A four-directional self-adaptive hydraulic track wall-climbing robot

Abstract

The application discloses a four-direction self-adaptive hydraulic track wall-climbing robot, and particularly relates to the field of wall-climbing robots, which comprises a support frame composed of two square frames and a stand connecting the corners of the square frames, a cross support is fixedly connected to the inner side of the upper square frame, and a detection mechanism is arranged on the top of the cross support. The front and rear side cylinders are retracted to drive the front and rear side climbing assemblies to be lifted upward, so that the tracks and the strong magnetic modules on the front and rear sides are separated from the tank body; then, the left and right drive motors are started, the drive motors drive the synchronous pulleys at the corners to rotate, and then drive the tracks to transmit power, the tracks drive the strong magnetic modules to move up and down along the inner side surface of the tank body, so that the wall-climbing robot can walk up and down; similarly, the left and right side climbing assemblies are lifted, the front and rear side climbing assemblies move, and the robot can move horizontally along the tank wall. The wall-climbing robot can freely switch directions, and the detection efficiency on the surface of the tank body is improved.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, specifically a four-way adaptive hydraulic tracked wall-climbing robot. Background Technology

[0002] In the oil and gas storage and transportation sector, large external floating roof tanks in port areas serve as core facilities for strategic oil reserves and trade transactions. Their safe and stable operation directly impacts energy security and corporate economic benefits. External floating roof tanks are widely used in national oil reserves due to their advantages such as low evaporation loss, low fire risk, and suitability for large-scale oil storage needs. These tanks are enormous, with walls constructed from a large amount of welded steel plates. If deformation or weld cracks lead to leaks or explosions, it will cause incalculable economic losses and environmental hazards.

[0003] To address these pain points, wall-climbing robots are gradually replacing manual labor as the core equipment for tank inspection. Among them, traditional two-tracked wall-climbing robots were first applied to tank wall inspection scenarios due to their simple structure and low mobility costs. These robots typically adopt a "front and rear dual tracks + permanent magnet adsorption" design, achieving movement through friction between the tracks and the tank wall. They are equipped with basic inspection modules (such as vision cameras and simple distance sensors) to observe the surface condition of the tank wall, thus mitigating the risks of manual high-altitude operations to a certain extent and shortening the inspection cycle.

[0004] Traditional two-tracked robots typically have coaxial tracks, allowing movement only in a single direction (e.g., vertical or horizontal). Switching directions (e.g., from vertical crawling to horizontal translation) requires complex differential track steering or overall body rotation on the curved tank wall. Differential steering can cause the robot's center of gravity to shift, leading to a sudden drop in adhesion (one track detaching from the tank wall). Body rotation requires at least 1.5 times the robot's width of operating space, while the inner wall of the tank often contains pipes, wind-resistant rings, and other obstacles, easily creating blind spots (e.g., at the junction of the tank wall and the wind-resistant ring). In actual testing, to cover the entire wall of a 100,000 cubic meter tank, a traditional two-tracked robot needs to adjust its direction more than 50 times, resulting in a path repetition rate of 30% and a detection efficiency reduction of more than 40% compared to the theoretical value. Therefore, the inventors have provided a four-directional adaptive hydraulic tracked wall-climbing robot to solve the problems mentioned in the background. Summary of the Invention

[0005] The purpose of this invention is to provide a four-way adaptive hydraulic tracked wall-climbing robot, which achieves the effect of freely switching directions, thereby improving the detection efficiency of tank surfaces.

[0006] The objective of this invention can be achieved through the following technical solutions: A four-way adaptive hydraulic tracked wall-climbing robot includes a support frame, which consists of upper and lower square frames and columns connecting the corners of the square frames. A cross bracket is fixedly connected to the inner side of the upper square frame, and a detection mechanism is provided on the top of the cross bracket. A wall-climbing mechanism is provided on the outer side of the support frame. The wall-climbing mechanism includes crawling components arranged on the four sides of the support frame. Each crawling component includes a pair of side plates, and a track is provided at the inner boundary of the pair of side plates. A set of strong magnetic modules is fixedly connected to the outer side of the track. A pair of fixing blocks are fixedly connected to the four sides of the lower square frame. A fixing rod is fixedly connected to the inner side of the pair of fixing blocks. A flipping block is rotatably connected to the outer side of the fixing rod. The other end of the pair of flipping blocks is fixedly connected to the corresponding side plate. A cylinder is hinged to the bottom of the cross bracket through a set of hinges. The output end of the cylinder is hinged to the surface of the corresponding side plate.

