Crawler-type wall-climbing robot monomer and crawler-type wall-climbing robot

Abstract

The invention discloses a crawler-type wall-climbing robot single body and a crawler-type wall-climbing robot. Each crawler-type wall-climbing robot single body comprises a rack, a magnetic crawler belt, a crawler belt driving device and a tensioning mechanism, the magnetic crawler belt, the crawler belt driving device and the tensioning mechanism are installed on the rack, the magnetic crawler belt can provide magnetic adsorption force, and the crawler belt driving device is in transmission connection with the magnetic crawler belt and provides driving force for the magnetic crawler belt; the tensioning mechanism is connected with or makes contact with the magnetic crawler belt, and the tensioning mechanism can be driven by external force to stretch out and draw back in the selected direction and provide tensioning force for the magnetic crawler belt. The wall-climbing robot is easier and more efficient to manufacture, assemble and maintain, and meanwhile, different modules can be flexibly configured in different application scenes, so that the capacity of customized production and quick response to market requirements is achieved.

Description

Technical Field

[0001] The present invention particularly relates to a single unit of a crawler wall - climbing robot and a crawler wall - climbing robot, belonging to the technical field of wall - climbing robots. Background Art

[0002] Wall - climbing robots can operate on inclined, vertical walls or even ceilings, replacing humans to complete some dangerous or impossible tasks. For walls composed of ferromagnetic materials, magnetic robots are mostly used. According to different movement modes, magnetic wall - climbing robots can be divided into three types: foot - type, wheel - type and crawler - type. Among them, the wheel - type has a small contact surface and the foot - type has complex motion control. Therefore, the crawler - type is the most widely used motion mode for current magnetic wall - climbing robots.

[0003] CN108860351A discloses a modular crawler and a robot. Its modular crawler itself does not have adsorption ability and is not capable of working on a magnetically conductive wall. CN113696987A discloses a single - crawler wall - climbing robot, including a walking device and a steering device. The adsorption force comes from individual adsorption units on the chain crawler, mainly involving the steering device and not the specific internal structure of the single crawler, and it steers through an electromagnet suction cup. CN113085542A discloses an ultrasonic flaw - detection wall - climbing robot. Its technical features are: including a frame, two crawler drive modules and a magnetic adsorption module. The magnetic adsorption module is installed in the center of the bottom of the frame, and the two crawler drive modules are respectively installed on both sides of the magnetic adsorption module at the bottom of the frame. An ultrasonic detection module is also installed at the upper end of the frame. However, traditional crawler - type magnetic wall - climbing robots have some deficiencies: lack of product standardization, inability to adjust the adsorption force, difficult maintenance, etc. Summary of the Invention

[0004] The main purpose of the present invention is to provide a single unit of a crawler wall - climbing robot and a crawler wall - climbing robot, so as to overcome the deficiencies in the prior art.

[0005] To achieve the foregoing invention purpose, the technical solutions adopted by the present invention include:

[0006] On the one hand, the present invention provides a single unit of a crawler wall - climbing robot, including a frame, a magnetic crawler, a crawler drive device and a tensioning mechanism. The magnetic crawler, the crawler drive device and the tensioning mechanism are installed on the frame. The magnetic crawler itself can provide magnetic adsorption force. The crawler drive device is in transmission connection with the magnetic crawler and provides driving force for the magnetic crawler. The tensioning mechanism is connected to or in contact with the magnetic crawler, and the tensioning mechanism itself can be stretched and contracted along a selected direction under the drive of an external force and provide a tensioning force for the magnetic crawler.

[0007] On the other hand, the present invention provides a crawler wall - climbing robot, which includes a plurality of such single crawler wall - climbing robot units.

[0008] Compared with the prior art, the advantages of the present invention include: The single crawler magnetic wall - climbing robot unit provided by the present invention makes the manufacturing, assembly and maintenance of the wall - climbing robot easier and more efficient. At the same time, different modules can be flexibly configured in different application scenarios, so as to achieve the ability of customized production and rapid response to market demands. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 is a schematic diagram of the external structure of a single crawler wall - climbing robot unit provided in Embodiment 1 of the present invention;

[0010] Figure 2 is a schematic diagram of the internal structure of a single crawler wall - climbing robot unit provided in Embodiment 1 of the present invention;

[0011] Figure 3 Schematic diagram of the structure of the magnetic crawler of a single crawler wall - climbing robot unit provided in Embodiment 1 of the present invention;

[0012] Figure 4 Schematic diagram of the structure of the idler shaft of a single crawler wall - climbing robot unit provided in Embodiment 1 of the present invention;

[0013] Figure 5 Schematic diagram of the structure of a crawler wall - climbing robot provided in Embodiment 2 of the present invention;

[0014] Figure 6 Schematic diagram of the structure of a crawler wall - climbing robot provided in Embodiment 2 of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0015] In view of the deficiencies in the prior art, the inventors of this case have proposed the technical solution of the present invention through long - term research and a large number of practices. The following will further explain the technical solution, its implementation process and principles, etc.

