Separated wall-climbing self-adaptive inspection robot

Abstract

The utility model relates to the technical field of wall-climbing robots and inspection robots, and particularly discloses a separation type wall-climbing self-adaptive inspection robot which comprises a bottom deformation wheel unit capable of adapting to different environments and guaranteeing normal work of the robot in various environments. The power suspension unit enables the robot to operate stably during working; the rotary telescopic unit detects to-be-detected environments at different heights through extension and contraction of a telescopic arm, and provides a high-degree-of-freedom detection positioning function through rotation of a rotating shaft; the separated wall-climbing detection unit realizes a wall-climbing detection function through cooperation of a negative pressure mechanism, magnetic adsorption and a belt wheel. The robot has the capability of autonomously walking and executing tasks under various terrain conditions, also has stronger climbing capability so as to cope with steep slopes and vertical gradients in different terrains, and can carry out effective advancing detection on various terrain conditions and wall surfaces.

Description

Technical Field

[0001] The utility model relates to the technical field of wall - climbing robots and inspection robots, and particularly relates to a separable wall - climbing adaptive inspection robot. Background Art

[0002] With the continuous improvement of the level of industrial automation and intelligence, the demand for multi - terrain inspection robots is increasing day by day. Traditional inspection methods are often limited by factors such as complex terrain and harsh environment, and there are problems such as low inspection efficiency and high safety risks. Therefore, there is an urgent need for a robot technology that can adapt to various terrains and has high - efficiency inspection capabilities to meet the actual application requirements.

[0003] Multi - terrain inspection robots need to have a high degree of autonomous navigation ability, be able to adapt to the complex environments of different terrains, and at the same time have the ability to identify and avoid obstacles. In terms of sensors, control systems, power systems, etc., advanced technical support is required to achieve the stable and efficient operation of the robot. In addition, the real - time collection and processing of inspection data are also a key technical challenge, which needs to be achieved by combining advanced data - processing and communication technologies.

[0004] Therefore, it is necessary to provide a separable wall - climbing adaptive inspection robot that can adapt to various terrain conditions and walls to solve the above - mentioned technical problems. Summary of the Utility Model

[0005] In view of the above - mentioned technical problems, the purpose of the present utility model is to provide a separable wall - climbing adaptive inspection robot. To solve the above - mentioned technical problems, the present utility model adopts the following technical solutions to achieve:

[0006] A separable wall - climbing adaptive inspection robot is characterized in that it includes a bottom traveling unit, a rotary telescopic unit, an upper tray mechanism, and a separable wall - climbing detection trolley. The bottom traveling unit is fixedly connected to the rotary telescopic unit by bolts. The rotary telescopic unit is connected to the upper tray mechanism through a rotating shaft. The separable wall - climbing detection trolley is installed inside the upper tray mechanism. The storage battery is installed in the rear cabin of the rotary telescopic unit, and the storage - battery cable is connected to the separable wall - climbing detection trolley.

[0007] Furthermore, the bottom traveling unit includes a protection mechanism, a base housing, a lower bottom plate, a power suspension unit, a bottom deformable wheel unit, and a distribution - board assembly. The protection mechanism is fixedly connected to the base housing. The base housing is fixedly connected to the lower bottom plate. The distribution - board assembly is fixedly connected to the lower bottom plate. The power suspension units are symmetrically installed on both sides of the distribution - board assembly and fixedly connected to the lower bottom plate. The power suspension units are fixedly connected to the base housing by bolts. The bottom deformable wheel units are installed on both sides of the power suspension units, which is convenient for disassembly and repair.

[0008] Furthermore, the bottom deformation wheel unit includes a wheel mechanism, a gear disk, and a control servo. The gear disk is fixed to the wheel mechanism, and the control servo is engaged with the gear disk through gears. The motor drives the intermediate main gear to rotate, and the main gear drives three driven gears, causing the wheel mechanism fixed to the driven gears to rotate, and the bottom deformation wheel unit deforms and unfolds. The advantage is that the robot can switch the form of the deformation wheel to efficiently move on flat ground and rough ground.

