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

Abstract

The utility model 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 different modules can be flexibly configured in different application scenes, so that the capacity of customized production and quick response to market requirements is realized.

Description

Technical Field

[0001] The utility model particularly relates to a crawler-type wall-climbing robot monomer and a crawler-type wall-climbing robot, belonging to the technical field of wall-climbing robots. Background Art

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

[0003] CN108860351A discloses a modular crawler and robot, and the modular crawler itself does not have the ability to adsorb and does not have the ability to work on the magnetic wall. CN113696987A discloses a single-track wall-climbing robot, including a walking device and a steering device. The adsorption force comes from the adsorption units on the chain crawler, which mainly involves the steering device, and does not involve the specific internal structure of the single crawler. The steering is through the electromagnet suction cup. CN113085542A discloses an ultrasonic flaw detection wall-climbing robot, which has the following technical features: including a frame, two crawler drive modules and a magnetic adsorption module, the magnetic adsorption module is installed at 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, and an ultrasonic detection module is also installed at the upper end of the frame. However, there are some shortcomings in the traditional crawler-type magnetic wall-climbing robot: lack of product standardization, inability to adjust the adsorption force, and difficulty in maintenance and repair. Utility Model Content

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

[0005] In order to achieve the above-mentioned utility model purpose, the technical solution adopted by the utility model includes:

[0006] On the one hand, the utility model provides a crawler-type wall-climbing robot unit, including a frame, a magnetic crawler, a crawler drive device and a tensioning mechanism, wherein the magnetic crawler, the crawler drive device and the tensioning mechanism are installed on the frame, the magnetic crawler itself can provide a magnetic adsorption force, the crawler drive device is connected to the magnetic crawler transmission and provides a 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 extended and retracted along a selected direction under the drive of an external force, and provides a tensioning force for the magnetic crawler.

[0007] Another aspect of the utility model provides a crawler-type wall-climbing robot, comprising a plurality of crawler-type wall-climbing robot units.

[0008] Compared with the prior art, the advantages of the utility model include: the utility model provides a tracked magnetic wall-climbing robot unit, which makes the manufacture, assembly and maintenance of the wall-climbing robot easier and more efficient, and can also flexibly configure different modules in different application scenarios, thereby realizing customized production and the ability to quickly respond to market demand. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a schematic diagram of the external structure of a crawler-type wall-climbing robot provided in Example 1 of the utility model;

[0010] Figure 2 This is a schematic diagram of the internal structure of a crawler-type wall-climbing robot provided in Example 1 of the utility model;

[0011] Figure 3 A schematic structural diagram of a magnetic crawler of a crawler-type wall-climbing robot provided in Example 1 of the present utility model;

[0012] Figure 4 A schematic structural diagram of an idler wheel shaft of a crawler-type wall-climbing robot provided in Example 1 of the present utility model;

[0013] Figure 5 A schematic structural diagram of a crawler-type wall-climbing robot provided in Embodiment 2 of the present utility model;

[0014] Figure 6 A schematic structural diagram of a tracked wall-climbing robot provided in Example 2 of the utility model. DETAILED DESCRIPTION

[0015] In view of the deficiencies in the prior art, the inventor of this case has proposed the technical solution of the utility model after long-term research and extensive practice. The technical solution, its implementation process and principle will be further explained as follows.

[0016] On the one hand, the utility model provides a crawler-type wall-climbing robot unit, including a frame, a magnetic crawler, a crawler drive device and a tensioning mechanism, wherein the magnetic crawler, the crawler drive device and the tensioning mechanism are installed on the frame, the magnetic crawler itself can provide a magnetic adsorption force, the crawler drive device is connected to the magnetic crawler transmission and provides a 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 extended and retracted along a selected direction under the drive of an external force, and provides a tensioning force for the magnetic crawler.

[0017] Furthermore, the magnetic track includes a synchronous belt and a plurality of blocks, the track drive device cooperates with the synchronous belt transmission, the plurality of blocks are fixed on the outer surface of the synchronous belt at intervals along the circumference direction 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.

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

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

[0020] Furthermore, the track drive device includes a driving mechanism, a transmission mechanism, a synchronous wheel and an idler wheel, the synchronous wheel and the idler wheel are arranged at intervals, the magnetic track is continuously sleeved on the synchronous wheel and the idler wheel, and is transmission-coordinated with the synchronous wheel and the idler wheel, the driving mechanism is transmission-connected to the synchronous wheel via the transmission mechanism, and the synchronous wheel can rotate around its own axis under the drive of the driving mechanism.

