Wheel type wall-climbing robot capable of self-adaptive variable-curvature curved surface detection

Abstract

The present application relates to the technical field of wheeled wall-climbing robots, and discloses a wheeled wall-climbing robot for detecting self-adaptive variable-curvature curved surfaces, which comprises a pipeline placing unit, a robot body unit, a moving unit and a knocking unit, wherein the robot body unit comprises a robot shell, and a rectangular notch is formed in one side wall of the robot shell. When the connecting plate moves, the rotating disc can be driven to rotate, the rotating disc can drive the rotating shaft to rotate when the rotating disc rotates, and the rotating shaft can drive the rotating rod to rotate when the rotating shaft rotates, so that the rotating rod drives the swing arm to rotate, and when the swing arm swings, the two permanent magnet wheels can be close to each other and be pressed, so that the robot shell can move upward, so that the robot shell can cross the connecting pipe opening arranged at the pipeline placing unit, and the robot body unit can more conveniently detect the curved surface at the other end of the pipeline placing unit.

Description

Technical Field

[0001] This invention belongs to the field of wheeled wall-climbing robot technology, specifically, it relates to a wheeled wall-climbing robot with an adaptive variable curvature surface detection device. Background Technology

[0002] Wall-climbing robots can autonomously climb metal walls and simultaneously detect defects using onboard inspection equipment. Currently, wall-climbing robots capable of inspecting curved surfaces include magnetic wheel, tracked, and legged types. Tracked robots require their tracks to remain in constant contact with the metal wall during climbing, making them unsuitable for metal walls with continuous protrusions or variable curvature. They also suffer from large size, complex structure, and poor maneuverability. Legged wall-climbing robots adapt to changes in the curvature of the metal wall by controlling the alternating lifting of their wheels and legs. This requires external vision sensors to identify these curvature changes, and a control program to implement the alternating lifting of the wheels and legs, increasing the complexity of robot control. Wheeled wall-climbing robots, on the other hand, offer advantages such as easy steering, strong adaptability, stable adhesion, superior maneuverability, simple overall structure, and convenient control programs. Therefore, research on wheeled structures is primarily focused on wall-climbing robots.

[0003] However, when existing wall-climbing robots are inspecting T-junction pipes, although they can walk on the pipes, when they move to the pipe connection port, their bottoms tend to come into contact with the connection port, making it impossible for them to walk.

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

[0005] To solve the above-mentioned technical problems, the basic concept of the technical solution adopted by the present invention is as follows:

[0006] A wheeled wall-climbing robot with an adaptive variable curvature surface detection device includes a pipe placement unit, a robot body unit, a movement unit, and a striking unit. The robot body unit includes a robot shell with a rectangular slot on one side wall. Four U-shaped mounting frames are arranged around the robot shell. Rotating rods are installed inside the cavities of each of the four U-shaped mounting frames. First bearings are installed at both ends of each of the four rotating rods. A swing arm is fixedly mounted on each rotating rod, and a motor protective shell is fixedly mounted on the other end of each swing arm. A servo motor is installed inside the cavity of each motor protective shell, and a rotating rod is fixedly mounted on the output end of the servo motor. Each rotating rod movably passes through the motor protective shell, and a permanent magnet wheel is fixedly connected to its port. Each pair of permanent magnet wheels is symmetrical. A rotating shaft is fixedly mounted on one end of each of the two rotating rods, and both rotating shafts movably pass through the inner wall of the robot shell. A limit block is provided above the rectangular slot on the robot shell.

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

[0008] The striking unit includes a striking plate, which is mounted above a rotating shaft, and a second sliding mechanism is provided on one side wall of the striking plate.

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

[0010] In a preferred embodiment of the present invention, the second moving mechanism includes two inclined blocks, each with a second slider on its opposite sidewalls, and a second groove on its opposite sidewalls, the two second grooves being symmetrical to each other.

[0011] In a preferred embodiment of the present invention, push rods are fixedly installed on one side wall of each of the two first sliders near the two inclined blocks, the two push rods are symmetrical to each other, and the two push rods are located above the inclined surface of the inclined blocks.

