CN109204593B

CN109204593B - Wall climbing robot with wall surface transition function

Info

Publication number: CN109204593B
Application number: CN201811312586.XA
Authority: CN
Inventors: 陈勇; 洪晓玮; 孙烨; 杨婕; 郝淼
Original assignee: Nanjing Forestry University
Current assignee: Nanjing Forestry University
Priority date: 2018-11-06
Filing date: 2018-11-06
Publication date: 2023-08-18
Anticipated expiration: 2038-11-06
Also published as: CN109204593A

Abstract

The invention discloses a wall climbing robot with a wall transition function, which comprises a front vehicle section and a rear vehicle section; the width of the front vehicle section is smaller than that of the rear vehicle section, a front vehicle left and rear synchronous pulley of the front vehicle section is positioned on the inner side of a rear vehicle left and front synchronous pulley of the rear vehicle section, and a front vehicle right and rear synchronous pulley of the front vehicle section is positioned on the inner side of a rear vehicle right and front synchronous pulley of the rear vehicle section; a power output mechanism consisting of a spline shaft and a motor is arranged on a rear frame of the rear vehicle section; the spline shaft is provided with a deflection clutch mechanism; the deflection clutch mechanism comprises a rear vehicle deflection clutch mechanism and a front vehicle deflection clutch mechanism; permanent magnets are arranged on the front left synchronous belt and the front right synchronous belt of the front vehicle section and the rear left synchronous belt and the rear right synchronous belt of the rear vehicle section; a positioning mechanism which enables the front vehicle section to maintain a certain deflection angle relative to the rear vehicle section is connected between the front vehicle frame of the front vehicle section and the rear vehicle frame of the rear vehicle section; the rear frame is provided with a probe for detecting steel.

Description

Wall climbing robot with wall surface transition function

Technical Field

The invention relates to the technical field of robot design, in particular to a wall climbing robot which can be adsorbed on steel wall surfaces and has wall surface transition capability, and particularly relates to a wall climbing robot with a wall surface transition function.

Background

At present, wall climbing robots are widely studied at home and abroad, and some mature products are applied to production practice.

Wall climbing robots often employ wheeled and tracked movement mechanisms. The crawler-type moving mechanism is an expansion of a wheel-type moving mechanism, and the crawler belt plays a role in continuously paving the wheels. The wheel type movement has high efficiency, simple structure and convenient control. The crawler-type mechanism has good cross-country maneuverability, and the performances of climbing, crossing ditches and the like are better than those of the wheel-type moving mechanism; however, the crawler-type mechanism has a complex structure, a large weight and a large movement inertia. There are also few wall climbing robots employing legged mechanisms, which are adapted for rough and unstructured surfaces, with a large number of degrees of freedom and complex control.

The adsorption mode of the wall climbing robot mainly comprises negative pressure adsorption, bionic dry adhesive adsorption, magnetic adsorption and the like. Negative pressure adsorption is not limited by working conditions and working media, but when the adsorption wall surface has cracks or concave-convex, the sucker is easy to leak air. The dry adhesive adsorption is carried out by utilizing molecular force between contact surfaces of various objects, and can be applied to any occasion. The magnetic adsorption mode is only suitable for the wall surface of the magnetic conductive material. The magnetic attraction can be divided into electromagnet attraction, permanent magnet attraction and electromagnetic and permanent magnet mixed attraction.

Because the wall transition function is complex to realize, related researches are less, and no mature product is developed. The Chinese patent with the application number of 2017100147777 provides a wall climbing robot adsorbed on a steel wall surface, which is of a double-section structure, is based on the electromagnetic adsorption principle, realizes the folding between two sections through a special stepping motor, and further obtains the wall surface transition function. The whole wall climbing robot needs 5 motors to provide main power, and the weight of the whole wall climbing robot is increased. The Chinese patent with application number 2017107478249 proposes a permanent magnet adsorption wall climbing robot capable of realizing right-angle wall transition, which is of a wheel type structure, the change of an included angle between two sections of structures cannot be actively regulated, and the reliability of a wall transition function is reduced. The Chinese patent with application number 2011102210335 proposes a motion mechanism of a wall climbing robot, wherein the robot is formed by hinging two suckers through a master bracket and a slave bracket, and inchworm type movement and wall transition can be realized. The Chinese patent with the application number of 2017206708427 proposes a bipedal wall climbing robot, wherein the robot is adsorbed on a steel wall surface by two ground magnets, and the wall surface transition can be realized.

Disclosure of Invention

The invention aims to solve the technical problems of the prior art, and provides the wall climbing robot with the wall transition function, which is safe, reliable and stable in performance and can realize flexible wall transition walking on the steel wall.

The technical scheme adopted for solving the technical problems is as follows:

a wall climbing robot with a wall transition function comprises a front vehicle section and a rear vehicle section which are both crawler-type walking structures; the front vehicle section is composed of a front vehicle frame, a front vehicle left front synchronous pulley, a front vehicle right front synchronous pulley, a front vehicle left rear synchronous pulley, a front vehicle right rear synchronous pulley, a front vehicle left synchronous belt and a front vehicle right synchronous belt; the front left and rear synchronous pulleys of the front vehicle section are positioned on the inner side of the rear left front synchronous pulley of the rear vehicle section, and the front right and rear synchronous pulleys of the front vehicle section are positioned on the inner side of the rear right front synchronous pulley of the rear vehicle section; the rear frame is provided with a power output mechanism consisting of a spline shaft and a motor for driving the spline shaft to rotate; the spline shaft is provided with a deflection clutch mechanism; the deflection clutch mechanism comprises a rear vehicle deflection clutch mechanism which realizes the steering function of the rear vehicle section linear walking and wall climbing robot by utilizing the clutch and a front vehicle deflection clutch mechanism which realizes the front vehicle section linear walking and wall climbing robot wall transition function by utilizing the clutch; permanent magnets which are used for enabling the wall climbing robot to be adsorbed on the steel wall surface are arranged on the front left synchronous belt, the front right synchronous belt, the rear left synchronous belt and the rear right synchronous belt at equal intervals; a positioning mechanism used for enabling the front vehicle section to maintain a certain deflection angle relative to the rear vehicle section so as to finish transitional walking of the wall climbing robot on the wall surfaces with different included angles is connected between the front vehicle frame and the rear vehicle frame; the deflection angle maintained by the positioning mechanism is increased or decreased in a set radian angle relative to the horizontal plane, and the rear frame is provided with a probe for detecting steel.

In order to optimize the technical scheme, the specific measures adopted further comprise:

the front wheel frame is transversely and rotatably provided with a front wheel shaft relatively close to the front end, a front left front synchronous pulley is fixedly arranged at the left end of the front wheel shaft through a front flat key, a front right front synchronous pulley is fixedly arranged at the right end of the front wheel shaft through a front flat key, a front left rear synchronous pulley and a front right rear synchronous pulley are rotatably arranged on a spline shaft, and a front left synchronous belt is meshed with the front left front synchronous pulley and the front left rear synchronous pulley in a closed loop manner; the front vehicle right synchronous belt is meshed with the front vehicle right front synchronous belt wheel and the front vehicle right rear synchronous belt wheel in a closed loop mode.

The rear frame consists of a horizontal cross arm, a left arm connected to the left end of the horizontal cross arm and a right arm connected to the right end of the horizontal cross arm; the left front synchronous pulley of the rear vehicle and the right front synchronous pulley of the rear vehicle are both rotatably arranged on a spline shaft, and limiting snap springs for preventing the left rear synchronous pulley of the front vehicle, the right rear synchronous pulley of the front vehicle, the left front synchronous pulley of the rear vehicle and the right front synchronous pulley of the rear vehicle from axially moving in series are respectively clamped on the spline shaft; the left front synchronous pulley of the rear vehicle is rotationally positioned at the inner side of the left arm close to the front end, and the right front synchronous pulley of the rear vehicle is rotationally positioned at the inner side of the right arm close to the front end; the left rear synchronous pulley of the rear vehicle is rotationally arranged on the inner side surface of the left arm relatively close to the rear end through one short shaft, and the right rear synchronous pulley of the rear vehicle is rotationally arranged on the inner side surface of the right arm relatively close to the rear end through the other short shaft; the rear vehicle left synchronous belt is meshed with the rear vehicle left front synchronous belt wheel and the rear vehicle left rear synchronous belt wheel in a closed loop mode, and the rear vehicle right synchronous belt is meshed with the rear vehicle right front synchronous belt wheel and the rear vehicle right rear synchronous belt wheel in a closed loop mode.