[0009] Furthermore, the power suspension unit includes a swing rod, a motor bracket, a motor, a drive bracket, and a regulation mechanism. The motor is installed inside the motor bracket. The swing rod is fixedly connected to the drive bracket by bolts. The regulation mechanism is installed inside the drive bracket. The output end of the power suspension unit is rotationally connected to the bottom deformation wheel unit to provide a power system for its stable operation.

[0010] Furthermore, the regulation mechanism includes an electrical sensor, a nylon rod, a spacer sleeve, a guide rod, a pressure spring, a connecting rod, and a reinforcing rib. The nylon rod is installed at the four corners of the electrical sensor. The pressure spring is installed on the guide rod. The guide rod is installed on both sides of the spacer sleeve and the connecting rod. The spacer sleeve and the connecting rod are fixedly connected to the drive bracket and the swing rod by bolts. The reinforcing rib is installed inside the drive bracket to provide the longitudinal adjustment ability of the bottom deformation wheel. The advantage is that it improves the flexibility and adaptability of the robot: the regulation mechanism enables the robot to move in different terrains and environments and adapt to various different task requirements. This allows the robot to be applied in a wider range of scenarios without being customized for a specific environment, enhancing the robot's motion performance: the power suspension unit can provide a faster moving speed, higher motion accuracy, and a more stable posture, thus improving the robot's motion performance, which enables the robot to execute tasks more efficiently.

[0011] Furthermore, the rotary telescopic unit includes an intermediate structure housing, a control panel, an upper end of the rotating shaft, a lower end of the rotating shaft, a gear mechanism, and a telescopic mechanism. The control panel is installed at the front end of the intermediate structure housing. The upper end and the lower end of the rotating shaft are installed inside the intermediate structure housing. The gear mechanism is installed inside the lower housing of the rotating shaft. The gear mechanism drives the upper housing of the rotating shaft to rotate. The telescopic mechanism is installed inside the upper end of the rotating shaft. The advantage is that it provides a high-degree-of-freedom detection and positioning function.

[0012] Furthermore, the telescopic mechanism includes telescopic section one, telescopic section two, telescopic section three, pulley one, pulley two, and a hydraulic rod. The hydraulic rod body is fixedly connected to the telescopic section one, the lower end of the hydraulic rod housing is fixed in the telescopic section two, pulley one is fixedly connected to the upper end of the hydraulic rod housing, pulley two is fixedly connected to the lower end of the telescopic section two, a flexible rope is connected from the telescopic section one to the outer lower end of the telescopic section three through pulley two, and the telescopic section one is connected by a flexible rope through pulley one. The benefit lies in that the extension and contraction of the telescopic mechanism is controlled by the servo gear, and multiple telescopic sections cooperate to realize the detection of the test environment at different heights.

[0013] Furthermore, the upper tray mechanism includes a top tray assembly, a sliding tray, a magnetic assembly and a propulsion mechanism. The sliding tray has racks on both sides of the sliding grooves that mesh with the gear racks of the top tray assembly. The magnetic assembly is fixedly connected to the top tray assembly. The propulsion mechanism is installed in the inner groove of the top tray assembly. Its benefit lies in that it provides the function of carrying a separate wall-climbing detection trolley.

[0014] Furthermore, the detachable wall-climbing detection vehicle includes a track wheel travel unit, a negative pressure mechanism, a magnetic mechanism, an electric telescopic camera mechanism, a fixed plate, a temperature sensor, a data chip, a searchlight, an upper base plate, and a detection vehicle shell. The fixed plate and the data chip are respectively fixedly connected to the upper base plate of the detection vehicle, the temperature sensor is welded on the fixed plate, the searchlight clamp is fixed to the circular hole at the front end of the detection vehicle shell, the track wheel travel unit is centrally symmetrically installed around the upper base plate and fixedly connected to the detection vehicle shell, the negative pressure mechanism is fixedly connected to the upper base plate, the magnetic mechanism is fixedly connected to the upper base plate, and the electric telescopic camera is symmetrically installed on both sides of the detachable wall-climbing detection vehicle and fixedly connected to the detection vehicle shell.

