A simulated tank wall structure for testing wall-climbing robots

Abstract

This invention provides a simulated tank wall structure for testing wall-climbing robots, belonging to the technical field of metrology auxiliary equipment. The invention comprises a base, a movable frame, two rotating supports, a first limiting tube, a second limiting tube, several wall panels, and a driving mechanism. The movable frame includes two movable blocks, with a first rotating shaft between them. A first rotating rod and a second rotating rod are both rotatably mounted on the first rotating shaft. The first limiting tube is fixed to the first rotating rod, and the second limiting tube is fixed to the second rotating rod. The first limiting tube has a first notch, and the second limiting tube has a second notch. Several wall panels are sequentially assembled, with both sides of each wall panel extending through the first and second notches into the first and second limiting tubes, respectively. The driving mechanism can drive the first and second rotating rods to rotate in opposite directions. This invention can change the curvature of the wall panels to simulate the curvature of tank walls of different sizes, improving the accuracy of the test.

Description

Technical Field

[0001] This invention belongs to the field of metrology equipment technology and relates to a simulated tank wall structure for testing wall-climbing robots. Background Technology

[0002] Large oil storage tanks refer to large containers with a capacity of 100 cubic meters or more, consisting of tank walls, tank top, tank bottom, and tank accessories, used for storing crude oil or other petroleum products.

[0003] Oil storage tanks are generally cylindrical, divided into several layers from bottom to top. The capacity of each layer is calculated by measuring the perimeter and height of each layer, and then the total capacity of the entire storage tank is calculated.

[0004] Currently, wall-climbing robots are commonly used to measure the circumference of metal tanks. Different measuring devices are installed on the wall-climbing robots. Since the measuring devices are relatively expensive, a simulated wall-climbing test is usually conducted before actual measurement. Existing simulated tank wall structures are mostly flat and fixed structures. Since the curvature of tank walls varies for different sizes of storage tanks, the existing simulated tank wall structures cannot accurately test the actual wall-climbing performance of the wall-climbing robot, which can easily lead to misjudgment. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing a simulated tank wall structure for testing wall-climbing robots. This invention can change the curvature of the wall panels to simulate the curvature of different storage tank walls, thereby improving the accuracy of the test.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] A simulated tank wall structure, including a base, for testing a wall-climbing robot;

[0008] The movable frame is mounted on the base and includes two movable blocks. The two movable blocks are connected vertically by a connecting block, and a first rotating shaft is vertically arranged between the two movable blocks.

[0009] Two rotating supports are respectively disposed at the upper and lower ends of the first rotating shaft. Each rotating support includes a first rotating rod and a second rotating rod, which are rotatably mounted on the first rotating shaft via two sleeves.

[0010] A first limiting tube and a second limiting tube, the first limiting tube being vertically fixed to the outer end of the first rotating rod, the second limiting tube being vertically fixed to the outer end of the second rotating rod, a first notch groove being formed on one side of the first limiting tube along the length direction, and a second notch groove being formed on one side of the second limiting tube along the length direction.

[0011] A plurality of wall panels are joined together from top to bottom, with the two sides of each wall panel extending through the first notch and the second notch to the first limiting tube and the second limiting tube, respectively.

[0012] A driving mechanism is provided, which is mounted on the movable block and is capable of driving the first rotating rod and the second rotating rod to rotate in opposite directions.

[0013] Preferably, the drive mechanism includes:

[0014] The first sliding column and the second sliding column are both vertically arranged between the two movable blocks. The first sliding column and the second sliding column can slide horizontally. The first rotating rod is horizontally inserted on the first sliding column and the second rotating rod is horizontally inserted on the second sliding column.

[0015] A driving structure is provided on the movable block, which can drive the first sliding column and the second sliding column to move towards each other and away from each other.

[0016] Preferably, the driving structure includes two driving components, each driving component comprising:

[0017] The second rotating shaft is horizontally rotatably mounted on the movable block via a support plate. One end of the second rotating shaft passes through the first sliding column and is provided with a first sealing plate at its end. The other end of the second rotating shaft passes through the second sliding column and is provided with a second sealing plate at its end.

[0018] The first external thread and the second external thread are respectively provided on the second rotating shaft. The first external thread is provided on the second rotating shaft between the first external thread and the first sealing plate. The second external thread is provided on the second rotating shaft between the second external thread and the second sealing plate. The helical directions of the first external thread and the second external thread are opposite.

[0019] A drive unit is mounted on the movable block and is capable of driving the second rotating shaft to rotate.

