CN115489634A

CN115489634A - Deformable wall-climbing robot with high flexibility

Info

Publication number: CN115489634A
Application number: CN202211212566.1A
Authority: CN
Inventors: 王宝玉; 李建伟
Original assignee: Jiangsu Jueji Special Equipment Co ltd
Current assignee: Jiangsu Jueji Special Equipment Co ltd
Priority date: 2022-09-29
Filing date: 2022-09-29
Publication date: 2022-12-20
Also published as: WO2024065947A1

Abstract

The invention relates to a high-flexibility deformable wall-climbing robot which comprises a rack main body, wherein the front part of the rack main body is connected with a front swing arm in a swinging manner, the rear part of the rack main body is connected with a rear swing arm in a swinging manner, the front swing arm and the rear swing arm are both rotatably connected with torsion pieces, the torsion pieces are both rotatably connected with hinge bases, the hinge bases are both connected with walking wheel groups, and the bottom of the rack main body is also connected with the walking wheel groups. The invention effectively improves the deformability of the robot, enables the robot to adjust the corresponding walking posture according to different wall conditions, and improves the motion flexibility and obstacle crossing capability of the wall-climbing robot.

Description

Deformable wall-climbing robot with high flexibility

Technical Field

The invention relates to the technical field of wall-climbing robots, in particular to a deformable wall-climbing robot with high flexibility.

Background

The wall-climbing robot is an automatic device which has moving and absorbing functions and can move on a vertical wall surface, can replace manual work to work in the environments of device manufacturing, device maintenance and the like, and is particularly suitable for dangerous and extreme environment operation to replace human to finish high-repeatability, high-risk and high-intensity labor. However, the existing wall-climbing robot has low movement flexibility and poor obstacle-crossing capability, is difficult to span obstacles such as stairs, walls or bosses, has weak adaptability to rugged and uneven wall surfaces, and cannot effectively ensure the free transfer of the robot among different wall surfaces.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is to overcome the defects of lower motion flexibility and poorer obstacle crossing capability of the wall-climbing robot in the prior art.

In order to solve the technical problem, the invention provides a deformable wall-climbing robot with high flexibility, which is characterized in that: including the frame main part, the front portion of frame main part can be connected with preceding swing arm with swinging, the rear portion of frame main part can be connected with back swing arm with swinging, all rotationally be connected with the torsion member on preceding swing arm and the back swing arm, all rotationally be connected with the hinge seat on the torsion member, all be connected with the walking wheelset on the hinge seat, the bottom of frame main part also is connected with the walking wheelset.

In an embodiment of the present invention, a first driving gear is connected to one side of the rack main body, a second driving gear is connected to the other side of the rack main body, the first driving gear is engaged with a first driven gear, the first driven gear is connected to the front swing arm, the second driving gear is engaged with a second driven gear, the second driven gear is connected to the rear swing arm, the first driving gear is driven to rotate by a first driving source, the second driving gear is driven to rotate by a second driving source, the first driven gear is connected to the rack through a first swing shaft, and the second driven gear is connected to the rack through a second swing shaft.

In an embodiment of the invention, the deformable wall-climbing robot further comprises a carrying platform, a vertical plate is arranged at the lower part of the carrying platform, a first mounting hole and a second mounting hole are arranged on the vertical plate, the first mounting hole is connected with a first carrying rotating shaft through a first rolling bearing, the first carrying rotating shaft is connected with the front swing arm, the second mounting hole is connected with a second carrying rotating shaft through a second rolling bearing, and the second carrying rotating shaft is connected with the rear swing arm.

In one embodiment of the invention, each of the front swing arm and the rear swing arm comprises an arm body, the arm body is rotatably connected with the torsion piece, the torsion piece is connected with a main hinge shaft, and the main hinge shaft is connected with the arm body through an angular contact ball bearing.

In one embodiment of the invention, the hinge seats are connected with auxiliary hinge shafts, and the auxiliary hinge shafts are connected with the torsion piece through angular contact ball bearings.

In an embodiment of the present invention, a first main hinge limiting plate is connected to each of the front swing arm and the rear swing arm, a second main hinge limiting plate is connected to each of the torsion members, a main hinge damping spring is connected between the second main hinge limiting plate on the torsion member of the front swing arm and the first main hinge limiting plate on the front swing arm, and a main hinge damping spring is connected between the second main hinge limiting plate on the torsion member of the rear swing arm and the first main hinge limiting plate on the rear swing arm.

