeezes the reset spring 2075. At this time, the special-shaped permanent magnet 2077 can move.

[0025] The adsorption member 207 can be adsorbed on the water-cooled wall when the power is off, and can be away from the water-cooled wall when the power is on. A rotating seat 2012 is installed in the middle of the bottom frame 201, and a wall-climbing motor 203 is installed on the rotating seat 2012. The output end of the wall-climbing motor 203 is fixedly connected with a screw rod 205. The lower part of the bottom frame 201 is fixedly connected with a mounting tail frame 2011 and a spotlight 210. The spotlight 210 is arranged on the water-cooled wall facing the detection position of the ultrasonic detector 4. A walking member 208 adsorbed on the cold water wall and capable of rolling and walking is installed in the middle of the bottom frame 201 and the top frame 202 close to the water-cooled wall. refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 During the wall climbing operation, the wall climbing motor 203 is powered on to drive the screw rod 205 to rotate, the screw rod 205 drives the threaded sleeve 204 to move, and the threaded sleeve 204 drives the top frame 202 to move, thereby providing power for wall climbing.

[0026] The walking member 208 includes a fixed block 2085 installed on the frame, a slide bar 2083 is fixedly connected to the lower part of the fixed block 2085, a pressure spring 2084 is sleeved on the slide bar 2083, a walking frame 2082 is slidably connected to the slide bar 2083 and located below the pressure spring 2084, a walking wheel 2081 is rotatably installed on the walking frame 2082, and strong magnets 2086 are evenly installed on the circumferential surface of the walking wheel 2081; refer to Figure 1 , Figure 5 During walking operation, the circumferential surface of the walking wheel 2081 contacts the water-cooled wall surface, and the strong magnet 2086 can be adsorbed with the water-cooled wall, thereby providing adsorption force and friction force for walking. Among them, the pressure spring 2084 can ensure that the walking wheel 2081 is always attached to the water-cooled wall, and can cope with the uneven water-cooled wall environment.

[0027] A threaded sleeve 204 is fixedly installed on the top frame 202, and a screw rod 205 passes through the threaded sleeve 204 and is threadedly matched with each other. A screw rod stopper 2051 is fixedly connected to the end of the screw rod 205. A polished rod 206 is fixedly connected to the bottom frame 201, and a sliding sleeve 2022 is fixedly connected to the top frame 202. The polished rod 206 passes through the sliding sleeve 2022 and is slidably matched with each other. The end of the polished rod 206 close to the top frame 202 is fixedly connected to the polished rod stopper 2061; refer to Figure 2 , Figure 3 , Figure 4 The screw rod block 2051 and the light rod block 2061 are used to block the extreme position of the top frame 202 to improve the overall stability.

[0028] A transverse connection unit 1 is installed between two wall-climbing units 2. The transverse connection unit 1 can connect the two wall-climbing units 2 into one body and can adjust the spacing between the two wall-climbing units 2. An intermediate frame 1011 is detachably connected to the transverse connection unit 1. The transverse connection unit 1 includes a left transverse plate 101 and a right transverse plate 102 installed on the frame. A left plate 106 is fixedly connected to one end of the left transverse plate 101 close to the right transverse plate 102. The right transverse plate 102 passes through the left plate 106, and a right plate 105 is fixedly connected to one end close to the left transverse plate 101. An adjusting screw 104 is rotatably installed on the right plate 105. The adjusting screw 104 passes through the left plate 106, and they are threadedly matched with each other. A knob 107 is fixedly connected to one end of the adjusting screw 104 close to the right transverse plate 102. A mounting hole 103 for mounting the intermediate frame 1011 is provided on the left transverse plate 101. refer to Figure 1 , Fig. 9During the horizontal connection operation, the left and right horizontal plates 101 and 102 are screwed to the bottom frame 201 and the top frame 202 to connect the two wall climbing units 2 as a whole. When adjusting the distance between the two, the adjustment screw 104 is driven to rotate by turning the knob 107, and the adjustment screw 104 drives the left plate 106 to move. When the left plate 106 is close to the right plate 105, the distance between the two becomes smaller, and vice versa.

