A ray detection wall-climbing robot

Abstract

The application relates to the technical field of wall-climbing robots, in particular to a ray detection wall-climbing robot. The technical scheme comprises a main body, a driving wheel rotatably arranged on one side of the main body, rotationally connected main bodies, a negative pressure frame fixedly arranged on the main body, a fan blade rotatably arranged in the negative pressure frame, a ray detection mechanism fixedly arranged on one side of the main body, a protection mechanism arranged on the main body and used for preventing the robot from falling, the protection mechanism comprising a mounting box fixedly arranged on the main body, a sliding column slidably arranged in the mounting box, a universal wheel fixedly arranged at one end of the sliding column, and pressing plates fixedly arranged on the two sides of the sliding column. The application prolongs the service life of the wall-climbing robot, improves the safety of equipment use, and enables the robot to stably complete high-altitude ray detection work and effectively avoid high-altitude falling risks.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, and more particularly to a wall-climbing robot for X-ray inspection. Background Technology

[0002] In the fields of petrochemicals, nuclear power, shipbuilding, and large energy equipment, the quality of high-altitude welds on large metal components such as storage tanks, boilers, pipelines, and wind turbine towers directly determines the safety and reliability of equipment operation, requiring regular non-destructive testing to identify internal defects. Traditional testing methods mainly rely on manual high-altitude operations, requiring inspectors to use suspended platforms, ropes, or scaffolding to enter areas tens or even hundreds of meters above the ground. This not only involves high labor intensity and low work efficiency but also exposes them to multiple safety risks, including falls, exposure to toxic and harmful media, and radiation exposure. Especially in extreme conditions such as high radiation and confined spaces, the safety and feasibility of manual testing are even more difficult to guarantee.

[0003] With the development of industrial automation technology, wall-climbing robots have gradually become the core equipment to replace manual labor in high-risk wall operations. They can move autonomously on vertical or inclined metal walls and carry inspection equipment to realize automated inspection of welds, effectively avoiding the risks of manual high-altitude operations.

[0004] Currently, high-altitude working environments are complex, and robots are prone to tipping over due to wall protrusions, airflow disturbances, or failure of adsorption seals. Existing robot fall protection mechanisms mostly adopt passive protection designs, such as a single safety rope or buffer pad, which only provide cushioning after the robot falls and lack the function of actively recognizing the fall trend. The protection is seriously lagging behind. Although some robots are equipped with fall detection functions, they mostly rely on a single acceleration sensor, which is easily affected by environmental interference, resulting in a high false trigger rate. Moreover, the detection and protection mechanisms lack direct linkage, resulting in slow response speed and inability to activate emergency protection before the adsorption force is completely lost, which can easily cause equipment damage or even interruption of detection. Therefore, this application proposes a wall-climbing robot for X-ray inspection. Summary of the Invention

[0005] The purpose of this invention is to address the problems of insufficient fall protection reliability and delayed protection response in the prior art, and to propose a ray-detection wall-climbing robot.

[0006] The technical solution of the present invention: a wall-climbing robot for X-ray inspection, comprising a main body and a drive wheel, the drive wheel being rotatably mounted on one side of the main body, the main bodies being rotatably connected, a negative pressure frame being fixedly mounted on the main body, a fan blade being rotatably mounted inside the negative pressure frame, an X-ray inspection mechanism being fixedly mounted on one side of the main body, and a protective mechanism to prevent the robot from falling off the main body.

[0007] Optionally, the protective mechanism includes a mounting box fixedly installed on the main body, a sliding column slidably installed inside the mounting box, a caster wheel fixedly installed at one end of the sliding column, pressure plates fixedly installed on both sides of the sliding column, pressure sensors symmetrically fixedly installed inside the mounting box, a first track frame fixedly installed on the main body, a sliding groove formed on the first track frame, a slider slidably installed on the sliding groove, a cylinder fixedly installed on the main body, the piston rod of the cylinder fixedly connected to the slider, a controller provided on the cylinder, the output end of the pressure sensor connected to the input end of the controller, the output end of the controller connected to the starting end of the cylinder, a first guide plate hinged to the bottom of the slider, and a pair of first guide columns fixedly installed on the main body. A sliding plate is slidably mounted on the guide post, and the sliding plate is hinged to the first guide plate. A connecting cavity is fixedly mounted on the bottom of the sliding plate. The connecting cavity is hollow. A suction cup is slidably mounted on the bottom of the connecting cavity. A sealing cavity is fixedly mounted on the main body. The sealing cavity is hollow. A sealing block is slidably mounted inside the sealing cavity. A first one-way valve is fixedly mounted on the sealing block. A connecting pipe is fixedly mounted on one end of the first one-way valve. One end of the connecting pipe communicates with the connecting cavity. The first one-way valve can only allow air to enter in one direction. A second one-way valve is fixedly mounted on the sealing cavity. The second one-way valve can also allow air to exit in one direction. A connecting rod is fixedly mounted on the sealing block. One end of the connecting rod is fixedly connected to the slider. A sealing mechanism is provided on the main body to improve the sealing performance of the suction cup.

