WO2018121080A1

WO2018121080A1 - Wall climbing robot

Info

Publication number: WO2018121080A1
Application number: PCT/CN2017/109685
Authority: WO
Inventors: 林东; 崔锦; 林永明; 胡斌; 张清
Original assignee: 同方威视技术股份有限公司
Priority date: 2016-12-26
Filing date: 2017-11-07
Publication date: 2018-07-05
Also published as: CN106741271A

Abstract

A wall climbing robot (100), comprising multiple unit sections (110), multiple articulation mechanisms (120), a functional assembly (130) and a control system. The multiple unit sections (110) are distributed in an array comprising multiple columns and multiple rows, a portion of the multiple unit sections (110) being drive sections (111) and another portion being driven sections (112); each drive section (111) comprises a drive wheel carrier and a drive wheel (1112) disposed at a bottom part thereof, the drive wheel carrier being provided with a drive mechanism (1113) and a turning mechanism (1114), used to drive a drive wheel (1112) and control a drive wheel (1112) to turn, respectively; each driven section (112) comprises a driven wheel carrier and a driven wheel (1122) disposed at a bottom part thereof; multiple articulation mechanisms (120) are arrayed horizontally or vertically and are each connected between two adjacent unit sections; a functional assembly (130) is disposed on at least one of the multiple unit sections (110); the control system is used to control the drive mechanisms (1113), the turning mechanisms (1114) and the functional assembly (130); at least one of each drive wheel (1112) and driven wheel (1122) is magnetic. The present wall-climbing robot is capable of adapting to multiple types of specially formed wall surface, increasing trafficability.

Description

Climbing robot

cross reference

The present disclosure claims priority to Chinese Patent Application No. 2016112205213, filed on Dec.

Technical field

The present disclosure relates to an inspection apparatus for a container interior, and more particularly to a wall climbing robot.

Background technique

A wall-climbing robot is a robot that can climb and complete work on a vertical wall. It usually requires two basic functions of adsorption and movement. According to different adsorption principles, the existing wall-climbing robots are mainly divided into the following types: vacuum suction cup type, whose adsorption force is limited by the wall material, and it is easy to generate air leakage on the uneven surface, resulting in a decrease in adsorption force and bearing. The ability is relatively low. The bionic method, which is a polymer-based viscous material designed by studying the adsorption principle of the reptile's soles such as the gecko, which utilizes the van der Waals force between molecules and molecules to obtain a huge adsorption on a small contact area. force. However, the biomimetic method still requires a rough wall material and a high manufacturing cost. The magnetic adsorption method is further divided into two types: an electromagnet and a permanent magnet. Compared with the vacuum adsorption method, the magnetic adsorption form has strong adaptability to the wall surface, and the adsorption force is large, and there is no hidden danger of gas leakage, but The limiting wall is a magnetically permeable material.

Regardless of the type of wall climbing robot described above, it is a specific site application. In the field of container inspection, the container wall is coated with anti-corrosive paint and is relatively smooth, so that the biomimetic robot cannot be applied. In order to increase the strength of the container, the outer steel plate of the outer casing adopts a multi-turn bending structure, which is similar to a wave shape, so that the vacuum suction-type robot is prone to air leakage problems. Considering that the container generally adopts ferromagnetic materials, the magnetic adsorption type robot is suitable, but the existing magnetic adsorption type wall climbing robot has no specific design for container inspection, and cannot meet the needs of the wall climbing robot in this field.

Public content

A primary object of the present disclosure is to overcome at least one of the above-discussed deficiencies of the prior art and to provide a wall climbing robot that is stable in adsorption and suitable for use in containers.

To achieve the above object, the present disclosure adopts the following technical solutions:

According to an aspect of the present disclosure, a wall climbing robot is provided, wherein the wall climbing robot includes a plurality of unit sections, a plurality of hinge mechanisms, functional components, and a control system. The plurality of unit sections are distributed in an array and include a plurality of rows and a plurality of columns, a part of the plurality of unit sections (110) is a driving section, and another part of the unit section (110) is a driven section; each The drive section includes a drive wheel carrier and a drive wheel disposed at a bottom thereof, the drive wheel frame being provided with a drive mechanism and a steering mechanism for respectively driving the drive wheel and controlling the drive wheel steering; each of the driven The section includes a driven wheel carrier and a driven wheel disposed at a bottom thereof; the plurality of hinge mechanisms are arranged in a lateral or longitudinal direction and are respectively connected between adjacent two of the unit sections; the functional component is disposed at the plurality of At least one of the unit sections; the control system is for controlling the drive mechanism, the steering mechanism, and the functional component; wherein at least one of each of the drive wheel and the driven wheel is magnetic.

