Multi-link driven hexapod wall-climbing robot based on tripod gait

Abstract

Disclosed is a multi-link driven hexapod wall-climbing robot based on a tripod gait. A main suction unit mainly consists of a main frame plate (8) and three main suction feet fixedly connected to the main frame plate; an auxiliary suction unit mainly consists of three auxiliary suction feet; a power actuation unit is connected to the auxiliary suction unit by means of a driven unit; and the main suction unit is movably connected to both the driven unit and the power actuation unit, such that the wall-climbing robot adaptively steers. The main frame plate can move in the circumferential direction of an arc-shaped guide rail (1) by means of sliders, guide rods (15) are fixedly connected to the arc-shaped guide rail, and the sliders can move forwards and backwards in the axial direction of the guide rods. Electric motors are used to drive lead screws to rotate, thereby driving the auxiliary suction feet to move. The wall-climbing robot uses a multi-link driving structure, enhancing the load resistance, the power and the stability of the overall structure. The movement mode of the wall-climbing robot is a typical "triangular gait", and six legs are divided into two triangular supports, such that the robot has a low center of gravity and also has good stability.

Description

A six-legged wall-climbing robot based on triangular gait and multi-link drive. Technical Field

[0001] This invention belongs to the field of robotics, specifically relating to a hexapod wall-climbing robot based on triangular gait and multi-link drive. Background Technology

[0002] my country has thousands of large and medium-sized hydropower stations in operation, and the inspection of hydropower station tunnels, especially the water intake and tailrace tunnels of large hydropower stations, has always been a difficult problem for the hydropower industry. Currently, all tunnel inspections have been conducted under still water conditions, such as the water intake tunnels of the Ertan Hydropower Station and the Jinping Hydropower Station. The inspection of the Jinping Hydropower Station's water intake tunnel is a relatively successful example of long tunnel inspection under still water conditions in recent years.

[0003] Due to technical limitations, there are currently no cases of tunnel inspection under flowing water conditions in China. Many power stations in China, for various reasons, cannot conduct shutdown inspections of their corresponding tunnels, preventing them from meeting the national requirements for scheduled safety inspections of hydropower dams. The tailrace tunnel of the Goupitan hydropower station has also not been inspected for this reason since its completion 11 years ago. The same applies to the other seven power stations in the Huadian Wujiang River basin.

[0004] Currently, most mature applications of underwater inspection robots are in still water or low-flow environments. Existing robots struggle in high-flow conditions. Therefore, developing or modifying an underwater robot capable of inspection under certain flow conditions is an urgent matter. Summary of the Invention

[0005] To address the problems existing in the background art, the purpose of this invention is to provide a hexapod wall-climbing robot based on triangular gait and multi-link drive, which can achieve robot wall-climbing detection under high flow rates.

[0006] The technical solution adopted in this invention is as follows:

[0007] The wall-climbing robot includes a main adsorption unit, a secondary adsorption unit, a power execution unit, and a driven unit. The main adsorption unit mainly consists of a main frame plate and three main adsorption feet fixedly connected to the main frame plate. The secondary adsorption unit mainly consists of three secondary adsorption feet. The power execution unit is connected to the secondary adsorption unit through the driven unit. The slider in the driven unit can move back and forth along the axis of the power execution unit, thereby driving the secondary adsorption unit connected to the slider to move synchronously. The front end and rear end of the main adsorption unit are movably connected to the driven unit and the power execution unit, respectively, so that the wall-climbing robot can adaptively turn during the wall-climbing adsorption process.

[0008] The secondary adsorption unit includes a first secondary adsorption foot, a second secondary adsorption foot, and a third secondary adsorption foot; the main adsorption unit includes a main frame plate, a secondary frame plate, a first main adsorption foot, a second main adsorption foot, and a third main adsorption foot. The first main adsorption foot and the first secondary adsorption foot are located at the front and rear ends of the main frame plate, respectively. The second secondary adsorption foot and the third secondary adsorption foot are symmetrically distributed on the left and right sides of the middle of the main frame plate. The second main adsorption foot and the third main adsorption foot are symmetrically distributed on the left and right sides of the middle of the main frame plate, and the second secondary adsorption foot / third secondary adsorption foot is located in front of the second main adsorption foot / third main adsorption foot. The first main adsorption foot, the second main adsorption foot, and the third main adsorption foot are all fixedly connected to the main frame plate, and the second main adsorption foot and the third main adsorption foot are connected by a secondary frame plate.