In an embodiment of the present invention, a first pair of hinge limiting plates is connected to the torsion member, a second pair of hinge limiting plates is connected to the hinge base, and a pair of hinge damping springs is connected between the first pair of hinge limiting plates and the second pair of hinge limiting plates.

In one embodiment of the present invention, a plurality of hinge seats are connected to the torsion member, and a traveling wheel set is connected to each of the hinge seats.

In one embodiment of the present invention, the traveling wheel assembly includes a wheel carrier, the wheel carrier is rotatably connected with a first wheel body and a second wheel body, the first wheel body and the second wheel body are connected through a hollow shaft, and a magnet assembly is connected outside the hollow shaft.

In one embodiment of the invention, the first wheel or the second wheel is driven to rotate by a third drive source, which is located inside the hollow shaft.

Compared with the prior art, the technical scheme of the invention has the following advantages:

the high-flexibility deformable wall-climbing robot effectively improves the deformation capability of the robot, enables the robot to adjust the corresponding walking posture according to different wall conditions, and improves the motion flexibility and the obstacle crossing capability of the wall-climbing robot.

Drawings

In order that the present disclosure may be more readily and clearly understood, reference will now be made in detail to the present disclosure, examples of which are illustrated in the accompanying drawings.

FIG. 1 is an angular schematic view of a high flexibility deformable wall-climbing robot of the present invention;

FIG. 2 is a schematic view of another angled configuration of the deformable wall-climbing robot shown in FIG. 1;

fig. 3 is a main structural schematic diagram of the deformable body of the deformable wall climbing machine shown in fig. 1 after the embarkation platform is removed;

FIG. 4 is an enlarged partial view of FIG. 3 at K;

FIG. 5 is a schematic view of another angle of the structure shown in FIG. 3;

FIG. 6 is a side view of the structure shown in FIG. 3;

FIG. 7 is a bottom view of the structure shown in FIG. 3;

FIG. 8 is a top view of the structure shown in FIG. 3;

FIG. 9 isbase:Sub>A cross-sectional view taken at A-A of FIG. 8;

FIG. 10 is an enlarged view of a portion of FIG. 9 at M;

FIG. 11 is a cross-sectional view taken at B-B of FIG. 8;

FIG. 12 is an enlarged view of a portion of FIG. 11 at N;

FIG. 13 is a schematic structural view of the running wheel set of FIG. 1;

FIG. 14 is a schematic view of a first variant of the structure of FIG. 3;

FIG. 15 is a schematic view of a second variant of the structure of FIG. 3;

FIG. 16 is a schematic view of a third state of deformation of the structure of FIG. 3;

FIG. 17 is a schematic view of a fourth state of deformation of the structure of FIG. 3;

FIG. 18 is a schematic view of a fifth state of deformation of the structure of FIG. 3;

the specification reference numbers indicate: 1. a rack main body; 2. a front swing arm; 3. a rear swing arm; 31. an arm body; 32. a bending section; 4. a torsion member; 5. a hinge mount; 6. a traveling wheel set; 61. a wheel carrier; 62. a first wheel body; 63. a second wheel body; 64. a slip ring; 65. a magnet assembly; 66. a pressure sensor; 7. a first drive gear; 8. a second driving gear; 9. a first driven gear; 10. a second driven gear; 11. a mounting platform; 111. a vertical plate; 112. a first mounting hole; 113. a second mounting hole; 12. a main hinge axis; 13. angular contact ball bearings; 14. a secondary hinge shaft; 15. a first main hinge limiting plate; 16. a second main hinge limiting plate; 17. a main hinge damping spring; 18. the first auxiliary hinge limiting plate; 19. a second pair of hinge limit plates; 20. a secondary hinge damping spring; 21. a first drive source; 22. a second driving source.

Detailed Description

The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.

Referring to fig. 1-5, the present embodiment discloses a deformable wall climbing robot with high flexibility, which includes a frame main body 1, a front swing arm 2 is swingably connected to a front portion of the frame main body 1, a rear swing arm 3 is swingably connected to a rear portion of the frame main body 1, a torsion member 4 is rotatably connected to the front swing arm 2 and the rear swing arm 3, a hinge base 5 is rotatably connected to the torsion member 4, a traveling wheel set 6 is connected to the hinge base 5, and the traveling wheel set 6 is also connected to a bottom portion of the frame main body 1.

