Wall-climbing robot suspension adjusting and locking device

Abstract

A suspension adjustment and locking device for a wall-climbing robot includes a chassis and an axle. The axle includes a transition end rotatably connected to the chassis about the X-axis and an assembly end extending to the outside of the chassis. It also includes an adjustment frame fixedly connected to the axle, the adjustment frame having a limiting part and two cantilever ends. The two cantilever ends extend along the Y-axis to both sides of the axle, and each cantilever end is provided with a spring connected to the chassis. In its natural state, the adjustment frame is held at a predetermined angle by the springs. A locking component mounted on the chassis includes a locking block and a driving component for engaging or disengaging the locking block from the limiting part. When the locking block engages with the limiting part, the adjustment frame is locked, and the axle cannot rotate relative to the chassis. When the locking block disengages from the limiting part, the adjustment frame is unlocked, and the axle can rotate relative to the chassis. The axle in this design can switch between unlocked and locked states as needed, balancing the obstacle-crossing adaptability and walking stability of the wall-climbing robot.

Description

Technical Field

[0001] This invention relates to the technical field of chassis suspension systems for wall-climbing and vaulting robots, and more specifically to a suspension adjustment and locking device for wall-climbing and vaulting robots. Background Technology

[0002] In recent years, the application of wall-climbing robots in boiler maintenance, storage tank cleaning, and wind turbine tower maintenance has been increasing. However, their working surfaces often present complex characteristics, including varying angles, uneven terrain, and numerous obstacles. To enable wall-climbing robots to successfully traverse these working surfaces, related technologies typically design the chassis axles to rotate within a certain range along their own axis. This allows the self-driven wheels mounted at the axle ends to freely deflect within a certain angle range. Consequently, when the wheels move to working surfaces at different angles, they can adaptively deflect, effectively improving the obstacle-crossing ability and wall-hugging performance of the wall-climbing robot.

[0003] However, while the rotatable axle design relative to the chassis enhances adaptability, it also reduces the stability of the chassis suspension system. Specifically, because the axle may still rotate relative to the chassis even when not traversing obstacles, the wall-climbing robot is prone to unexpected axle rotation when walking, turning, experiencing load changes, or being subjected to wall reaction forces. This can lead to chassis instability, deviation of the wheel assembly from its walking direction, and other problems. Furthermore, the rotatable wheel assembly design reduces the overall load-bearing capacity, making it difficult to meet the requirements of heavy-load operation and stability for wall-climbing robots.

[0004] Therefore, how to retain the rotatability of the axle to adapt to complex walls while effectively locking the axle during normal travel or under load, preventing unexpected deflection, and improving the load-bearing capacity of the suspension system has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] The purpose of this invention is to provide a suspension adjustment and locking device for a wall-climbing robot that can switch between an unlocked state and a locked state according to working conditions, so as to take into account both the obstacle-crossing adaptability and walking stability of the wall-climbing robot.

[0006] To address the aforementioned problems, this invention provides a suspension adjustment and locking device for a wall-climbing robot, comprising a chassis and an axle. The axle includes a transition end rotatably connected to the chassis about the X-axis and an assembly end extending to the outer side of the chassis. The device further includes: An adjustment frame is fixedly connected to the wheel axle. The adjustment frame has a limiting part and two cantilever ends. The two cantilever ends extend along the Y-axis to both sides of the wheel axle, and each of the two cantilever ends is provided with a spring connected to the chassis. In a natural state, the adjustment frame is held at a predetermined angle under the action of the spring. The locking assembly mounted on the chassis includes a locking block and a drive component for engaging or disengaging the locking block from the limiting part. When the locking block engages with the limiting part, the adjusting frame is locked and the axle cannot rotate relative to the chassis. When the locking block disengages from the limiting part, the adjusting frame is unlocked and the axle can rotate relative to the chassis.

