968 results about "Wall climbing" patented technology

The invention discloses a bridge pier stud crack automatic detection system based on a wall-climbing robot, and relates to the technical field of crack detection, and the system realizes closed-loop operation from accurate crack detection to intelligent repair through a crack detection module and a repair material intelligent spraying detection module. The crack detection module uses a multispectral imaging device, a thermal imaging camera and a laser scanning technology, can collect a multispectral difference value G (x, y), surface temperature distribution T (x, y) and a depth matrix D (x, y) of a crack area, extracts a crack boundary B (x, y) through a high-precision algorithm, and calculates a crack volume Vc. And the repairing material intelligent spraying detection module dynamically calculates the volume Vm of the repairing material according to the volume of the crack, and the SLAM technology is utilized to optimize the spraying path and parameters, so that uniform coverage and efficient utilization of the repairing material are ensured. The system greatly improves the precision of crack detection and repair, and avoids material waste and repair omission.

The utility model discloses a system for large-range high-efficiency detection of a building facade. The system comprises a wall-climbing robot and a remote controller, the wall-climbing robot comprises a robot body, a climbing module, a propeller propelling module, a detection module and a control module, the control module is in communication connection with the remote controller; and the control module is suitable for controlling the climbing module to drive the wall-climbing robot to climb or descend along the rope, controlling the propeller propelling module to propel the wall-climbing robot to be tightly attached to the building facade and controlling the detection module to carry out large-range damage detection on the building facade in the climbing or descending process of the wall-climbing robot under an instruction of the remote controller. According to the utility model, the wall-climbing robot is controlled to climb up and down stably on the vertical facade through the remote controller, and the large-range detection of the crack damage of the building facade is realized.

The invention belongs to the technical field of crawling robots, and particularly relates to a wall-climbing detection robot which comprises a vehicle body and an industrial control panel, the vehicle body is provided with four permanent magnet wheels, the vehicle body is provided with a camera shooting assembly and a detection assembly, and the industrial control panel is provided with a pay-off mechanism. The control end of the vehicle body is electrically connected with the industrial control panel through the pay-off mechanism, the chassis is fixedly installed at the bottom of the vehicle body and located among the four permanent magnet wheels, and strip-shaped holes are formed in the two sides of the end face of the chassis. According to the wall-climbing detection robot, the defect detection efficiency of large pipelines, storage tanks and the like can be remarkably improved, meanwhile, the danger and labor intensity of personnel are greatly reduced, the safety of the wall-climbing detection robot during operation is effectively improved, and carried precise instruments are prevented from falling off and being damaged.

The invention discloses a permanent magnet adsorption type automatic obstacle-crossing wall-climbing welding robot which comprises a bottom plate assembly, a welding gun mechanism assembly is installed on the bottom plate assembly, and the welding gun mechanism assembly comprises a cross-shaped sliding block mechanism, a welding gun clamping device and a welding gun, and the welding gun clamping device and the welding gun are arranged on the cross-shaped sliding block mechanism. A TB6612 driver is arranged on one side of the welding gun mechanism assembly, a navigation module is arranged on the other side of the welding gun mechanism assembly, a motor connecting rod is installed below the navigation module, a permanent magnet block support is arranged on the edge of the bottom plate assembly, a permanent magnet adsorption mechanism is installed on the permanent magnet block support, and the permanent magnet adsorption mechanism is composed of four permanent magnet units and a yoke. The permanent magnet block and the bottom plate assembly are fixed through four linear sliding rails, and four sets of connecting frames are evenly installed on the edge of the bottom plate assembly. The speed regulation and differential functions of the mobile welding robot are achieved through remote control, and the robot can conduct wall climbing, curve walking, welding and other operations on an experimental platform and an application site.