[0016] On one hand, the present invention provides a single crawler wall - climbing robot unit, which includes a frame, a magnetic crawler, a crawler driving device and a tensioning mechanism. The magnetic crawler, the crawler driving device and the tensioning mechanism are installed on the frame. The magnetic crawler can provide a magnetic adsorption force by itself. The crawler driving device is in transmission connection with the magnetic crawler and provides driving force for the magnetic crawler. The tensioning mechanism is connected or in contact with the magnetic crawler, and the tensioning mechanism can extend and retract along a selected direction under the drive of an external force and provide a tensioning force for the magnetic crawler.

[0017] Further, the magnetic crawler belt includes a synchronous belt and a plurality of blocks. The crawler belt driving device is in transmission cooperation with the synchronous belt. The plurality of blocks are fixedly arranged on the outer surface of the synchronous belt at intervals along the circumferential direction of the synchronous belt. The block contains a magnet, the magnetization direction of the magnet is the width direction of the block, and the magnetization directions of the magnets in two adjacent blocks are opposite to each other.

[0018] Further, the block is formed by the composite of a magnet and a non-magnetic body.

[0019] Further, the magnet is embedded inside the non-magnetic body.

[0020] Further, the crawler belt driving device includes a driving mechanism, a transmission mechanism, a synchronous pulley and an idler pulley. The synchronous pulley and the idler pulley are arranged at intervals. The magnetic crawler belt is continuously sleeved on the synchronous pulley and the idler pulley and is in transmission cooperation with the synchronous pulley and the idler pulley. The driving mechanism is in transmission connection with the synchronous pulley through the transmission mechanism, and the synchronous pulley can rotate around its own axis under the drive of the driving mechanism.

[0021] Further, the synchronous pulley is fixed on the driving shaft. The transmission mechanism includes a gear set. The gear set includes two or more meshing gears. The last gear in the gear set is connected to the driving shaft in a meshing manner to achieve transmission.

[0022] Further, the synchronous pulley and the idler pulley are arranged at intervals along the selected direction. In the selected direction, the idler pulley is movably matched with the frame. The tensioning mechanism is connected to the idler pulley, and the idler pulley can move along the selected direction together with the tensioning mechanism.

[0023] Further, the idler pulley is installed on an idler pulley seat. The idler pulley is rotationally connected to the idler pulley seat, and the tensioning mechanism is matched with the idler pulley seat.

[0024] Further, an idler pulley shaft is fixedly arranged on the idler pulley. The idler pulley shaft is arranged on the idler pulley seat and is rotationally matched with the idler pulley seat.

[0025] Further, an installation groove is arranged on the idler pulley seat, and at least a part of the idler pulley is arranged in the idler pulley groove.

[0026] Further, the installation groove is a U-shaped groove matching the idler pulley.

[0027] Further, a guiding groove extending along the selected direction is arranged on the frame. A part of the idler pulley seat is arranged in the guiding groove and is movably matched with the guiding groove. The idler pulley seat can move along the guiding groove.

[0028] Further, a stop hole is provided on the frame. The axial direction of the stop hole intersects with the selected direction, and the stop hole communicates with the guide groove. In addition, a stop member is provided in the stop hole, and a part of the stop member can protrude along the stop hole to the moving track of the idler seat and prevent the idler seat from continuing to move along the guide groove.

[0029] Further, the stop hole is a threaded hole, and the stop member is a threaded member.

[0030] Further, a tension limiting mechanism is provided on the frame. A guide hole is provided on the tension limiting mechanism, a guide rod is provided on the idler seat, and one end of the guide rod is arranged in the guide hole and is movably matched with the guide hole. The tensioning mechanism is arranged between the tension limiting mechanism and the idler seat.

[0031] Further, the tensioning mechanism is arranged outside the guide rod.

[0032] Further, the tensioning mechanism is of an annular structure, and the tensioning mechanism is sleeved outside the guide rod.

[0033] Further, the tensioning mechanism includes at least one spring.

