Wall-climbing robot

Abstract

The utility model relates to the technical field of wall-climbing robots, in particular to a wall-climbing robot which comprises a robot body, a walking system and a magnetic attraction system, the walking system comprises a chain wheel and a caterpillar band, and the magnetic attraction system comprises a magnetic attraction type chain link and a magnetic tile assembly which is in an arc shape. The magnetic tile assembly is at least arranged on one of the outer sides of the front end face and the bottom face of the machine body and the outer sides of the rear end face and the bottom face of the machine body, an extension section is formed by the magnetic tile assembly, at least one additional magnet is arranged in the extension section, a plurality of arc-shaped magnets are arranged, and the additional magnets and the arc-shaped magnets of a magnetic tile assembly body are arranged adjacently or at intervals. According to the wall-climbing robot, due to the fact that the magnetic tile assemblies are arranged on the outer side of the front end face and the outer side of the bottom face of the robot body of the wall-climbing robot, the defect that when the wall-climbing robot passes through a wall corner, part of magnetic attraction type chain links of a caterpillar band are suspended, and consequently magnetic attraction force is weakened is overcome, and continuous magnetic attraction force is provided for the wall-climbing robot to pass through the wall corner.

Description

Technical Field

[0001] The utility model relates to the technical field of wall-climbing robots, in particular to a wall-climbing robot. Background Art

[0002] The surface of ships that sail on the water for a long time will be corroded and rusted. These rusts will affect the safety of the ship's navigation. Therefore, ships that have been sailing for a certain period of time need to be rust-removed and painted before they can continue to work. So far, the main operation method for cleaning the surface of domestic ships is workers, which has low cleaning efficiency, high risk factor, and serious environmental pollution. Another solution is to use wall-climbing cleaning robots to remove rust and clean.

[0003] Currently, most wall-climbing cleaning robots are divided into tracked and wheeled types. One prior art discloses a tracked wall-climbing robot, whose walking system discloses a first magnetic adsorption mechanism, which is connected to the frame and is located between the first driving wheel and the second driving wheel. The first magnetic adsorption mechanism is provided with a first magnetic adsorption structure with magnetism, and the distance between the first magnetic adsorption structure and the wall to be cleaned can be adjusted.

[0004] Another prior art, the permanent magnetic adsorption unit of its walking system includes a connecting plate, a pure iron seat and a permanent magnetic assembly which are connected in sequence with different poles from top to bottom, the connecting plate is fixedly connected to the wall-climbing robot, the permanent magnetic assembly is an arc-shaped structure composed of a number of permanent magnet blocks spliced ​​in sequence along the circumferential direction, the magnetic pole distribution of the permanent magnet blocks adopts a Halbach array arrangement, the upper surface of the pure iron seat has an arc surface matching the bottom shape of the connecting plate, and the lower surface of the pure iron seat has an arc surface matching the top shape of the permanent magnetic assembly.

[0005] The above-mentioned wall-climbing robots all have problems such as insufficient load capacity and poor stability, or are unable to complete the transition of inclined walls, have single functions, limited walking, and difficult maintenance. Summary of the invention

[0006] In view of this, the utility model provides a wall-climbing robot, which at least partially solves the problems existing in the prior art.

[0007] A wall-climbing robot comprises a body, a walking system and a magnetic system, wherein the walking system comprises sprockets and corresponding tracks arranged on both sides of the body, the magnetic system comprises magnetic chain links constituting the tracks and a magnetic tile assembly arranged on the body, the main body of the magnetic tile assembly is arc-shaped and is arranged at least on the outside of the front end face and the bottom surface of the body and on the outside of the rear end face and the bottom surface of the body, in one of the two places, the magnetic tile assembly is connected to one end of the bottom surface of the body and continues to extend along the length direction of the body to form an extension section, at least one additional magnet is arranged in the extension section, and a plurality of arc-shaped magnets are arranged on the main body of the magnetic tile assembly, and the additional magnets are arranged adjacent to or spaced apart from the arc-shaped magnets.

