Obstacle crossing wheel and wheel type inspection robot

Abstract

The invention relates to the technical field of obstacle crossing wheels, and discloses an obstacle crossing wheel and a wheel type inspection robot, the obstacle crossing wheel comprises a wheel axle, one end of the wheel axle is detachably connected with a hub, the outer wall of the hub is fixedly connected with three connecting rods arranged at equal intervals, the end, away from the hub, of each connecting rod is rotatably connected with a wheel plate, and the two ends of each wheel plate are connected in sequence; a connecting groove is formed in one side of the inner wall of the wheel plate, a positioning shaft is fixedly connected in the connecting groove, the connecting rod is rotationally connected with the positioning shaft, two connecting plates are fixedly connected to one end of the wheel plate, a connecting shaft is fixedly connected between the two connecting plates, and a deformation rod is rotationally connected to the outer wall of the connecting shaft. According to the obstacle crossing wheel and the wheel type inspection robot, the deformation function of the whole obstacle crossing wheel is achieved through mutual cooperation of the deformation track and the moving ball, and therefore the stable and efficient obstacle crossing capacity is provided for the robot, and the problems of noise, vibration, faults and the like caused by gear abrasion are avoided.

Description

Technical Field

[0001] The invention relates to the technical field of obstacle-crossing wheels, and in particular to an obstacle-crossing wheel and a wheeled inspection robot. Background Art

[0002] The wheeled inspection robot is an intelligent robot that integrates a variety of advanced technologies. It is mainly used for automated inspection of specific areas or equipment. Obstacle-crossing wheels are wheels designed for complex terrains. They have excellent obstacle-crossing capabilities and adaptability. By installing obstacle-crossing wheels on the wheeled inspection robot, the wheeled inspection robot can be given excellent obstacle-crossing capabilities, such as moving in rugged areas, going up and down stairs, etc.

[0003] There are many types of obstacle crossing wheels, such as wheel-leg type and variable type. The wheel-leg type obstacle crossing wheel combines the rolling efficiency of the wheel and the climbing ability of the leg structure, allowing the robot to walk on steep slopes or steps as if it were flat ground. The variable type obstacle crossing wheel can switch between different terrains through flexible structural changes, thereby providing obstacle crossing capabilities for wheeled inspection robots.

[0004] As in the prior art, the invention patent with the authorization publication number CN114275071A discloses a new type of deformable wheel-leg robot, including a frame, a deformable wheel-leg mechanism and a transmission mechanism, wherein four deformable wheel-leg mechanisms are provided; the deformable wheel-leg mechanism includes three deformable legs, three planetary gears, a planetary gear frame, a central gear and an outer end cover, the deformable leg includes connecting rod 1, connecting rod 2, connecting rod 3, arc leg 1 and arc leg 2, the transmission mechanism includes a hollow shaft driven to rotate by a driving motor and a deformable shaft driven to rotate by a deformable motor, the end of the hollow shaft is connected to connecting rod 1, and the end of the deformable shaft is connected to the central gear. The above-mentioned new type of deformable wheel-leg robot can be used in the fields of exploration, observation, target detection, destruction, search and rescue of structured and unstructured terrain. The deformable wheel-leg mobile robot based on the motion characteristics of folding and extending parallelograms in a circle and the deformable arc improves the obstacle crossing ability of the wheel-leg robot, has a simple structure, a simple control strategy and a large deformation rate.

[0005] Although the deformable wheel-legged robot in the above patent has improved obstacle crossing ability, it has certain defects when used: during the use of the deformable obstacle crossing wheel, gears are generally used to control the deformation, and the opening and closing of the deformation are controlled by whether the gears are engaged or not; during the deformation process of the deformable obstacle crossing wheel, the gears need to bear a large load and friction, especially in the case of frequent changes in shape, the gear wear problem is particularly prominent, and the wear will not only lead to a decrease in gear accuracy, but may also cause noise, vibration and even failure, thereby seriously affecting the robot's obstacle crossing performance and operating efficiency. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides an obstacle-crossing wheel and a wheeled inspection robot to solve the problems raised in the background art and improve the obstacle-crossing performance of the wheeled inspection robot.

