Wheel-type wall-climbing robot for detecting self-adaptive variable-curvature curved surface device

Abstract

The invention relates to the technical field of wheel type wall-climbing robots, and discloses a wheel type wall-climbing robot for detecting a self-adaptive variable curvature curved surface device, the wheel type wall-climbing robot comprises a pipeline placing unit, a robot body unit, a moving unit and a knocking unit, the robot body unit comprises a robot shell, and a rectangular notch is formed in one side wall of the robot shell. According to the device, when a connecting plate moves, a rotating disc can be driven to rotate, when the rotating disc rotates, a rotating shaft can be driven to rotate, and when the rotating shaft rotates, a rotating rod can be driven to rotate, so that a swing arm is driven to rotate through the rotating rod, and when the swing arm swings, two permanent magnet wheels can get close to each other and extrude each other; therefore, the robot shell can move upwards, so that the robot shell can cross a connecting pipe opening formed in the pipeline placing unit, and the robot body unit can detect the curvature curved surface of the other end of the pipeline placing unit more conveniently.

Description

Technical Field

[0001] The invention belongs to the technical field of wheeled wall-climbing robots, and in particular relates to a wheeled wall-climbing robot capable of detecting an adaptive variable curvature surface device. Background Art

[0002] The wall-climbing robot can crawl autonomously on the metal wall surface, and use the detection equipment carried by the robot to complete the detection of wall surface defects. At present, the wall-climbing robots that can adapt to curved surface detection include magnetic wheel type, crawler type and foot type. The crawler type requires the crawler to always fit the metal wall surface during the wall climbing process, so it cannot adapt to metal walls with continuous protrusions and metal walls with variable curvature surface characteristics. At the same time, there are also problems such as large size, complex overall structure, and poor motion steering performance; the foot-type wall-climbing robot adapts to the curvature change of the metal wall by controlling the alternating lifting of the wheels and legs. This requires an external visual sensor to identify the change of the curvature of the metal wall, and then the alternating lifting of the wheels and legs is realized through the control program, which increases the complexity of the robot control; the wheeled wall-climbing robot has the advantages of convenient steering, strong adaptability, stable adsorption performance, superior maneuverability, simple overall structure, and convenient control program. Therefore, the research on wall-climbing robots is mainly focused on wheeled structures.

[0003] However, when the existing wall-climbing robot is inspecting a three-way pipe, etc., although the wall-climbing robot can walk on the pipe, when the wall-climbing robot moves to the connecting pipe mouth of the pipe, the bottom of the wall-climbing robot is likely to contact the connecting pipe mouth, thereby making it impossible for the wall-climbing robot to walk.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] In order to solve the above technical problems, the basic concept of the technical solution adopted by the present invention is:

[0006] A wheeled wall-climbing robot for detecting an adaptive variable curvature surface device, comprising a pipeline placement unit, a robot body unit, a moving unit and a knocking unit, wherein the robot body unit comprises a robot shell, a side wall of the robot shell is provided with a rectangular notch, and the robot shell is provided with a round-shaped mounting frame around each side, and the inner cavities of the four round-shaped mounting frames are provided with rotating rods, and the two ends of the four rotating rods are provided with first bearings, respectively, and a swing arm is fixedly installed on each rotating rod, and a motor protective shell is fixedly installed on the other end of each swing arm, and a servo motor is provided in the inner cavity of each motor protective shell, and a rotating rod is fixedly installed on the output end of the servo motor, each rotating rod movably penetrates the motor protective shell, and a permanent magnetic wheel is fixedly connected to the port, and each of the permanent magnetic wheels is symmetrical with each other, and a rotating shaft is fixedly installed at one end of the two rotating rods, and the two rotating shafts movably penetrate the inner wall of the robot shell, and a limit block is provided on the robot shell above the rectangular notch;

[0007] The mobile unit includes a driving rod, a rotating rod is fixedly passed through the driving rod, second bearings are arranged at both ends of the rotating rod, and the two second bearings are symmetrical to each other. Two torsion springs are arranged on the rotating rod, and the two ends of the two torsion springs are respectively fixedly connected to a side wall opposite to the rotating rod and the second bearing. A first moving mechanism is arranged on one side of the two driving rods on a side wall of the robot housing, a second moving mechanism is arranged on a side wall of the first moving mechanism away from the driving rod, and a rotating mechanism is arranged above the second moving mechanism;

[0008] The knocking unit comprises a knocking plate, which is installed above the rotating shaft, and a second sliding mechanism is arranged on one side wall of the knocking plate.