[0007] Compared to existing technologies, the above solution adds a locking component to the chassis. When better obstacle-crossing adaptability is needed, the locking component, driven by a drive unit, disengages the locking block from the limiting part. At this time, the adjustment frame is in an unlocked state, and the axle can rotate relative to the chassis. The wheel assembly at the axle mounting end can adaptively deflect according to the working surface, giving the wall-climbing robot better obstacle-crossing adaptability. Simultaneously, the two cantilever ends of the adjustment frame are connected to the chassis via springs, allowing the adjustment frame to maintain a predetermined angle in its natural state, which is beneficial for the initial positioning of the axle and automatic reset after obstacle crossing. When better walking stability is needed, the locking component, driven by a drive unit, engages the locking block with the limiting part. At this time, the adjustment frame is in a locked state, and the axle cannot rotate relative to the chassis, forming a rigid structure. This effectively improves the walking stability, walking direction accuracy, and load-bearing capacity of the chassis suspension system. Therefore, the axle in this solution can switch between unlocked and locked states as needed, balancing the obstacle-crossing adaptability and walking stability of the wall-climbing robot.

[0008] In an improved embodiment, there are two axles located on opposite sides of the chassis along the X-axis. The connecting ends of the two axles are arranged opposite each other, and each axle has a corresponding adjustment bracket, thereby enabling the axles on both sides of the chassis to be unlocked or locked.

[0009] In an improved design, the line connecting the limiting parts of the two adjusting frames is parallel to the X-axis. The driving component is used to drive the locking block to simultaneously engage or disengage from the two limiting parts. Thus, a single driving component can drive the locking block to simultaneously engage or disengage from the limiting parts of the two adjusting frames, thereby unlocking or locking the wheel axles on both sides of the chassis. This simplifies the structure, reduces control complexity, and provides good synchronization, effectively avoiding problems such as chassis tilt or uneven force due to unilateral locking or unlocking.

[0010] In an improved embodiment, there are two locking blocks located on either side of the limiting portion. The driving member moves the two locking blocks closer together or further apart. When the two locking blocks approach each other, they engage with the limiting portion in a clamping manner; when they move apart, they disengage from the limiting portion. This clamping engagement of the two locking blocks with the limiting portion ensures reliable locking of the adjusting frame, thereby providing better anti-deflection capability and improving load-bearing capacity.

[0011] In an improved embodiment, the driving component includes a motor and a lead screw. The lead screw is rotatably connected to the chassis about the Y-axis and has reverse threads at both ends. Two locking blocks are slidably fitted onto the chassis along the Y-axis, and each locking block has a threaded hole screwed to both ends of the lead screw. The motor is mounted on the chassis and its output acts on the lead screw, so that when the motor drives the lead screw to rotate, the lead screw causes the two locking blocks to move closer or further apart. By driving the lead screw to rotate, the reverse threads at both ends of the lead screw can cause the two locking blocks to move synchronously towards or away from each other along the Y-axis, thereby stably achieving the clamping and locking or unlocking of the limiting part. At the same time, the lead screw drive has a compact structure, smooth transmission, and force-increasing effect, and the motor can achieve reliable clamping of the limiting part by the locking blocks with a small driving force.

[0012] In an improved embodiment, the chassis is provided with a guide rod parallel to the lead screw, and the locking block is provided with a sliding hole that slides into the guide rod. The sliding engagement between the sliding hole and the guide rod can, on the one hand, guide the locking block, making it move more smoothly along the Y-axis under the drive of the lead screw; on the other hand, the guide rod provides anti-rotation constraint for the locking block, preventing the locking block from rotating or jamming with the lead screw, thereby improving the stability and service life of long-term operation.

[0013] In an improved embodiment, the distance between the two cantilever ends of the adjustment frame and the axle is equal, and the distance between the connection positions of the corresponding springs at the two cantilever ends and the chassis and the axle is equal. This makes the line connecting the two cantilever ends of the adjustment frame parallel to the Y-axis in the natural state, thereby balancing the elastic torques generated by the two springs on the adjustment frame through the two cantilever ends. This is beneficial to improving the automatic reset capability of the axle and the adjustment frame after angular deflection due to obstacle crossing.

[0014] In an improved embodiment, the distance between the limiting portion of the adjusting frame and the two cantilever ends is equal, thereby improving the stability of the adjusting frame when the locking block engages with the limiting portion.