[0008] Preferably, the main body of the magnetic shoe assembly further comprises an arc-shaped bottom shell, an arc-shaped surface shell, and an arc-shaped yoke, wherein the arc-shaped bottom shell and the arc-shaped surface shell form an arc-shaped accommodation space, and the arc-shaped yoke covers the plurality of arc-shaped magnets and is disposed together in the arc-shaped accommodation space;

[0009] The extended section is formed by the arc bottom shell, the arc surface shell, and the arc yoke extending along the length direction of the body, the additional magnet is at least one bar magnet, and the additional magnet is adjacent to the arc magnet at the end, or the extended section is spaced apart from the main body of the magnetic tile assembly, and the additional magnet is at least two bar magnets, the two additional magnets are covered with additional yokes, and the magnetic poles of the two additional magnets close to the outer surface are opposite;

[0010] Connecting parts are also provided at both ends of the magnetic shoe assembly, one of the connecting parts is connected to the bottom surface of the machine body, and the other connecting part is connected to the front end surface or the rear end surface of the machine body.

[0011] Preferably, the connecting portion includes a right-angle connecting piece, one end of the right-angle connecting piece is connected to the end of the magnetic tile assembly, and the other end of the right-angle connecting piece is connected to the machine body, and the connecting portion is also provided with an adjustment device for adjusting the distance between the outer surface of the magnetic tile assembly and the working surface.

[0012] Preferably, the adjusting device is a gasket provided between the right-angle connecting member and the machine body, or the adjusting device is mainly composed of a threaded hole provided on the right-angle connecting member, a threaded hole provided on the machine body and corresponding screws or bolts.

[0013] Preferably, a buffer device is provided in the arc-shaped bottom shell to prevent the arc-shaped magnet from being crushed.

[0014] Preferably, the adjustable range of the distance between the outer surface of the magnetic tile assembly and the working surface is 2 mm to 7 mm.

[0015] Preferably, the adjustable range of the distance between the outer surface of the magnetic shoe assembly and the working surface is 3 mm to 5 mm.

[0016] Preferably, the magnetic chain link includes a bar-shaped body, a connecting head arranged on one side of the bar-shaped body, and connecting seats arranged at both ends of the bar-shaped body, and the connecting head and the connecting seat are both provided with through holes that pass through the length direction of the bar-shaped body, the connecting head is placed between two connecting seats of adjacent magnetic chain links, and a connecting pin penetrates the connecting head and the through holes of the connecting seats of adjacent magnetic chain links, thereby forming a connection between two adjacent magnetic chain links; a magnetic module is arranged on the bar-shaped body, and the magnetic module includes a bar magnet, a yoke and a protective frame, wherein the bar magnet is accommodated in the protective frame, the yoke covers a side of the bar magnet close to the inner surface of the track, and the magnetic module is integrally injection molded in the bar-shaped body.

[0017] Preferably, the magnetic attraction system further comprises a magnetic attraction block arranged on the bottom surface of the machine body, and the bottommost surface of the magnetic attraction block does not protrude from the bottommost surface of the track.

[0018] Preferably, the number of the magnetic chain links and the number of teeth of the sprocket are odd or even numbers.

[0019] Preferably, the machine body is composed of a cover plate, a bottom plate, two left and right side plates, a front plate and a rear plate which are sealed together. A driving device for driving the sprocket is arranged in the machine body. The driving device includes a coaxially arranged driving motor and a reducer. The reducer is connected to the sprocket through a plurality of sealing rings.

[0020] Preferably, a heat dissipation groove is provided on at least one of the cover plate, the bottom plate and the side plate, and a heat dissipation fin is provided on the drive motor.

[0021] The wall-climbing robot described in the utility model has magnetic tile assemblies arranged on the outer sides of the front end face and the bottom face of the wall-climbing robot body, thereby compensating for the defect that some magnetic chain links of the crawler tracks of the wall-climbing robot are suspended in the air, resulting in weakened magnetic attraction when the wall-climbing robot passes through a corner. This provides continuous magnetic attraction for the wall-climbing robot to pass through a corner, and greatly improves the stability of the wall-climbing robot to pass through a corner. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1This is a three-dimensional schematic diagram of the wall-climbing robot according to an embodiment of the utility model;

[0024] Figure 2 A bottom view schematic diagram of the wall-climbing robot according to an embodiment of the utility model;

[0025] Figure 3 It is a three-dimensional schematic diagram of the magnetic tile assembly of the wall-climbing robot according to the embodiment of the utility model;

[0026] Figure 4 for Figure 3 An exploded schematic diagram of the magnetic tile assembly shown;

[0027] Figure 5 This is a schematic structural diagram of the magnetic chain link of the wall-climbing robot according to an embodiment of the utility model;

[0028] Figure 6 for Figure 5 An exploded view of the magnetic chain link shown;

[0029] Figure 7 A cross-sectional schematic diagram of the wall-climbing robot according to an embodiment of the utility model;

[0030] Figure 8 This is a schematic diagram of the wall climbing state of the wall climbing robot according to an embodiment of the utility model;

[0031] Fig. 9 It is a three-dimensional schematic diagram of an extended section of the magnetic tile assembly of a wall-climbing robot according to another embodiment of the utility model.