[0020] Preferably, the driving unit includes:

[0021] The first gear is fixed on the second shaft;

[0022] The motor is fixed on the movable block, and a second gear is provided on the output shaft of the motor, which meshes with the first gear.

[0023] Preferably, two first sliding grooves and two second sliding grooves are respectively provided on the opposite sides of the two movable blocks, the two second sliding grooves are vertically aligned, the upper and lower ends of the first sliding column are slidably disposed in the two first sliding grooves, and the upper and lower ends of the second sliding column are slidably disposed in the two second sliding grooves.

[0024] Preferably, both sides of the wall panel are provided with round rods, and the two round rods are coaxially inserted into the first limiting tube and the second limiting tube, respectively.

[0025] Preferably, a guide rod is vertically provided between the two movable blocks, and a third sliding groove is provided on the opposite side of each of the two movable blocks. The two third sliding grooves are directly opposite each other. The upper and lower ends of the guide rod extend into the two third sliding grooves respectively, and a second roller is rotatably provided at each end. A round tube is provided on the side of the wall panel near the guide rod, and the round tube is sleeved on the guide rod.

[0026] Preferably, the movable block near the base is hinged to the base via a first hinge shaft. Two inclined grooves are opened in parallel on the lower side of the movable block. The depth of the inclined grooves gradually decreases from the first pivot to the wall plate. A groove is opened on the upper side of the base. A slide rod is horizontally slidably arranged in the groove. Two vertical rods are vertically arranged on the slide rod. The upper ends of the two vertical rods extend into the two inclined grooves respectively, and the ends of the two vertical rods are rotatably equipped with first rollers. The wheel surface of the first rollers contacts the inclined groove. An electric push rod is horizontally arranged inside the groove. The outer end of the electric push rod is connected to the slide rod.

[0027] Preferably, the lower side of the base is provided with a plurality of casters with brakes.

[0028] Preferably, the base is vertically threaded with screws on all four sides, the lower end of the screws extends to the bottom of the base and has a fixing block at the end, and the upper end of the screws extends to the top of the base and has a handwheel at the end.

[0029] Compared with the prior art, the present invention has the following advantages:

[0030] 1. Several wall panels are inserted into the first and second limiting tubes via round rods. Initially, the wall panels are bent towards the first rotating axis. When the simulated tank volume is small, the curvature of the tank wall is large. The drive mechanism drives the first and second rotating rods to rotate in opposite directions, causing the first and second limiting tubes to rotate in opposite directions, pressing the wall panels inward and increasing the curvature. When the simulated tank volume is large, the drive mechanism drives the first and second rotating rods to rotate in opposite directions, causing the first and second limiting tubes to rotate in opposite directions, unfolding the wall panels outward and reducing the curvature. The curvature of the wall panels can be adjusted according to the volume of different tanks to improve the accuracy of the test. In addition, different numbers of wall panels can be accommodated by changing the length of the first and second limiting tubes, increasing the climbing distance of the wall-climbing robot and increasing the difficulty of the test.

[0031] 2. The first rotating rod and the second rotating rod are respectively inserted into the first sliding column and the second sliding column. Since the first sliding column and the second sliding column can only move horizontally, when the driving structure drives the first sliding column and the second sliding column to move towards each other, the angle between the first rotating rod and the second rotating rod decreases. When the driving structure drives the first sliding column and the second sliding column to move away from each other, the angle between the first rotating rod and the second rotating rod increases. The operation is simple.

[0032] 3. The starting motor drives the second gear to rotate, which in turn drives the second shaft to rotate through the first gear. Since the helical directions of the first and second external threads are opposite, the first and second external threads can simultaneously drive the first and second sliding columns to rotate in opposite directions and in opposite directions, resulting in a simple structure.

[0033] 4. The first sliding column is slidably set in the upper and lower first sliding grooves, and the second sliding column is slidably set in the upper and lower second sliding grooves. The first sliding groove can limit the sliding range of the first sliding column, and the second sliding groove can limit the sliding range of the second sliding column, thereby controlling the angle range between the first rotating rod and the second rotating rod. The operation is simple.

[0034] 5. The round rods on both sides of the wall panel are inserted into the first limiting tube and the second limiting tube. When the wall panel bends, the round rods can rotate in the first limiting tube and the second limiting tube, reducing friction and making the wall panel bend more smoothly.

[0035] 6. Since the round tube on the wall panel is sleeved on the guide rod, the guide rod can prevent the wall panel from undergoing local deformation when the wall panel bends inward or outward. At the same time, the third sliding groove can limit the sliding range of the guide rod and control the degree of bending of the wall panel. The structure is simple.