[0015] In an improved embodiment, an assembly frame corresponding to each axle is included. This assembly frame is used for mounting the wheel assembly. The mounting end of each axle has an outer rotating shaft with the Y-axis as its axis. The assembly frame has an outer rotating hole that rotatably engages with the axle. The outer rotating shaft has a torsion spring that acts on the assembly frame to reset it. The assembly frame provides the mounting position for the wheel assembly. Furthermore, because the assembly frame rotatably engages with the outer rotating shaft along the Y-axis through the outer rotating hole, the wheel assembly, in addition to its rotation around the X-axis via the axle, achieves rotational freedom around the Y-axis through the assembly frame and the outer rotating shaft. This allows the wheel assembly to better adapt to complex and uneven working surfaces, further improving the obstacle-crossing adaptability of the wall-climbing robot.

[0016] In an improved embodiment, the chassis is equipped with a sensor for sensing the position of the adjustment frame. By sensing the position of the adjustment frame, the rotation angle of the adjustment frame and the wheel axle can be obtained in real time, providing feedback to the control system of the wall-climbing robot, thereby accurately determining the timing of locking and unlocking, and avoiding situations such as accidental locking or incomplete locking. Attached Figure Description

[0017] Figure 1 A schematic diagram of a suspension adjustment and locking device for a wall-climbing robot; Figure 2 A front view schematic diagram of a suspension adjustment and locking device for a wall-climbing robot; Figure 3 A top view schematic diagram of a suspension adjustment and locking device for a wall-climbing robot; Figure 4 for Figure 3 Cross-sectional view of section AA in the middle; Figure 5 for Figure 3 Schematic diagram of the BB section line.

[0018] Explanation of reference numerals in the attached figures: 1. Chassis; 11. Guide rod; 12. Sensor; 2. Axle; 21. Outer shaft; 22. Torsion spring; 3. Adjustment frame; 31. Cantilever end; 32. Limiting part; 33. Spring; 41. Locking block; 411. Screw hole; 412. Sliding hole; 42. Drive component; 421. Motor; 422. Lead screw; 5. Assembly frame; 51. Outer rotating hole. Detailed Implementation

[0019] Those skilled in the art should understand that the following embodiments are merely illustrative of the technical principles of the embodiments of this application and are not intended to limit the scope of protection of the embodiments of this application. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0020] In the following description of the embodiments, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0021] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0022] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0023] Please see Figures 1-5 An embodiment of the present invention provides a suspension adjustment and locking device for a wall-climbing robot, comprising a chassis 1 and a wheel axle 2. The wheel axle 2 includes a transition end rotatably connected to the chassis 1 about the X-axis and an assembly end extending to the outside of the chassis 1, and further includes: An adjustment frame 3 is fixedly connected to the wheel axle 2. The adjustment frame 3 is provided with a limiting part 32 and two cantilever ends 31. The two cantilever ends 31 extend along the Y axis to both sides of the wheel axle 2, and the two cantilever ends 31 are respectively provided with springs 33 connected to the chassis 1. In the natural state, the adjustment frame 3 is held at a predetermined angle under the action of the springs 33. The locking assembly installed on the chassis 1 includes a locking block 41 and a drive member 42 for engaging or disengaging the locking block 41 from the limiting part 32. When the locking block 41 engages with the limiting part 32, the adjusting frame 3 is locked and the wheel axle 2 cannot rotate relative to the chassis 1. When the locking block 41 disengages from the limiting part 32, the adjusting frame 3 is unlocked and the wheel axle 2 can rotate relative to the chassis 1.

[0024] The above solution adds a locking component to the chassis 1. When better obstacle-crossing adaptability is required, the locking component, through the drive component 42, drives the locking block 41 to disengage from the limiting part 32. At this time, the adjusting frame 3 is in the unlocked state, and the wheel axle 2 can rotate relative to the chassis 1. The wheel set at the mounting end of the wheel axle 2 can adaptively deflect according to the working surface, giving the wall-climbing robot better obstacle-crossing adaptability. At the same time, the two cantilever ends 31 of the adjusting frame 3 are connected to the chassis 1 through springs 33, so that the adjusting frame 3 can be maintained at a predetermined angle in its natural state, which is beneficial to the initial positioning of the wheel axle 2 and automatic reset after obstacle crossing. When better walking stability is required, the locking component, through the drive component 42, drives the locking block 41 to engage with the limiting part 32. At this time, the adjusting frame 3 is in the locked state, and the wheel axle 2 cannot rotate relative to the chassis 1, forming a rigid structure, thereby effectively improving the walking stability, walking direction accuracy, and load-bearing capacity of the chassis 1 suspension system. Thus, the wheel axle 2 of this solution can switch between the unlocked and locked states as needed, taking into account both the obstacle-crossing adaptability and walking stability of the wall-climbing robot.

