A walking mechanism of a wall-climbing robot and a welding seam overhauling robot

Abstract

The application relates to the technical field of welding seam maintenance robots, and discloses a walking mechanism of a wall-climbing robot and a welding seam maintenance robot, which comprises a mounting unit, a transmission unit and a rotating unit. The mounting unit comprises a wall-climbing robot body, a scraping plate is fixedly installed on one side wall of the wall-climbing robot body, a rectangular groove is formed in the bottom of the wall-climbing robot body, two mutually symmetrical mounting plates are fixedly installed on the bottom of the wall-climbing robot body, first bearings are arranged on the two mounting plates respectively, the two first bearings are mutually symmetrical, a rotating rod is arranged in the inner cavities of the two first bearings, and rotating wheels are fixedly installed on the rotating rod. When the first inclined block or the second inclined block loses the extrusion force of the first cam and the second cam, the reset spring can move the placing plate under the assistance of the second sliding mechanism under the elastic action, so that the first moving rod or the second moving rod can be quickly ejected, thereby knocking on the wall to make the wall vibrate and let the dust fall off.

Description

Technical Field

[0001] This invention belongs to the field of weld seam inspection robot technology, specifically, it relates to a walking mechanism for a wall-climbing robot and a weld seam inspection robot. Background Technology

[0002] Wall-climbing robots are primarily designed for specialized operations involving large metal tanks and heavy machinery. They can be used in petrochemical, shipbuilding, and container terminal industries for specialized inspections of the inner and outer walls of metal or spherical tanks, including flaw detection, welding, sandblasting, rust removal, painting, and corrosion protection. They can also carry various testing equipment for flaw detection, thickness measurement, and corrosion testing. The robot's walking mechanism is primarily used to attach to and move along the working surface.

[0003] However, existing wall-climbing robots often use a scraper to clean the wall when monitoring cracks or other debris. But when cleaning impurities and dust on the wall with a scraper, dust can easily be generated, making the detection components unclear. Also, although the scraper can clean the wall, cracks may still become blocked during the cleaning process, making them difficult to clean and thus hard to detect.

[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 walking mechanism for a wall-climbing robot includes an installation unit, a transmission unit, and a rotation unit. The installation unit includes a wall-climbing robot body. A scraping plate is fixedly installed on one side wall of the wall-climbing robot body. A rectangular groove is opened at the bottom of the wall-climbing robot body. Two mutually symmetrical installation plates are fixedly installed at the bottom of the wall-climbing robot body. A first bearing is respectively provided on the two installation plates. The two first bearings are mutually symmetrical. A rotating rod is provided in the inner cavity of the two first bearings. A rotating wheel is fixedly installed on the rotating rod. A first detection component and a second detection component are fixedly installed above the inner cavity of the wall-climbing robot body. The first detection component and the second detection component are mutually symmetrical.

[0007] The transmission unit includes a first cam and a second cam, which are respectively fixedly mounted on a rotating rod. A first inclined block and a second inclined block are respectively provided above the first cam and the second cam. The two first inclined blocks and the second inclined blocks are staggered and symmetrical. A first sliding mechanism is provided on one side wall of the two first inclined blocks and the second inclined blocks. A flipping mechanism is also provided on one side wall of the two first inclined blocks and the second inclined blocks. A rectangular tube is provided on one side wall of the flipping mechanism. The two rectangular tubes are staggered and symmetrical. A second sliding mechanism is provided in the inner cavity of each of the two rectangular tubes.

[0008] The rotating unit includes a first rotating cylinder and a second rotating cylinder. A third bearing is respectively provided above the first rotating cylinder and the second rotating cylinder. The two third bearings are respectively installed above the inner cavity of the wall-climbing robot body. The two third bearings are symmetrical to each other. The bottom of the first rotating cylinder and the second rotating cylinder are respectively provided with staggered and symmetrical inclined surfaces, and a third sliding mechanism is provided on the inclined surfaces. A cleaning mechanism is also fixedly installed at the bottom of the first rotating cylinder and the second rotating cylinder.

