A detection device based on a multi-legged wall-climbing robot

Abstract

The utility model discloses a detection device based on many foot wall -climbing robot, including the chassis, the many foot mechanical arm of connection in the chassis, detection subassembly, stabilizing subassembly and control unit, many foot mechanical arm includes first crawling mechanical arm and second crawling mechanical arm, and the suction cup subassembly is established to first crawling mechanical arm and second crawling mechanical arm all, detection subassembly includes signal transmitting unit and signal receiving unit, stabilizing subassembly includes telescopic mechanical arm and the stabilizing suction cup subassembly of connection in telescopic mechanical arm. It is through the detection equipment of many foot mechanical arm and control unit group can climb, and it is higher in efficiency compared to artificial climbing, and the safety is higher. Meanwhile, be provided with visual detection subassembly and signal emission and signal receiving unit on the detection equipment, can realize the close -range detection of engineering or power facility, and combine stabilizing subassembly, improved detection accuracy and reliability.

Description

Technical Field

[0001] This utility model relates to the field of detection device technology, and in particular to a detection device based on a multi-legged wall-climbing robot. Background Technology

[0002] In the fields of construction, power and other engineering, after the completion of the project, there are always subsequent inspection and maintenance stages. Regular inspection and maintenance can not only promptly detect and deal with problems in the constructed facilities and extend their service life, but also prevent the failure of facilities from causing damage to people's lives and property.

[0003] Existing technologies mainly rely on inspection personnel climbing to heights or drones taking remote photos. Manual climbing to heights has problems such as low inspection efficiency and high safety risks. As for drones taking remote photos, due to the long distance, they can only be used to inspect for surface defects and cannot be equipped with close-range or contact equipment for inspection.

[0004] Based on the above requirements, there is an urgent need to design a robotic device that can perform inspections at close range. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a detection device based on a multi-legged wall-climbing robot to solve the technical problems of low efficiency and inability to perform close-range detection in existing high-altitude detection methods.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An embodiment of this utility model provides a detection device based on a multi-legged wall-climbing robot, which includes a chassis, a multi-legged robotic arm, a detection component, a stabilization component, and a control unit connected to the chassis;

[0008] The multi-legged robotic arm includes: a first crawling robotic arm and a second crawling robotic arm, both of which are equipped with suction cup assemblies;

[0009] The detection component includes: a signal transmitting unit and a signal receiving unit;

[0010] The stabilizing component includes: a telescopic robotic arm and a stabilizing suction cup assembly connected to the telescopic robotic arm;

[0011] The control unit is used to control the multi-legged robotic arm, the stabilizing component, and the detection component to work together to complete the detection according to the control logic.

[0012] The first crawling robotic arm and the second crawling robotic arm have the same structure, both including: a three-degree-of-freedom robotic arm, a suction cup assembly connected to the three-degree-of-freedom robotic arm, and an air pump, a negative pressure fan, and a solenoid valve for controlling the suction cup assembly.

[0013] The three-degree-of-freedom robotic arm includes: a flange connected to the chassis; a primary motor connected to the flange; a first connecting plate connected to the output end of the primary motor; a secondary motor connected to the first connecting plate; a first universal joint connected to the output end of the secondary motor; a first lead screw module connected to the first universal joint; a second connecting plate connected to the first lead screw module; a tertiary motor connected to the second connecting plate; a second universal joint connected to the output end of the tertiary motor; a second lead screw module connected to the second universal joint; a third connecting plate connected to the second lead screw module; and a suction cup assembly connected to the third connecting plate, wherein the second connecting plate is also hinged to the third connecting plate.

[0014] A buffer and shock absorption unit is also provided between the suction cup assembly and the third connecting plate.

[0015] The suction cup assembly includes: a suction cup base, a flexible suction cup connected to the bottom end of the suction cup base, and a connector connected to the top end of the suction cup base. The connector and the suction cup base are provided with a communicating air intake channel, and the air inlet of the air intake channel extends into the groove of the flexible suction cup.