[0015] Furthermore, the track wheel travel unit includes a synchronous track wheel, a stepper motor, an upper base plate, and a detection trolley housing. The bottom of the stepper motor is fixedly connected to the upper base plate, and the stepper motor has a rotating rod on one side fixedly connected to the detection trolley housing. The synchronous track wheel is fixed to the stepper motor through a rotating connection. The motor drives the driving wheel to rotate, and the driving wheel drives the two driven wheels to rotate through the track. The benefit is that it provides wall-climbing power for the separate wall-climbing detection trolley, and the track enhances the friction effect between the robot and the wall, thereby improving its operating safety.

[0016] The beneficial effects of the utility model are:

[0017] 1. The robot of the present utility model adopts an innovative split design, which ingeniously endows the robot with higher terrain adaptability. In complex environments such as steep slopes and steps, traditional robots may face problems of limited movement, but the robot of the present utility model can flexibly conduct inspection work in these environments through its unique structural design. This design not only improves the working efficiency of the robot in complex terrains, but also expands its application scope. For example, in power plants, the robot can enter extreme environments such as high temperature and high pressure to conduct equipment inspection and maintenance.

[0018] 2. The robot of the present utility model also has the function of climbing walls. When operating at high altitudes or in dangerous areas, the upper split detection trolley drives out of the slideway. The trolley relies on the magnetic adsorption device carried by itself to adsorb on the wall surface to inspect the wall surface conditions, effectively reducing the risk of personnel operation. This function is crucial for tasks that require working at high altitudes or entering dangerous areas for inspection. In buildings, the robot enters areas that are difficult for humans to reach, such as high-rise exterior walls and roofs, for safety inspections and cleaning work. In oil and gas pipeline systems, the robot can conduct pipeline inspections to timely detect problems such as pipeline damage and corrosion, ensuring the safe operation of the pipelines.

[0019] 3. The robot of the present utility model has highly intelligent functions and has the ability of remote control and autonomous navigation, thus greatly improving the efficiency of inspection tasks. Through remote control, operators can easily control the robot to complete various tasks without having to be on-site, greatly reducing labor costs and time consumption. The autonomous navigation ability of the robot enables it to autonomously plan the optimal path, avoid obstacles, and quickly and accurately complete inspection tasks. This intelligent design not only improves work efficiency, but also reduces operation risks and enhances work safety, bringing a more convenient and efficient user experience to users.

[0020] 4. The design of the robot of the present utility model is more modular, which means that each component of the robot can operate independently or be quickly replaced. Such a design makes the maintenance and repair work of the robot simpler and greatly reduces the overall maintenance cost. In the long run, this modular design will bring significant economic benefits to users. Description of the Drawings

[0021] Figure 1 is the overall structural schematic diagram of the present utility model;

[0022] Figure 2 is the external structural schematic diagram of the bottom traveling unit of the present utility model;

[0023] Figure 3 is the internal structural schematic diagram of the bottom traveling unit of the present utility model;

[0024] Figure 4 Schematic diagram of the bottom deformation wheel structure of the present utility model;

[0025] Figure 5 Schematic diagram of the bottom deformation wheel of the present utility model after deformation;

[0026] Figure 6 Schematic diagram of the power suspension unit structure of the present utility model;

[0027] Figure 7 Schematic diagram of the regulation mechanism structure of the present utility model;

[0028] Figure 8 Schematic diagram of the rotary telescopic unit structure of the present utility model;

[0029] Figure 9 Schematic diagram of the rotating shaft mechanism structure of the present utility model;

[0030] Figure 10 Schematic diagram of the lower end structure of the rotating shaft mechanism of the present utility model;

[0031] Figure 11 Schematic diagram of the telescopic mechanism structure of the present utility model;

[0032] Figure 12 Schematic diagram of the upper tray mechanism structure of the present utility model;

[0033] Figure 13 Schematic diagram of the separated wall-climbing detection trolley structure of the present utility model;

[0034] Figure 14 Schematic diagram of the appearance of the separated wall-climbing detection trolley of the present utility model;

