Obstacle crossing mechanism and magnetic climbing robot

Abstract

The utility model discloses an obstacle crossing mechanism and magnetic climbing robot relates to robot technical field, obstacle crossing mechanism includes engine base, be provided the magnetic attraction front wheel and jacking subassembly of engine base front portion, the magnetic attraction front wheel includes be provided the support of engine base, be rotatingly provided the magnetic attraction wheel set of support and two rubber wheel, the two rubber wheel is spaced apart arrangement, and the jacking subassembly is provided with the magnetic attraction wheel set and the two rubber wheel. The magnetic attraction wheel set is arranged between the two rubber wheels, the jacking assembly and the magnetic attraction front wheel are correspondingly arranged, and the jacking assembly comprises a driving part, a transmission structure and an abutting part; the driving part can drive the abutting part to move in the direction close to the to-be-adsorbed surface through the transmission structure, so that the abutting part abuts against the to-be-adsorbed surface and applies pressure to the to-be-adsorbed surface, and then the magnetic attraction wheel set is lifted. According to the technical scheme provided by the utility model, the technical problem of poor obstacle crossing ability of the magnetic climbing robot can be solved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to an obstacle-crossing mechanism and a magnetic climbing robot. Background Technology

[0002] A magnetic climbing robot is an intelligent device that uses magnetic attraction to move on vertical or inclined surfaces. It attaches to the surface using magnetic attraction and can move along it, enabling tasks such as industrial inspection and construction surveying. However, traditional magnetic climbing robots cannot cross obstacles with significant protrusions, exhibiting poor obstacle-crossing capabilities.

[0003] Therefore, it is necessary to provide a new obstacle-crossing mechanism and magnetic climbing robot to solve the above-mentioned technical problems. Utility Model Content

[0004] The main purpose of this invention is to provide an obstacle-crossing mechanism and a magnetic climbing robot, aiming to solve the technical problem of poor obstacle-crossing ability of magnetic climbing robots.

[0005] To achieve the above objectives, this utility model proposes an obstacle-crossing mechanism for use in a magnetic climbing robot, the obstacle-crossing mechanism comprising:

[0006] Base;

[0007] A magnetic front wheel is provided at the front of the base. The magnetic front wheel includes a bracket, a magnetic wheel assembly, and two rubber wheels. The bracket is provided on the base. The magnetic wheel assembly and the two rubber wheels are rotatably mounted on the bracket. The two rubber wheels are spaced apart along the central axis of the axis. The magnetic wheel assembly is provided between the two rubber wheels.

[0008] A lifting assembly is disposed at the front of the base and corresponding to the magnetic front wheels. The lifting assembly includes a driving component, a transmission structure, and an abutment component. The driving component is disposed on the base, the transmission structure is movably disposed on the base and connected to the driving component, and the abutment component is disposed on the transmission structure. The driving component can drive the abutment component to move towards the surface to be attracted through the transmission structure, so that the abutment component abuts against the surface to be attracted and applies pressure to the surface to be attracted, thereby lifting the magnetic wheel assembly.

[0009] In one embodiment, the base is provided with a guide block, and the guide block is provided with a guide hole extending along the height direction of the base;

[0010] The transmission structure includes a guide unit and a mounting block. The guide unit is slidably disposed in the guide hole and connects the drive member and the mounting block. The abutment member is disposed on the mounting block.

[0011] In one embodiment, the guiding unit includes a guide sleeve, a guide rod, and an elastic element. The guide sleeve is slidably inserted through the guide hole and connected to the driving element. One end of the guide rod is slidably inserted through the guide sleeve, and the other end extends out of the guide sleeve and is connected to the mounting block. The elastic element is disposed between the guide sleeve and the mounting block and is used to drive the mounting block to move away from the guide sleeve.

[0012] In one embodiment, a first limiting block is provided on the inner side of the guide sleeve near the mounting block, and a second limiting block is provided on the end of the guide rod that passes through the guide sleeve, wherein the first limiting block can abut against the second limiting block.

[0013] In one embodiment, the abutment is a roller, which is rotatably disposed on the mounting block.

[0014] In one embodiment, the base is provided with a slide rail extending along the height direction of the base, the transmission structure includes a connecting rod and a slider disposed on the connecting rod, the connecting rod connects the driving member and the abutment block, and the slider is slidably disposed on the slide rail.