[0016] The signal transmitting unit includes a first telescopic robotic arm and a laser emitting module connected to the first telescopic robotic arm, the first telescopic robotic arm being further connected to the chassis; the signal receiving unit includes a second telescopic robotic arm and a signal receiving module connected to the second telescopic robotic arm, the second telescopic robotic arm being further connected to the chassis; the first telescopic robotic arm, the second telescopic robotic arm, and the telescopic robotic arm have the same structure.

[0017] The telescopic robotic arm includes: a base connected to the chassis, a primary telescopic motor connected to the base, a first telescopic arm connected to the output end of the primary telescopic motor, a secondary telescopic motor connected to the first telescopic arm, and a second telescopic arm connected to the secondary telescopic motor, wherein the stabilizing suction cup assembly is connected to the second telescopic arm.

[0018] The chassis is also equipped with a vision inspection component, which includes: a gimbal base connected to the chassis, a YAW axis motor connected to the gimbal base, a PI TCH axis motor connected to the YAW axis motor, and a multispectral camera connected to the PI TCH axis motor.

[0019] The control unit includes: a main control board, and a power supply, communication module, and power management module connected to the main control board.

[0020] The chassis is also equipped with a lidar for obstacle avoidance, which is electrically connected to the control unit.

[0021] This invention relates to a detection device based on a multi-legged wall-climbing robot. The device, composed of a multi-legged robotic arm and a control unit, is capable of climbing heights, offering higher efficiency and safety compared to manual climbing. Furthermore, the device incorporates visual inspection components and signal transmission and reception units, enabling close-range inspection of engineering or power facilities. Combined with stabilization components, this improves the accuracy and reliability of the inspection.

[0022] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model, it can be implemented according to the contents of the specification. In order to make the above and other objects, features and advantages of this utility model more obvious and easy to understand, the following are preferred embodiments, which are described in detail below. Attached Figure Description

[0023] Figure 1 and Figure 2 These are schematic diagrams of the overall structure of the detection device based on a multi-legged wall-climbing robot according to different perspectives of an embodiment of this utility model.

[0024] Figure 3 This is a bottom view of the detection device based on a multi-legged wall-climbing robot according to an embodiment of the present invention.

[0025] Figure 4 and Figure 5 These are schematic diagrams of the first crawling robotic arm from different perspectives in the detection device based on a multi-legged wall-climbing robot according to an embodiment of this utility model.

[0026] Figure 6 This is a schematic diagram of the stabilization component of the detection device based on a multi-legged wall-climbing robot, according to an embodiment of the present invention.

[0027] Figure 7 This is a cross-sectional view of the stable suction cup assembly of the detection device based on a multi-legged wall-climbing robot according to an embodiment of the present invention.

[0028] Figure 8 This is a schematic diagram of the stabilizing suction cup assembly of the detection device based on a multi-legged wall-climbing robot according to an embodiment of the present invention.

[0029] Figure 9 This is a schematic diagram of the visual inspection component of the inspection device based on a multi-legged wall-climbing robot, according to an embodiment of the present invention.

[0030] Explanation of reference numerals in the attached figures:

[0031] The detection device based on a multi-legged wall-climbing robot includes: a chassis 1, a first crawling robotic arm 2, a stabilizing component 3, a signal transmitting unit 4, a signal receiving unit 5, a control unit 6, a vision detection component 7, a second crawling robotic arm 8, a first left-side robotic arm assembly 21, a first right-side robotic arm assembly 22, a first negative pressure fan 23, a first solenoid valve 24, a telescopic robotic arm 30, a base 31, a primary telescopic motor 32, a first telescopic arm 33, a secondary telescopic motor 34, a second telescopic arm 35, a stabilizing suction cup assembly 36, a first telescopic robotic arm 41, a laser emitting module 42, a second telescopic robotic arm 51, a signal receiving module 52, a lidar 61, an air pump 62, a power supply 63, a communication module 64, a power management module 65, a gimbal base 71, and a YAW axis motor 72. TCH axis motor 73, multispectral camera 74, second left robotic arm assembly 81, second right robotic arm assembly 82, second negative pressure fan 83, second solenoid valve 84, flange 211, primary motor 212, first connecting plate 213, secondary motor 214, first universal joint 215, first lead screw module 216, second connecting plate 217, tertiary motor 218, second universal joint 219, second lead screw module 220, buffer and shock absorption unit 221, third connecting plate 222, suction cup assembly 223, suction cup base 361, flexible suction cup 362, connector 363, air intake channel 364, air inlet 365. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0034] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0036] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0037] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0038] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0039] In engineering fields such as construction and power, subsequent inspection and maintenance are essential after project completion. Regular inspection and maintenance not only allow for the timely detection and resolution of problems in constructed facilities, extending their service life, but also prevent facility failures from causing damage to people's lives and property. Existing technologies mainly rely on inspection personnel climbing heights or drones for remote filming. Manual height-based inspections suffer from low efficiency and high safety risks, while drones, due to their distance, can only inspect for surface defects and cannot be used for close-range or contact-based inspections. Based on these needs, this embodiment provides an inspection device 100 based on a multi-legged wall-climbing robot.

[0040] Please see Figures 1 to 9 In this embodiment, the detection device 100 based on a multi-legged wall-climbing robot includes a chassis 1, a multi-legged robotic arm, a detection component, a stabilizing component 3, and a control unit 6 connected to the chassis 1. The chassis 1 is used to assemble and connect the multi-legged robotic arm, the detection component, the stabilizing component 3, and the control unit 6. The multi-legged robotic arm is used for climbing, the detection component is used for close-range or contact-type damage detection of the object being detected, and the stabilizing component 3 is used to fix the detection device to a carrier such as a wall during the detection operation.

[0041] The multi-legged robotic arm includes: a first crawling robotic arm 2 and a second crawling robotic arm 8, both of which are equipped with suction cup assemblies;

[0042] The detection component includes: a signal transmitting unit 4 and a signal receiving unit 5;

[0043] The stabilizing component 3 includes: a telescopic robotic arm 30 and a stabilizing suction cup component 36 connected to the telescopic robotic arm 30;

[0044] The control unit 6 is used to control the multi-legged robotic arm, the stabilizing component 3, and the detection component to work together to complete the detection according to the control logic.

[0045] The first crawling robotic arm 2 and the second crawling robotic arm 8 have the same structure. The first crawling robotic arm 2 includes a first left robotic arm group 21 and a first right robotic arm group 22 symmetrically arranged. The top ends of both the first left robotic arm group 21 and the first right robotic arm group 22 are connected to the bottom of the chassis 1, and they are symmetrically arranged. Similarly, the second crawling robotic arm 8 includes a second left robotic arm group 81 and a second right crawling robotic arm group 82. The top ends of both the second left robotic arm group 81 and the second right crawling robotic arm group 82 are connected to the bottom of the chassis 1, and they are symmetrically arranged. The first crawling robotic arm 2 and the second crawling robotic arm 8 are arranged front and rear along the length of the chassis 1, forming a quadruped robot. The first crawling robotic arm 2 and the second crawling robotic arm 8 work together to achieve crawling and climbing.

[0046] The first crawling robotic arm 2 and the second crawling robotic arm 8 have the same structure. Taking the first left robotic arm 21 of the first crawling robotic arm 2 as an example, the first left robotic arm 21 includes: a three-degree-of-freedom robotic arm, a suction cup assembly 223 connected to the three-degree-of-freedom robotic arm, and an air pump 62, a first negative pressure fan 23, and a first solenoid valve 24 that control the suction cup assembly 223. The air pump 62, the first negative pressure fan 23, and the first solenoid valve 24 together form a control air path for sucking air and drawing negative pressure from the suction cup assembly 223. The three-degree-of-freedom robotic arm controls the movement of the suction cup assembly 223. When the detection device 100 based on the multi-legged crawling robot crawls on a carrier such as a wall, the first crawling robotic arm 2 adheres to the wall, and the second crawling robotic arm 8 detaches from the wall. The first crawling robotic arm 2 and the second crawling robotic arm 8 move alternately in sequence, thereby realizing movement to higher positions.