[0025] In the above scheme, the mounting end of the axle 2 is used for assembling the wheel assembly. The wheel assembly typically includes a bracket, a wheel body rotatably connected to the bracket, and a drive motor for driving the wheel body to rotate. This is prior art and will not be described in detail here. In its natural state, the adjusting frame 3 is held at a predetermined angle by the action of the spring 33. The natural state refers to the state without external force. The predetermined angle of the adjusting frame 3 is preferably the angle that makes the wheel assembly at the mounting end of the axle 2 vertical. Of course, the predetermined angle can also be the angle that makes the wheel assembly at the mounting end of the axle 2 vertically tilted at a certain angle, such as 10° to 45°. The specific value is not limited in this design.

[0026] Figure 1 The diagram illustrates the XYZ axial coordinate system. In this embodiment, there are two axles 2, located on opposite sides of the chassis 1 along the X-axis. The connecting ends of the two axles 2 are arranged opposite each other, and each axle 2 has a corresponding adjustment bracket 3, thereby enabling both axles 2 on both sides of the chassis 1 to be unlocked or locked. Of course, as needed, there can also be four axles 2, with two axles 2 on each side of the chassis 1, which can be adjusted as required. The two axles 2 with their connecting ends opposite each other are a pair of axles 2, and each pair of axles 2 is equipped with a locking component.

[0027] In this preferred embodiment, the line connecting the limiting parts 32 of the two adjustment frames 3 is parallel to the X-axis. The driving member 42 is used to drive the locking block 41 to simultaneously engage or disengage from the two limiting parts 32. Thus, a single driving member 42 can drive the locking block 41 to simultaneously engage or disengage from the limiting parts 32 of the two adjustment frames 3, thereby unlocking or locking the wheel axles 2 on both sides of the chassis 1. This simplifies the structure, reduces control complexity, and provides good synchronization, effectively avoiding the problem of chassis 1 tilting or uneven force due to unilateral locking or unlocking.

[0028] The engagement between the locking block 41 and the limiting part 32 can take many forms. For example, the locking block 41 can be in the form of a pin, and the limiting part 32 can be in the form of a socket. When the driving member 42 drives the pin-shaped locking block 41 to insert into the socket-shaped limiting part 32, the angle of the adjusting frame 3 can be locked. Alternatively, both the locking block 41 and the limiting part 32 can be magnets. When the driving member 42 drives the locking block 41 to be attracted to the limiting part 32, the angle of the adjusting frame 3 can be locked. In addition, the locking block 41 can also be in other forms, as long as it can lock the angle of the adjusting frame 3 when engaged with the limiting part 32. The specific form is not limited in this design.

[0029] In this embodiment, such as Figure 1As shown, the limiting part 32 is in the shape of a protruding column, and there are two locking blocks 41 located on both sides of the limiting part 32. The driving member 42 is used to drive the two locking blocks 41 to move closer or further apart. When the two locking blocks 41 move closer together, they will clamp and cooperate with the limiting part 32. When the two locking blocks 41 move further apart, they will disengage from the limiting part 32. The two locking blocks 41 clamp and cooperate with the limiting part 32, which can reliably lock the adjusting frame 3, thereby having good anti-deflection ability and improving load-bearing capacity.

[0030] In this embodiment, as Figure 5 As shown, the driving component 42 preferably includes a motor 421 and a lead screw 422. The lead screw 422 is rotatably connected to the chassis 1 with the Y-axis as the axis and has reverse threads at both ends. Two locking blocks 41 are slidably fitted to the chassis 1 along the Y-axis, and the locking blocks 41 are respectively provided with screw holes 411 screwed to both ends of the lead screw 422. The motor 421 is mounted on the chassis 1 and its output end acts on the lead screw 422, so that when the motor 421 drives the lead screw 422 to rotate, the lead screw 422 drives the two locking blocks 41 to move closer to each other or separate. More specifically, both the output end of the motor 421 and the end of the lead screw 422 are equipped with synchronous pulleys. The synchronous pulley at the output end of the motor 421 drives the synchronous pulley at the end of the lead screw 422 via a synchronous belt, thereby achieving rotational drive of the lead screw 422. Driven by the motor 421, the lead screw 422 rotates, and the reverse threads at both ends of the lead screw 422 allow the two locking blocks 41 to move synchronously towards or away from each other along the Y-axis, thus stably achieving clamping, locking, or unlocking of the limiting part 32. Simultaneously, the lead screw 422 transmission features a compact structure, smooth transmission, and force amplification effect, allowing the motor 421 to reliably clamp the locking blocks 41 onto the limiting part 32 with relatively small driving force. Of course, the driving component 42 can also be two opposing pneumatic or electric cylinders, thereby driving the two locking blocks 41 closer together or further apart; this design does not limit this.