[0036] 7. Since the tank wall is made of layers of steel plates spliced ​​together, the tank wall may shrink inward or expand outward. By controlling the electric push rod, the slide rod slides horizontally along the groove, and the first roller on the vertical rod slides along the inclined slide groove. When the vertical rod slides towards the first rotating shaft, it pushes the movable block to rotate upward by a certain angle, simulating the outward expansion of the tank wall. When the vertical rod slides towards the wall panel, it pushes the movable block to rotate downward by a certain angle, simulating the inward shrinkage of the tank wall. When the vertical rod is in the appropriate position, the movable block is in the horizontal position, and the wall panel is in the vertical state.

[0037] 8. The simulated tank wall structure can be moved to a designated position using the braked casters. Then, the screw can be turned downwards to make the fixing block contact the ground, improving the stability of the simulated tank wall structure. At the same time, when the ground is uneven, the base can be adjusted to a horizontal state by adjusting the height of the four fixing blocks, thus improving the accuracy of the test. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of the present invention;

[0039] Figure 2 yes Figure 1 Sectional view at point AA;

[0040] Figure 3 yes Figure 2 Sectional view at point BB;

[0041] Figure 4 yes Figure 2 Sectional view at CC;

[0042] Figure 5 yes Figure 2 Sectional view at point DD;

[0043] Figure 6 This is a diagram showing the state of the active block tilting outwards;

[0044] Figure 7 This is a diagram showing the state of the moving block tilting inwards.

[0045] In the diagram, 1. Base; 11. Caster wheel with brake; 12. Screw; 121. Fixing block; 122. Handwheel; 13. Groove; 131. Horizontal slide rail; 14. Slide rod; 141. Slider; 15. Vertical rod; 151. First roller; 16. Electric push rod; 2. Movable block; 21. Connecting block; 22. First slide rail; 23. Second slide rail; 24. Inclined slide rail; 25. First hinge shaft; 26. Third slide rail; 3. First rotating shaft; 31. First rotating rod; 311. First top plate; 312. First limit... Position tube; 313, first notch groove; 32, second rotating rod; 321, second top plate; 322, second limiting tube; 323, second notch groove; 33, first sliding column; 34, second sliding column; 4, wall panel; 41, round rod; 42, round tube; 5, guide rod; 51, second roller; 6, second rotating shaft; 61, first gear; 62, first sealing plate; 63, second sealing plate; 64, first protruding edge; 65, second protruding edge; 66, first external thread; 67, second external thread; 7, motor; 71, second gear. Detailed Implementation

[0046] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0047] like Figures 1 to 7 As shown, a simulated tank wall structure for testing a wall-climbing robot is characterized by a base 1, a movable frame, two rotating supports, a first limiting tube 312, a second limiting tube 322, several wall panels 4, and a drive mechanism.

[0048] Preferably, the lower side of the base 1 is provided with a plurality of universal casters 11 with brakes, and the base 1 is vertically threaded with screws 12 on all four sides. The lower end of the screws 12 extends to the bottom of the base 1 and is provided with a fixing block 121 at the end. The upper end of the screws 12 extends to the top of the base 1 and is provided with a handwheel 122 at the end.

[0049] The simulated tank wall structure can be quickly moved to a designated position by using the braked casters 11. Then, the screw 12 is rotated downwards to make the fixing block 121 contact the ground, thereby improving the stability of the simulated tank wall structure. At the same time, when the ground is uneven, the base 1 can be adjusted to a horizontal state by adjusting the height of the four fixing blocks 121, thereby improving the accuracy of the test.

[0050] The movable frame is mounted on the base 1. The movable frame includes two movable blocks 2, which are connected together vertically by a connecting block 21. A first rotating shaft 3 is vertically arranged between the two movable blocks 2.

[0051] The two rotating brackets are respectively disposed at the upper and lower ends of the first rotating shaft 3. The rotating bracket includes a first rotating rod 31 and a second rotating rod 32. The first rotating rod 31 and the second rotating rod 32 are respectively rotatably disposed on the first rotating shaft 3 through two sleeves.

[0052] The first limiting tube 312 is vertically fixed to the outer end of the first rotating rod 31, and the second limiting tube 322 is vertically fixed to the outer end of the second rotating rod 32. A first notch 313 is provided on one side of the first limiting tube 312 along the length direction, and a second notch 323 is provided on one side of the second limiting tube 322 along the length direction. Both the upper and lower ends of the first limiting tube 312 and the second limiting tube 322 are provided with sealing plates.