[0009] The driven unit includes an arc-shaped guide rail, two guide rods, a first slider, a second slider, and a slider connecting shaft. The arc-shaped guide rail is located below the front end of the main frame plate, and the front end of the main frame plate is connected to the arc-shaped guide rail circumferentially via the slider. The two guide rods are arranged in parallel and spaced apart, and the front ends of the two guide rods are respectively fixedly connected to the left and right ends of the arc-shaped guide rail. The left and right ends of the first slider and the second slider are provided with guide holes. The two guide holes of the first slider are respectively sleeved on the front part of the two guide rods, and the two guide holes of the second slider are respectively sleeved on the rear part of the two guide rods, so that the first slider and the second slider can be moved back and forth along the axial direction of the guide rods. The first slider and the second slider are fixedly connected by the slider connecting shaft, so that the first slider and the second slider move back and forth synchronously. The slider connecting shaft is arranged parallel to the guide rods.

[0010] The first slider has a second set of suction feet and a third set of suction feet fixedly connected to its left and right sides, respectively. The lower surface of the first slider is movably connected to the power actuation unit, and the rear end of the second slider is fixedly connected to the first set of suction feet.

[0011] The power execution unit includes two lead screw and nut mechanisms and an underwater sealing motor. The two lead screw and nut mechanisms are arranged in parallel and spaced apart, and the lead screw and nut mechanisms are located below the guide rod. The left and right ends of the lower surface of the first slider in the driven unit are connected to the nuts of the two lead screw and nut mechanisms respectively through bearings. The underwater sealing motor is fixedly connected to the rear end of the lead screw of the lead screw and nut mechanism. The underwater sealing motor is used to drive the lead screw to rotate, thereby driving the nut in the lead screw and nut mechanism to move back and forth along the lead screw axis, and then driving the first slider, the second slider and the three auxiliary suction feet to move back and forth.

[0012] The driven unit also includes a third slider. The third slider has guide holes at both ends. The two guide holes of the third slider are respectively fitted into the middle of the two guide rods, so that the third slider can be moved back and forth on the guide rods along the axial direction of the guide rods. The upper end of the third slider is movably connected to the lower surface of the main frame plate through a bearing, and the lower end of the third slider is movably connected to the secondary frame plate through a bearing.

[0013] The left and right sides of the secondary frame plate are movably connected to the rear ends of the lead screws in the two lead screw and nut mechanisms via bearings.

[0014] The wall-climbing robot includes six bearings: a first bearing, a second bearing, a third bearing, a fourth bearing, a fifth bearing, and a sixth bearing. The outer rings of the first and second bearings are fixedly connected to the left and right ends of the lower surface of the first slider, respectively. The inner rings of the first and second bearings are fixedly connected to the nuts of two lead screw and nut mechanisms, respectively, allowing the secondary adsorption unit connected to the first slider to rotate relative to the lead screw and nut mechanism. The outer rings of the third and fourth bearings are fixedly connected to the left and right sides of the secondary frame plate, respectively. The inner rings of the third and fourth bearings are fixedly connected to the rear ends of the lead screws of the two lead screw and nut mechanisms, respectively, allowing the main adsorption unit connected to the secondary frame plate to rotate relative to the lead screw and nut mechanism. The inner and outer rings of the sixth bearing are connected to the upper end of the third slider and the lower surface of the main frame plate, respectively. The inner and outer rings of the fifth bearing are connected to the lower end of the third slider and the secondary frame plate, respectively, allowing the main frame plate of the main adsorption unit to rotate relative to the driven unit.

[0015] The fifth and sixth bearings are coaxially arranged, and the center of the fifth bearing is the same as the center of the arc-shaped guide rail.

[0016] Both the main adsorption foot and the secondary adsorption foot are suction cups equipped with motors.

[0017] The principle and movement process of this invention are as follows:

[0018] This wall-climbing robot employs a biomimetic locomotion mechanism similar to that of an inchworm. This movement consists of three phases: First, a contraction phase, where the front and rear parts of the mechanism come together in a compact form. Next, a forward extension phase, where the front part extends forward, taking a step forward, while the rear part remains temporarily stationary. Finally, a backward movement phase, where the rear part moves forward, approaching the front part, completing the entire motion cycle. By continuously cycling through these three phases, the inchworm-like motion mechanism can move forward continuously.

[0019] The beneficial effects of this invention are as follows:

[0020] 1. The wall-climbing robot of the present invention adopts a multi-link drive structure, which enhances its load resistance, power and overall structural stability.

