Variable magnetic adsorption suspension damping mobile detection robot

Abstract

The invention discloses a variable magnetic adsorption suspension damping mobile detection robot which comprises a robot mobile platform, a variable magnetic mechanism and an end effector. The suspension mechanism is arranged on the periphery of the robot moving platform; the suspension mechanism is used for ensuring the stable operation of the robot moving platform in the moving process; the variable magnetic mechanism is detachably connected to the lower end of the robot moving platform, and the number of magnets in the variable magnetic mechanism can be increased or decreased to perform variable magnetic adsorption; the end effector is connected with the robot moving platform through a mechanical arm. The robot has the beneficial effects that the problems that in the prior art, a detection robot is poor in applicability, a traditional magnetic adsorption robot cannot achieve magnetic force changes according to different scenes, consequently, the operation efficiency and safety guarantee of the robot are reduced, and in the prior art, the detection robot cannot track a fixed track in real time, and the detection efficiency is poor are solved. And therefore, the moving efficiency of the robot is influenced.

Description

Technical Field

[0001] The invention relates to the technical field of robot equipment, and in particular to a variable magnetic adsorption suspension shock absorption mobile detection robot. Background Art

[0002] With the development of industrial automation and intelligent manufacturing, the demand for automation of detection and maintenance equipment is increasing. In existing technologies, many detection robots rely on wheeled, tracked or legged movement, which have certain limitations in complex environments. In Chinese utility model patent CN219685595U, a "mobile detection robot" is proposed, which includes a chassis, a rotating support seat, a cam, a rotating shaft, a support plate with a bevel gear, a dust cover, a transmission component, a cleaning block, an infrared detection device, a reciprocating motion component, a pressure cylinder, a liquid inlet check valve, a liquid outlet check valve, an axle and a box body. The rotating support seat is arranged on the upper end surface of the chassis, the rotating shaft is rotatably connected to the rotating support seat, a cam and a support plate with a bevel gear are axially arranged on the rotating shaft, the inlet end of the pressure cylinder is connected to the lower position of the box body and a liquid inlet check valve is arranged in the inlet end, the box body is arranged in the chassis for containing cleaning liquid, the transmission component is connected to the axle and the support plate with a bevel gear for transmitting the rotation of the axle to the support plate with a bevel gear, and the cleaning block is fitted with the outer wall of the dust cover; although the device has a certain moving effect, when vertical movement or movement on a metal surface is required, the existing moving method is difficult to ensure stability and flexibility. Summary of the invention

[0003] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and provide a variable magnetic adsorption suspension shock-absorbing mobile detection robot to solve the problems that the detection robots in the prior art have poor applicability. Traditional magnetic adsorption robots cannot realize changes in magnetic force for different scenarios, thereby reducing the robot's operating efficiency and safety. In addition, the detection robots in the prior art cannot track a fixed trajectory in real time, thereby affecting the technical problem of the robot's mobility efficiency.

[0004] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a variable magnetic adsorption suspension shock absorption mobile detection robot, comprising: A robot mobile platform, and a suspension mechanism arranged around the robot mobile platform; the suspension mechanism is used to ensure that the robot mobile platform runs smoothly during movement; A variable magnetic mechanism, which is detachably connected to the lower end of the robot mobile platform and can increase or decrease the number of magnets inside the variable magnetic mechanism to perform variable magnetic adsorption; The end effector is connected to the robot mobile platform through a mechanical arm, and a camera capable of tracking a fixed trajectory in real time is provided at one end of the end effector away from the mechanical arm.

[0005] In some embodiments, the suspension mechanism includes a support frame, a connecting rod body, a pneumatic telescopic rod and a wheel hub; the support frame is installed on the robot mobile platform, and one end of the connecting rod body is hinged to the support frame, and the other end is connected to the wheel hub, the pneumatic telescopic rod is installed on the connecting rod body, and is used to push the connecting rod body to extend and retract; the connecting rod body includes a first connecting rod, a second connecting rod, a wheel axle, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a support shaft; the first connecting rod is movably connected to the support frame, and the end of the first connecting rod is movably connected to the second connecting rod, the end of the second connecting rod is connected to the wheel axle, the wheel axle is rotatably connected to the wheel hub, and the wheel axle is also movably connected to the third connecting rod, the third connecting rod is connected to the fourth connecting rod, the end of the fourth connecting rod is connected to the fifth connecting rod, and the pneumatic telescopic rod is installed on the fifth connecting rod, and its telescopic end is connected to the fourth connecting rod, and the fifth connecting rod is connected to the support frame through the support shaft.