According to the structure, the whole travelling wheel group 6 at the front part can be driven to swing up and down through the swinging of the front swing arm 2, and the whole travelling wheel group 6 at the rear part can be driven to swing up and down through the swinging of the rear swing arm 3; the corresponding rotation of the torsion element 4 can drive the front walking wheel set 6 or the rear walking wheel set 6 to rotate; through the rotation of the hinge seat 5, the walking wheel set 6 on the hinge seat 5 can be independently rotated; through the structural design, the deformability of the robot can be effectively improved, the robot can deform according to different wall surfaces or barrier conditions, and the movement flexibility and the obstacle crossing capability of the robot are improved.

In one embodiment, as shown in fig. 3, 5 and 7, a first driving gear 7 is connected to one side of the rack body 1, a second driving gear 8 is connected to the other side of the rack body, the first driving gear 7 is engaged with a first driven gear 9, the first driven gear 9 is connected to the front swing arm 2, the second driving gear 8 is engaged with a second driven gear 10, the second driven gear 10 is connected to the rear swing arm 3, the first driving gear 7 is driven to rotate by a first driving source 21, the second driving gear 8 is driven to rotate by a second driving source 22, the first driven gear 9 is connected to the rack through a first swing shaft, and the second driven gear 10 is connected to the rack through a second swing shaft.

The first swing rotating shaft and the second swing rotating shaft both play a role of rotating shafts, the first swing rotating shaft is connected with the rack through a rolling bearing, and the second swing rotating shaft is connected with the rack through the rolling bearing; the first driven gear 9 rotates to drive the first swing shaft to rotate, and the second driven gear 10 rotates to drive the second swing shaft to rotate.

When realizing the swing of the front swing arm 2: starting a first driving source 21, and driving a gear transmission mechanism consisting of a first driving gear 7 and a first driven gear 9 to move by the first driving source 21 so as to drive the front swing arm 2 to swing;

when realizing the swing of the rear swing arm 3: when the second driving source 22 is started, the second driving source 22 drives the gear transmission mechanism formed by the second driving gear 8 and the second driven gear 10 to move, so as to drive the rear swing arm 3 to swing.

The first driving source 21 and the second driving source 22 both use servo motors, and the servo motors may be integrated actuators, and the integrated actuators are servo integrated devices that integrate the servo motors, harmonic reducers, and servo drivers.

The structure drives the front swing arm 2 or the rear swing arm 3 to swing through the gear transmission mechanism, so that the swing stability of the swing arm can be ensured, and the swing angle can be controlled conveniently.

In one embodiment, as shown in fig. 1, the wall-climbing robot further includes a mounting platform 11, a vertical plate 111 is disposed at a lower portion of the mounting platform 11, a first mounting hole 112 and a second mounting hole 113 are disposed on the vertical plate 111, the first mounting hole 112 is connected to a first mounting rotating shaft through a first rolling bearing, the first mounting rotating shaft is connected to the front swing arm 2, the second mounting hole 113 is connected to a second mounting rotating shaft through a second rolling bearing, and the second mounting rotating shaft is connected to the rear swing arm 3.

The mounting platform 11 is mainly used for mounting different functional devices.

The second carrying rotating shaft and the second carrying rotating shaft both play the role of rotating shafts, the front swing arm 2 swings to drive the first carrying rotating shaft and the inner ring of the first rolling bearing to rotate, and the outer ring of the first rolling bearing cannot rotate, so that the carrying platform 11 is kept still; similarly, the swing of the rear swing arm 3 will drive the second carrying rotating shaft and the inner ring of the second rolling bearing to rotate, while the outer ring of the second rolling bearing will not rotate, so that the carrying platform 11 will remain stationary.

Through the structure, the deformation process of the robot can be ensured, the carrying platform 11 cannot rotate, the carrying platform 11 is always parallel to the upper surface of the frame main body 1, and the posture stability of functional devices carried on the carrying platform 11 in the robot moving deformation process can be reduced as much as possible.

In one embodiment, as shown in fig. 3, 9 and 10, the front swing arm 2 and the rear swing arm 3 each include an arm body 31, a torsion member 4 is rotatably connected to the arm body 31, as shown in fig. 4, a main hinge shaft 12 is connected to the torsion member 4, and the main hinge shaft 12 is connected to the arm body 31 through an angular contact ball bearing 13 to form a main hinge rotation pair.