[0021] 2. The wall-climbing robot of this invention adopts the typical "triangular gait" method, which divides the six legs into two sets of triangular supports, making the robot's center of gravity low and giving it good stability.

[0022] 3. This invention enables the wall-climbing robot of this invention to perform linear and turning movements in high-flow-rate environments. Attached Figure Description

[0023] Figure 1 shows the bottom view of the wall-climbing robot.

[0024] Figure 2 is an axonometric view of the wall-climbing robot;

[0025] Figure 3 is an exploded view of the circular arc guide rail mechanism;

[0026] Figure 4 shows the front and side views of the main frame plate;

[0027] Figure 5 is an exploded view of the rotating connection mechanism.

[0028] In the diagram: 1-Arc-shaped guide rail; 2-Screw and nut mechanism; 3-Second bearing; 4-First main adsorption foot; 5-Sixth bearing; 6-First bearing; 7-Second auxiliary adsorption foot; 8-Main frame plate; 9-Underwater sealing motor; 10-Second main adsorption foot; 11-Third bearing; 12-Second slider; 13-Fifth bearing; 14-First auxiliary adsorption foot; 15-Guide rod; 16-Fourth bearing; 17-Third main adsorption foot; 18-Slider connecting shaft; 19-First slider; 20-Third auxiliary adsorption foot. Detailed Implementation

[0029] The present invention will be described in detail below with reference to specific implementation examples. These examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way.

[0030] As shown in Figure 1, the wall-climbing robot includes a main adsorption unit, a secondary adsorption unit, a power execution unit, and a driven unit. The main adsorption unit mainly consists of a main frame plate 8 and three main adsorption feet fixedly connected to the main frame plate 8. The secondary adsorption unit mainly consists of three secondary adsorption feet. The power execution unit is connected to the secondary adsorption unit through the driven unit. The slider in the driven unit can move back and forth along the axis of the power execution unit, thereby driving the secondary adsorption unit connected to the slider to move synchronously. The front end and rear end of the main adsorption unit are movably connected to the driven unit and the power execution unit, respectively, so that the wall-climbing robot can adaptively turn relative to the secondary adsorption unit during the wall-climbing adsorption process. The forward direction of the wall-climbing robot is the direction in which the robot approaches the arc-shaped guide rail 1, and the rear direction of the wall-climbing robot is the direction in which it approaches the first secondary adsorption foot 14.

[0031] The secondary adsorption unit includes a first secondary adsorption foot 14, a second secondary adsorption foot 7, and a third secondary adsorption foot 20; the main adsorption unit includes a main frame plate 8, a secondary frame plate, a first main adsorption foot 4, a second main adsorption foot 10, and a third main adsorption foot 17. The first main adsorption foot 4 and the first secondary adsorption foot 14 are located at the front and rear ends of the main frame plate 8, respectively. The second secondary adsorption foot 7 and the third secondary adsorption foot 20 are symmetrically distributed on the left and right sides of the middle of the main frame plate 8. The second main adsorption foot 10 and the third main adsorption foot 17 are symmetrically distributed on the left and right sides of the middle of the main frame plate 8, and the second secondary adsorption foot 7 / the third secondary adsorption foot 20 are located in front of the second main adsorption foot 10 / the third main adsorption foot 17. The first main adsorption foot 4, the second main adsorption foot 10, and the third main adsorption foot 17 are all fixedly connected to the main frame plate 8, and the second main adsorption foot 10 and the third main adsorption foot 17 are connected by a secondary frame plate.

[0032] As shown in Figures 2 and 3, the driven unit includes an arc-shaped guide rail 1, two guide rods 15, a first slider 19, a second slider 12, and a slider connecting shaft 18. The arc-shaped guide rail 1 is located below the front end of the main frame plate 8, and the front end of the main frame plate 8 is connected to the arc-shaped guide rail 1 via the slider, which can move circumferentially along the arc-shaped guide rail 1. The two guide rods 15 are arranged in parallel and spaced apart, and the front ends of the two guide rods 15 are respectively fixedly connected to the left and right ends of the arc-shaped guide rail 1. The left and right ends of the first slider 19 and the second slider 12 are provided with guide holes. The two guide holes of the first slider 19 are respectively sleeved on the front of the two guide rods 15, and the two guide holes of the second slider 12 are respectively sleeved on the rear of the two guide rods 15, so that the first slider 19 and the second slider 12 can be moved back and forth along the axial direction of the guide rod 15. The first slider 19 and the second slider 12 are fixedly connected by the slider connecting shaft 18, so that the first slider 19 and the second slider 12 move back and forth synchronously. The slider connecting shaft 18 is arranged parallel to the guide rod 15.

