Wall-climbing detection equipment

Abstract

The utility model discloses wall-climbing detection equipment, and relates to the technical field of construction quality detection, a first robot and a second robot are relatively fixed on a wall surface, a track is connected between the first robot and the second robot, and a third robot moves on the track to detect the wall surface. The stability of postures can be kept, the problem that the detection precision is reduced due to the unstable postures of the first robot and the second robot is avoided, and due to the fact that the first robot and the second robot are only responsible for pressing the first robot and the second robot on the wall to fix the track in the detection process, the defects that a conventional wall-climbing first robot needs to stably crawl and position on the wall, and the detection precision is poor are overcome. And on the other hand, the contradiction caused by wall surface detection is avoided. Based on the design, complicated wall surface detection work of the wall-climbing robot is divided into several parts, the wall surface detection effect of the wall-climbing robot can be obviously improved, continuous detection of the wall surface is realized, and the detection efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of construction quality inspection, in particular to a wall-climbing inspection device. Background Technique

[0002] The quality inspection of building exterior walls involves items such as the verticality and flatness of the exterior walls. At present, the on-site inspection tools are relatively simple. For example, a straightedge is used to detect verticality and flatness. However, for an increasing number of high-rise buildings, this inspection method is obviously inapplicable. Although robots can be applied to the field of exterior wall inspection, the posture of the robots on the wall is difficult to control, and the inspection results are often not accurate enough. Therefore, it will lead to a decrease in reference value and also reduce the inspection efficiency. Generally speaking, there is still a lack of a device for comprehensively inspecting the verticality and flatness of exterior walls in the prior art. In view of the problems of low inspection efficiency, poor inspection effect, and only being able to conduct general inspections without precise inspections in the current situation, it is necessary to improve the prior art. Content of the Utility Model

[0003] The utility model provides a wall-climbing inspection device, which improves the inspection efficiency of continuous wall inspection and has high safety.

[0004] To achieve the above object, the technical solution of the utility model is as follows:

[0005] A wall-climbing inspection device includes a first robot and a second robot arranged oppositely. The first robot and the second robot are used to be fixed on the wall and move to a new station after completing the inspection of the wall at one station. A linear track is connected between the first robot and the second robot;

[0006] A third robot is connected to the linear track. The third robot moves along the linear track. A wall inspection mechanism is provided at one end of the third robot facing the wall. The first robot, the second robot, and the third robot are respectively provided with a controller one, a controller two, and a controller three;

[0007] The controller one, the controller two, and the controller three are respectively used to control the first robot, the second robot, and the third robot. The controller one, the controller two, and the controller three are respectively signal-connected to the control center of the ground base station through a wireless signal transceiver module.

[0008] Preferably, the first robot and the second robot have the same structure, and both include a robot body. Bulging parts are respectively provided at the four ends of the robot body, and connecting plates are fixedly provided inside the corners between adjacent bulging parts;

[0009] The first robot and the second robot are vertically opposite on the wall surface. A linear track is connected between the vertically opposite connecting plates. A first propeller mechanism, a second propeller mechanism, and a third propeller mechanism are respectively provided at the two side ends, the rear end, and the top end of the robot body. A traveling wheel and a wall fixing mechanism are provided at the front end of the robot body.

[0010] Preferably, an installation plate is fixedly provided longitudinally at the front end of the robot body. Traveling wheels are respectively connected to the four corners of the installation plate through support rods. The wall fixing mechanism includes a first servo cylinder fixedly provided on the outer surface of the installation plate along the horizontal direction and perpendicular to the installation plate.

[0011] The fixed end of the first servo cylinder is fixedly connected to the installation plate, and the telescopic end is connected to a pressing plate. A plurality of suction cup structures arranged in an array are provided at one end of the pressing plate facing the wall surface. After the first servo cylinder retracts a set length, the suction cup structures are located on the side of the traveling wheel facing the robot body.

[0012] When the first servo cylinder extends to the set length, the suction cup mechanism is located on the side of the traveling wheel away from the robot body. A storage battery and a controller one or a controller two that are electrically connected to each other are provided inside the robot body. A first inclination sensor is also installed inside the robot body.

[0013] A first pressure sensor is provided at the end of the piston rod of the first servo cylinder. The first pressure sensor is ball-hinged to the pressing plate through a ball seat. When the second propeller mechanism rotates, the robot body is pressed against the wall surface. The third propeller mechanism is used to provide an upward traction force, and the first propeller mechanism is used to provide a force for regulating the attitude of the robot body from the side.