[0021] Furthermore, the synchronous wheel is fixed on the driving shaft, the transmission mechanism includes a gear set, the gear set includes more than two meshing gears, and the endmost gear in the gear set is connected to the driving shaft by meshing to achieve transmission.

[0022] Furthermore, the synchronous wheel and the idler wheel are arranged at intervals along the selected direction, and in the selected direction, the idler wheel and the frame are movably cooperated, the tensioning mechanism is connected to the idler wheel, and the idler wheel can move along the selected direction together with the tensioning mechanism.

[0023] Furthermore, the idler wheel is installed on an idler wheel seat, the idler wheel is rotatably connected to the idler wheel seat, and the tensioning mechanism cooperates with the idler wheel seat.

[0024] Furthermore, an idler shaft is fixedly disposed on the idler, and the idler shaft is disposed on the idler seat and rotatably cooperates with the idler seat.

[0025] Furthermore, a mounting groove is provided on the idler wheel seat, and at least a portion of the idler wheel is disposed in the idler wheel groove.

[0026] Furthermore, the mounting groove is a U-shaped groove matching the idler wheel.

[0027] Furthermore, the frame is provided with a guide groove extending along the selected direction, a part of the idler wheel seat is arranged in the guide groove and movably cooperates with the guide groove, and the idler wheel seat can move along the guide groove.

[0028] Furthermore, a stop hole is provided on the frame, the axial direction of the stop hole intersects with the selected direction and the stop hole is communicated with the guide groove, and a stop component is provided in the stop hole, and a part of the stop component can protrude along the stop hole to the movable trajectory of the idler seat and prevent the idler seat from continuing to move along the guide groove.

[0029] Furthermore, the stop hole is a threaded hole, and the stop component is a threaded component.

[0030] Furthermore, a tensioning limit mechanism is provided on the frame, a guide hole is provided on the tensioning limit mechanism, a guide rod is provided on the idler wheel seat, one end of the guide rod is provided in the guide hole and movably cooperates with the guide hole, and the tensioning mechanism is provided between the tensioning limit mechanism and the idler wheel seat.

[0031] Furthermore, the tensioning mechanism is arranged on the outside of the guide rod.

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

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

[0034] Furthermore, the guide hole is coaxially arranged with the guide rod.

[0035] Furthermore, a tensioning adjustment mechanism is also provided on the tensioning limit mechanism, and the tensioning adjustment mechanism is movably cooperated with the tensioning limit mechanism, and the position of the tensioning adjustment mechanism on the tensioning limit mechanism can be adjusted along the selected direction, wherein the tensioning mechanism is confined between the tensioning adjustment mechanism and the idler wheel seat.

[0036] Furthermore, the tensioning adjustment mechanism is threadedly connected to the tensioning limiting mechanism.

[0037] Furthermore, 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 the portion of the cover plate close to the outer edge of one side of the magnetic track contacts the stopper on the magnetic track. The outer edge of the synchronous belt of the magnetic track also extends to the connection between the cover plate and the side plate.

[0038] Another aspect of the utility model provides a crawler-type wall-climbing robot, comprising a plurality of crawler-type wall-climbing robot units.

[0039] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Unless otherwise specified, the motors, gears, springs and other components used in the embodiments of the present utility model are all known to those skilled in the art and can be obtained commercially.

[0040] The utility model provides a crawler-type magnetic wall-climbing robot monomer, which has high independence and can be adapted to different scenarios through different combinations. Figure 1-Figure 6 The structure of the crawler magnetic wall-climbing robot unit is described in detail.