The positioning mechanism consists of a ball plunger fixing seat with a U-shaped structure, a ball plunger clamping disc with an annular disc structure and a ball plunger which can elastically stretch out and draw back; the U-shaped closed end of the ball plunger fixing seat is fixedly arranged in the center of the horizontal cross arm of the rear frame through a bolt; the ball plungers are fixedly arranged on two side arms of the U-shaped opening end of the ball plunger fixing seat, a plurality of ball plungers are arranged on each side arm, and the plurality of ball plungers are arranged in equal radians and positioned on the same circumference; the two ball plunger clamping discs are symmetrically clamped and fixed on the frame tail of the front frame through bolts, the frame tail stretches into the U-shaped opening end of the ball plunger fixing seat, and each ball plunger clamping disc is provided with a positioning pit which enables the ball plunger to be elastically clamped in to maintain the fixed deflection angle of the front frame relative to the rear frame.

The ball plunger consists of a plunger shell with a cylindrical structure, a return spring and steel balls; the plunger housing is axially provided with a spring mounting cavity, the return spring is pressed into the spring mounting cavity of the plunger housing through a steel ball, an annular table with the diameter smaller than that of the steel ball and used for preventing the steel ball from falling out is arranged at the cavity opening of the spring mounting cavity, and the part of the steel ball extending out of the cavity opening of the spring mounting cavity is elastically clamped into the positioning pit to be matched.

The rear synchronous belt tensioning mechanism is arranged at the rear end of the left arm of the rear frame of the rear vehicle section and the rear end of the right arm of the rear frame; the short shaft is arranged on the rear frame through a rear vehicle synchronous belt tensioning mechanism; the rear synchronous belt tensioning mechanism consists of a hoop with a U-shaped structure, a sleeve cup, a flange cover, a deep groove ball bearing and a tensioning bolt; the deep groove ball bearing is fixedly arranged in the sleeve cup, one end of the short shaft is tightly matched and penetrated in an inner hole of the deep groove ball bearing, and the short shaft is rotatably arranged on the sleeve cup through the deep groove ball bearing; the two arms of the anchor ear of the U-shaped structure are clamped and matched with the rear end of the left arm of the rear frame or the rear end of the right arm of the rear frame, the sleeve is positioned and penetrated in sleeve mounting holes formed in the two arms of the anchor ear, the sleeve and the anchor ear are penetrated and installed on the left arm of the rear frame or the right arm of the rear frame through two first bolts, the closed end of the anchor ear is welded with a tensioning nut, the tensioning bolt is in spiral fit with the tensioning nut, and the front end of the tensioning bolt is in propping fit with the rear end face of the left arm of the rear frame or the rear end face of the right arm of the rear frame; the short shaft is clamped with a limit clamp spring for preventing the deep groove ball bearing from falling out, and the flange cover is fixed on the sleeve cup through a screw and is propped against the outer circle of the deep groove ball bearing; the rear left rear synchronous pulley and the rear right rear synchronous pulley are fixedly arranged at one end of the short shaft far away from the deep groove ball bearing through rear flat keys.

The front frame is provided with a front synchronous belt tensioning mechanism for tensioning the front left synchronous belt and a front synchronous belt tensioning mechanism for tensioning the front right synchronous belt, the structures of the two front synchronous belt tensioning mechanisms are the same as those of the rear synchronous belt tensioning mechanism, and the front wheel shaft is rotatably arranged on the front synchronous belt tensioning mechanism through deep groove ball bearings of the two front synchronous belt tensioning mechanisms.

The motor is arranged on the outer side face of the front end of the left arm of the rear frame, the front end of the left arm of the rear frame and the front end of the right arm of the rear frame are respectively provided with a deep groove ball bearing matched with a spline shaft in a rotating supporting mode, the left end of the spline shaft penetrates through an inner hole of the deep groove ball bearing on the left arm to be connected with an output shaft of the motor, and the right end of the spline shaft sequentially penetrates through a left front synchronous pulley of the rear frame, a left rear synchronous pulley of the front frame, a ball plunger clamping disc fixed on the left side face of the tail, the tail of the front frame, a ball plunger clamping disc fixed on the right side face of the tail of the frame, a right rear synchronous pulley of the front frame and the right front synchronous pulley of the rear frame.

The deflection clutch mechanism comprises a rear vehicle deflection clutch mechanism which realizes the linear walking of the rear vehicle section and the steering function of the wall climbing robot by utilizing the clutch, and a front vehicle deflection clutch mechanism which realizes the linear walking of the front vehicle section and the wall transition function of the wall climbing robot by utilizing the clutch; the rear vehicle deflection clutch mechanism consists of a first spline gear, a first internal gear, a first clutch motor, a first screw rod, a first shifting fork, a second spline gear, a second internal gear, a second clutch motor, a second screw rod and a second shifting fork; the first clutch motor is fixedly arranged at the left end of the rear frame, the first screw rod is fixedly connected with a power output shaft of the first clutch motor, the tail end of the first shifting fork is in threaded driving connection with the first screw rod, the first internal gear is fixedly arranged in a left front synchronous pulley of the rear vehicle, the first spline gear is sleeved on a shaft section of the spline shaft, which is positioned between the left front synchronous pulley of the rear vehicle and the left rear synchronous pulley of the front vehicle, in a left-right sliding manner, and the front end of the first shifting fork is clamped in a shifting fork groove of the first spline gear; the second clutch motor is fixed at the right end of the rear frame, the second screw rod is fixedly connected with a power output shaft of the second clutch motor, the tail end of the second shifting fork is connected with a second screw rod in a threaded driving mode, the second internal gear is fixedly arranged in the rear right front synchronous pulley, the second spline gear can be sleeved on a shaft section of the spline shaft, which is positioned between the rear right front synchronous pulley and the front right rear synchronous pulley, of the rear vehicle in a left-right sliding mode, and the front end of the second shifting fork is clamped in a shifting fork groove of the second spline gear.

The front vehicle deflection clutch mechanism consists of a third spline gear, a third internal gear, a third clutch motor, a third screw rod, a third shifting fork, a fourth spline gear, a fourth internal gear, a fourth clutch motor, a fourth screw rod, a fourth shifting fork, a fifth internal gear and a sixth internal gear; the third clutch motor is fixed on the front frame at the left side of the frame tail, the third screw rod is fixedly connected with a power output shaft of the third clutch motor, the tail end of the third shifting fork is in threaded driving connection with the third screw rod, the third internal gear is fixedly arranged in a left rear synchronous pulley of the front frame, the fifth internal gear is fixedly arranged on the left side surface of the frame tail and positioned in a bulb plunger clamping disc at the left side, the third spline gear can be sleeved on a shaft section of the spline shaft between the left rear synchronous pulley of the front frame and the bulb plunger clamping disc at the left side surface of the frame tail in a left-right sliding manner, and the front end of the third shifting fork is clamped in a shifting fork groove of the third spline gear; the fourth clutch motor is fixed on the front frame on the right side of the opposite frame tail, the fourth screw rod is fixedly connected with a power output shaft of the fourth clutch motor, the tail end of the fourth shifting fork is connected with a fourth screw rod in a threaded driving mode, the fourth internal gear is fixedly arranged in a front-vehicle right-rear synchronous pulley, the sixth internal gear is fixedly arranged on the right side face of the frame tail and is positioned in a right ball plunger clamping disc, the fourth spline gear can be sleeved on a shaft section, between the spline shaft and the front-vehicle right-rear synchronous pulley and the frame tail right-side ball plunger clamping disc, of the fourth spline gear, and the front end of the fourth shifting fork is clamped in a shifting fork groove of the fourth spline gear.