The rotation of the torsion element 4 rotates the main hinge shaft 12, and the angular contact ball bearing 13 ensures that the arm 31 remains stationary during the rotation of the main hinge shaft 12.

Through the main hinge rotating pair, the whole front (or rear) traveling wheel set 6 can rotate, and the adaptability of the robot to the landform of a rugged wall surface can be ensured.

In one embodiment, as shown in fig. 11-12, the hinge seats 5 are connected with the sub hinge shafts 14, and the sub hinge shafts 14 are connected with the torsion element 4 through the angular contact ball bearings 13 to form sub hinge rotation pairs.

The rotation of the hinge base 5 drives the auxiliary hinge shaft 14 to rotate together, and the arrangement of the angular contact ball bearing 13 can ensure that the torsion element 4 is kept still when the auxiliary hinge shaft 14 rotates.

Through the main hinge rotating pair and the auxiliary hinge rotating pair, the single walking wheel set 6 at the front part (or the rear part) can rotate, and the adaptability of the robot to the local landform of the wall surface can be met.

The adaptability of the robot to different wall surfaces can be greatly improved through the adjustment of the main hinge rotating pair and the auxiliary hinge rotating pair, and the working stability of the robot is improved.

In one embodiment, the heights of the main hinge shafts at the front swing arm 2 and the rear swing arm 3 are different, namely, the main hinge shafts at the front side and the rear side have height difference instead of coaxial arrangement, and the design can avoid the phenomenon that the robot is separated from the climbing wall surface due to the overturning moment generated by the load when the robot walks on the inclined wall surface horizontally as much as possible, so that the stability of climbing the wall is effectively ensured.

In addition, the rotation driving of the auxiliary hinge shaft 14 may be in two modes, one is an active driving mode, and the hydraulic cylinder can drive the auxiliary hinge shaft 14 to rotate through a connecting rod structure, so that the angle of the corresponding walking wheel set is adjusted, and the other is a passive driving mode, when the walking wheel set meets an uneven wall surface, the walking wheel set can swing and rotate along with the change of the wall surface in a self-adaptive manner, so that the auxiliary hinge shaft 14 is driven to rotate together.

In one embodiment, as shown in fig. 3 and 7, the front swing arm 2 and the rear swing arm 3 each include an arm body 31, bent portions 32 are formed at both ends of the arm body 31, the bent portions 32 at both ends of the arm body 31 are respectively located at both sides of the rack main body 1, the bent portion 32 at one end of the arm body 31 of the front swing arm 2 is connected to the first driven gear 9 located at one side of the rack main body 1, and the bent portion 32 at the other end is connected to the other side of the rack main body 1 through another first swing axis; similarly, the bent part 32 at one end of the arm 31 of the rear swing arm 3 is connected to the second driven gear 10 at one side of the frame body 1, and the bent part 32 at the other end is connected to the other side of the frame body 1 through another second swing axis; the mechanism can better ensure the swinging stability of the front swing arm 2 or the rear swing arm 3.

In one embodiment, as shown in fig. 4 and 6, a first main hinge limiting plate 15 is connected to each of the front swing arm 2 and the rear swing arm 3, a second main hinge limiting plate 16 is connected to each of the torsion members 4, a main hinge damping spring 17 is connected between the second main hinge limiting plate 16 on the torsion member 4 of the front swing arm 2 and the first main hinge limiting plate 15 on the front swing arm 2, and a main hinge damping spring 17 is also connected between the second main hinge limiting plate 16 on the torsion member 4 of the rear swing arm 3 and the first main hinge limiting plate 15 on the rear swing arm 3.

The main hinge damping spring 17 can limit the swing angle of the torsion member 4, and reduce the motion flexibility of the main hinge rotating pair.

In one embodiment, a first pair of hinge limiting plates 18 is connected to the torsion member 4, a second pair of hinge limiting plates 19 is connected to the hinge base 5, and a pair of hinge damping springs 20 is connected between the first pair of hinge limiting plates 18 and the second pair of hinge limiting plates 19.

The swing angle of the hinge base 5 can be limited by the auxiliary hinge damping spring 20, and the motion flexibility of the auxiliary hinge rotating pair is reduced.