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an obstacle crossing wheel, comprising a wheel axle, one end of the wheel axle is detachably connected to a wheel hub, three connecting rods arranged at equal intervals are fixedly connected to the outer wall of the wheel hub, each connecting rod is rotatably connected to a wheel plate at one end away from the wheel hub, the two ends of each wheel plate are connected in sequence to form a circular outer wall, a connecting groove is provided on one side of the inner wall of the wheel plate, a positioning shaft is fixedly connected in the connecting groove, the connecting rod is rotatably connected to the positioning shaft, two connecting plates are fixedly connected to one end of the wheel plate, a connecting shaft is fixedly connected between the two connecting plates, a deformation rod is rotatably connected to the outer wall of the connecting shaft, and the other end of the deformation rod is connected to a rotating assembly.

[0008] Furthermore, the rotating assembly includes a rotating wheel, a fixed shaft, a movable rod, a driving wheel and a movable ball. The outer wall of the wheel shaft is slidably connected to the rotating wheel. The cross-section of the rotating wheel is triangular. A rotating groove is provided at each sharp corner of the rotating wheel. A fixed shaft is fixedly connected in the rotating groove. The other end of the deformable rod is rotatably connected to the fixed shaft. A plurality of movable rods are fixedly connected to the side of the rotating wheel away from the wheel hub. The outer wall of the wheel shaft is slidably connected to the driving wheel. A plurality of movable holes corresponding to the positions of the movable rods are provided on the surface of the driving wheel. Three movable balls arranged at equal intervals are embedded in the inner wall of the driving wheel. A deformable track corresponding to the positions of the movable balls is provided on the outer wall of the wheel shaft. The outer wall of the driving wheel is connected to a telescopic assembly.

[0009] Furthermore, the telescopic assembly includes a movable sleeve, an electric push rod and a connecting block. The movable sleeve is slidably connected to the outer wall of the driving wheel, a limiting sliding block corresponding to the position of the driving wheel is provided on the inner side of the movable sleeve, the connecting block is fixedly connected to the outer wall of the movable sleeve, a fixing groove is provided on the side of the connecting block away from the wheel hub, and the output end of the electric push rod is fixedly connected to the fixing groove.

[0010] Furthermore, a slide groove is provided at one end of the wheel plate close to the connecting plate, a push block is slidably connected in the slide groove, a brush is fixedly connected to the top of the push block, a spring is fixedly connected in the slide groove, and the other end of the spring is fixedly connected to the bottom end of the push block.

[0011] Furthermore, a wear-resistant layer is fixedly connected to the outer wall of the wheel plate.

[0012] Furthermore, one end of the moving rod away from the rotating wheel is fixedly connected to a fixing ring.

[0013] Furthermore, a thread groove is provided at one end of the wheel axle close to the wheel hub, a bolt is rotatably connected inside the wheel hub, and the bolt is threadably connected to the thread groove.

[0014] Furthermore, the starting end and the end of the deformable track are both straight tracks along the radial direction of the wheel axle, and the middle section of the deformable track is a curved track that is close to the outer wall of the wheel axle.

[0015] Furthermore, the cross section of the push block is in an inverted T shape.

[0016] The present invention also provides a wheeled inspection robot, comprising the above-mentioned obstacle-crossing wheel, four wheel axles are installed on the robot body, and installation grooves corresponding to the positions of electric push rods are opened on both sides of the robot body.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) The obstacle-crossing wheel and wheeled inspection robot realize the overall deformation function of the obstacle-crossing wheel by utilizing the mutual cooperation between the deformable track and the moving ball, thereby providing the robot with a stable and efficient obstacle-crossing capability. Compared with the prior art, the present invention reduces the use of gears, thus avoiding noise, vibration, malfunction and other problems caused by gear wear. Reducing the use of gears also means reducing the frequency of maintenance and replacement of parts, thus helping to improve the overall obstacle-crossing performance and operating efficiency of the robot.