[0031] As an improvement to this embodiment, the chassis 1 is provided with guide rods 11 arranged parallel to the lead screw 422. Preferably, there are two guide rods 11, which are located on both sides of the lead screw 422. The locking block 41 is provided with a sliding hole 412 that is slidably fitted to the guide rod 11. The sliding fit between the sliding hole 412 and the guide rod 11 can, on the one hand, guide the locking block 41, making the locking block 41 move more smoothly along the Y-axis under the drive of the lead screw 422. On the other hand, the guide rod 11 provides anti-rotation constraint for the locking block 41, preventing the locking block 41 from rotating or getting stuck with the lead screw 422, thereby improving the stability and service life of long-term operation.

[0032] In this embodiment, the distance between the two cantilever ends 31 of the adjustment frame 3 and the axle 2 is equal, and the distance between the connection positions of the corresponding springs 33 of the two cantilever ends 31 and the chassis 1 and the axle 2 is equal. This makes the line connecting the two cantilever ends 31 of the adjustment frame 3 parallel to the Y-axis in the natural state, so that the elastic torque generated by the two springs 33 on the adjustment frame 3 through the two cantilever ends 31 is balanced with each other, which is beneficial to improving the automatic reset capability of the axle 2 and the adjustment frame 3 after the angle deflection caused by overcoming obstacles.

[0033] The limiting part 32 of the adjusting frame 3 is preferably spaced equally with respect to the two cantilever ends 31, so that the stability of the adjusting frame 3 is better when the locking block 41 is engaged with the limiting part 32.

[0034] As an extension of this embodiment, it also includes an assembly frame 5 corresponding to each axle 2. The assembly frame 5 is used for mounting the wheel assembly. The assembly end of the axle 2 is provided with an outer rotating shaft 21 with the Y-axis as its axis. The assembly frame 5 is provided with an outer rotating hole 51 that rotatably engages with the axle 2. The outer rotating shaft 21 is provided with a torsion spring 22 that acts on the assembly frame 5 to drive the assembly frame 5 to return to its original position. The assembly frame 5 provides an assembly position for the wheel assembly. At the same time, since the assembly frame 5 rotatably engages with the outer rotating shaft 21 with the Y-axis through the outer rotating hole 51, the wheel assembly, in addition to achieving rotation around the X-axis through the axle 2, achieves rotational freedom around the Y-axis through the assembly frame 5 and the outer rotating shaft 21. This allows the wheel assembly to better adapt to complex and uneven working surfaces, further improving the obstacle-crossing adaptability of the wall-climbing robot.

[0035] In addition, a sensor 12 for sensing the position of the adjustment frame 3 can be set on the chassis 1. The sensor 12 can be an infrared sensor or a laser distance sensor. By sensing the position of the adjustment frame 3 through the sensor 12, the rotation angle of the adjustment frame 3 and the wheel axle 2 can be obtained in real time, providing feedback for the control system of the wall climbing robot, so as to accurately determine the timing of locking and unlocking, and avoid situations such as accidental locking or incomplete locking.