[0012] In a preferred embodiment of the present invention, the rotating mechanism includes two rotating cylinders, each with a third bearing disposed above it. The two third bearings are symmetrical to each other and are respectively mounted on the robot housing. An inclined groove is provided at the bottom of each of the two rotating cylinders, and a first sliding mechanism is disposed on each of the two inclined grooves.

[0013] In a preferred embodiment of the present invention, the first sliding mechanism includes two semi-circular grooves, which are respectively formed on the inclined groove. The two semi-circular grooves are symmetrical to each other. Guide balls are slidably installed in the inner cavity of each of the two semi-circular grooves. The two guide balls are symmetrical to each other. A fixing rod is fixedly installed at the bottom of each of the two guide balls, and the other end of the fixing rod is fixedly connected to the inclined block.

[0014] In a preferred embodiment of the present invention, mounting rings are fixedly installed on the side walls of both rotating cylinders, the two mounting rings are symmetrical to each other, mounting plates are fixedly installed on one side wall of each of the two mounting rings, the two mounting plates are symmetrical to each other, mounting rods are fixedly connected to one end of each of the two mounting plates, the two mounting rods are symmetrical to each other, and a push plate is fixedly connected to the bottom of each of the two mounting rods.

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

[0016] In a preferred embodiment of the present invention, the second sliding mechanism includes four third sliding grooves, which are symmetrical to each other in pairs. A third slider is slidably installed in the inner cavity of each of the four third sliding grooves. A striking plate is connected to each other at the other end of each of the four third sliders. 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] In a preferred embodiment of the present invention, the four swing arms are longitudinally connected in pairs with connecting rods.

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

[0019] In this invention, when the rotating cylinder rotates, it drives the mounting ring to rotate, which in turn drives the mounting plate to rotate. The rotating plate, in turn, drives the mounting rod to rotate, which in turn drives the push plate to rotate. The push plate, in turn, drives the connecting plate to move, which in turn drives the turntable to rotate. The turntable, in turn, drives the rotating shaft to rotate, which in turn drives the rotating rod to rotate. This rotating rod, in turn, drives the swing arm to rotate. When the swing arm swings, it brings the two permanent magnet wheels closer together and presses against each other, thus allowing the robot housing to move upwards. This allows the robot housing to cross the connecting pipe opening at the pipe placement unit, making it easier for the robot body to detect the curvature surface at the other end of the pipe placement unit.

[0020] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0021] In the attached diagram:

[0022] Figure 1 A three-dimensional structural schematic diagram of a wheeled wall-climbing robot using an adaptive variable curvature surface detection device;

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

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

[0025] Figure 4 A schematic diagram of the robot shell structure from below for a wheeled wall-climbing robot tested by an adaptive variable curvature surface device.

[0026] Figure 5 A wheeled wall-climbing robot for detection using an adaptive variable curvature surface device. Figure 4 Enlarged structural diagram at point A in the middle;

[0027] Figure 6 A wheeled wall-climbing robot for detection using an adaptive variable curvature surface device. Figure 4 Enlarged structural diagram at point B;

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

[0029] In the picture:

[0030] 100. Pipe placement unit;

[0031] 200. Robot body unit; 201. Robot shell; 2011. Rectangular slot; 2012. U-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. Limiting block;

[0032] 300. Moving unit; 301. Drive rod; 3011. Rotating rod; 3012. Torsion spring; 3013. Second bearing; 302. Moving plate; 3021. First slide groove; 3022. First slider; 3023. Push rod; 303. Inclined block; 3031. Second slide groove; 3032. Second slider; 3033. Fixed rod; 304. Third bearing; 3041. Rotating cylinder; 3042. Inclined groove; 3043. Semicircular slide groove; 3044. Guide ball; 305. Mounting ring; 3051. Mounting plate; 3052. Mounting rod; 3053. Push plate;