[0014] Preferably, a plurality of first robotic arm structures are further provided at the lower end of the second robot. The first robotic arm structures are six-axis robotic arms, and the ends of the first robotic arm structures are abutted against the wall surface to provide a supporting force for the second robot.

[0015] Preferably, a transmitting end of a transmissive photoelectric sensor is provided at the center of the top end of the robot body of the second robot.

[0016] A receiving end of a transmissive photoelectric sensor is provided at the center of the bottom end of the robot body of the first robot. The transmitting end is electrically connected to the controller two, and the receiving end is signal-connected to the controller one through a wire.

[0017] Preferably, the third robot is of a cube structure. Four linear tracks pass through the guiding holes preset at the upper and lower end faces of the four corners of the cube structure and are slidably connected to the cube structure.

[0018] At the positions corresponding to the straight track at the top and bottom of the cube structure described above, second robotic arm structures are respectively provided. The second robotic arm structure is a six-axis robotic arm. The end of the second robotic arm structure grabs the straight track through a mechanical hand, and the up and down movement of the third robot along the straight track is realized through the coordinated cooperation of a total of 8 second robotic arm structures up and down;

[0019] A positioning hole that penetrates the upper and lower end faces and allows the detection light of the transmitting end to pass through is provided at the center of the cube structure described above.

[0020] Preferably, the wall detection mechanism includes 4 second servo cylinders arranged in a rectangle and extending horizontally towards one side of the wall. The fixed ends of the second servo cylinders are fixedly connected to the corners of the end of the cube structure facing the wall;

[0021] The telescopic end is spherical hinged to the corners of the inner surface of the detection plate. A second inclination sensor is installed at one end of the detection plate facing the cube structure, and a number of laser distance sensors are arranged in a matrix at one end of the detection plate facing the wall. The second inclination sensor, the second servo cylinder, and the laser distance sensors are respectively electrically connected to the controller three through wires.

[0022] Preferably, the straight track is a linear guide made of aluminum alloy. The lower end of the straight track is fixedly connected to the connecting plate on the second robot, and the upper end of the straight track is connected to the connecting plate of the first robot opposite above through a tension sensor. The tension sensor is electrically connected to the controller one through a wire.

[0023] Preferably, the walking wheels are Mecanum wheels. The Mecanum wheels are provided with drive motors, and the drive motors are respectively electrically connected to the controller one or the controller two through wires;

[0024] There are 4 third propeller mechanisms, and the 4 third propeller mechanisms are respectively arranged at the tops of 4 protruding parts of the robot body; A counterweight is provided at one end of the third robot away from the detection mechanism.

[0025] The beneficial effects of the present utility model:

[0026] In this utility model, the first robot and the second robot are relatively fixed on the wall surface, a track is connected between the first robot and the second robot, and the third robot moves on the track to detect the wall surface. Since the third robot moves on the track, the stability of its posture can be maintained, avoiding the problem of decreased detection accuracy caused by unstable self-posture. During the detection process, the first robot and the second robot are only responsible for pressing themselves tightly against the wall surface to fix the track, thus overcoming the contradiction that in the conventional wall-climbing first robot, on the one hand, it needs to achieve stable wall-climbing and positioning, and on the other hand, it needs to perform wall surface detection. Based on the above design, this utility model divides the complex wall surface detection work of the wall-climbing robot into several parts, which can significantly improve the effect of the wall-climbing robot detecting the wall surface. At the same time, since the third robot moves on the track, continuous detection of the wall surface by the third robot can be achieved, improving the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 FIG. is a schematic side structure diagram when this utility model is in use.

[0028] Figure 2 FIG. is a schematic front structure diagram when this utility model is in use.

[0029] Figure 3 FIG. is a schematic top view structure diagram of the robot body of the second robot of this utility model.

[0030] Figure 4 FIG. is a schematic front view structure diagram of the detection board of this utility model.

[0031] Figure 5 FIG. is a schematic side view structure diagram of the detection board of this utility model.