[0053] Several of the wall panels 4 are spliced ​​together from top to bottom, and the two sides of the wall panels 4 extend through the first notch 313 and the second notch 323 to the first limiting tube 312 and the second limiting tube 322, respectively.

[0054] Preferably, each side of the wall panel 4 is provided with a round rod 41, and the two round rods 41 are coaxially inserted into the first limiting tube 312 and the second limiting tube 322, respectively. With the round rods 41 on both sides of the wall panel 4 inserted into the first limiting tube 312 and the second limiting tube 322, when the wall panel 4 bends, the round rods 41 can rotate within the first limiting tube 312 and the second limiting tube 322, reducing friction and making the bending of the wall panel 4 smoother.

[0055] Preferably, a guide rod 5 is vertically provided between the two movable blocks 2, and a third sliding groove 26 is provided on the opposite side of the two movable blocks 2. The two third sliding grooves 26 are directly opposite each other. The upper and lower ends of the guide rod 5 extend into the two third sliding grooves 26 respectively, and a second roller 51 is rotatably provided at the ends of the guide rod 5. A round tube 42 is provided on the side of the wall panel 4 near the guide rod 5, and the round tube 42 is sleeved on the guide rod 5.

[0056] Since the circular tube 42 on the wall panel 4 is sleeved on the guide rod 5, when the wall panel 4 bends inward or outward, the guide rod 5 can prevent the wall panel 4 from undergoing local deformation. At the same time, the third sliding groove 26 can limit the sliding range of the guide rod 5 and control the degree of bending of the wall panel 4, resulting in a simple structure.

[0057] The driving mechanism is mounted on the movable block 2, and the driving mechanism can drive the first rotating rod 31 and the second rotating rod 32 to rotate in opposite directions.

[0058] Several wall panels 4 are inserted into the first limiting tube 312 and the second limiting tube 322 via round rods 42. Initially, the wall panels are bent towards the first rotating shaft 3. When the simulated tank volume is small, the curvature of the tank wall is large. The driving mechanism drives the first rotating rod 31 and the second rotating rod 32 to rotate in opposite directions, causing the first limiting tube 312 and the second limiting tube 322 to rotate in opposite directions, pressing the wall panels 4 inward and increasing the curvature. When the simulated tank volume is large, the driving mechanism drives the first rotating rod 31 and the second rotating rod 32 to rotate in opposite directions, causing the first limiting tube 312 and the second limiting tube 322 to rotate in opposite directions, unfolding the wall panels 4 outward and reducing the curvature. The curvature of the wall panels 4 can be adjusted according to the volume of different tanks to improve the accuracy of the test. In addition, different numbers of wall panels 4 can be accommodated by changing the length of the first limiting tube 312 and the second limiting tube 322, increasing the climbing area of ​​the wall-climbing robot and increasing the difficulty of the test.

[0059] In this embodiment, the driving mechanism includes a first sliding column 33, a second sliding column 34, and a driving structure.

[0060] The first sliding column 33 and the second sliding column 34 are both vertically arranged between the two movable blocks 2. The first sliding column 33 and the second sliding column 34 can slide horizontally. The first rotating rod 31 is horizontally inserted on the first sliding column 33, and the second rotating rod 32 is horizontally inserted on the second sliding column 34.

[0061] Specifically, two first sliding grooves 22 and two second sliding grooves 23 are respectively opened on the opposite sides of the two movable blocks 2. The two second sliding grooves 22 are vertically aligned and the two second sliding grooves 23 are vertically aligned. The upper and lower ends of the first sliding column 33 are slidably disposed in the two first sliding grooves 22, and the upper and lower ends of the second sliding column 34 are slidably disposed in the two second sliding grooves 23.

[0062] The first sliding post 33 is slidably disposed within the upper and lower first sliding grooves 22, and the second sliding post 34 is slidably disposed within the upper and lower second sliding grooves 23. The first sliding grooves 22 can limit the sliding range of the first sliding post 33, and the second sliding grooves 23 can limit the sliding range of the second sliding post 34, thereby controlling the angle range between the first rotating rod 31 and the second rotating rod 32, making operation simple.

[0063] The drive structure is mounted on the movable block 2. The drive structure includes two drive components, each of which includes a second rotating shaft 6, a first external thread 66, a second external thread 67, and a drive unit.

