CN210822518U

CN210822518U - Wall-climbing robot

Info

Publication number: CN210822518U
Application number: CN201921053920.4U
Authority: CN
Inventors: 吴国沛; 林李波; 林金洪
Original assignee: Guangzhou Power Supply Bureau Co Ltd
Current assignee: Guangzhou Power Supply Bureau of Guangdong Power Grid Co Ltd
Priority date: 2019-07-05
Filing date: 2019-07-05
Publication date: 2020-06-23
Anticipated expiration: 2029-07-05

Abstract

The utility model discloses a wall climbing robot, which comprises a base, the arm of crawling, adsorb piece and booster fan, the arm of crawling is at least four, wherein four edges of base are located respectively to four arms of crawling, adsorb the piece and correspond the setting with the arm of crawling, booster fan locates on the base, adsorb the piece and locate the both sides of base respectively with booster fan, booster fan blows towards the direction of keeping away from the base, booster fan includes motor and rotor, the output shaft and the rotor of motor are connected, the motor is located on the base, the output shaft and the base of motor set up perpendicularly. Above-mentioned wall climbing robot, the rotatory thrust that produces towards the base direction through booster fan, even when wall climbing robot is perpendicular or negative angle, the thrust that booster fan produced can be balanced with gravity, and wall climbing robot can stably move in the pipeline, and booster fan's supplementary effect has reduced the requirement to the adsorption strength, and the messenger adsorbs the power that the piece breaks away from the pipeline inner wall and also can correspondingly reduce, and wall climbing robot's removal is more convenient.

Description

Wall-climbing robot

Technical Field

The utility model relates to an equipment maintenance overhauls technical field, especially relates to a wall climbing robot.

Background

In some pipeline type devices, such as a substation GIS switch, after a period of operation, the state of its internal pipeline needs to be checked. These internal pipes are cylindrical, which require the wall-climbing robot to be able to both crawl on a vertical surface and on a negative surface, and are cylindrical, which also require the wall-climbing robot to have the capability of crawling on a curved surface. Due to the self gravity of the wall-climbing robot, when the adsorption force is insufficient, the wall-climbing robot is difficult to stably climb on the negative surface; when the adsorption force is enough, the gravity of the robot can be balanced with the gravity of the wall-climbing robot, but the adsorption force of the wall-climbing robot is larger during leg lifting and crawling, and the use is also influenced.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model discloses lie in overcoming prior art's not enough, provide one kind and can be at the wall climbing robot of GIS internal pipeline internal stability removal.

The technical scheme is as follows:

the utility model provides a wall climbing robot, includes base, the arm of crawling, adsorbs piece and booster fan, the arm of crawling is four at least, wherein four the arm of crawling is located respectively four edges of base department, adsorb the piece with the arm of crawling corresponds the setting, booster fan locates on the base, adsorb the piece with booster fan locates respectively the both sides of base, booster fan moves towards keeping away from the direction of base is bloied, booster fan includes motor and rotor, the output shaft of motor with the rotor is connected, the motor is located on the base, the output shaft of motor with the base sets up perpendicularly.

Above-mentioned wall climbing robot, the rotatory thrust towards the base direction that produces through booster fan, even when wall climbing robot is perpendicular or negative angle, the thrust that booster fan produced can be balanced with gravity, supplementary adsorption element makes wall climbing robot can adsorb on the pipeline inner wall, then wall climbing robot can be in the pipeline steady movement, simultaneously because booster fan has alleviateed the requirement to the annex, can reduce the requirement or the size that reduces the adsorption element to the adsorption strength of annex, production cost is reduced, and booster fan's supplementary effect has reduced the requirement to adsorption strength, consequently, adsorption element's adsorption affinity can correspondingly reduce, then make the adsorption element break away from the also corresponding reduction of the power of pipeline inner wall when the wall of crawling needs to remove, wall climbing robot's removal is more convenient, have more free gait.

In one embodiment, the crawling arm encloses an installation space for installing the booster fan, and the booster fan is arranged in the installation space.

In one embodiment, the suction member comprises a suction cup, and the suction cup is a bionic suction material.

In one embodiment, the crawling arm includes a first structural member, a second structural member, a first driving member and a second driving member, the first structural member is hinged to the base, the second structural member is hinged to the first structural member, the suction member is disposed on the second structural member, the first driving member is used for controlling a rotation angle of the first structural member relative to the base, the second driving member is used for controlling a rotation angle of the second structural member relative to the first structural member, and the first structural member and the second structural member are arranged in parallel in a rotation axis direction.