[0019] (2) During the overall operation of the obstacle-crossing wheel, the coordination between the moving ball and the deformable track facilitates the synchronous rotation of the rotating wheel and the wheel axle, ensuring the coordinated movement between the two, preventing the rotating wheel and the wheel axle from losing speed, and avoiding slight deformation of the wheel plate during rolling, which would cause the robot to bump and shake.

[0020] (3) Through the cooperation between the electric push rod and the moving sleeve, the obstacle-crossing wheel can be quickly deformed and stably overcome obstacles when encountering obstacles, which improves the robot's obstacle-crossing performance and operating efficiency, and provides strong technical support for its efficient operation in various complex terrains;

[0021] (4) The brush will contact the tip of the other wheel plate to clean the tip of the wheel plate, effectively removing dirt, dust and other debris attached to it. As the wheel plate continues to recover, the push block will be retracted into the slide groove under the pressure of the tip of the wheel plate. This process ensures that the wheel plate will not be hindered by the push block during the recovery process, so that it can accurately and smoothly recover to its original shape;

[0022] (5) The wear-resistant layer can ensure that the wheel plate maintains its surface flatness and integrity during long-term friction with the ground, reduce performance degradation caused by wear, and increase the service life of the wheel plate. At the same time, the wear-resistant layer also significantly enhances the friction between the wheel plate and the ground, improving the grip performance of the wheel plate. When the robot moves or performs obstacle crossing operations, better grip performance can improve the robot's stability and safety, increase the success rate of obstacle crossing, and prevent slipping or loss of control in complex terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0024] Figure 2 It is a three-dimensional structural schematic diagram of another form of the present invention;

[0025] Figure 3 It is a schematic diagram of the three-dimensional structure of the robot body and the wheel axle of the present invention;

[0026] Figure 4 It is a schematic diagram of the three-dimensional cross-sectional structure of the wheel axle, the electric push rod, the moving sleeve and the wear-resistant layer of the present invention;

[0027] Figure 5 It is a schematic diagram of the three-dimensional structure of the wheel hub, connecting rod, electric push rod and wheel plate of the present invention;

[0028] Figure 6 It is a schematic diagram of a three-dimensional split cross-sectional structure of the wheel plate, the deformable rod, the connecting shaft and the brush of the present invention;

[0029] Figure 7 It is a three-dimensional structural schematic diagram of the push block, spring and brush of the present invention;

[0030] Figure 8 It is a schematic diagram of a three-dimensional cross-sectional structure of a wheel hub, a connecting rod, a rotating wheel and a driving wheel of the present invention;

[0031] Fig. 9 It is a schematic diagram of the three-dimensional split structure of the rotating wheel, the moving rod, the connecting ring and the driving wheel of the present invention;

[0032] Fig.10 It is a three-dimensional structural schematic diagram of the moving sleeve and the connecting block of the present invention;

[0033] Fig.11 It is a schematic diagram of the three-dimensional structure of the axle of the present invention.