[0032] In the figures, 1, wall body; 2, first robot; 3, second robot; 4, third robot; 5, linear track; 6, first robotic arm structure; 7, transmitting end; 21, protruding part at the rear end; 22, second propeller mechanism; 23, first propeller mechanism; 24, connecting plate; 25, third propeller mechanism; 26, protruding part; 27, support rod; 28, walking wheel; 29, first servo cylinder; 210, pressing plate; 211, suction cup structure; 212, mounting plate; 41, counterweight; 42, second servo cylinder; 43, detection board; 44, laser distance sensor; 45, second inclination sensor; 46, second robotic arm structure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] As described below, the embodiments of the present utility model will be described in detail in a step-by-step manner. This description is only for the preferred embodiments of the present utility model and is not intended to limit the protection scope of the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

[0034] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the purpose of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, as well as a specific orientation structure and operation. Therefore, it should not be construed as a limitation to the present utility model.

[0035] Embodiment 1

[0036] A wall-climbing detection device, as Figures 1-5 shown, includes a first robot 2 and a second robot 3 which are oppositely arranged. The first robot 2 and the second robot 3 are used to be fixed on the wall surface and move to a new working position after completing the wall surface detection of one working position. A linear track 5 is connected between the first robot 2 and the second robot 3, and a third robot 4 is connected to the linear track 5.

[0037] The third robot 4 moves along the linear track. A wall surface detection mechanism is provided at one end of the third robot 4 facing the wall surface. The first robot 2, the second robot 3, and the third robot 4 are respectively provided with a first controller, a second controller, and a third controller. The first controller, the second controller, and the third controller are respectively used to control the first robot, the second robot, and the third robot. The first controller, the second controller, and the third controller are respectively connected to the control center of the ground base station through a wireless signal transceiver module.

[0038] Embodiment 2

[0039] As Figure 1 、 2 、3 shown, the first robot 2 and the second robot 3 have the same structure and both include a robot body. Protruding parts 26 are respectively provided at the four ends of the robot body. A connecting plate 24 is fixedly provided inside the corner between adjacent protruding parts 26. The first robot 2 and the second robot 3 are opposite to each other up and down on the wall surface. A linear track 5 is connected between the connecting plates 24 that are opposite to each other up and down. A first propeller mechanism 23, a second propeller mechanism 22, and a third propeller mechanism 25 are respectively provided at the two side ends, the rear end, and the top end of the robot body. A walking wheel 28 and a wall surface fixing mechanism are provided at the front end of the robot body.

[0040] Embodiment 3

[0041] As Figure 1 , 2 As shown in Fig. 3, a mounting plate 212 is fixedly provided along the longitudinal direction at the front end of the robot body. Four corners of the mounting plate 212 are respectively connected with walking wheels 28 through support rods 27. The wall fixing mechanism includes a first servo cylinder 29 fixedly arranged along the horizontal direction on the outer surface of the mounting plate 212 and perpendicular to the mounting plate 212. The fixed end of the first servo cylinder 29 is fixedly connected with the mounting plate 212, and the telescopic end is connected with a pressing plate 210. One end of the pressing plate 210 facing the wall is provided with a plurality of suction cup structures 211 arranged in an array. After the first servo cylinder 29 retracts a set length, the suction cup structures 211 are located on the side of the walking wheels 28 facing the robot body. When the first servo cylinder 29 extends to the set length, the suction cup mechanism 211 is located on the side of the walking wheels 28 away from the robot body.

[0042] A storage battery and a controller one or a controller two which are electrically connected to each other are arranged in the robot body. A first inclination sensor is also installed in the robot body. A first pressure sensor (not shown in the figure) is arranged at the end of the piston rod of the first servo cylinder 29. The first pressure sensor is ball-hinged with the pressing plate 210 through a ball seat for detecting the pressing degree of the pressing plate. When the second propeller mechanism 22 rotates, the robot body is pressed against the wall. The third propeller mechanism 25 is used to provide an upward traction force. The first propeller mechanism 23 is used to provide a force for adjusting the attitude of the robot body from the side.

[0043] Embodiment 4

[0044] As Figure 1 , 2 As shown in the figure, a plurality of first robotic arm structures 6 are further provided at the lower end of the second robot 3. The first robotic arm structures 6 are six-axis robotic arms (prior art). The ends of the first robotic arm structures 6 are abutted against the wall to provide a supporting force for the second robot 3.

[0045] In this embodiment, the first robotic arm structure can use a common six-axis robotic arm, or can also be a robotic arm that can achieve related functions in the prior art. The second robot can be supported through the first robotic arm structure, thereby reducing the load on the third propeller of the first robot and facilitating the stability of the entire system during the detection process. In this case, the third propeller of the second robot can stop rotating to avoid its wind force affecting the third robot.