[0035] Legend:

[0036] 1 - Bottom traveling unit; 2 - Rotary telescopic unit; 3 - Upper tray mechanism; 4 - Separable wall - climbing detection trolley; 5 - Protection mechanism; 6 - Base housing; 7 - Lower base plate; 8 - Power suspension unit; 9 - Bottom deformation wheel unit; 10 - Distribution board assembly; 11 - Wheel mechanism; 12 - Gear and sprocket; 13 - Control servo; 14 - Swing rod; 15 - Motor bracket; 16 - Motor; 17 - Drive bracket; 18 - Regulation mechanism; 19 - Electrical sensor; 20 - Nylon rod; 21 - Spacer sleeve; 22 - Guide rod; 23 - Pressure spring; 24 - Connecting rod; 25 - Reinforcing rib; 26 - Intermediate structure housing; 27 - Control panel; 28 - Upper end of the rotating shaft; 29 - Lower end of the rotating shaft; 30 - Gear mechanism; 31 - Telescopic mechanism; 32 - First telescopic section; 33 - Second telescopic section; 34 - Third telescopic section; 35 - Pulley 1; 36 - Pulley 2; 37 - Hydraulic rod; 38 - Top tray assembly; 39 - Sliding tray; 40 - Propulsion mechanism; 41 - Crawler wheel traveling unit; 42 - Negative pressure mechanism; 43 - Stepper motor; 44 - Suction cup; 45 - Partition board; 46 - Magnetic attraction mechanism; 47 - Control servo; 48 - Telescopic push rod; 49 - High - definition camera; 50 - Fixed plate; 51 - Temperature sensor; 52 - Data chip; 53 - Searchlight; 54 - Upper base plate; 55 - Detection trolley housing; 56 - Rack; 57 - Negative pressure fan; 58 - Electromagnet; 59 - Synchronous crawler; 60 - Electric telescopic camera mechanism. Detailed implementation mode

[0037] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0038] In the description of the present invention, it should be noted that if terms such as "upper", "lower", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the present invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present invention.

[0039] The wall - climbing separable adaptive inspection robot of the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0040] As Figure 1As shown in the figure, the wall-climbing separable adaptive inspection robot includes a bottom traveling unit 1, a rotary telescopic unit 2, an upper tray mechanism 3, and a separable wall-climbing detection trolley 4. The bottom traveling unit 1 is fixedly connected to the rotary telescopic unit 2 by bolts. The rotary telescopic unit 2 is connected to the upper tray mechanism 3 through a rotating shaft. The separable wall-climbing detection trolley 4 is installed inside the upper tray mechanism 3. The storage battery is installed in the rear cabin of the rotary telescopic unit 2. The storage battery cable is connected to the separable wall-climbing detection trolley 4. When the separable wall-climbing detection trolley 4 is performing wall-climbing operations, the storage battery provides power support for it alone.

[0041] As Figures 2 to 3 shown in the figure, the bottom traveling unit 1 includes a protection mechanism 5, a base housing 6, a lower bottom plate 7, a power suspension unit 8, a bottom deformation wheel unit 9, and a distribution board assembly 10. The protection mechanism 5 is fixedly connected to the base housing 6. The base housing 6 is fixedly connected to the lower bottom plate 7. The distribution board assembly 10 is fixedly connected to the lower bottom plate 7. The power suspension units 8 are symmetrically installed on both sides of the distribution board assembly 10 and fixedly connected to the lower bottom plate 7. The power suspension units 8 are fixedly connected to the base housing 6 by bolts. The bottom deformation wheel units 9 are installed on both sides of the power suspension units 8.

[0042] As Figure 4 shown in the figure, the bottom deformation wheel unit 9 includes a wheel mechanism 11, a gear and sprocket 12, and a control servo 13. The gear and sprocket 12 is fixed to the wheel mechanism 11. The control servo 13 is engaged with the gear and sprocket 12 through gears. The motor drives the middle main gear to rotate. The main gear drives three driven gears, and the wheel mechanisms 11 fixed to the driven gears rotate. The deformation and expansion of the bottom deformation wheel unit 9 can drive the robot to cross rugged sections such as steps and steep slopes.