According to one of the embodiments of the present disclosure, the drive wheel is a permanent magnet magnetic wheel; and/or the driven wheel is a universal wheel;

According to one of the embodiments of the present disclosure, the outer peripheral surface of the drive wheel is a spherical surface.

According to one embodiment of the present disclosure, each of the hinge mechanisms includes two hinged arms and a pin shaft; one ends of the two of the hinged arms are respectively connected to two adjacent ones of the driven segments (112) One side of the driven wheel carrier, or one side of the driving wheel frame of the adjacent driving section (111) and one side of the driven wheel frame of the driven joint (112); the pin shaft is connected to the two The other end of the articulated arm is rotatably coupled to the two articulated arms.

According to one of the embodiments of the present disclosure, the drive mechanism is a drive motor; and/or the steering mechanism is a steering gear.

According to one of the embodiments of the present disclosure, the functional component includes at least one of a camera, a temperature sensor, a humidity sensor, a gas sensor, an infrared imaging device, and a radiation monitor.

According to one of the embodiments of the present disclosure, the control system has an information display module for displaying data information captured, recorded, detected, or calculated by the functional component.

According to one embodiment of the present disclosure, when the number of rows and the number of columns of the array are both greater than two, the plurality of unit sections includes at least four of the driving sections, and the four driving sections are respectively located in the array The four corners.

According to one of the embodiments of the present disclosure, the number of rows of the array is equal to the number of columns.

According to one of the embodiments of the present disclosure, the functional component is provided on at least one of the cell sections located at a central location of the array.

It can be seen from the above technical solutions that the advantages and positive effects of the wall climbing robot proposed by the present disclosure are as follows:

The present disclosure proposes a wall climbing robot in which a plurality of unit sections connected to each other by an articulated mechanism are arranged in an array form, and independent driving wheels or driven wheels are arranged in each unit section, so that the wall climbing robot can adapt to various types. The special form of the wall enhances its passage. At the same time, since at least one of the drive wheel or the driven wheel is magnetic, magnetic attraction can be generated between the wall-climbing robot and the container made of ferromagnetic material to ensure the adsorption force. In addition, the plurality of unit sections of the array of the present disclosure can be increased or decreased according to requirements, and is suitable for mass production, and each unit section has a simple structure and a low manufacturing cost.

DRAWINGS

The various objects, features and advantages of the present disclosure will become more apparent from the Detailed Description of the Description. The drawings are only illustrative of the present disclosure and are not necessarily to scale. In the drawings, like reference characters generally refer to the among them:

1 is a top plan view of a wall climbing robot according to an exemplary embodiment;

Figure 2 is a side view of the wall climbing robot shown in Figure 1;

Figure 3 is a side elevational view of the wall climbing robot of Figure 1 in an operational state;

Figure 4 is a schematic view showing the working state of the wall climbing robot shown in Figure 1 on a container;

5A and 5B are schematic views of a steering process of the wall climbing robot shown in Fig. 1.

Among them, the reference numerals are as follows:

100. Wall climbing robot;

110. Unit section;

111. Drive section;

1111. Drive side wheel frame;

1112. Drive wheel;

1113. Drive mechanism;

1114. Steering mechanism;

112. From the festival;

1121. driven side wheel frame;

1122. The driven wheel;

120. Articulated mechanism;

121. an articulated arm;

122. pin shaft;

130. Functional components;

131. Camera;

132. battery pack;

200. Container;

210. Box wall;

220. Bending structure.

detailed description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be embodied in a variety of forms and should not be construed as being limited to the embodiments set forth herein. To those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed description will be omitted.

In the following description of the various exemplary embodiments of the present invention, reference to the drawings And steps. It is understood that other specifics of the components, the structures, the exemplary devices, the systems and the steps may be used, and structural and functional modifications may be made without departing from the scope of the disclosure. Moreover, although the terms "longitudinal", "transverse", "between", "lateral", and the like may be used in the specification to describe various exemplary features and elements of the present disclosure, these terms are used herein for convenience only. For example, the directions according to the examples described in the drawings. Nothing in this specification should be construed as requiring a particular three-dimensional orientation of the structure to fall within the scope of the disclosure.