The invention relates to a crawler-type magnetic adsorption wall-climbing robot, and belongs to the field of wall-climbing robots. The wall-climbing robot comprises a main body bracket, a control module, a driving module, an adsorption module and a mechanical arm module, the main body support is a frame of a hollow structure and comprises a bottom plate, side plates arranged on the two sides of a chassis and a cover plate connected with the tops of the side plates, and a power source is arranged in the main body support. The control module is arranged in the main body bracket and is electrically connected with a power supply, and the control module comprises a wireless communication unit. The robot is simple in structure and high in obstacle crossing capacity, permanent magnet magnetic poles are arranged in a Halbach array, the upper sides and the lower sides of the magnetic poles are in an upper strong magnetic state and a lower weak magnetic state, and the magnetic adsorption force to the wall face is greatly improved.

The invention relates to the technical field of steel structure automatic inspection, and discloses a large steel structure air-ground cooperation automatic inspection path planning method and an inspection system.The method comprises the following steps that three-dimensional point cloud data of a large steel structure are obtained, and the three-dimensional point cloud data of the large steel structure are obtained according to the maximum flight height and the maximum view range of a given unmanned aerial vehicle; determining a point cloud set capable of falling within the field of view of the unmanned aerial vehicle to obtain an inspection range of the unmanned aerial vehicle; the point cloud set outside the inspection range of the unmanned aerial vehicle is the inspection range of the wall-climbing robot; and respectively planning the inspection paths of the unmanned aerial vehicle and the wall-climbing robot in the inspection range of the unmanned aerial vehicle and the inspection range of the wall-climbing robot. Based on two unmanned devices, high-coverage, high-efficiency and high-precision unmanned inspection of the steel structure is realized.

The invention discloses a wind tower body derusting magnetic adsorption wall-climbing robot, which belongs to the technical field of robots and comprises a moving trolley, an adsorption mechanism, a polishing mechanism and a walking motor. The moving trolley comprises a chassis frame and four Mecanum wheels installed on the chassis frame. The adsorption mechanism comprises two adsorption assemblies which are symmetrically arranged front and back. Each adsorption assembly comprises a magnet device and a gap adjusting device used for driving the magnet device to move up and down. An ultrasonic sensor used for detecting the size of a gap between the magnet device and the wall face of the wind tower body is arranged on the bottom face of the magnet device. The grinding mechanism comprises a base, a sliding table, a supporting arm, a grinding lifting device, a grinding rotating motor, a grinding disc and a camera. The grinding disc can move left and right and move up and down, and the rust removal efficiency is improved. The problems that in the wall-climbing process of an existing wind tower wall-climbing robot, due to the fact that the preset safety adsorption force is too large and the structure of the robot is poor, flexibility is poor, and operation efficiency is low are solved.

The invention discloses a negative pressure adsorption hinged four-track wall-climbing robot, belongs to the technical field of wall-climbing robots, and aims to solve the problems that stable adsorption on complex wall surfaces of different materials and different forms is difficult, the walking efficiency is low, the obstacle crossing ability is low, and the self-adaptive control is difficult in the prior art. The front vehicle body is arranged in the front in the advancing direction, and the front vehicle body comprises a vehicle frame unit, crawling units arranged on the two sides of the vehicle frame unit and a negative pressure adsorption unit; the crawling unit is of a floating crawler type structure, and the negative pressure adsorption unit is of a controllable negative pressure sealing suction cup adsorption type structure. The rear vehicle body has the same structure as the front vehicle body and is arranged behind along the advancing direction; the steering unit is connected between the tail end of the front vehicle body and the front end of the rear vehicle body, and rotation and pitching of the rear vehicle body relative to the front vehicle body are adjusted through the steering unit; the positioning and detecting system is carried on the front vehicle body; and the control unit is carried on the rear vehicle body and is used for controlling the wall-climbing robot to act.

The invention relates to a wall-climbing laser cleaning robot weld joint identification tracking control method and device, and belongs to the technical field of robot tracking control. The maximum curvature of the arc length between the position point of the robot at the current moment and a preview point is determined, the maximum longitudinal speed corresponding to the maximum curvature is determined, and the preview point is any point on the weld joint track in the advancing direction of the robot; and determining a predicted position of the robot at the next moment according to the maximum curvature and the maximum longitudinal speed, and controlling the robot to move to the predicted position. The method solves the problem that the precision of a dynamical model and an operation control strategy of the wall-climbing robot is low because the wall surface motion control of the wall-climbing robot does not consider the influence of adsorption force and gravity.