[0006] In some embodiments, the robot mobile platform also includes a control box, and a laser radar, a vehicle power supply, a processor and a driver are disposed inside the control box; and a plurality of wiring terminals are disposed outside the control box.

[0007] In some embodiments, the robot mobile platform also includes a variable magnetic mechanism, which includes a lock tongue box, a driving screw, a lock tongue body and a magnet sheet metal box; the lock tongue box is arranged under the robot mobile platform, and a driving screw is arranged between the lock tongue box and the lock tongue body, and a magnet sheet metal box is connected to the outside of the lock tongue body.

[0008] In some embodiments, the robotic arm connecting rod includes a crank rocker, a boom rod, an auxiliary boom connecting rod, a triangular connecting rod, a small arm rod, an auxiliary small arm connecting rod and an end joint; the crank rocker is connected to the reduction gearbox, and the connecting ends of the boom rod and the auxiliary boom connecting rod are rotatably connected to the reduction gearbox, the ends of the boom rod and the auxiliary boom connecting rod are connected to the small arm rod and the auxiliary small arm connecting rod through a triangular connecting rod, the ends of the small arm rod and the auxiliary small arm connecting rod are connected to the end joint, and the lower end of the end joint is connected to the end actuator.

[0009] In some embodiments, the reduction gearbox includes a base, a motor base, a drive motor, a vertical plate and a gear assembly; the base is installed on the robot mobile platform, the motor base is symmetrically installed on the base, the drive motor is installed on the motor base, and the output end of the drive motor is connected to the gear assembly, the gear assembly is connected to the vertical plate at the upper end of the base, and the gear assembly passes through the vertical plate through an axis and is connected to the mechanical arm connecting rod.

[0010] In some embodiments, the gear assembly includes a first gear, a second gear, a third gear and a fourth gear; the output end of the drive motor is connected to the first gear, the second gear is meshed with the outer periphery of the first gear, the second gear is connected to the third gear through a shaft, the outer periphery of the third gear is meshed with the fourth gear, and the fourth gear is connected to the robotic arm connecting rod through a shaft.

[0011] In some embodiments, the end effector is mounted on the end of the robotic arm connecting rod, and the end effector includes a connecting seat, a first pan-tilt motor, a fixing, a camera, a second pan-tilt motor and a motor support seat; the connecting seat is mounted on the lower end of the end joint, the first pan-tilt motor is connected to the connecting seat, and a fixing is also provided on the connecting seat, the camera is mounted on the fixing, the lower end of the fixing is connected to the second pan-tilt motor, and the lower end of the second pan-tilt motor is connected to the motor support seat.

[0012] In some embodiments, a side connecting block is also provided on the motor support seat, a lower camera fixing piece is provided at the lower end of the side connecting block, and a rear fixed detection ball seat, a front fixed detection ball seat and a fixed ball mold are also provided inside the motor support seat.

[0013] In some embodiments, the motor support base is an n-shaped frame.