In one embodiment, the crawling arm further includes a third driving element and a third joint member, the third driving element is disposed on the base, the third driving element is used for driving the third joint member to rotate and controlling a rotation angle of the third joint member, the first driving element is disposed on the third joint member, the first joint member and the third joint member are rotatable, and an output shaft of the third driving element is perpendicular to an output shaft of the first driving element.

In one of them embodiment, the quantity of the arm of crawling is four, four the arm of crawling is the first arm, the second climbs the arm, the third climbs the arm and the fourth climbs the arm respectively, first climb the arm the second climb the arm be located the front end of base, the third climb the arm the fourth climb the arm be located the rear end of base, the first output shaft of climbing the third driving piece of arm the output shaft parallel arrangement of the third driving piece of arm is climbed to the second, the third climb the arm the output shaft of the third driving piece the fourth climb the output shaft parallel arrangement of the third driving piece of arm.

In one embodiment, the wall-climbing robot further includes a reinforcing member, the reinforcing member includes a first connecting portion and a second connecting portion, one end of the first connecting portion is connected to the base, the other end of the first connecting portion is connected to the second connecting portion, the second connecting portion is spaced from the base, the third structural member is disposed between the base and the second connecting portion, one side of the third structural member is rotatably connected to the second connecting portion, and the other side of the third structural member is connected to the output shaft of the third driving member.

In one embodiment, the wall-climbing robot further includes a controller and a wireless transmitter, the wireless transmitter is electrically connected to the controller, and the controller is electrically connected to the first driving member, the second driving member, and the third driving member.

In one embodiment, the wall-climbing robot further includes a camera, the camera is disposed on the base, and the camera is electrically connected to the controller.

In one embodiment, the first structural member comprises a first sub-member and a second sub-member, the first sub-component and the second sub-component are both U-shaped structures, the bottom of the second sub-component is connected with the first sub-component, one end of the first sub-component is connected with the output shaft of the second driving piece, the other end of the first sub-component is rotatably connected with the bottom of the third structural piece, the third driving piece is arranged in a groove surrounded by the second sub-component, an output shaft positioned at one side of the third driving piece penetrates through one end of the second sub-component, the other side of the third driving piece is connected with the other end of the second sub-component, the third structural component is also in a U-shaped structure, one end of the third structural member is connected with an output shaft of the third driving member, and the other end of the third structural member is rotatably connected with the second sub-component.

Drawings

Fig. 1 is an oblique view of a wall-climbing robot according to an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

fig. 3 is a side view of a wall-climbing robot according to an embodiment of the present invention;

fig. 4 is a bottom view of the wall-climbing robot according to the embodiment of the present invention.

Description of reference numerals:

100. the robot comprises a base, 101, hollowed-out openings, 102, an installation space, 110, a first side plate, 120, a second side plate, 130, a base plate, 200, a crawling arm, 201, a first crawling arm, 202, a second crawling arm, 203, a third crawling arm, 204, a fourth crawling arm, 210, a first structural member, 211, a first sub-member, 212, a second sub-member, 220, a second structural member, 230, a first driving member, 240, a second driving member, 250, a third driving member, 260, a third structural member, 300, an adsorption member, 310, a sucker, 400, a booster fan, 500, a reinforcing member, 510, a first connecting portion, 520, a second connecting portion, 600 and a camera.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In the present invention, the terms "first" and "second" do not denote any particular quantity or order, but are merely used to distinguish names.

As shown in fig. 1 to fig. 3, an embodiment discloses a wall climbing robot, including base 100, crawl arm 200, adsorb piece 300 and booster fan 400, crawl arm 200 is at least four, wherein four edges of base 100 are located respectively to four crawl arms 200, adsorb piece 300 and crawl arm 200 and correspond the setting, booster fan 400 locates on base 100, adsorb piece 300 and booster fan 400 and locate the both sides of base 100 respectively, booster fan 400 blows towards the direction of keeping away from base 100, booster fan 400 includes motor and rotor, the output shaft and the rotor of motor are connected, the motor is located on base 100, the output shaft sets up with base 100 is perpendicular. Thrust that the rotor exported can be better at this moment make wall climbing robot paste pipeline inner wall.