[0047] The first negative pressure fan 23 is connected to the chassis 1. The first negative pressure fan 23, together with the air pump 62 and the first solenoid valve 24, performs the suction and de-airing processes on the suction cup assembly 223, causing the suction cup assembly 223 to adhere to or detach from the carrier surface. Since the first crawling robotic arm 2 and the second crawling robotic arm 8 operate in separate steps, the second crawling robotic arm 8 is equipped with an independent second negative pressure fan 83, which is connected to the top surface of the chassis 1. This second negative pressure fan 83 shares the air pump 62 and has a corresponding independent air path control module. The independent air path includes a second solenoid valve 84, which is used to independently control the suction or de-airing actions of the second crawling robotic arm 8.

[0048] Please refer to it again. Figure 4 and Figure 5The three-degree-of-freedom robotic arm includes: a flange 211 connected to the chassis 1; a primary motor 212 connected to the flange 211; a first connecting plate 213 connected to the output end of the primary motor 212; a secondary motor 214 connected to the first connecting plate 213; a first universal joint 215 connected to the output end of the secondary motor 214; a first lead screw module 216 connected to the first universal joint 215; and a second connecting plate 217 connected to the first lead screw module 216. A three-stage motor 218 is connected to the second connecting plate 217; a second universal joint 219 is connected to the output end of the three-stage motor 218; a second lead screw module 220 is connected to the second universal joint 219; a third connecting plate 222 is connected to the second lead screw module 220; and a suction cup assembly 223 is connected to the third connecting plate 222. The second connecting plate 217 is also hinged to the third connecting plate 222, and the first connecting plate 212 is also hinged to the second connecting plate 217. The first-stage motor 212 drives the second-stage motor 214 to rotate arbitrarily in the first degree of freedom; the second-stage motor 214 drives the three-stage motor 218 to rotate arbitrarily in the second degree of freedom; and the three-stage motor 218 drives the suction cup assembly 223 to rotate arbitrarily in the third degree of freedom. This allows the three-degree-of-freedom robotic arm to extend and retract arbitrarily in both directions perpendicular to and parallel to the carrier surface, thereby achieving crawling movement.

[0049] To reduce noise and extend the lifespan of the crawling robotic arm during climbing, a damping unit 221 is provided between the suction cup assembly 223 and the third connecting plate 222. This damping unit 221 includes a shock-absorbing slide connected to the end of the third connecting plate 222, a shock-absorbing spring connected to the shock-absorbing slide, and a shock-absorbing slider connected to the lower end of the shock-absorbing spring. The suction cup assembly 223 is connected to the shock-absorbing slider. During the process of the suction cup assembly 223 adhering to or detaching from the wall, the shock-absorbing slider moves along the shock-absorbing spring, thereby reducing the rigid contact force when the suction cup assembly 223 adheres to the wall.

[0050] Please refer to it again. Figure 6 and Figure 7The suction cup assembly 223 has the same structure as the stabilizing suction cup assembly 36. The stabilizing suction cup assembly 36 includes: a suction cup base 361, a flexible suction cup 362 connected to the bottom end of the suction cup base 361, and a connector 363 connected to the top end of the suction cup base 361. The connector 363 and the suction cup base 361 have a communicating air intake channel 364. The air inlet 365 of the air intake channel 364 extends into the groove of the flexible suction cup 362. The other end of the air intake channel 364 is connected to the air pump 62 via an air pipe. The air pump 62, in conjunction with a solenoid valve and a negative pressure fan, draws or releases air from the suction cup groove of the flexible suction cup 362, ultimately achieving its adsorption or separation from a wall or other surface.