Since the robot runs on the full wall (may be a horizontal plane or an inclined plane), the stability and reliability of the robot are reduced due to the excessively large rotation angle of the main and auxiliary hinge revolute pairs, and mechanical interference may occur — for example, a mechanism collides with a wall, and therefore, the swinging angle and the mobility flexibility of the main and auxiliary hinge revolute pairs are reduced by providing the damping spring; in addition, the motion flexibility of the hinge rotating pair is reduced, and the robot is more convenient to carry.

In one embodiment, a plurality of hinge bases 5 are connected to the torsion member 4, and a traveling wheel set 6 is connected to each hinge base 5.

For example, two hinge bases 5 can be connected to each torsion element 4, so that the robot has two traveling wheel sets 6 at the front and the rear, and the robot can better adapt to a climbing wall surface with a complex shape.

In one embodiment, the traveling wheel set 6 includes a wheel frame 61, a first wheel body 62 and a second wheel body 63 are rotatably connected to the wheel frame 61, the first wheel body 62 and the second wheel body 63 are connected through a hollow shaft, and a magnet assembly 65 is connected to the outside of the hollow shaft.

The magnet iron assembly is used for generating magnetic attraction force, and the adsorption effect on the crawling wall surface is kept in the crawling process. The stability of wall walking can be better guaranteed to the design of double round body.

In one embodiment, the outer wall of the hollow shaft is connected to a slip ring 64 via a sliding bearing, and the slip ring 64 is driven in rotation by a drive. A magnet assembly 65 is attached to the outer wall of the slip ring 64.

Further, the outer wall of the slip ring 64 is connected to a magnet assembly 65 via a pressure sensor 66.

Wherein, there is magnetic attraction between magnet assembly 65 and the wall of crawling, and the difference of interval can influence magnetic attraction's size between magnet assembly 65 and the wall of crawling. The pressure sensor 66 is used to detect the reaction force of the pressure-magnetic attraction force applied to the magnet assembly 65, whereby the change in the distance between the magnet assembly 65 and the creeping wall surface can be judged. According to the pressure data that magnet assembly 65 received that pressure sensor 66 detected, control slip ring 64 and rotate, the rotation of slip ring 64 can drive pressure sensor 66 and magnet assembly 65 and rotate together to change the angle of magnet assembly 65, realize the adjustment of magnet assembly 65 gesture.

Further, a pressure sensor 66 is connected to the main controller, the pressure sensor 66 is used for transmitting detected pressure data received by the magnet assembly 65 to the main controller, and the main controller controls the driving device to operate according to the pressure data, so as to drive the sliding ring 64 to rotate.

In one embodiment, the magnet assembly 65 is a permanent magnet chuck.

In one embodiment, the first wheel 62 or the second wheel 63 is driven to rotate by a third drive source, which is located inside the hollow shaft.

One of the first wheel body 62 and the second wheel body 63 is a driving wheel, and the other is a driven wheel, the driving wheel is driven by a third driving source to rotate, and the first wheel body 62 and the second wheel body 63 are connected together through a hollow shaft, so that when the driving wheel rotates, the driven wheel is driven to rotate.

The third driving source adopts a servo motor, the servo motor can be an integrated actuator, and the integrated actuator is a servo integrated device integrated with the servo motor, a harmonic reducer and a servo driver.

The following exemplifies the deformed state of the wall-climbing robot:

as shown in fig. 14, in the planar operation, the wall-climbing robot assumes the state shown in fig. 14;

as shown in fig. 15, the front swing arm 2 is driven to swing upwards, so that all the walking wheel sets 6 at the front part are driven to assume a swinging-up state;

as shown in fig. 16, the torsion element 4 rotates, thereby rotating all the running wheel sets 6 at the front;

as shown in fig. 17, the front one of the articulated seats rotates, thereby rotating the single running wheel set 6 on the articulated seat.

As shown in fig. 18, the front swing arm 2 and the rear swing arm 3 are driven to swing down simultaneously, so that the middle road wheel set 6 is lifted up to run across an obstacle or a curved surface.

By adjusting the postures of the different traveling wheel sets, various other deformation states can be formed in a combined mode and are not listed one by one.