[0007] As a further embodiment of the present invention: the inner top of the two side plates are rotatably connected to a pair of left-right arranging tilting rods, the outer side of the tilting rods is fixedly connected to a synchronous pulley, the two synchronous pulleys are respectively engaged with the track, the inner side of the two side plates is fixedly connected to a set of left-right arranging rotating rods, the outer side of the rotating rods is rotatably connected to a connecting ring, the outer side of the two connecting rings is rotatably connected to an inclined rod, the outer bottom of the inclined rod is rotatably connected to a boundary wheel, the boundary wheel abuts against the inner boundary of the track.

[0008] As a further embodiment of the present invention: a spring pressure rod is fixedly connected to the bottom of the two connecting rings, and an abutment wheel is rotatably connected to the outer bottom of the spring pressure rod; flexible hydraulic spring mechanisms arranged on the left and right are respectively hinged to the inner sides of the two side plates by a pair of hinges, and the output end of the flexible hydraulic spring mechanism is hinged to the corresponding side tilting rod; a drive motor is fixedly installed on the right side of the inner side plate, and the output end of the drive motor is fixedly connected to the right side flipping rod.

[0009] As a further aspect of the present invention, the track mechanism adopts a symmetrical trapezoidal design.

[0010] As a further embodiment of the present invention: the strong magnetic module includes, from the inside out, a fixing plate for the track, a double-ear chain, an N strong magnetic block, and a soft rubber patch.

[0011] As a further embodiment of the present invention: a pair of horizontally arranged triangular rotating rubber wheels are hinged to the outer surface of the outer side plate.

[0012] As a further embodiment of the present invention: the detection mechanism includes a rotating rod that is rotatably connected to the top center of the cross bracket, a laser tracking target ball is provided above the rotating rod, a driven gear is fixedly connected to the outside of the rotating rod, and the lower end of the rotating rod extends out of the cross bracket; A motor is fixedly connected to the outer side of the cross bracket via a mounting component. A drive gear is fixedly connected to the output end of the motor, and the drive gear meshes with the driven gear.

[0013] As a further embodiment of the present invention: a probe is slidably disposed inside the rotating rod, the laser tracking target ball is installed at the upper end of the probe, the lower end of the probe extends out of the cross bracket and is provided with a ball at the end, a ball bearing is rolled and embedded at the bottom of the ball, a cross block corresponding to the cross bracket is fixedly disposed on the probe located below the cross bracket, four telescopic rods are fixedly connected between the cross bracket and the cross block, and a support spring is provided on the outer side of each of the four telescopic rods, the top of the support spring is fixedly connected to the cross bracket, and the bottom of the support spring is fixedly connected to the cross block.

[0014] As a further embodiment of the present invention: the detection mechanism further includes planetary gear one and planetary gear two arranged vertically and rotating synchronously; an annular guide rail one is fixedly connected to the top of the cross bracket, the annular guide rail one is slidably connected to planetary gear one; an arc-shaped guide rail is fixedly connected to the bottom of the cross bracket; an annular groove is formed on the top of planetary gear two, the annular groove is slidably connected to the arc-shaped guide rail; a camera is fixedly installed on the top of planetary gear one, and an infrared thermal radar is fixedly installed on the bottom of planetary gear two.