[0064] The second rotating shaft 6 is horizontally rotatably mounted on the movable block 2 via a support plate. One end of the second rotating shaft 6 passes through the first sliding column 33 and is provided with a first sealing plate 62 at its end. The other end of the second rotating shaft 6 passes through the second sliding column 34 and is provided with a second sealing plate 63 at its end.

[0065] The second rotating shaft 6 is provided with a first protrusion 64 and a second protrusion 65 respectively. The first external thread 66 is provided on the second rotating shaft 6 between the first protrusion 64 and the first sealing plate 62. The second external thread 67 is provided on the second rotating shaft 6 between the second protrusion 65 and the second sealing plate 63. The helical directions of the first external thread 66 and the second external thread 67 are opposite.

[0066] The drive unit is mounted on the movable block 2, and the drive unit includes a first gear 61 and a motor 7.

[0067] The first gear 61 is fixed on the second rotating shaft 6.

[0068] The motor 7 is fixed on the movable block 2, and the output shaft of the motor 7 is provided with a second gear 71, which meshes with the first gear 61.

[0069] The starter motor 7 drives the second gear 71 to rotate, which in turn drives the second rotating shaft 6 to rotate via the first gear 61. Since the first external thread 66 and the second external thread 67 have opposite helical directions, the first external thread 66 and the second external thread 67 can simultaneously drive the first sliding column 33 and the second sliding column 34 to rotate in opposite directions and in the same direction. When the first sliding column 33 and the second sliding column 34 move towards each other, the angle between the first rotating rod 31 and the second rotating rod 32 decreases. When the first sliding column 33 and the second sliding column 34 move in opposite directions, the angle between the first rotating rod 31 and the second rotating rod 32 increases. The operation is simple.

[0070] In this embodiment, the movable block 2 near the base 1 is hinged to the base 1 via a first hinge shaft 25. Two inclined grooves 24 are opened in parallel on the lower side of the movable block 2. The depth of the inclined grooves 24 gradually decreases from the first rotating shaft 3 to the wall plate 4. A groove 13 is opened on the upper side of the base 1. A slide rod 14 is horizontally slidably arranged in the groove 13. Two vertical rods 15 are vertically arranged on the slide rod 14. The upper ends of the two vertical rods 15 extend into the two inclined grooves 24 respectively, and the ends of the two vertical rods 15 are rotatably equipped with first rollers 151. The wheel surface of the first rollers 151 is in contact with the inclined grooves 24. An electric push rod 16 is horizontally arranged in the groove 13. The outer end of the electric push rod 16 is connected to the slide rod 14.

[0071] Since the tank wall is made of layers of steel plates spliced ​​together, the tank wall may shrink inward or expand outward. By controlling the electric push rod 16, the slide rod 14 slides horizontally along the groove 13, and the first roller 151 on the vertical rod 15 slides along the inclined slide groove 24. When the vertical rod 15 slides towards the first rotating shaft 3, it pushes the movable block 2 to rotate upward by a certain angle, simulating the situation of the tank wall expanding outward. When the vertical rod 15 slides towards the wall plate 4, it pushes the movable block 2 to rotate downward by a certain angle, simulating the situation of the tank wall shrinking inward. When the vertical rod 15 is in the appropriate position, the movable block 2 is in the horizontal position, and at this time the wall plate 4 is in the vertical state.

[0072] In the description of this patent, it should be understood that the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this patent and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this patent.

