Variable-wheelbase magnetic wall-climbing robot

Abstract

The invention relates to a wall-climbing robot on a large metal structure surface, in particular to a variable-wheelbase magnetic wall-climbing robot which comprises a variable-wheelbase mechanism, a walking mechanism and a steering mechanism, the variable-wheelbase mechanism comprises a front fixing plate, a rear fixing plate, a supporting shaft and a variable-wheelbase power source, and the front fixing plate and the rear fixing plate are connected through the supporting shaft; one fixing plate is linked with the supporting shaft, and the other fixing plate is rotationally connected with the supporting shaft; walking mechanisms are mounted at the two ends of the front fixing plate and the two ends of the rear fixing plate, are connected through a steering mechanism mounted on the front fixing plate, and synchronously adsorb and walk on a metal wall surface; the walking mechanisms at the two ends of the rear fixing plate are connected through a steering mechanism installed on the rear fixing plate and synchronously adsorb and walk on the metal wall face. The invention has the characteristics of modularization, compact, simple and light structure, flexible movement, wide adaptability, easy installation and high control precision.

Description

Technical Field

[0001] The present invention relates to a wall-climbing robot for the surface of large metal structures, and specifically to a wall-climbing robot with variable wheelbase and magnetic adsorption, which can be used to complete the operation tasks on the surface of large metal structures. Background Art

[0002] Large metal structures such as bridge (portal) cranes are extremely prone to surface rust due to long-term chemical corrosion, alternating stress, etc. Regularly carrying out anti-corrosion operations on their surfaces has become an important measure to ensure the safe and stable operation of equipment. At present, most traditional maintenance operation plans are to erect scaffolding to build an operation platform, and operators pre-treat the surface to be anti-corroded manually; after the anti-corrosion is completed, the scaffolding still needs to be demolished. There is a great pressure on safety management during the use of the scaffolding, and there are many high-altitude operations. The entire construction operation process has a high risk, and even some parts are difficult to reach due to the limitation of the scaffolding. Therefore, developing a wall-climbing robot that can run on the surface of large metal structures and can effectively complete various operation tasks is of great significance for improving operation efficiency. Summary of the Invention

[0003] In order to solve the problem that scaffolding needs to be erected for operations on the surface of large metal structures and meet the requirements for work such as maintenance operations on the surface of metal structures, the purpose of the present invention is to provide a wall-climbing robot with variable wheelbase and magnetic adsorption that can crawl on the surface of large metal structures.

[0004] The purpose of the present invention is achieved by the following technical solutions:

[0005] The present invention includes a variable wheelbase mechanism, a walking mechanism, and a steering mechanism. The variable wheelbase mechanism includes a front fixing plate, a rear fixing plate, a support shaft, and a variable wheelbase power source. The front fixing plate and the rear fixing plate are connected by the support shaft. The front fixing plate or the rear fixing plate is linked with the support shaft, and the rear fixing plate or the front fixing plate is rotatably connected to the support shaft. Walking mechanisms are installed at both ends of the front fixing plate and both ends of the rear fixing plate. The walking mechanisms at both ends of the front fixing plate are connected by a steering mechanism installed on the front fixing plate and adsorb and walk synchronously on the metal wall surface. The walking mechanisms at both ends of the rear fixing plate are connected by a steering mechanism installed on the rear fixing plate and adsorb and walk synchronously on the metal wall surface.

[0006] Among them: The variable wheelbase mechanism further includes a bearing support seat and a shaft mounting seat. A shaft mounting seat is provided on one side of the front fixing plate connected to the support shaft, and a bearing support seat is provided on one side of the rear fixing plate connected to the support shaft. Bearing support seats are provided on both sides of the shaft mounting seat. The support shaft passes through the shaft mounting seat and the bearing support seat. The support shaft is tightly connected to the shaft mounting seat, and the support shaft is rotatably connected to the bearing support seat through bearings.

[0007] The bearing includes a thrust bearing and a deep groove ball bearing. One end of the bearing support seat is internally rotatably connected to the support shaft through the deep groove ball bearing. A thrust bearing is provided between the other end of the bearing support seat and the shaft mounting seat. One side of the thrust bearing is supported by the other end of the bearing support seat, and the other side of the thrust bearing is fixed on the shaft mounting seat. A bearing end cover for fixing the deep groove ball bearing and a support shaft end cover for fixing the support shaft are respectively mounted on the end face of one end of the bearing support seat.

