Wall-climbing robot with ultrasonic detection

Abstract

The application provides a wall-climbing robot with ultrasonic detection, and relates to the field of wall-climbing robots. The wall-climbing robot comprises two wall-climbing units, each of which comprises a bottom framework and a top framework, and a plurality of suction accessories are arranged on the side of the bottom framework and the top framework close to the water-cooled wall in an arc shape; the suction accessories can be adsorbed on the water-cooled wall when powered off and can be away from the water-cooled wall when powered on; and a rotating seat is arranged on the middle part of the bottom framework. The wall-climbing units can not only detect the middle water-cooled wall pipe but also detect the water-cooled wall pipe at the edge, the detection range is wide, and the adaptability is strong; the suction accessories and the walking parts can be directly adsorbed on the water-cooled wall when powered off, the safety in use is improved, the walking parts can provide walking support force and adsorption force, and the stability of the whole is further improved; and the identification unit can identify the target water-cooled wall pipe at the ultrasonic detection position.

Description

Technical Field

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

[0002] The water wall, also known as the water wall tube or riser tube, is the primary heat-receiving component of the boiler. It consists primarily of rows of steel tubes distributed around the boiler furnace. The water wall's primary function is to absorb radiant heat from the high-temperature flame or flue gases in the furnace, generating steam or hot water within the tubes while simultaneously cooling and protecting the furnace wall. During operation, the water wall tubes are susceptible to wear from the circulating material. Power plant operators must accurately measure tube wall thickness and promptly replace them to ensure safe and stable boiler operation.

[0003] The detection method commonly used by staff is to use ultrasonic detectors for detection. The ultrasonic detectors mainly include transmitting circuit, receiving circuit, timing circuit, synchronization circuit and display and other main parts. 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 vertical 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 a crawler-type synchronous belt and water-cooled wall tubes. Although it can provide friction for walking, the ultrasonic detection position is located on the inner side of the synchronous belt. If it is necessary to detect the water-cooled wall tubes at the edge, the robot cannot be used for ultrasonic detection. Therefore, there are limitations in its use and its scope of application is small. Summary of the Invention

[0007] (1) Technical problems solved

[0008] In view of the shortcomings of the existing technology, 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, the limitations of detection positions, and a small range of use.

[0009] (2) Technical solution

[0010] To achieve the above objectives, the present invention is implemented through the following technical solutions: A wall-climbing robot with ultrasonic detection, comprising:

[0011] Two wall climbing units, each comprising a bottom frame and a top frame, wherein a plurality of adsorption members are installed on a circular arc on one side of the bottom frame and the top frame close to the water-cooled wall;

[0012] 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 that is adsorbed on the cold water wall and can roll and move is installed in the middle of the bottom frame and the top frame near the water-cooled wall.

[0013] A threaded sleeve is fixedly mounted on the top frame, the screw rod passes through the threaded sleeve and is threadedly engaged 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 engaged with each other, and a polished rod stopper is fixedly connected to the end of the polished rod close to the top frame;

[0014] A transverse connecting unit is installed between two wall-climbing units. The transverse connecting 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 connecting unit.

[0015] An identification unit 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;

[0016] An ultrasonic detector is installed on the mounting tail frame and the intermediate frame.

[0017] Preferably, the walking part includes a fixed block installed on the frame, the lower part of the fixed block is fixedly connected to a sliding rod, a pressure spring is sleeved on the sliding rod, a walking frame is slidably connected on the sliding rod and located below the pressure spring, a walking wheel is rotatably installed on the walking frame, and strong magnets are evenly installed on the circumferential surface of the walking wheel.

[0018] 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, the 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.

[0019] 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.

[0020] 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 the 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, the adjustment screw is fixedly connected to a knob at one end close to the right transverse plate, and the left transverse plate is provided with a mounting hole for installing the intermediate frame.

[0021] Preferably, the identification unit includes a top frame fixedly mounted on the mounting tail frame and the intermediate frame, an arc frame fixedly connected to the top frame, an arc groove provided on the arc frame, a slider seat slidably connected in the arc groove, a drive motor and an identification tank body are mounted on the slider seat, a drive gear is fixedly connected to the output end of the drive motor, an arc rack is fixedly connected to the arc frame, and the drive gear and the arc rack are engaged with each other.

[0022] Preferably, a nozzle is installed on the marking tank body, a solenoid valve is provided on the nozzle head, and paint and gas are provided in the marking tank body.

[0023] 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.

[0024] (3) Beneficial effects

[0025] The present invention provides a wall-climbing robot with ultrasonic detection, which has the following beneficial effects:

[0026] 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.