Above-mentioned wall climbing robot, the thrust towards base 100 direction is produced through booster fan 400's rotation, even when wall climbing robot is perpendicular or negative angle, booster fan 400 produces the thrust can with gravity balance, supplementary adsorption member 300 makes wall climbing robot can adsorb on the pipeline inner wall, then wall climbing robot can stable movement in the pipeline, simultaneously because booster fan 400 has alleviateed the requirement to suction fitting 300, can reduce the requirement to suction fitting 300's adsorption strength or reduce the size of adsorption member 300, production cost is reduced, and booster fan 400's supplementary effect has reduced the requirement to suction strength, therefore the adsorption member 300's adsorption capacity can corresponding reduce, then make adsorption member 300 break away from the pipeline inner wall also can corresponding reduce when the wall of crawling needs to remove, wall climbing robot's removal is more convenient, has more free gait. In addition, because of having booster fan 400, the wall climbing robot can make the wall climbing robot adsorb on the equipment inner wall as long as it has two to adsorb piece 300 to be in the adsorption state, then the operation of wall climbing robot in the removal in-process is simpler, and the translation rate also can be corresponding simultaneously accelerates, has improved wall climbing robot's removal efficiency.

Specifically, the motor is provided at the middle portion of the base 100. At this time, the thrust output by the rotor wing is more balanced, and the component force received by the adsorption piece 300 on the wall-climbing robot is approximate.

Optionally, as shown in fig. 4, a plurality of hollows 101 are disposed on the base 100 at intervals. The hollow 101 is convenient for air to pass through, so that the booster fan 400 generates thrust towards the base 100 to assist the wall-climbing robot to cling to the inner wall of the equipment.

In one embodiment, as shown in fig. 3, the crawler arm 200 encloses an installation space 102 for installing a booster fan 400, and the booster fan 400 is provided in the installation space 102. At this time, the height from the pressurizing fan 400 to the inner wall of the device is lower than the height from the highest point of the crawling arm 200 to the inner wall of the device, the installation of the pressurizing fan 400 does not shift the center of gravity of the wall-climbing robot, and the center of gravity of the wall-climbing robot is still located in the wall-climbing robot, so that the improvement of the motion control of the wall-climbing robot is facilitated. In addition, at this time, the height of the booster fan 400 is lower, and the thrust generated by the booster fan 400 can be more directly applied to the wall-climbing robot.

In one embodiment, the suction member 300 includes a suction cup 310, and the suction cup 310 is a biomimetic suction material. The bionic adsorption material is mainly adsorbed on the inner wall of the equipment by virtue of Van der Waals force, so that overlarge power is not needed for pressing the sucker 310 to the inner wall of the equipment, the requirement on the power can be reduced, and the bionic adsorption material is simple in structure.

Specifically, the bionic adsorption material can be a bionic gecko material. The suction cup 310 has micron-level bristles with the order of millions, the top ends of the bristles have hundreds of finer shovel-shaped villi, when the suction cup 310 contacts with the inner wall of the equipment, van der waals force is generated between the villi and the inner wall of the equipment, and the van der waals force generated in the whole process is larger due to the large number of the villi, so that the wall-climbing robot can be adsorbed on the inner wall of the equipment.

Optionally, the number of the suction cups 310 on one crawling arm 200 is at least two, the suction cups 310 are arranged at intervals, the adsorption force can be further improved, different suction cups 310 sequentially separate from the inner wall of the equipment along with the foot lifting process of the crawling arm 200, and compared with the integrally arranged suction cups 310 with large sizes, the force required by the suction cups 310 to separate from the inner wall of the equipment is smaller, and the wall climbing robot is more convenient to control.

In one embodiment, as shown in fig. 1 and 2, the crawling arm 200 includes a first structure 210, a second structure 220, a first driving member 230 and a second driving member 240, the first structure 210 is hinged to the base 100, the second structure 220 is hinged to the first structure 210, the adsorbing member 300 is disposed on the second structure 220, the first driving member 230 is used for controlling a rotation angle of the first structure 210 relative to the base 100, the second driving member 240 is used for controlling a rotation angle of the second structure 220 relative to the first structure 210, and the rotation axes of the first structure 210 and the second structure 220 are parallel. The first driving member 230 and the second driving member 240 can control the included angle between the first structural member 210 and the second structural member 220 and the included angle between the first structural member 210 and the base 100, so that the crawling arm 200 can achieve the motion effect of crawling.