Referring to FIG. 1, a top view of a wall climbing robot 100 capable of embodying the principles of the present disclosure is representatively shown in FIG. In the exemplary embodiment, the present disclosure is exemplified by a wall climbing robot 100 applied to a wall surface of a ferromagnetic material, and further, a wall climbing robot 100 applied to the container 200 is taken as an example. It will be readily understood by those skilled in the art that various modifications, additions, substitutions, deletions, or other changes are made to the specific embodiments described below for the application of the wall-climbing robot 100 to other materials or structures. These variations are still within the scope of the principles of the wall climbing robot 100 proposed by the present disclosure.

As shown in FIG. 1, in the present embodiment, the wall climbing robot 100 proposed by the present disclosure mainly includes a plurality of unit sections 110, a plurality of hinge mechanisms 120, a function component 130, and a control system (not shown). 2 to 4, a side view of the wall climbing robot 100 is representatively shown in FIG. 2; FIG. 3 representatively shows a side view of the wall climbing robot 100 in an operating state; A schematic view of the working state of the wall climbing robot 100 on the container 200 is representatively shown in FIG. The main structures and working principles of the wall climbing robot 100 proposed by the present disclosure will be described in detail below with reference to the above drawings.

As shown in FIG. 1, in the present embodiment, a plurality of unit sections 110 are distributed in an array, and the array includes five rows and five columns, that is, a total of 25 unit sections 110. For ease of description and understanding, the following partial unit sections 110 will be represented by D and distinguished by the subscripts "a" and "b", where a is the row number shown in FIG. 1, and b is shown in FIG. For the column number, each unit section 110 can be represented as: the first row is respectively (left to right in the figure) D ₁₁ , D ₁₂ , D ₁₃ , D ₁₄ , D ₁₅ , and the second row is D ₂₁ , respectively. D ₂₂ , D ₂₃ , D ₂₄ , D ₂₅ , ..., the fifth row is D ₅₁ , D ₅₂ , D ₅₃ , D ₅₄ , D _{55 , respectively} . It will be readily understood by those skilled in the art that various modifications, additions, substitutions, deletions, or other changes are made to the above-described embodiments for arranging a plurality of unit sections 110 in the form of an array. It is within the scope of the principle of the proposed wall-climbing robot 100. For example, in other exemplary embodiments of the present disclosure, the number of rows and the number of columns are both plural, but are not limited to being equal.

As shown in FIG. 1, in the present embodiment, a part of the unit section 110 is a driving section 111, and the other part is a driven section 112. Wherein, D ₁₁ , D ₁₅ , D ₅₁ and D ₅₅ are driving segments 111, and the remaining cell segments 110 are all driven segments 112, that is, four cell segments 110 located at four corners of the array are driving segments 111, and the remaining cells Section 110 is the slave node 112. It should be noted that, in other exemplary embodiments of the present disclosure, when the number of rows and the number of columns of the array are both greater than two, at least four driving segments 111 may be preferably included in the cell segments 110, and four driving segments are included. 111 are preferably located at the four corners of the array, respectively.

Specifically, as shown in FIG. 1 to FIG. 3, in the present embodiment, each of the driving segments 111 mainly includes a wheel carrier and a driving wheel 1112 disposed at a bottom thereof. For convenience of distinction, the wheel carrier of the driving segment 111 is driven. The side wheel frame 1111, the driving side wheel frame 1111 is provided with a driving mechanism 1113 and a steering mechanism 1114 for respectively driving the driving wheel 1112 and controlling the driving wheel 1112 to turn. Further, the outer circumferential surface of the driving wheel 1112 may preferably be a spherical surface such that the contact mode of the driving wheel 1112 with the container wall 210 of the container is changed from a line contact (or a surface contact) of the ordinary pulley to a point contact, thereby enabling the driving wheel 1112 to be adapted. The more complicated concave or convex or inclined box wall 210 improves the adaptability and passability of the wall climbing robot 100. Furthermore, in the present embodiment, the driving mechanism 1113 may preferably be a driving motor, and the steering mechanism 1114 may preferably be a steering gear, both of which can be flexibly adjusted and selected according to actual needs and setting conditions, and are not limit.

In addition, as shown in FIG. 1 to FIG. 3, in the present embodiment, each of the driven segments 112 mainly includes a wheel carrier and a driven wheel 1122 disposed at a bottom thereof. For the sake of distinction, the carrier of the driven node 112 is a slave. The side wheel frame 1121 is moved.