[0051] Please refer to it again. Figure 2 The signal transmitting unit 4 includes a first telescopic robotic arm 41 and a laser emitting module 42 connected to the first telescopic robotic arm 41. The first telescopic robotic arm 41 is also connected to the chassis 1. The signal receiving unit 5 includes a second telescopic robotic arm 51 and a signal receiving module 52 connected to the second telescopic robotic arm 51. The second telescopic robotic arm 51 is also connected to the chassis 1. The first telescopic robotic arm 41 and the second telescopic robotic arm 51 have the same structure as the three-degree-of-freedom robotic arm. When the detection device 100 based on the multi-legged wall-climbing robot crawls to the detection position, the control unit 6 can control the first telescopic robotic arm 41 and the second telescopic robotic arm 51 to move, thereby moving the laser emitting module 42 and the laser receiving module 52 closer to the object to be detected, achieving close-range or contact detection, thus improving detection accuracy. It is understood that the laser emitting module 42 and the laser receiving module 52 can also use signal sources with reflective characteristics, such as sound waves, light waves, and electromagnetic waves, as detection signals.

[0052] Please refer to it again. Figure 6The telescopic robotic arm 30 includes: a base 31 connected to the chassis 1; a primary telescopic motor 32 connected to the base 31; a first telescopic arm 33 connected to the output end of the primary telescopic motor 32; a secondary telescopic motor 34 connected to the first telescopic arm 33; and a second telescopic arm 35 connected to the secondary telescopic motor 34. A stabilizing suction cup assembly 36 is connected to the second telescopic arm 35. The primary telescopic motor 32 drives the first telescopic arm 33 to rotate, and the secondary telescopic motor 34 drives the second telescopic arm 35 to rotate, ultimately enabling multi-directional movement adjustment of the stabilizing suction cup assembly 36. When the detection device 100 based on the multi-legged wall-climbing robot in this embodiment moves to the detection position, the control unit 6 controls the stabilizing assembly 36 to start, driving the stabilizing suction cup assembly 36 to move and adhere to a carrier surface such as a wall, improving the overall stability of the detection device and thus improving detection accuracy and precision. Similarly, the stabilizing suction cup assembly 36 can have its own independent suction pump circuit or share the aforementioned air pump 62.

[0053] Please refer to it again. Figure 1 and Figure 9 The chassis 1 is further equipped with a vision inspection component 7, which includes: a gimbal base 71 connected to the chassis 1, a YAW axis motor 72 connected to the gimbal base 71, a PITCH axis motor 73 connected to the YAW axis motor 72, and a multispectral camera 74 connected to the PITCH axis motor 73. This vision inspection component 7 is used to capture images of the detection position and the object being inspected, in order to provide visual data for visual analysis. The PITCH axis motor 73 is a motor that controls the rotation of the object around the Y-axis, achieving pitch motion. The YAW axis motor 72 is a motor that controls the rotation of the object around the Z-axis, achieving yaw motion.

[0054] The control unit 6 includes a main control board, a power supply 63, a communication module 64, and a power management module 65 connected to the main control board. The main control board has a control chip internally storing code programs used to control each actuator to sequentially perform climbing and detection actions according to the detection logic.

[0055] To improve the obstacle avoidance function of the detection device 100 based on the multi-legged wall-climbing robot, the chassis 1 is also equipped with a laser radar 61 for walking and obstacle avoidance, and the laser radar 61 is electrically connected to the control unit 6.

[0056] The inspection device based on a multi-legged wall-climbing robot in this embodiment consists of a multi-legged robotic arm and a control unit, forming a height-climbing inspection device that is more efficient and safer than manual climbing. Simultaneously, the inspection device is equipped with a vision inspection component and a signal transmitting and receiving unit, enabling close-range inspection of engineering or power facilities. Combined with stabilization components, this improves the accuracy and reliability of the inspection.

[0057] The above examples are merely illustrative of the technical content of this utility model to facilitate reader understanding, but do not imply that the implementation of this utility model is limited to these embodiments. Any technical extensions or re-creations made based on this utility model are protected by this utility model. The scope of protection of this utility model is defined by the claims.