[0036] It should be noted that in the description of this application, the terms "inner" and "outer," etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application. All directional indications (such as up, down, left, right, front, back, inner, and outer) are only used to explain the relative positional relationships and movement between components in a specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0037] In the description of this application, the references to terms such as "an embodiment," "some embodiments," "in this embodiment," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0038] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A suspension adjustment and locking device for a wall-climbing robot, comprising a chassis (1) and an axle (2), wherein the axle (2) includes a connecting end rotatably connected to the chassis (1) about the X-axis and an assembly end extending to the outside of the chassis (1), characterized in that, Also includes: An adjustment frame (3) is fixedly connected to the wheel axle (2). The adjustment frame (3) is provided with a limiting part (32) and two cantilever ends (31). The two cantilever ends (31) extend along the Y axis to both sides of the wheel axle (2), and the two cantilever ends (31) are respectively provided with springs (33) connected to the chassis (1). In a natural state, the adjustment frame (3) is held at a predetermined angle under the action of the springs (33). The locking assembly installed on the chassis (1) includes a locking block (41) and a drive member (42) for engaging or disengaging the locking block (41) from the limiting part (32). When the locking block (41) engages with the limiting part (32), the adjusting frame (3) is locked and the axle (2) cannot rotate relative to the chassis (1). When the locking block (41) disengages from the limiting part (32), the adjusting frame (3) is unlocked and the axle (2) can rotate relative to the chassis (1).

2. The suspension adjustment and locking device for the wall-climbing robot according to claim 1, characterized in that, There are two axles (2) located on both sides of the chassis (1) along the X-axis. The connecting ends of the two axles (2) are arranged opposite each other, and each axle (2) has a corresponding adjustment bracket (3).

3. The suspension adjustment and locking device for the wall-climbing robot according to claim 2, characterized in that, The line connecting the limiting parts (32) of the two adjusting brackets (3) is parallel to the X-axis. The driving member (42) is used to drive the locking block (41) to simultaneously engage or disengage the two limiting parts (32).

4. The suspension adjustment and locking device for the wall-climbing robot according to claim 1, characterized in that, The locking blocks (41) are two in number and are located on both sides of the limiting part (32). The driving member (42) is used to drive the two locking blocks (41) to move closer or further away from each other. When the two locking blocks (41) move closer to each other, they will cooperate with the limiting part (32) in a clamping manner. When the two locking blocks (41) move further away from each other, they will disengage from the limiting part (32).

5. The suspension adjustment and locking device for the wall-climbing robot according to claim 4, characterized in that, The driving component (42) includes a motor (421) and a lead screw (422). The lead screw (422) is rotatably connected to the chassis (1) with the Y-axis as the axis and has reverse threads at both ends. Two locking blocks (41) are slidably fitted to the chassis (1) along the Y-axis, and the locking blocks (41) are respectively provided with screw holes (411) screwed to both ends of the lead screw (422). The motor (421) is mounted on the chassis (1) and its output end acts on the lead screw (422) so that when the motor (421) drives the lead screw (422) to rotate, the lead screw (422) drives the two locking blocks (41) to move closer to each other or separate.

6. The suspension adjustment and locking device for the wall-climbing robot according to claim 5, characterized in that, The chassis (1) is provided with a guide rod (11) arranged parallel to the lead screw (422), and the locking block (41) is provided with a sliding hole (412) that is slidably fitted to the guide rod (11).

7. The suspension adjustment and locking device for the wall-climbing robot according to claim 1, characterized in that, The distance between the two cantilever ends (31) of the adjustment frame (3) and the axle (2) is equal, and the distance between the connection position of the corresponding spring (33) of the two cantilever ends (31) and the chassis (1) and the axle (2) is equal, so that the line connecting the two cantilever ends (31) of the adjustment frame (3) in the natural state is parallel to the Y axis.

8. The suspension adjustment and locking device for the wall-climbing robot according to claim 7, characterized in that, The distance between the limiting part (32) of the adjusting frame (3) and the two cantilever ends (31) is equal.

9. The suspension adjustment and locking device for a wall-climbing robot according to claim 1, characterized in that, It also includes an assembly frame (5) corresponding to each wheel axle (2). The assembly frame (5) is used for wheel assembly. The assembly end of the wheel axle (2) is provided with an outer rotating shaft (21) with the Y-axis as the axis. The assembly frame (5) is provided with an outer rotating hole (51) that rotatably engages with the wheel axle (2). The outer rotating shaft (21) is provided with a torsion spring (22) that acts on the assembly frame (5) to drive the assembly frame (5) to reset.

10. The suspension adjustment and locking device for a wall-climbing robot according to claim 1, characterized in that, The chassis (1) is equipped with a sensor (12) for sensing the position of the adjustment frame (3).

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