Incidentally, since the present embodiment is described with reference to an operation target applied to a ferromagnetic material such as the container 200, at least one of each of the drive wheels 1112 and the driven wheels 1122 is magnetic. In the present embodiment, it is preferable to design the four driving wheels 1112 to have a magnetic structure, that is, the driving wheels 1112 simultaneously provide a moving function and an adsorption function. Further, the drive wheel 1112 may preferably be permanent The magnetic magnetic wheel, the driven wheel 1122 can preferably be a universal wheel and does not need to be magnetic. It will be readily understood by those skilled in the art that in order to select at least one of the drive wheel 1112 and the driven wheel 1122 to be magnetic to provide an adsorption function, various modifications, additions, and substitutions are made to the above-described embodiments. , deletions, or other variations, which are still within the scope of the principles of the wall climbing robot 100 proposed by the present disclosure. For example, in other exemplary embodiments of the present disclosure, all or a portion of the driven wheel 1122 may be designed to be magnetic, or part of the driving wheel 1112 and the partial driven wheel 1122 may be designed to be magnetic, and all of the driving wheels 1112 may also be used. The driven wheel 1122 is designed to be magnetic, and is not limited thereto. The selection of the magnetic design of the driving wheel 1112 and the driven wheel 1122 can be comprehensively considered and designed according to factors such as the required suction force and the material of the working wall of the wall climbing robot 100.

As shown in FIG. 1, in the present embodiment, a plurality of hinge mechanisms 120 are respectively connected between adjacent two unit sections 110 in a lateral or longitudinal direction. For example, in the case of the 5×5 array of the present embodiment, for the unit segments 110 at different positions, the partial unit sections 110 (four corner portions) are connected with two hinge mechanisms 120, and the partial unit sections 110 (four sides) are connected with three. The hinge mechanism 120 has the remaining hinge unit 120 connected to the remaining unit section 110 (the middle 3×3 portion). In this regard, the position and number of other unit sections 110 to which each unit section 110 is connected differs for different number of rows and columns, and thus the number and position of the hinge mechanisms 120 are also different.

Specifically, as shown in FIGS. 1 to 3 , in the present embodiment, each of the hinge mechanisms 120 mainly includes two hinge arms 121 and a pin shaft 122 . Wherein, the two hinged arms 121 are respectively connected to opposite sides of the wheel frame of the adjacent two unit sections 110, so that the two hinged arms 121 are rotatably connected, so that the relative angle between the wheel frames of the adjacent two unit sections 110 can be The shape of the working wall is adjusted by itself. D to D between the hinge _{mechanism. 11} ₁₂ 120, for example, the drive-side wheel _{carrier. 11} 1111 D D ₁₂ toward one side is fixed to the articulated

arm

121, 121 of the articulated arm ₁₂ extends toward the D, D ₁₂ of the driven-side The other side of the wheel frame 1121 is fixed to the side of the D _{11 and} has another hinge arm 121 extending toward the D ₁₁ . The two end portions of the two hinge arms 121 are respectively provided with pin holes, and the pin shaft 122 passes through the hole. Two pin holes are used to rotatably couple the ends of the two hinged arms 121 together, i.e., to achieve the articulation of D ₁₁ and D ₁₂ . Through the above-mentioned hinge mechanism 120, a rotatable connection is formed between all the adjacent two unit sections 110, so that the wall-climbing robot 100 proposed by the present disclosure can be applied to the working wall surface of different shape structures, for example, the container 200 has a bending The wall 210 of the structure 220 (shown in Figure 4). It will be readily understood by those skilled in the art that various modifications, additions, substitutions, deletions, or other changes are made to the hinge mechanism 120 described above to form a rotatably coupled relationship between adjacent two unit sections 110. Still within the scope of the principles of the wall climbing robot 100 proposed by the present disclosure. For example, in other exemplary embodiments of the present disclosure, the structure of the hinge arm 121 and the pin shaft 122 may be replaced by a hinge, a hinge, or the like, and is not limited thereto.