[0009] In a preferred embodiment of the present invention, the first sliding mechanism includes two first sliding grooves, which are respectively formed on opposite side walls of the inner cavity of the wall-climbing robot body. The two first sliding grooves are symmetrically intersected. The inner cavities of the two first sliding grooves are respectively slidably mounted with first sliders. The two first sliders are symmetrically intersected. The ends of the two first sliders away from the first sliding grooves are fixedly connected to the first inclined block and the second inclined block.

[0010] In a preferred embodiment of the present invention, the flipping mechanism includes a first flipping plate and a second flipping plate, which are respectively placed on one side wall of the first tilting block and the second tilting block. Rotating rods are fixedly installed on the first flipping plate and the second flipping plate respectively. A second bearing is provided at one end of each of the two rotating rods away from the first flipping plate and the second flipping plate respectively. The two second bearings are respectively installed on the opposite side walls of the inner cavity of the wall-climbing robot body.

[0011] In a preferred embodiment of the present invention, the second sliding mechanism includes four second sliding grooves, which are respectively opened on the opposite side walls of the inner cavities of the two rectangular tubes. The four second sliding grooves are symmetrical to each other in pairs. A second slider is slidably installed in the inner cavity of each of the four second sliding grooves. The four second sliders are symmetrical to each other in pairs, and a placement plate is fixedly installed on the opposite side wall.

[0012] In a preferred embodiment of the present invention, a reset spring is fixedly installed at one end of each of the two placement plates, and the other end of each of the two reset springs is fixedly connected to the inner wall of the rectangular tube.

[0013] In a preferred embodiment of the present invention, a first moving rod and a second moving rod are respectively fixedly connected to the ends of the two placement plates away from the reset spring, and limit blocks are respectively fixedly installed on the first moving rod and the second moving rod.

[0014] In a preferred embodiment of the present invention, the first moving rod and the second moving rod are respectively provided with rectangular slots at the ends away from the rectangular tube, and the inner cavities of the rectangular slots are rotatably provided with wheels.

[0015] In a preferred embodiment of the present invention, the third sliding mechanism includes two arc-shaped sliding grooves, which are respectively opened on the bottom inclined surfaces of the first rotating cylinder and the second rotating cylinder, and guide sliders are slidably installed in the inner cavities of the two arc-shaped sliding grooves.

[0016] In a preferred embodiment of the present invention, the ends of the two guide sliders that are away from the arc-shaped groove are fixedly connected to a first connecting rod and a second connecting rod, and the ends of the first connecting rod and the second connecting rod that are away from the guide sliders are fixedly connected to a first inclined block and a second inclined block.

[0017] In a preferred embodiment of the present invention, the cleaning mechanism includes a first cleaning plate and a second cleaning plate. A connecting plate is fixedly connected to one side wall of the first cleaning plate and the second cleaning plate respectively. A fixing rod is fixedly connected above the end of the two connecting plates away from the first cleaning plate and the second cleaning plate respectively. The upper ends of the two fixing rods are fixedly connected to the bottom of the first rotating drum and the second rotating drum respectively.

[0018] A weld seam inspection robot includes the walking mechanism of the aforementioned wall-climbing robot.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] In this invention, when the first and second tilting blocks move vertically upwards, they can compress the first and second flipping plates, causing them to rotate with the assistance of the rotating rod and the second bearing. When the first and second flipping plates rotate, they can respectively push the limiting blocks fixedly installed on the first and second moving rods to move. Therefore, the limiting blocks can drive the first and second moving rods to push the placement plate to move with the assistance of the second sliding groove and the second slider in the second sliding mechanism. When the placement plate moves, it can compress the return spring, allowing the return spring to store force until the first or second tilting block loses the compressive force of the first and second cams. Under the elastic action of the return spring, the placement plate can move with the assistance of the second sliding mechanism, allowing the first or second moving rod to be ejected quickly, thereby striking the wall and causing the wall to vibrate, causing dust in the cracks to fall off.

[0021] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0022] In the attached diagram:

[0023] Figure 1 A three-dimensional structural diagram of the walking mechanism of a wall-climbing robot and a weld seam inspection robot;

[0024] Figure 2 A schematic diagram of the walking mechanism of a wall-climbing robot and a weld seam inspection robot from a bottom view.

[0025] Figure 3 This is a schematic cross-sectional view of the walking mechanism of a wall-climbing robot and a weld seam inspection robot.

[0026] Figure 4 This is a top view schematic diagram of the walking mechanism of a wall-climbing robot and the main body of a wall-climbing robot for weld inspection.