[0033] 400, striking unit; 401, striking plate; 402, third slide groove; 4021, third slider; 4022, return spring. Detailed Implementation

[0034] To make the objectives, 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 with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention. Example

[0035] like Figures 1 to 7As shown, a wheeled wall-climbing robot with an adaptive variable curvature surface detection device includes a pipe placement unit 100, a robot body unit 200, a movement unit 300, and a striking unit 400. The robot body unit 200 includes a robot shell 201. A rectangular slot 2011 is formed on one side wall of the robot shell 201. Four U-shaped mounting frames 2012 are respectively arranged around the robot shell 201. Rotating rods 2017 are arranged inside the cavities of each of the four U-shaped mounting frames 2012. Each of the seven rotating rods 2017 has a first bearing 2018 at each end. A swing arm 2013 is fixedly mounted on each rotating rod 2017. A motor protective shell 2014 is fixedly mounted on the other end of each swing arm 2013. A servo motor is housed within the inner cavity of each motor protective shell 2014, and a rotating rod 2015 is fixedly mounted on the output end of the servo motor. Each rotating rod 2015 movably passes through the motor protective shell 2014, and a permanent magnet wheel 2016 is fixedly connected to its port. Each permanent magnet wheel 2016 is symmetrical in pairs. Each rotating rod 2015 has a rotating shaft 202 fixedly mounted at one end. Both rotating shafts 202 movably penetrate the inner wall of the robot housing 201. A limit block 203 is provided above the rectangular slot 2011 in the robot housing 201. The moving unit 300 includes a drive rod 301, on which a rotating rod 3011 is fixedly inserted. Second bearings 3013 are provided at both ends of the rotating rod 3011, and the two second bearings 3013 are symmetrical to each other. Two torsion springs 3012 are provided on the rotating rod 3011. Two ends of a torsion spring 3012 are fixedly connected to the side wall opposite to the rotating rod 3011 and the second bearing 3013, respectively. A first moving mechanism is provided on one side of the two driving rods 301 and on one side wall of the robot housing 201. A second moving mechanism is provided on the side wall away from the driving rods 301. A rotating mechanism is provided above the second moving mechanism. The striking unit 400 includes a striking plate 401, which is installed above the rotating shaft 202. A second sliding mechanism is provided on one side wall of the striking plate 401.When the rotating cylinder 3041 rotates, it drives the mounting ring 305 to rotate. When the mounting ring 305 rotates, it drives the mounting plate 3051 to rotate. When the mounting plate 3051 rotates, it drives the mounting rod 3052 to rotate. When the mounting rod 3052 rotates, it drives the push plate 3053 to rotate. When the push plate 3053 rotates, it drives the connecting plate 2022 to move. When the connecting plate 2022 moves, it drives the turntable 2021 to rotate. When the turntable 2021 rotates, it... The rotating shaft 202 can be driven to rotate, and when the rotating shaft 202 rotates, it can drive the rotating rod 2015 to rotate, which in turn drives the swing arm 2013 to rotate. When the swing arm 2013 swings, it can bring the two permanent magnet wheels 2016 closer together and squeeze them, thus allowing the robot shell 201 to move upward, so that the robot shell 201 can cross the connecting pipe opening provided at the pipe placement unit 100, thereby making it easier for the robot body unit 200 to detect the curvature surface at the other end of the pipe placement unit 100.

[0036] like Figures 1 to 4 and Figure 7 As shown, in a specific embodiment, the first moving mechanism includes a moving plate 302. First sliders 3022 are fixedly connected to opposite side walls of the moving plate 302. First grooves 3021 are slidably provided at the other ends of the two first sliders 3022. The two first grooves 3021 are respectively formed on the inner wall of the robot housing 201 and are symmetrical to each other. In this configuration, the installation position and components of the first moving mechanism are determined.