[0014] Compared with the prior art, the present invention provides a variable magnetic adsorption suspension and shock absorption mobile detection robot. The device arranges a suspension mechanism on the outside of the robot mobile platform, wherein the suspension mechanism has the effects of suspension and shock absorption. In this way, the robot mobile platform will not be affected by vibration and impact during movement, thereby affecting the detection accuracy of the robot. Especially in complex terrain and high vibration environment, the suspension and shock absorption ability of the robot mobile platform can be improved to ensure the stability and accuracy of detection. The variable magnetic mechanism is detachably connected to the lower end of the robot mobile platform. By increasing or decreasing the number of magnets inside the variable magnetic mechanism, the corresponding variable magnetic adsorption function is realized, so that the robot mobile platform can adapt to different detection environments. A camera is arranged on the end effector, and the end effector cooperates with the camera to track the path in real time, and combines the visual signal transmitted by the camera to efficiently complete the detection task. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is an overall schematic diagram of a variable magnetic adsorption suspension shock absorption mobile detection robot provided by an embodiment of the present invention; Figure 2 is a bottom view of the variable magnetic adsorption suspension shock absorption mobile detection robot provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of the suspension mechanism of the variable magnetic adsorption suspension shock absorption mobile detection robot provided by an embodiment of the present invention; Figure 4 Schematic diagram of a variable magnetic mechanism of a variable magnetic adsorption suspension shock absorption mobile detection robot provided by an embodiment of the present invention; Figure 5 It is a schematic diagram of the structure of the mechanical arm of the variable magnetic adsorption suspension shock absorption mobile detection robot provided by an embodiment of the present invention; Figure 6 It is a schematic diagram of the structure of a reduction gearbox of a variable magnetic adsorption suspension shock absorption mobile detection robot provided by an embodiment of the present invention; Figure 7 It is a schematic structural diagram of the end effector of the variable magnetic adsorption suspension shock absorption mobile detection robot provided in an embodiment of the present invention.

[0016] Explanation of reference numerals: 11. robot mobile platform; 12. suspension mechanism; 121. support frame; 122. connecting rod body; 1221. first connecting rod; 1222. second connecting rod; 1223. wheel axle; 1224. third connecting rod; 1225. fourth connecting rod; 1226. fifth connecting rod; 1227. supporting shaft; 123. pneumatic telescopic rod; 124. wheel hub; 13. control box; 14. variable magnetic mechanism; 141. lock tongue box; 142. plug screw; 143. lock tongue body; 144. magnet sheet metal box; 2. mechanical arm; 21. mechanical arm connecting rod; 211. crank rocker; 212. big arm rod; 213. auxiliary big arm connecting rod; 214. triangular connecting rod; 215. small arm rod; 2 16. Auxiliary arm connecting rod; 217. End joint; 22. Reducer; 221. Base; 222. Motor base; 223. Drive motor; 224. Vertical plate; 225. First gear; 226. Second gear; 227. Third gear; 228. Fourth gear; 3. End effector; 31. Connecting base; 32. First gimbal motor; 33. Fixing part; 34. Camera; 35. Second gimbal motor; 36. Motor support base. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] In order to solve the technical problem that the inspection robot in the prior art has poor applicability and the existing movement method is difficult to ensure its flexibility when it needs to move vertically or on a metal surface in a complex environment, the present invention provides a variable magnetic adsorption suspension shock-absorbing mobile inspection robot, which can improve its adaptability to harsh environments and ensure the robot's working efficiency.

[0019] It should be noted that the variable magnetic adsorption suspension shock-absorbing mobile detection robot described in the present invention is used for but not limited to outdoor detection, etc. For the convenience of explanation, in the present invention, only the variable magnetic adsorption suspension shock-absorbing mobile detection robot is used for outdoor detection as an example. The principle of using the variable magnetic adsorption suspension shock-absorbing mobile detection robot in other types of equipment is essentially the same as the principle used in outdoor detection, which will not be elaborated here.

[0020] See also Figure 1 , Figure 1 The present invention is a schematic structural diagram of a variable magnetic adsorption suspension shock absorption mobile detection robot in an embodiment of the present invention. The variable magnetic adsorption suspension shock absorption mobile detection robot comprises a robot mobile platform 11, a variable magnetic mechanism 14 and an end effector 3; and a suspension mechanism 12 arranged around the robot mobile platform 11; the suspension mechanism 12 is used to ensure that the robot mobile platform 11 runs smoothly during movement; the variable magnetic mechanism 14 is detachably connected to the lower end of the robot mobile platform 11, and the number of magnets inside the variable magnetic mechanism 14 can be increased or decreased to perform variable magnetic adsorption; the end effector 3 is connected to the robot mobile platform 11 through a robotic arm 2, and a camera 34 capable of tracking a fixed trajectory in real time is provided at the end of the end effector 3 away from the robotic arm 2.