[0027] Figure 5 This is a schematic diagram of the walking mechanism of a wall-climbing robot and the internal cavity structure of the wall-climbing robot body of a weld seam inspection robot.

[0028] Figure 6 This is a schematic diagram of the walking mechanism of a wall-climbing robot and a partial internal structure of the wall-climbing robot body for weld inspection.

[0029] Figure 7 This is a schematic diagram of the walking mechanism of a wall-climbing robot and the rectangular tube structure of a weld seam inspection robot.

[0030] In the picture:

[0031] 100. Mounting unit; 101. Wall-climbing robot body; 1011. Scraping plate; 1012. Mounting plate; 102. Rotating rod; 1021. First bearing; 1022. Rotating wheel; 103. First detection component; 1031. Second detection component;

[0032] 200. Transmission unit; 201. First cam; 2011. Second cam; 2012. First tilting block; 2013. Second tilting block; 202. First slide groove; 2021. First slider; 203. First flip plate; 2031. Rotating rod; 2032. Second bearing; 2033. Second flip plate; 204. Rectangular cylinder; 2041. First moving rod; 2042. Second moving rod; 2043. Rectangular slot; 2044. Rotary wheel; 205. Second slide groove; 2051. Second slider; 2052. Placement plate; 2053. Return spring;

[0033] 300. Rotating unit; 301. First connecting rod; 3011. Second connecting rod; 302. First rotating drum; 3021. Second rotating drum; 3022. Third bearing; 303. Arc-shaped slide groove; 3031. Guide slider; 304. Fixed rod; 3041. Connecting plate; 3042. First cleaning plate; 3043. Second cleaning plate. 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.

[0035] Example 1:

[0036] like Figures 1 to 7As shown, a walking mechanism for a wall-climbing robot includes a mounting unit 100, a transmission unit 200, and a rotation unit 300. The mounting unit 100 includes a wall-climbing robot body 101. A scraping plate 1011 is fixedly mounted on one side wall of the wall-climbing robot body 101. A rectangular groove is formed at the bottom of the wall-climbing robot body 101. Two mutually symmetrical mounting plates 1012 are fixedly mounted at the bottom of the wall-climbing robot body 101. A first bearing 1021 is respectively provided on the two mounting plates 1012, and the two first bearings 1021 are symmetrical. Two first bearings 1021 have rotating rods 102 inside their cavities, and rotating wheels 1022 are fixedly mounted on the rotating rods 102. A first detection component 103 and a second detection component 1031 are fixedly mounted above the inner cavity of the wall-climbing robot body 101, respectively. The first detection component 103 and the second detection component 1031 are symmetrical to each other. The transmission unit 200 includes a first cam 201 and a second cam 2011, which are fixedly mounted on the rotating rods 102. Above 011, a first inclined block 2012 and a second inclined block 2013 are respectively arranged, the two first inclined blocks 2012 and the second inclined blocks 2013 are staggered and symmetrical, a first sliding mechanism is provided on one side wall of the two first inclined blocks 2012 and the second inclined blocks 2013, and a flipping mechanism is also provided on one side wall of the two first inclined blocks 2012 and the second inclined blocks 2013, and a rectangular tube 204 is provided on one side wall of the flipping mechanism, the two rectangular tubes 204 are staggered and symmetrical, and a second sliding mechanism is provided in the inner cavity of each of the two rectangular tubes 204; rotation Unit 300 includes a first rotating drum 302 and a second rotating drum 3021. A third bearing 3022 is respectively provided above the first rotating drum 302 and the second rotating drum 3021. The two third bearings 3022 are respectively installed above the inner cavity of the wall-climbing robot body 101. The two third bearings 3022 are symmetrical to each other. The bottom of the first rotating drum 302 and the second rotating drum 3021 are respectively provided with staggered and symmetrical inclined surfaces, and a third sliding mechanism is provided on the inclined surfaces. A cleaning mechanism is also fixedly installed at the bottom of the first rotating drum 302 and the second rotating drum 3021.When the first tilting block 2012 and the second tilting block 2013 move vertically upwards respectively, they can compress the first flipping plate 203 and the second flipping plate 2033 to rotate with the assistance of the rotating rod 2031 and the second bearing 2032. When the first flipping plate 203 and the second flipping plate 2033 rotate, they can respectively push the limiting blocks fixedly installed on the first moving rod 2041 and the second moving rod 2042 to move. Therefore, the limiting blocks can drive the first moving rod 2041 and the second moving rod 2042 to push the placement plate 2052 in the second sliding mechanism through the second slide groove 205 and the second... With the assistance of slider 2051, the placement plate 2052 moves, squeezing the return spring 2053. This allows the return spring 2053 to store force until the first tilting block 2012 or the second tilting block 2013 loses the squeezing force of the first cam 201 and the second cam 2011. Then, the return spring 2053, under its elastic action, allows the placement plate 2052 to move with the assistance of the second sliding mechanism. This allows the first moving rod 2041 or the second moving rod 2042 to be ejected quickly, striking the wall and causing the wall to vibrate, thus dislodging dust.