As shown in FIGS. 2 and 3, in the present embodiment, the functional component 130 is provided in at least one of the plurality of unit sections 110. The number of the functional components 130 may be multiple, and the types may be multiple. The different components of the same functional component 130 may be disposed together on one unit section 110 or may be dispersedly disposed on different unit sections 110. Taking the setting mode shown in this embodiment as an example, the function component 130 is a camera with a searchlight to capture an unknown angle of an object in the container 200 at various angles. The imaging function portion of the camera 131 is disposed on one of the unit sections 110, preferably on the D ₃₃ at the center of the array, or in the unit section 110 at other positions. The battery pack 132 portion of the camera 131 is disposed on the other unit sections 110, preferably at least one of the unit sections 110 such as D ₂₂ , D ₂₃ , D ₂₄ , ..., D ₄₄ surrounding D ₃₃ , to further It is close to the camera function section to facilitate the arrangement of the connection lines. It will be readily understood by those skilled in the art that in order to provide the functional component 130 in the wall climbing robot 100, various modifications, additions, substitutions, deletions, or other changes are made to the selection, setting, and the like of the functional component 130 described above. These variations are still within the scope of the principles of the wall climbing robot 100 proposed by the present disclosure. For example, in other exemplary embodiments of the present disclosure, the functional component 130 may include at least one or a combination of two or more of a camera, a temperature sensor, a humidity sensor, a gas sensor, an infrared imaging device, and a radiation monitor. The setting position and distribution mode of each functional component 130 can also be flexibly selected according to actual needs. Additionally, functional component 130 can preferably be disposed on one or more unit sections 110 located at a central or intermediate location of the array.

In the present embodiment, the control system is used to control the drive mechanism 1113, the steering mechanism 1114, and the functional component 130. The control system has at least one information display module for displaying data information such as video, audio or readings captured, recorded, detected or calculated by the function component 130 for the operator to move the climbing machine 100 according to the data information. The work of the functional component 130 is adjusted. It should be noted that the control system can receive the data information collected by the function component 130 by means of wireless sensing or wired transmission, and feed back the relevant control signals to each of the driving mechanism 1113, the steering mechanism 1114, and the function component 130.

Based on the above description, taking the container 200 as an example and taking the functional component 130 as the camera 131 as an example, the working principle and flow of the climbing wall robot 100 proposed by the present disclosure is roughly as follows:

The wall climbing robot 100 proposed by the present disclosure can be adsorbed on the tank wall 210 inside the container 200, and arrives at a designated place according to an operator's instruction to photograph an unknown object in a space that is difficult to enter in the container 200, thereby assisting the inspector to fill up. Unidentified items inside the container 200 of the goods are inspected, which greatly improves work efficiency and saves manpower and material resources.

The above inspection operation generally includes the following steps: after the X-ray scan of the container 200, the internal storage object is displayed, but due to some limitations, some objects may be blurred, and the space for checking the goods needs to be determined. Coordinate position. The inspector opens the rear door of the container 200, and the wall climbing robot 100 of the present disclosure Placed on the tank wall 210 inside the container 200, the wall climbing robot 100 is attracted to the tank wall 210 of the ferromagnetic material by means of a magnetic drive wheel 1112 or a driven wheel 1122. The wall-climbing robot 100 passes through a plurality of unit sections 110 arranged in an array and hinged to each other, and reaches the designated place quickly and stably on the protrusion formed by the one bent structure 220 of the box wall 210, and the object is unknown. Take a picture. Since the angle of the drive wheel 1112 of the wall-climbing robot 100 can be adjusted under the control of the steering gear, the forward direction can be adjusted, for example, the forward direction of the wall-climbing robot 100 shown by the arrow in FIGS. 5A and 5B is turned to 90. ° adjustment process. Therefore, the wall climbing robot 100 may climb from the vertical tank wall 210 to the horizontal tank wall 210 as needed, or climb from the horizontal tank wall 210 to the vertical tank wall 210 to perform an all-round close-up of the articles. Shooting. When shooting, in order to capture a clear picture, the camera's searchlight will turn on as needed. After the shooting is completed, the wall climbing robot 100 will exit to the outside of the container 200 at the request of the instruction and be taken away by the inspector.

The wall-climbing robot 100 proposed by the present disclosure can be used as an auxiliary inspection means for performing X-ray inspection on the inside of the container 200, and further inspects the unclear goods after the X-ray inspection, so as to better distinguish the hidden inside the vehicle body. Prohibited articles such as explosives, drugs, and smuggled goods. In the past, manual inspection was used for inspection of unidentified goods. Due to the narrowness of the interior of the container 200, it is difficult, laborious, and dangerous to check by manpower. The wall climbing robot 100 proposed by the present disclosure can pass The method of "flying the wall" uses its small size and flexible characteristics to inspect the goods inside the container 200 without carrying the goods, greatly improving the inspection efficiency of the unidentified goods in the container 200, saving manpower and material resources.