[0043] As Figure 5 shown in the figure, the power suspension unit 8 includes a swing rod 14, a motor bracket 15, a motor 16, a drive bracket 17, and a regulation mechanism 18. The motor 16 is installed inside the motor bracket 15. The swing rod 14 is fixedly connected to the drive bracket 17 by bolts. The regulation mechanism 18 is installed inside the drive bracket 17.

[0044] As Figure 6 shown in the figure, the regulation mechanism 18 includes an electrical sensor 19, a nylon rod 20, a spacer sleeve 21, a guide rod 22, a compression spring 23, a connecting rod 24, and a reinforcing rib 25. The nylon rods 20 are installed at the four corners of the electrical sensor 19. The compression spring 23 is installed on the guide rod 22. The guide rod 22 is installed on both sides of the spacer sleeve 21 and the connecting rod 24. The spacer sleeve 21 and the connecting rod 24 are fixedly connected to the drive bracket 17 and the swing rod 14 by bolts. The reinforcing rib 25 is installed inside the drive bracket 17. The regulation mechanism 18 controls the expansion and contraction of the compression spring 23 to drive the swing rod 14 to rotate around a fixed axis, and the swing rod 14 drives the motor bracket 15 and the motor 16 to move longitudinally.

[0045] AsFigures 7 to 9 As shown in the figure, the rotary telescopic unit includes an intermediate structure housing 26, a control panel 27, an upper end of a rotating shaft 28, a lower end of a rotating shaft 29, a gear mechanism 30 and a telescopic mechanism 31. The control panel 27 is installed at the front end of the intermediate structure housing 26. The upper end 28 and the lower end 29 of the rotating shaft are installed inside the intermediate structure housing 26. The gear mechanism 30 is installed inside the lower housing of the rotating shaft. The gear mechanism 30 drives the upper housing of the rotating shaft to rotate. The telescopic mechanism 31 is installed inside the upper end 28 of the rotating shaft.

[0046] As Figure 10 As shown in the figure, the telescopic mechanism 31 includes a first telescopic section 32, a second telescopic section 33, a third telescopic section 34, a first pulley 35, a second pulley 36 and a hydraulic rod 37. The main body of the hydraulic rod 37 is fixedly connected to the first telescopic section 32. The lower end of the outer shell of the hydraulic rod 37 is fixed inside the second telescopic section 33. The first pulley 35 is fixedly connected to the upper end of the outer shell of the hydraulic rod 37. The second pulley 36 is fixedly connected to the lower end of the second telescopic section 33. A flexible rope connects the outside lower end of the third telescopic section 34 from the first telescopic section 32 through the second pulley 36. The flexible rope connects the third telescopic section 34 from the first telescopic section 32 through the first pulley 35. When the hydraulic rod 37 moves vertically, the first pulley 35 fixedly connected to the upper end of the hydraulic rod 37 also moves vertically. The flexible rope fixedly connected thereto drives the second telescopic section 33 to move vertically. The vertical movement of the second telescopic section 33 drives the flexible rope fixedly connected to the lower end. The flexible rope drives the first telescopic section 32 to move vertically, thereby realizing the extension and contraction of the telescopic arm.

[0047] As Figure 11 As shown in the figure, the upper tray mechanism 3 includes a top tray assembly 38, a sliding tray 39, a magnetic attraction mechanism 46 and a propulsion mechanism 40. Rack teeth are provided in the sliding grooves on both sides inside the sliding tray 39 and are engaged with the gear rack of the top tray assembly 38. The magnetic attraction mechanism 46 is fixedly connected to the top tray assembly 38. The propulsion mechanism 40 is installed in the inner groove of the top tray assembly 38. The built-in motor of the top tray assembly 38 drives the gear to rotate. The sliding tray 39 slides outwards from the stationary state, providing a slideway for the separable wall-climbing detection trolley 4 to drive out of the upper tray mechanism 3. The propulsion mechanism 40 relies on the adsorption of an electromagnet to contract at the rear end of the top tray assembly 38. When the contraction is released, it propels the separable wall-climbing detection trolley 4 to drive out of the upper tray mechanism 3.