[0034] In the figure: 1. Robot body; 2. Wheel axle; 3. Wheel hub; 4. Connecting rod; 5. Wheel plate; 6. Connecting groove; 7. Positioning shaft; 8. Connecting plate; 9. Connecting shaft; 10. Deformation rod; 11. Rotating wheel; 12. Rotating groove; 13. Fixed shaft; 14. Moving rod; 15. Driving wheel; 16. Moving sleeve; 17. Fixed groove; 18. Electric push rod; 19. Fixed ring; 20. Moving hole; 21. Moving ball; 22. Deformation track; 23. Threaded groove; 24. Bolt; 25. Limiting sliding block; 26. Connecting block; 27. Slide groove; 28. Push block; 29. ​​Brush; 30. Spring; 31. Wear-resistant layer; 32. Mounting groove. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0036] See also Figures 1 to 11 A kind of obstacle crossing wheel comprises a wheel axle 2, one end of the wheel axle 2 is detachably connected to a wheel hub 3, the outer wall of the wheel hub 3 is fixedly connected to three connecting rods 4 arranged at equal intervals, each connecting rod 4 is rotatably connected to a wheel plate 5 at one end away from the wheel hub 3, the two ends of each wheel plate 5 are connected in sequence to form a circular outer wall, a connecting groove 6 is opened on one side of the inner wall of the wheel plate 5, a positioning shaft 7 is fixedly connected in the connecting groove 6, the connecting rod 4 is rotatably connected to the positioning shaft 7, one end of the wheel plate 5 is fixedly connected to two connecting plates 8, a connecting shaft 9 is fixedly connected between the two connecting plates 8, a deformation rod 10 is rotatably connected to the outer wall of the connecting shaft 9, and the other end of the deformation rod 10 is connected to a rotating component.

[0037] As a preferred technical solution of the present invention, the rotating assembly includes a rotating wheel 11, a fixed shaft 13, a moving rod 14, a driving wheel 15 and a moving ball 21. The outer wall of the wheel axle 2 is slidably connected to the rotating wheel 11. The cross-section of the rotating wheel 11 is triangular. A rotating groove 12 is opened at each sharp corner of the rotating wheel 11. The fixed shaft 13 is fixedly connected in the rotating groove 12. The other end of the deformable rod 10 is rotatably connected to the fixed shaft 13. A plurality of moving rods 14 are fixedly connected to the side of the rotating wheel 11 away from the hub 3. The outer wall of the wheel axle 2 is slidably connected to the driving wheel 15. A plurality of moving holes 20 corresponding to the positions of the moving rods 14 are opened on the surface of the driving wheel 15. Three moving balls 21 arranged at equal intervals are embedded in the inner wall of the driving wheel 15. A deformable track 22 corresponding to the positions of the moving balls 21 is opened on the outer wall of the wheel axle 2. The outer wall of the driving wheel 15 is connected to a telescopic assembly.

[0038] The obstacle-crossing wheels of the present invention, when the robot encounters obstacles such as stairs, stones, fallen tree trunks, etc., the telescopic assembly will pull the driving wheel 15 to move backward along the moving rod 14, driving the moving ball 21 to move. At this time, under the guidance of the deformable track 22, the driving wheel 15 and the wheel axle 2 will rotate relative to each other. Driven by the moving rod 14, the rotating wheel 11 will rotate accordingly, thereby pulling the deformable rod 10 connected thereto, and the deformable rod 10 will then pull one end of the wheel plate 5. Since the middle part of the wheel plate 5 is rotatably connected to the connecting rod 4, the end of the wheel plate 5 connected to the deformable rod 10 will retract toward the wheel axle 2, and the other end of the wheel plate 5 will extend outward, moving the robot as a whole from Figure 1 The form is transformed into Figure 2 In the form shown, the outer arc surface of the wheel plate 5 located at the front side of the robot will contact the surface of the obstacle. As the wheel axle 2 rotates, the contact point between the wheel plate 5 and the obstacle surface will provide support for the robot as a whole, thereby moving the front wheel of the robot to the obstacle surface or the other side. After the front wheel successfully crosses the obstacle, the rear wheel also follows the same principle and completes the obstacle crossing action in turn, thereby achieving smooth obstacle crossing for the entire robot.

[0039] By utilizing the mutual cooperation between the deformable track 22 and the moving ball 21, the overall deformation function of the obstacle-crossing wheel is realized, thereby providing the robot with a stable and efficient obstacle-crossing capability. Compared with the prior art, the present invention reduces the use of gears, thereby avoiding noise, vibration, malfunctions and other problems caused by gear wear. Reducing the use of gears also means reducing the frequency of maintenance and replacement of parts, thereby helping to improve the overall obstacle-crossing performance and operating efficiency of the robot.