Compared with the prior art, the wall climbing robot comprises the front vehicle section of the crawler type walking structure and the rear vehicle section of the crawler type walking structure, wherein a positioning mechanism is connected between the two sections of the front vehicle section and the rear vehicle section, and the positioning mechanism can enable the front vehicle section to deflect relative to the rear vehicle section and then keep a certain deflection angle, so that the wall climbing robot can walk on steel wall surfaces at different angles in a transitional mode. The wall climbing robot is also provided with a power output mechanism formed by a spline shaft and a motor and a deflection clutch mechanism, wherein the deflection clutch mechanism comprises a rear vehicle deflection clutch mechanism which realizes the linear walking of a rear vehicle section and the steering function of the wall climbing robot by utilizing clutch and a front vehicle deflection clutch mechanism which realizes the linear walking of a front vehicle section and the wall transition function of the wall climbing robot by utilizing clutch. The invention can independently control the rear vehicle section and the front vehicle section to walk through the rear vehicle deflection clutch mechanism and the front vehicle deflection clutch mechanism respectively.

The invention has reasonable design and flexible action, can enable the wall climbing robot to be adsorbed on the horizontal or vertical steel wall surface by the installed permanent magnet, and realizes the functions of straight line walking, turning and wall surface transition of the wall climbing robot by utilizing the deflection clutch mechanism and the positioning mechanism.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic diagram of an assembly structure of a rear right timing belt of a rear section of the present invention;

FIG. 3 is a schematic view of an assembled structure of the positioning mechanism of the present invention;

FIG. 4 is a cross-sectional view of a ball plunger of the present invention;

FIG. 5 is a schematic view of the assembled structure of the deflection clutch mechanism of the present invention;

FIG. 6 is a schematic structural view of a rear synchronous belt tensioning mechanism of the present invention;

FIG. 7 is a schematic view of a three-dimensional assembly structure of the rear synchronous belt tensioning mechanism of the present invention;

fig. 8 is a schematic flow chart of the wall transition of the present invention.

Detailed Description

Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.

Wherein the reference numerals are as follows: front flat key a, rear flat key B, probe C, fork pocket D, pan head screw P, front section 1, front frame 11, frame tail 111, front left front timing pulley 12, front right front timing pulley 13, front left rear timing pulley 14, front right rear timing pulley 15, front left timing belt 16, front right timing belt 17, front axle 18, rear section 2, rear frame 21, horizontal cross arm 211, left arm 212, right arm 213, rear left front timing pulley 22, rear right front timing pulley 23, rear left rear timing pulley 24, rear right rear timing pulley 25, rear left timing belt 26 and rear right timing belt 27, stub shaft 28, spline shaft 31, motor 32, first spline gear 411, first internal gear 412, first clutch motor 413, first screw 414, first fork 415, second spline gear 421, second fork 415, third spline gear 421 the second internal gear 422, the second clutch motor 423, the second screw 424, the second fork 425, the third spline gear 511, the third internal gear 512, the third clutch motor 513, the third screw 514, the third fork 515, the fourth spline gear 521, the fourth internal gear 522, the fourth clutch motor 523, the fourth screw 524, the fourth fork 525, the fifth internal gear 531, the sixth internal gear 541, the positioning mechanism 6, the ball plunger holder 61, the side arm 611, the ball plunger clamping disk 62, the ball plunger 63, the spring mounting cavity 63a, the plunger housing 631, the return spring 632, the steel ball 633, the rear timing belt tensioning mechanism 7, the anchor ear 71, the cup 72, the flange cover 73, the deep groove ball bearing 74, the tensioning bolt 75, the first bolt 76, the tensioning nut 77, the limit clip 78, the front timing belt tensioning mechanism 8, the permanent magnet 9.

Fig. 1 to 7 are schematic structural views of the present invention. As shown in the figure, the wall climbing robot with the wall transition function comprises a front vehicle section 1 of a crawler-type traveling structure and a rear vehicle section 2 of the crawler-type traveling structure, wherein the front vehicle section 1 and the rear vehicle section 2 are both of the crawler-type traveling structure; the front vehicle section 1 consists of a front vehicle frame 11, four synchronous pulleys and two synchronous belts; the four synchronous pulleys of the front vehicle section 1 sequentially comprise a front vehicle left front synchronous pulley 12, a front vehicle right front synchronous pulley 13, a front vehicle left rear synchronous pulley 14 and a front vehicle right rear synchronous pulley 15. The two synchronous belts of the front section 1 comprise a front left synchronous belt 16 and a front right synchronous belt 17. The rear vehicle section 2 consists of a rear vehicle frame 21, four synchronous pulleys and two synchronous belts; the four synchronous pulleys of the rear vehicle section 2 comprise a rear vehicle left front synchronous pulley 22, a rear vehicle right front synchronous pulley 23, a rear vehicle left rear synchronous pulley 24 and a rear vehicle right rear synchronous pulley 25. The two synchronous belts of the rear section 2 include a rear left synchronous belt 26 and a rear right synchronous belt 27. The front left timing belt 16, the front right timing belt 17, the rear left timing belt 26 and the rear right timing belt 27 of the present invention are endless tracks, which are timing belts of the same structure. In order to enable the front car section 1 and the rear car section 2 to be adsorbed on the steel wall surface, permanent magnets 9 are arranged on four synchronous belts, namely a front car left synchronous belt 16, a front car right synchronous belt 17, a rear car left synchronous belt 26 and a rear car right synchronous belt 27. The permanent magnets 9 are arranged on each synchronous belt at equal intervals, the permanent magnets 9, the synchronous belts and the synchronous pulleys form a permanent magnet adsorption mechanism of the wall climbing robot, and as can be seen from the figure 2 of the invention, each permanent magnet 9 is fixed on the synchronous belt through two pan head screws P.

As shown in fig. 2 (fig. 2 is a schematic diagram of an assembly structure of a rear right synchronous belt of a rear vehicle section with the rear frame 21 having two synchronous pulleys and other parts such as a right arm 213 removed, the two synchronous pulleys and other parts such as the right arm 213 are removed for more clearly and conveniently viewing the assembly structure of the rear right synchronous belt of the rear vehicle section), the working principle of the permanent magnet adsorption mechanism of the invention is as follows: the synchronous belt is driven by the synchronous belt wheel to do rotary motion. Since the permanent magnet 9 is fixed to the timing belt, the permanent magnet 9 is caused to perform a rotary motion with the timing belt. When the permanent magnet 9 contacts the steel surface, it is adsorbed on the steel surface. Since one permanent magnet 9 is separated from the steel surface under the driving of the synchronous belt whenever one permanent magnet 9 is adsorbed on the steel surface, a fixed number of permanent magnets 9 are adsorbed on the steel surface on the synchronous belt at any time. Therefore, the permanent magnets 9 on both sides are adsorbed on the steel surface, and bear the weight of the whole wall climbing robot.