[0015] As a further embodiment of the present invention: a second motor is fixedly installed on the bottom left side of the cross bracket, and a small gear is fixedly connected to the output end of the second motor, which meshes with a second planetary gear; a movable rod is rotatably connected to the right side of the cross bracket, passing through the upper and lower sides of the cross bracket, and synchronous gears are fixedly connected to the upper and lower sides of the movable rod, respectively, and the two synchronous gears mesh with a first planetary gear and a second planetary gear.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. This four-way adaptive hydraulic tracked wall-climbing robot retracts the output ends of the cylinders on both the front and rear sides, causing the crawling components on both sides to lift upwards. The crawling components lift upwards around the position of the fixed rod, separating the tracks and strong magnetic modules on both sides from the tank body. Then, the built-in power supply starts the drive motors on the left and right sides. The drive motors drive the synchronous pulleys at the corners to rotate, which in turn drives the tracks through a pair of synchronous pulleys and a pair of edge-blocking pulleys. The tracks then move the strong magnetic modules up and down along the inner surface of the tank, achieving the effect of the wall-climbing robot moving vertically. Similarly, lifting the crawling components on the left and right sides and moving the crawling components on the front and rear sides allows the robot to move horizontally along the tank wall. This allows the wall-climbing robot to freely switch directions, improving the efficiency of detecting the tank surface. 2. In addition, when the four-way adaptive hydraulic tracked wall-climbing robot crawls along the preset path of the tank wall, the laser tracking target ball enters the detection area. The laser tracker measures the spatial position of the laser tracking target ball in real time. Under the action of the support spring, the ball at the lower end of the probe is always in contact with the surface of the tank wall. The deformation of the tank wall surface is reflected on the laser tracking target ball in real time through the ball and the probe. The deformation position and deformation amount of the tank wall can be measured quickly and accurately. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall structure of the present invention from another perspective; Figure 3 This is a schematic diagram of the wall-climbing mechanism in this invention; Figure 4 This is a schematic diagram of the crawling component structure in this invention; Figure 5 This is a schematic diagram of the cross-sectional structure of the crawling component in this invention; Figure 6 This is a schematic diagram of the detection mechanism structure in this invention; Figure 7 This is a schematic diagram of the detection mechanism in this invention from another perspective; Figure 8 This is a schematic diagram of the detection mechanism in this invention viewed from below; Figure 9 This is a schematic diagram of the sliding connection between the rotating rod and the probe in this invention.

[0018] In the diagram: 10. Support frame; 11. Cross bracket; 20. Climbing mechanism; 201. Side plate; 202. Tilting rod; 203. Synchronous pulley; 204. Track; 205. Strong magnetic module; 206. Connecting ring; 207. Inclined rod; 208. Boundary wheel; 209. Hydraulic spring mechanism; 210. Spring pressure rod; 211. Edge-stopping wheel; 212. Fixing block; 213. Fixing rod; 214. Tilting block; 215. Cylinder; 216. Drive motor; 217. Triangular rotating rubber wheel; 30. Detection mechanism; 3 01. Rotating rod; 302. Laser tracking target ball; 303. Driven gear; 304. Motor 1; 305. Driving gear; 306. Cross block; 307. Probe; 308. Telescopic rod; 309. Support spring; 310. Planetary gear 1; 311. Planetary gear 2; 312. Arc-shaped guide rail; 313. Annular groove; 314. Infrared thermal radar; 315. Motor 2; 316. Pinion; 317. Movable rod; 318. Synchronizing gear; 319. Camera; 320. Sphere; 321. Guide bar. Detailed Implementation

[0019] like Figures 1-5 As shown, a four-way adaptive hydraulic tracked wall-climbing robot includes a support frame 10, which consists of upper and lower square frames and columns connecting the corners of the square frames. A cross bracket 11 is fixedly connected to the inner side of the upper square frame, and a detection mechanism 30 is provided on the top of the cross bracket 11. A wall-climbing mechanism 20 is provided on the outer side of the support frame 10. The wall-climbing mechanism 20 includes crawling components arranged on the front, back, left, and right sides of the support frame 10. Each crawling component includes a pair of side plates 201, and a detection mechanism 30 is provided at the inner boundary of the pair of side plates 201. The frame is equipped with a track 204, and a set of strong magnetic modules 205 are fixedly connected to the outer side of the track 204. A pair of fixing blocks 212 are fixedly connected to the four sides of the lower frame, and a fixing rod 213 is fixedly connected to the inner side of the pair of fixing blocks 212. A flipping block 214 is rotatably connected to the outer side of the fixing rod 213. The other end of the pair of flipping blocks 214 is fixedly connected to the corresponding side plate 201. A cylinder 215 is hinged to the bottom of the cross bracket 11 through a set of hinges. The output end of the cylinder 215 is hinged to the surface of the corresponding side plate 201.