[0008] Optionally, the sealing mechanism includes a second guide post fixedly mounted on the main body, a second track frame fixedly mounted on the second guide post, a guide block slidably mounted on the second track frame, a second guide plate hinged to the bottom of the guide block, an mounting plate slidably mounted on the second guide post, the mounting plate being hinged to the second guide plate, an mounting ring fixedly mounted at one end of the mounting plate, the mounting ring being sleeved on the connecting cavity, a sealing ring slidably mounted at the bottom of the mounting ring, a first stop fixedly mounted at one end of the slider, and a second stop fixedly mounted at one end of the guide block.

[0009] Optionally, a drive motor is fixedly mounted on the main body, the output shaft of the drive motor is fixedly connected to the drive wheel, and a drive motor is fixedly mounted on the main body, the output shaft of the drive motor is fixedly connected to the fan blade.

[0010] Optionally, a fixing column is fixedly installed on the main body, and the fixing column is fixedly connected to the first track frame, the cylinder and the sealing cavity respectively.

[0011] Optionally, the main body has a groove, and the suction cup is located inside the groove.

[0012] Optionally, a first spring is fixedly installed inside the second track frame, and one end of the first spring is fixedly connected to the guide block.

[0013] Optionally, a second spring is fixedly mounted on the mounting ring, and one end of the second spring is fixedly connected to the sealing ring.

[0014] Optionally, a third spring is fixedly installed on the connecting cavity, and one end of the third spring is fixedly connected to the suction cup.

[0015] Optionally, a fourth spring is fixedly installed inside the mounting box, one end of the fourth spring is fixedly connected to the pressure plate, and the fourth spring is in a compressed state.

[0016] Compared with the prior art, the present invention has the following beneficial technical effects: This invention utilizes casters mounted on the main body to maintain constant contact with the object's surface. When the main body tilts, the casters are the first to sink under pressure, causing the sliding column to move downwards and the pressure plate to press against the pressure sensor. The signal is quickly fed back to the controller, instantly activating the cylinder. The cylinder drives the slider to move, simultaneously causing the sealing block to slide within the sealing cavity, creating a negative pressure. This negative pressure is then drawn into the sealing cavity through the connecting pipe, achieving self-sufficient negative pressure for emergency adsorption. This eliminates the need for an additional vacuum pump, improving the safety of the equipment.

[0017] Furthermore, as the slider moves to drive the suction cup downward and initiates emergency adsorption, the first stop on the slider moves synchronously, contacts and presses against the second stop on the guide block, causing the guide block to slide on the second track frame. The guide block then presses against the second guide plate, pushing the mounting plate downward. The mounting plate then moves the sealing ring at the bottom of the mounting ring downward synchronously, ensuring that the sealing ring tightly fits around the bottom of the suction cup. This provides comprehensive sealing and reinforcement of the contact gap between the suction cup and the wall surface, significantly improving the sealing performance of emergency adsorption and preventing adsorption failure due to air leakage.