[0034] Further, the guide hole and the guide rod are coaxially arranged.

[0035] Further, a tension adjusting mechanism is also provided on the tension limiting mechanism. The tension adjusting mechanism is movably matched with the tension limiting mechanism, and the position of the tension adjusting mechanism on the tension limiting mechanism can be adjusted along the selected direction. Among them, the tensioning mechanism is restricted between the tension adjusting mechanism and the idler seat.

[0036] Further, the tension adjusting mechanism is threadedly connected with the tension limiting mechanism.

[0037] Further, the frame includes a frame body, side plates and a cover plate. The side plates are fixedly arranged on both sides of the frame body along the width direction of the magnetic track. The cover plate is hinged to the side plates, and a part of the outer edge of the cover plate close to the magnetic track contacts the stop block on the magnetic track. The outer edge of the synchronous belt of the magnetic track also extends to the connection part of the cover plate and the side plates.

[0038] On the other hand, the present invention provides a tracked wall-climbing robot, including a plurality of the tracked wall-climbing robot monomers.

[0039] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, rather than all of them. Usually, the components of the embodiments of this application described and shown in the accompanying drawings here can be arranged and designed in various different configurations. Unless otherwise specified, the components such as motors, gears, and springs used in the embodiments of the present invention are known to those skilled in the art, and they can all be obtained through commercial purchases.

[0040] A single unit of a crawler-type magnetic wall-climbing robot provided by the present invention has high independence and can adapt to scenarios through different combination methods. The following will combine Figures 1 - 6 to describe the structure of the single unit of the crawler-type magnetic wall-climbing robot in detail.

[0041] Embodiment 1

[0042] Please refer to Figure 1 and Figure 2 , a single unit of a crawler-type magnetic wall-climbing robot, including a magnetic crawler (i.e., a magnet / rubber composite crawler) 1, a frame main body (not marked in the figure), a first synchronous pulley 5, a driving shaft 6, a second synchronous pulley 7, a rear baffle 9, a tensioning mechanism (not marked in the figure), an idler wheel seat 11, and an idler wheel 15;

[0043] The first synchronous pulley 5 and the second synchronous pulley 7 are fixed on the driving shaft 6. The driving shaft 6 is installed at the first end of the frame main body and is rotationally matched with the frame main body. The idler wheel 15 is installed on the idler wheel seat 11 and is rotationally matched with the idler wheel seat 11. The idler wheel seat 11 is installed at the second end of the frame main body and is movably matched with the frame main body. The magnetic crawler 1 is installed on the frame main body and is in transmission cooperation with the first synchronous pulley 5, the second synchronous pulley 7, and the idler wheel 15 (it should be noted that it is known to those skilled in the art that the rotation of the belt wheels (i.e., the first synchronous pulley 5, the second synchronous pulley 7, and the idler wheel 15) drives the operation of the belt (i.e., the magnetic crawler), and the specific structure and working principle thereof will not be elaborated here);

[0044] The rear baffle 9 is fixed on the frame main body (of course, the rear baffle can also be regarded as a part of the frame main body). The rear baffle 9 is located in the middle part between the first end and the second end of the frame main body. The tensioning mechanism is restricted between the rear baffle 9 and the idler wheel 15. The tensioning mechanism can be telescoped in the first direction under the drive of an external force and provide a tensioning force for the magnetic crawler. The first direction is the aforementioned selected direction, that is, the direction from the first end to the second end.

[0045] Specifically, a first bevel gear is fixedly provided on the driving shaft 6, the first bevel gear and the second bevel gear are meshed, and the second bevel gear is connected to the driving mechanism (i.e., the motor). The driving mechanism transmits the torque to the driving shaft 6 through the first bevel gear and the second bevel gear (i.e., the transmission mechanism). The driving shaft 6 drives the first synchronous wheel 5 and the second synchronous wheel 7 to rotate, and the first synchronous wheel 5 and the second synchronous wheel 7 drive the magnetic crawler 1 to rotate, thereby realizing the movement of the crawler-type magnetic wall-climbing robot unit.

[0046] It should be noted that the first synchronous wheel 5 and the second synchronous wheel 7 are arranged at intervals along the second direction, the second direction is perpendicular to the first direction, and the second direction may be the width direction of the magnetic track 1 .