[0020] For details, please refer to Figures 4-6 The inner tops of the two side plates 201 are rotatably connected to a pair of left-right arranging tilting rods 202. Synchronous pulleys 203 are fixedly connected to the outer sides of the tilting rods 202. The two synchronous pulleys 203 respectively mesh with the tracks 204. The inner sides of the two side plates 201 are fixedly connected to a set of left-right arranging rotating rods. Connecting rings 206 are rotatably connected to the outer sides of the rotating rods. Inclined rods 207 are rotatably connected to the outer sides of the two connecting rings 206. Boundary wheels 208 are rotatably connected to the bottom outer sides of the inclined rods 207. The inner boundary of the track 204 is abutted, and the bottom of the two connecting rings 206 is fixedly connected to a spring pressure rod 210. The outer bottom of the spring pressure rod 210 is rotatably connected to an edge wheel 211. The inner sides of the two side plates 201 are respectively hinged to a pair of hinges, and flexible hydraulic spring mechanisms 209 arranged on the left and right sides are respectively hinged to the output end of the flexible hydraulic spring mechanism 209 and the corresponding side tilting rod 207. A drive motor 216 is fixedly installed on the right side of the inner side plate 201, and the output end of the drive motor 216 is fixedly connected to the right tilting rod 202.

[0021] Preferably, the track 204 mechanism adopts a symmetrical trapezoidal design. The short side of the track 204 contacts the tank wall, which improves the robot's obstacle-crossing performance on the tank wall.

[0022] Preferably, the strong magnetic module 205 includes, from the inside out, a fixing plate for the track 204, a double-ear chain, an N52 strong magnetic block, and a soft rubber patch. The soft rubber patch contacts the inner wall of the tank, effectively preventing the N52 strong magnetic block from directly contacting the tank surface and causing wear.

[0023] During use, in the crawling components on all four sides, the output end of the hydraulic spring mechanism 209 applies pressure to the boundary of the tilting rod 207, causing the tilting rod 207 to abut against the underside of the track 204 and shaping the track 204. Simultaneously, the edge-stopping wheel 211 abuts directly below the track 204, and due to the pressure applied to the edge-stopping wheel 211 by the spring-loaded rod 210, the bottom edge of the trapezoidal track 204 bulges downwards. During use, the strong magnetic module 205 on the outer side of the track 204 attracts the inner surface of the tank, due to the tank... The inner side of the track is concave and arc-shaped, so the bottom magnetic module 205 of the track 204 is magnetically attached to the surface of the tank. As a result, the spring pressure rod 210 is subjected to spring pressure, which drives the two end-fitting edge wheels 211 to fully adhere to the wall surface. At the same time, due to the deformation of the track 204, the bottom boundary position of the track 204 is affected, which causes the two edge wheels 208 to adapt and flip outward. The hydraulic spring mechanism 209 is compressed accordingly to improve the adhesion performance and wall movement performance of the crawling component.

[0024] When the robot needs to climb up and down, the built-in power supply first activates the cylinders 215 on both the front and rear sides. The output end of the cylinders 215 retracts, causing the crawling components on both the front and rear sides to lift upwards. The crawling components lift upwards with the position of the fixed rod 213 as the center, causing the tracks 204 and the strong magnetic module 205 on both the front and rear sides to separate from the tank. Then, the built-in power supply activates the drive motors 216 on the left and right sides. The drive motors 216 drive the synchronous pulleys 203 at the corners to rotate, and then drive the tracks 204 through the transmission of a pair of synchronous pulleys 203 and a pair of edge pulleys 211. The tracks 204 drive the strong magnetic module 205 to move up and down along the inner surface of the tank, achieving the effect of the wall-climbing robot walking up and down. While the wall-climbing robot is moving, the detection mechanism 30 detects the inner surface of the tank. Furthermore, when the wall-climbing robot reaches the upper and lower boundaries of the tank, it first extends and lowers the front and rear climbing components through the output end of cylinder 215, and then activates the cylinders 215 on the left and right sides through the built-in power supply. The output end of cylinder 215 retracts to lift the climbing components on the left and right sides, and then moves the wall-climbing robot to the left or right through the front and rear climbing components, so that the wall-climbing robot moves a distance equal to the width of the wall-climbing robot. Then, it activates the climbing components on the left and right sides to move the wall-climbing robot up or down, and inspects the adjacent inner walls that have been inspected by the tank, thereby achieving the inspection of the entire surface of the tank.