In summary, the wall climbing robot 100 of the present disclosure is arranged in an array by a plurality of unit sections 110 connected to each other by the hinge mechanism 120, and an independent driving wheel 1112 or a driven wheel 1122 is disposed in each unit section 110. The wall climbing robot 100 can adapt to various special forms of wall surface and improve its passage. At the same time, since at least one of the driving wheel 1112 or the driven wheel 1122 is magnetic, a magnetic attraction force can be generated between the climbing wall robot 100 and the container 200 made of a ferromagnetic material to secure the adsorption force. In addition, the plurality of unit sections 110 of the array of the present disclosure can be increased or decreased according to requirements, and is suitable for mass production, and each unit section 110 has a simple structure and a low manufacturing cost.

Exemplary embodiments of the wall climbing robot proposed by the present disclosure are described and/or illustrated in detail above. However, embodiments of the present disclosure are not limited to the specific embodiments described herein, but rather, the components and/or steps of each embodiment can be used independently and separately from the other components and/or steps described herein. Each component and/or each step of an embodiment may also be used in combination with other components and/or steps of other embodiments. When introducing elements/components/etc. described and/or illustrated herein, the terms "a", "an", "the", "the", etc. are used to indicate the presence of one or more elements/components/etc. The terms "including", "including" and "having" are used to Representing the meaning of openness and means that there may be additional elements/components/etc. in addition to the listed elements/components/etc.

Although the wall climbing robot proposed by the present disclosure has been described according to different specific embodiments, the scope of protection of the present disclosure is not limited thereto, and any person skilled in the art can easily within the technical scope disclosed by the present disclosure. All changes or substitutions are intended to be included within the scope of the present disclosure. Therefore, the scope of protection of the present disclosure should be determined by the scope of the claims.

Claims

A wall climbing robot (100), characterized in that the wall climbing robot (100) comprises:

a plurality of unit sections (110) distributed in an array and including a plurality of rows and columns, a part of the plurality of unit sections (110) being a driving section (111) and another part section (110) a driven joint (112); each of the drive segments (111) includes a drive wheel carrier and a drive wheel (1112) disposed at a bottom thereof, the drive wheel carrier being provided with a drive mechanism (1113) and a steering mechanism (1114) For driving the drive wheel (1112) and controlling the drive wheel (1112) respectively; each of the driven segments (112) includes a driven wheel carrier and a driven wheel (1122) disposed at a bottom thereof;

a plurality of hinge mechanisms (120) arranged in a lateral direction and/or a longitudinal direction and respectively connected between adjacent ones of the unit sections (110);

a functional component (130) disposed on at least one of the plurality of cell sections (110);

a control system for controlling the drive mechanism (1113), the steering mechanism (1114), and the functional component (130);

Wherein at least one of each of the driving wheel (1112) and the driven wheel (1122) has magnetic properties.
The wall climbing robot (100) according to claim 1, wherein the driving wheel (1112) is a permanent magnet magnetic wheel; and/or the driven wheel (1122) is a universal wheel.
The wall climbing robot (100) according to claim 1, wherein an outer peripheral surface of the driving wheel (1112) is a spherical surface.
The wall climbing robot (100) of claim 1 wherein each of said hinge mechanisms (120) comprises:

Two hinged arms (121), one end of which is respectively connected to one side of the driven wheel carrier of the two adjacent driven segments (112), or one of the driving wheel frames respectively connected to the adjacent driving segment (111) a side and a driven wheel carrier side of the driven joint (112);

A pin (122) is coupled to the other end of the two hinged arms (121) to rotatably connect the two hinged arms (121).
The wall climbing robot (100) according to claim 1, wherein the drive mechanism (1113) is a drive motor; and/or the steering mechanism (1114) is a steering gear.
The wall climbing robot (100) according to claim 1, wherein the functional component (130) comprises at least one of a camera, a temperature sensor, a humidity sensor, a gas sensor, an infrared imaging device, and a radiation monitor.
The wall climbing robot (100) according to claim 1, wherein the control system has an information display module for displaying data information captured, recorded, detected or calculated by the functional component (130).
The wall climbing robot (100) according to any one of claims 1 to 7, wherein when the number of rows and the number of columns of the array are both greater than two, the plurality of unit sections (110) includes at least four The drive section (111), and the four drive sections (111) are respectively located at four corners of the array.
The wall climbing robot (100) according to claim 8, wherein the number of rows of the array is equal to the number of columns.
A wall climbing robot (100) according to claim 8, wherein said functional component (130) is disposed on at least one of said unit sections (110) at a central location of said array.