[0015] In one embodiment, the magnetic wheel assembly includes a magnetic wheel and a plurality of armatures, the plurality of armatures being spaced apart along the central axis of the rotating shaft, and at least one magnetic wheel being disposed between any two adjacent armatures.

[0016] In one embodiment, the diameter of the magnetic pulley assembly is defined as a, and the diameter of the rubber wheel is defined as b; then a < b.

[0017] In one embodiment, there are two magnetic front wheels, which are spaced apart along the left and right direction of the base, and the lifting assembly is disposed between the two magnetic front wheels.

[0018] In addition, this utility model also proposes a magnetic climbing robot, comprising:

[0019] The obstacle-crossing mechanism described above;

[0020] A drive unit is disposed on the base and is used to drive the magnetic front wheel to rotate;

[0021] A magnetic tail wheel is located at the tail of the machine base.

[0022] The technical solution of this utility model reduces the resistance that the magnetic climbing robot needs to overcome when traversing obstacles by using a lifting component to lift the magnetic roller assembly during the robot's movement, thereby improving the robot's obstacle-crossing ability. In this embodiment, the magnetic roller assembly provides a magnetic attraction force to attract the front magnetic roller to the surface to be attracted, thus attracting the magnetic climbing robot to the surface. The rubber wheels provide support; as the magnetic climbing robot moves, the rubber wheels roll on the surface to be attracted, reducing friction and minimizing indentations left by the robot on the surface. The base serves as a mounting base for mounting the magnetic front roller, lifting component, and other components. The lifting component includes a drive member mounted on the base, a transmission structure movably mounted on the base and driven by the drive member, and an abutment member mounted on the transmission structure. The transmission structure transmits the power output by the drive member. Specifically, the driving component drives the contacting component to move through the transmission structure, causing the contacting component to come into contact with the surface to be adsorbed and apply pressure to the surface. This, in turn, drives the magnetic roller assembly to move away from the surface until the rubber wheels switch from a compressed state to a normal state. This increases the distance between the magnetic roller assembly and the surface, reduces the magnetic attraction between them, and consequently reduces the resistance the magnetic climbing robot needs to overcome when traversing obstacles, lowering the difficulty of obstacle traversal and improving its obstacle-crossing ability. This obstacle-crossing mechanism is applied in the fields of magnetic climbing robots and wall-climbing robots. In addition, it can also be applied to other work equipment that needs to adhere to inclined or vertical surfaces for inspection, surveying, and other operations. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0024] Figure 1 A schematic diagram of the structure of a magnetic climbing robot in one embodiment of the present invention;

[0025] Figure 2 A schematic diagram of the lifting assembly in one embodiment of this utility model;

[0026] Figure 3 A cross-sectional view of the lifting assembly and its connection with the base in one embodiment of this utility model;

[0027] Figure 4A schematic diagram of the magnetic chuck assembly in one embodiment of this utility model.

[0028] Explanation of icon numbers:

[0029] 100. Base; 110. Guide block; 111. Guide hole; 200. Magnetic front wheel; 210. Bracket; 220. Magnetic wheel assembly; 221. Magnetic wheel; 222. Armature; 230. Rubber wheel; 300. Lifting assembly; 310. Drive component; 320. Transmission structure; 321. Guide unit; 3211. Guide sleeve; 3212. Guide rod; 3213. Elastic component; 3214. First limit block; 3215. Second limit block; 322. Mounting block; 330. Abutment component; 331. Roller; 400. Magnetic tail wheel.

[0030] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0033] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously.

[0034] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0035] Magnetic climbing robots are intelligent devices that use magnetic attraction to move on vertical or inclined surfaces. They attach to surfaces using magnetic attraction and can move across them for tasks such as industrial inspection and construction surveying. These surfaces can include those of ships, steel towers, wind turbine towers, and oil storage tanks. However, in practical applications, researchers have found that these surfaces often have obstacles formed by welds or stiffeners. Magnetic climbing robots typically can only overcome obstacles with low protrusions, not those with higher protrusions. In other words, their obstacle-crossing ability is poor. For example, due to the limited diameter of their wheels, they can usually only overcome obstacles with a protrusion height of less than 15mm, and cannot overcome obstacles with a protrusion height of more than 15mm, or even 20mm or more.