[0048] As Figure 12As shown in the figure, the separable wall-climbing detection trolley includes a crawler wheel traveling unit 41, a negative pressure mechanism 42, a magnetic attraction mechanism 46, a telescopic push rod 48, a fixing plate 50, a temperature sensor 51, a data chip 52, a searchlight 53, an upper bottom plate 54, and a detection trolley housing 55. The fixing plate 50 and the data chip 52 are respectively fixedly connected to the upper bottom plate 54 of the detection trolley. The temperature sensor 51 is welded to the fixing plate 50. The searchlight 53 is recessed and fixed at the front round hole of the detection trolley housing for the night operation of the separable wall-climbing detection trolley 4. The crawler wheel traveling unit 41 is symmetrically installed around the upper bottom plate 54 and fixedly connected to the detection trolley housing 55. The negative pressure mechanism 42 is fixedly connected to the upper bottom plate 54. The magnetic attraction mechanism 46 is fixedly connected to the upper bottom plate 54. The telescopic push rods 48 are symmetrically installed on both sides of the separable wall-climbing detection trolley 4 and fixedly connected to the detection trolley housing 55.

[0049] As Figure 12 shown in the figure, the crawler wheel traveling unit 41 includes a synchronous crawler 59, a stepping motor 43, an upper bottom plate 54, and a detection trolley housing 55. The bottom of the stepping motor 43 is fixedly connected to the upper bottom plate 54. The side of the stepping motor 43 with a rotating rod is fixedly connected to the detection trolley housing 55. The crawler wheel traveling unit 41 is fixedly connected to the stepping motor 43 through a rotating connection. The motor drives the driving wheel to rotate, and the driving wheel drives two driven wheels to rotate through the crawler.

[0050] As Figure 12 shown in the figure, the negative pressure mechanism 42 includes a negative pressure fan 57 and a suction cup 44. The negative pressure fan 57 is fixedly connected to the upper ends of four through holes in the center of the upper bottom plate 54. The suction cup 44 is fixedly connected to the lower ends of four through holes in the center of the bottom plate 45. The negative pressure fan 57 rotates to form a sealed negative pressure between the upper bottom plate 54 and the suction cup 44, providing a downward suction force to enhance the adsorption effect of the robot on the wall surface.

[0051] As Figure 12 shown in the figure, the magnetic attraction mechanism 46 includes a partition plate 45, an electromagnet 58, and an upper bottom plate 54. The partition plate 45 is bolted and fixed to the upper bottom plate 54. The electromagnet 58 is fixedly placed in the central groove of the upper bottom plate 54. The magnetic adsorption device enhances the adsorption effect of the robot on the wall surface through magnetic force.

[0052] As Figure 12 shown in the figure, the electric telescopic camera mechanism 60 includes a control servo 47, a telescopic push rod 48, a high-definition camera 49, and an upper bottom plate 54. One end of the rope push rod 48 is connected to the control servo 47 through gear cooperation on the upper bottom plate 54, and the other end is fixedly connected to the high-definition camera 49. The telescopic push rod 48 pushes the high-definition camera 49 to move vertically upward.

[0053] In the embodiments of the present utility model, the wall-climbing separated adaptive inspection has the ability to walk autonomously and perform tasks under various terrain conditions. Specifically, the robot can automatically adjust the shape and state of the bottom deformable wheel unit according to the terrain conditions to adapt to the environment. For example, when the robot is traveling on mountainous terrain, the bottom deformable wheel unit can adjust the radius of the deformable wheel to enable the robot to better adapt to the mountainous terrain. At the same time, the robot can, according to the task requirements, through the cooperation of the power suspension unit and the rotary telescopic unit, achieve the detection and inspection of environments at different heights.