[0040] During the overall operation of the obstacle crossing wheel, the cooperation between the moving ball 21 and the deformable track 22 can facilitate the synchronous rotation between the rotating wheel 11 and the axle 2, ensure the coordinated movement between the two, prevent the speed drop between the rotating wheel 11 and the axle 2, and avoid slight deformation of the wheel plate 5 during rolling, which will cause the robot to move bumpy and shaking.

[0041] As a preferred technical solution of the present invention, the telescopic assembly includes a movable sleeve 16, an electric push rod 18 and a connecting block 26. The movable sleeve 16 is slidably connected to the outer wall of the driving wheel 15. A limiting sliding block 25 corresponding to the position of the driving wheel 15 is provided on the inner side of the movable sleeve 16. The outer wall of the movable sleeve 16 is fixedly connected to the connecting block 26. A fixing groove 17 is provided on the side of the connecting block 26 away from the wheel hub 3, and the output end of the electric push rod 18 is fixedly connected to the fixing groove 17.

[0042] Specifically, when encountering an obstacle, the electric push rod 18 will retract the output end, thereby pulling the connecting block 26 to move, and the movable sleeve 16 will move accordingly. Under the push of the limiting sliding block 25, the driving wheel 15 will move along the wheel axle 2 to realize the overall deformation of the obstacle-crossing wheel; through the mutual cooperation of the electric push rod 18 and the movable sleeve 16, the obstacle-crossing wheel can be quickly deformed and stably overcome obstacles when encountering obstacles, thereby improving the robot's obstacle-crossing performance and operating efficiency, and providing strong technical support for its efficient operation in various complex terrains.

[0043] As a preferred technical solution of the present invention, a slide groove 27 is opened at one end of the wheel plate 5 close to the connecting plate 8, a push block 28 is slidably connected in the slide groove 27, a brush 29 is fixedly connected to the top of the push block 28, a spring 30 is fixedly connected in the slide groove 27, and the other end of the spring 30 is fixedly connected to the bottom end of the push block 28.

[0044] Specifically, the end of the wheel plate 5 away from the connecting plate 8 will expand outward and will be in frequent contact with the outside world, and it is easy for dirt and other debris to adhere to it. When the obstacle crossing wheel is deformed back to the wheel shape, these debris will affect the tightness of the fit between the wheel plates 5 and the movement of the obstacle crossing wheel, which may easily cause the robot to bump or shake. Through the cooperation between the push block 28 and the spring 30, when the obstacle crossing wheel is deformed, the brush 29 will be ejected, so that when the obstacle crossing wheel is restored, the brush 29 will contact the tip of the other wheel plate 5 to clean the tip of the wheel plate 5 and effectively remove the dirt, dust and other debris attached to it. As the wheel plate 5 continues to recover, the push block 28 will be squeezed by the tip of the wheel plate 5 and will be retracted into the slide groove 27. This process ensures that the wheel plate 5 will not be hindered by the push block 28 during the recovery process, so that it can accurately and smoothly restore to its original shape.

[0045] As a preferred technical solution of the present invention, a wear-resistant layer 31 is fixedly connected to the outer wall of the wheel plate 5 .

[0046] Specifically, the wear-resistant layer 31 is made of a material with high hardness and high wear resistance, such as wear-resistant rubber, hard plastic or special alloy; the wear-resistant layer 31 can ensure that the wheel plate 5 maintains its surface flatness and integrity during long-term friction with the ground, reduces the performance degradation caused by wear, and increases the service life of the wheel plate 5. At the same time, the wear-resistant layer 31 also significantly enhances the friction between the wheel plate 5 and the ground, and improves the grip performance of the wheel plate 5. When the robot moves or performs obstacle crossing operations, better grip performance can improve the stability and safety of the robot, increase the success rate of obstacle crossing, and prevent slipping or loss of control in complex terrain.