[0041] Example 1

[0042] See also Figure 1 and Figure 2 A crawler-type magnetic wall-climbing robot monomer, comprising a magnetic crawler (i.e., a magnet / rubber composite crawler) 1, a frame body (not marked in the figure), a first synchronous wheel 5, a driving shaft 6, a second synchronous wheel 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 wheel 5 and the second synchronous wheel 7 are fixed on the driving shaft 6, the driving shaft 6 is installed at the first end of the frame body and rotates with the frame body, the idler wheel 15 is installed at the idler wheel seat 11 and rotates with the idler wheel seat 11, the idler wheel seat 11 is installed at the second end of the frame body and movably cooperates with the frame body, and the magnetic track 1 is installed on the frame body and drives the first synchronous wheel 5, the second synchronous wheel 7, and the idler wheel 15 (it should be noted that the rotation of the pulley (i.e., the first synchronous wheel 5, the second synchronous wheel 7, and the idler wheel 15) drives the belt (i.e., the magnetic track) to run, which is known to those skilled in the art, and its specific structure and working principle are not described in detail here);

[0044] The rear baffle 9 is fixed on the frame body (of course, the rear baffle can also be regarded as a part of the frame body), and is located in the middle part between the first end and the second end of the frame body. The tensioning mechanism is restricted between the rear baffle 9 and the idler wheel 15. The tensioning mechanism can be extended and retracted along the first direction under the drive of external force and provide tensioning force for the magnetic track. The first direction is the aforementioned selected direction, that is, the direction in which the first end points 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, wherein the plurality of blocks are fixed on the outer surface of the synchronous belt at intervals along the circumference direction of the synchronous belt, and the blocks contain magnets, wherein 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, and more specifically, the magnets are embedded in the non-magnetic body; exemplarily, the magnets are square NdFeB magnets, and the non-magnetic body is a rubber shell, and the square NdFeB magnets and the rubber shell are processed into blocks by a molding composite technology, and the blocks are bonded to the synchronous belt by hot melting.

[0048] Specifically, two side plates 3 and two cover plates 2 are also provided on the frame body. The two cover plates 2 and the two side plates 3 are fixedly arranged on both sides of the frame body along the width direction of the magnetic track 1. The cover plates 2 are linked to the side plates 3. The inwardly extending portion of the outer side of the cover plates 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 plates 2 to achieve a dustproof effect. More specifically, steps are provided at the upper and lower ends of the cover plates 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 plate 3, and the aviation plug 4 is connected to the internal driving 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 is used as a motor compartment, a motor seat 8 is installed in the motor compartment, and the driving mechanism is arranged in the motor seat 8. More specifically, a sealing plate 13 is further arranged in the area corresponding to the frame body and the motor compartment, and the sealing plate 13 is fixedly connected to the frame body and restricts the motor seat 8 in the motor compartment.

[0051] Specifically, an idler shaft 16 is fixedly disposed on the idler wheel 15, and the idler shaft is disposed on the idler wheel seat 11 and rotates with the idler wheel seat 11, and the idler wheel 15 can rotate synchronously with the idler shaft, or the idler wheel 15 is mounted on the idler shaft 16, and a bearing 12 is disposed between the idler wheel 15 and the idler shaft 16 to achieve rotational cooperation (such as Figure 4 As shown), the idler shaft 16 is fixedly mounted on the idler seat 11; more specifically, a mounting groove is provided on the idler seat 11, and at least a portion of the idler 15 is disposed in the idler groove. Exemplarily, the mounting groove is a U-shaped groove matching the idler 15.

[0052] Specifically, the side plate 3 is provided with a guide groove extending along the first direction, a part of the idler seat 11 is provided in the guide groove and movably cooperates with the guide groove, and the idler seat 11 can move along the guide groove, and a stop hole is also provided on the side plate 3, the axial direction of the stop hole intersects with the first direction and the stop hole is connected with the guide groove, and a stop component is also provided in the stop hole, and a part of the stop component can protrude along the stop hole to the moving track of the idler seat 11 and prevent the idler seat from continuing to move along the guide groove, or the stop component can also abut against the idler seat 11 to prevent the idler seat 11 from moving. More specifically, the stop hole is a threaded hole, and the stop component is a threaded component. Exemplarily, the stop component is a top screw such as a bolt or a screw.

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

[0054] Specifically, a tensioning limit mechanism 10 is provided on the rear baffle 9, a guide hole is provided on the tensioning limit mechanism 10, a guide rod is provided on the idler wheel seat 11, one end of the guide rod is provided in the guide hole and movably cooperates with the guide hole, and the tensioning mechanism is provided between the tensioning limit mechanism 10 and the idler wheel seat 11. More specifically, the tensioning mechanism is provided on the outside of the guide rod. More specifically, the tensioning mechanism is an annular structure, and the tensioning mechanism is sleeved on the outside of the guide rod. Exemplarily, the tensioning mechanism includes at least one spring, and the guide hole is coaxially provided with the guide rod.