Alternatively, the first driving member 230 and the second driving member 240 may be cylinders, electrodes, steering gears, or the like. Specifically, the first driving part 230 and the second driving part 240 are steering engines, the steering engines are small in size and large in torque, and the wall-climbing robot can be miniaturized on the basis of keeping the mobility of the wall-climbing robot.

Optionally, in an initial state, an included angle between the first structural member 210 and the second structural member 220 is 90 °, and at this time, the adsorption effect of the adsorption member 300 on each crawling arm 200 on the inner wall is similar, which is beneficial to maintaining the stability of the wall-climbing robot.

In one embodiment, as shown in fig. 1 and 2, the crawler arm 200 further includes a third driving member 250 and a third coupling member 260, the third driving member 250 is disposed on the base 100, the third driving member 250 is used for driving the third coupling member 260 to rotate and controlling the rotation angle of the third coupling member 260, the first driving member 230 is disposed on the third coupling member 260, the first coupling member 210 and the third coupling member 260 are rotatable, and an output shaft of the third driving member 250 is perpendicular to an output shaft of the first driving member 230. In the above structure, the third driving member 250 can drive the adsorbing member 300 to rotate along one rotation direction, the first driving member 230 can drive the adsorbing member 300 to rotate along the other rotation direction, and since the output shaft of the third driving member 250 is perpendicular to the output shaft of the first driving member 230, and the first structural member 210 and the second structural member 220 can rotate relatively, the adsorbing member 300 can move with three degrees of freedom, and can realize the actions of lifting, releasing and stretching, thereby facilitating the above wall climbing robot to move in a climbing manner.

In one embodiment, as shown in fig. 1 and 4, the number of the crawling arms 200 is four, the four crawling arms are respectively a first crawling arm 201, a second crawling arm 202, a third crawling arm 203 and a fourth crawling arm 204, the first crawling arm 201 and the second crawling arm 202 are located at the front end of the base 100, the third crawling arm 203 and the fourth crawling arm 204 are located at the rear end of the base 100, an output shaft of a third driving member 250 of the first crawling arm 201 and an output shaft of a third driving member 250 of the second crawling arm 202 are arranged in parallel, and an output shaft of a third driving member 250 of the third crawling arm 203 and an output shaft of a third driving member 250 of the fourth crawling arm 204 are arranged in parallel. At this moment, because the first output shaft of climbing third driving piece 250 on the arm 201, the output shaft parallel arrangement of third driving piece 250 on the arm 202 is climbed to the second, then first arm 201 and the second of climbing climb the arm 202 and can follow the same or opposite direction and rotate, climb when the first arm 201 and the second of climbing the arm 202 and move along opposite direction, first arm 201 of climbing, the second climbs and has the contained angle between the arm 202, can match with arc or corner in the closure device, guarantee that adsorption member 300 can adsorb on the equipment inner wall, the third climbs arm 203 of the same reason, the fourth climbs the wall and also can follow opposite direction and rotate, make the third climb arm 203, the better adsorption of adsorption member 300 on the fourth climbs arm 204 is on the equipment inner wall, guarantee to climb the stability of wall robot.

In one embodiment, as shown in fig. 1 and 2, the wall-climbing robot further includes a reinforcing member 500, the reinforcing member 500 includes a first connecting portion 510 and a second connecting portion 520, one end of the first connecting portion 510 is connected to the base 100, the other end of the first connecting portion 510 is connected to the second connecting portion 520, the second connecting portion 520 is spaced apart from the base 100, the third connecting member 260 is disposed between the base 100 and the second connecting portion 520, one side of the third connecting member 260 is rotatably connected to the second connecting portion 520, and the other side of the third connecting member 260 is connected to the output shaft of the third driving member 250. At this time, the third structural member 260 for supporting the first driving member 230 is fixed by the reinforcement 500, and can be kept stable when being driven by the third driving member 250, so that the stability of the overall structure is improved, and the reliability of the first driving member 230 and the third driving member 250 in power output is ensured.

Specifically, there are two reinforcing members 500, and the two reinforcing members 500 are respectively located at the front end and the rear end of the base 100.

Optionally, the first connection portion 510 is provided with a relief port. The relief opening prevents the third structural member 260 from interfering with the reinforcing member 500 in position when rotating.