[0025] When the robot needs to crawl left and right, the cylinders 215 on the left and right sides are activated by the built-in power supply. The output end of the cylinder 215 retracts, lifting the crawling components on the left and right sides upward. Then, the drive motors 216 on the front and rear sides are activated. The output end of the drive motors 216 drives the track 204 to drive, so that the wall-climbing robot walks left and right along the inner wall of the tank.

[0026] Furthermore, a pair of horizontally arranged triangular rotating rubber wheels 217 are hinged to the outer surface of the outer side plate 201; when the robot needs to cross the wind-resistant ring of the outer wall of the storage tank, it can achieve a large obstacle crossing by using the triangular rotating rubber wheels 217 in conjunction with the flexible tracks.

[0027] refer to Figure 1 , Figures 6-9 The detection mechanism 30 includes a rotating rod 301 that is rotatably connected to the top center of the cross bracket 11. A laser tracking target ball 302 is provided above the rotating rod 301. A driven gear 303 is fixedly connected to the outside of the rotating rod 301. The lower end of the rotating rod 301 extends out of the cross bracket 11.

[0028] A motor 304 is fixedly connected to the outside of the cross bracket 11 via a mounting component. A drive gear 305 is fixedly connected to the output end of the motor 304, and the drive gear 305 meshes with the driven gear 303.

[0029] Furthermore, a probe 307 is slidably disposed inside the rotating rod 301, and a laser tracking target ball 302 is installed on the upper end of the probe 307. The lower end of the probe 307 extends out of the cross bracket 11 and is provided with a ball 320 at its end. A ball bearing is rolled and embedded in the bottom of the ball 320. A cross block 306 corresponding to the cross bracket 11 is fixedly disposed on the probe 307 located below the cross bracket 11. Four telescopic rods 308 are fixedly connected between the cross bracket 11 and the cross block 306. A support spring 309 is provided on the outer side of each of the four telescopic rods 308. The top of the support spring 309 is fixedly connected to the cross bracket 11, and the bottom of the support spring 309 is fixedly connected to the cross block 306.

[0030] Preferably, a guide bar 321 is provided on the outer side of the probe 307 located above the cross block 306 along the length direction. A through hole is opened inside the rotating rod 301, and a sliding groove is opened through the side wall of the through hole. The guide bar 321 is slidably disposed in the sliding groove. The probe 307 slides up and down in the rotating rod 301 through the guide bar 321. At the same time, when the motor 304 drives the driven gear 303 and the rotating rod 301 to rotate, the probe 307 and the ball 320 will also rotate synchronously through the limiting effect of the guide bar 321 and the sliding groove.

[0031] When the wall-climbing robot crawls along the preset path of the tank wall, the laser tracking target ball 302 enters the detection area. The laser tracker measures the spatial position of the laser tracking target ball in real time. Under the action of the support spring, the ball at the lower end of the probe is always in contact with the surface of the tank wall. The deformation of the tank wall surface is reflected in real time to the laser tracking target ball 302 through the ball 320 and the probe 307. The deformation position and deformation amount of the tank wall can be measured quickly and accurately.

[0032] To improve target ball tracking accuracy, a motor 304 drives a drive gear 305, which in turn rotates the laser tracking target ball 302 through the transmission between the drive gear 305 and the driven gear 303. This enables precise rotation of the laser tracking target ball 302 on the plane, allowing the laser tracker to quickly capture it and achieve dynamic tracking measurement, thus improving detection efficiency. Simultaneously, when the probe 307 moves with the crawling robot to the transition point of the tank's boundary, the sphere 320 encounters a depression on the tank surface. Because the sphere 320 loses its contact force with the tank surface, a set of support springs 309 rebounds, causing the cross block 306 and the probe 307 to move towards the depression until the sphere 320 contacts it. This ensures that the sphere 320 remains in contact with the tank surface.

[0033] refer to Figures 6-8 The detection mechanism 30 also includes planetary gear 1 310 and planetary gear 2 311 arranged vertically and rotating synchronously. The top of the cross bracket 11 is fixedly connected to an annular guide rail 1, which is slidably connected to planetary gear 1 310. The bottom of the cross bracket 11 is fixedly connected to an arc-shaped guide rail 312. The top of planetary gear 2 311 is provided with an annular groove 313, which is slidably connected to the arc-shaped guide rail 312. A camera 319 is fixedly installed on the top of planetary gear 1 310, and an infrared thermal radar 314 is fixedly installed on the bottom of planetary gear 2 311.