Claims

1. A detection device based on a multi-legged wall-climbing robot, characterized in that, It includes a chassis, a multi-legged robotic arm connected to the chassis, a detection component, a stabilization component, and a control unit; The multi-legged robotic arm includes: a first crawling robotic arm and a second crawling robotic arm, both of which are equipped with suction cup assemblies; The detection component includes: a signal transmitting unit and a signal receiving unit; The stabilizing component includes: a telescopic robotic arm and a stabilizing suction cup assembly connected to the telescopic robotic arm; The first crawling robotic arm and the second crawling robotic arm have the same structure, both including: a three-degree-of-freedom robotic arm, a suction cup assembly connected to the three-degree-of-freedom robotic arm, and an air pump, a negative pressure fan and a solenoid valve for controlling the suction cup assembly. The air pump, the negative pressure fan and the solenoid valve form a control air path for sucking air into the suction cup assembly. The control unit is used to control the multi-legged robotic arm, the stabilizing component, and the detection component to work together to complete the detection according to the control logic.

2. The detection device based on a multi-legged wall-climbing robot according to claim 1, characterized in that, The three-degree-of-freedom robotic arm includes: a flange connected to the chassis, a primary motor connected to the flange, a first connecting plate connected to the output end of the primary motor, a secondary motor connected to the first connecting plate, a first universal joint connected to the output end of the secondary motor, a first lead screw module connected to the first universal joint, a second connecting plate connected to the first lead screw module, a tertiary motor connected to the second connecting plate, a second universal joint connected to the output end of the tertiary motor, a second lead screw module connected to the second universal joint, a third connecting plate connected to the second lead screw module, and a suction cup assembly connected to the third connecting plate. The second connecting plate is also hinged to the third connecting plate, and the first connecting plate is hinged to the second connecting plate.

3. The detection device based on a multi-legged wall-climbing robot according to claim 2, characterized in that, A buffer and shock absorption unit is also provided between the suction cup assembly and the third connecting plate.

4. The detection device based on a multi-legged wall-climbing robot according to claim 1, characterized in that, The suction cup assembly has the same structure as the stable suction cup assembly, both including: a suction cup base, a flexible suction cup connected to the bottom end of the suction cup base, and a connector connected to the top end of the suction cup base. The connector and the suction cup base are provided with a communicating air intake channel, and the air inlet of the air intake channel extends into the groove of the flexible suction cup.

5. The detection device based on a multi-legged wall-climbing robot according to claim 2, characterized in that, The signal transmitting unit includes: a first telescopic robotic arm and a laser emitting module connected to the first telescopic robotic arm, the first telescopic robotic arm being further connected to the chassis; the signal receiving unit includes: a second telescopic robotic arm and a signal receiving module connected to the second telescopic robotic arm, the second telescopic robotic arm being further connected to the chassis; the first telescopic robotic arm, the second telescopic robotic arm and the three-degree-of-freedom robotic arm have the same structure.

6. The detection device based on a multi-legged wall-climbing robot according to claim 1, characterized in that, The telescopic robotic arm includes: a base connected to the chassis, a primary telescopic motor connected to the base, a first telescopic arm connected to the output end of the primary telescopic motor, a secondary telescopic motor connected to the first telescopic arm, and a second telescopic arm connected to the secondary telescopic motor, wherein the stabilizing suction cup assembly is connected to the second telescopic arm.

7. The detection device based on a multi-legged wall-climbing robot according to any one of claims 1 to 6, characterized in that, The chassis is also equipped with a vision inspection component, which includes: a gimbal base connected to the chassis, a YAW axis motor connected to the gimbal base, a PITCH axis motor connected to the YAW axis motor, and a multispectral camera connected to the PITCH axis motor.

8. The detection device based on a multi-legged wall-climbing robot according to claim 7, characterized in that, The control unit includes: a main control board, and a power supply, communication module, and power management module connected to the main control board.

9. The detection device based on a multi-legged wall-climbing robot according to claim 8, characterized in that, The chassis is also equipped with a lidar for obstacle avoidance, which is electrically connected to the control unit.

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