[0008] The variable wheelbase power source includes a variable wheelbase motor and a variable wheelbase speed reducer. The variable wheelbase speed reducer is mounted on the rear fixing plate. The support shaft passes through the variable wheelbase speed reducer and is fixedly connected to the output hole of the variable wheelbase speed reducer. The variable wheelbase motor is connected to the input end of the variable wheelbase speed reducer.

[0009] The traveling mechanism includes a drive wheel base, a drive power source, a drive wheel, a magnetic wheel motor, a magnetic wheel shaft, a magnetic wheel, and a magnetic wheel support seat. The upper end of the drive wheel base is rotatably connected to the front fixing plate or the rear fixing plate and is connected to the steering mechanism. A drive wheel is provided inside the lower end of the drive wheel base. One side of the drive wheel is rotatably connected to one side of the drive wheel base and is connected to the drive power source fixed on one side of the drive wheel base. A magnetic wheel motor is fixedly connected to the other side of the drive wheel base. A magnetic wheel shaft, a magnetic wheel, and a magnetic wheel support seat are respectively provided inside the drive wheel. The output shaft of the magnetic wheel motor is connected to the magnetic wheel shaft. The magnetic wheel is mounted on the magnetic wheel shaft and is interlocked with the magnetic wheel shaft. Both ends of the magnetic wheel shaft are respectively mounted on two magnetic wheel support seats. The two magnetic wheel support seats are respectively rotatably connected to the drive wheel. The magnetic wheel support seat close to the magnetic wheel motor is rotatably connected to the other side of the drive wheel base.

[0010] The magnetic wheel is a sector-shaped magnetic wheel, and the sector direction only faces the metal wall surface to be adsorbed. By driving the magnetic wheel to rotate through the magnetic wheel motor, the adsorption direction of the traveling mechanism can be changed.

[0011] The upper end of the drive wheel base is rotatably connected to the front fixing plate or the rear fixing plate through a deep groove ball bearing and a thrust bearing. The deep groove ball bearing ensures that the traveling mechanism can rotate around the upper end of the drive wheel base, and the thrust bearing can ensure that the deep groove ball bearing does not bear force in the axial direction.

[0012] The steering mechanism includes a steering motor, an output gear, an input gear, an input pulley, an output pulley, and a transmission belt. The steering motor is fixed on the front fixing plate or the rear fixing plate. The output end of the steering motor is connected with an output gear. The input gear and the input pulley are coaxial and are both connected to a traveling mechanism on the front fixing plate or the rear fixing plate. The output pulley is connected to another traveling mechanism on the front fixing plate or the rear fixing plate. The output gear and the input gear form a gear meshing pair. The output pulley and the input pulley are connected by a transmission belt.

[0013] One side of the output gear is connected to the output shaft of the steering motor, and the other side of the output gear is rotatably connected to the front fixing plate or the rear fixing plate.

[0014] The support shaft is driven to rotate by a variable wheelbase power source to change the relative angle between the front fixing plate and the rear fixing plate, and further change the wheelbase between the traveling mechanism on the front fixing plate and the traveling mechanism on the rear fixing plate.

[0015] The advantages and positive effects of the present invention are as follows:

[0016] 1. The present invention can be used for tasks such as detection and anti-corrosion on the surfaces of various metal structures, can move freely in all directions on the surface of the metal structure, and has the characteristics of modularization, compact structure, simple and light weight, flexible movement, wide adaptability, easy installation, and high control accuracy.

[0017] 2. The steering mechanism of the present invention connects the two traveling mechanisms at the front and rear respectively through a transmission belt, and the two traveling mechanisms turn synchronously, and can change the movement direction at any time, and the whole robot moves flexibly.

[0018] 3. On the premise of not changing the adsorption force with the metal wall surface, on the one hand, the sector-shaped magnetic wheel of the present invention reduces the weight and the load of the robot; on the other hand, by rotating the sector-shaped magnetic wheel, the adsorption direction is changed, and the adsorption and detachment from the metal wall surface can be realized.