[0032] Description of reference numerals:

[0033] 1-machine body, 2-sprocket, 3-track;

[0034] 4-magnetic chain link, 41-bar body, 42-connecting head, 43-connecting seat, 44-connecting pin, 45-bar magnet, 46-yoke, 47-protection frame, 48-installation groove, 49-friction pad, 410-locking screw, 411-clamping ring;

[0035] 5-driving motor, 51-reducing machine, 52-heat dissipating fin;

[0036] 6-magnetic tile assembly, 61-arc bottom shell, 62-arc surface shell, 63-arc yoke, 64-arc magnet, 65-right angle connector, 66-gasket, 67-buffer device, 68-additional magnet, 69-additional yoke, 610-main body, 611-extension section;

[0037] 7-Magnetic block. DETAILED DESCRIPTION

[0038] The embodiments of the utility model are described in detail below with reference to the accompanying drawings.

[0039] It should be noted that the following embodiments and features in the embodiments may be combined with each other in the absence of conflict; and, based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making any creative work are within the scope of protection of the present disclosure.

[0040] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0041] Figure 1 Schematic diagram of a wall-climbing robot according to an embodiment of the utility model. Figure 2 Schematic diagram of a bottom view of the wall-climbing robot according to an embodiment of the utility model, Figure 3 This is a three-dimensional schematic diagram of the magnetic tile assembly of the wall-climbing robot according to an embodiment of the utility model. Figure 4 for Figure 3 An exploded schematic diagram of the magnetic tile assembly is shown. Figure 5 This is a schematic diagram of the structure of the magnetic chain link of the wall-climbing robot according to an embodiment of the utility model. Figure 6 for Figure 5 The exploded view of the magnetic chain link shown, Figure 7 Schematic cross-sectional view of the wall-climbing robot according to an embodiment of the utility model, Figure 8 Schematic diagram of the wall climbing state of the wall climbing robot according to the embodiment of the utility model, Fig. 9 This is a three-dimensional schematic diagram of the extended section of the magnetic tile assembly of the wall-climbing robot according to another embodiment of the utility model. Figures 1 to 9 A detailed description of the wall-climbing robot is given.

[0042] See also Figure 1 , Figure 2As shown, the wall-climbing robot described in this embodiment includes a body 1, a walking system and a magnetic attraction system. The walking system includes sprockets 2 and corresponding tracks 3 arranged on both sides of the body 1. The magnetic attraction system includes magnetic links constituting the tracks 3 and a magnetic tile assembly 6 arranged on the body 1. The main body 610 of the magnetic tile assembly 6 is arc-shaped and is arranged at least on the outside of the front end face and the bottom surface of the body 1 and the outside of the rear end face and the bottom surface of the body 1. In one of these two places, the magnetic tile assembly 6 is connected to one end of the bottom surface of the body 1 and continues to extend along the length direction of the body 1 to form an extension section 611. At least one additional magnet 68 is arranged in the extension section 611. In this embodiment, two groups of magnetic tile assemblies 6 are arranged on the outside of the front end face and the bottom surface of the body 1, and two groups of magnetic tile assemblies 6 are also arranged on the outside of the rear end face and the bottom surface of the body 1. In other embodiments, at least one group of magnetic tile assemblies 6 can be arranged according to actual needs. In this embodiment, the number of magnetic chain links 4 and the number of teeth on the sprocket 2 are odd and even numbers, that is, if the number of magnetic chain links 4 is an even number, the number of teeth on the sprocket 2 is an odd number, and vice versa. This structure allows the front and rear wheels to complement each other when the robot walks, thereby enhancing the suction force of the robot's bottom magnet on the working surface.