[0033] The left and right sides of the first slider 19 are respectively fixedly connected to the second pair of adsorption feet 7 and the third pair of adsorption feet 20. The lower surface of the first slider 19 is movably connected to the power execution unit. The rear end of the second slider 12 is fixedly connected to the first pair of adsorption feet 14.

[0034] The power execution unit includes two lead screw and nut mechanisms 2 and an underwater sealing motor 9. The two lead screw and nut mechanisms 2 are arranged in parallel and spaced apart, and the lead screw and nut mechanisms 2 are located below the guide rod 15. The left and right ends of the lower surface of the first slider 19 in the driven unit are respectively connected to the nuts of the two lead screw and nut mechanisms 2 through two bearings. The underwater sealing motor 9 is fixedly connected to the rear end of the lead screw of the lead screw mechanism 2. The underwater sealing motor 9 is used to drive the lead screw to rotate, thereby driving the nut in the lead screw and nut mechanism 2 to move back and forth along the lead screw axis, and then driving the first slider 19, the second slider 12 and the three auxiliary suction feet 7, 20 and 14 connected to the nut to move back and forth.

[0035] The lead screw and nut mechanism is a common form of mechanical transmission device. It consists of a helical lead screw and a correspondingly cut nut, which is rotatably fitted onto the lead screw along its threads, and is used to convert the rotary motion of a motor into linear motion.

[0036] The driven unit also includes a third slider. The third slider has guide holes at both ends. The two guide holes of the third slider are respectively fitted into the middle of the two guide rods 15. The third slider is located between the first slider 19 and the second slider 12, so that the third slider can be moved back and forth along the axial direction of the guide rod 15. The upper end of the third slider is movably connected to the lower surface of the main frame plate 8 through a bearing, and the lower end of the third slider is movably connected to the secondary frame plate through a bearing.

[0037] In addition, a through hole for the slider connecting shaft 18 to pass through is provided in the middle of the third slider.

[0038] The left and right sides of the secondary frame plate are movably connected to the rear ends of the lead screws in the two lead screw and nut mechanisms 2 via bearings.

[0039] As shown in Figures 4 and 5, the wall-climbing robot includes six bearings: a first bearing 6, a second bearing 3, a third bearing 11, a fourth bearing 16, a fifth bearing 13, and a sixth bearing 5. The outer rings of the first bearing 6 and the second bearing 3 are fixedly connected to the left and right ends of the lower surface of the first slider 19, respectively. The inner rings of the first bearing 6 and the second bearing 3 are fixedly connected to the nuts of the two lead screw and nut mechanisms 2, respectively, so that the auxiliary suction foot connected to the first slider 19 can rotate relative to the lead screw and nut mechanism 2. The outer rings of the third bearing 11 and the fourth bearing 16 are fixedly connected to the secondary frame. On the left and right sides of the plate, the inner rings of the third bearing 11 and the fourth bearing 16 are fixedly connected to the rear ends of the lead screws of the two lead screw and nut mechanisms 2, so that the main adsorption unit connected to the secondary frame plate can rotate relative to the lead screw and nut mechanism 2. The inner and outer rings of the sixth bearing 5 are connected to the upper end of the third slider and the lower surface of the main frame plate 8, respectively. The inner and outer rings of the fifth bearing 13 are connected to the lower end of the third slider and the secondary frame plate, respectively, so that the main frame plate 8 of the main adsorption unit can rotate relative to the driven unit / power execution unit, thereby realizing the adaptive steering of the wall-climbing robot during the wall-climbing adsorption process.

[0040] The fifth bearing 13 and the sixth bearing 5 are coaxially arranged, and the center of the fifth bearing 13 is the same as the center of the arc-shaped guide rail 1.

[0041] Both the main and secondary adsorption feet use suction cups equipped with motors.

[0042] This invention relates to a wall-climbing robot, which is divided into four parts: a main adsorption unit, a secondary adsorption unit, a power execution unit, and a driven unit. The main adsorption unit consists of three main adsorption feet 4, 10, and 17 fixed to a main frame plate 8. The secondary adsorption unit consists of three secondary adsorption feet 7, 14, and 20. The driven unit consists of movable sliders 12 and 19 and a slider connecting shaft 18. The adsorption feet of the secondary adsorption unit are mounted on sliders 12 and 19 and move linearly along guide rod 15. The power execution unit uses two identical lead screw and nut mechanisms 2. The movement of the entire robot body can be achieved by controlling the displacement of the two lead screw and nut mechanisms through an underwater sealed motor 9.