[0027] 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.

[0028] 3. The present invention can mark the target water-cooled wall pipe at the ultrasonic detection location through the provided identification unit, which facilitates subsequent replacement and maintenance.

[0029] 4. The present invention can control the distance between two wall climbing units by setting the transverse connecting 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

[0030] Figure 1 It is a structural schematic diagram of the present invention in use;

[0031] Figure 2 is a perspective view of the wall climbing unit of the present invention;

[0032] Figure 3 A partial perspective view of the wall climbing unit of the present invention;

[0033] Figure 4 A partial perspective view of the wall climbing unit of the present invention;

[0034] Figure 5 A perspective view of a walking member of the present invention;

[0035] Figure 6 is a sectional perspective view of the adsorption element of the present invention;

[0036] Figure 7 A bottom view of the bottom frame of the present invention;

[0037] Figure 8 A perspective view of the intermediate frame and the identification unit of the present invention in a connected state;

[0038] Figure 9 is a perspective view of a transverse connection unit of the present invention;

[0039] Figure 10 It is a three-dimensional diagram of the identification unit of the present invention.

[0040] Among them: 1. Transverse connection unit; 2. Wall climbing unit; 3. Marking unit; 4. Ultrasonic detector; 201. Bottom frame; 2011. Tail frame installation; 2012. Rotating seat; 202. Top frame; 2021. Limiting bump; 2022. Sliding sleeve; 203. Wall climbing motor; 204. Threaded sleeve; 205. Screw; 2051. Screw stop; 206. Polished rod; 2061. Polished rod stop; 207. Adsorption element; 208. Traveling element; 209. Limit switch; 210. Spotlight; 2081. Traveling wheel; 2082. Traveling frame; 2083. Sliding rod; 2084. Pressure spring; 2085 , fixed 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, adjusting 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 body; 308, slider seat. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0042] like Figures 1-10 As shown, an embodiment of the present invention provides a wall-climbing robot with ultrasonic detection, comprising two wall-climbing units 2, each comprising a bottom frame 201 and a top frame 202. A plurality of adsorption members 207 are mounted on each of the bottom frame 201 and the top frame 202 on a circular arc near the water-cooled wall. Limit switches 209 are mounted on each of the bottom frame 201 and the top frame 202. A limit protrusion 2021 is fixedly connected to the top frame 202, and the positions of the limit protrusion 2021 and the limit switch 209 correspond to each other.

[0043] 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.

[0044] 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 an end of the connecting slide 2076 away from the mounting tube 2071 is fixedly connected to a special-shaped permanent magnet 2077, the shape of the special-shaped permanent magnet 2077 being any one of an arc shape and an L shape. The arc-shaped and L-shaped special-shaped permanent magnets 2077 can fit the shape of the water-cooled wall, and the fitting surface is tighter. An iron core 2073 is installed in the mounting tube 2071, and a coil 2072 is wound around the iron core 2073;

[0045] 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 body and ensure the stability of the whole body; 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.

[0046] The adsorption member 207 can be adsorbed on the water-cooled wall when the power is off, and can be moved 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 to the screw rod 205. The lower part of the bottom frame 201 is fixedly connected to the mounting tail frame 2011 and the spotlight 210. The spotlight 210 is set on the water-cooled wall facing the detection location of the ultrasonic detector 4. A walking member 208 that is adsorbed on the cold water wall and can roll and move is installed in the middle of the bottom frame 201 and the top frame 202 near the water-cooled wall.

[0047] refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 During the wall climbing operation, the wall climbing motor 203 is energized to work, driving 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 climbing the wall.

[0048] The walking member 208 includes a fixed block 2085 mounted on the frame. A slide member 2083 is fixedly connected to the lower portion of the fixed block 2085. A pressure spring 2084 is sleeved on the slide member 2083. A walking frame 2082 is slidably connected to the slide member 2083 and located below the pressure spring 2084. The walking frame 2082 is rotatably mounted with walking wheels 2081. Strong magnets 2086 are evenly mounted on the circumferential surface of the walking wheels 2081.

[0049] 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.

[0050] A threaded sleeve 204 is fixedly mounted on the top frame 202, and a screw rod 205 passes through the threaded sleeve 204, and the screw rod 205 is threadedly engaged with each other. The end of the screw rod 205 is fixedly connected to a screw rod stopper 2051. 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 the polished rod 206 is slidably engaged with each other. The end of the polished rod 206 close to the top frame 202 is fixedly connected to a polished rod stopper 2061.