[0021] The device arranges a suspension mechanism 12 on the outside of the robot mobile platform 11, wherein the suspension mechanism 12 has the effects of suspension and shock absorption, so that the robot mobile platform 11 will not be affected by vibration and impact during movement, thereby affecting the detection accuracy of the robot, especially in complex terrain and high vibration environment, the suspension and shock absorption ability of the robot mobile platform 11 can be improved to ensure the stability and accuracy of detection, wherein the variable magnetic mechanism 14 is detachably connected to the lower end of the robot mobile platform 11, and the corresponding variable magnetic adsorption function is achieved by increasing or decreasing the number of magnets inside the variable magnetic mechanism 14, so that the robot mobile platform 11 can adapt to different detection environments, and a camera 34 is arranged on the end effector 3, and the end effector 3 cooperates with the camera 34 to track the path in real time, and combines the visual signal transmitted by the camera to efficiently complete the detection task.

[0022] In one embodiment, see Figure 3In order to improve the working efficiency of the suspension mechanism 12, the suspension mechanism 12 includes a support frame 121, a connecting rod body 122, a pneumatic telescopic rod 123 and a wheel hub 124; the support frame 121 is installed on the robot mobile platform 11, and one end of the connecting rod body 122 is hinged on the support frame 121, and the other end is connected to the wheel hub 124, the pneumatic telescopic rod 123 is installed on the connecting rod body 122, and is used to push the connecting rod body 122 to extend and retract; the connecting rod body 122 includes a first connecting rod 1221, a second connecting rod 1222, a wheel shaft 1223, a third connecting rod 1224, a fourth connecting rod 1225, a fifth connecting rod 1226 and a support shaft 1227; the first connecting rod 1221 is movably connected in the support frame 121, and the end of the first link 1221 is movably connected to the second link 1222, the end of the second link 1222 is connected to the wheel axle 1223, the wheel axle 1223 is rotatably connected to the wheel hub 124, and the wheel axle 1223 is also movably connected to the third link 1224, the third link 1224 is connected to the fourth link 1225, the end of the fourth link 1225 is connected to the fifth link 1226, and the pneumatic telescopic rod 123 is installed on the fifth link 1226, and its telescopic end is connected to the fourth link 1225, and the fifth link 1226 is connected to the support frame 121 through the support shaft 1227.

[0023] In this embodiment, the overall structure is fixed by a support frame 121, and a fixed support shaft 1227 and a rotatable first connecting rod 1221 are arranged on the frame, a rotatable fifth connecting rod 1226 is arranged on the support shaft 1227, and the fourth connecting rod 1225 and the pneumatic telescopic rod 123 are connected to the fifth connecting rod 1226, and the pneumatic telescopic rod 123 assists in the telescopic movement as the connecting rod rotates, and the fourth connecting rod 1225 rotates to drive the third connecting rod 1224 to rotate, and the other end is connected to the wheel shaft 1223 to drive the wheel shaft 1223 to realize auxiliary up and down movement, and is connected to the second connecting rod 1222 and the first connecting rod 1221 to realize the up and down movement of the wheel hub 124, and the wheel shaft 1223 is connected to the wheel hub 124 to play a fixing role.

[0024] In one embodiment, see Figure 4 In order to improve the working efficiency of the variable magnetic mechanism 14, the robot mobile platform 11 also includes a control box 13, and a laser radar, a vehicle power supply, a processor and a driver are arranged inside the control box 13; a plurality of wiring terminals are arranged outside the control box 13, and the robot mobile platform 11 also includes a variable magnetic mechanism 14, and the variable magnetic mechanism 14 includes a lock tongue box 141, a plug screw 142, a lock tongue body 143 and a magnet sheet metal box 144; the lock tongue box 141 is arranged below the robot mobile platform 11, and a plug screw 142 is arranged between the lock tongue box 141 and the lock tongue body 143, and a magnet sheet metal box 144 is connected to the outside of the lock tongue body 143.

[0025] In this embodiment, the laser radar can navigate and locate the robot, help the robot avoid obstacles through detection, transmit the perceived environmental information to the processor for processing, and the driver controls the wheel hub 124. All wires are wired through the wiring terminals. The lock tongue body 143 drags the magnet sheet metal box 144 through the tongue edge, and the left and right blocks and the front block are used as limiters to fix the magnet sheet metal box 144. A spring is wound on the Seda screw, and the spring is compressed when the magnet sheet metal box 144 is pushed and pulled backward, so that the magnet sheet metal box 144 can be replaced.