[0018] This invention improves the service life of wall-climbing robots and enhances equipment safety, enabling robots to stably complete high-altitude X-ray inspection operations while effectively avoiding the risk of falling from heights. Attached Figure Description

[0019] Figure 1 A schematic diagram of the structure of a wall-climbing robot for X-ray inspection. Figure 1 ; Figure 2 A schematic diagram of the structure of a wall-climbing robot for X-ray inspection. Figure 2 ; Figure 3 A schematic diagram of the structure of a wall-climbing robot for X-ray inspection. Figure 3 ; Figure 4 A schematic diagram of the structure of a wall-climbing robot for X-ray inspection. Figure 4 ; Figure 5 A schematic diagram of the structure of a wall-climbing robot for X-ray inspection. Figure 5 ; Figure 6 A schematic diagram of the suction cup, sealing ring, and sliding plate structure; Figure 7 This is a schematic diagram of the internal structure of the mounting box; Figure 8 A schematic diagram of the sealing cavity, sealing plate, and connecting rod structure; Figure 9 for Figure 2 A magnified schematic diagram of the structure at point A in the middle.

[0020] Reference numerals: 1. Main body; 2. Drive wheel; 3. Drive motor; 4. Negative pressure frame; 5. Drive motor; 6. Fan blade; 7. X-ray detection mechanism; 8. First track frame; 9. Groove; 10. Fixed column; 11. Cylinder; 12. Sealing cavity; 13. Slide groove; 14. Slider; 15. Second track frame; 16. First guide column; 17. Second guide column; 18. First guide plate; 19. Slide plate; 20. Connecting cavity; 21. Connecting pipe; 22. ... 23. First stop block; 24. Second guide plate; 25. Guide block; 26. Second stop block; 27. First spring; 28. Mounting plate; 29. ​​Mounting ring; 20. Second spring; 31. Sealing ring; 32. Third spring; 33. Suction cup; 34. Mounting box; 35. Sliding column; 36. Fourth spring; 37. Pressure sensor; 38. Caster wheel; 39. Sealing block; 40. First check valve; 41. Second check valve; 42. Connecting rod; 43. Pressure plate. Detailed Implementation

[0021] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0022] The components of the embodiments of the invention described and shown in the accompanying drawings can typically be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0023] Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0026] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Example

[0027] like Figure 1-5 As shown, the present invention proposes a wall-climbing robot for X-ray inspection, including a main body 1 and a drive wheel 2. The drive wheel 2 is rotatably mounted on one side of the main body 1. The main bodies 1 are rotatably connected. A negative pressure frame 4 is fixedly mounted on the main body 1. A fan blade 6 is rotatably mounted inside the negative pressure frame 4. When the fan blade 6 is rotated, the fan blade 6 drives the airflow upward, generating negative pressure, so that the main body 1 can adhere to the surface of the object. A X-ray inspection mechanism 7 is fixedly mounted on one side of the main body 1, which uses X-rays or gamma rays to penetrate the metal and inspect whether there are any problems with the weld. A protective mechanism is provided on the main body 1 to prevent the robot from falling.

[0028] like Figure 2-8As shown, in an optional embodiment, the protective mechanism includes a mounting box 33 fixedly mounted on the main body 1. A sliding column 34 is slidably mounted inside the mounting box 33. A caster wheel 37 is fixedly mounted at one end of the sliding column 34. Pressure plates 42 are fixedly mounted on both sides of the sliding column 34. Pressure sensors 36 are symmetrically fixedly mounted inside the mounting box 33. A first track frame 8 is fixedly mounted on the main body 1. A sliding groove 13 is provided on the first track frame 8. A slider 14 is slidably mounted on the sliding groove 13. A cylinder 11 is fixedly mounted on the main body 1. The piston rod of the cylinder 11 is fixedly connected to the slider 14. A controller is provided on the cylinder 11. The output end of the pressure sensor 36 is connected to the input end of the controller. The output end of the controller is connected to the starting end of the cylinder 11. A first guide plate 18 is hinged to the bottom of the slider 14. A pair of first guide columns 16 are fixedly mounted on the main body 1. A slide plate 19 is slidably mounted on the guide post 16. The slide plate 19 is hinged to the first guide plate 18. A connecting cavity 20 is fixedly mounted on the bottom of the slide plate 19. The connecting cavity 20 is hollow. A suction cup 32 is slidably mounted on the bottom of the connecting cavity 20. A sealing cavity 12 is fixedly mounted on the main body 1. The sealing cavity 12 is hollow. A sealing block 38 is slidably mounted inside the sealing cavity 12. A first one-way valve 39 is fixedly mounted on the sealing block 38. A connecting pipe 21 is fixedly mounted on one end of the first one-way valve 39. One end of the connecting pipe 21 is connected to the connecting cavity 20. The first one-way valve 39 can only allow air to enter in one direction. A second one-way valve 40 is fixedly mounted on the sealing cavity 12. The second one-way valve 40 can only allow air to exit in one direction. A connecting rod 41 is fixedly mounted on the sealing block 38. One end of the connecting rod 41 is fixedly connected to the slider 14. A sealing mechanism to improve the sealing performance of the suction cup 32 is provided on the main body 1.