[0047] For details, please refer to Figure 3 The magnetic track 1 includes a synchronous belt and a plurality of blocks. The plurality of blocks are fixed on the outer surface of the synchronous belt at intervals along the circumference of the synchronous belt. The blocks contain magnets. The magnetization direction of the magnets is the width direction of the blocks, and the magnetization directions of the magnets in two adjacent blocks are opposite. More specifically, the blocks are formed by a composite of a magnet and a non-magnetic body. More specifically, the magnets are embedded in the non-magnetic body. For example, the magnets are square NdFeB magnets, and the non-magnetic body is a rubber shell. The square NdFeB magnets and the rubber shell are processed into blocks by a molded composite technology, and the blocks are bonded to the synchronous belt by hot melting.

[0048] Specifically, two side panels 3 and two cover panels 2 are further provided on the frame body. The two cover panels 2 and the two side panels 3 are fixedly arranged on both sides of the frame body along the width direction of the magnetic track 1. The cover panels 2 are linked to the side panels 3. The inward extending portion of the outer side of the cover panel 2 contacts the block on the magnetic track 1 to limit the lateral displacement of the track. At the same time, the bottom belt of the magnetic track 1 extends outward to the inner bottom side of the cover panel 2 to achieve a dust-proof effect. More specifically, steps are provided at the upper and lower ends of the cover panel 2, and a number of mounting holes are provided. These mounting holes are used for later use and installation. An aviation plug 4 is provided on one side panel 3, and the aviation plug 4 is connected to the internal drive mechanism and other control circuit boards.

[0049] It can be understood that the first synchronous wheel 5, the driving shaft 6, the second synchronous wheel 7, the rear baffle 9, the tensioning mechanism (not marked in the figure), the idler wheel seat 11, the idler wheel 15, etc. are encapsulated in the internal space formed by the frame body, the magnetic track 1, the side plate 3, and the cover plate 2.

[0050] Specifically, the space between the rear baffle 9 and the first end of the frame body serves as a motor compartment, in which a motor base 8 is mounted, and the drive mechanism is disposed within the motor base 8. More specifically, a sealing plate 13 is further disposed in the area of the frame body corresponding to the motor compartment. The sealing plate 13 is fixedly connected to the frame body and confines the motor base 8 within the motor compartment.

[0051] Specifically, an idle pulley shaft 16 is fixedly arranged on the idle pulley 15. The idle pulley shaft is arranged on the idle pulley seat 11 and is rotationally matched with the idle pulley seat 11. The idle pulley 15 can rotate synchronously with the idle pulley shaft. Alternatively, the idle pulley 15 is mounted on the idle pulley shaft 16, and a bearing 12 is arranged between the idle pulley 15 and the idle pulley shaft 16 and realizes rotational matching through the bearing (as Figure 4 shown). The idle pulley shaft 16 is fixedly installed on the idle pulley seat 11; more specifically, an installation groove is arranged on the idle pulley seat 11, and at least a part of the idle pulley 15 is arranged in the idle pulley groove. Exemplarily, the installation groove is a U-shaped groove matching the idle pulley 15.

[0052] Specifically, a guiding groove extending in the first direction is arranged on the side plate 3. A part of the idle pulley seat 11 is arranged in the guiding groove and is movably matched with the guiding groove. The idle pulley seat 11 can move along the guiding groove. In addition, a stop hole is arranged on the side plate 3. The axial direction of the stop hole intersects with the first direction and the stop hole is communicated with the guiding groove. In addition, a stop member is arranged in the stop hole. A part of the stop member can protrude along the stop hole to the moving track of the idle pulley seat 11 and prevent the idle pulley seat from continuing to move along the guiding groove. Alternatively, the stop member can also abut against the idle pulley seat 11 to prevent the idle pulley seat 11 from moving. More specifically, the stop hole is a threaded hole, and the stop member is a threaded member. Exemplarily, the stop member is a set screw such as a bolt or a screw.

[0053] It can be understood that a plurality of stop holes can be arranged on the side plate 3, and the plurality of stop holes are arranged at intervals in the first direction, so that the idle pulley seat 11 can be restricted at a plurality of positions.

[0054] Specifically, a tension limiting mechanism 10 is arranged on the rear baffle 9. A guiding hole is arranged on the tension limiting mechanism 10. A guiding rod is arranged on the idle pulley seat 11. One end of the guiding rod is arranged in the guiding hole and is movably matched with the guiding hole. A tensioning mechanism is arranged between the tension limiting mechanism 10 and the idle pulley seat 11. More specifically, the tensioning mechanism is arranged outside the guiding rod. More specifically, the tensioning mechanism is of an annular structure. The tensioning mechanism is sleeved outside the guiding rod. Exemplarily, the tensioning mechanism includes at least one spring, and the guiding hole and the guiding rod are coaxially arranged.