The invention discloses a video inspection robot and method for a first supporting plate of a steam generator, and the robot comprises a sub-video inspection robot which runs on the first supporting plate of the steam generator and inspects a heat transfer pipe; the mother wall-climbing robot comprises a shell, and one side of the shell is rotationally provided with a frame mechanism which is suitable for carrying the son video inspection robot and conveying the son video inspection robot to the first supporting plate of the steam generator; according to the video inspection robot disclosed by the invention, the whole set of robot can easily enter the inner wall of a steam generator coaming through a hand hole in a mode of combining the child robot and the mother robot, and the mother wall-climbing robot carries the child video inspection robot to climb to the first supporting plate along the inner wall of the steam generator coaming; and then the sub-video inspection robot runs on the first supporting plate to carry out video inspection operation, corresponding standard operation procedures can be completed autonomously, and the problem that the central pipe gallery of the first supporting plate of the steam generator cannot be inspected is solved.

The present invention discloses a wall-climbing robot for weld detection, which includes a top plate, a flaw detection mechanism, a magnetic wheel mechanism, a sensor assembly, a liquid supply mechanism, a gravity feedback mechanism, and a controller. An industrial camera in the sensor assembly detects the weld. The controller drives the rotation of four groups of magnetic wheel mechanisms for weld tracking according to the weld detection result. The gravity feedback mechanism drives the water pump in the liquid supply mechanism to continuously spray magnetic suspension liquid on the weld to be detected according to the gravity detection result. The first servo motor in the flaw detection mechanism drives the magnetic particle flaw detector to move downwards to continuously detect the weld to be detected. The device has a simple structure. Through four independent groups of magnetic wheel mechanisms, it can adapt to different container wall surfaces. At the same time, through gravity detection, continuous liquid supply of the liquid supply mechanism is realized, improving the efficiency, accuracy and reliability of weld detection.

The utility model relates to the technical field of spherical tank surface weld joint detection, in particular to a magnetic attraction type spherical tank weld joint detection robot which comprises a crawler crawling device, a weld joint detection device and a surface polishing device, and the crawler crawling device is used for providing walking power and adsorbing a climbing wall; the welding seam detection device is composed of a detection part and an imaging part, and the imaging part is composed of laser imaging equipment and infrared imaging equipment and used for scanning the interior and exterior of the spherical tank in the detection process and determining coordinate distribution of a welding seam; the detection part consists of a mechanical arm and flaw detection equipment and is used for detecting a welding seam; the surface grinding device is composed of a grinding wheel grinding machine and a sliding support. According to the spherical tank robot, the obstacle crossing capacity for the surface of the spherical tank is improved through the magnet, foreign matter on the welding seam and the surface of the spherical tank is removed through the grinding wheel polisher on the premise that the surface of the spherical tank is not damaged, the welding seam detection precision is improved, and nondestructive detection on the welding seam on the surface of the spherical tank is achieved through the welding seam detection device.

The invention provides a steel formwork surface grinding device. The steel formwork surface grinding device comprises a wall-climbing robot, a mounting mechanism and a grinding mechanism. The wall-climbing robot is provided with an installation position, the installation mechanism comprises a frame assembly and a driving assembly, the frame assembly is detachably connected to the installation position, the driving assembly is installed on the frame assembly, the grinding mechanism comprises a first flange, a rotating rod, an end plate, a steel wire grinding piece and a diamond abrasive grinding piece, one end of the rotating rod is fixedly connected with the first flange, and the other end of the rotating rod is fixedly connected with the end plate. The steel wire grinding piece and the diamond grinding piece are both installed on the end plate, the steel wire grinding piece is arranged on the outer side of the diamond grinding piece in a surrounding mode, and the first flange can be connected to the driving assembly so that the driving assembly can drive the grinding mechanism to rotate. In this way, the grinding mechanism is driven to rotate through the driving assembly, and the wall-climbing robot moves on the to-be-ground steel formwork, so that concrete sticky skin and rust on the steel formwork can be cleaned up.