[0029] It should be noted that when the main body 1 is adsorbed onto the surface of the object, the universal wheel 37 contacts the surface of the object, reducing the friction during the movement of the main body 1. When the main body 1 tilts, the universal wheel 37 moves downward, driving the sliding column 34 downward. The pressure plates 42 on both sides of the sliding column 34 press against the pressure sensor 36, which transmits a signal to the controller. The controller then controls the start cylinder 11, whose piston rod drives the slider 14 to one end. The slider 14 presses against the first guide plate 18 at the bottom, and the first guide plate 18 presses against the slide plate 1. 9. As the slider 14 moves, the slide plate 19 moves downward, and the slide plate 19 drives the suction cup 32 at the bottom to contact the surface of the object. At the same time as the slider 14 moves, the connecting rod 41 on the slider 14 drives the sealing block 38 to move together. As the air pressure in the sealing cavity 12 continues to decrease, air is drawn from the suction cup 32 into the connecting pipe 21, and then delivered to the sealing cavity 12 by the first one-way valve 39. This ensures that after contact with the object, the air in the suction cup 32 is continuously drawn away, and the suction cup 32 is firmly attached to the surface of the object, preventing the main body 1 from falling and causing damage, and improving the safety of the equipment.

[0030] like Figure 4-9 As shown, in an optional embodiment, the sealing mechanism includes a second guide post 17 fixedly mounted on the main body 1, a second track frame 15 fixedly mounted on the second guide post 17, a guide block 24 slidably mounted on the second track frame 15, a second guide plate 23 hinged to the bottom of the guide block 24, an mounting plate 27 slidably mounted on the second guide post 17, the mounting plate 27 being hinged to the second guide plate 23, an mounting ring 28 fixedly mounted at one end of the mounting plate 27, the mounting ring 28 being sleeved on the connecting cavity 20, a sealing ring 30 slidably mounted at the bottom of the mounting ring 28, a first stop 22 fixedly mounted at one end of the slider 14, and a second stop 25 fixedly mounted at one end of the guide block 24.

[0031] It should be noted that as the slider 14 moves continuously, the first stop 22 on the slider 14 is driven, and the first stop 22 contacts and presses against the second stop 25. The second stop 25 drives the guide block 24 to slide on the second track frame 15. The guide block 24 presses against the second guide plate 23 at the bottom, and the second guide plate 23 presses against the mounting plate 27 at the bottom. The mounting plate 27 moves downward under pressure, and the mounting plate 27 drives the sealing ring 30 at the bottom of the mounting ring 28 to move downward. The sealing ring 30 presses and seals the bottom perimeter of the suction cup 32, improving the sealing performance of the suction cup 32 after contact with the object and improving the adsorption effect.

[0032] like Figure 1 As shown, in an optional embodiment, a drive motor 3 is fixedly installed on the main body 1, the output shaft of the drive motor 3 is fixedly connected to the drive wheel 2, and a drive motor 5 is fixedly installed on the main body 1, the output shaft of the drive motor 5 is fixedly connected to the fan blade 6.

[0033] It should be noted that the drive motor 3 drives the drive wheel 2 to rotate, which in turn drives the main body 1 to move. The drive motor 5 drives the fan blade 6 to rotate, so that it forms a negative pressure in the negative pressure frame 4.

[0034] like Figure 2 As shown, in an optional embodiment, a fixing column 10 is fixedly installed on the main body 1, and the fixing column 10 is fixedly connected to the first track frame 8, the cylinder 11 and the sealing cavity 12 respectively.

[0035] It should be noted that the fixed column 10 provides support for the first track frame 8, the cylinder 11 and the sealing cavity 12.

[0036] like Figure 2 As shown, in an optional embodiment, the main body 1 has a slot 9, and the suction cup 32 is located in the slot 9.

[0037] It should be noted that the suction cup 32 is able to contact the surface of the object through the slot 9.