[0055] Specifically, a tension adjusting mechanism 14 is further arranged on the tension limiting mechanism 10. The tension adjusting mechanism 14 is movably matched with the tension limiting mechanism 10. The position of the tension adjusting mechanism 14 on the tension limiting mechanism 10 can be adjusted in the first direction. Among them, the tensioning mechanism is restricted between the tension adjusting mechanism 10 and the idle pulley seat 11; Exemplarily, the tension adjusting mechanism is a nut, and the tension adjusting mechanism is threadedly connected with the tension limiting mechanism. By screwing the tension adjusting mechanism, the tension adjusting mechanism can move along the tension limiting mechanism, so as to realize the compression or release of the tensioning mechanism.

[0056] More specifically, the tension of the magnetic crawler 1 is adjusted by adjusting the tension adjusting mechanism 14, thereby improving the rigidity of the magnetic crawler 1. When the idler wheel seat 11 is moved towards the rear baffle 9, the tensioning mechanism is compressed. The idler wheel seat 11 is blocked by the stop member, and the tensioning of the magnetic crawler 1 by the tensioning mechanism fails. At this time, the magnetic crawler 1 can be removed, and the installation is the same.

[0057] Embodiment 2

[0058] As Figure 5 shown, the tracked magnetic wall-climbing robot formed by connecting two single units of the tracked magnetic wall-climbing robot provided in Embodiment 1 with a stepping motor, a lead screw, several connecting rods, etc. can be used for working surfaces with variable diameters or variable curved surfaces. Specifically, the stepping motor drives the lead screw to rotate, and at the same time the connecting rods change accordingly, thereby driving the change of the central axis of the tracked magnetic wall-climbing robot, so as to adapt to curved surfaces with different curvatures.

[0059] Embodiment 3

[0060] As Figure 6 shown, a tracked magnetic wall-climbing robot provided in this Embodiment 2 includes three single units of the tracked magnetic wall-climbing robot and an annular connecting rod device. The three single units of the tracked magnetic wall-climbing robot are connected by the annular connecting rod device and can be applied to work in a pipeline scenario.

[0061] Specifically, the annular connecting rod device is adjusted to a suitable working position so that the single unit of the tracked magnetic wall-climbing robot fits the magnetic-conducting pipeline. Compared with traditional pipeline robots, this robot will not generate a large pressure on the inner wall of the pipeline and avoid damaging the pipeline.

[0062] A single unit of the tracked magnetic wall-climbing robot provided by the present invention will make the manufacturing, assembly and maintenance of the wall-climbing robot easier and more efficient. At the same time, different modules can be flexibly configured in different application scenarios, so as to achieve the ability of customized production and rapid response to market demands.

[0063] The single crawler-type magnetic wall-climbing robot provided by the present invention reduces the cost of the wall-climbing robot and shortens the product design cycle. The single crawler-type magnetic wall-climbing robot provided by the present invention has both magnetic adsorption and motion functions, and has the advantages of compact structure, light weight, high stability, and strong expandability. In addition, the single crawler-type magnetic wall-climbing robot provided by the present invention will make the manufacturing, assembly, and maintenance of the robot easier and more efficient. At the same time, different modules can be flexibly configured under different application scenarios, so as to achieve the ability of customized production and rapid response to market demands. In addition, the modular design can also improve the reliability and lifespan of the robot and reduce the operation cost. It should be understood that the above embodiments are only used to illustrate the technical concept and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. A single crawler wall-climbing robot, characterized in that, Comprising: A frame, a magnetic crawler belt, a crawler belt driving device, and a tensioning mechanism. The magnetic crawler belt, the crawler belt driving device, and the tensioning mechanism are installed on the frame. The magnetic crawler belt can provide a magnetic adsorption force by itself. The crawler belt driving device is in transmission connection with the magnetic crawler belt and provides driving force for the magnetic crawler belt. The tensioning mechanism is connected to or in contact with the magnetic crawler belt. Moreover, the tensioning mechanism can extend and contract along a selected direction under the drive of an external force and provide a tensioning force for the magnetic crawler belt.

2. The single crawler wall-climbing robot according to claim 1, characterized in that: The magnetic crawler belt includes a synchronous belt and a plurality of blocks. The crawler belt driving device is in transmission cooperation with the synchronous belt. The plurality of blocks are fixedly arranged at intervals on the outer surface of the synchronous belt along the circumferential direction of the synchronous belt. The block contains a magnet, and the magnetization direction of the magnet is the width direction of the block. Moreover, the magnetization directions of the magnets in two adjacent blocks are opposite; Preferably, the block is formed by the composite of a magnet and a non-magnetic body; Preferably, the magnet is embedded inside the non-magnetic body.