[0043] The robot's walking gait planning employs the common "triangular gait" method, where the main adsorption unit and the secondary adsorption unit alternately adsorb and climb. When the main adsorption unit is in the adsorption state, the lead screw connected to the main adsorption unit via bearings 16 and 11 is in a fixed state, while the nut connected to the secondary adsorption unit via bearings 6 and 3 is in a movable state. Conversely, when the secondary adsorption unit is in the adsorption state, the nut is in a fixed state, while the lead screw is in a movable state. The main and secondary adsorption units periodically alternate adsorption, and the non-adsorption units can be translated along the lead screw direction by rotating the lead screw. When the underwater sealed motors on the two lead screws rotate at the same speed, the translational movement of the entire mechanism can be achieved.

[0044] The arc-shaped guide rail 1 mounted on the guide rod 15 is concentric with the bearing 13. By controlling the speeds of the two underwater sealing motors 9, the movement direction and speed of the non-adsorption unit within a single cycle can be controlled differentially. When the main adsorption unit is in a non-adsorption state, and the rotational displacements of the two lead screw underwater sealing motors 9 are different, the main adsorption unit will rotate around the rotating bearing 13 along the arc-shaped guide rail 1 in the direction of the lead screw with the larger displacement. Subsequently, when the auxiliary adsorption unit is in a non-adsorption state, it can also rotate around the bearing 13 by controlling the differential speed of the motors, ultimately achieving the steering of the entire mechanism.

[0045] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A hexapod wall-climbing robot based on triangular gait and multi-link drive, characterized in that: It includes a main adsorption unit, a secondary adsorption unit, a power execution unit, and a driven unit. The main adsorption unit is mainly composed of a main frame plate (8) and three main adsorption feet fixedly connected to the main frame plate (8). The secondary adsorption unit is mainly composed of three secondary adsorption feet. The power execution unit is connected to the secondary adsorption unit through the driven unit. The slider in the driven unit can move back and forth along the axis of the power execution unit, thereby driving the secondary adsorption unit connected to the slider to move synchronously. The front end and rear end of the main adsorption unit are movably connected to the driven unit and the power execution unit, respectively, so that the wall-climbing robot can adaptively turn during the wall-climbing adsorption process.

2. The hexapod wall-climbing robot based on triangular gait and multi-link drive as described in claim 1, characterized in that: The secondary adsorption unit includes a first secondary adsorption foot (14), a second secondary adsorption foot (7), and a third secondary adsorption foot (20); the main adsorption unit includes a main frame plate (8), a secondary frame plate, a first main adsorption foot (4), a second main adsorption foot (10), and a third main adsorption foot (17). The first main adsorption foot (4) and the first secondary adsorption foot (14) are located at the front and rear ends of the main frame plate (8), respectively, and the second secondary adsorption foot (7) and the third secondary adsorption foot (20) are symmetrically distributed on the left side of the middle part of the main frame plate (8). On the right and right sides, the second main adsorption foot (10) and the third main adsorption foot (17) are symmetrically distributed on the left and right sides of the middle part of the main frame plate (8), and the second secondary adsorption foot (7) / third secondary adsorption foot (20) is located in front of the second main adsorption foot (10) / third main adsorption foot (17). The first main adsorption foot (4), the second main adsorption foot (10) and the third main adsorption foot (17) are all fixedly connected to the main frame plate (8), and a secondary frame plate is connected between the second main adsorption foot (10) and the third main adsorption foot (17).