[0038] like Figure 9 As shown, in an optional embodiment, a first spring 26 is fixedly installed inside the second track frame 15, and one end of the first spring 26 is fixedly connected to the guide block 24.

[0039] It should be noted that the first spring 26 provides a reset function for the guide block 24, which facilitates the subsequent use of the robot.

[0040] like Figure 9 As shown, in an optional embodiment, a second spring 29 is fixedly mounted on the mounting ring 28, and one end of the second spring 29 is fixedly connected to the sealing ring 30.

[0041] It should be noted that the second spring 29 provides a buffer space for the movement of the mounting ring 28.

[0042] like Figure 6 As shown, in an optional embodiment, a third spring 31 is fixedly installed on the connecting cavity 20, and one end of the third spring 31 is fixedly connected to the suction cup 32.

[0043] It should be noted that the third spring 31 enables the suction cup 32 to fully adhere to the object during the downward movement of the connecting cavity 20.

[0044] like Figure 7 As shown, in an optional embodiment, a fourth spring 35 is fixedly installed inside the mounting box 33. One end of the fourth spring 35 is fixedly connected to the pressure plate 42, and the fourth spring 35 is in a compressed state.

[0045] It should be noted that the fourth spring 35 is in a compressed state. When the main body 1 tilts, the fourth spring 35 can drive the sliding column 34 to move downward, thereby causing the pressure plate 42 to come into contact with the pressure sensor 36.

[0046] Working principle: When the main body 1 is adsorbed onto the surface of the object, the universal wheel 37 contacts the surface of the object, reducing the friction during the movement of the main body 1. When the main body 1 tilts, the universal wheel 37 moves downward, driving the sliding column 34 downward. The pressure plates 42 on both sides of the sliding column 34 press against the pressure sensor 36, which transmits a signal to the controller. The controller controls the start cylinder 11, and the piston rod of the cylinder drives the slider 14 to move to one end. The slider 14 presses against the first guide plate 18 at the bottom, which in turn presses against the slide plate 19. As the slider 14 moves continuously, the slide plate 19 moves downward, causing the suction cup 32 at the bottom to contact the surface of the object. While the slider 14 moves, the connecting rod 41 on the slider 14 drives the sealing block 38 to move together. As the air pressure in the sealing cavity 12 decreases, air is drawn from the suction cup 32 into the connecting pipe 21, and then delivered to the sealing cavity 12 by the first one-way valve 39. Within the suction cup 32, the air inside is continuously drawn out after contact with the object, allowing the suction cup 32 to firmly adhere to the object's surface, preventing the main body 1 from falling and causing damage, thus improving the safety of the equipment. As the slider 14 moves continuously, the first stop 22 on the slider 14 is driven, and the first stop 22 contacts and squeezes the second stop 25. The second stop 25 drives the guide block 24 to slide on the second track frame 15. The guide block 24 squeezes the second guide plate 23 at the bottom, and the second guide plate 23 squeezes the mounting plate 27 at the bottom. The mounting plate 27 moves downward under the pressure, and the mounting plate 27 drives the sealing ring 30 at the bottom of the mounting ring 28 to move downward. The sealing ring 30 squeezes and seals the bottom of the suction cup 32, improving the sealing performance of the suction cup 32 after contact with the object, improving the adsorption effect, and thus increasing the service life of the wall-climbing robot and improving the safety of the equipment. This allows the robot to stably complete high-altitude X-ray inspection operations while effectively avoiding the risk of falling from heights.