The invention discloses a wall-climbing robot positioning and path planning method based on unmanned aerial vehicle cooperation, and the method comprises the steps: constructing and updating a three-dimensional map based on the point cloud and image data of a laser radar and a camera; based on the three-dimensional map, the two-dimensional code of the wall-climbing robot is identified by using the unmanned aerial vehicle, and the accurate positioning information of the wall-climbing robot is obtained by combining self-positioning and cross validation and fusion correction of the ground control unit; updating a map by synchronizing sensing data, and optimizing a climbing track based on the obtained positioning information and a global planning path of the ground control unit; for positioning information and environment information of the wall-climbing robot, the unmanned aerial vehicle adopts a trajectory prediction control algorithm to adjust the attitude, and meanwhile, sudden obstacles are avoided in real time through path planning. According to the invention, through laser vision fusion SLAM and unmanned aerial vehicle collaborative operation, the environment perception capability is enhanced, and through combination of a dynamic map and visual word bag optimization, the functions of operation map construction, accurate positioning, path planning, autonomous navigation obstacle avoidance and the like of the wall-climbing robot are realized.

The invention discloses a road damage identification and positioning method fused with multi-source information, and relates to the technical field of road and bridge facility health monitoring. The method comprises the following steps: S1, collecting multi-source image data of a road bridge through an unmanned aerial vehicle, a wall-climbing robot and / or an industrial camera; and S2, preprocessing the multi-source image data, respectively inputting the multi-source image data into a pre-trained deep learning recognition model, and outputting the type and initial position information of a disease. According to the method, the global view angle of the unmanned aerial vehicle and the local high-definition data of the wall-climbing robot / industrial camera are deeply fused, and the deep learning-based semantic segmentation model is utilized to perform pixel-level recognition on tiny diseases such as cracks, so that the recognition accuracy and reliability are greatly improved, and meanwhile, the recognition efficiency is improved. Image coordinates are accurately mapped to the three-dimensional live-action model through a coordinate transformation formula, centimeter-level space positioning of the disease is achieved, and detection accuracy and operation safety are remarkably improved.

The invention discloses a magnetic array adsorption module, a design method thereof and a wall-climbing robot. The magnetic array adsorption module comprises a first magnetic assembly and a second magnetic assembly, the first magnetic assembly comprises a plurality of first magnets distributed in an array mode in the first direction and the second direction, every two adjacent first magnets are spaced and opposite in magnetism in the third direction, and every two of the first direction, the second direction and the third direction are perpendicular to each other; the second magnetic assembly comprises a plurality of second magnets, each second magnet is connected with two adjacent first magnets, an air gap exists between the two adjacent second magnets, and the magnetism of the two adjacent second magnets is opposite in the first direction or the second direction. By designing the magnetic array adsorption module arranged in the circumferential direction, the permanent magnet utilization rate of the magnetic array adsorption module is superior to that of a linear classic Halbach magnetic array adsorption module under the same magnet volume, and magnetic attenuation caused by the end effect is improved. And meanwhile, the air gap can be used as a replacement space of the mounting hole, so that magnetic loss caused by opening a hole in the magnet is avoided.

The invention provides a wall-climbing robot and a control method. The robot comprises a supporting plate, an outer foot assembly slidably arranged at the top of the supporting plate, an inner foot assembly arranged at the bottom of the supporting plate and a motion posture sensor. The outer foot assembly comprises a second rack and a plurality of first swing adsorption units; the linear driving mechanism is arranged on the top face of the supporting plate, and the second rack is connected with the moving end of the linear driving mechanism. The inner foot assembly comprises a first rack, a plurality of second swing adsorption units and a rotating mechanism, the first rack comprises a plurality of supporting arms, and the second swing adsorption units are correspondingly arranged at the extending ends of the supporting arms respectively; the rotating end of the rotating mechanism is connected with the supporting plate; the first swing adsorption unit and the second swing adsorption unit respectively comprise a swing mechanism, a suction cup arranged at the swing end of the swing mechanism and a negative pressure air pump; the motion attitude sensor is in communication connection with the negative pressure air pump; the wall-climbing robot is not easy to fall off and can realize large-span obstacle crossing.