[0034] Specifically, a second motor 315 is fixedly installed on the bottom left side of the cross bracket 11, and a pinion 316 is fixedly connected to the output end of the second motor 315. The pinion 316 meshes with a second planetary gear 311. A movable rod 317 is rotatably connected to the right side of the cross bracket 11, passing through the upper and lower sides of the cross bracket 11. Synchronous gears 318 are fixedly connected to the upper and lower sides of the movable rod 317, and the two synchronous gears 318 mesh with a first planetary gear 310 and a second planetary gear 311, respectively.

[0035] To ensure spatial consistency of data from multiple sensors during robot operation, this device utilizes a planetary gear mechanism to achieve coordinated movement and coordinate unification of the camera 319, infrared thermal radar 314, sphere 320, and laser tracking target sphere 302. Planetary gears 310 and 311 rotate synchronously under the drive of motor 315, respectively driving the top camera 319 and the bottom infrared thermal radar 314 to perform scanning movements. Simultaneously, the sphere 320 is rigidly connected to the laser tracking target sphere 302 via probe 307, and can rotate as a whole under the drive of motor 304, allowing adjustment of the probe's contact posture.

[0036] Before detection, by controlling the movement of the planetary gear mechanism and the rotating rod 301, the optical axis of the camera 319, the detection direction of the infrared thermal radar 314, the contact direction of the sphere 320 and the spatial reference coordinate system of the laser tracking target sphere 302 are aligned to establish a unified spatial reference system.

[0037] As the robot crawls along the tank wall, the laser-tracking target ball 302 serves as a spatial positioning reference, providing real-time feedback on the robot's pose information. The camera 319 performs visual imaging of the tank wall surface, while the infrared thermal radar 314 detects weld defects. The sphere 320, supported by the spring 309, remains in contact with the tank wall surface, detecting wall deformation in real time. When the robot crawls circumferentially, the planetary gear mechanism fine-tunes the scanning angles of the radar and camera in 0.5° increments, while the rotating rod 301 drives the sphere 320 to rotate, ensuring the probe always tracks the weld edge. When the robot crawls axially, the planetary gear 310 drives the infrared thermal radar 314 to rotate 90° to switch scanning modes, while the sphere 320 rotates accordingly under the drive of the rotating rod 301, switching to axial probing mode to track the straightness and unevenness of the weld. In areas where the tank wall curvature changes, the planetary gear system uses ±15° dynamic angle compensation to ensure the infrared thermal radar 314 maintains the optimal detection angle, while the sphere 320 adaptively adjusts to always probe the surface perpendicularly.

Claims

1. A four-way adaptive hydraulic tracked wall-climbing robot, comprising a support frame (10), characterized in that, The support frame (10) consists of two square frames, an upper and a lower square frame, and a column connecting the corners of the square frames. A cross bracket (11) is fixedly connected to the inner side of the upper square frame, and a detection mechanism (30) is provided on the top of the cross bracket (11). The support frame (10) is provided with a wall climbing mechanism (20) on the outside. The wall climbing mechanism (20) includes climbing components arranged on the front, back, left and right sides of the support frame (10). The climbing components include a pair of side plates (201). Tracks (204) are provided at the inner boundary of the pair of side plates (201). A set of strong magnetic modules (205) are fixedly connected to the outside of the track (204). A pair of fixing blocks (212) are fixedly connected to the four sides of the frame below. A fixing rod (213) is fixedly connected to the inner side of the pair of fixing blocks (212). A flipping block (214) is rotatably connected to the outer side of the fixing rod (213). The other end of the pair of flipping blocks (214) is fixedly connected to the corresponding side plate (201). A cylinder (215) is hinged to the bottom of the cross bracket (11) through a set of hinges. The output end of the cylinder (215) is hinged to the surface of the corresponding side plate (201). The inner top of the two side plates (201) are rotatably connected to a pair of left-right arranging tilting rods (202). The outer side of the tilting rods (202) is fixedly connected to a synchronous pulley (203). The two synchronous pulleys (203) are respectively engaged with the track (204). The inner sides of the two side plates (201) are fixedly connected to a set of left-right arranging rotating rods. The outer side of the rotating rods is rotatably connected to a connecting ring (206). The outer side of the two connecting rings (206) is rotatably connected to an inclined rod (207). The outer bottom of the inclined rod (207) is rotatably connected to a boundary wheel (208). The boundary wheel (208) abuts against the inner boundary of the track (204). A spring pressure rod (210) is fixedly connected to the bottom of the two connecting rings (206), and a stop wheel (211) is rotatably connected to the bottom of the outer side of the spring pressure rod (210); the inner sides of the two side plates (201) are respectively hinged to a pair of hinges with flexible hydraulic spring mechanisms (209) arranged on the left and right, and the output end of the flexible hydraulic spring mechanism (209) is hinged to the corresponding side tilting rod (207); a drive motor (216) is fixedly installed on the right side of the inner side plate (201), and the output end of the drive motor (216) is fixedly connected to the right side flipping rod (202).