[0046] Embodiment 5

[0047] As Figure 1 , 2As shown in FIGS. 3, at the center of the top end of the robot body of the second robot 3, a transmitting end 7 of an opposed photoelectric sensor is provided. At the center of the bottom end of the robot body of the first robot 2, a receiving end of the opposed photoelectric sensor (not shown in the figure) is provided. The transmitting end 7 is electrically connected to the second controller, and the receiving end is signal-connected to the first controller through a wire.

[0048] Embodiment 6

[0049] As Figure 1 、 2 shown, the third robot 4 has a cubic structure. Four linear tracks 5 pass through guiding holes (not shown in the figure) preset at the upper and lower end faces at the four corners of the cubic structure and are slidably connected to the cubic structure. At the positions corresponding to the linear tracks 5 at the top and bottom ends of the cubic structure, second robotic arm structures 46 are respectively provided. The second robotic arm structure 46 is a six-axis robotic arm. The end of the second robotic arm structure 46 grips the linear track 5 through a mechanical hand. The up-and-down movement of the third robot 4 along the linear track is realized through the coordinated cooperation of a total of 8 second robotic arm structures 46 up and down.

[0050] At the center of the cubic structure, a positioning hole (not shown in the figure) is provided that penetrates the upper and lower end faces and allows the detection light of the transmitting end to pass through. In this embodiment, when the linear track is positioned, the movement trajectory of the cubic structure is limited. On this basis, only by adjusting the attitude of the detection plate can the perpendicularity and flatness of the wall surface be continuously detected. Conventional wall-climbing robots stop to detect the wall surface after walking a certain distance, and cannot achieve continuous wall surface detection, not only with low detection efficiency, but also unable to obtain comprehensive detection data. Similarly, a storage battery and a third controller that are electrically connected to each other are provided inside the cubic structure.

[0051] Embodiment 7

[0052] As Figure 1 、 2 shown, the wall surface detection mechanism includes 4 second servo cylinders 42 arranged in a rectangle and extending horizontally toward one side of the wall surface (the arrangement mode of the first servo cylinder can be referred to). The fixed ends of the second servo cylinders 42 are fixedly connected to the corner parts at one end of the cubic structure facing the wall surface. The telescopic ends are ball-jointed to the corner parts of the inner surface of the detection plate 43. A second inclination sensor 45 is installed at one end of the detection plate 43 facing the cubic structure. A plurality of laser range sensors 44 are arranged in a matrix at one end of the detection plate 43 facing the wall surface (as Figure 4 shown).

[0053] The second inclination sensor 45, the second servo cylinder 42, and the laser distance sensor 44 are respectively electrically connected to the third controller through wires. After the trajectory of the cube structure is determined and the detection board is adjusted to be vertical and opposite to the wall surface, the third robot can crawl on the linear track. The laser distance sensor continuously collects the distance information of the wall surface. Due to the changes in the verticality and flatness of the wall surface, the detected distance information will change synchronously. According to the preset program, the verticality and flatness of the wall surface can be calculated.

[0054] The linear track 5 is a linear guide rail made of aluminum alloy. The lower end of the linear track 5 is fixedly connected to the connecting plate 24 on the second robot. The upper end of the linear track 5 is connected to the connecting plate 24 of the first robot 2 opposite above through a tension sensor (not shown in the figure). The tension sensor is signal-connected to the first controller through a wire. The tension sensor is used to detect the load information on the linear track. The load includes the weight of the linear track itself, the load of the second robot, and the load of the third robot.

[0055] The driving wheels 28 are Mecanum wheels, which are convenient for moving in all directions. The Mecanum wheels are provided with driving motors, and the driving motors are respectively electrically connected to the first controller or the second controller through wires; there are 4 third propeller mechanisms 25, and the 4 third propeller mechanisms 25 are respectively arranged at the tops of the 4 protruding parts 26 of the robot body; a counterweight 41 is provided at one end of the third robot away from the detection mechanism, aiming to keep the center of gravity of the third robot balanced.

[0056] Embodiment 8

[0057] Based on the above embodiments, this embodiment discloses the usage content of a wall-climbing detection device, as Figures 1-4 shown, including the following:

[0058] The staff attaches the combined system to the wall surface (it can be done manually or by a crane according to the size of the combined system). At this time, the third propeller mechanisms 25 of the first robot 2 and the second robot 3 are started to make the whole system suspended and adjust the levelness of the robot body (the third propeller mechanisms are respectively arranged at the tops of the 4 protruding parts of the robot body, and the rotation speeds of the 4 third propeller mechanisms can be controlled to adjust the levelness of the robot body).