[0009] As a preferred embodiment of the present invention, the first moving mechanism includes a moving plate, and the two opposite side walls of the moving plate are respectively fixedly connected with first sliders, and the other ends of the two first sliders are respectively slidably provided with first sliding grooves, and the two first sliding grooves are respectively opened on the inner wall of the robot shell, and the two first sliding grooves are symmetrical to each other.

[0010] As a preferred embodiment of the present invention, the second moving mechanism includes two tilting blocks, the two side walls of the two tilting blocks are respectively provided with second sliding blocks, the two side walls opposite to each other of the two second sliding blocks are respectively provided with second sliding grooves, and the two second sliding grooves are symmetrical to each other.

[0011] As a preferred embodiment of the present invention, two of the first sliding blocks are respectively fixedly mounted with push rods close to one side wall of the two tilting blocks, the two push rods are symmetrical to each other, and the two push rods are located above the inclined surface of the tilting blocks.

[0012] As a preferred embodiment of the present invention, the rotating mechanism includes two rotating cylinders, and third bearings are respectively arranged above the two rotating cylinders. The two third bearings are symmetrical to each other, and the two third bearings are respectively installed above the robot shell. Inclined grooves are opened at the bottom of the two rotating cylinders, and first sliding mechanisms are respectively arranged on the two inclined grooves.

[0013] As a preferred embodiment of the present invention, the first sliding mechanism includes two semicircular slide grooves, the two semicircular slide grooves are respectively opened on the inclined groove, the two semicircular slide grooves are symmetrical to each other, guide balls are slidably installed in the inner cavities of the two semicircular slide grooves, the two guide balls are symmetrical to each other, and a fixing rod is fixedly installed at the bottom of the two guide balls, and the other end of the fixing rod is fixedly connected to the inclined block.

[0014] As a preferred embodiment of the present invention, the two side walls of the rotating cylinder are fixedly installed with mounting rings, the two mounting rings are symmetrical to each other, one side wall of the two mounting rings is fixedly installed with mounting plates, the two mounting plates are symmetrical to each other, one end of the two mounting plates is fixedly connected with mounting rods, the two mounting rods are symmetrical to each other, and the bottoms of the two mounting rods are fixedly connected with pushing plates.

[0015] As a preferred embodiment of the present invention, one end of the two rotating shafts located in the inner cavity of the robot shell is fixedly connected to a turntable, the two turntables are symmetrical to each other, and one end of the two turntables is fixedly connected to a connecting plate.

[0016] As a preferred embodiment of the present invention, the second sliding mechanism includes four third sliding grooves, the four third sliding grooves are symmetrical with each other, the inner cavities of the four third sliding grooves are all slidably installed with third sliders, the other ends of the four third sliders are connected with knocking plates in pairs, and a return spring is fixedly installed at the bottom of each third slider, and the other end of each return spring is fixedly connected to the bottom of the inner cavity of the third sliding groove.

[0017] As a preferred embodiment of the present invention, a connecting rod is longitudinally connected between two of the four swing arms.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] According to the present invention, when the rotating cylinder rotates, it will be able to drive the mounting ring to rotate, and when the mounting ring rotates, it will be able to drive the mounting plate to rotate, and when the mounting plate rotates, it will be able to drive the mounting rod to rotate, and when the mounting rod rotates, it will be able to drive the push plate to rotate, and when the push plate rotates, it will be able to drive the connecting plate to move, and when the connecting plate moves, it will be able to drive the turntable to rotate, and when the turntable rotates, it will be able to drive the rotating shaft to rotate, and when the rotating shaft rotates, it will be able to drive the rotating rod to rotate, thereby driving the swing arm to rotate through the rotating rod, and when the swing arm swings, the two permanent magnetic wheels can approach and squeeze each other, so that the robot shell can move upward, so that the robot shell can cross the connecting pipe port set at the pipeline placement unit, so that the robot body unit can more conveniently detect the curvature surface at the other end of the pipeline placement unit.