[0019] 4. The variable wheelbase mechanism of the present invention can change the wheelbase between the front and rear wheels to achieve the goal of crossing a 90-degree outer metal wall surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a three-dimensional structure schematic diagram of the present invention;

[0021] Figure 2 is a structure schematic diagram of the variable wheelbase mechanism of the present invention;

[0022] Figure 3 is a structural sectional view of the connection between the front and rear fixing plates of the variable wheelbase mechanism of the present invention;

[0023] Figure 4 is a partial enlarged view of the connection between the shaft mounting seat on the front fixing plate and the shaft support seat on the rear fixing plate of the variable wheelbase mechanism of the present invention;

[0024] Figure 5 is a structural sectional view of the traveling mechanism of the present invention;

[0025] Figure 6 is a structural sectional view of the steering mechanism of the present invention;

[0026] Figure 7 is a top view of the structure of the steering mechanism of the present invention;

[0027] Figure 8 This is a schematic structural diagram of the sector-shaped magnetic wheel in the walking mechanism of the present invention;

[0028] Figure 9 This is a schematic structural diagram of the sector-shaped magnetic wheel for changing the adsorption direction of the present invention;

[0029] Figure 10 This is a schematic structural diagram of the present invention for crossing the inner 90-degree metal wall surface;

[0030] Figure 11 This is a schematic structural diagram of the present invention for crossing the outer 90-degree metal wall surface.

[0031] Wherein: 1 is a variable wheelbase mechanism, 2 is a walking mechanism, 3 is a steering mechanism, 4 is a front fixing plate, 5 is a rear fixing plate, 6 is a variable wheelbase motor, 7 is a variable wheelbase reduction gear, 8 is a support shaft, 9 is a bearing support seat, 10 is a bearing end cover, 11 is a support shaft end cover, 12 is a driving wheel base, 13 is a driving motor, 14 is a driving reduction gear, 15 is a driving wheel, 16 is a magnetic wheel motor, 17 is a magnetic wheel shaft, 18 is a magnetic wheel, 19 is a magnetic wheel support seat, 20 is a steering motor, 21 is a steering motor base, 22 is an output gear, 23 is an input gear, 24 is an input pulley, 25 is an output pulley, 26 is a transmission belt, 27 is a shaft mounting seat, 28 is a thrust bearing, and 29 is a deep groove ball bearing. Detailed implementation manners

[0032] The present invention will be further described in detail below with reference to the accompanying drawings.

[0033] As Figure 1 and Figure 2 shown, the present invention includes a variable wheelbase mechanism 1, a walking mechanism 2 and a steering mechanism 3. The variable wheelbase mechanism 1 includes a front fixing plate 4, a rear fixing plate 5, a support shaft 8 and a variable wheelbase power source. The front fixing plate 4 and the rear fixing plate 5 are connected by the support shaft 8. The front fixing plate 4 or the rear fixing plate 5 is linked with the support shaft 8, and the rear fixing plate 5 or the front fixing plate 4 is rotatably connected with the support shaft 8. Walking mechanisms 2 are installed at both ends in the length direction of the front fixing plate 4 and both ends in the length direction of the rear fixing plate 5. The walking mechanisms 2 at both ends of the front fixing plate 4 are connected by a steering mechanism 3 installed on the front fixing plate 4 and adsorb and walk synchronously on the metal wall surface. The walking mechanisms 2 at both ends of the rear fixing plate 4 are connected by a steering mechanism 3 installed on the rear fixing plate 5 and adsorb and walk synchronously on the metal wall surface.