[0036] This utility model proposes an obstacle-crossing mechanism and a magnetic climbing robot, aiming to solve the technical problem of poor obstacle-crossing ability of magnetic climbing robots.

[0037] Please see Figure 1 In one embodiment of this utility model, an obstacle-crossing mechanism is applied to a magnetic climbing robot. The obstacle-crossing mechanism includes a base 100, a magnetic front wheel 200, and a lifting assembly 300. The magnetic front wheel 200 is located at the front of the base 100 and includes a bracket 210, a magnetic wheel assembly 220, and two rubber wheels 230. The bracket 210 is located on the base 100. The magnetic wheel assembly 220 and the two rubber wheels 230 are rotatably mounted on the bracket 210. The two rubber wheels 230 are spaced apart along the central axis of the rotating shaft. The magnetic wheel assembly 220 is located between the two rubber wheels 230. The lifting assembly... The lifting assembly 300 is located at the front of the base 100 and corresponds to the magnetic front wheel 200. The lifting assembly 300 includes a drive component 310, a transmission structure 320, and an abutment component 330. The drive component 310 is located on the base 100, the transmission structure 320 is movably located on the base 100 and connected to the drive component 310, and the abutment component 330 is located on the transmission structure 320. The drive component 310 can drive the abutment component 330 to move towards the surface to be attracted via the transmission structure 320, so that the abutment component 330 abuts against the surface to be attracted and applies pressure to the surface, thereby lifting the magnetic wheel assembly 220. The drive component 310 can be a drive cylinder.

[0038] The technical solution of this utility model reduces the resistance that the magnetic climbing robot needs to overcome when traversing obstacles by using the lifting component 300 to lift the magnetic wheel assembly 220 during the movement of the magnetic climbing robot, thereby improving the obstacle-crossing ability of the magnetic climbing robot. In this embodiment, the magnetic wheel assembly 220 provides a magnetic attraction force to attract the magnetic front wheel 200 to the surface to be attracted, and thus attract the magnetic climbing robot to the surface to be attracted. The rubber wheel 230 provides support. When the magnetic climbing robot moves, the rubber wheel 230 rolls on the surface to be attracted, which can reduce the friction of the magnetic climbing robot during movement, and the use of the rubber wheel to support the magnetic climbing robot can reduce the indentations left by the magnetic climbing robot when moving on the surface to be attracted. The base 100 serves as a mounting base for mounting components such as the magnetic front wheel 200 and the lifting component 300. The lifting assembly 300 includes a drive member 310 disposed on the base 100, a transmission structure 320 movably disposed on the base 100 and driven by the drive member 310, and an abutment member 330 disposed on the transmission structure 320. The transmission structure 320 is used to transmit the power output by the drive member 310. Specifically, the drive member 310 can drive the abutment member 330 to move through the transmission structure 320, so that the abutment member 330 abuts against the surface to be adsorbed and applies pressure to the surface to be adsorbed, thereby driving the magnetic roller assembly 220 to move away from the surface to be adsorbed until the rubber wheel 230 switches from a compressed state to a normal state. This increases the distance between the magnetic roller assembly 220 and the surface to be adsorbed, reduces the magnetic attraction between the magnetic roller assembly 220 and the surface to be adsorbed, thereby reducing the resistance that the magnetic climbing robot needs to overcome when climbing over obstacles, reducing the difficulty of the magnetic climbing robot climbing over obstacles, and improving the obstacle-crossing ability of the magnetic climbing robot. This obstacle-crossing mechanism is applied in the fields of magnetic climbing robots, wall climbing robots, etc. In addition, it can also be applied to other work equipment that needs to be attached to inclined or vertical surfaces for inspection, surveying and other operations.

[0039] It should be noted that when the magnetic climbing robot adheres to the surface to be adhered to, the rubber wheel 230 is compressed due to the magnetic attraction provided by the magnetic wheel assembly 220. The purpose of the lifting component 300 is to raise the magnetic wheel assembly 220, increasing the distance between the magnetic wheel assembly 220 and the surface to be adhered to, reducing the magnetic attraction, and thus reducing the resistance that the magnetic climbing robot needs to overcome when traversing obstacles; rather, it is not to lift the rubber wheel 230. In other words, when the lifting component 300 raises the magnetic wheel assembly 220, the rubber wheel 230 remains in contact with the surface to be adhered to, and the magnetic climbing robot can still move on the surface to be adhered to.