As can be seen from fig. 1, the front section 1 of the present invention has a smaller width than the rear section 2, and the front left rear synchronous pulley 14 of the front section 1 is located inside the rear left front synchronous pulley 22 of the rear section 2, and the front right rear synchronous pulley 15 of the front section 1 is located inside the rear right front synchronous pulley 23 of the rear section 2; the two synchronous pulleys at the rear part of the front vehicle section 1 and the two synchronous pulleys at the front end of the rear vehicle section 2 have the same axle center. The rear frame 21 is provided with a power output mechanism composed of a motor 32 and a spline shaft 31. The motor 32 is used to drive the spline shaft 31 to rotate to achieve output of power. The spline shaft 31 is provided with a deflection clutch mechanism; the deflection clutch mechanism is a gear clutch mechanism and comprises a rear vehicle deflection clutch mechanism which realizes the linear walking of the rear vehicle section 2 and the steering function of the wall climbing robot by utilizing the clutch and a front vehicle deflection clutch mechanism which realizes the linear walking of the front vehicle section 1 and the wall transition function of the wall climbing robot by utilizing the clutch. The power output mechanism can carry out independent power output control on the front vehicle section 1 and the rear vehicle section 2 through the deflection clutch mechanism, each section can independently travel or simultaneously travel, and the two sections can deflect a certain angle relatively, so that transition from one wall surface to the other wall surface is realized. The positioning mechanism 6 is connected between the front frame 11 and the rear frame 21, and the positioning mechanism 6 can enable the front frame 1 to maintain a deflection angle relative to the rear frame 2 after the front frame 1 deflects a certain angle relative to the rear frame 2 so as to finish transition walking of the wall climbing robot on wall surfaces with different included angles.

The deflection angle maintained by the positioning mechanism 6 is increased or decreased by a set arc angle relative to the horizontal plane. The set radian angle is 10 degrees, 15 degrees or 45 degrees. But is not limited to the arc angle described above, and may be, for example, 5 degrees or any other degree as desired. When the set arc angle is 10 degrees, the deflection angle maintained by the positioning mechanism 6 is increased or decreased by the arc angle of 10 degrees. Similarly, when the set arc angle is 15 degrees, the deflection angle maintained by the positioning mechanism 6 is increased or decreased by 15 degrees, and when the set arc angle is 45 degrees, the deflection angle maintained by the positioning mechanism 6 is increased or decreased by 45 degrees.

The rear frame 21 of the present invention is provided with a probe C for detecting steel. As can be seen from fig. 1, a probe holder is fixed on the rear frame 21, and a probe C is mounted on the probe holder and is mounted on the rear frame 21 through the probe holder. The probe C is used for performing thickness measurement operation on the steel wall surface through ultrasonic waves. The wall climbing robot of the present invention is powered by the motor 32 to provide power for the crawling, steering and yaw actions performed by the wall climbing robot. The wall climbing robot adopts a crawler-type permanent magnet adsorption structure, and can realize the functions of straight running, turning and wall transition on the surface of steel.

In the embodiment, the front wheel axle 18 is transversely and rotatably mounted on the front frame 11 relatively near the front end, the front left front synchronous pulley 12 is fixedly mounted on the left end of the front wheel axle 18 through the front flat key a, the front right front synchronous pulley 13 is fixedly mounted on the right end of the front wheel axle 18 through the front flat key a, and the front left rear synchronous pulley 14 and the front right rear synchronous pulley 15 are rotatably mounted on the spline shaft 31 in any known method, for example, the front left rear synchronous pulley 14 and the front right rear synchronous pulley 15 are both processed with smooth center holes. In order to prevent the front left and rear synchronous pulleys 14 and 15 from axially moving in series, limiting snap springs are respectively clamped on the left and right sides of the front left and rear synchronous pulley 14 and the left and right sides of the front right and rear synchronous pulley 15 on the spline shaft 31, and the positions of the front left and rear synchronous pulley 14 and the front right and rear synchronous pulley 15 on the spline shaft 31 are limited by the limiting snap springs, so that the front left and rear synchronous pulley 14 and the front left and front synchronous pulley 12 are on the same straight line, and the front right and rear synchronous pulley 15 and the front right and front synchronous pulley 13 are on the same straight line. The front left synchronous belt 16 is meshed with the front left front synchronous belt wheel 12 and the front left rear synchronous belt wheel 14 in a closed loop mode; the front right synchronous belt 17 is meshed with the front right front synchronous pulley 13 and the front right rear synchronous pulley 15 in a closed loop mode.

In the embodiment, the rear frame 21 of the present invention is composed of a horizontal cross arm 211, a left arm 212 connected to the left end of the horizontal cross arm 211, and a right arm 213 connected to the right end of the horizontal cross arm 211; the rear frame 21 has a generally horizontal i-shape. The rear left front pulley 22 and the rear right front pulley 23 are also rotatably mounted on the spline shaft 31 as are the front left rear pulley 14 and the front right rear pulley 15. Similarly, in order to prevent the rear left front pulley 22 and the rear right front pulley 23 from axially moving in tandem on the spline shaft 31, the spline shaft 31 is also provided with limit springs on the left and right sides of the rear left front pulley 22 and the left and right sides of the rear right front pulley 23, and the positions of the rear left front pulley 22 and the rear right front pulley 23 on the spline shaft 31 are defined by the limit springs so that the rear left front pulley 22 and the rear left rear synchronous pulley 24 are on the same straight line and the rear right front pulley 23 and the rear right rear synchronous pulley 25 are on the same straight line. The rear left front synchronous pulley 22 is rotationally positioned on the inner side of the left arm 212 near the front end, the rear right front synchronous pulley 23 is rotationally positioned on the inner side of the right arm 213 near the front end, the rear left rear synchronous pulley 24 is rotationally mounted on the inner side of the left arm 212 relatively near the rear end through one short shaft 28, and the rear right rear synchronous pulley 25 is rotationally mounted on the inner side of the right arm 213 relatively near the rear end through the other short shaft 28; the rear left synchronous belt 26 is meshed with the rear left front synchronous pulley 22 and the rear left rear synchronous pulley 24 in a closed loop manner, and the rear right synchronous belt 27 is meshed with the rear right front synchronous pulley 23 and the rear right rear synchronous pulley 25 in a closed loop manner.

In order to realize the transition of the wall climbing robot on the steel wall surface between different included angles, two sections of the wall climbing robot, namely the front vehicle section 1 and the rear vehicle section 2, need to deflect a certain angle relatively, and the corresponding included angle can be kept during the transition of the wall surface. The positioning mechanism 6 is such that an angular deflection is maintained between the two segments.

As shown in fig. 3, the positioning mechanism 6 of the present invention is composed of a ball plunger fixing seat 61, a ball plunger clamping disk 62 and a ball plunger 63; the ball plunger fixing seat 61 is of a U-shaped structure, and the U-shaped closed end of the ball plunger fixing seat 61 is fixedly arranged at the center of the horizontal cross arm 211 of the rear frame 21 through bolts; through holes are coaxially machined in two side arms 611 of the U-shaped opening end of the ball plunger fixing seat 61, ball plungers 63 are fixedly arranged on two side arms 611 of the ball plunger fixing seat 61 through bolts, a plurality of ball plungers 63 are arranged on each side arm 611, a plurality of ball plungers 63 are arranged in an equal radian mode and located on the same circumference, and the circle center of the circumference is coaxial with the through holes in the side arms 611. The number of the ball plungers 63 may be eight, the eight ball plungers 63 are installed with equal radian, and the radian angle between two adjacent ball plungers 63 is 45 degrees. The arc angle between adjacent ball plungers 63 determines how much the angle of deflection maintained by the positioning mechanism 6 increases and decreases. When the arc angle between the adjacent ball plungers 63 is 45 degrees, the deflection angle maintained by the positioning mechanism 6 is increased and decreased by the arc angle of 45 degrees. Similarly, when the number of ball plungers 63 increases or decreases to change the arc angle between the adjacent ball plungers 63, for example, when the arc angle between the adjacent ball plungers 63 is 10 degrees, the deflection angle maintained by the positioning mechanism 6 is increased and decreased by the arc angle of 10 degrees. When the arc angle between the two adjacent ball plungers 63 is 15 degrees, the deflection angle maintained by the positioning mechanism 6 is increased and decreased by the arc angle of 15 degrees.