[0073] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A simulated tank wall structure for testing a wall-climbing robot, characterized in that, Base (1); The movable frame is set on the base (1). The movable frame includes two movable blocks (2). The two movable blocks (2) are connected together vertically by a connecting block (21). A first rotating shaft (3) is vertically arranged between the two movable blocks (2). Two rotating supports are respectively disposed at the upper and lower ends of the first rotating shaft (3). Each rotating support includes a first rotating rod (31) and a second rotating rod (32). The first rotating rod (31) and the second rotating rod (32) are respectively rotatably disposed on the first rotating shaft (3) through two sleeves. The first limiting tube (312) and the second limiting tube (322) are vertically fixed to the outer end of the first rotating rod (31) and the second limiting tube (322) are vertically fixed to the outer end of the second rotating rod (32). A first notch (313) is provided on one side of the first limiting tube (312) along the length direction, and a second notch (323) is provided on one side of the second limiting tube (322) along the length direction. A plurality of wall panels (4) are spliced ​​together from top to bottom, and the two sides of the wall panels (4) extend through the first notch (313) and the second notch (323) to the first limiting tube (312) and the second limiting tube (322), respectively. A driving mechanism is provided on the movable block (2), which can drive the first rotating rod (31) and the second rotating rod (32) to rotate in opposite directions; The drive mechanism includes: The first sliding column (33) and the second sliding column (34) are both vertically arranged between the two movable blocks (2). The first sliding column (33) and the second sliding column (34) can slide horizontally. The first rotating rod (31) is horizontally inserted on the first sliding column (33), and the second rotating rod (32) is horizontally inserted on the second sliding column (34). A driving structure is provided on the movable block (2), which can drive the first sliding column (33) and the second sliding column (34) to move towards each other and away from each other; The driving structure includes two driving components, each including: The second rotating shaft (6) is horizontally rotatably mounted on the movable block (2) via a support plate. One end of the second rotating shaft (6) passes through the first sliding column (33) and is provided with a first sealing plate (62) at the end. The other end of the second rotating shaft (6) passes through the second sliding column (34) and is provided with a second sealing plate (63) at the end. The first external thread (66) and the second external thread (67) are provided on the second rotating shaft (6), and the first convex edge (64) and the second convex edge (65) are respectively provided on the second rotating shaft (6). The first external thread (66) is provided on the second rotating shaft (6) between the first convex edge (64) and the first sealing plate (62), and the second external thread (67) is provided on the second rotating shaft (6) between the second convex edge (65) and the second sealing plate (63). The helical directions of the first external thread (66) and the second external thread (67) are opposite. A drive unit is mounted on the movable block (2), and the drive unit is capable of driving the second rotating shaft (6) to rotate; The movable block (2) near the base (1) is hinged to the base (1) via the first hinge shaft (25). Two inclined slide grooves (24) are opened in parallel on the lower side of the movable block (2). The depth of the inclined slide grooves (24) gradually decreases from the first rotating shaft (3) to the wall plate (4). The upper side of the base (1) is provided with a groove (13). A slide rod (14) is horizontally slidably arranged in the groove (13). Two vertical rods (15) are vertically arranged on the slide rod (14). The upper ends of the two vertical rods (15) respectively extend into the two inclined slide grooves (24) and the ends of the two vertical rods are rotatably provided with first rollers (151). The wheel surface of the first rollers (151) is in contact with the inclined slide grooves (24). An electric push rod (16) is horizontally arranged in the groove (13). The outer end of the electric push rod (16) is connected to the slide rod (14).

2. The simulated tank wall structure for testing a wall-climbing robot according to claim 1, characterized in that, The driving unit includes: The first gear (61) is fixed on the second rotating shaft (6); The motor (7) is fixed on the movable block (2), and the output shaft of the motor (7) is provided with a second gear (71), which meshes with the first gear (61).

3. The simulated tank wall structure for testing a wall-climbing robot according to claim 1, characterized in that, Two first sliding grooves (22) and two second sliding grooves (23) are respectively opened on the opposite sides of the two movable blocks (2). The two second sliding grooves (22) are directly opposite each other, and the two second sliding grooves (23) are directly opposite each other. The upper and lower ends of the first sliding column (33) are respectively slidably disposed in the two first sliding grooves (22), and the upper and lower ends of the second sliding column (34) are respectively slidably disposed in the two second sliding grooves (23).

4. The simulated tank wall structure for testing a wall-climbing robot according to claim 1, characterized in that, Both sides of the wall panel (4) are provided with round rods (41), and the two round rods (41) are coaxially inserted into the first limiting tube (312) and the second limiting tube (322).

5. A simulated tank wall structure for testing a wall-climbing robot according to claim 1, characterized in that, A guide rod (5) is vertically provided between the two movable blocks (2). A third slide groove (26) is provided on the opposite side of the two movable blocks (2). The two third slide grooves (26) are directly opposite each other. The upper and lower ends of the guide rod (5) are respectively inserted into the two third slide grooves (26) and the ends are rotatably provided with second rollers (51). A round tube (42) is provided on the side of the wall panel (4) near the guide rod (5). The round tube (42) is sleeved on the guide rod (5).

6. A simulated tank wall structure for testing a wall-climbing robot according to claim 1, characterized in that, The lower side of the base (1) is provided with several universal wheels (11) with brakes.

7. A simulated tank wall structure for testing a wall-climbing robot according to claim 1, characterized in that, The base (1) is vertically threaded with screws (12) around its perimeter. The lower end of the screws (12) extends to the bottom of the base (1) and is provided with a fixing block (121) at the end. The upper end of the screws (12) extends to the top of the base (1) and is provided with a handwheel (122) at the end.

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