[0037] like Figures 2 to 4 and Figure 7 As shown, the second moving mechanism further includes two inclined blocks 303, with second sliders 3032 respectively provided on opposite side walls of the two inclined blocks 303, and second slide grooves 3031 respectively provided on opposite side walls of the two second sliders 3032, the two second slide grooves 3031 being symmetrical to each other. In this configuration, the installation position and components of the second moving mechanism are determined.

[0038] like Figures 2 to 4 and Figure 7 As shown, furthermore, push rods 3023 are fixedly installed on one side wall of each of the two first sliders 3022 near the two inclined blocks 303. The two push rods 3023 are symmetrical to each other and are located above the inclined surface of the inclined block 303. In this configuration, the installation position of the push rods 3023 is determined. Example

[0039] The difference between the above embodiments and this embodiment is that: Figures 2 to 5 and Figure 7 As shown, a wheeled wall-climbing robot with an adaptive variable curvature surface detection device has a rotating mechanism comprising two rotating cylinders 3041. A third bearing 304 is symmetrically positioned above each of the two rotating cylinders 3041 and is mounted on the robot housing 201. An inclined groove 3042 is formed at the bottom of each of the two rotating cylinders 3041, and a first sliding mechanism is respectively installed on each of the two inclined grooves 3042. In this design, the installation position and components of the rotating mechanism are defined.

[0040] like Figures 2 to 5 and Figure 7 As shown, in a specific embodiment, the first sliding mechanism includes two semi-circular grooves 3043, which are respectively formed on the inclined groove 3042. The two semi-circular grooves 3043 are symmetrical to each other. Guide balls 3044 are slidably installed in the inner cavity of each of the two semi-circular grooves 3043. The two guide balls 3044 are symmetrical to each other. A fixing rod 3033 is fixedly installed at the bottom of each of the two guide balls 3044, and the other end of the fixing rod 3033 is fixedly connected to the inclined block 303. In this configuration, the installation position and components of the first sliding mechanism are determined.

[0041] like Figures 2 to 5 and Figure 7 As shown, furthermore, mounting rings 305 are fixedly installed on the side walls of both rotating cylinders 3041. The two mounting rings 305 are symmetrical to each other. Mounting plates 3051 are fixedly installed on one side wall of each mounting ring 305. The two mounting plates 3051 are symmetrical to each other. Mounting rods 3052 are fixedly connected to one end of each mounting plate 3051. The two mounting rods 3052 are symmetrical to each other. Push plates 3053 are fixedly connected to the bottom of each mounting rod 3052. In this configuration, it is ensured that when the rotating cylinder 3041 rotates, it can drive the mounting rings 305, mounting plates 3051, mounting rods 3052 and push plates 3053 to rotate.

[0042] like Figures 2 to 3 and Figure 7 As shown, furthermore, two rotating shafts 202 are fixedly connected to one end of a turntable 2021 located within the inner cavity of the robot housing 201. The two turntables 2021 are symmetrical to each other, and a connecting plate 2022 is fixedly connected to one end of each turntable 2021. In this configuration, the installation position of the turntables 2021 is determined to ensure that when the push plate 3053 rotates, it can drive the connecting plate 2022 to drive the turntables 2021 to rotate with the assistance of the rotating shafts 202. Example

[0043] The difference between the above embodiments and this embodiment is that: Figures 2 to 3 and Figures 6 to 7As shown, a wheeled wall-climbing robot detected by an adaptive variable curvature surface device has a second sliding mechanism comprising four third slide grooves 402, which are symmetrically arranged in pairs. A third slider 4021 is slidably mounted within the inner cavity of each of the four third slide grooves 402. A striking plate 401 is connected to each pair of the other ends of the four third sliders 4021. A return spring 4022 is fixedly mounted at the bottom of each third slider 4021, 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 configuration, the installation position and components of the second sliding mechanism are determined.

[0044] like Figures 2 to 4 As shown, in a specific embodiment, the four swing arms 2013 are longitudinally connected in pairs by connecting rods 2019. This configuration ensures that when the angle between two swing arms 2013 changes, it can drive the position of the other two swing arms 2013 to change.