The deformable wall-climbing robot of the embodiment effectively improves the deformation capacity of the robot, enables the robot to move more flexibly, enables the robot to adjust corresponding walking postures according to different wall conditions, enables the robot to perform plane motion, curved surface motion, barrier wall motion, transfer among different transition walls and the like, can meet the adaptability to rugged and uneven walls, can ensure that the robot flexibly avoids wall barriers, improves the obstacle crossing capacity, and can finish the free transfer of the robot among different walls; the robot has the advantages that the robot is simple in overall structure and compact in size due to the adoption of a modular design, is convenient to freely assemble, and can be transformed into a plurality of robot structures through different module combinations, for example, a three-wheel structure, a four-wheel structure, a six-wheel structure and other multi-wheel structures in a similar train hanging box mode; in addition, different functional devices can be conveniently mounted to realize automatic wall surface processes, such as automatic detection, automatic grinding, automatic welding, automatic maintenance and the like.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Various other modifications and alterations will occur to those skilled in the art upon reading the foregoing description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the spirit or scope of the invention.

Claims

1. The utility model provides a deformable wall climbing robot of high flexibility which characterized in that: including the frame main part, the front portion of frame main part can be connected with preceding swing arm with swinging, the rear portion of frame main part can be connected with back swing arm with swinging, all rotationally be connected with the torsion member on preceding swing arm and the back swing arm, all rotationally be connected with the hinge seat on the torsion member, all be connected with the walking wheelset on the hinge seat, the bottom of frame main part also is connected with the walking wheelset.

2. A high-flexibility deformable wall-climbing robot according to claim 1, characterized in that: one side of frame main part is connected with first driving gear, and the opposite side is connected with the second driving gear, first driving gear and first driven gear mesh mutually, first driven gear is connected on the preceding swing arm, second driving gear and second driven gear mesh mutually, the second driven gear is connected on the back swing arm, first driving gear is rotatory by first driving source drive, the second driving gear is rotatory by second driving source drive, first driven gear through first pendulum pivot with the frame is connected, the second driven gear through the second pendulum pivot with the frame is connected.

3. A deformable wall-climbing robot with high flexibility as claimed in claim 1, wherein: the carrying platform is characterized by further comprising a carrying platform, a vertical plate is arranged on the lower portion of the carrying platform, a first mounting hole and a second mounting hole are formed in the vertical plate, the first mounting hole is connected with a first carrying rotating shaft through a first rolling bearing, the first carrying rotating shaft is connected with the front swing arm, the second mounting hole is connected with a second carrying rotating shaft through a second rolling bearing, and the second carrying rotating shaft is connected with the rear swing arm.

4. A high-flexibility deformable wall-climbing robot according to claim 1, characterized in that: the front swing arm and the rear swing arm both comprise arm bodies, the arm bodies are rotatably connected with the torsion pieces, the torsion pieces are connected with main hinge shafts, and the main hinge shafts are connected with the arm bodies through angular contact ball bearings.

5. A high-flexibility deformable wall-climbing robot according to claim 1, characterized in that: and the hinge seats are connected with auxiliary hinge shafts, and the auxiliary hinge shafts are connected with the torsion piece through angular contact ball bearings.

6. A high-flexibility deformable wall-climbing robot according to claim 1, characterized in that: the front swing arm and the rear swing arm are both connected with first main hinge limiting plates, the torsion piece is connected with second main hinge limiting plates, a main hinge damping spring is connected between the second main hinge limiting plate on the torsion piece of the front swing arm and the first main hinge limiting plate on the front swing arm, and a main hinge damping spring is also connected between the second main hinge limiting plate on the torsion piece of the rear swing arm and the first main hinge limiting plate on the rear swing arm.

7. A deformable wall-climbing robot with high flexibility as claimed in claim 1, wherein: the torsion piece is connected with a first pair of hinge limiting plates, the hinge seat is connected with a second pair of hinge limiting plates, and a pair of hinge damping springs are connected between the first pair of hinge limiting plates and the second pair of hinge limiting plates.

8. A deformable wall-climbing robot with high flexibility as claimed in claim 1, wherein: the torsion piece is connected with a plurality of hinge seats, and the hinge seats are connected with walking wheel sets.

9. A high-flexibility deformable wall-climbing robot according to claim 1, characterized in that: the walking wheel set comprises a wheel carrier, a first wheel body and a second wheel body are rotatably connected to the wheel carrier, the first wheel body and the second wheel body are connected through a hollow shaft, and a magnet assembly is connected to the outer portion of the hollow shaft.

10. A high flexibility deformable wall-climbing robot according to claim 9, characterized in that: the first wheel body or the second wheel body is driven to rotate by a third driving source, and the third driving source is positioned inside the hollow shaft.