[0047] As a preferred technical solution of the present invention, one end of the moving rod 14 away from the rotating wheel 11 is fixedly connected with a fixing ring 19 .

[0048] Specifically, during the operation of the moving rod 14, especially when the driving wheel 15 is driving and turning, the moving rod 14 will be subjected to extrusion and pulling forces from different directions. The fixing ring 19 can provide additional fixing and support points for the moving rod 14, disperse and withstand the extrusion force from the driving wheel 15, thereby reducing the concentration of force on the moving rod 14, so that even if it is subjected to extrusion for a long time, the moving rod 14 can maintain its original shape and dimensional stability and is not easily deformed.

[0049] As a preferred technical solution of the present invention, a thread groove 23 is formed at one end of the wheel axle 2 close to the wheel hub 3 , a bolt 24 is rotatably connected inside the wheel hub 3 , and the bolt 24 is threadedly connected to the thread groove 23 .

[0050] Specifically, through the cooperation between the bolt 24 and the threaded groove 23, a fixed connection between the wheel axle 2 and the wheel hub 3 is achieved, which facilitates the subsequent maintenance and replacement of the obstacle crossing wheel.

[0051] As a preferred technical solution of the present invention, the starting end and the end of the deformable track 22 are both straight tracks along the radial direction of the axle 2, and the middle section of the deformable track 22 is a curved track close to the outer wall of the axle 2.

[0052] Specifically, the straight tracks at the starting end and the end ensure that the obstacle crossing wheel can rotate synchronously with the wheel axle 2 before and after the overall deformation, thereby improving the overall stability of the obstacle crossing wheel during use and further reducing the risk of bumps and shakes.

[0053] As a preferred technical solution of the present invention, the cross section of the push block 28 is an inverted T-shape.

[0054] Specifically, the inverted T-shaped push block 28 can ensure that the push block 28 cannot be separated from the slide groove 27, effectively preventing the push block 28 from falling off from the slide groove 27 during the rotation of the obstacle crossing wheel, and can also reduce the shaking and friction of the push block 28 during the sliding process, thereby improving the smoothness and accuracy of its movement.

[0055] The present invention also provides a wheeled inspection robot, including a robot body 1, wherein the robot body 1 includes any of the above obstacle-crossing wheels, four wheel axles 2 are mounted on the robot body 1, and mounting grooves 32 corresponding to the positions of the electric push rods 18 are provided on both sides of the robot body 1.

[0056] Specifically, since the obstacle crossing wheel according to the embodiment of the present invention has the above-mentioned technical effects, the robot body 1 according to the embodiment of the present invention should also have the corresponding technical effects, that is, the robot body 1 of the present invention can improve the obstacle crossing performance and operating efficiency of the robot body 1 by adopting the obstacle crossing wheel; the mounting groove 32 provides a stable support and fixing point for the electric push rod 18, ensuring that the electric push rod 18 will not shake or fall off during the movement of the robot, avoiding the deviation of the electric push rod 18, and ensuring the stability of the obstacle crossing wheel operation.

[0057] Of course, for those skilled in the art, other structures of the robot body 1 and its working principles can be understood and implemented, and will not be described in detail in the present invention.

[0058] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An obstacle-crossing wheel, comprising a wheel axle (2), characterized in that: One end of the wheel axle (2) is detachably connected to a wheel hub (3), and the outer wall of the wheel hub (3) is fixedly connected to three connecting rods (4) arranged at equal intervals, and one end of each connecting rod (4) away from the wheel hub (3) is rotatably connected to a wheel plate (5), and the two ends of each wheel plate (5) are connected in sequence to form a circular outer wall, and a connecting groove (6) is provided on one side of the inner wall of the wheel plate (5), and a positioning shaft (7) is fixedly connected in the connecting groove (6), and the connecting rod (4) is rotatably connected to the positioning shaft (7), and one end of the wheel plate (5) is fixedly connected to two connecting plates (8), and a connecting shaft (9) is fixedly connected between the two connecting plates (8), and the outer wall of the connecting shaft (9) is rotatably connected to a deformation rod (10), and the other end of the deformation rod (10) is connected to a rotating component.