[0029] The identification unit 3 is installed on the mounting tail frame 2011 and the intermediate frame 1011, and is arranged concentrically with the water-cooled wall. The identification unit 3 can spray an identification mark on the water-cooled wall. The identification unit 3 includes a top frame 301 fixedly installed on the mounting tail frame 2011 and the intermediate frame 1011, and an arc frame 302 is fixedly connected to the top frame 301. The arc frame 302 is provided with an arc groove 303, and a slider seat 308 is slidably connected in the arc groove 303. The slider seat 308 is provided with a A driving motor 306 and a marking tank 307 are installed. A nozzle is installed on the marking tank 307. A solenoid valve is provided on the nozzle. Paint and gas are provided in the marking tank 307. For example, yellow liquid paint and high-pressure nitrogen are used. The liquid paint is composed of resin, pigment, solvent and additive. A driving gear 305 is fixedly connected to the output end of the driving motor 306. An arc rack 304 is fixedly connected to the arc frame 302. The driving gear 305 and the arc rack 304 are meshed with each other. refer to Figure 1 , Figure 2 , Fig.10 During the marking operation, the solenoid valve on the nozzle of the marking tank 307 is opened, and the paint inside it is sprayed from the nozzle to the pipe of the water-cooled wall under the action of the gas for marking. When the marking position needs to be adjusted, the driving motor 306 is energized to drive the driving gear 305 to rotate, and the driving gear 305 moves on the arc rack 304, thereby driving the slider seat 308 to move, thereby driving the marking tank 307 to move. Marking can be performed on an arc surface, and its position can be adjusted, and the marking range can also be increased to form a large-area marking area.

[0030] The ultrasonic detector 4 is installed on the mounting tail frame 2011 and the intermediate frame 1011 .

[0031] The ultrasonic detector 4 is an existing technology, which can perform ultrasonic detection on the water-cooled wall, and there are multiple ultrasonic detectors, which can perform ultrasonic detection on multiple positions at the same time, and the detection efficiency is higher. Among them, the spotlight 210 can provide lighting light on the water-cooled wall, which is convenient for use in a dark environment.

[0032] Working principle: When in use, the wall-climbing robot is placed on the water-cooled wall. The wall-climbing is divided into two stages. The first stage: the adsorption piece 207 on the bottom frame 201 is adsorbed on the water-cooled wall, and the adsorption piece 207 on the top frame 202 is not adsorbed on the water-cooled wall. Then the wall-climbing motor 203 is powered on to drive the screw rod 205 to rotate, and the screw rod 205 drives the threaded sleeve 204 to move upward, and the threaded sleeve 204 drives the top frame 202 to move upward, so that the top frame 202 is away from the bottom frame 201. The second stage: the adsorption piece 207 on the bottom frame 201 is not adsorbed on the water-cooled wall, and the adsorption piece 207 on the top frame 202 is not adsorbed on the water-cooled wall. The component 207 is adsorbed on the water-cooled wall, and then the wall-climbing motor 203 is powered on to drive the screw 205 to rotate. Since the threaded sleeve 204 is fixed, the screw 205 and the bottom frame 201 will move upward, so that the bottom frame 201 is close to the top frame 202. In the process of climbing the wall, the circumferential surface of the walking wheel 2081 contacts the water-cooled wall surface, and the strong magnet 2086 can be adsorbed on the water-cooled wall, thereby providing adsorption force and friction force for walking. Among them, the pressure spring 2084 can ensure that the walking wheel 2081 is always attached to the water-cooled wall, which can cope with the uneven water-cooled wall environment. Repeat the above two stages to complete the continuous climbing operation. During the climbing process, the ultrasonic detector 4 can perform ultrasonic detection on the water-cooled wall, and there are multiple ultrasonic detectors, which can simultaneously perform ultrasonic detection at multiple positions, and the detection efficiency is higher. Among them, the spotlight 210 can provide lighting on the water-cooled wall, which is convenient for use in a dark environment. At the same time, when it is necessary to adjust the distance between the two climbing wall units 2, the knob 107 is turned to drive the adjustment screw 104 to rotate, and the adjustment screw 104 drives the left plate 106 to move. When the left plate 106 is close to the right plate 105, the two The spacing becomes smaller, and vice versa, the spacing becomes larger. During the marking operation, the solenoid valve on the nozzle of the marking tank 307 is opened, and the paint inside it is sprayed from the nozzle to the pipe of the water-cooled wall under the action of the gas for marking. When the marking position needs to be adjusted, the drive motor 306 is energized to drive the drive gear 305 to rotate, and the drive gear 305 moves on the arc rack 304, thereby driving the slider seat 308 to move, thereby driving the marking tank 307 to move, and marking can be performed on an arc surface. Its position can be adjusted, and the marking range can also be increased to form a large-area marking area.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wall-climbing robot with ultrasonic detection, characterized in that: include: Two wall climbing units (2), the wall climbing units (2) comprising a bottom frame (201) and a top frame (202), and a plurality of adsorption members (207) are installed in the form of an arc on one side of the bottom frame (201) and the top frame (202) close to the water-cooled wall; The adsorption member (207) can be adsorbed on the water-cooled wall when the power is off, and can be away from the water-cooled wall when the power is on; a rotating seat (212) is installed in the middle of the bottom frame (201); a wall-climbing motor (203) is installed on the rotating seat (212); a screw rod (205) is fixedly connected to the output end of the wall-climbing motor (203); a mounting tail frame (211) and a spotlight (210) are fixedly connected to the lower part of the bottom frame (201); and a walking member (208) adsorbed on the cold water wall and capable of rolling and walking is installed in the middle of the bottom frame (201) and the top frame (202) on the side close to the water-cooled wall; A threaded sleeve (204) is fixedly mounted on the top frame (202), the screw rod (205) passes through the threaded sleeve (204) and is threadedly matched with each other, a screw rod stopper (2051) is fixedly connected to the end of the screw rod (205), a polished rod (206) is fixedly connected to the bottom frame (201), a sliding sleeve (2022) is fixedly connected to the top frame (202), the polished rod (206) passes through the sliding sleeve (2022) and is slidably matched with each other, and a polished rod stopper (2061) is fixedly connected to one end of the polished rod (206) close to the top frame (202); A transverse connection unit (1), the transverse connection unit (1) being installed between two wall climbing units (2), the transverse connection unit (1) being able to connect the two wall climbing units (2) into one, and being able to adjust the distance between the two wall climbing units (2), the transverse connection unit (1) being detachably connected to an intermediate frame (1011); An identification unit (3), the identification unit (3) being mounted on the mounting tail frame (2011) and the intermediate frame (1011), and being arranged concentrically with the water-cooled wall, and the identification unit (3) being capable of spraying an identification mark on the water-cooled wall; An ultrasonic detector (4), wherein the ultrasonic detector (4) is installed on a mounting tail frame (2011) and an intermediate frame (1011).