The ball plunger clamping discs 62 are of annular disc structures, the number of the ball plunger clamping discs 62 is two, the two ball plunger clamping discs 62 are symmetrically clamped and fixed on the frame tail 111 of the front frame 11 through bolts, tail holes are formed in the frame tail 111 for the spline shaft 31 to penetrate, and the frame tail 111 stretches into the U-shaped opening end of the ball plunger fixing seat 61, so that the axle center of the tail holes and the axle center of the through holes of the side arms 611 are on the same axis. The axle center of the ball plunger clamping disc 62 is also coaxial with the axle center of the tail hole, positioning pits with the same number as the ball plungers 63 are processed on each ball plunger clamping disc 62, and the ball plungers 63 can be elastically clamped into the positioning pits, so that the front vehicle section 1 can maintain a certain fixed deflection angle relative to the rear vehicle section 2.

As shown in fig. 4, the ball plunger 63 is composed of a plunger housing 631 of a cylindrical structure, a return spring 632, and a steel ball 633; the plunger housing 631 is axially provided with a spring mounting cavity 63a, a return spring 632 is pressed in the spring mounting cavity 63a of the plunger housing 631 through a steel ball 633, an annular table with the diameter smaller than that of the steel ball 633 and used for preventing the steel ball 633 from falling out is processed at the cavity opening of the spring mounting cavity 63a, one end of the return spring 632 is in propping fit with the bottom wall of the spring mounting cavity 63a, the other end of the return spring 632 is propped against the steel ball 633, the steel ball 633 is elastically mounted at the cavity opening of the spring mounting cavity 63a under the action of the return spring 632, when the external pressure born by the steel ball 633 is greater than the elastic force of the return spring 632, the steel ball 633 is compressed to integrally enter the spring mounting cavity 63a, when the external pressure to the steel ball 633 is smaller than the elastic force of the return spring 632, the steel ball 633 is propped against the cavity opening of the spring mounting cavity 63a under the elastic force of the return spring 632, and the part of the steel ball 633 extending out of the cavity opening of the spring mounting cavity 63a can be clamped into a positioning pit. When the steel balls 633 are caught in the positioning recesses, the ball plunger catching disk 62 cannot rotate relative to the ball plunger fixing seat 61. When the steel balls 633 are removed from the positioning recesses, the ball plunger clamping disk 62 can rotate relative to the ball plunger fixing seat 61 even if the front segment 1 is deflected relative to the rear segment 2.

In order to prevent the synchronous belt from loosening, the rear end of a left arm 212 of a rear frame 21 and the rear end of a right arm 213 of the rear frame 21 of the rear vehicle section 2 are provided with a rear vehicle synchronous belt tensioning mechanism 7; the stub shaft 28 is mounted on the rear frame 21 through the rear-vehicle timing belt tensioning mechanism 7. The rear synchronous belt tensioning mechanism 7 can achieve the purpose of tensioning the synchronous belt by driving the short shaft 28 to move and changing the wheelbase between the front synchronous pulley and the rear synchronous pulley of the rear vehicle section 2.

As shown in fig. 6 and 7, the rear synchronous belt tensioning mechanism 7 of the invention is composed of a hoop 71 with a U-shaped structure, a sleeve cup 72, a flange cover 73, a deep groove ball bearing 74 and a tensioning bolt 75; the deep groove ball bearing 74 is fixedly arranged in the sleeve cup 72, one end of the short shaft 28 is tightly matched and penetrated in an inner hole of the deep groove ball bearing 74, and the short shaft 28 is rotatably arranged on the sleeve cup 72 through the deep groove ball bearing 74; the two arms of the anchor ear 71 with U-shaped structure are matched with the rear end of the left arm 212 of the rear frame 21 or the rear end of the right arm 213 of the rear frame 21 (the anchor ear 71 of the rear synchronous belt tensioning mechanism 7 arranged at the rear end of the left arm 212 is matched with the rear end of the left arm 212 of the rear frame 21 and the rear synchronous belt tensioning mechanism 7 arranged at the rear end of the right arm 213 is identical), the sleeve cup 72 is positioned and penetrated in sleeve cup mounting holes formed on the two arms of the anchor ear 71, the sleeve cup 72 and the anchor ear 71 are penetrated and arranged on the left arm 212 of the rear frame 21 or the right arm 213 of the rear frame 21 through two first bolts 76, the closed end of the anchor ear 71 is welded with a tensioning nut 77, the tensioning bolt 75 is matched with the tensioning nut 77 in a spiral manner, and the front end of the tensioning bolt 75 is matched with the rear end face of the left arm 212 of the rear frame 21 or the rear end face of the right arm 213 of the rear frame 21 in a propping connection manner; the short shaft 28 is clamped with a limit clamp spring 78, and the limit clamp spring 78 can prevent the deep groove ball bearing 74 from axially moving in a series on the short shaft 28. The flange cover 73 is fixed on the sleeve cup 72 by bolts and is abutted against the outer circle of the deep groove ball bearing 74. The rear left rear synchronous pulley 24 and the rear right rear synchronous pulley 25 are fixedly arranged at one end of the short shaft 28 far away from the deep groove ball bearing 74 through a rear flat key B.

In the embodiment, a front synchronous belt tensioning mechanism 8 for tensioning a front left synchronous belt 16 and a front synchronous belt tensioning mechanism 8 for tensioning a front right synchronous belt 17 are mounted on the front frame 11, the structures of the two front synchronous belt tensioning mechanisms 8 are the same as those of the rear synchronous belt tensioning mechanism 7, and the front wheel axle 18 is rotatably mounted on the front synchronous belt tensioning mechanisms through deep groove ball bearings of the two front synchronous belt tensioning mechanisms 8. The synchronous belt tensioning mechanism 8 of the two front vehicles drives the front wheel shafts 18 to move, so that the wheelbase between the two front synchronous pulleys and the two rear synchronous pulleys of the front vehicle section 1 is changed, and the tensioning of the synchronous belt is realized.

The motor 32 is arranged on the outer side surface of the front end of the left arm 212 of the rear frame 21, the front end of the left arm 212 of the rear frame 21 and the front end of the right arm 213 of the rear frame 21 are respectively provided with a deep groove ball bearing which is used for being in rotary supporting fit with the spline shaft 31, the left end of the spline shaft 31 passes through the inner hole of the deep groove ball bearing on the left arm 212 and is connected with the output shaft of the motor 32, and the right end of the spline shaft 31 sequentially passes through the rear left front synchronous pulley 22, the front left rear synchronous pulley 14, the ball plunger clamping disc 62 fixed on the left side surface of the frame tail 111, the tail hole of the frame tail 111, the ball plunger clamping disc 62 fixed on the right side surface of the frame tail 111, the front right rear synchronous pulley 15 and the rear right front synchronous pulley 23 and are arranged in the inner hole of the deep groove ball bearing on the right arm 213.

In the embodiment, as shown in fig. 5, the rear vehicle deflection clutch mechanism is composed of a first spline gear 411, a first internal gear 412, a first clutch motor 413, a first screw 414, a first shift fork 415, a second spline gear 421, a second internal gear 422, a second clutch motor 423, a second screw 424, and a second shift fork 425; the first clutch motor 413 is fixedly arranged at the left end of the rear frame 21, the first screw rod 414 is fixedly connected with a power output shaft of the first clutch motor 413, the tail end of the first shifting fork 415 is in threaded driving connection with the first screw rod 414, the first internal gear 412 is fixedly arranged in the rear left front synchronous pulley 22, the first spline gear 411 is sleeved on the shaft section of the spline shaft 31 between the rear left front synchronous pulley 22 and the front left rear synchronous pulley 14 in a left-right sliding manner, and the front end of the first shifting fork 415 is clamped in a shifting fork groove D of the first spline gear 411; when the first clutch motor 413 works, the first screw 414 is driven to rotate, so that the first shifting fork 415 can move linearly under the spiral pushing of the first screw 414, and the first spline gear 411 is driven to move axially on the spline shaft 31. Since the first clutch motor 413 can rotate forward and backward, the first spline gear 411 can enter or exit the first internal gear 412. The following clutch operation principle is similar and will not be repeated.