In one embodiment, the wall-climbing robot further includes a controller and a wireless transmitter, wherein the wireless transmitter is electrically connected to the controller, and the controller is electrically connected to the first driving member 230, the second driving member 240 and the third driving member 250. At the moment, the wall-climbing robot can be remotely controlled through the cooperation of the wireless transmitter and the controller.

In one embodiment, as shown in fig. 1 and fig. 2, the wall-climbing robot further includes a camera 600, the camera 600 is disposed on the base 100, and the camera 600 is electrically connected to the controller. At this time, the condition inside the device can be photographed by the camera 600, so that the outside can know the specific condition inside the device. Specifically, the wireless transmitter is used for receiving instructions or outputting images captured by the camera 600.

Optionally, the wall-climbing robot further includes a remote control device, the wireless transmitter and the controller may be integrated into a single chip, the remote control device is in communication connection with the wireless transmitter, and the camera 600 may detect the current working state of the wall-climbing robot in real time at the remote control device.

Optionally, the camera 600 is disposed on the reinforcement member 500, and can photograph the environment on the road where the wall-climbing robot moves forward. Specifically, the number of the cameras 600 corresponds to the number of the stiffeners 500, and at least one camera 600 is disposed on one stiffener 500. No matter the wall climbing robot advances or retreats at this moment, the condition on the route of advancing can be shot to usable different cameras 600, conveniently monitors the site conditions.

In one embodiment, as shown in fig. 2, the first connecting member 210 includes a first sub-member 211 and a second sub-member 212, the first sub-member 211 and the second sub-member 212 are both U-shaped, the bottom of the second sub-member 212 is connected to the first sub-member 211, one end of the first sub-member 211 is connected to the output shaft of the second driving element 240, the other end of the first sub-member 211 is rotatably connected to the bottom of the third connecting member 260, the third driving element 250 is disposed in the groove surrounded by the second sub-member 212, the output shaft on one side of the third driving element 250 is inserted through one end of the second sub-member 212, the other side of the third driving element 250 is connected to the other end of the second sub-member 212, the third connecting member 260 is also U-shaped, one end of the third connecting member 260 is connected to the output shaft of the third driving element 250, and the other end of the third connecting member 260. Overall structure is more stable this moment, simultaneously because each structure is the sheet metal component, and whole weight is lighter, and reducible required power of adsorbing consequently can reduce the requirement to suction part 300, and then reduce above-mentioned wall climbing robot's cost. In addition, at this time, it is ensured that the output shafts of the third driving members 250 are all perpendicular to the output shaft of the first driving member 230, and the control of the moving track of the suction attachment member 300 can be simplified, specifically, each structural member is an aluminum alloy member. At the moment, each structural part is used as a sheet metal part, so that the strength is high and the weight is light.

Optionally, the wall-climbing robot further includes an inclination sensor disposed on the base 100, the inclination sensor is electrically connected to the controller, and when the inclination sensor senses that the inclination of the base 100 is greater than or equal to ° degree, the booster fan 400 is started. The entire posture of the wall climbing robot can be known by the tilt angle sensor, and if the tilt angle of the base 100 is too large, the suction to the inner wall of the equipment or the balance with gravity is increased by the thrust generated by the booster fan 400, thereby preventing the wall climbing robot from falling off.

Optionally, the booster fan 400 may be opened first, and then the wall-climbing robot is placed on the inner wall of the equipment, so that the adsorbing member is adsorbed on the inner wall, and then the crawling of the wall-climbing robot and the rotating speed of the booster fan 400 are coordinated, so that the wall-climbing robot crawls on the inner wall of the equipment. At this time, the booster fan 400 may be turned on in advance to ensure that the wall-climbing robot is stably attached to the inner wall of the apparatus.

Optionally, the wall-climbing robot further includes a distance sensor, the distance sensor is disposed on a side surface of the bottom plate away from the top plate, and the distance sensor is used for sensing a distance between the bottom plate and an inner wall of the device. If the distance sensed by the distance sensor is greater than the range, the wall-climbing robot falls off from the inner wall of the equipment, and at the moment, rescue measures can be taken.