[0037] like Figures 2 to 6 As shown, in a specific embodiment, the first sliding mechanism includes two first sliding grooves 202, which are respectively formed on opposite side walls of the inner cavity of the wall-climbing robot body 101. The two first sliding grooves 202 are staggered and symmetrical. First sliders 2021 are slidably mounted inside the inner cavities of the two first sliding grooves 202, and the two first sliders 2021 are staggered and symmetrical. One end of each first slider 2021, away from the first sliding groove 202, is fixedly connected to a first inclined block 2012 and a second inclined block 2013. In this configuration, the installation position and components of the first sliding mechanism are defined.

[0038] like Figures 2 to 6 As shown, the flipping mechanism further includes a first flipping plate 203 and a second flipping plate 2033. The first flipping plate 203 and the second flipping plate 2033 are respectively placed on one side wall of the first inclined block 2012 and the second inclined block 2013. Rotating rods 2031 are fixedly installed on the first flipping plate 203 and the second flipping plate 2033, respectively. A second bearing 2032 is provided at one end of each rotating rod 2031 away from the first flipping plate 203 and the second flipping plate 2033. The two second bearings 2032 are respectively installed on the opposite side walls of the inner cavity of the wall-climbing robot body 101. In this configuration, the installation position and components of the flipping mechanism are determined.

[0039] like Figure 7As shown, the second sliding mechanism further includes four second sliding grooves 205, which are respectively formed on opposite side walls of the inner cavities of the two rectangular cylinders 204. The four second sliding grooves 205 are symmetrical to each other in pairs. A second slider 2051 is slidably installed in the inner cavity of each of the four second sliding grooves 205, and the four second sliders 2051 are symmetrical to each other in pairs. A placement plate 2052 is fixedly installed on the opposite side wall. In this configuration, the installation position and components of the second sliding mechanism are determined.

[0040] As shown in Figure 7, furthermore, a return spring 2053 is fixedly installed at one end of each of the two placement plates 2052, and the other end of each return spring 2053 is fixedly connected to the inner wall of the rectangular tube 204. This configuration ensures that the placement plates 2052 can be reset under the elastic force of the return springs 2053.

[0041] like Figures 2 to 7 As shown, furthermore, the ends of the two placement plates 2052 away from the return spring 2053 are respectively fixedly connected to a first moving rod 2041 and a second moving rod 2042, and limit blocks are fixedly installed on the first moving rod 2041 and the second moving rod 2042 respectively. In this configuration, it is ensured that when the first tilting block 2012 and the second tilting block 2013 move vertically upward, they can squeeze the first flipping plate 203 and the second flipping plate 2033 to rotate with the assistance of the rotating rod 2031 and the second bearing 2032. When the first flipping plate 203 and the second flipping plate 2033 rotate, they can respectively push the limit blocks fixedly installed on the first moving rod 2041 and the second moving rod 2042 to move. Therefore, the limit blocks can drive the first moving rod 2041 and the second moving rod 2042 to push the placement plate 2052 to move with the assistance of the second sliding groove 205 and the second slider 2051 in the second sliding mechanism.

[0042] Example 2:

[0043] The difference between the above embodiments and this embodiment is that: Figures 2 to 7 As shown, a walking mechanism for a wall-climbing robot has rectangular slots 2043 at the ends of the first moving rod 2041 and the second moving rod 2042 away from the rectangular tube 204, and a rotating wheel 2044 is rotatably mounted inside the rectangular slot 2043. This design ensures that the rotating wheel 2044 can tap the wall and also walk on the wall.