[0040] Please see Figure 1 and Figure 3In one embodiment of this utility model, the base 100 is provided with a guide block 110, and the guide block 110 is provided with a guide hole 111 extending along the height direction of the base 100; the transmission structure 320 includes a guide unit 321 and a mounting block 322, the guide unit 321 is slidably disposed in the guide hole 111 and connects the driving member 310 and the mounting block 322, and the abutment member 330 is disposed on the mounting block 322. Specifically, by slidably distributing the guide unit 321 through the guide hole 111, the movement of the abutment member 330 can be guided, thereby improving the stability of the driving member 310 when driving the abutment member 330 to move. In this embodiment, the driving member 310 drives the abutment member 330 to move along the height direction of the base 100 through the guide unit 321 and the mounting block 322, so as to lift the magnetic roller assembly 220.

[0041] Please see Figure 2 and Figure 3 In one embodiment of this utility model, the guiding unit 321 includes a guide sleeve 3211, a guide rod 3212, and an elastic element 3213. The guide sleeve 3211 slidably passes through the guide hole 111 and is connected to the driving member 310. One end of the guide rod 3212 slidably passes through the guide sleeve 3211, and the other end extends out of the guide sleeve 3211 and is connected to the mounting block 322. The elastic element 3213 is disposed between the guide sleeve 3211 and the mounting block 322 and is used to drive the mounting block 322 to move away from the guide sleeve 3211. In this embodiment, the elastic element 3213 disposed between the guide sleeve 3211 and the mounting block 322 can provide a buffer for the abutting member 330 when it comes into contact with the surface to be adsorbed. On the one hand, it reduces the possibility of damage to the abutting member 330 due to collision, and on the other hand, it reduces the impact force generated when the abutting member 330 comes into contact with the surface to be adsorbed, thus better protecting the surface to be adsorbed. In one specific embodiment, the elastic element 3213 may be a helical spring or a compression spring.

[0042] Please see Figure 3In one embodiment of this utility model, a first limiting block 3214 is provided on the inner side of the guide sleeve 3211 near the mounting block 322, and a second limiting block 3215 is provided on the end of the guide rod 3212 that passes through the guide sleeve 3211. The first limiting block 3214 can abut against the second limiting block 3215. In this embodiment, by providing the first limiting block 3214 and the second limiting block 3215 that can abut against each other, when the driving member 310 lifts the abutting member 330, that is, when the driving member 310 drives the abutting member 330 to move away from the surface to be adsorbed and separates the abutting member 330 from the surface to be adsorbed, the guide rod 3212 is prevented from sliding out of the guide sleeve 3211, thereby preventing the abutting member 330 from falling off. In one specific embodiment, both the first limiting block 3214 and the second limiting block 3215 are ring-shaped structures; or, one of the first limiting block 3214 and the second limiting block 3215 is ring-shaped and the other is a square block.

[0043] Please see Figure 2 and Figure 3 In one embodiment of this utility model, the abutment 330 is a roller 331, which is rotatably mounted on the mounting block 322. In this embodiment, by setting the abutment 330 as a roller 331, damage to the surface to be adsorbed by the abutment 330 can be prevented. Specifically, when the magnetic climbing robot is about to reach the obstacle, the drive member 310 can first drive the roller 331 to move towards the surface to be adsorbed until the roller 331 abuts against the surface to be adsorbed and rolls on the surface to be adsorbed; when the magnetic front wheel 200 abuts against the obstacle, the drive member 310 drives the roller 331 to move and apply pressure to the surface to be adsorbed, raising the magnetic wheel assembly 220. That is to say, when the magnetic climbing robot needs to cross an obstacle, the abutment 330 can be lowered in advance to shorten the time required for the magnetic climbing robot to cross the obstacle and improve the obstacle crossing efficiency. In one specific embodiment, in order to reduce the indentations left by the roller 331 when it slides on the surface to be adsorbed, the roller can be made of rubber material or its outer circumference can be wrapped with rubber material.