3. A hexapod wall-climbing robot based on triangular gait and multi-link drive as described in claim 2, characterized in that: The driven unit includes an arc-shaped guide rail (1), two guide rods (15), a first slider (19), a second slider (12), and a slider connecting shaft (18). The arc-shaped guide rail (1) is located below the front end of the main frame plate (8), and the front end of the main frame plate (8) is connected to the arc-shaped guide rail (1) in a circumferential manner via the slider. The two guide rods (15) are arranged in parallel and spaced apart, and the front ends of the two guide rods (15) are respectively fixedly connected to the left and right ends of the arc-shaped guide rail (1). Guide holes are provided at both the left and right ends of the first slider (19) and the second slider (12). The two guide holes of the first slider (19) are respectively sleeved on the front of the two guide rods (15), and the two guide holes of the second slider (12) are respectively sleeved on the rear of the two guide rods (15), so that the first slider (19) and the second slider (12) can be moved back and forth along the axial direction of the guide rod (15) and are fixedly connected by the slider connecting shaft (18), so that the first slider (19) and the second slider (12) move back and forth synchronously. The slider connecting shaft (18) is set parallel to the guide rod (15). The left and right sides of the first slider (19) are respectively fixedly connected to the second pair of adsorption feet (7) and the third pair of adsorption feet (20). The lower surface of the first slider (19) is movably connected to the power execution unit. The rear end of the second slider (12) is fixedly connected to the first pair of adsorption feet (14).

4. A hexapod wall-climbing robot based on triangular gait and multi-link drive as described in claim 3, characterized in that: The power execution unit includes two lead screw and nut mechanisms (2) and an underwater sealing motor (9); the two lead screw and nut mechanisms (2) are arranged in parallel and spaced apart, and the lead screw and nut mechanism (2) is located below the guide rod (15). The left and right ends of the lower surface of the first slider (19) in the driven unit are connected to the nuts of the two lead screw and nut mechanisms (2) respectively through bearings. The underwater sealing motor (9) is fixedly connected to the rear end of the lead screw of the lead screw mechanism (2). The underwater sealing motor (9) is used to drive the lead screw to rotate, thereby driving the nut in the lead screw and nut mechanism (2) to move back and forth along the lead screw axis, thereby driving the first slider (19), the second slider (12) and the three auxiliary adsorption feet (7, 20, 14) to move back and forth.

5. A hexapod wall-climbing robot based on triangular gait and multi-link drive as described in claim 2, characterized in that: The driven unit also includes a third slider. The left and right ends of the third slider are provided with guide holes. The two guide holes of the third slider are respectively sleeved in the middle of the two guide rods (15), so that the third slider can be moved back and forth along the axial direction of the guide rod (15) and is mounted on the guide rod (15). The upper end of the third slider is movably connected to the lower surface of the main frame plate (8) through a bearing, and the lower end of the third slider is movably connected to the secondary frame plate through a bearing.

6. A hexapod wall-climbing robot based on triangular gait and multi-link drive as described in claim 4, characterized in that: The left and right sides of the secondary frame plate are movably connected to the rear ends of the lead screws in the two lead screw and nut mechanisms (2) via bearings.

7. A hexapod wall-climbing robot based on triangular gait and multi-link drive as described in claim 5, characterized in that: The wall-climbing robot includes six bearings: a first bearing (6), a second bearing (3), a third bearing (11), a fourth bearing (16), a fifth bearing (13), and a sixth bearing (5). The outer rings of the first bearing (6) and the second bearing (3) are fixedly connected to the left and right ends of the lower surface of the first slider (19), respectively. The inner rings of the first bearing (6) and the second bearing (3) are fixedly connected to the nuts of two screw nut mechanisms (2), respectively, so that the auxiliary adsorption connected to the first slider (19) can rotate relative to the screw nut mechanism (2). The third bearing (11) and the second bearing (5) are fixedly connected to the nuts of two screw nut mechanisms (2), respectively. The outer rings of the four bearings (16) are fixedly connected to the left and right sides of the secondary frame plate, respectively. The inner rings of the third bearing (11) and the fourth bearing (16) are fixedly connected to the rear ends of the screws of the two screw nut mechanisms (2), respectively, so that the main adsorption unit connected to the secondary frame plate can rotate relative to the screw nut mechanism (2). The inner and outer rings of the sixth bearing (5) are connected to the upper end of the third slider and the lower surface of the main frame plate (8), respectively. The inner and outer rings of the fifth bearing (13) are connected to the lower end of the third slider and the secondary frame plate, respectively, so that the main frame plate (8) of the main adsorption unit can rotate relative to the driven unit.

8. A hexapod wall-climbing robot based on triangular gait and multi-link drive as described in claim 7, characterized in that: The fifth bearing (13) and the sixth bearing (5) are coaxially arranged, and the center of the fifth bearing (13) is the same as the center of the arc-shaped guide rail (1).

9. A hexapod wall-climbing robot based on triangular gait and multi-link drive as described in claim 1, characterized in that: Both the main adsorption foot and the secondary adsorption foot are suction cups equipped with motors.

Images