[0047] The above specific embodiments are merely several optional embodiments of the present invention. Based on the technical solutions of the present invention and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. A wall-climbing robot for X-ray inspection, comprising a main body (1), characterized in that, It also includes a drive wheel (2), which is rotatably mounted on one side of the main body (1). The main bodies (1) are rotatably connected. A negative pressure frame (4) is fixedly mounted on the main body (1). A fan blade (6) is rotatably mounted inside the negative pressure frame (4). A radiation detection mechanism (7) is fixedly mounted on one side of the main body (1). A protective mechanism to prevent the robot from falling is provided on the main body (1). The protective mechanism includes a mounting box (33) fixedly mounted on the main body (1). A sliding column (34) is slidably mounted inside the mounting box (33). A universal wheel (37) is fixedly mounted at one end of the sliding column (34). Pressure plates (42) are fixedly installed on both sides of the column (34). Pressure sensors (36) are symmetrically fixedly installed inside the mounting box (33). A first track frame (8) is fixedly installed on the main body (1). A slide groove (13) is provided on the first track frame (8). A slider (14) is slidably installed on the slide groove (13). A cylinder (11) is fixedly installed on the main body (1). The piston rod of the cylinder (11) is fixedly connected to the slider (14). A controller is provided on the cylinder (11). The output end of the pressure sensor (36) is connected to the input end of the controller. The output end of the controller is connected to the start of the cylinder (11). The slider (14) is hinged to the bottom of a first guide plate (18). A pair of first guide posts (16) are fixedly installed on the main body (1). A slide plate (19) is slidably installed on the first guide posts (16). The slide plate (19) is hinged to the first guide plate (18). A connecting cavity (20) is fixedly installed at the bottom of the slide plate (19). The connecting cavity (20) is hollow. A suction cup (32) is slidably installed at the bottom of the connecting cavity (20). A sealing cavity (12) is fixedly installed on the main body (1). The sealing cavity (12) is hollow. A sealing block is slidably installed inside the sealing cavity (12). (38) A first one-way valve (39) is fixedly installed on the sealing block (38). A connecting pipe (21) is fixedly installed on one end of the first one-way valve (39). One end of the connecting pipe (21) is connected to the connecting cavity (20). The first one-way valve (39) can only allow air to enter in one direction. A second one-way valve (40) is fixedly installed on the sealing cavity (12). The second one-way valve (40) can only allow air to exit in one direction. A connecting rod (41) is fixedly installed on the sealing block (38). One end of the connecting rod (41) is fixedly connected to the slider (14). A sealing mechanism to improve the sealing performance of the suction cup (32) is provided on the main body (1).

2. The X-ray inspection wall-climbing robot according to claim 1, characterized in that, The sealing mechanism includes a second guide post (17) fixedly installed on the main body (1), a second track frame (15) fixedly installed on the second guide post (17), a guide block (24) slidably installed on the second track frame (15), a second guide plate (23) hinged to the bottom of the guide block (24), an mounting plate (27) slidably installed on the second guide post (17), the mounting plate (27) hinged to the second guide plate (23), an mounting ring (28) fixedly installed at one end of the mounting plate (27), the mounting ring (28) sleeved on the connecting cavity (20), a sealing ring (30) slidably installed at the bottom of the mounting ring (28), a first stop (22) fixedly installed at one end of the slider (14), and a second stop (25) fixedly installed at one end of the guide block (24).

3. The X-ray inspection wall-climbing robot according to claim 1, characterized in that, A drive motor (3) is fixedly installed on the main body (1), and the output shaft of the drive motor (3) is fixedly connected to the drive wheel (2). A drive motor (5) is fixedly installed on the main body (1), and the output shaft of the drive motor (5) is fixedly connected to the fan blade (6).

4. The X-ray inspection wall-climbing robot according to claim 1, characterized in that, A fixing column (10) is fixedly installed on the main body (1), and the fixing column (10) is fixedly connected to the first track frame (8), the cylinder (11) and the sealing cavity (12) respectively.

5. The X-ray inspection wall-climbing robot according to claim 1, characterized in that, The main body (1) has a slot (9) and the suction cup (32) is located inside the slot (9).

6. The X-ray inspection wall-climbing robot according to claim 2, characterized in that, A first spring (26) is fixedly installed inside the second track frame (15), and one end of the first spring (26) is fixedly connected to the guide block (24).

7. The X-ray inspection wall-climbing robot according to claim 2, characterized in that, A second spring (29) is fixedly installed on the mounting ring (28), and one end of the second spring (29) is fixedly connected to the sealing ring (30).

8. The X-ray inspection wall-climbing robot according to claim 1, characterized in that, A third spring (31) is fixedly installed on the connecting cavity (20), and one end of the third spring (31) is fixedly connected to the suction cup (32).

9. A wall-climbing robot for X-ray inspection according to claim 1, characterized in that, A fourth spring (35) is fixedly installed inside the mounting box (33). One end of the fourth spring (35) is fixedly connected to the pressure plate (42). The fourth spring (35) is in a compressed state.

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