[0043] like Figure 3 , Figure 4 As shown, the main body 610 of the magnetic shoe assembly 6 includes an arc-shaped bottom shell 61, an arc-shaped surface shell 62, an arc-shaped yoke 63 and a plurality of arc-shaped magnets 64, the arc-shaped bottom shell 61 and the arc-shaped surface shell 62 form an arc-shaped accommodation space, the arc-shaped yoke 63 covers a surface of the plurality of arc-shaped magnets 64 away from the outer surface of the magnetic shoe assembly 6, and is arranged together in the arc-shaped accommodation space; the extended section 611 is formed by the arc-shaped bottom shell 61, the arc-shaped surface shell 62, and the arc-shaped yoke 63 continuing to extend along the length direction of the body 1, and the additional magnet 68 is a bar magnet, which is adjacent to the arc-shaped magnet 64 at the end of the main body 610 and is covered by the arc-shaped yoke 63 together with all other arc-shaped magnets 64. In other embodiments, the additional magnet 68 may also be a plurality of bar magnets, and the magnetic poles of two adjacent magnets are arranged oppositely near one end of the outer surface of the magnetic shoe assembly 6; in some other embodiments, the bar magnet is spaced apart from the arc magnet 64 at the end of the main body 610 and is covered by the arc yoke 63 together with all other arc magnets 64.

[0044] Connecting parts are also provided at both ends of the magnetic tile assembly 6, one of which is connected to the bottom surface of the body 1, and the other is connected to the front or rear surface of the body 1. The connecting part includes a right-angle connector 65, one end of which is connected to the end of the magnetic tile assembly 6, and the other end of which is connected to the body 1. The connecting part is also provided with an adjusting device for adjusting the distance between the outer surface of the magnetic tile assembly 6 and the working surface. The adjusting device can adjust the gap between the outer surface of the magnetic tile assembly 6 and the working surface by adjusting the distance between the body 1 and the magnetic tile assembly 6, thereby adjusting the size of the magnetic attraction of the magnetic tile assembly 6 to adapt to different usage scenarios. The adjustable range of the distance between the outer surface of the magnetic tile assembly 6 and the working surface is 2mm to 7mm, and more preferably, the adjustable range of the distance between the outer surface of the magnetic tile assembly 6 and the working surface is 3mm to 5mm.

[0045] In this embodiment, the adjusting device is a gasket 66 disposed between the right-angled connecting member 65 and the machine body 1. The gasket 66 is U-shaped or annular, and its thickness is a fixed value, such as 1 mm or 0.5 mm, so that the gap between the front surface or the lower surface of the magnetic tile assembly 6 and the wall can be adjusted by the number of gaskets 66. In other embodiments, the adjusting device can also be a screw or a bolt, and the distance between the magnetic tile assembly 6 and the machine body 1 can be adjusted through the threaded holes on the right-angled connecting member 65 and the machine body 1.

[0046] The arc bottom shell 61 is provided with a buffer device 67 for preventing the arc magnet 64 from being crushed. In this embodiment, the buffer device 67 is a rubber pad. In other embodiments, the buffer device 67 can also be a spring or a flexible pad made of other materials. The magnetic tile assembly 6 is connected to one end of the bottom surface of the body 1 and continues to extend along the length direction of the body 1 to form a strip space. At least one additional magnet 68 is provided in the strip space. This structure is equivalent to adding a magnet to the bottom surface of the body 1, thereby increasing the magnetic attraction of the bottom surface of the body 1.

[0047] Reference Figure 8 As shown, when the wall-climbing robot moves from one surface to another, when passing through the corners of the two surfaces, some of the magnetic links of the track 3 are suspended in the air, resulting in a weakening of the magnetic attraction. The wall-climbing robot described in this embodiment has a magnetic tile assembly 6 arranged on the outer side of the front end surface and the bottom surface of the body 1 of the wall-climbing robot, which compensates for the defect of weakened magnetic attraction of the wall-climbing robot when passing through the corners, provides continuous magnetic attraction for the wall-climbing robot when passing through the corners, and greatly improves the stability of the wall-climbing robot when passing through the corners.