[0045] The implementation principle of the wheeled wall-climbing robot detected by the adaptive variable curvature surface device in this embodiment is as follows:

[0046] First, the staff places the robot body unit 200 onto the pipe placement unit 100. Once the placement is complete, the staff starts the servo motor, which controls the rotating rod 2015 to rotate. When the rotating rod 2015 rotates, it drives the permanent magnet wheel 2016 to rotate (both the pipe placement unit 100 and the permanent magnet wheel 2016 are existing technologies).

[0047] When the robot body unit 200 moves to a certain position, it can touch the connecting pipe opening on the pipe placement unit 100 through the drive rod 301. At this time, the drive rod 301 can be flipped 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 with the assistance of the first slide groove 3021 and the first slider 3022.

[0048] 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 tilt block 303 to move horizontally upward with the assistance of the second slide groove 3031 and the second slider 3032. When the tilt block 303 moves upward, it can drive the fixed rod 3033 to move upward. When the fixed rod 3033 moves upward, it can drive the guide ball 3044 to rotate with the assistance of the tilt groove 3042 and the semi-circular slide groove 3043 opened at the bottom of the rotating cylinder 3041, and with the assistance of the third bearing 304.

[0049] When the rotating cylinder 3041 rotates, it drives the mounting ring 305 to rotate. The rotation of the mounting ring 305 drives the mounting plate 3051 to rotate, which in turn drives the mounting rod 3052 to rotate. The rotation of the mounting rod 3052 drives the push plate 3053 to rotate, which in turn drives the connecting plate 2022 to move. The movement of the connecting plate 2022 drives the turntable 2021 to rotate, which in turn drives the rotating shaft 202 to rotate. The rotation of the rotating shaft 202 drives the rotating rod 2015 to rotate, which in turn drives the swing arm 2013 to rotate. When the swing arm 2013 swings, it allows the two... The permanent magnet wheels 2016 approach and press against each other, thus allowing the robot housing 201 to move upwards. This enables the robot housing 201 to cross the connecting pipe opening provided at the pipe placement unit 100, allowing the robot body unit 200 to more easily detect the curvature surface at the other end of the pipe placement unit 100. (When the two permanent magnet wheels 2016 move away from each other, the rotating rod 2015 drives the rotating shaft 202 to rotate, which in turn causes the connecting plate 2022 fixedly installed on the rotating shaft 202 to rotate. When the connecting plate 2022 rotates, it can strike the placed tapping plate 401, thereby reminding the staff that the robot body unit 200 may be in contact with the connection point of the pipe placement unit 100, resulting in a situation where it cannot move.)

Claims

1. A wheeled wall-climbing robot with adaptive variable curvature surface detection, comprising a pipe placement unit (100), a robot body unit (200), a movement unit (300), and a striking unit (400), characterized in that, The robot body unit (200) includes a robot shell (201). A rectangular slot (2011) is provided on one side wall of the robot shell (201). A spiral mounting frame (2012) is provided around the robot shell (201). A rotating rod (2017) is provided in the inner cavity of each of the four spiral mounting frames (2012). A first bearing (2018) is provided at both ends of each of the four rotating rods (2017). A swing arm (2013) is fixedly installed on each of the rotating rods (2017). A motor protective shell (2014) is fixedly installed at the other end of each swing arm (2013). Each of the motor protective shells (2014) is equipped with a servo motor in its inner cavity, and a rotating rod (2015) is fixedly installed at the output end of the servo motor. Each rotating rod (2015) moves through the motor protective shell (2014), and a permanent magnet wheel (2016) is fixedly connected to its port. Each permanent magnet wheel (2016) is symmetrical to each other in pairs. A rotating shaft (202) is fixedly installed at one end of each of the two swing arms (2013). Both rotating shafts (202) move through the inner wall of the robot shell (201). A limit block (203) is provided above the rectangular slot (2011) of the robot shell (201). The moving unit (300) includes a drive rod (301), a rotating rod (3011) is fixedly passed through the drive rod (301), and a second bearing (3013) is provided at both ends of the rotating rod (3011). The two second bearings (3013) are symmetrical to each other. Two torsion springs (3012) are provided on the rotating rod (3011). The two ends of the two torsion springs (3012) are respectively fixedly connected to the side wall opposite to the rotating rod (3011) and the second bearing (3013). A first moving mechanism is provided on one side of the drive rod (301) on one side wall of the robot housing (201). A second moving mechanism is provided on the side wall away from the drive rod (301) on the first moving mechanism. A rotating mechanism is provided above the second moving mechanism. The striking unit (400) includes a striking plate (401), which is mounted above the rotating shaft (202), and a second sliding mechanism is provided on one side wall of the striking plate (401).