Optionally, as shown in fig. 1, the base 100 includes a first side plate 110, a second side plate 120 and a base plate 130, the base plate 130 is disposed between the first side plate 110 and the second side plate 120, the third driving member 250 is disposed on the base plate 130, and a portion of the third driving member 250 penetrates through the first side plate 110 or the second side plate 120. Base 100's structure is more reasonable this moment, and the installation of third driving piece 250 is more stable, has guaranteed the normal work of third driving piece 250, and base 100's simple structure has made things convenient for maintenance and maintenance simultaneously.

Specifically, both ends of the base plate 130 are bent, and the bent portions are used for being connected with the first side plate 110 and the second side plate 120, respectively. At this time, the stability of the entire structure of the base 100 can be ensured.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The utility model provides a wall climbing robot, its characterized in that includes the base, crawls the arm, adsorbs piece and booster fan, it is at least four to crawl the arm, wherein four crawl the arm and locate respectively four edges of base department, adsorb the piece with crawl the arm and correspond the setting, booster fan locates on the base, adsorb the piece with booster fan locates respectively the both sides of base, booster fan orientation is kept away from the direction of base is bloied, booster fan includes motor and rotor, the output shaft of motor with the rotor is connected, the motor is located on the base, the output shaft of motor with the base sets up perpendicularly.

2. The wall-climbing robot as recited in claim 1, wherein the climbing boom encloses an installation space for installing the booster fan, and the booster fan is disposed in the installation space.

3. A wall climbing robot as claimed in claim 1, wherein the suction member comprises a suction cup.

4. The wall-climbing robot as claimed in claim 1, wherein the climbing arm includes a first structure member, a second structure member, a first driving member and a second driving member, the first structure member is hinged to the base, the second structure member is hinged to the first structure member, the suction member is disposed on the second structure member, the first driving member is used for controlling a rotation angle of the first structure member relative to the base, the second driving member is used for controlling a rotation angle of the second structure member relative to the first structure member, and the first structure member and the second structure member are arranged in parallel in a rotation axis direction.

5. The wall-climbing robot as recited in claim 4, wherein the climbing arm further comprises a third driving member and a third structural member, the third driving member is disposed on the base, the third driving member is configured to drive the third structural member to rotate and control a rotation angle of the third structural member, the first driving member is disposed on the third structural member, the first structural member and the third structural member are rotatable, and an output shaft of the third driving member is perpendicular to the output shaft of the first driving member.

6. The wall climbing robot of claim 5, wherein the number of the crawling arms is four, the four crawling arms are respectively a first crawling arm, a second crawling arm, a third crawling arm and a fourth crawling arm, the first crawling arm and the second crawling arm are located at the front end of the base, the third crawling arm and the fourth crawling arm are located at the rear end of the base, an output shaft of a third driving piece of the first crawling arm and an output shaft of a third driving piece of the second crawling arm are arranged in parallel, and an output shaft of a third driving piece of the third crawling arm and an output shaft of a third driving piece of the fourth crawling arm are arranged in parallel.

7. The wall-climbing robot as claimed in claim 6, further comprising a reinforcing member, wherein the reinforcing member comprises a first connecting portion and a second connecting portion, one end of the first connecting portion is connected to the base, the other end of the first connecting portion is connected to the second connecting portion, the second connecting portion is spaced from the base, the third structural member is arranged between the base and the second connecting portion, one side of the third structural member is rotatably connected to the second connecting portion, and the other side of the third structural member is connected to the output shaft of the third driving member.

8. The wall-climbing robot as recited in claim 6, further comprising a controller and a wireless transmitter, wherein the wireless transmitter is electrically connected to the controller, and the controller is electrically connected to the first driving member, the second driving member and the third driving member.

9. The wall-climbing robot as recited in claim 8, further comprising a camera disposed on the base, the camera being electrically connected to the controller.

10. A wall-climbing robot as claimed in any one of claims 5 to 9, wherein the first structural member comprises a first sub-member and a second sub-member, the first sub-member and the second sub-member are both U-shaped, the bottom of the second sub-member is connected to the first sub-member, one end of the first sub-member is connected to the output shaft of the second driving member, the other end of the first sub-member is rotatably connected to the bottom of the third structural member, the third driving member is disposed in a groove defined by the second sub-member, the output shaft on one side of the third driving member is inserted into one end of the second sub-member, the other side of the third driving member is connected to the other end of the second sub-member, the third structural member is also U-shaped, and one end of the third structural member is connected to the output shaft of the third driving member, the other end of the third structural member is rotatably connected to the second sub-member.