[0020] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In the attached picture:

[0022] Figure 1 A schematic diagram of the three-dimensional structure of a wheeled wall-climbing robot for detecting an adaptive variable curvature surface device;

[0023] Figure 2 A schematic diagram of the robot shell structure of a wheeled wall-climbing robot for detecting an adaptive variable curvature surface device;

[0024] Figure 3 A schematic diagram of the cross-sectional structure of a robot shell of a wheeled wall-climbing robot for detecting an adaptive variable curvature surface device;

[0025] Figure 4 A schematic diagram of the robot shell structure of a wheeled wall-climbing robot for detecting an adaptive variable curvature surface device when viewed from above;

[0026] Figure 5 A wheeled wall-climbing robot for detecting an adaptive variable curvature surface device Figure 4 The enlarged structural diagram at A in the middle;

[0027] Figure 6 A wheeled wall-climbing robot for detecting an adaptive variable curvature surface device Figure 4 The enlarged structural diagram at B in the middle;

[0028] Figure 7 A schematic diagram of the local structure of the inner cavity of the robot shell of a wheeled wall-climbing robot for detection by an adaptive variable curvature surface device;

[0029] In the figure:

[0030] 100. Pipeline placement unit;

[0031] 200, robot body unit; 201, robot shell; 2011, rectangular notch; 2012, round-shaped mounting frame; 2013, swing arm; 2014, motor protective shell; 2015, rotating rod; 2016, permanent magnet wheel; 2017, rotating rod; 2018, first bearing; 2019, connecting rod; 202, rotating shaft; 2021, turntable; 2022, connecting plate; 203, limit block;

[0032] 300, moving unit; 301, driving rod; 3011, rotating rod; 3012, torsion spring; 3013, second bearing; 302, moving plate; 3021, first slide groove; 3022, first slider; 3023, push rod; 303, tilting block; 3031, second slide groove; 3032, second slider; 3033, fixing rod; 304, third bearing; 3041, rotating cylinder; 3042, tilting groove; 3043, semicircular slide groove; 3044, guide ball; 305, mounting ring; 3051, mounting plate; 3052, mounting rod; 3053, pushing plate;

[0033] 400, knocking unit; 401, knocking plate; 402, third slide groove; 4021, third slider; 4022, return spring. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention.

[0035] Embodiment 1:

[0036] like Figures 1 to 7As shown, a wheeled wall-climbing robot for adaptive variable curvature curved surface detection includes a pipe placement unit 100, a robot body unit 200, a moving unit 300 and a knocking unit 400. The robot body unit 200 includes a robot shell 201. A rectangular notch 2011 is provided on one side wall of the robot shell 201. The robot shell 201 is provided with a circular mounting frame 2012 around each other. The inner cavities of the four circular mounting frames 2012 are all provided with a rotating rod 2017. The four rotating rods 201 7 are respectively provided with first bearings 2018 at both ends, a swing arm 2013 is fixedly installed on each rotating rod 2017, a motor protection shell 2014 is fixedly installed on the other end of each swing arm 2013, a servo motor is provided in the inner cavity of each motor protection shell 2014, and a rotating rod 2015 is fixedly installed at the output end of the servo motor, each rotating rod 2015 is movable and penetrates the motor protection shell 2014, and a permanent magnet wheel 2016 is fixedly connected to the port, and each permanent magnet wheel 2016 is symmetrical to each other, and the two A rotating shaft 202 is fixedly installed at one end of a rotating rod 2015, and the two rotating shafts 202 are movable and penetrate the inner wall of the robot shell 201. The robot shell 201 is provided with a limit block 203 above the rectangular notch 2011; the mobile unit 300 includes a driving rod 301, and a rotating rod 3011 is fixedly penetrated on the driving rod 301. Second bearings 3013 are arranged at both ends of the rotating rod 3011. The two second bearings 3013 are symmetrical to each other. Two torsion springs 3012 are arranged on the rotating rod 3011. The two ends of a torsion spring 3012 are respectively fixedly connected to a side wall opposite to the rotating rod 3011 and the second bearing 3013, a first moving mechanism is arranged on one side wall of the robot shell 201 on one side of the two driving rods 301, a second moving mechanism is arranged on a side wall away from the driving rod 301, and a rotating mechanism is arranged above the second moving mechanism; the knocking unit 400 includes a knocking plate 401, the knocking plate 401 is installed above the rotating shaft 202, and a second sliding mechanism is arranged on one side wall of the knocking plate 401.When the rotating cylinder 3041 rotates, it will be able to drive the mounting ring 305 to rotate, and when the mounting ring 305 rotates, it will be able to drive the mounting plate 3051 to rotate, and when the mounting plate 3051 rotates, it will be able to drive the mounting rod 3052 to rotate, and when the mounting rod 3052 rotates, it will be able to drive the push plate 3053 to rotate, and when the push plate 3053 rotates, it will be able to drive the connecting plate 2022 to move, and when the connecting plate 2022 moves, it will be able to drive the turntable 2021 to rotate, and when the turntable 2021 rotates, it will be able to It can drive the rotating shaft 202 to rotate, and when the rotating shaft 202 rotates, it will be able to drive the rotating rod 2015 to rotate, thereby driving the swing arm 2013 to rotate through the rotating rod 2015. When the swing arm 2013 swings, the two permanent magnetic wheels 2016 can approach and squeeze each other, so that the robot shell 201 can move upward, so that the robot shell 201 can cross the connecting pipe opening set at the pipeline placement unit 100, so that the robot body unit 200 can more conveniently detect the curvature surface at the other end of the pipeline placement unit 100.

[0037] like Figures 1 to 4 and Figure 7 As shown, in a specific embodiment, the first moving mechanism includes a moving plate 302, and the two opposite side walls of the moving plate 302 are respectively fixedly connected with first sliders 3022, and the other ends of the two first sliders 3022 are respectively slidably provided with first slide grooves 3021, and the two first slide grooves 3021 are respectively opened on the inner wall of the robot housing 201, and the two first slide grooves 3021 are symmetrical to each other. In this setting, the installation position and components of the first moving mechanism are determined.

[0038] like Figures 2 to 4 and Figure 7 As shown, further, the second moving mechanism includes two tilting blocks 303, the two side walls of the two tilting blocks 303 are respectively provided with second sliders 3032, the two side walls opposite to the two second sliders 3032 are respectively provided with second slide grooves 3031, and the two second slide grooves 3031 are symmetrical to each other. In this configuration, the installation position and components of the second moving mechanism are determined.

[0039] like Figures 2 to 4 and Figure 7 As shown, further, two first sliding blocks 3022 are respectively fixedly installed with push rods 3023 near one side wall of two tilting blocks 303, and the two push rods 3023 are symmetrical to each other and are located above the inclined surface of the tilting block 303. In this configuration, the installation position of the push rods 3023 is determined.

[0040] Embodiment 2:

[0041] The difference between the above embodiment and this embodiment is that: Figures 2 to 5 and Figure 7 As shown, a wheeled wall-climbing robot for adaptive variable curvature curved surface detection, the rotation mechanism includes two rotating cylinders 3041, the upper parts of the two rotating cylinders 3041 are respectively provided with third bearings 304, the two third bearings 304 are symmetrical to each other, the two third bearings 304 are respectively installed above the robot housing 201, the bottoms of the two rotating cylinders 3041 are both provided with inclined grooves 3042, and the two inclined grooves 3042 are respectively provided with first sliding mechanisms. In this configuration, the installation position and components of the rotation mechanism are determined.