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

3. The wheeled wall-climbing robot for detection by an adaptive variable curvature surface device according to claim 1, characterized in that, The second moving mechanism includes two inclined blocks (303), and the two inclined blocks (303) are respectively provided with second sliders (3032) on opposite side walls. The two second sliders (3032) are respectively provided with second grooves (3031) on opposite side walls. The two second grooves (3031) are symmetrical to each other.

4. The wheeled wall-climbing robot for detection by an adaptive variable curvature surface device according to claim 2, characterized in that, Two first sliders (3022) are respectively fixedly installed with push rods (3023) near one side wall of the two inclined blocks (303). The two push rods (3023) are symmetrical to each other and are located above the inclined surface of the inclined block (303).

5. The wheeled wall-climbing robot for detection by an adaptive variable curvature surface device according to claim 1, characterized in that, The rotating mechanism includes two rotating cylinders (3041), and a third bearing (304) is respectively provided above the two rotating cylinders (3041). The two third bearings (304) are symmetrical to each other and are respectively installed above the robot housing (201). An inclined groove (3042) is provided at the bottom of each of the two rotating cylinders (3041), and a first sliding mechanism is respectively provided on the two inclined grooves (3042).

6. The wheeled wall-climbing robot for detection by an adaptive variable curvature surface device according to claim 5, characterized in that, The first sliding mechanism includes two semi-circular slide grooves (3043), which are respectively opened on the inclined groove (3042). The two semi-circular slide grooves (3043) are symmetrical to each other. Guide balls (3044) are slidably installed in the inner cavity of each of the two semi-circular slide grooves (3043). The two guide balls (3044) are symmetrical to each other. A fixing rod (3033) is fixedly installed at the bottom of each 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 detection by an adaptive variable curvature surface device according to claim 5, characterized in that, Mounting rings (305) are fixedly installed on the side walls of both rotating cylinders (3041). The two mounting rings (305) are symmetrical to each other. Mounting plates (3051) are fixedly installed on one side wall of each of the two mounting rings (305). The two mounting plates (3051) are symmetrical to each other. Mounting rods (3052) are fixedly connected to one end of each of the two mounting plates (3051). The two mounting rods (3052) are symmetrical to each other. Push plates (3053) are fixedly connected to the bottom of each of the two mounting rods (3052).

8. The wheeled wall-climbing robot for detection by an adaptive variable curvature surface device according to claim 1, characterized in that, Two rotating shafts (202) are fixedly connected to a turntable (2021) at one end of the inner cavity of the robot housing (201). The two turntables (2021) are symmetrical to each other, and a connecting plate (2022) is fixedly connected to one end of each turntable (2021).

9. A wheeled wall-climbing robot for detection using an adaptive variable curvature surface device according to claim 1, characterized in that, The second sliding mechanism includes four third slide grooves (402), which are symmetrical to each other in pairs. A third slider (4021) is slidably installed in the inner cavity of each of the four third slide grooves (402). A striking plate (401) is connected to each other in pairs at the other end of each of the four third sliders (4021). A return spring (4022) is fixedly installed at the bottom of each third slider (4021), 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).

10. A wheeled wall-climbing robot for detection using an adaptive variable curvature surface device according to claim 1, characterized in that, The four swing arms (2013) are longitudinally connected to each other by connecting rods (2019).

Images