[0026] In one embodiment, see Figure 5 and Figure 6 In a preferred embodiment, the robot arm connecting rod 21 includes a crank rocker 211, a large arm rod 212, an auxiliary large arm connecting rod 213, a triangular connecting rod 214, a small arm rod 215, an auxiliary small arm connecting rod 216 and an end joint 217; the crank rocker 211 is connected to the reduction box 22, and the connecting ends of the large arm rod 212 and the auxiliary large arm connecting rod 213 are rotatably connected to the reduction box 22, the ends of the large arm rod 212 and the auxiliary large arm connecting rod 213 are connected to the small arm rod 215 and the auxiliary small arm connecting rod 216 through the triangular connecting rod 214, the ends of the small arm rod 215 and the auxiliary small arm connecting rod 216 are connected to the end joint 217, and the lower end of the end joint 217 is connected to the end effector 3, and the reduction box 22 includes a base 221, a motor base 222, a drive motor 223, a vertical plate 224 and a gear assembly; the base 22 1 is installed on the robot mobile platform 11, a motor base 222 is symmetrically installed on the base 221, a driving motor 223 is installed on the motor base 222, and the output end of the driving motor 223 is connected to the gear assembly, the gear assembly is connected to the vertical plate 224 at the upper end of the base 221, and the gear assembly penetrates the vertical plate 224 through a shaft and is connected to the mechanical arm connecting rod, the gear assembly includes a first gear 225, a second gear 226, a third gear 227 and a fourth gear 228; the output end of the driving motor 223 is connected to the first gear 225, the outer periphery of the first gear 225 is meshed with the second gear 226, the second gear 226 is connected to the third gear 227 through a shaft, the outer periphery of the third gear 227 is meshed with the fourth gear 228, and the fourth gear 228 is connected to the mechanical arm connecting rod 21 through a shaft.

[0027] The crank rocker 211 and the big arm rod 212 are connected to the driving motor 223 to drive the mechanical arm 2 to move. The crank rocker 211 is connected to the auxiliary big arm connecting rod 213, and finally the movement of the big arm rod 212 and the small arm rod 215 is connected through the triangular connecting rod 214. The big arm rod and the auxiliary big arm connecting rod 213 form a parallelogram structure, and the small arm rod 215 and the auxiliary small arm connecting rod 216 also form a parallelogram structure, so that the end joint 217 always maintains a horizontal angle. The driving motor 223 is connected below the base 221 to control the overall rotation of the mechanical arm 2. The left and right driving motors 223 are connected to the first gear 225 through the flange plate. The first gear 225 drives the second gear 226 to be connected and driven synchronously, and then drives the third gear 227 and the fourth gear 228. The gears are fixed by the vertical plate 224 and the gear end cover short and the gear end cover, and finally connected to the big arm rod 212 through the fourth gear 228 to move.

[0028] In one embodiment, see Figure 7 In order to improve the working efficiency of the end effector 3, the end effector 3 is installed on the end of the robot arm connecting rod 21, and the end effector 3 includes a connecting seat 31, a first pan-tilt motor 32, a fixing piece 33, a camera 34, a second pan-tilt motor 35 and a motor support seat 36; the connecting seat 31 is installed at the lower end of the end joint 217, the first pan-tilt motor 32 is connected to the connecting seat 31, and the connecting seat 31 is also provided with a fixing piece 33, the fixing piece 33 is installed on the camera 34, the lower end of the fixing piece 33 is connected to the second pan-tilt motor 35, the lower end of the second pan-tilt motor 35 is connected to the motor support seat 36, the motor support seat 36 is also provided with a side connecting block, the lower end of the side connecting block is provided with a lower fixing piece 33, the motor support seat 36 is also provided with a rear fixed detection ball seat, a front fixed detection ball seat and a fixed ball mold, and the motor support seat 36 is an n-shaped frame.

[0029] The connecting seat 31 is connected to the end joint 217 on the robot arm 2, and the middle of the connecting seat 31 is connected to the first pan-tilt motor 32 and the fixing part 33. A camera 34 is installed on the fixing part 33. The rotation of the camera 34 is controlled by the first pan-tilt motor 32. The second pan-tilt motor 35 is connected below. The motor support seat 36 can control the horizontal rotation of the lower detection ball part through the second pan-tilt motor 35, and make the detection ball rotate up and down. The trackball firmly clamps the detection ball through the front and rear fixed ball seats, and can be corrected and stabilized by the fixed ball mold during installation.