The invention discloses a wall surface self-adaptive wheel type magnetic adsorption pipeline wall-climbing robot, which relates to the technical field of intelligent machinery and comprises a vehicle body, a passive self-adaptive device, a driving device, a permanent magnet adsorption magnetic wheel group and a sensing device, through mutual cooperation of the passive self-adaptive device, the driving device, the permanent magnet adsorption magnetic wheel set and the sensing device, the problem that when the wheel type magnetic adsorption wall-climbing robot walks on an uneven working face, the rotating speeds of all wheels are not synchronous can be solved; the wheel type magnetic adsorption wall-climbing robot smoothly walks on the working face and crosses the external corner of the pipeline, the use reliability of the robot is improved, then the working efficiency of the robot is improved, the front and back network cameras can transmit image information in the pipeline in real time, and an operator can conveniently monitor and adjust the working state of the robot.

The invention belongs to the technical field of miniature wall-climbing robots, and particularly relates to a miniature double-foot wall-climbing robot based on electrostatic adsorption, which comprises a bracket, two groups of symmetrically arranged driving devices, two actuating legs and two groups of electrostatic chucks, the driving devices are respectively arranged on two sides of the bracket, the output ends of the driving devices are connected with the actuating legs, and the electrostatic chucks are arranged at the lower ends of the actuating legs. The two sets of driving devices drive the actuating legs to drive the electrostatic chucks to alternately swing through alternate actuation, and the two feet alternately execute adsorption, swing and desorption actions in cooperation with alternate adsorption and desorption of the electrostatic chucks, so that the robot continuously and stably crawl on the wall face. A bionic gait mode is formed through alternate adsorption, desorption and swinging of the left and right feet, continuous adsorption of the suction cups on at least one side at any moment is ensured, instability caused by simultaneous desorption of the two feet is avoided, stable adsorption and continuous and efficient crawling on multiple types of wall surfaces are achieved, the structure is compact, and operation is convenient. The adaptability and the stability of the robot in a narrow space and a complex wall surface environment are improved.

The invention discloses a crawler-type wall-climbing robot single body and a crawler-type wall-climbing robot. Each crawler-type wall-climbing robot single body comprises a rack, a magnetic crawler belt, a crawler belt driving device and a tensioning mechanism, the magnetic crawler belt, the crawler belt driving device and the tensioning mechanism are installed on the rack, the magnetic crawler belt can provide magnetic adsorption force, and the crawler belt driving device is in transmission connection with the magnetic crawler belt and provides driving force for the magnetic crawler belt; the tensioning mechanism is connected with or makes contact with the magnetic crawler belt, and the tensioning mechanism can be driven by external force to stretch out and draw back in the selected direction and provide tensioning force for the magnetic crawler belt. The wall-climbing robot is easier and more efficient to manufacture, assemble and maintain, and meanwhile, different modules can be flexibly configured in different application scenes, so that the capacity of customized production and quick response to market requirements is achieved.

The invention discloses a composite type four-foot wall climbing robot integrating a fish suction cup adsorption mechanism and lizard crawling characteristics. The problems that a traditional wall climbing robot is poor in adsorption stability and insufficient in moving flexibility on uneven and wet wall surfaces are solved. The core structure of the robot comprises an adsorption sole assembly, a multi-degree-of-freedom leg joint, a bionic spine, a micro air pump and a sole pressure sensor, and the adsorption sole assembly controls an air bag through the air pump to generate negative pressure to adapt to various wall surfaces; multiple joints of the legs are matched with the spherical joints to achieve multi-angle attachment of the foot sole, the bionic spine can be bent and buffered, lizard diagonal gaits are adopted, the rotation angle of the joints is adjusted in combination with a sensor, self-adaptive movement on the wall with the inclination angle ranging from 0 degree to 90 degrees is achieved, and the efficiency is improved by 30% or above compared with a traditional robot. The robot breaks through the limitation of a single bionic mechanism, can be applied to complex high-altitude scenes such as building outer wall detection, and reduces the manual operation risk.