[0044] In another embodiment of this utility model, the base 100 is provided with a slide rail extending along the height direction of the base 100. The transmission structure 320 includes a connecting rod and a slider disposed on the connecting rod. The connecting rod connects the driving member 310 and the abutment block, and the slider is slidably disposed on the slide rail. Specifically, the connection between the slide rail and the slider provides guidance for the movement of the abutment member 330, which can improve the stability of the abutment member 330 during movement. It should be noted that in this embodiment, the abutment member 330 is a roller 331, which is rotatably disposed on the mounting block 322; its effective effect is the same as the effective effect of the roller 331 described above, and will not be repeated here.

[0045] Please see Figure 4In one embodiment of this utility model, the magnetic chuck assembly 220 includes a magnetic wheel 221 and a plurality of armatures 222. The plurality of armatures 222 are spaced apart along the central axis of the rotating shaft, and at least one magnetic wheel 221 is provided between any two adjacent armatures 222. In this embodiment, the magnetic wheel 221 is used to provide a magnetic attraction force to attract the magnetic front wheel 200 to the surface to be attracted, thereby allowing the magnetic climbing robot to be attracted to the surface to be attracted. The armatures 222 can increase the magnetic attraction force provided by the magnetic chuck, thereby increasing the magnetic attraction force of the magnetic front wheel 200, and more firmly attracting the magnetic climbing robot to the surface to be attracted. In a specific embodiment, the number of armatures 222 is three, and the three armatures 222 are spaced apart along the central axis of the rotating shaft, and a magnetic wheel 221 is provided between any two adjacent armatures 222.

[0046] Please see Figure 1 In one embodiment of this utility model, there are two magnetic front wheels 200, which are spaced apart along the left and right sides of the base 100. The lifting assembly 300 is disposed between the two magnetic front wheels 200. In this embodiment, the lifting assembly 300 is disposed between the two magnetic front wheels 200, that is, in the middle area of ​​the front of the base 100. This arrangement can make the position of the magnetic climbing robot more stable when the magnetic front wheels 200 are lifted, and reduce the possibility of the magnetic climbing robot tilting when the lifting assembly 300 lifts the magnetic wheel assembly 220.

[0047] In one embodiment of this utility model, the diameter of the magnetic roller assembly 220 is defined as 'a', and the diameter of the rubber wheel 230 is defined as 'b'; therefore, a < b. The base 100 is provided with a scraper block positioned corresponding to the magnetic roller assembly 220. Specifically, by designing the diameter of the magnetic roller assembly 220 to be smaller than the diameter of the rubber wheel 230, direct contact between the magnetic roller assembly 220 and the surface to be adhered to is avoided when the magnetic climbing robot adheres to the surface, reducing the risk of damage to the magnetic roller assembly 220 due to impact. The scraper block positioned on the base 100 corresponding to the magnetic roller assembly 220 can clean iron slag and iron filings adhering to the outer circumference of the magnetic roller assembly 220, thereby reducing the risk of the magnetic climbing robot falling due to insufficient adhesion. In one specific embodiment, there is an isolation gap between the scraper and the outer circumferential surface of the magnetic roller assembly 220, and the size of the isolation gap along the radial direction of the magnetic roller assembly 220 is limited to 1-1.5mm. On the one hand, this can ensure the cleaning effect of the scraper when cleaning the rust and iron filings attached to the outer circumferential surface of the magnetic roller assembly 220, and on the other hand, it can prevent the scraper from contacting the magnetic roller assembly 220, thereby preventing damage to the magnetic roller assembly 220.

[0048] This utility model also proposes a magnetic climbing robot, which includes the obstacle-crossing mechanism described above. The specific structure of the obstacle-crossing mechanism is as described in the above embodiments. Since the magnetic climbing robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0049] Specifically, the magnetic climbing robot also includes a drive unit and a magnetic tail wheel 400. The drive unit is mounted on the base 100 and drives the magnetic front wheel 200 to rotate. The magnetic tail wheel 400 is located at the tail of the base 100. The drive unit can be a drive motor. The drive unit drives the magnetic front wheel 221 to rotate via a transmission mechanism, thereby providing power for the magnetic climbing robot's movement. The transmission mechanism can be a gear meshing transmission mechanism. The magnetic tail wheel 400 consists of a frame, rubber wheels rotatably mounted on the frame via shafts, and arranged sequentially along the central axis of the shafts, an armature, a magnetic wheel, an armature, another rubber wheel, an armature, another magnetic wheel, an armature, and another rubber wheel. By integrating multiple magnetic wheels on a single magnetic tail wheel 400 and providing armatures on both sides of each magnetic wheel to increase the magnetic attraction force, sufficient magnetic attraction force can be provided to attach the tail of the magnetic climbing robot to the surface to be attracted. When turning, the magnetic climbing robot uses only one magnetic tail wheel 400 for steering, which makes the robot's steering more flexible and improves its steering ability. In a specific embodiment, to further improve the steering ability of the magnetic climbing robot, the diameter of the middle rubber wheel can be designed to be the largest, that is, the diameter of the middle rubber wheel is larger than the diameter of the rubber wheels on both sides.