[0034] As Figures 1 to 4As shown in the figure, the variable wheelbase mechanism 1 of this embodiment further includes a bearing support seat 9 and a shaft mounting seat 27. On one side of the front fixing plate 4 connected to the support shaft 8, there is a shaft mounting seat 27 (there are two shaft mounting seats 27 in this embodiment). On one side of the rear fixing plate 5 connected to the support shaft 8, there is a bearing support seat 9 (there are four bearing support seats 9 in this embodiment). There are bearing support seats 9 on both sides of the shaft mounting seat 27. The support shaft 8 passes through the shaft mounting seat 27 and the bearing support seat 9. The support shaft 8 is fixedly connected to the shaft mounting seat 27, and the support shaft 8 is rotatably connected to the bearing support seat 9 through bearings. The bearings of this embodiment include a thrust bearing 28 and a deep groove ball bearing 29. One end inside the bearing support seat 9 is rotatably connected to the support shaft 8 through the deep groove ball bearing 29. There is a thrust bearing 28 between the other end of the bearing support seat 9 and the shaft mounting seat 27. One side of the thrust bearing 28 is supported by the other end of the bearing support seat 9, and the other side of the thrust bearing 28 is fixed on the shaft mounting seat 27. The shaft mounting seat 27 on the front fixing plate 4 and the bearing support seat 9 on the rear fixing plate 5 are spaced by the thrust bearing 28 to reduce the friction force in the axial direction of the support shaft 8. On the end face of one end of the bearing support seat 9, there are respectively installed a bearing end cover 10 for fixing the deep groove ball bearing 29 and a support shaft end cover 11 for fixing the support shaft 8. The support shaft 8 of this embodiment is driven to rotate by a variable wheelbase motor 6 and a variable wheelbase speed reducer 7, changing the relative angle between the front fixing plate 4 and the rear fixing plate 5, and further changing the wheelbase between the traveling mechanism 2 on the front fixing plate 4 and the traveling mechanism 2 on the rear fixing plate 5.

[0035] The variable wheelbase power source of this embodiment includes a variable wheelbase motor 6 and a variable wheelbase speed reducer 7. The variable wheelbase speed reducer 7 is installed on the rear fixing plate 5 (the variable wheelbase speed reducer 7 in this embodiment is fixed between the second and the third bearing support seats 9 on the rear fixing plate 5). The support shaft 8 passes through the variable wheelbase speed reducer 7 and is fixedly connected to the output hole of the variable wheelbase speed reducer 7. The variable wheelbase motor 6 is connected to the input end of the variable wheelbase speed reducer 7.

[0036] As Figure 1 and Figure 5As shown, the traveling mechanism 2 of this embodiment includes a driving wheel base 12, a driving power source, a driving wheel 15, a magnetic wheel motor 16, a magnetic wheel shaft 17, a magnetic wheel 18, and a magnetic wheel support base 19. The upper end of the driving wheel base 12 is an output shaft. The output shaft at the upper end of the driving wheel base 12 is rotationally connected to the front fixing plate 4 or the rear fixing plate 5 through a deep groove ball bearing and a thrust bearing, and is connected to the steering mechanism 3. The deep groove ball bearing ensures that the traveling mechanism 2 can rotate around the output shaft at the upper end of the driving wheel base 12, and the thrust bearing can ensure that the deep groove ball bearing does not bear force in the axial direction. Inside the lower end of the driving wheel base 12, there is a driving wheel 15. One side of the driving wheel 15 is rotationally connected to one side of the driving wheel base 12 through a deep groove ball bearing and is connected to the driving power source fixed on one side of the driving wheel base 12. On the other side of the driving wheel base 12, there is a fixedly connected magnetic wheel motor 16. Inside the driving wheel 15, there are respectively a magnetic wheel shaft 17, a magnetic wheel 18, and a magnetic wheel support base 19. The output shaft of the magnetic wheel motor 16 is connected to the magnetic wheel shaft 17. The magnetic wheel 18 is installed on the magnetic wheel shaft 17 and is linked with the magnetic wheel shaft 17. Both ends of the magnetic wheel shaft 17 are respectively installed on two magnetic wheel support bases 19. The two magnetic wheel support bases 19 are respectively rotationally connected to the driving wheel 15 through deep groove ball bearings. The magnetic wheel support base 19 close to the magnetic wheel motor 16 is rotationally connected to the other side of the driving wheel base 12 through a deep groove ball bearing. The driving power source of this embodiment includes a driving motor 13 and a driving speed reducer 14. The driving speed reducer 14 is fixed on one side of the driving wheel base 12. The driving motor 13 is connected to the input end of the driving speed reducer 14. The output end of the driving speed reducer 14 is connected to the driving wheel 15.