[0054] In addition, the wall-climbing separated adaptive inspection robot of the present utility model also has strong climbing ability to cope with the steep slopes and vertical gradients in different terrains. The separated wall-climbing detection trolley enables the robot to have good stability and detection ability during the wall-climbing process through the cooperation of the negative pressure mechanism, magnetic adsorption and belt wheels. In practical applications, the robot can select appropriate negative pressure generators, magnetic adsorption devices and belt wheels according to the material and conditions of the wall surface to achieve reliable wall-climbing performance.

[0055] The wall-climbing separated adaptive inspection robot of the present utility model can effectively travel and detect various terrain conditions and walls.

[0056] In practical applications, the robot can adjust the parameters and working states of each part according to the terrain conditions and task requirements to achieve efficient and stable inspection operations.

Claims

1. A separable wall - climbing adaptive inspection robot, characterized in that, It includes a bottom traveling unit (1), a rotating and telescoping unit (2), an upper tray mechanism (3), and a separable wall-climbing detection trolley (4). The bottom traveling unit (1) is fixedly connected to the rotating and telescoping unit (2) by bolts. The rotating and telescoping unit (2) is connected to the upper tray mechanism (3) through a rotating shaft. The separable wall-climbing detection trolley (4) is installed inside the upper tray mechanism (3). The storage battery is installed in the rear cabin of the rotating and telescoping unit (2), and the storage battery cable is connected to the separable wall-climbing detection trolley (4).

2. The separable wall - climbing adaptive inspection robot according to claim 1, characterized in that, The bottom traveling unit (1) includes a protection mechanism (5), a base housing (6), a lower bottom plate (7), a power suspension unit (8), a bottom deformable wheel unit (9), and a distribution board assembly (10). The protection mechanism (5) is fixedly connected to the base housing (6). The base housing (6) is fixedly connected to the lower bottom plate (7). The distribution board assembly (10) is fixedly connected to the lower bottom plate (7). The power suspension units (8) are symmetrically installed on both sides of the distribution board assembly (10) and fixedly connected to the lower bottom plate (7). The power suspension units (8) are fixedly connected to the base housing (6) by bolts. The bottom deformable wheel units (9) are installed on both sides of the power suspension units (8) for convenient disassembly and repair.

3. The separable wall - climbing adaptive inspection robot according to claim 2, characterized in that, The bottom deformable wheel unit (9) includes a wheel mechanism (11), a gear and sprocket (12), and a control servo (13). The gear and sprocket (12) is fixed on the wheel mechanism (11). The control servo (13) is engaged with the gear and sprocket (12) through gears. The motor drives the intermediate gear and sprocket (12) to rotate, and the gear and sprocket (12) drives three driven gears, and the wheel mechanisms (11) fixed to the driven gears rotate to adapt to different environments.

4. The separable wall - climbing adaptive inspection robot according to claim 2, characterized in that, The power suspension unit (8) includes a swing rod (14), a motor bracket (15), a motor (16), a drive bracket (17), and a regulation mechanism (18). The motor (16) is installed inside the motor bracket (15). The swing rod (14) is fixedly connected to the drive bracket (17) by bolts. The regulation mechanism (18) is installed inside the drive bracket (17). The output end of the power suspension unit (8) is rotationally connected to the bottom deformable wheel unit (9) to provide power for its stable operation.

5. The separable wall - climbing adaptive inspection robot according to claim 4, characterized in that, The regulation mechanism (18) includes an electrical sensor (19), a nylon rod (20), a spacer sleeve (21), a guide rod (22), a compression spring (23), a connecting rod (24), and a reinforcing rib (25). The nylon rods (20) are installed at the four corners of the electrical sensor (19). The compression spring (23) is installed on the guide rod (22). The guide rod (22) is installed on both sides of the spacer sleeve (21) and the connecting rod (24). The spacer sleeve (21) and the connecting rod (24) are fixedly connected to the drive bracket (17) and the swing rod (14) by bolts. The reinforcing rib (25) is installed inside the drive bracket (17) to provide the longitudinal adjustment ability of the bottom deformable wheel unit (9) to adapt to different terrains.