[0048] Reference Figure 5 , Figure 6As shown, a magnetic module is also provided on the bar-shaped body 41 of the magnetic chain link 4, and the magnetic module includes a bar magnet 45, a yoke 46 and a protective frame 47, wherein the bar magnet 45 is accommodated in the protective frame 47, the yoke 46 covers the bar magnet 45, and the magnetic module is integrally injection molded in the magnetic chain link 4. Since the magnet is relatively brittle and easily broken, the protective frame 47 can protect the square magnet during the walking process of the crawler 3. The bar magnet 45 is covered with a yoke 46 on one side close to the inner surface of the crawler 3, so that the magnetic attraction of the single bar magnet 45 can be enhanced; the above-mentioned one-piece injection molding, that is, the bar magnet 45, the yoke 46 and the protective frame 47 are assembled into one, and then placed in the mold of the magnetic chain link 4. When the shape of the magnetic chain link 4 is formed by injection molding, the structure in which the bar magnet 45, the yoke 46 and the protective frame 47 are assembled into one is completely covered by the injection molding material. This structure not only enhances the strength and rigidity of the chain link itself, but also makes it easier to remove the adsorbed iron filings because there are fewer surface gaps. In other embodiments, the magnetic module can also be directly fixed to the magnetic chain link 4 by glue, screws, etc.

[0049] A friction pad 49 is detachably provided on one side of the connector 42 and the connector seat 43 near the outer surface of the track 3, and the outer surface of the friction pad 49 protrudes from the outer surface of the main body of the magnetic chain link 4. The detachable connection includes a mounting groove 48 provided on the connector 42 and the connector seat 43, and the lower part of the friction pad 49 is embedded in the mounting groove 48. The detachable connection also includes a locking screw 410 for fastening the friction pad 49 to the mounting groove 48. In this embodiment, the friction pad 49 is made of rubber. In other embodiments, the friction pad 49 can also be made of other materials that can enhance friction, such as plastic, nylon, etc.; in other embodiments, the number of the friction pad 49 can be set to only one or more according to needs, and the detachable connection between the friction pad 49 and the magnetic chain link 4 can also only retain the embedding method or the screw connection method. In the above structure, because the friction pad 49 is detachably connected to the magnetic chain link 4, when the friction pad 49 is worn, it can be replaced conveniently and quickly.

[0050] Reference Figure 7 As shown, the body 1 is composed of a cover plate, a bottom plate, two left and right side plates, a front plate and a rear plate that are sealed and connected. A driving device for driving the sprocket 2 is arranged in the body 1. The driving device includes a coaxially arranged driving motor 5 and a reducer 51. The reducer 51 is connected to the sprocket 2 through a plurality of sealing rings. A heat dissipation groove (not shown in the figure) is arranged on at least one of the cover plate, the bottom plate and the side plate, and a heat dissipation fin 52 is arranged on the driving motor 5. This heat dissipation design makes the heat dissipation effect of the wall-climbing robot good and increases the service life of the control components inside the vehicle.

[0051] See also Figure 2 In the position of the middle label 7, in other embodiments, the magnetic system also includes a magnetic block 7 arranged on the bottom surface of the body 1, and the bottom surface of the magnetic block 7 does not protrude from the bottom surface of the track 3. This structure can further enhance the magnetic attraction force of the bottom surface of the body 1.

[0052] Fig. 9 It is a three-dimensional schematic diagram of the extension section of the magnetic tile assembly of the wall-climbing robot described in another embodiment of the utility model. In this embodiment, the extension section 611 is spaced apart from the main body 610 of the magnetic tile assembly 6, and the additional magnet 68 of the extension section 611 is two bar magnets, and the two additional magnets 68 are covered with an additional yoke 69, and the magnetic poles of the two additional magnets 68 close to the outer surface are opposite; in other embodiments, the additional magnet 68 can also be multiple bar magnets, and the magnetic poles of two adjacent magnets close to the outer surface are opposite.

[0053] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the utility model should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A wall-climbing robot, comprising a body (1), a walking system and a magnetic attraction system, wherein the walking system comprises sprockets (2) and corresponding tracks (3) arranged on both sides of the body (1), characterized in that: The magnetic attraction system comprises a magnetic attraction chain link constituting a crawler (3) and a magnetic shoe assembly (6) arranged on the machine body (1); the main body (610) of the magnetic shoe assembly (6) is arc-shaped and is arranged at least at one of the two locations: the outer side of the front end face and the bottom surface of the machine body (1) or the outer side of the rear end face and the bottom surface of the machine body (1); the magnetic shoe assembly (6) is connected to one end of the bottom surface of the machine body (1) and continues to extend along the length direction of the machine body (1) to form an extension section (611); at least one additional magnet (68) is arranged in the extension section (611); a plurality of arc-shaped magnets (64) are arranged on the main body (610) of the magnetic shoe assembly (6); the additional magnets (68) are arranged adjacent to or spaced apart from the arc-shaped magnets (64).