The present invention relates to the field of robot technology, and in particular to a multi-mode bionic wall-climbing robot that imitates the movement form of a katydid, comprising a trunk main body, a plurality of foot driving mechanisms are arranged at the lower part of the trunk main body, a foot-end cooperative attachment mechanism that contacts a wall surface is arranged on the foot driving mechanism, a wireless receiver is arranged on the trunk main body, a signal is received by the wireless receiver and the plurality of foot driving mechanisms on the trunk main body are controlled to be linked to each other, and the foot-end cooperative attachment mechanism is controlled to contact or separate from the wall surface, so as to realize the robot climbing or jumping, and the robot innovatively combines an actively controlled "grasping-adhesion" structure and a connecting rod mechanism, so as to realize crawling and jumping on a variety of complex wall surfaces.

The invention relates to a wall-climbing robot system for detecting a coating of a steel pipe truss structure and an application method, and the system comprises a self-adaptive magnetic adsorption mobile platform which can be adaptively and stably adsorbed on steel trusses with different pipe diameters to execute an inspection task; the robot platform is provided with an autonomous positioning navigation system composed of a laser radar, binocular vision and an airborne computer, and the position of the robot is positioned in the steel pipe truss without satellite signals through real-time mapping and a positioning algorithm of tight coupling of laser and vision. The front part of the robot is provided with an electrically foldable surrounding type array camera, so that full-surface coverage type shooting of a steel pipe component is realized, and real-time identification of coating apparent defects is executed in combination with an artificial intelligence disease identification algorithm in an airborne computer; and the lower part of the robot is provided with a telescopic elastic electromagnetic eddy current probe for detecting the thickness of the coating. The method has the advantages that the apparent diseases and the thicknesses of coatings of steel structures such as ceilings of high-speed rail stations and ceilings of large stadiums can be rapidly detected.

The invention provides a defect identification method for a magnetic flux leakage detection robot, and relates to the technical field of artificial intelligence, and the method comprises the following steps: configuring an excitation part magnetization storage tank, adding a performance test standard, and receiving a simulation sample; a detection scene is drawn up, a magnetic flux leakage detection device is integrated on the wall-climbing robot, compatibility testing is achieved by starting the robot to move, receiving changes of a magnetic flux leakage field and outputting defect results, and the problems that when the surface form of the storage tank is complex or corrosion and crack forms are diversified, the accuracy and comprehensiveness of magnetic flux leakage detection are insufficient, and missing detection or false detection is prone to occurring are solved. The technical problem that effective automatic detection cannot be achieved on the surfaces of different types of storage tanks is solved, the coverage rate and efficiency of detection are improved through movement of the wall-climbing robot along the preset path of the surfaces of the storage tanks, it is ensured that each area of the surfaces of the storage tanks can be effectively detected, the precision and reliability of magnetic flux leakage detection are improved, and the safety of storage tank detection is improved. The technical effect of accurately recognizing the surface defects of the storage tank is achieved.

The utility model discloses a wall-climbing photographing robot, which comprises a wall-climbing robot body and a pan-tilt camera arranged on the wall-climbing robot body through a rotary driving mechanism, the rotation driving mechanism comprises a first driving motor arranged in the wall-climbing robot body and a bearing seat arranged on the front face of the wall-climbing robot body and connected with an output shaft of the first driving motor, and the pan-tilt camera is fixed to the bearing seat. The first driving motor is controlled by the wall-climbing robot body and can drive the bearing base to rotate so that the pan-tilt camera can be kept in a horizontal state. The wall-climbing photographing device can meet the use requirements of wall-climbing photographing.