[0050] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. An obstacle-crossing mechanism applied to a magnetic climbing robot, characterized in that, The obstacle-crossing mechanism includes: Base; A magnetic front wheel is provided at the front of the base. The magnetic front wheel includes a bracket, a magnetic wheel assembly, and two rubber wheels. The bracket is provided on the base. The magnetic wheel assembly and the two rubber wheels are rotatably mounted on the bracket. The two rubber wheels are spaced apart along the central axis of the axis. The magnetic wheel assembly is provided between the two rubber wheels. A lifting assembly is disposed at the front of the base and corresponding to the magnetic front wheels. The lifting assembly includes a driving component, a transmission structure, and an abutment component. The driving component is disposed on the base, the transmission structure is movably disposed on the base and connected to the driving component, and the abutment component is disposed on the transmission structure. The driving component can drive the abutment component to move towards the surface to be attracted through the transmission structure, so that the abutment component abuts against the surface to be attracted and applies pressure to the surface to be attracted, thereby lifting the magnetic wheel assembly.

2. The obstacle-crossing mechanism as described in claim 1, characterized in that, The base is provided with a guide block, and the guide block is provided with a guide hole extending along the height direction of the base; The transmission structure includes a guide unit and a mounting block. The guide unit is slidably disposed in the guide hole and connects the drive member and the mounting block. The abutment member is disposed on the mounting block.

3. The obstacle-crossing mechanism as described in claim 2, characterized in that, The guiding unit includes a guide sleeve, a guide rod, and an elastic element. The guide sleeve is slidably inserted through the guide hole and connected to the driving element. One end of the guide rod is slidably inserted through the guide sleeve, and the other end extends out of the guide sleeve and is connected to the mounting block. The elastic element is disposed between the guide sleeve and the mounting block and is used to drive the mounting block to move away from the guide sleeve.

4. The obstacle-crossing mechanism as described in claim 3, characterized in that, A first limiting block is provided on the inner side of the guide sleeve near the mounting block, and a second limiting block is provided on the end of the guide rod that passes through the guide sleeve. The first limiting block can abut against the second limiting block.

5. The obstacle-crossing mechanism as described in claim 2, characterized in that, The abutment is a roller, which is rotatably mounted on the mounting block.

6. The obstacle-crossing mechanism as described in claim 1, characterized in that, The base is provided with a slide rail extending along the height direction of the base. The transmission structure includes a connecting rod and a slider disposed on the connecting rod. The connecting rod connects the driving member and the abutment block. The slider is slidably disposed on the slide rail.

7. The obstacle-crossing mechanism as described in claim 1, characterized in that, The magnetic wheel assembly includes a magnetic wheel and multiple armatures. The multiple armatures are spaced apart along the central axis of the rotating shaft, and at least one magnetic wheel is provided between any two adjacent armatures.

8. The obstacle-crossing mechanism as described in claim 1, characterized in that: the diameter of the magnetic suction wheel assembly is a, and the diameter of the rubber wheel is b; then a < b.

9. The obstacle-crossing mechanism as described in any one of claims 1 to 8, characterized in that, The number of magnetic front wheels is two, and the two magnetic front wheels are spaced apart along the left and right direction of the base. The lifting assembly is located between the two magnetic front wheels.

10. A magnetic climbing robot, characterized in that, include: The obstacle-crossing mechanism as described in any one of claims 1 to 9; A drive unit is disposed on the base and is used to drive the magnetic front wheel to rotate; A magnetic tail wheel is located at the tail of the machine base.

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