[0044] like Figures 2 to 3 and Figures 5 to 6As shown, in a specific embodiment, the third sliding mechanism includes two arc-shaped grooves 303, which are respectively formed on the inclined surfaces at the bottom of the first rotating cylinder 302 and the second rotating cylinder 3021. Guide sliders 3031 are slidably mounted inside the cavities of both arc-shaped grooves 303. In this configuration, the installation position and components of the third sliding mechanism are determined.

[0045] like Figures 2 to 6 As shown, furthermore, the two guide sliders 3031 are respectively fixedly connected to a first connecting rod 301 and a second connecting rod 3011 at one end away from the arc-shaped slide groove 303. The ends of the first connecting rod 301 and the second connecting rod 3011, respectively, away from the guide sliders 3031, are fixedly connected to the first inclined block 2012 and the second inclined block 2013. In this configuration, it is ensured that when the first inclined block 2012 or the second inclined block 2013 moves upward, the first inclined block 2012 or the second inclined block 2013 will be able to drive the first connecting rod 301 or the second connecting rod 3011 to move upward. Therefore, the first connecting rod 301 or the second connecting rod 3011 can push the guide slider 3031 and the arc-shaped slide groove 303 in the third sliding mechanism provided on the first rotating cylinder 302 and the second rotating cylinder 3021 to rotate with the assistance of the third bearing 3022.

[0046] like Figures 2 to 6 As shown, the cleaning mechanism further includes a first cleaning plate 3042 and a second cleaning plate 3043. Connecting plates 3041 are fixedly connected to one side wall of each of the first and second cleaning plates 3042 and 3043, respectively. Fixing rods 304 are fixedly connected to the upper ends of the two connecting plates 3041 away from the first and second cleaning plates 3042 and 3043, respectively. The upper ends of the two fixing rods 304 are fixedly connected to the bottom of the first rotating drum 302 and the second rotating drum 3021, respectively. In this configuration, the installation position and components of the cleaning mechanism are determined.

[0047] Example 3:

[0048] The difference between the above embodiments and this embodiment is that: Figures 1 to 7 As shown, a weld seam inspection robot includes the walking mechanism of the aforementioned wall-climbing robot.

[0049] The implementation principle of the walking mechanism of the wall-climbing robot and the weld seam inspection robot in this embodiment is as follows:

[0050] First, the staff placed the wall-climbing robot body 101 on the wall, and then controlled the wall-climbing robot body 101 to walk on the wall through the controller (the wall-climbing robot body 101 walking on the wall is existing technology);

[0051] When the wall-climbing robot body 101 walks on the wall, the scraping plate 1011 at the front end of the wall-climbing robot body 101 can scrape away dust and impurities on the wall, making the wall clearer. When the wall-climbing robot body 101 walks, the rotating wheel 1022 at the bottom of the wall-climbing robot body 101 can fit in contact with the wall. Therefore, when the wall-climbing robot body 101 walks, the rotating wheel 1022 can rotate with the assistance of the rotating rod 102 and the first bearing 1021.

[0052] When the rotating rod 102 rotates, it can drive the first cam 201 and the second cam 2011 to rotate respectively. Therefore, the first cam 201 and the second cam 2011 can alternately squeeze the first inclined block 2012 and the second inclined block 2013 in the first sliding mechanism to move back and forth in the vertical direction with the assistance of the first sliding groove 202 and the first slider 2021 (where the upward movement is due to the squeezing force of the first cam 201 and the second cam 2011, and the downward movement is due to the gravity of the first inclined block 2012 and the second inclined block 2013 themselves).