3. The crawler-type wall-climbing robot unit according to claim 1 or 2, characterized in that: The crawler belt driving device includes a driving mechanism, a transmission mechanism, a synchronous pulley, and an idler pulley. The synchronous pulley and the idler pulley are arranged at intervals. The magnetic crawler belt is continuously sleeved on the synchronous pulley and the idler pulley and is in transmission cooperation with the synchronous pulley and the idler pulley. The driving mechanism is in transmission connection with the synchronous pulley through the transmission mechanism. The synchronous pulley can rotate around its own axis under the drive of the driving mechanism.

4. The crawler-type wall-climbing robot unit according to claim 3, characterized in that: The synchronous pulley is fixed on a driving shaft. The transmission mechanism includes a gear set. The gear set includes two or more meshing gears. The last gear in the gear set is connected to the driving shaft through meshing to achieve transmission.

5. The crawler-type wall-climbing robot unit according to claim 3, wherein: The synchronous pulley and the idler pulley are arranged at intervals along the selected direction. In the selected direction, the idler pulley is movably matched with the frame. The tensioning mechanism is connected to the idler pulley, and the idler pulley can move along the selected direction together with the tensioning mechanism.

6. The crawler-type wall-climbing robot unit according to claim 3, characterized in that: The idler pulley is installed on an idler pulley seat. The idler pulley is rotatably connected to the idler pulley seat. The tensioning mechanism is matched with the idler pulley seat; And / or, an idler pulley shaft is fixedly arranged on the idler pulley. The idler pulley shaft is arranged on the idler pulley seat and is rotatably matched with the idler pulley seat; And / or, an installation groove is arranged on the idler pulley seat. At least a part of the idler pulley is arranged in the idler pulley groove; And / or, the installation groove is a U-shaped groove matching the idler pulley.

7. The crawler-type wall-climbing robot unit according to claim 6, wherein: A guiding groove extending along the selected direction is arranged on the frame. A part of the idler pulley seat is arranged in the guiding groove and is movably matched with the guiding groove. The idler pulley seat can move along the guiding groove; And / or, a stop hole is further arranged on the frame. The axial direction of the stop hole intersects with the selected direction and the stop hole is communicated with the guiding groove. Moreover, a stop component is arranged in the stop hole. A part of the stop component can protrude along the stop hole to the moving track of the idler pulley seat to prevent the idler pulley seat from continuing to move along the guiding groove; And / or, the stop hole is a threaded hole, and the stop component is a threaded component.

8. The crawler-type wall-climbing robot unit according to claim 6, characterized in that: A tension limiting mechanism is provided on the frame. A guiding hole is provided on the tension limiting mechanism. A guiding rod is provided on the idler wheel seat. One end of the guiding rod is arranged in the guiding hole and is movably matched with the guiding hole. The tensioning mechanism is arranged between the tension limiting mechanism and the idler wheel seat; Preferably, the tensioning mechanism is arranged outside the guiding rod; Preferably, the tensioning mechanism is of an annular structure and is sleeved outside the guiding rod; Preferably, the tensioning mechanism includes at least one spring; Preferably, the guiding hole and the guiding rod are coaxially arranged; And / or, a tension adjusting mechanism is further provided on the tension limiting mechanism. The tension adjusting mechanism is movably matched with the tension limiting mechanism. The position of the tension adjusting mechanism on the tension limiting mechanism can be adjusted along the selected direction. Wherein, the tensioning mechanism is restricted between the tension adjusting mechanism and the idler wheel seat; And / or, the tension adjusting mechanism is threadedly connected with the tension limiting mechanism.

9. The crawler wall-climbing robot unit according to claim 2, wherein: The frame includes a frame body, side plates and a cover plate. The side plates are fixedly arranged on both sides of the frame body along the width direction of the magnetic crawler. The cover plate is hinged to the side plates. And a part of the outer edge of the cover plate close to the magnetic crawler contacts a stop block on the magnetic crawler. The outer edge of the synchronous belt of the magnetic crawler also extends to the connection part of the cover plate and the side plates.

10. A crawler-type wall-climbing robot, characterized in that, It includes a plurality of crawler-type wall-climbing robot monomers as described in any one of claims 1-9.

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