[0059] The first propeller mechanisms 23 on both sides rotate to adjust the standing posture of the robot body to right the robot body; the first servo cylinder 29 extends, the suction cup contacts the wall surface, and the second propeller mechanism 22 is used to press the robot body against the wall surface. The first controller and the second controller adjust the rotation speeds of the first to third propeller mechanisms, and at the same time, on the premise of ensuring that the suction cup tightly presses the wall surface, the length of the first servo cylinder 29 is regulated. When the angle information measured by the first inclination sensor shows that the linear track 5 is vertical, the combined system is regulated in place (the linear track is set to be perpendicular to the horizontal middle plane of the robot body, so detecting the inclination angle of the robot body can also further infer the angle of the linear track).

[0060] The second controller controls the movement of the first robotic arm structure. The end of the first robotic arm structure contacts the wall surface through the manipulator and provides support for the second robot. The contact part of the manipulator of the first robotic arm structure with the wall surface is provided with a second pressure sensor. The second controller regulates the supporting force for the second robot according to the pressure signal of the second pressure sensor, so that the value of the tension sensor is reduced to the set value range to ensure the stability of the combined system during the detection of the third robot. In actual use, a third robotic arm structure connected to the robot body of the first robot can also be set, and its structure and function are the same as those of the first robotic arm structure.

[0061] After being regulated in place and the first robotic arm structure achieves stable support, the third robot 4 crawls on the linear track 5 through the second robotic arm structure 46. At the start of crawling, the 4 second servo cylinders 42 extend. The third controller regulates the extension lengths of the 4 second servo cylinders 42 so that the value detected by the second inclination sensor reaches the position where the detection board 43 is in a vertical posture and faces the wall surface directly.

[0062] Then, as the third robot 4 crawls along the linear track 5, the third controller records the data detected by several laser range sensors 44 and sends them to the control center through the wireless signal transceiver module. The control center calculates the perpendicularity and flatness of the wall surface according to the set program; after the third robot 4 moves from one end of the linear track 5 to the other end, the wall surface detection of 1 working station is completed.

[0063] After the wall surface detection of 1 working station is completed, the first servo cylinder 29 of the first robot 2 and the second robot 3 retracts, the walking wheels contact the wall surface, and under the control of the first controller and the second controller for the drive motors, the combined system moves sideways by 1 working station or moves upward by 1 working station, and repeats steps 1 and 2 to realize the perpendicularity and flatness detection of the entire wall surface.

[0064] Such as Figure 1 、 2As shown in Fig. 4, in step 2, at the start of crawling, when the wall distances detected by a set proportion of the laser distance sensors 44 among several laser distance sensors 44 are the same, it is determined that the detection plate is facing the wall directly. The specific set proportion can be set according to the detection requirements. The higher the proportion, the higher the degree of the detection plate facing the wall directly. Since the detection plate is facing the wall directly and the trajectory of the cube structure is fixed, when the cube structure moves along the vertically arranged linear track, the detection plate also moves along the vertical trajectory facing the wall. Therefore, the distance values detected by the laser distance sensors have a consistent reference standard, and the detection values can reflect the verticality and flatness information of the wall.

[0065] When the receiving end cannot receive the detection light information from the transmitting end, it means that the third robot has a relative lateral displacement with respect to the linear track. At this time, the controller 1 sends an alarm signal to the control center, indicating a device failure and requiring shutdown for maintenance.

Claims

1. A wall climbing detection device, characterized by: It includes a first robot and a second robot which are arranged opposite to each other, the first robot and the second robot are used to be fixed on the wall and move to a new workstation after completing the wall inspection of one workstation, and a linear track is connected between the first robot and the second robot; A third robot is connected to the linear track, and the third robot moves along the linear track. A wall detection mechanism is provided at one end of the third robot facing the wall. The first robot, the second robot, and the third robot are respectively provided with a controller 1, a controller 2, and a controller 3; The controller one, controller two and controller three are used to control the first robot, the second robot and the third robot respectively. The controller one, controller two and controller three are respectively connected to the control center signal of the ground base station through the wireless signal transceiver module.