The second clutch motor 423 is fixed at the right end of the rear frame 21, the second screw rod 424 is fixedly connected with the power output shaft of the second clutch motor 423, the tail end of the second shifting fork 425 is in threaded driving connection with the second screw rod 424, the second internal gear 422 is fixedly arranged in the rear vehicle right front synchronous pulley 23, the second spline gear 421 is sleeved on the shaft section of the spline shaft 31 between the rear vehicle right front synchronous pulley 23 and the front vehicle right rear synchronous pulley 15 in a sliding manner, and the front end of the second shifting fork 425 is clamped in a shifting fork groove D of the second spline gear 421.

In the embodiment, the front truck deflection clutch mechanism is composed of a third spline gear 511, a third internal gear 512, a third clutch motor 513, a third screw 514, a third shift fork 515, a fourth spline gear 521, a fourth internal gear 522, a fourth clutch motor 523, a fourth screw 524, a fourth shift fork 525, a fifth internal gear 531, and a sixth internal gear 541; the third clutch motor 513 is fixed on the front frame 11 at the left side of the frame tail 111, the third screw rod 514 is fixedly connected with a power output shaft of the third clutch motor 513, the tail end of the third shifting fork 515 is in threaded driving connection with the third screw rod 514, the third internal gear 512 is fixedly arranged in the front-vehicle left-rear synchronous pulley 14, the fifth internal gear 531 is fixedly arranged on the left side surface of the frame tail 111 and positioned in the left ball plunger clamping disc 62, the third spline gear 511 is sleeved on a shaft section of the spline shaft 31 between the front-vehicle left-rear synchronous pulley 14 and the left ball plunger clamping disc 62 of the frame tail 111 in a left-right sliding manner, and the front end of the third shifting fork 515 is clamped in a shifting fork groove D of the third spline gear 511; the fourth clutch motor 523 is fixed on the front frame 11 on the right side of the frame tail 111, the fourth screw 524 is fixedly connected with a power output shaft of the fourth clutch motor 523, the tail end of the fourth shifting fork 525 is in threaded driving connection with the fourth screw 524, the fourth internal gear 522 is fixedly installed in the front-vehicle right-rear synchronous pulley 15, the sixth internal gear 541 is fixedly installed on the right side surface of the frame tail 111 and in the right-side ball plunger clamping disc 62, the fourth spline gear 521 is sleeved on a shaft section of the spline shaft 31 between the front-vehicle right-rear synchronous pulley 15 and the right-side ball plunger clamping disc 62 of the frame tail 111 in a left-right sliding manner, and the front end of the fourth shifting fork 525 is clamped in a shifting fork groove D of the fourth spline gear 521.

The working principle of the positioning mechanism of the invention is as follows: when the front car section 1 and the rear car section 2 of the wall climbing robot deflect, namely, the ball plunger fixing seat 61 and the ball plunger clamping disc 62 relatively rotate around the axis of the spline shaft 31, the steel balls 633 at the head of the ball plunger 63 are extruded out of the positioning pits of the ball plunger clamping disc 62 by extrusion force. When the rotation angle reaches the set radian angle or the multiple of the set radian angle, for example, when the set radian angle is 45 degrees, the rotation angle reaches 45 degrees or 90 degrees (namely, 2 times of 45 degrees), the deflection is stopped, the steel balls 633 at the head of the ball plunger 63 are clamped into the positioning pits of the ball plunger clamping disc 62 again, and meanwhile, the resistance generated by the 16 ball plungers 63 enables the ball plunger fixing seat 61 and the ball plunger clamping disc 62 to be relatively fixed, namely, the front car section 1 and the rear car section 2 of the wall climbing robot keep a certain included angle.

The action principle of the rear vehicle deflection clutch mechanism is as follows: when the rear vehicle section 2 of the wall climbing robot runs straight, the third spline gear 511 and the fourth spline gear 521 are positioned as shown in fig. 5, and at this time, since neither the third spline gear 511 nor the fourth spline gear 521 is meshed with any internal gear, the spline shaft 31 idles in the center holes of the front vehicle left and rear synchronous pulleys 14 and the front vehicle right and rear synchronous pulley 15 of the front vehicle section 1, so that the front vehicle section 1 of the wall climbing robot is kept at a certain deflection angle under the action of the positioning mechanism, for example, an included angle of 45 degrees is kept between the front vehicle section 1 and the rear vehicle section 2. The first spline gear 411 is meshed with the first inner gear 412 under the driving of the first clutch motor 413, and the second spline gear 421 is meshed with the second inner gear 422 under the driving of the second clutch motor 423, so that the two front synchronous pulleys (namely, the rear left front synchronous pulley 22 and the rear right front synchronous pulley 23) of the rear vehicle section 2 are driven to rotate, and the two synchronous belts (namely, the rear left synchronous belt 26 and the rear right synchronous belt 27) of the rear vehicle section 2 are driven to perform rotary motion, so that the wall climbing robot performs linear crawling motion.

When the wall climbing robot performs a steering action, taking a rightward steering as an example, the second spline gear 421, the third spline gear 511 and the fourth spline gear 521 are all in the positions shown in fig. 5, and at this time, since none of the second spline gear 421, the third spline gear 511 and the fourth spline gear 521 is meshed with any internal gear, the spline shaft 31 idles in the center holes of the three synchronous pulleys of the rear right front synchronous pulley 23, the front left rear synchronous pulley 14 and the front right rear synchronous pulley 15, so that the front vehicle section 1 of the wall climbing robot is kept at a certain deflection angle under the action of the positioning mechanism. The first spline gear 411 is meshed with the first internal gear 412 under the drive of the first clutch motor 413, so that the rear left front synchronous pulley 22 is driven to rotate, and the rear left synchronous belt 26 is rotated due to the meshing of the rear left synchronous pulley 22 with the rear left synchronous pulley 26. At this time, the spline shaft 31 rotates in the hollow space of the rear right front timing pulley 23, so that the rear right timing belt 27 is in a stationary state, and the rear right timing belt 27 remains stationary. Because the rear left synchronous belt 26 and the rear right synchronous belt 27 are respectively in two states of rotation and rest, the rear left synchronous belt 26 and the rear right synchronous belt 27 have differential rotation, thereby realizing the steering of the wall climbing robot.

The action principle of the front vehicle deflection clutch mechanism is as follows: when the wall climbing robot deflects, the spline shaft 31 is driven by the motor 32 to perform rotary motion, the first spline gear 411 and the second spline gear 421 are at positions shown in fig. 5 and are not meshed with any internal gear, so that the spline shaft 31 idles in the central holes of the rear left front synchronous pulley 22 and the rear right front synchronous pulley 23, and the rear vehicle section 2 is kept stationary. And the third spline gear 511 is meshed with the fifth internal gear 531 under the driving of the third clutch motor 513, and the fourth spline gear 521 is meshed with the sixth internal gear 541 under the driving of the fourth clutch motor 523. Because the fifth internal gear 531 and the sixth internal gear 541 are both fixed on the frame tail 111 of the front frame 11, and the third spline gear 511 and the fourth spline gear 521 are slidably clamped on the spline shaft 31 and can rotate along with the spline shaft 31 around the axis, the front frame 11 can deflect around the axis of the spline shaft 31, so that the front frame section 1 deflects relative to the rear frame section 2, and the deflection action of the wall climbing robot is realized.