[0042] like Figures 2 to 5 and Figure 7 As shown, in a specific embodiment, the first sliding mechanism includes two semicircular slide grooves 3043, the two semicircular slide grooves 3043 are respectively opened on the inclined groove 3042, the two semicircular slide grooves 3043 are symmetrical to each other, the inner cavities of the two semicircular slide grooves 3043 are both slidably installed with guide balls 3044, the two guide balls 3044 are symmetrical to each other, the bottoms of the two guide balls 3044 are both fixedly installed with fixed rods 3033, and the other ends of the fixed rods 3033 are fixedly connected to the inclined block 303. In this configuration, the installation position and components of the first sliding mechanism are determined.

[0043] like Figures 2 to 5 and Figure 7 As shown, further, the side walls of the two rotating cylinders 3041 are fixedly mounted with mounting rings 305, the two mounting rings 305 are symmetrical to each other, the side walls of the two mounting rings 305 are fixedly mounted with mounting plates 3051, the two mounting plates 3051 are symmetrical to each other, one end of the two mounting plates 3051 is fixedly connected with mounting rods 3052, the two mounting rods 3052 are symmetrical to each other, and the bottoms of the two mounting rods 3052 are fixedly connected with push plates 3053. In this arrangement, it is ensured that when the rotating cylinder 3041 rotates, the mounting rings 305, the mounting plates 3051, the mounting rods 3052 and the push plates 3053 can be driven to rotate.

[0044] like Figures 2 to 3 and Figure 7 As shown, further, one end of the two rotating shafts 202 located in the inner cavity of the robot housing 201 is fixedly connected with a rotating disk 2021, the two rotating disks 2021 are symmetrical to each other, and one end of the two rotating disks 2021 is fixedly connected with a connecting plate 2022. In this configuration, the installation position of the rotating disk 2021 is determined, ensuring that when the push plate 3053 rotates, the connecting plate 2022 can be driven to drive the rotating disk 2021 to rotate with the assistance of the rotating shaft 202.

[0045] Embodiment 3:

[0046] The difference between the above embodiment and this embodiment is that: Figures 2 to 3 and Figure 6 to Figure 7As shown, a wheeled wall-climbing robot for detecting an adaptive variable curvature curved surface device, the second sliding mechanism includes four third slide grooves 402, the four third slide grooves 402 are symmetrical to each other, the inner cavities of the four third slide grooves 402 are all slidably mounted with third sliders 4021, the other ends of the four third sliders 4021 are connected to knocking plates 401, and the bottom of each third slider 4021 is fixedly mounted with a return spring 4022, and the other end of each return spring 4022 is fixedly connected to the bottom of the inner cavity of the third slide groove 402. In this setting, the installation position and components of the second sliding mechanism are determined.

[0047] like Figures 2 to 4 As shown, in a specific embodiment, four swing arms 2013 are longitudinally connected with connecting rods 2019 between each other. In this arrangement, it is ensured that when the angle between two of the swing arms 2013 changes, the positions of the other two swing arms 2013 can be driven to change.

[0048] The implementation principle of the wheeled wall-climbing robot for detecting an adaptive variable curvature surface device in this embodiment is as follows:

[0049] First, the staff places the robot body unit 200 on the pipe placement unit 100. When the placement is completed, the staff starts the servo motor to control the rotating rod 2015 to rotate. When the rotating rod 2015 rotates, it can drive the permanent magnetic wheel 2016 to rotate (the pipe placement unit 100 and the permanent magnetic wheel 2016 are both prior art).

[0050] When the robot body unit 200 moves to a certain position, it will be able to touch the connecting pipe opening on the pipe placement unit 100 through the driving rod 301. At this time, the driving rod 301 will be able to flip with the assistance of the rotating rod 3011, so that the rotating rod 3011 can drive the moving plate 302 in the first moving mechanism to move horizontally in the first slide groove 3021 with the assistance of the first slider 3022;

[0051] When the first slider 3022 moves, it can drive the push rod 3023 to move horizontally. When the push rod 3023 moves, it can push the tilting block 303 to move horizontally upward with the assistance of the second slide groove 3031 and the second slider 3032. When the tilting block 303 moves upward, the tilting block 303 can drive the fixing rod 3033 to move upward. When the fixing rod 3033 moves upward, it can drive the guide ball 3044 to drive the rotating cylinder 3041 to rotate with the assistance of the third bearing 304 with the assistance of the tilting groove 3042 and the semicircular slide groove 3043 provided at the bottom of the rotating cylinder 3041.