[0037] As Figure 8 , Figure 9 shown, the magnetic wheel 18 of this embodiment is a sector-shaped magnetic wheel. The sector direction only faces the metal wall surface to be adsorbed. On the one hand, on the basis of not reducing the adsorption force with the metal wall surface, the gravity of the magnetic wheel 18 is reduced, thereby reducing the load. On the other hand, by driving the magnetic wheel 18 to rotate through the magnetic wheel motor 16, the adsorption direction of the traveling mechanism 2 can be changed.

[0038] As Figure 1 , Figure 6 and Figure 7As shown in the figure, the steering mechanism 3 of this embodiment includes a steering motor 20, a steering motor base 21, an output gear 22, an input gear 23, an input pulley 24, an output pulley 25, and a transmission belt 26. The steering motor 20 is fixed on the front fixing plate 4 or the rear fixing plate 5 in the variable wheelbase mechanism 1 through the steering motor base 21. One side of the output gear 22 is connected to the output shaft of the steering motor 20, and the other side of the output gear 22 is rotatably connected to the front fixing plate 4 or the rear fixing plate 5 through a deep groove ball bearing; the input gear 23 and the input pulley 24 are coaxial and are both fixed on the output shaft at the upper end of the driving wheel base 12 of a traveling mechanism 2 on the front fixing plate 4 or the rear fixing plate 5, the output pulley 25 is fixed on the output shaft at the upper end of the driving wheel base 12 of the other traveling mechanism 2 on the front fixing plate 4 or the rear fixing plate 5, the output gear 22 and the input gear 23 form a gear meshing pair, and the output pulley 25 and the input pulley 24 are connected by the transmission belt 26.

[0039] As Figure 10 , Figure 11 shown, under the action of the traveling mechanism 2, the wall-climbing robot of this embodiment changes the direction of the magnetic adsorption force to achieve the goal of the wall-climbing robot crossing the 90° metal wall surface inside and outside.

[0040] The working principle of the present invention is as follows:

[0041] The variable wheelbase motor 6 in the variable wheelbase mechanism 1 provides power for the support shaft 8 through the variable wheelbase speed reducer 7, thereby driving the front fixing plate 4 to rotate, so that the front fixing plate 4 and the rear fixing plate 5 can change the relative angle, thereby changing the wheelbase between the traveling mechanism 2 on the front fixing plate 4 and the traveling mechanism 2 on the rear fixing plate 5.

[0042] The driving motor 13 in the traveling mechanism 2 provides power for the driving wheel 15 through the driving speed reducer 14, thereby driving the entire wall-climbing robot to travel; the magnetic wheel motor 16 changes the angle of the sector magnetic wheel 18 facing the metal wall surface by driving the magnetic wheel shaft 17 to rotate, realizing the adsorption or detachment from the metal wall surface; the driving wheel 15 and the sector magnetic wheel 18 are connected through multiple layers of bearings to realize their respective functions.

[0043] The steering motor 20 in the steering mechanism 3 provides power for the output gear 22, thereby driving the input gear 23 meshing with the output gear 22 to rotate, realizing the change of direction of the driving wheel base 12 in the traveling mechanism 2, and at the same time driving the input pulley 24 on the output shaft at the upper end of the driving wheel base 12 to rotate, and transmitting the power to the output pulley 25 through the transmission belt 26. The output pulley 25 drives the driving wheel base 12 in the other traveling mechanism 2 on the same fixing plate to change the direction, so as to realize the simultaneous change of direction of the two traveling mechanisms 2 on the front fixing plate 4 or the rear fixing plate 5, achieving the purpose of flexible turning.

[0044] The magnetic wheel 18 in the traveling mechanism 2 is designed as a sector, and the sector direction only faces the metal wall surface to be adsorbed. The sector designed through calculation and simulation can, on the one hand, reduce the gravity of the magnetic wheel 18 without reducing the adsorption force on the metal wall surface, thereby reducing the load of the wall-climbing robot; on the other hand, it can change the adsorption direction of the traveling mechanism 2.