[0030] In order to better understand the present invention, the following Figures 1 to 7The technical solution of the present invention is described in detail: the working process of the variable magnetic adsorption suspension shock absorption mobile detection robot is as follows: the detection ball is fixed to the end effector 3 of the mechanical arm 2, the number of magnets with the required magnetic force is replaced, and the trolley is controlled to the work site for detection. When encountering an obstacle, the pneumatic telescopic rod 123 is started, and the pneumatic telescopic rod 123 assists in telescopic movement with the rotation of the connecting rod, wherein the pneumatic telescopic rod 123 can passively cross obstacles and telescope. When encountering an obstacle, the pneumatic telescopic rod 123 can automatically adjust the telescopic length to cross the obstacle. The realization of passive obstacle crossing and telescoping usually depends on the following aspects: the cylinder inside the pneumatic telescopic rod 123 can automatically adjust the telescopic length when encountering an obstacle, and the pneumatic telescopic rod 123 is equipped with a special control mechanism, which can sense the existence of the obstacle and automatically adjust the telescopic length of the telescopic rod to cross the obstacle, and the pneumatic telescopic rod 123 is equipped with a sensor and a feedback system, which can monitor the position and state of the telescopic rod in real time. The fourth connecting rod 1225 rotates to drive the third connecting rod 1224 to rotate, and the other end is connected to the wheel shaft 1223 to drive the wheel shaft 1223 to achieve auxiliary up and down movement, and is connected to the second connecting rod 1222 and the first connecting rod 1221 to achieve the up and down movement of the wheel hub 124, so that its suspension mechanism 12 can help the robot easily cross obstacles and maintain overall stability, making the detection process more stable, and the end effector 3 uses a detection ball for detection, and through The crank rocker 211 and the big arm rod 212 are connected to the driving motor 223 to drive the mechanical arm 2 to move. The crank rocker 211 is connected to the auxiliary big arm connecting rod 213, and finally the movement of the big arm rod 212 and the small arm rod 215 are connected through the triangular connecting rod 214. The big arm rod 212 and the auxiliary big arm connecting rod 213 form a parallelogram structure, and the small arm rod 215 and the auxiliary small arm connecting rod 216 also form a parallelogram structure, so that the end joint 217 always maintains a horizontal angle, and the base 221 The driving motor 223 connected below can control the overall rotation of the robot arm 2. The left and right driving motors 223 are connected to the first gear 225 through a flange. The first gear 225 drives the second gear 226 to be connected and driven synchronously, and then drives the third gear 227 and the fourth gear 228. The gear assembly is fixed by the vertical plate 224 and the gear end cover short and the gear end cover, and finally connected to the big arm rod 212 through the fourth gear 228 for movement, so that its end effector 3 can efficiently complete the detection task in combination with the visual signal transmitted by the camera 34.

[0031] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A variable magnetic adsorption suspension shock absorption mobile detection robot, characterized in that: include: A robot mobile platform, and a suspension mechanism arranged around the robot mobile platform; the suspension mechanism is used to ensure that the robot mobile platform runs smoothly during movement; A variable magnetic mechanism, which is detachably connected to the lower end of the robot mobile platform and can increase or decrease the number of magnets inside the variable magnetic mechanism to perform variable magnetic adsorption; The end effector is connected to the robot mobile platform through a mechanical arm, and a camera capable of tracking a fixed trajectory in real time is provided at one end of the end effector away from the mechanical arm.

2. The variable magnetic adsorption suspension shock absorption mobile detection robot according to claim 1, characterized in that: The suspension mechanism includes a support frame, a connecting rod body, a pneumatic telescopic rod and a wheel hub; the support frame is installed on the robot mobile platform, and one end of the connecting rod body is hinged on the support frame, and the other end is connected to the wheel hub, the pneumatic telescopic rod is installed on the connecting rod body, and is used to push the connecting rod body to extend and retract; the connecting rod body includes a first connecting rod, a second connecting rod, a wheel axle, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a support shaft; the first connecting rod is movably connected in the support frame, and the end of the first connecting rod is movably connected to the second connecting rod, the end of the second connecting rod is connected to the wheel axle, the wheel axle is rotatably connected to the wheel hub, and the wheel axle is also movably connected to the third connecting rod, the third connecting rod is connected to the fourth connecting rod, the end of the fourth connecting rod is connected to the fifth connecting rod, and the pneumatic telescopic rod is installed on the fifth connecting rod, and its telescopic end is connected to the fourth connecting rod, and the fifth connecting rod is connected to the support frame through the support shaft.