2. A wall climbing detection device as claimed in claim 1, characterized in that: The first robot and the second robot have the same structure, both comprising a robot body, the four ends of the robot body are respectively provided with protrusions, and a connecting plate is fixedly provided on the inner side of the corner between adjacent protrusions; The first robot and the second robot are opposite to each other on the wall, and a linear track is connected between the upper and lower connecting plates. The first propeller mechanism, the second propeller mechanism, and the third propeller mechanism are respectively provided at the two side ends, the rear end and the top end of the robot body, and the front end of the robot body is provided with walking wheels and a wall fixing mechanism.

3. A wall climbing detection device as claimed in claim 2, characterized in that: A mounting plate is fixedly arranged at the front end of the robot body in the longitudinal direction, and the four corners of the mounting plate are respectively connected to walking wheels through supporting rods, and the wall fixing mechanism includes a first servo cylinder fixedly arranged horizontally on the outer surface of the mounting plate and perpendicular to the mounting plate; The fixed end of the first servo cylinder is fixedly connected to the mounting plate, and the telescopic end is connected to a clamping plate. The end of the clamping plate facing the wall is provided with a plurality of suction cup structures arranged in an array. After the first servo cylinder is retracted to a set length, the suction cup structure is located on the side of the walking wheel facing the robot body. When the first servo cylinder is extended to a set length, the suction cup mechanism is located on the side of the walking wheel away from the robot body, the robot body is provided with a battery and a controller 1 or a controller 2 which are electrically connected to each other, and the robot body is also provided with a first inclination sensor; A first pressure sensor is provided at the end of the piston rod of the first servo cylinder, and the first pressure sensor is hinged to the clamping plate ball through a ball seat. When the second propeller mechanism rotates, the robot body and the wall are clamped. The third propeller mechanism is used to provide upward traction, and the first propeller mechanism is used to provide a force from the side to regulate the posture of the robot body.

4. A wall climbing detection device as claimed in claim 3, characterized in that: The lower end of the second robot is also provided with a plurality of first mechanical arm structures, wherein the first mechanical arm structure is a six-axis mechanical arm, and the end of the first mechanical arm structure is attached to the wall and used to provide support force for the second robot.

5. A wall climbing detection device as claimed in claim 4, characterized in that: A transmitting end of a through-beam photoelectric sensor is provided at the center of the top of the robot body of the second robot; A receiving end of a through-beam photoelectric sensor is arranged at the center of the bottom end of the robot body of the first robot. The transmitting end is electrically connected to the second controller, and the receiving end is connected to the first controller through a wire signal.

6. A wall climbing detection device as claimed in claim 5, characterized in that: The third robot is a cubic structure, and four linear rails pass through the guide holes preset on the upper and lower end surfaces of the four corners of the cubic structure and are slidably connected to the cubic structure; The top and bottom of the cube structure are respectively provided with second mechanical arm structures at positions corresponding to the linear track. The second mechanical arm structure is a six-axis mechanical arm. The end of the second mechanical arm structure grasps the linear track through a manipulator, and the third robot is moved up and down along the linear track through the coordinated cooperation of a total of 8 second mechanical arm structures above and below. A positioning hole is provided at the center of the cubic structure, which penetrates the upper and lower end surfaces and is used to allow the detection light of the emission end to pass through.

7. A wall climbing detection device as claimed in claim 6, characterized in that: The wall detection mechanism includes four second servo cylinders arranged in a rectangular shape and extending horizontally toward one side of the wall, and the fixed end of the second servo cylinder is fixedly connected to a corner of the cube structure facing the wall; The telescopic end ball is hinged with the corner of the inner surface of the detection plate, a second inclination sensor is installed at the end of the detection plate facing the cube structure, and a plurality of laser ranging sensors are arranged in a matrix at the end of the detection plate facing the wall. The second inclination sensor, the second servo cylinder and the laser ranging sensor are respectively electrically connected to the controller through wires.

8. A wall climbing detection device as claimed in claim 7, characterized in that: The linear track is a linear guide rail made of aluminum alloy. The lower end of the linear track is fixedly connected to the connecting plate on the second robot, and the upper end of the linear track is connected to the connecting plate of the first robot above through a tension sensor. The tension sensor is connected to the controller through a wire.

9. A wall climbing detection device as claimed in claim 8, characterized in that: The running wheel is a Mecanum wheel, and the Mecanum wheel is provided with a driving motor, and the driving motor is electrically connected to the controller 1 or the controller 2 through a wire respectively; There are four third propeller mechanisms, which are respectively arranged at the top of four protruding parts of the robot body; a counterweight block is arranged at one end of the third robot away from the detection mechanism.

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