2. The wall-climbing robot according to claim 1, characterized in that: The main body (610) of the magnetic shoe assembly (6) further comprises an arc-shaped bottom shell (61), an arc-shaped surface shell (62), and an arc-shaped yoke (63), wherein the arc-shaped bottom shell (61) and the arc-shaped surface shell (62) form an arc-shaped accommodation space, and the arc-shaped yoke (63) covers the plurality of arc-shaped magnets (64) and is disposed together in the arc-shaped accommodation space; The extension section (611) is formed by the arc-shaped bottom shell (61), the arc-shaped surface shell (62), and the arc-shaped yoke (63) extending along the length direction of the body (1); the additional magnet (68) is at least one bar magnet, and the additional magnet (68) is adjacent to the arc-shaped magnet (64) at the end, or the extension section (611) is spaced apart from the main body (610) of the magnetic shoe assembly (6); the additional magnet (68) is at least two bar magnets, and the two additional magnets (68) are covered with an additional yoke (69), and the magnetic poles of the two additional magnets (68) close to the outer surface are opposite; Connecting parts are also provided at both ends of the magnetic shoe assembly (6), one of the connecting parts is connected to the bottom surface of the machine body (1), and the other connecting part is connected to the front end surface or the rear end surface of the machine body (1).

3. The wall-climbing robot according to claim 2, characterized in that: The connecting portion comprises a right-angle connecting piece (65), one end of the right-angle connecting piece (65) is connected to the end of the magnetic shoe assembly (6), and the other end of the right-angle connecting piece (65) is connected to the machine body (1), and the connecting portion is also provided with an adjustment device for adjusting the distance between the outer surface of the magnetic shoe assembly (6) and the working surface.

4. The wall-climbing robot according to claim 3, characterized in that: The adjusting device is a gasket (66) arranged between the right-angle connecting member (65) and the machine body (1), or the adjusting device is mainly composed of a threaded hole arranged on the right-angle connecting member (65), a threaded hole arranged on the machine body, and corresponding screws or bolts.

5. The wall-climbing robot according to claim 2, characterized in that: A buffer device (67) is provided in the arc-shaped bottom shell (61) for preventing the arc-shaped magnet (64) from being crushed.

6. The wall-climbing robot according to claim 3, characterized in that: The adjustable range of the distance between the outer surface of the magnetic shoe assembly (6) and the working surface is 2 mm to 7 mm.

7. The wall-climbing robot according to claim 1, characterized in that: The magnetic chain link (4) comprises a strip-shaped body (41), a connecting head (42) arranged on one side of the strip-shaped body (41), and connecting seats (43) arranged at both ends of the strip-shaped body (41). Through holes are arranged on the connecting head (42) and the connecting seat (43) along the length direction of the strip-shaped body (41). The connecting head (42) is placed between two connecting seats (43) of adjacent magnetic chain links (4), and a connecting pin (44) penetrates the connecting head (42) and adjacent magnetic chain links (4). 4), thereby forming a connection between two adjacent magnetic chain links (4); a magnetic module is arranged on the bar-shaped body (41), and the magnetic module comprises a bar magnet (45), a yoke (46) and a protection frame (47), wherein the bar magnet (45) is accommodated in the protection frame (47), the yoke (46) covers a side of the bar magnet (45) close to the inner surface of the crawler (3), and the magnetic module is integrally injection-molded in the magnetic chain link (4).

8. The wall-climbing robot according to claim 1, characterized in that: The magnetic attraction system further comprises a magnetic attraction block (7) arranged on the bottom surface of the machine body (1), and the bottom surface of the magnetic attraction block (7) does not protrude from the bottom surface of the crawler (3).

9. The wall-climbing robot according to claim 1, characterized in that: The number of the magnetic chain links (4) and the number of teeth of the sprocket (2) are odd and even numbers.

10. The wall-climbing robot according to claim 9, characterized in that: The machine body is composed of a cover plate, a bottom plate, two left and right side plates, a front plate and a rear plate which are sealed together. A driving device for driving the sprocket is arranged in the machine body. The driving device includes a coaxially arranged driving motor and a reducer. A heat dissipation groove is arranged on at least one of the cover plate, the bottom plate and the side plate. A heat dissipation fin (52) is arranged on the driving motor (5).

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