[0053] When the first tilting block 2012 and the second tilting block 2013 move vertically upwards respectively, they can compress the first flipping plate 203 and the second flipping plate 2033 to rotate with the assistance of the rotating rod 2031 and the second bearing 2032. When the first flipping plate 203 and the second flipping plate 2033 rotate, they can respectively push the limiting blocks fixedly installed on the first moving rod 2041 and the second moving rod 2042 to move. Therefore, the limiting blocks can drive the first moving rod 2041 and the second moving rod 2042 to push the placement plate 2052 in the second sliding mechanism through the second slide groove 205 and the second... With the assistance of slider 2051, the placement plate 2052 moves, which can squeeze the return spring 2053 when it moves. This allows the return spring 2053 to store force until the first tilt block 2012 or the second tilt block 2013 loses the squeezing force of the first cam 201 and the second cam 2011. Then, the return spring 2053 can move the placement plate 2052 with the assistance of the second sliding mechanism under the action of elasticity. This allows the first moving rod 2041 or the second moving rod 2042 to be ejected quickly, thereby striking the wall and causing the wall to vibrate and dust to fall off.

[0054] When the first tilting block 2012 or the second tilting block 2013 moves upward, it will drive the first connecting rod 301 or the second connecting rod 3011 to move upward. This allows the first connecting rod 301 or the second connecting rod 3011 to push the guide slider 3031 and the arc-shaped slide groove 303 in the third sliding mechanism on the first and second rotating drums 302 and 3021, enabling the first or second rotating drum 302 or 3021 to rotate with the assistance of the third bearing 3022. When the rotating drum 302 or the second rotating drum 3021 rotates, it can drive the fixed rod 304 installed at the bottom to rotate. The fixed rod 304 can drive the connecting plate 3041 to move. The connecting plate 3041 can drive the first cleaning plate 3042 or the second cleaning plate 3043 to rotate, thereby cleaning the front lens of the camera set at the first detection component 103 and the second detection component 1031, thus ensuring that the first detection component 103 and the second detection component 1031 can always maintain clear detection of the wall.

Claims

1. A walking mechanism of a wall-climbing robot, comprising a mounting unit (100), a transmission unit (200) and a rotating unit (300), characterized in that: the mounting unit (100) comprises a wall-climbing robot body (101), one side wall of the wall-climbing robot body (101) is fixedly provided with a scraping plate (1011), a rectangular slot is formed in the bottom of the wall-climbing robot body (101), two mutually symmetrical mounting plates (1012) are fixedly arranged on the bottom of the wall-climbing robot body (101), a first bearing (1021) is arranged on each of the two mounting plates (1012), the two first bearings (1021) are mutually symmetrical, a rotating rod (102) is arranged in the inner cavity of each of the two first bearings (1021), a rotating wheel (1022) is fixedly arranged on the rotating rod (102), a first detection assembly (103) and a second detection assembly (1031) are fixedly arranged above the inner cavity of the wall-climbing robot body (101), and the first detection assembly (103) and the second detection assembly (1031) are mutually symmetrical; the transmission unit (200) comprises a first cam (201) and a second cam (2011), the first cam (201) and the second cam (2011) are fixedly arranged on the rotating rod (102), a first inclined block (2012) and a second inclined block (2013) are arranged above the first cam (201) and the second cam (2011) respectively, the first inclined block (2012) and the second inclined block (2013) are staggered and symmetrical, a first sliding mechanism is arranged on one side wall of each of the first inclined block (2012) and the second inclined block (2013), the first cam (201) and the second cam (2011) are capable of staggered pressing the first inclined block (2012) and the second inclined block (2013) to move back and forth in the vertical direction in the first sliding mechanism, a turnover mechanism is further arranged on one side wall of each of the first inclined block (2012) and the second inclined block (2013), and a rectangular cylinder (204) is arranged on one side wall of the turnover mechanism, the two rectangular cylinders (204) are staggered and symmetrical, and a second sliding mechanism is arranged in the inner cavity of each of the two rectangular cylinders (204); the turnover mechanism comprises a first turnover plate (203) and a second turnover plate (2033), the first turnover plate (203) and the second turnover plate (2033) are respectively arranged on one side wall of the first inclined block (2012) and the second inclined block (2013), and when the first inclined block (2012) and the second inclined block (2013) move upward vertically, the first turnover plate (203) and the second turnover plate (2033) are pressed to rotate. The second sliding mechanism comprises four second sliding grooves (205) respectively formed in opposite side walls of the inner cavity of each rectangular cylinder (204), the four second sliding grooves (205) are mutually symmetrical in pairs, and the inner cavities of the four second sliding grooves (205) are slidably provided with second sliding blocks (2051), the four second sliding blocks (2051) are mutually symmetrical in pairs, and opposite side walls are fixedly provided with placing plates (2052), and two placing plates (2052) are fixedly provided at one end with return springs (2053), and the other ends of the two return springs (2053) are fixedly connected to the inner wall of the rectangular cylinder (204). The other ends of the two placing plates (2052) away from the return springs (2053) are fixedly connected with first moving rods (2041) and second moving rods (2042) respectively, the first moving rod (2041) and the second moving rod (2042) are fixedly provided with limit blocks respectively, and when the first turnover plate (203) and the second turnover plate (2033) rotate, they respectively push the first moving rod (2041) and the second moving rod (2042) to move, so that the return spring (2053) stores energy. The rotating unit (300) comprises a first rotating cylinder (302) and a second rotating cylinder (3021), the upper parts of the first rotating cylinder (302) and the second rotating cylinder (3021) are provided with third bearings (3022) respectively, the two third bearings (3022) are installed above the inner cavity of the wall climbing robot body (101), the two third bearings (3022) are mutually symmetrical, the bottoms of the first rotating cylinder (302) and the second rotating cylinder (3021) are respectively provided with staggered inclined surfaces, and the inclined surfaces are provided with third sliding mechanisms, and the bottoms of the first rotating cylinder (302) and the second rotating cylinder (3021) are also fixedly provided with cleaning mechanisms.