2. A wall-climbing robot with ultrasonic detection according to claim 1, characterized in that: The walking member (208) comprises a fixed block (2085) mounted on a frame, the lower part of the fixed block (2085) is fixedly connected to a sliding bar (2083), a pressure spring (2084) is sleeved on the sliding bar (2083), a walking frame (2082) is slidably connected on the sliding bar (2083) and located below the pressure spring (2084), a walking wheel (2081) is rotatably mounted on the walking frame (2082), and strong magnets (2086) are evenly mounted on the circumferential surface of the walking wheel (2081).

3. A wall-climbing robot with ultrasonic detection according to claim 1, characterized in that: The adsorption member (207) comprises a mounting tube (2071) fixedly mounted on the frame, a connecting slide (2076) being slidably connected in the mounting tube (2071), one end of the connecting slide (2076) extending into the mounting tube (2071) being fixedly connected to a magnet block (2074), a return spring (2075) being sleeved on the connecting slide (2076) and located in the mounting tube (2071), one end of the connecting slide (2076) away from the mounting tube (2071) being fixedly connected to a special-shaped permanent magnet (2077), an iron core (2073) being mounted in the mounting tube (2071), and a coil (2072) being wound around the iron core (2073).

4. A wall-climbing robot with ultrasonic detection according to claim 1, characterized in that: A limit switch (209) is installed on both the bottom frame (201) and the top frame (202); a limit convex block (221) is fixedly connected to the top frame (202); the position of the limit convex block (221) and the limit switch (209) correspond to each other.

5. A wall-climbing robot with ultrasonic detection according to claim 1, characterized in that: The transverse connection unit (1) comprises a left transverse plate (101) and a right transverse plate (102) mounted on a frame; one end of the left transverse plate (101) close to the right transverse plate (102) is fixedly connected to a left plate (106); the right transverse plate (102) passes through the left plate (106) and one end close to the left transverse plate (101) is fixedly connected to a right plate (105); an adjustment screw (104) is rotatably mounted on the right plate (105); the adjustment screw (104) passes through the left plate (106) and is threadedly engaged with each other; one end of the adjustment screw (104) close to the right transverse plate (102) is fixedly connected to a knob (107); and a mounting hole (103) for mounting an intermediate frame (1011) is provided on the left transverse plate (101).

6. A wall-climbing robot with ultrasonic detection according to claim 1, characterized in that: The identification unit (3) comprises a top frame (301) fixedly mounted on a mounting tail frame (2011) and an intermediate frame (1011); an arc frame (302) is fixedly connected to the top frame (301); an arc groove (303) is provided on the arc frame (302); a slider seat (308) is slidably connected in the arc groove (303); a driving motor (306) and an identification tank body (307) are mounted on the slider seat (308); a driving gear (305) is fixedly connected to an output end of the driving motor (306); an arc rack (304) is fixedly connected to the arc frame (302); the driving gear (305) and the arc rack (304) are meshed with each other.

7. A wall-climbing robot with ultrasonic detection according to claim 6, characterized in that: A spray head is installed on the marking tank body (307), a solenoid valve is provided on the spray head, and paint and gas are provided in the marking tank body (307).

8. A wall-climbing robot with ultrasonic detection according to claim 3, characterized in that: The shape of the special-shaped permanent magnet (2077) is any one of an arc shape and an L shape, and the spotlight (210) is arranged on the water-cooled wall facing the detection location of the ultrasonic detector (4).

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