6. The separable wall - climbing adaptive inspection robot according to claim 1, characterized in that, The rotating telescopic unit (2) comprises an intermediate structure housing (26), a control panel (27), an upper end of a rotating shaft (28), a lower end of a rotating shaft (29), a gear mechanism (30) and a telescopic mechanism (31); the control panel (27) is mounted at the front end of the intermediate structure housing (26); the upper end of the rotating shaft (28) and the lower end of the rotating shaft (29) are mounted in the intermediate structure housing (26); the gear mechanism (30) is mounted in the lower housing of the rotating shaft; the gear mechanism (30) drives the upper housing of the rotating shaft to rotate; the telescopic mechanism (31) is mounted inside the upper end of the rotating shaft (28), thereby providing a high degree of freedom detection and positioning function.

7. The separable wall - climbing adaptive inspection robot according to claim 6, characterized in that, The telescopic mechanism (31) comprises a telescopic section 1 (32), a telescopic section 2 (33), a telescopic section 3 (34), a pulley 1 (35), a pulley 2 (36), and a hydraulic rod (37). The main body of the hydraulic rod (37) is fixedly connected to the telescopic section 1 (32). The lower end of the outer shell of the hydraulic rod (37) is fixed in the telescopic section 2 (33). The pulley 1 (35) is fixedly connected to the upper end of the outer shell of the hydraulic rod (37). The pulley 2 (36) is fixedly connected to the lower end of the telescopic section 2 (33). A flexible rope is connected from the telescopic section 1 (32) to the lower end of the outer part of the telescopic section 3 (34) through the pulley 2 (36). The telescopic section 1 (32) is connected by a flexible rope through the pulley 1 (35). The multiple telescopic sections cooperate to realize the detection of environments to be tested at different heights.

8. The separable wall - climbing adaptive inspection robot according to claim 1, characterized in that, The upper tray mechanism (3) comprises a top tray assembly (38), a sliding tray (39), a magnetic attraction mechanism (46) and a propulsion mechanism (40); the sliding tray (39) has two side grooves provided with racks (56) meshing with the gears of the top tray assembly (38); the magnetic attraction mechanism (46) is fixedly connected to the top tray assembly (38); the propulsion mechanism (40) is installed in the inner groove of the top tray assembly (38), providing the function of carrying a separate wall-climbing detection trolley.

9. The separable wall - climbing adaptive inspection robot according to claim 1, characterized in that, The detachable wall climbing detection vehicle (4) comprises a track wheel travel unit (41), a negative pressure mechanism (42), a magnetic attraction mechanism (46), a telescopic push rod (48), a fixing plate (50), a temperature sensor (51), a data chip (52), a searchlight (53), an upper bottom plate (54), and a detection vehicle shell (55). The fixing plate (50) and the data chip (52) are respectively fixedly connected to the upper bottom plate (54) of the detection vehicle. The temperature sensor (51) is welded to the fixing plate (5 0), the searchlight (53) is fixed to the front circular hole of the detection vehicle housing (55), the synchronous crawler (59) is centrally symmetrically installed around the upper base plate (54) and fixedly connected to the detection vehicle housing (55), the negative pressure mechanism (42) is fixedly connected to the upper base plate (54), the magnetic attraction mechanism (46) is fixedly connected to the upper base plate (54), and the electric telescopic camera (60) is symmetrically installed on both sides of the separated wall climbing detection vehicle (4) and fixedly connected to the detection vehicle housing (55).

10. The separable wall - climbing adaptive inspection robot according to claim 9, characterized in that, The crawler wheel traveling unit (41) includes a synchronous crawler belt (59), a stepping motor (43), an upper bottom plate (54), and a detection trolley housing (55). The bottom of the stepping motor (43) is fixedly connected to the upper bottom plate (54), and the side of the stepping motor (43) with a rotating rod is fixedly connected to the detection trolley housing (55). The crawler wheel traveling unit (41) is fixedly connected to the stepping motor (43) through a rotating connection. The motor drives the driving wheel to rotate, and the driving wheel drives two driven wheels to rotate through the crawler belt, providing the wall-climbing power for the separable wall-climbing detection trolley (4). The crawler belt enhances the friction effect between the robot and the wall, improving its running safety.

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