2. The walking mechanism of the wall-climbing robot according to claim 1, wherein The first sliding mechanism comprises two first sliding grooves (202) respectively formed in opposite side walls of the inner cavity of the wall climbing robot body (101), the two first sliding grooves (202) are mutually staggered and symmetrical, the inner cavities of the two first sliding grooves (202) are slidably provided with first sliding blocks (2021), the two first sliding blocks (2021) are mutually staggered and symmetrical, and the ends of the two first sliding blocks (2021) away from the first sliding grooves (202) are fixedly connected to the first inclined blocks (2012) and the second inclined blocks (2013) respectively.

3. The walking mechanism of the wall-climbing robot according to claim 1, wherein The first turnover plate (203) and the second turnover plate (2033) are respectively fixedly provided with rotating rods (2031), the ends of the two rotating rods (2031) away from the first turnover plate (203) and the second turnover plate (2033) are respectively provided with second bearings (2032), and the two second bearings (2032) are installed on opposite side walls of the inner cavity of the wall climbing robot body (101).

4. The walking mechanism of the wall-climbing robot according to claim 1, wherein The first moving rod (2041) and the second moving rod (2042) are respectively provided with a rectangular notch (2043) away from one end of the rectangular cylinder (204), and a rotating wheel (2044) is arranged in the inner cavity of the rectangular notch (2043).

5. The walking mechanism of the wall-climbing robot according to claim 1, wherein The third sliding mechanism comprises two arc-shaped sliding grooves (303), and the two arc-shaped sliding grooves (303) are respectively arranged on the inclined surfaces at the bottoms of the first rotating cylinder (302) and the second rotating cylinder (3021), and the inner cavities of the two arc-shaped sliding grooves (303) are slidably provided with guide sliding blocks (3031).

6. The walking mechanism of the wall-climbing robot according to claim 5, wherein The two guide sliding blocks (3031) are respectively fixedly connected with the first connecting rod (301) and the second connecting rod (3011) away from the arc-shaped sliding grooves (303), and the first connecting rod (301) and the second connecting rod (3011) are respectively fixedly connected with the first inclined block (2012) and the second inclined block (2013) away from the guide sliding blocks (3031).

7. The walking mechanism of the wall-climbing robot according to claim 1, wherein The cleaning mechanism comprises a first cleaning plate (3042) and a second cleaning plate (3043), and the first cleaning plate (3042) and the second cleaning plate (3043) are respectively fixedly connected with an adapter plate (3041) on one side wall, and the two adapter plates (3041) are respectively fixedly connected with a fixed rod (304) above the ends away from the first cleaning plate (3042) and the second cleaning plate (3043), and the upper ends of the two fixed rods (304) are respectively fixedly connected with the bottoms of the first rotating cylinder (302) and the second rotating cylinder (3021).

8. A weld inspection robot, characterized by, The walking mechanism of the wall-climbing robot comprises the walking mechanism of the wall-climbing robot according to any one of claims 1 to 7.

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