[0052] When the rotating cylinder 3041 rotates, it will be able to drive the mounting ring 305 to rotate, and when the mounting ring 305 rotates, it will be able to drive the mounting plate 3051 to rotate, and when the mounting plate 3051 rotates, it will be able to drive the mounting rod 3052 to rotate, and when the mounting rod 3052 rotates, it will be able to drive the push plate 3053 to rotate, and when the push plate 3053 rotates, it will be able to drive the connecting plate 2022 to move, and when the connecting plate 2022 moves, it will be able to drive the turntable 2021 to rotate, and when the turntable 2021 rotates, it will be able to drive the rotating shaft 202 to rotate, and when the rotating shaft 202 rotates, it will be able to drive the rotating rod 2015 to rotate, thereby driving the swing arm 2013 to rotate through the rotating rod 2015, and when the swing arm 2013 swings, the two The two permanent magnetic wheels 2016 are close to and squeezed each other, so that the robot shell 201 can move upward, so that the robot shell 201 can cross the connecting pipe opening set at the pipe placement unit 100, so that the robot body unit 200 can more conveniently detect the curvature surface of the other end of the pipe placement unit 100 (when the two permanent magnetic wheels 2016 are away from each other, the rotating shaft 202 can be driven to rotate through the rotating rod 2015, so that the connecting plate 2022 fixedly installed on the rotating shaft 202 can be rotated, and when the connecting plate 2022 rotates, it will be able to knock on the placed knocking plate 401, thereby reminding the staff that the robot body unit 200 may be in contact with the connection with the pipe placement unit 100, and thus cannot move).

Claims

1. A wheeled wall-climbing robot for adaptive variable curvature surface detection, comprising a pipeline placement unit (100), a robot body unit (200), a moving unit (300) and a knocking unit (400), characterized in that: The robot body unit (200) comprises a robot shell (201), a rectangular notch (2011) is provided on one side wall of the robot shell (201), and circular mounting frames (2012) are respectively provided around the robot shell (201), a rotating rod (2017) is provided in the inner cavity of each of the four circular mounting frames (2012), and first bearings (2018) are respectively provided at both ends of the four rotating rods (2017), a swing arm (2013) is fixedly installed on each of the rotating rods (2017), and a motor protective shell (2014) is fixedly installed on the other end of each of the swing arms (2013), A servo motor is disposed in the inner cavity of each motor protection shell (2014), and a rotating rod (2015) is fixedly installed at the output end of the servo motor, each rotating rod (2015) movably passes through the motor protection shell (2014), and a permanent magnet wheel (2016) is fixedly connected to the port, each permanent magnet wheel (2016) is symmetrical to each other, a rotating shaft (202) is fixedly installed at one end of the two rotating rods (2015), and the two rotating shafts (202) movably pass through the inner wall of the robot shell (201), and a limit block (203) is provided above the rectangular notch (2011) of the robot shell (201); The mobile unit (300) comprises a driving rod (301), a rotating rod (3011) is fixedly passed through the driving rod (301), a second bearing (3013) is arranged at both ends of the rotating rod (3011), the two second bearings (3013) are symmetrical to each other, two torsion springs (3012) are arranged on the rotating rod (3011), the two ends of the two torsion springs (3012) are respectively fixedly connected to a side wall opposite to the rotating rod (3011) and the second bearing (3013), a first moving mechanism is arranged on one side of the two driving rods (301) on a side wall of the robot housing (201), a second moving mechanism is arranged on a side wall of the first moving mechanism away from the driving rod (301), and a rotating mechanism is arranged above the second moving mechanism; The knocking unit (400) comprises a knocking plate (401), wherein the knocking plate (401) is installed above the rotating shaft (202), and a second sliding mechanism is provided on one side wall of the knocking plate (401).