The straight line walking of the front vehicle section 1 is as follows: the first spline gear 411 and the second spline gear 421 are located at positions of fig. 5 and are not meshed with any internal gear, so that the spline shaft 31 idles in the center holes of the rear left front synchronous pulley 22 and the rear right front synchronous pulley 23, the third spline gear 511 is meshed with the third internal gear 512 under the drive of the third clutch motor 513, and the fourth spline gear 521 is meshed with the fourth internal gear 522 under the drive of the fourth clutch motor 523. Because the third internal gear 512 is fixed on the front left and rear synchronous pulley 14, the front left and rear synchronous pulley 14 is meshed with the front left synchronous pulley 16, the fourth internal gear 522 is fixed on the front right and rear synchronous pulley 15, and the front right and rear synchronous pulley 15 is meshed with the front right synchronous pulley 17, so that the two synchronous belts of the front vehicle section 1 are in rotary motion, and the front vehicle section 1 of the wall climbing robot is in linear crawling motion.

The wall transition function of the wall climbing robot is shown in fig. 8. The wall transition function of the wall climbing robot is based on the deflection action of the deflection clutch mechanism. When the wall climbing robot performs linear climbing on a working surface, the permanent magnet 9 on the rear vehicle section 2 of the wall climbing robot provides adsorption force, and the wall climbing robot is adsorbed on the working surface, and the front vehicle section 1 is tilted to form a certain angle with the rear vehicle section 2. When the wall climbing robot carries out wall surface transition (taking the transition of an inner right angle corner wall surface as an example), the wall climbing robot firstly carries out deflection action through the deflection clutch mechanism. When the front section 1 is deflected to an angle of 90 ° with the working surface, the spline shaft 31 stops rotating, so that the wall climbing robot stops deflecting, and the front section 1 and the rear section 2 of the wall climbing robot remain relatively fixed under the action of the positioning mechanism 6. Then, the third spline gear 511 is withdrawn from the fifth internal gear 531 under the drive of the third clutch motor 513, and the fourth spline gear 521 is withdrawn from the sixth internal gear 541 under the drive of the fourth clutch motor 523. The spline shaft 31 rotates again, and the spline shaft 31 idles in the center holes of the two timing pulleys of the front segment 1. Then the first spline gear 411 is meshed with the first inner gear 412 under the drive of the first clutch motor 413, the second spline gear 421 is meshed with the second inner gear 422 under the drive of the second clutch motor 423, and the two synchronous pulleys of the rear vehicle section are driven to rotate, so that the rear vehicle section runs straight and approaches the steel wall surface. When the front vehicle section 1 touches the wall and is adsorbed on the wall, the spline shaft 31 stops rotating, the first spline gear 411 withdraws from the first internal gear 412 under the drive of the first clutch motor 413, the second spline gear 421 withdraws from the second internal gear 422 under the drive of the second clutch motor 423, and the rear vehicle section 2 moves to the position shown in fig. 5 and is stationary. The third spline gear 511 is meshed with the third internal gear 512 under the drive of the third clutch motor 513, and the fourth spline gear 521 is meshed with the fourth internal gear 522 under the drive of the fourth clutch motor 523 to drive the two synchronous pulleys of the front vehicle section 1 to rotate, so that the front vehicle section 1 is adsorbed on the steel wall and moves in a straight line. After the front car section 1 runs for a certain distance, the wall climbing robot deflects to enable the rear car section 2 to be adsorbed on the steel wall. And then the deflection movement is carried out again, so that the front vehicle section 1 is tilted and forms a certain angle with the rear vehicle section 2, thereby finishing the wall transition.

The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention.

Claims

1. A wall climbing robot with a wall transition function comprises a front vehicle section (1) and a rear vehicle section (2) which are both crawler-type walking structures; the front vehicle section (1) is formed by assembling a front vehicle frame (11), a front vehicle left front synchronous pulley (12), a front vehicle right front synchronous pulley (13), a front vehicle left rear synchronous pulley (14), a front vehicle right rear synchronous pulley (15), a front vehicle left synchronous belt (16) and a front vehicle right synchronous belt (17); the rear vehicle section (2) is formed by assembling a rear vehicle frame (21), a rear vehicle left front synchronous pulley (22), a rear vehicle right front synchronous pulley (23), a rear vehicle left rear synchronous pulley (24), a rear vehicle right rear synchronous pulley (25), a rear vehicle left synchronous belt (26) and a rear vehicle right synchronous belt (27), and is characterized in that: the width of the front vehicle section (1) is smaller than that of the rear vehicle section (2), a front vehicle left and rear synchronous pulley (14) of the front vehicle section (1) is positioned on the inner side of a rear vehicle left and front synchronous pulley (22) of the rear vehicle section (2), and a front vehicle right and rear synchronous pulley (15) of the front vehicle section (1) is positioned on the inner side of a rear vehicle right and front synchronous pulley (23) of the rear vehicle section (2); the rear frame (21) is provided with a power output mechanism consisting of a spline shaft (31) and a motor (32) for driving the spline shaft (31) to rotate; the spline shaft (31) is provided with a deflection clutch mechanism; the deflection clutch mechanism comprises a rear vehicle deflection clutch mechanism which realizes the linear walking of the rear vehicle section (2) and the steering function of the wall climbing robot by utilizing the clutch, and a front vehicle deflection clutch mechanism which realizes the linear walking of the front vehicle section (1) and the wall transition function of the wall climbing robot by utilizing the clutch; permanent magnets (9) used for enabling the wall climbing robot to be adsorbed on the steel wall surface are arranged on the front left synchronous belt (16), the front right synchronous belt (17), the rear left synchronous belt (26) and the rear right synchronous belt (27) at equal intervals; a positioning mechanism (6) for enabling the front vehicle section (1) to maintain a certain deflection angle relative to the rear vehicle section (2) so as to finish transition walking of the wall climbing robot on wall surfaces with different included angles is connected between the front vehicle frame (11) and the rear vehicle frame (21); the deflection angle maintained by the positioning mechanism (6) is increased or decreased in a set radian angle relative to the horizontal plane, and a probe (C) for detecting steel is arranged on the rear frame (21); the rear vehicle deflection clutch mechanism consists of a first spline gear (411), a first internal gear (412), a first clutch motor (413), a first screw (414), a first shifting fork (415), a second spline gear (421), a second internal gear (422), a second clutch motor (423), a second screw (424) and a second shifting fork (425); the first clutch motor (413) is fixedly arranged at the left end of the rear frame (21), the first screw rod (414) is fixedly connected with a power output shaft of the first clutch motor (413), the tail end of the first shifting fork (415) is in threaded driving connection with the first screw rod (414), the first internal gear (412) is fixedly arranged in the rear car left front synchronous pulley (22), the first spline gear (411) is sleeved on a shaft section of the spline shaft (31) between the rear car left front synchronous pulley (22) and the front car left rear synchronous pulley (14) in a sliding manner, and the front end of the first shifting fork (415) is clamped in a shifting fork groove (D) of the first spline gear (411); the second clutch motor (423) is fixed at the right end of the rear frame (21), the second screw rod (424) is fixedly connected with a power output shaft of the second clutch motor (423), the tail end of the second shifting fork (425) is connected with a second screw rod (424) in a threaded driving mode, the second internal gear (422) is fixedly arranged in the rear right front synchronous pulley (23), the second spline gear (421) can be sleeved on a shaft section of the spline shaft (31) between the rear right front synchronous pulley (23) and the front right rear synchronous pulley (15) in a sliding mode, and the front end of the second shifting fork (425) is clamped in a shifting fork groove (D) of the second spline gear (421).

2. The wall climbing robot with wall transition function according to claim 1, characterized in that: the front frame (11) is transversely and rotatably provided with a front wheel shaft (18) relatively close to the front end, the front left front synchronous pulley (12) is fixedly arranged at the left end of the front wheel shaft (18) through a front flat key (A), the front right front synchronous pulley (13) is fixedly arranged at the right end of the front wheel shaft (18) through the front flat key (A), the front left rear synchronous pulley (14) and the front right rear synchronous pulley (15) are rotatably arranged on a spline shaft (31), and the front left synchronous belt (16) is meshed with the front left front synchronous pulley (12) and the front left rear synchronous pulley (14) in a closed loop mode; the front right synchronous belt (17) is meshed with the front right front synchronous belt wheel (13) and the front right rear synchronous belt wheel (15) in a closed loop mode.