[0045] When the wall-climbing robot moves on a smooth metal wall surface, the magnetic wheels 18 in the traveling mechanism 2 are always adsorbed to the metal wall surface to ensure that the wall-climbing robot does not slip; when it needs to cross a 90° inner metal wall surface, the magnetic wheels 18 in the two traveling mechanisms 2 on the front fixing plate 4 and the rear fixing plate 5 close to the front change their directions, disengage from the original metal wall surface, rotate 90°, and adsorb to the metal wall surface to be reached. The wall-climbing robot continues to move. By changing the directions of the magnetic wheels 18 in the two traveling mechanisms 2 on the front fixing plate 4 and the rear fixing plate 5 close to the rear, the wall-climbing robot crosses the 90° inner metal wall surface; when it needs to cross a 90° outer metal wall surface, the magnetic wheels 18 in the two traveling mechanisms 2 on the front fixing plate 4 and the rear fixing plate 5 close to the front always maintain adsorption to the contact wall surface, and the rotation angle of the magnetic wheels 18 needs to be adjusted at any time. At the same time, under the action of the variable wheelbase mechanism 1, the wheelbase of the front and rear traveling mechanisms 2 is shortened to prevent the front fixing plate 4 or the rear fixing plate 5 in the variable wheelbase mechanism 1 from contacting the sharp corner of the 90° outer metal wall surface and affecting the movement of the wall-climbing robot; similarly, the two traveling mechanisms 2 on the front fixing plate 4 and the rear fixing plate 5 close to the rear can also cross the 90° outer metal wall surface, achieving the goal that the wall-climbing robot can successfully cross the 90-degree inner and outer metal wall surfaces.

[0046] The traveling mechanism 2 of the wall-climbing robot of the present invention adopts a modular design, especially the sector design of the magnetic wheel 18, which has the advantages of small volume, flexible movement, and strong adaptability to large metal surfaces, and can complete different operation tasks on large metal surfaces with strong self-adaptability.

Claims

1. A variable wheelbase magnetic adsorption wall-climbing robot, characterized in that: It includes a variable wheelbase mechanism (1), a traveling mechanism (2) and a steering mechanism (3). The variable wheelbase mechanism (1) includes a front fixing plate (4), a rear fixing plate (5), a support shaft (8) and a variable wheelbase power source. The front fixing plate (4) is connected to the rear fixing plate (5) through the support shaft (8). The front fixing plate (4) or the rear fixing plate (5) is interlocked with the support shaft (8), and the rear fixing plate (5) or the front fixing plate (4) is rotatably connected to the support shaft (8). Traveling mechanisms (2) are installed at both ends of the front fixing plate (4) and both ends of the rear fixing plate (5). The traveling mechanisms (2) at both ends of the front fixing plate (4) are connected through the steering mechanism (3) installed on the front fixing plate (4), and adsorb and travel synchronously on the metal wall surface. The traveling mechanisms (2) at both ends of the rear fixing plate (4) are connected through the steering mechanism (3) installed on the rear fixing plate (5), and adsorb and travel synchronously on the metal wall surface.

2. The variable wheelbase magnetic adsorption wall-climbing robot according to claim 1, wherein: The variable wheelbase mechanism (1) further includes a bearing support seat (9) and a shaft mounting seat (27). A shaft mounting seat (27) is provided on one side of the front fixing plate (4) connected to the support shaft (8). A bearing support seat (9) is provided on one side of the rear fixing plate (5) connected to the support shaft (8). Bearing support seats (9) are provided on both sides of the shaft mounting seat (27). The support shaft (8) passes through the shaft mounting seat (27) and the bearing support seat (9). The support shaft (8) is fixedly connected to the shaft mounting seat (27), and the support shaft (8) is rotatably connected to the bearing support seat (9) through a bearing.

3. The variable wheelbase magnetic adsorption wall-climbing robot according to claim 2, wherein: The bearing includes a thrust bearing (28) and a deep groove ball bearing (29). One end inside the bearing support seat (9) is rotatably connected to the support shaft (8) through the deep groove ball bearing (29). A thrust bearing (28) is provided between the other end of the bearing support seat (9) and the shaft mounting seat (27). One side of the thrust bearing (28) is supported by the other end of the bearing support seat (9), and the other side of the thrust bearing (28) is fixed on the shaft mounting seat (27). A bearing end cover (10) for fixing the deep groove ball bearing (29) and a support shaft end cover (11) for fixing the support shaft (8) are respectively installed on the end face of one end of the bearing support seat (9).