2. A wheeled wall-climbing robot for detecting an adaptive variable curvature surface device according to claim 1, characterized in that: The first moving mechanism comprises a moving plate (302), and the two opposite side walls of the moving plate (302) are respectively fixedly connected with first sliders (3022), and the other ends of the two first sliders (3022) are respectively slidably provided with first slide grooves (3021), and the two first slide grooves (3021) are respectively opened on the inner wall of the robot housing (201), and the two first slide grooves (3021) are symmetrical to each other.

3. A wheeled wall-climbing robot for detecting an adaptive variable curvature surface device according to claim 1, characterized in that: The second moving mechanism comprises two tilting blocks (303), the two side walls of the two tilting blocks (303) being turned over are respectively provided with second sliding blocks (3032), the two side walls opposite to each other of the two second sliding blocks (3032) are respectively provided with second sliding grooves (3031), and the two second sliding grooves (3031) are symmetrical to each other.

4. A wheeled wall-climbing robot for detecting an adaptive variable curvature surface device according to claim 2, characterized in that: The two first sliding blocks (3022) are respectively fixedly mounted with push rods (3023) close to one side wall of the two tilting blocks (303); the two push rods (3023) are symmetrical to each other and are located above the inclined surface of the tilting blocks (303).

5. The wheeled wall-climbing robot for detecting an adaptive variable curvature surface device according to claim 1, characterized in that: The rotating mechanism comprises two rotating cylinders (3041), and third bearings (304) are respectively arranged above the two rotating cylinders (3041). The two third bearings (304) are symmetrical to each other, and the two third bearings (304) are respectively installed above the robot housing (201). The bottoms of the two rotating cylinders (3041) are each provided with an inclined groove (3042), and the two inclined grooves (3042) are respectively provided with a first sliding mechanism.

6. A wheeled wall-climbing robot for detecting an adaptive variable curvature surface device according to claim 5, characterized in that: The first sliding mechanism comprises two semicircular sliding grooves (3043), the two semicircular sliding grooves (3043) are respectively arranged on the inclined groove (3042), the two semicircular sliding grooves (3043) are symmetrical to each other, guide balls (3044) are slidably installed in the inner cavities of the two semicircular sliding grooves (3043), the two guide balls (3044) are symmetrical to each other, and a fixing rod (3033) is fixedly installed at the bottom of the two guide balls (3044), and the other end of the fixing rod (3033) is fixedly connected to the inclined block (303).

7. A wheeled wall-climbing robot for detecting an adaptive variable curvature surface device according to claim 5, characterized in that: The side walls of the two rotating cylinders (3041) are both fixedly mounted with mounting rings (305), the two mounting rings (305) are symmetrical to each other, a mounting plate (3051) is fixedly mounted on one side wall of the two mounting rings (305), the two mounting plates (3051) are symmetrical to each other, one end of the two mounting plates (3051) is fixedly connected with a mounting rod (3052), the two mounting rods (3052) are symmetrical to each other, and a pushing plate (3053) is fixedly connected to the bottom of the two mounting rods (3052).

8. The wheeled wall-climbing robot for detecting an adaptive variable curvature surface device according to claim 1, characterized in that: One end of the two rotating shafts (202) located in the inner cavity of the robot housing (201) is fixedly connected to a rotating disk (2021); the two rotating disks (2021) are symmetrical to each other; and one end of the two rotating disks (2021) is fixedly connected to a connecting plate (2022).

9. The wheeled wall-climbing robot for detecting an adaptive variable curvature surface device according to claim 1, characterized in that: The second sliding mechanism comprises four third sliding grooves (402), the four third sliding grooves (402) are symmetrical with each other, the inner cavities of the four third sliding grooves (402) are all slidably installed with third sliding blocks (4021), the other ends of the four third sliding blocks (4021) are connected with knocking plates (401) in pairs, and a return spring (4022) is fixedly installed at the bottom of each third sliding block (4021), and the other end of each return spring (4022) is fixedly connected to the bottom of the inner cavity of the third sliding groove (402).

10. The wheeled wall-climbing robot for detecting an adaptive variable curvature surface device according to claim 1, characterized in that: The four swing arms (2013) are longitudinally connected with connecting rods (219) in pairs.

Images