2. The four-way adaptive hydraulic tracked wall-climbing robot according to claim 1, characterized in that, The track (204) mechanism adopts a symmetrical trapezoidal design.

3. The four-way adaptive hydraulic tracked wall-climbing robot according to claim 1, characterized in that, The strong magnetic module (205) includes, from the inside out, a fixing plate for the track (204), a double-ear chain, an N52 strong magnetic block, and a soft rubber patch.

4. The four-way adaptive hydraulic tracked wall-climbing robot according to claim 1, characterized in that, A pair of horizontally arranged triangular rotating rubber wheels (217) are hinged to the outer surface of the outer side plate (201).

5. A four-way adaptive hydraulic tracked wall-climbing robot according to claim 1, characterized in that, The detection mechanism (30) includes a rotating rod (301) that is rotatably connected to the top center of the cross bracket (11). A laser tracking target ball (302) is provided above the rotating rod (301). A driven gear (303) is fixedly connected to the outside of the rotating rod (301). The lower end of the rotating rod (301) extends out of the cross bracket (11). The outer side of the cross bracket (11) is fixedly connected to a motor (304) by a mounting component. The output end of the motor (304) is fixedly connected to a drive gear (305), and the drive gear (305) meshes with the driven gear (303).

6. A four-way adaptive hydraulic tracked wall-climbing robot according to claim 5, characterized in that, A probe (307) is slidably disposed inside the rotating rod (301). The laser tracking target ball (302) is installed on the upper end of the probe (307). The lower end of the probe (307) extends out of the cross bracket (11) and is provided with a ball (320) at the end. A ball is rolled and embedded at the bottom of the ball (320). A cross block (306) corresponding to the cross bracket (11) is fixed on the probe (307) located below the cross bracket (11). Four telescopic rods (308) are fixedly connected between the cross bracket (11) and the cross block (306). Each of the four telescopic rods (308) is provided with a support spring (309) on its outer side. The top of the support spring (309) is fixedly connected to the cross bracket (11), and the bottom of the support spring (309) is fixedly connected to the cross block (306).

7. A four-way adaptive hydraulic tracked wall-climbing robot according to claim 6, characterized in that, The detection mechanism (30) also includes planetary gear one (310) and planetary gear two (311) arranged vertically and rotating synchronously. The top of the cross bracket (11) is fixedly connected to an annular guide rail one, which is slidably connected to planetary gear one (310). The bottom of the cross bracket (11) is fixedly connected to an arc-shaped guide rail (312). The top of planetary gear two (311) is provided with an annular groove (313), which is slidably connected to the arc-shaped guide rail (312). A camera (319) is fixedly installed on the top of planetary gear one (310), and an infrared thermal radar (314) is fixedly installed on the bottom of planetary gear two (311).

8. A four-way adaptive hydraulic tracked wall-climbing robot according to claim 7, characterized in that, A second motor (315) is fixedly installed on the bottom left side of the cross bracket (11). A small gear (316) is fixedly connected to the output end of the second motor (315). The small gear (316) meshes with the second planetary gear (311). A movable rod (317) that passes through the upper and lower sides of the cross bracket (11) is rotatably connected to the right side of the cross bracket (11). Synchronous gears (318) are fixedly connected to the upper and lower sides of the movable rod (317). The two synchronous gears (318) mesh with the first planetary gear (310) and the second planetary gear (311) respectively.

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