The utility model relates to the technical field of robots, in particular to a cleaning and recycling device for a wall-climbing robot, which comprises a robot body provided with a traveling mechanism and a rear steering wheel. The flexible recycling mechanism is arranged on the robot body, and the opening direction of the flexible recycling mechanism is consistent with the water flow direction; the number of the self-adaptive adjusting mechanisms is at least one, and the self-adaptive adjusting mechanisms are connected with the flexible recycling mechanism; and the cleaning mechanism is connected with the self-adaptive adjusting mechanism, the self-adaptive adjusting mechanism drives the cleaning mechanism to move, and the cleaning mechanism comprises at least one main cleaning assembly, a plurality of branch cleaning assemblies, a high-pressure water pipe and a cleaning liquid pipe. Due to the fact that the cleaning assembly comprises the main cleaning assembly and the multiple branch cleaning assemblies, and the multiple branch cleaning assemblies are movably connected with the main cleaning assembly, the wall-climbing robot cleaning and recycling device can adapt to a variable-curvature operation surface, the cleaning area is increased, meanwhile, the total number of the assemblies is reduced, and therefore the cleaning efficiency of the wall-climbing robot cleaning and recycling device is improved; and the cost of the cleaning device is also reduced.

The invention discloses a steel formwork surface treatment robot based on magnetic adsorption wall climbing, and belongs to the technical field of polishing and cleaning, the steel formwork surface treatment robot comprises a walking chassis and a polishing head, the polishing head is composed of a support, a flexible screw-down mechanism and an angle grinder, the support is arranged on the walking chassis, and the angle grinder is arranged on the support through the flexible screw-down mechanism; the flexible pressing mechanism is composed of a vertical frame, a U-shaped supporting plate, a triangular groove frame, an H-shaped double-fork arm, an adjustable damping spring and a connecting plate. The vertical frame is connected with the U-shaped supporting plate so as to clamp the angle grinder. The triangular groove frame is hinged to the U-shaped supporting plate through a fourth hinge shaft. The H-shaped two-fork arm is rotationally connected with the connecting plate and is hinged with the two vertical frames through a second hinge shaft and a third hinge shaft respectively; the two ends of the adjustable damping spring are hinged to the fifth hinge shaft and the connecting plate correspondingly, and the connecting plate is fixedly connected to the support. The first hinge shaft and the second hinge shaft of the triangular groove frame are rotationally connected to the support. According to the robot, efficient and stable automatic grinding and cleaning operation can be achieved in the complex construction environment, and the risk and cost of manual operation are reduced.

The present application relates to the field of robot technology, and in particular to a multi-rotor wall-climbing robot, including a robot body, a flight component and a wall-climbing component arranged on the body, the robot body is also provided with a rotating structure, the wall-climbing component is arranged at one end of the rotating structure, a pressure propeller is arranged at the other end of the rotating structure away from the wall-climbing component, and the wall-climbing component and the flight component are connected through the rotating structure. The embodiments of the present application aim at the deficiencies of the prior art, effectively solve the problems that the hovering positioning of drones is difficult, they are easily disturbed by environmental factors, and the wall-climbing robots are greatly affected by the wall materials used and the roughness, so that the robot can realize the functions of drone inspection, wall inspection, non-destructive flaw detection, etc.

Provided in the present application is a wall-climbing robot, which can stably walk on a curved surface to implement stable operation on a curved wall surface. The wall-climbing robot comprises: a robot base; and a traveling mechanism, which is arranged on the side of the robot base facing toward a wall surface, and comprises a swing shaft, a connecting shaft, wheels and a magnet, wherein the wheels are used for walking on the wall surface and are arranged at two ends of the connecting shaft that extend in a first direction, the first direction being perpendicular to the diameter direction of the wheels; the magnet is used for providing a magnetic attraction force between the traveling mechanism and the wall surface and is arranged between the wheels at the two ends of the connecting shaft; the swing shaft extends in a second direction and is arranged between the wheels at the two ends of the connecting shaft, the second direction being perpendicular to the first direction; and the connecting shaft is capable of rotating about the swing shaft.

A pipeline length and tightness degree self-adaptive control system of a wall-climbing robot comprises a sensor and an automatic adjusting device. The sensors are arranged on a pipeline and a control circuit of the wall-climbing robot, the sensors comprise a tension sensor and a length sensor, and the tension sensor and the length sensor are used for monitoring the tightness degree and the length change of the pipeline and the control circuit in real time and transmitting sensor data to a ground control station or a control system of the robot in real time. The automatic adjusting device is a wire spool, and the wire spool is driven by a motor to rotate, drives the pipeline and controls the line to be wound and unwound.