[0055] Specifically, a tensioning adjustment mechanism 14 is also provided on the tensioning limit mechanism 10, and the tensioning adjustment mechanism 14 is movably cooperated with the tensioning limit mechanism 10, and the position of the tensioning adjustment mechanism 14 on the tensioning limit mechanism 10 can be adjusted along the first direction, wherein the tensioning mechanism is restricted between the tensioning adjustment mechanism 10 and the idler wheel seat 11; illustratively, the tensioning adjustment mechanism is a nut, and the tensioning adjustment mechanism is threadedly connected to the tensioning limit mechanism, and the tensioning adjustment mechanism can be made to move along the tensioning limit mechanism by screwing the tensioning adjustment mechanism, thereby realizing compression or release of the tensioning mechanism.

[0056] More specifically, the tensioning degree of the magnetic track 1 is achieved by adjusting the tensioning adjustment mechanism 14, thereby improving the rigidity of the magnetic track 1. When the idler wheel seat 11 is moved toward the direction close to the rear baffle 9, the tensioning mechanism is compressed, and the idler wheel seat 11 is blocked by the stop component. The tensioning mechanism fails to tension the magnetic track 1, and the magnetic track 1 can be removed at this time, and the same is true for installation.

[0057] Example 2

[0058] like Figure 5 As shown, a tracked magnetic wall-climbing robot formed by connecting two tracked magnetic wall-climbing robot units provided by Embodiment 1 with a stepper motor, a lead screw, a plurality of connecting rods, etc. can be used for working surfaces with variable diameters or variable curvatures. Specifically, the stepper motor drives the lead screw to rotate, and the connecting rod changes accordingly, thereby driving the change of the central axis of the tracked magnetic wall-climbing robot, thereby adapting to surfaces with different curvatures.

[0059] Example 3

[0060] like Figure 6 As shown, a crawler-type magnetic wall-climbing robot provided in this embodiment 2 includes three crawler-type magnetic wall-climbing robot units and an annular connecting rod device. The three crawler-type magnetic wall-climbing robot units are connected by the annular connecting rod device and can be applied to work in pipeline scenes.

[0061] Specifically, the annular connecting rod device is adjusted to a suitable working position so that the crawler-type magnetic wall-climbing robot unit fits with the magnetic pipeline. Compared with the traditional pipeline robot, the robot will not exert greater pressure on the inner wall of the pipeline, thus avoiding damage to the pipeline.

[0062] The utility model provides a tracked magnetic wall-climbing robot unit, which will make the manufacture, assembly and maintenance of the wall-climbing robot easier and more efficient, and can also flexibly configure different modules in different application scenarios, thereby realizing customized production and the ability to quickly respond to market demands.

[0063] The crawler-type magnetic wall-climbing robot monomer provided by the utility model reduces the cost of the wall-climbing robot and shortens the design cycle of the product. The crawler-type magnetic wall-climbing robot monomer provided by the utility model has both magnetic adsorption and motion functions, and has the advantages of compact structure, lightweight, high stability, strong expansibility, etc. In addition, the crawler-type magnetic wall-climbing robot monomer provided by the utility model will make the manufacture, assembly and maintenance of the robot easier and more efficient, and can also flexibly configure different modules in different application scenarios, thereby realizing customized production and the ability to quickly respond to market demand. In addition, the modular design can also improve the reliability and life of the robot and reduce operating costs. It should be understood that the above embodiments are only to illustrate the technical concept and features of the utility model, and its purpose is to enable people familiar with this technology to understand the content of the utility model and implement it accordingly, and it cannot limit the protection scope of the utility model. All equivalent changes or modifications made according to the spirit of the utility model should be covered within the protection scope of the utility model.

Claims

1. A crawler-type wall-climbing robot unit, characterized in that: include: A frame, a magnetic track, a track drive device and a tensioning mechanism, wherein the magnetic track, the track drive device and the tensioning mechanism are installed on the frame, the magnetic track itself can provide magnetic adsorption force, the track drive device is connected to the magnetic track transmission and provides driving force for the magnetic track, the tensioning mechanism is connected or in contact with the magnetic track, and the tensioning mechanism itself can be extended and retracted along a selected direction under the drive of external force, and provides tensioning force for the magnetic track, the magnetic track includes a synchronous belt and a plurality of blocks, the track drive device cooperates with the synchronous belt transmission, a plurality of the blocks are fixed on the outer surface of the synchronous belt at intervals along the circumference direction 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.