4. The variable wheelbase magnetic adsorption wall-climbing robot according to claim 1, wherein: The variable wheelbase power source includes a variable wheelbase motor (6) and a variable wheelbase reducer (7). The variable wheelbase reducer (7) is installed on the rear fixing plate (5). The support shaft (8) passes through the variable wheelbase reducer (7) and is fixedly connected to the output hole of the variable wheelbase reducer (7). The variable wheelbase motor (6) is connected to the input end of the variable wheelbase reducer (7).

5. The variable wheelbase magnetic adsorption wall-climbing robot according to claim 1, wherein: The walking mechanism (2) includes a driving wheel base (12), a driving power source, a driving wheel (15), a magnetic wheel motor (16), a magnetic wheel shaft (17), a magnetic wheel (18) and a magnetic wheel support base (19). The upper end of the driving wheel base (12) is rotatably connected to the front fixing plate (4) or the rear fixing plate (5) and is connected to the steering mechanism (3). Inside the lower end of the driving wheel base (12), there is a driving wheel (15). One side of the driving wheel (15) is rotatably connected to one side of the driving wheel base (12) and is connected to the driving power source fixed on one side of the driving wheel base (12). On the other side of the driving wheel base (12), there is a fixedly connected magnetic wheel motor (16). Inside the driving wheel (15), there are respectively a magnetic wheel shaft (17), a magnetic wheel (18) and a magnetic wheel support base (19). The output shaft of the magnetic wheel motor (16) is connected to the magnetic wheel shaft (17). The magnetic wheel (18) is installed on the magnetic wheel shaft (17) and is interlocked with the magnetic wheel shaft (17). Both ends of the magnetic wheel shaft (17) are respectively installed on two magnetic wheel support bases (19). The two magnetic wheel support bases (19) are respectively rotatably connected to the driving wheel (15). The magnetic wheel support base (19) close to the magnetic wheel motor (16) is rotatably connected to the other side of the driving wheel base (12).

6. The variable wheelbase magnetic adsorption wall-climbing robot according to claim 5, characterized in that: The magnetic wheel (18) is a sector-shaped magnetic wheel. The sector direction only faces the metal wall surface to be adsorbed. By driving the magnetic wheel (18) to rotate through the magnetic wheel motor (16), the adsorption direction of the walking mechanism (2) can be changed.

7. The variable wheelbase magnetic adsorption wall-climbing robot according to claim 5, wherein: The upper end of the driving wheel base (12) is rotatably connected to the front fixing plate (4) or the rear fixing plate (5) through deep groove ball bearings and thrust bearings. The deep groove ball bearings ensure that the walking mechanism (2) can rotate around the upper end of the driving wheel base (12), and the thrust bearings can ensure that the deep groove ball bearings do not bear force in the axial direction.

8. The variable wheelbase magnetic adsorption wall-climbing robot according to claim 1, characterized in that: The steering mechanism (3) includes a steering motor (20), an output gear (22), an input gear (23), an input pulley (24), an output pulley (25) and a transmission belt (26). The steering motor (20) is fixed on the front fixing plate (4) or the rear fixing plate (5). The output end of the steering motor (20) is connected with an output gear (22). The input gear (23) and the input pulley (24) are coaxial and are both connected to a walking mechanism (2) on the front fixing plate (4) or the rear fixing plate (5). The output pulley (25) is connected to another walking mechanism (2) on the front fixing plate (4) or the rear fixing plate (5). The output gear (22) and the input gear (23) form a gear meshing pair. The output pulley (25) and the input pulley (24) are connected through a transmission belt (26).

9. The variable wheelbase magnetic adsorption wall-climbing robot according to claim 8, wherein: One side of the output gear (22) is connected to the output shaft of the steering motor (20), and the other side of the output gear (22) is rotatably connected to the front fixing plate (4) or the rear fixing plate (5).

10. The variable wheelbase magnetic adsorption wall-climbing robot according to claim 1, wherein: The support shaft (8) is driven to rotate by a variable wheelbase power source, changing the relative angle between the front fixed plate (4) and the rear fixed plate (5), and further changing the wheelbase between the traveling mechanism (2) on the front fixed plate (4) and the traveling mechanism (2) on the rear fixed plate (5).

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