2. The obstacle-crossing wheel according to claim 1, characterized in that: The rotating assembly comprises a rotating wheel (11), a fixed shaft (13), a moving rod (14), a driving wheel (15) and a moving ball (21); the outer wall of the wheel shaft (2) is slidably connected with the rotating wheel (11); the cross section of the rotating wheel (11) is triangular; a rotating groove (12) is provided at each sharp corner of the rotating wheel (11); the fixed shaft (13) is fixedly connected in the rotating groove (12); the other end of the deformable rod (10) is rotatably connected with the fixed shaft (13); the rotating wheel (15) is rotatably connected with the fixed shaft (13); the rotating wheel (1 ... 11) A plurality of moving rods (14) are fixedly connected to the side away from the wheel hub (3); a driving wheel (15) is slidably connected to the outer wall of the wheel axle (2); a plurality of moving holes (20) corresponding to the positions of the moving rods (14) are opened on the surface of the driving wheel (15); three moving balls (21) arranged at equal intervals are embedded in the inner wall of the driving wheel (15); a deformable track (22) corresponding to the positions of the moving balls (21) is opened on the outer wall of the wheel axle (2); and a telescopic component is connected to the outer wall of the driving wheel (15).

3. The obstacle-crossing wheel according to claim 2, characterized in that: The telescopic assembly comprises a moving sleeve (16), an electric push rod (18) and a connecting block (26); the moving sleeve (16) is slidably connected to the outer wall of the driving wheel (15); a limiting sliding block (25) corresponding to the position of the driving wheel (15) is provided on the inner side of the moving sleeve (16); the connecting block (26) is fixedly connected to the outer wall of the moving sleeve (16); a fixing groove (17) is provided on a side of the connecting block (26) away from the wheel hub (3); and the output end of the electric push rod (18) is fixedly connected to the fixing groove (17).

4. An obstacle-crossing wheel according to claim 1, 2 or 3, characterized in that: A sliding groove (27) is provided at one end of the wheel plate (5) close to the connecting plate (8), a push block (28) is slidably connected in the sliding groove (27), a brush (29) is fixedly connected to the top of the push block (28), a spring (30) is fixedly connected in the sliding groove (27), and the other end of the spring (30) is fixedly connected to the bottom end of the push block (28).

5. An obstacle-crossing wheel according to claim 1, 2 or 3, characterized in that: The outer wall of the wheel plate (5) is fixedly connected with a wear-resistant layer (31).

6. The obstacle-crossing wheel according to claim 2 or 3, characterized in that: One end of the moving rod (14) away from the rotating wheel (11) is fixedly connected to a fixing ring (19).

7. An obstacle-crossing wheel according to claim 1, 2 or 3, characterized in that: A thread groove (23) is provided at one end of the wheel shaft (2) close to the wheel hub (3), a bolt (24) is rotatably connected inside the wheel hub (3), and the bolt (24) is threadedly connected to the thread groove (23).

8. The obstacle-crossing wheel according to claim 2 or 3, characterized in that: The starting end and the end of the deformable track (22) are both straight tracks along the radial direction of the wheel axle (2), and the middle section of the deformable track (22) is a curved track that is closely attached to the outer wall of the wheel axle (2).

9. The obstacle-crossing wheel according to claim 4, characterized in that: The cross section of the push block (28) is in an inverted T shape.

10. A wheeled inspection robot, comprising a robot body (1), characterized in that: The robot body (1) includes the obstacle-crossing wheel described in any one of claims 1 to 9, four wheel axles (2) are mounted on the robot body (1), and mounting grooves (32) corresponding to the positions of the electric push rods (18) are provided on both sides of the robot body (1).

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