2. The crawler-type wall-climbing robot unit according to claim 1, characterized in that: The stopper is formed by combining a magnet and a non-magnetic body.

3. The crawler-type wall-climbing robot unit according to claim 2, characterized in that: The magnet is embedded in the non-magnetic body.

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

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

6. The crawler-type wall-climbing robot unit according to claim 4, characterized in that: The synchronous wheel and the idler wheel are arranged at intervals along the selected direction. In the selected direction, the idler wheel and the frame are movably matched. The tensioning mechanism is connected to the idler wheel, and the idler wheel can move along the selected direction together with the tensioning mechanism.

7. The crawler-type wall-climbing robot unit according to claim 4, characterized in that: The idler wheel is installed on the idler wheel seat, the idler wheel is rotatably connected to the idler wheel seat, and the tensioning mechanism is matched with the idler wheel seat.

8. The crawler-type wall-climbing robot unit according to claim 7, characterized in that: An idler shaft is fixedly arranged on the idler, and the idler shaft is arranged on the idler seat and rotatably cooperates with the idler seat.

9. The crawler-type wall-climbing robot unit according to claim 8, characterized in that: The idler wheel seat is provided with a mounting groove, and at least a portion of the idler wheel is arranged in the idler wheel groove.

10. The crawler-type wall-climbing robot unit according to claim 9, characterized in that: The mounting groove is a U-shaped groove matching the idler wheel.

11. The crawler-type wall-climbing robot unit according to claim 7, characterized in that: The frame is provided with a guide groove extending along the selected direction, a part of the idler wheel seat is arranged in the guide groove and movably cooperates with the guide groove, and the idler wheel seat can move along the guide groove.

12. The crawler-type wall-climbing robot unit according to claim 11, characterized in that: A stop hole is also provided on the frame, the axial direction of the stop hole intersects with the selected direction and the stop hole is communicated with the guide groove, and a stop component is also provided in the stop hole, and a part of the stop component can protrude along the stop hole to the movable trajectory of the idler seat and prevent the idler seat from continuing to move along the guide groove.

13. The crawler-type wall-climbing robot unit according to claim 12, characterized in that: The stop hole is a threaded hole, and the stop component is a threaded component.

14. The crawler-type wall-climbing robot unit according to claim 7, characterized in that: The frame is provided with a tensioning and limiting mechanism, the tensioning and limiting mechanism is provided with a guide hole, the idler wheel seat is provided with a guide rod, one end of the guide rod is provided in the guide hole and movably cooperates with the guide hole, and the tensioning mechanism is provided between the tensioning and limiting mechanism and the idler wheel seat.

15. The crawler-type wall-climbing robot unit according to claim 14, characterized in that: The tensioning mechanism is arranged on the outer side of the guide rod.

16. The crawler-type wall-climbing robot unit according to claim 14, characterized in that: The tensioning mechanism is an annular structure, and the tensioning mechanism is sleeved on the outside of the guide rod.

17. The crawler-type wall-climbing robot unit according to claim 14, characterized in that: The tensioning mechanism includes at least one spring.

18. The crawler-type wall-climbing robot unit according to claim 14, characterized in that: The guide hole is coaxially arranged with the guide rod.

19. The crawler-type wall-climbing robot unit according to claim 17, characterized in that: The tensioning limit mechanism is also provided with a tensioning adjustment mechanism, and the tensioning adjustment mechanism is movably cooperated with the tensioning limit mechanism. The position of the tensioning adjustment mechanism on the tensioning limit mechanism can be adjusted along the selected direction, wherein the tensioning mechanism is confined between the tensioning adjustment mechanism and the idler wheel seat.

20. The crawler-type wall-climbing robot unit according to claim 19, characterized in that: The tensioning adjustment mechanism is threadedly connected to the tensioning limiting mechanism.

21. The crawler-type wall-climbing robot unit according to claim 2, characterized in that: 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 portion of the cover plate close to an outer edge of one side of the magnetic track contacts a stopper on the magnetic track. The outer edge of the synchronous belt of the magnetic track also extends to the connection between the cover plate and the side plate.

22. A crawler wall-climbing robot, characterized in that: It comprises a plurality of crawler wall-climbing robot units as described in any one of claims 1 to 21.

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