[0051] refer to Figure 2 、 Figure 3 、 Figure 4 The screw rod block 2051 and the polished rod block 2061 are used to block the extreme position of the top frame 202 to improve the overall stability.

[0052] The horizontal connecting unit 1 is installed between the two wall-climbing units 2. The horizontal connecting unit 1 can connect the two wall-climbing units 2 into one body and adjust the distance between the two wall-climbing units 2. The horizontal connecting unit 1 is detachably connected to the intermediate frame 1011. The horizontal connecting unit 1 includes a left horizontal plate 101 and a right horizontal plate 102 installed on the frame. The end of the left horizontal plate 101 close to the right horizontal plate 102 is fixedly connected to the left plate 106. The right horizontal plate 102 passes through the left plate 106 and is fixedly connected to the right plate 105 at the end close to the left horizontal 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 is threadedly matched with each other. A knob 107 is fixedly connected to the end of the adjusting screw 104 close to the right horizontal plate 102. A mounting hole 103 for mounting the intermediate frame 1011 is provided on the left horizontal plate 101;

[0053] refer to Figure 1 、 Figure 9During the horizontal connection operation, use screws to connect the left transverse plate 101 and the right transverse plate 102 to the bottom frame 201 and the top frame 202, so that the two wall-climbing units 2 can be connected as one. When adjusting the distance between the two, turn the knob 107 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 distance between the two becomes smaller, and vice versa, the distance becomes larger.

[0054] Identification unit 3, 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. Identification unit 3 can spray identification marks on the water-cooled wall. Identification unit 3 includes a top frame 301 fixedly mounted on the mounting tail frame 2011 and the 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, and a slider seat 308 is mounted on the slider seat 308. Equipped with a drive motor 306 and a marking tank 307, a nozzle is installed on the marking tank 307, and 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 additives. The output end of the drive motor 306 is fixedly connected to the drive gear 305, and the arc rack 304 is fixedly connected to the arc frame 302. The drive gear 305 and the arc rack 304 are meshed with each other;

[0055] refer to Figure 1 、 Figure 2 、 Figure 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 out 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-shaped 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.

[0056] The ultrasonic detector 4 is installed on the mounting tail frame 2011 and the intermediate frame 1011 .

[0057] The ultrasonic detector 4 is an existing technology that can perform ultrasonic detection on the water-cooled wall. 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.

[0058] 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. Part 207 is adsorbed on the water-cooled wall, and then the 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 perform ultrasonic detection on multiple positions at the same time, 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, by turning the knob 107, the adjustment screw 104 is driven 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-shaped 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.

[0059] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the 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 (2012) is installed in the middle of the bottom frame (201); a wall-climbing motor (203) is installed on the rotating seat (212); an output end of the wall-climbing motor (203) is fixedly connected to a screw rod (205); 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) that is adsorbed on the cold water wall and can roll and move 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 the screw rods (205) are threadedly engaged with each other, and 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 the polished rods (206) are slidably engaged with each other, and an end of the polished rod (206) close to the top frame (202) is fixedly connected to the polished rod stopper (2061); A transverse connection unit (1), the transverse connection unit (1) being installed between two wall climbing units (2), the transverse connection unit (1) being capable of connecting the two wall climbing units (2) into one body and adjusting 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 mounted 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, a sliding member (2083) is fixedly connected to the lower portion of the fixed block (2085), a pressure spring (2084) is sleeved on the sliding member (2083), a walking frame (2082) is slidably connected on the sliding member (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. The 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. The 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), and a limit convex block (2021) is fixedly connected to the top frame (202), wherein the positions of the limit convex block (221) and the limit switch (209) correspond to each other.

5. The 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, wherein the left transverse plate (101) is fixedly connected to a left plate (106) at one end thereof close to the right transverse plate (102), the right transverse plate (102) passes through the left plate (106), and is fixedly connected to a right plate (105) at one end thereof close to the left transverse plate (101), an adjusting screw (104) is rotatably mounted on the right plate (105), the adjusting screw (104) passes through the left plate (106), and the adjusting screws are threadedly engaged with each other, a knob (107) is fixedly connected to one end of the adjusting screw (104) close to the right transverse plate (102), and a mounting hole (103) for mounting an intermediate frame (1011) is provided on the left transverse plate (101).

6. The 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 (307) are mounted on the slider seat (308); an output end of the driving motor (306) is fixedly connected to a driving gear (305); 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. The wall-climbing robot with ultrasonic detection according to claim 6, characterized in that: A nozzle is installed on the marking tank body (307), and a solenoid valve is provided on the nozzle head. Paint and gas are provided in the marking tank body (307).

8. The 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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