3. The wall climbing robot with a wall transition function according to claim 2, characterized in that: the rear frame (21) consists of a horizontal cross arm (211), a left arm (212) connected to the left end of the horizontal cross arm (211) and a right arm (213) connected to the right end of the horizontal cross arm (211); the rear left front synchronous pulley (22) and the rear right front synchronous pulley (23) are rotatably arranged on a spline shaft (31), and limiting snap springs for preventing the front left rear synchronous pulley (14), the front right rear synchronous pulley (15), the rear left front synchronous pulley (22) and the rear right front synchronous pulley (23) from axially moving in a series are respectively clamped on the spline shaft (31); the rear left front synchronous pulley (22) is rotationally positioned on the inner side of the left arm (212) close to the front end, the rear right front synchronous pulley (23) is rotationally positioned on the inner side of the right arm (213) close to the front end, the rear left rear synchronous pulley (24) is rotationally arranged on the inner side of the left arm (212) close to the rear end through a short shaft (28), and the rear right rear synchronous pulley (25) is rotationally arranged on the inner side of the right arm (213) close to the rear end through another short shaft (28); the rear left synchronous belt (26) is meshed with the rear left front synchronous belt wheel (22) and the rear left rear synchronous belt wheel (24) in a closed loop mode, and the rear right synchronous belt (27) is meshed with the rear right front synchronous belt wheel (23) and the rear right rear synchronous belt wheel (25) in a closed loop mode.

4. A wall climbing robot having a wall transition function according to claim 3, characterized in that: the positioning mechanism (6) consists of a ball plunger fixing seat (61) with a U-shaped structure, a ball plunger clamping disc (62) with an annular disc structure and a ball plunger (63) capable of elastically stretching; the U-shaped closed end of the ball plunger fixing seat (61) is fixedly arranged at the center of a horizontal cross arm (211) of the rear frame (21) through a bolt; the ball plungers (63) are fixedly arranged on two side arms (611) of the U-shaped opening end of the ball plunger fixing seat (61), a plurality of ball plungers (63) are arranged on each side arm (611), and the ball plungers (63) are arranged in equal radians and positioned on the same circumference; the two ball plunger clamping discs (62) are symmetrically clamped and fixed on a frame tail (111) of a front frame (11) through bolts, the frame tail (111) stretches into the U-shaped opening end of a ball plunger fixing seat (61), and each ball plunger clamping disc (62) is provided with a positioning pit which enables a ball plunger (63) to be elastically clamped in order to maintain a fixed deflection angle of a front vehicle section (1) relative to a rear vehicle section (2).

5. The wall climbing robot with wall transition function according to claim 4, wherein: the ball plunger (63) consists of a plunger shell (631) with a cylindrical structure, a return spring (632) and a steel ball (633); the plunger housing (631) is axially provided with a spring mounting cavity (63 a), the return spring (632) is pressed in the spring mounting cavity (63 a) of the plunger housing (631) through a steel ball (633), the cavity opening of the spring mounting cavity (63 a) is provided with an annular table with the diameter smaller than that of the steel ball (633) for preventing the steel ball (633) from falling out, and the part of the steel ball (633) extending out of the cavity opening of the spring mounting cavity (63 a) is elastically clamped and matched with the positioning pit.

6. The wall climbing robot with wall transition function according to claim 5, characterized in that: the rear end of a left arm (212) of a rear frame (21) of the rear vehicle section (2) and the rear end of a right arm (213) of the rear frame (21) are respectively provided with a rear vehicle synchronous belt tensioning mechanism (7); the short shaft (28) is arranged on the rear frame (21) through a rear synchronous belt tensioning mechanism (7); the rear car synchronous belt tensioning mechanism (7) consists of a hoop (71) with a U-shaped structure, a sleeve cup (72), a flange cover (73), a deep groove ball bearing (74) and a tensioning bolt (75); the deep groove ball bearing (74) is fixedly arranged in the sleeve cup (72), one end of the short shaft (28) is tightly matched and penetrates through an inner hole of the deep groove ball bearing (74), and the short shaft (28) is rotatably arranged on the sleeve cup (72) through the deep groove ball bearing (74); the two arms of the anchor ear (71) with the U-shaped structure are clamped and matched with the rear end of the left arm (212) of the rear frame (21) or the rear end of the right arm (213) of the rear frame (21), the sleeve cup (72) is positioned and penetrated in sleeve cup mounting holes formed in the two arms of the anchor ear (71), the sleeve cup (72) and the anchor ear (71) are penetrated and installed on the left arm (212) of the rear frame (21) or rear-mounted on the right arm (213) of the rear frame (21) through two first bolts (76), the closed end of the anchor ear (71) is welded with a tensioning nut (77), the front end of the tensioning bolt (75) is in spiral fit with the rear end face of the left arm (212) of the rear frame (21) or the rear end face of the right arm (213) of the rear frame (21); the short shaft (28) is clamped with a limit clamp spring (78) for preventing the deep groove ball bearing (74) from falling off, and the flange cover (73) is fixed on the sleeve cup (72) through a screw and is propped against the outer circle of the deep groove ball bearing (74); the rear left rear synchronous pulley (24) and the rear right rear synchronous pulley (25) are fixedly arranged at one end of the short shaft (28) far away from the deep groove ball bearing (74) through the rear flat key (B).

7. The wall climbing robot with wall transition function according to claim 6, wherein: the front frame (11) on install the front truck hold-in range tensioning mechanism (8) that are used for tensioning front truck left hold-in range (16) and be used for tensioning front truck right hold-in range (17) front truck hold-in range tensioning mechanism (8), two front truck hold-in range tensioning mechanism (8) the structure the same with rear truck hold-in range tensioning mechanism (7), front axle (18) install on front truck hold-in range tensioning mechanism through the deep groove ball bearing of two front truck hold-in ranges tensioning mechanism (8) rotationally.

8. The wall climbing robot with wall transition function according to claim 7, characterized in that: the front vehicle deflection clutch mechanism consists of a third spline gear (511), a third internal gear (512), a third clutch motor (513), a third screw rod (514), a third shifting fork (515), a fourth spline gear (521), a fourth internal gear (522), a fourth clutch motor (523), a fourth screw rod (524), a fourth shifting fork (525), a fifth internal gear (531) and a sixth internal gear (541); the third clutch motor (513) is fixed on the front frame (11) at the left side of the opposite frame tail (111), the third screw rod (514) is fixedly connected with a power output shaft of the third clutch motor (513), the tail end of the third shifting fork (515) is in threaded driving connection with the third screw rod (514), the third internal gear (512) is fixedly arranged in the front-car left-rear synchronous pulley (14), the fifth internal gear (531) is fixedly arranged on the left side surface of the frame tail (111) and in the left ball plunger clamping disc (62), the third spline gear (511) is sleeved on a shaft section between the spline shaft (31) and the front-car left-rear synchronous pulley (14) and the left ball plunger clamping disc (62), and the front end of the third shifting fork (515) is clamped in a shifting fork groove (D) of the third spline gear (511); the fourth clutch motor (523) is fixed on the front frame (11) on the right side of the opposite frame tail (111), the fourth screw (524) is fixedly connected with a power output shaft of the fourth clutch motor (523), the tail end of the fourth shifting fork (525) is in threaded driving connection with the fourth screw (524), the fourth internal gear (522) is fixedly arranged in the front-car right-rear synchronous pulley (15), the sixth internal gear (541) is fixedly arranged on the right side surface of the frame tail (111) and is positioned in the right-side ball plunger clamping disc (62), the fourth spline gear (521) is sleeved on a shaft section of the spline shaft (31) between the front-car right-rear synchronous pulley (15) and the right-side ball plunger clamping disc (62) in a sliding mode, and the front end of the fourth shifting fork (525) is clamped in a shifting fork groove (D) of the fourth spline gear (521).