3. The variable magnetic adsorption suspension shock absorption mobile detection robot according to claim 1, characterized in that: The robot mobile platform also includes a control box, wherein a laser radar, a vehicle-mounted power supply, a processor and a driver are arranged inside the control box; and a plurality of connection terminals are arranged outside the control box.

4. The variable magnetic adsorption suspension shock absorption mobile detection robot according to claim 1, characterized in that: The variable magnetic mechanism includes a lock tongue box, a plug screw, a lock tongue body and a magnet sheet metal box; the lock tongue box is arranged below the robot moving platform, and a plug screw is arranged between the lock tongue box and the lock tongue body, and a magnet sheet metal box is connected to the outer side of the lock tongue body.

5. The variable magnetic adsorption suspension shock absorption mobile detection robot according to claim 1, characterized in that: The robotic arm includes a robotic arm connecting rod and a reduction gearbox; one end of the robotic arm connecting rod is connected to the reduction gearbox, and the reduction gearbox is installed on the robot mobile platform; the robotic arm connecting rod includes a crank rocker, a large arm rod, an auxiliary large arm connecting rod, a triangular connecting rod, a small arm rod, an auxiliary small arm connecting rod and an end joint; the crank rocker is connected to the reduction gearbox, and the connecting ends of the large arm rod and the auxiliary large arm connecting rod are rotatably connected to the reduction gearbox, the ends of the large arm rod and the auxiliary large arm connecting rod are connected to the small arm rod and the auxiliary small arm connecting rod through a triangular connecting rod, the ends of the small arm rod and the auxiliary small arm connecting rod are connected to the end joint, and the lower end of the end joint is connected to the end actuator.

6. The variable magnetic adsorption suspension shock absorption mobile detection robot according to claim 5, characterized in that: The reduction gearbox includes a base, a motor base, a drive motor, a vertical plate and a gear assembly; the base is installed on the robot moving platform, the motor base is symmetrically installed on the base, the drive motor is installed on the motor base, and the output end of the drive motor is connected to the gear assembly, the gear assembly is connected to the vertical plate at the upper end of the base, and the gear assembly passes through the vertical plate through a shaft and is connected to the mechanical arm connecting rod.

7. The variable magnetic adsorption suspension shock absorption mobile detection robot according to claim 6, characterized in that: The gear assembly includes a first gear, a second gear, a third gear and a fourth gear; the output end of the drive motor is connected to the first gear, the second gear is meshed with the outer periphery of the first gear, the second gear is connected to the third gear through a shaft, the fourth gear is meshed with the outer periphery of the third gear, and the fourth gear is connected to the robotic arm connecting rod through a shaft.

8. The variable magnetic adsorption suspension shock absorption mobile detection robot according to claim 5, characterized in that: The end effector is installed on the end of the robot arm connecting rod, and the end effector includes a connecting seat, a first pan-tilt motor, a fixing part, a camera, a second pan-tilt motor and a motor support seat; the connecting seat is installed at the lower end of the end joint, the first pan-tilt motor is connected to the connecting seat, and a fixing part is also provided on the connecting seat, the camera is installed on the fixing part, the lower end of the fixing part is connected to the second pan-tilt motor, and the lower end of the second pan-tilt motor is connected to the motor support seat.

9. The variable magnetic adsorption suspension shock absorption mobile detection robot according to claim 8, characterized in that: The motor support seat is also provided with a side connection block, the lower end of the side connection block is provided with a lower camera fixing piece, and the inside of the motor support seat is also provided with a rear fixed detection ball seat, a front fixed detection ball seat and a fixed ball mold.

10. The variable magnetic adsorption suspension shock absorption mobile detection robot according to claim 8, characterized in that: The motor support seat is an n-shaped frame.

Images