Electromagnetic wall-climbing mechanical leg based on air gap structure and wall-climbing robot

Abstract

The invention discloses an electromagnetic wall-climbing mechanical leg based on an air gap structure and a wall-climbing robot, and the electromagnetic wall-climbing mechanical leg based on the air gap structure is used for wall-climbing movement on a magnetically attractable adsorption surface, and comprises a frame, an electromagnetic adsorption part, a driving wheel and an auxiliary wheel; the electromagnetic adsorption part is mounted on the frame and is provided with a magnetic force end which is magnetically attracted with an adsorption surface by an adjustable air gap; the driving wheel is mounted on the frame and is used for rolling driving on the adsorption surface; at least one auxiliary wheel is installed on the frame, and the auxiliary wheel and the driving wheel support the frame on the adsorption face in a rolling mode. The electromagnetic adsorption part is supported on the basis of the driving wheel and the auxiliary wheel, an air gap is provided between the electromagnetic adsorption part and an adsorption surface, the adsorption force of magnetic attraction is adjusted, stable wheel pressure is provided for the driving wheel, slipping or falling is avoided, each single leg has the independent wall climbing capacity, and a plurality of single legs can be adopted for wall climbing inspection along the plane at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of wall - climbing robots, and particularly to an electromagnetic wall - climbing mechanical leg and a wall - climbing robot based on an air - gap structure. Background Art

[0002] With the development of inspection robots, intelligent inspection robots have gradually started to replace some of the work in inspections, liberating humans from dangerous and harmful environments, reducing harm to the human body, and enabling humans to remotely understand the use and maintenance of port mechanical equipment. At the same time, inspection robots are not restricted by factors such as weather and human fatigue, and can continuously and efficiently complete tasks, which effectively reduces equipment maintenance costs and the number of inspection personnel, achieving the goal of cost reduction and efficiency improvement.

[0003] For example, Chinese Patent 202322185872.7 discloses a magnetic - adsorption type inspection robot and a wall - climbing robot inspection system, including a mounting frame, a vehicle body, a crawler walking mechanism, an image acquisition device, and a rotating assembly. The vehicle body is placed on the top of the mounting frame, the rotating assembly is arranged inside the vehicle body, the image acquisition device is placed on the top of the vehicle body and connected to the rotating assembly, and crawler walking mechanisms are symmetrically arranged on both outer sides of the mounting frame. The crawler walking mechanism includes a crawler, a first tensioning wheel, and a motor. A number of magnets are spaced on the crawler. There are two first tensioning wheels, which are symmetrically arranged inside the crawler and are in transmission connection with the crawler. The motor is arranged inside the mounting frame and connected to the first tensioning wheel.

[0004] For the above - mentioned existing technology, the volume of the crawler walking mechanism is too bulky, and the inspection speed is slow, resulting in low efficiency of wall - climbing inspection on a flat wall surface and being inconvenient for inspection in a narrow space. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above - mentioned technical deficiencies, and propose an electromagnetic wall - climbing mechanical leg and a wall - climbing robot based on an air - gap structure, so as to solve the technical problems in the existing technology that the volume of the crawler walking mechanism is too bulky, the inspection speed is slow, resulting in low efficiency of wall - climbing inspection on a flat wall surface and being inconvenient for inspection in a narrow space.

[0006] To achieve the above - mentioned technical purpose, the present invention adopts the following technical solutions: In the first aspect, the present invention provides an electromagnetic wall - climbing mechanical leg based on an air - gap structure, which is used for wall - climbing movement on a magnetizable adsorption surface, and includes: A frame; An electromagnetic adsorbing component, which is installed on the frame and has a magnetic force end with an adjustable air - gap with the adsorption surface for magnetic adsorption; A driving wheel, which is installed on the frame and is used for rolling drive on the adsorption surface; and Auxiliary wheels, at least one of the auxiliary wheels is mounted on the frame, and together with the driving wheels, they roll and support the frame on the adsorption surface.

[0007] In some embodiments, the electromagnetic adsorbing member includes an air gap adjusting member and an electromagnet. The air gap adjusting member has a movable end whose distance from the adsorption surface can be adjusted. The movable end of the air gap adjusting member is connected to the electromagnet to drive the electromagnet to adjust the size of the air gap between the electromagnet and the adsorption surface.

[0008] In some embodiments, the air gap adjusting member includes a housing and a threaded cylinder. The electromagnet is fixedly installed inside the threaded cylinder, and the threaded cylinder is threadedly connected inside the housing and can rotate and extend relative to the housing.

[0009] In some embodiments, the air gap adjusting member further includes a plurality of gaskets with the same or different thicknesses. One or more of the gaskets are disposed in the gap between the inner side of the housing and the end of the threaded cylinder.

[0010] In some embodiments, the air gap adjusting member includes an electric telescopic rod. The electric telescopic rod is installed on the frame, and its telescopic end is connected to the electromagnet.

[0011] In some embodiments, the air gap adjusting member further includes a pressure sensor and a controller. The pressure sensor is installed on the auxiliary wheel and / or the driving wheel to detect the positive pressure adsorbed on the adsorption surface. Both the electric telescopic rod and the pressure sensor are electrically connected to the controller. The controller controls the telescopic movement of the electric telescopic rod according to the detection signal of the pressure sensor to control the size of the air gap, so that the positive pressure formed by the adsorption of the electromagnet is in dynamic balance.

[0012] In some embodiments, the driving wheel includes a driving motor, a driving pulley, a transmission belt, a driven pulley, a tensioning wheel, and a wheel body. The wheel body is rotatably connected to the inner side of the frame. The driving motor is built inside the frame. The driving pulley, the driven pulley, and the tensioning wheel are all rotatably connected to the outer side of the frame. The transmission belt is drivingly connected between the outer sides of the driving pulley and the driven pulley. At least one tensioning wheel abuts against the outer side of the transmission belt. The output shaft of the driving motor penetrates the frame and is connected to the central axis of the driving pulley to drive the driving pulley to rotate. The central axis of the driven pulley penetrates the frame and is connected to the central axis of the wheel body.

[0013] In a second aspect, the present invention further provides a wall-climbing robot, including at least one electromagnetic wall-climbing mechanical leg based on an air gap structure as described in any one of the above.

[0014] In some embodiments, two electromagnetic wall-climbing mechanical legs based on an air gap structure are detachably connected through a rotating mechanism to form a wall-climbing robot unit.

[0015] In some embodiments, at least two of the wall-climbing robot units are detachably connected by a connecting frame.

[0016] Compared with the prior art, the electromagnetic wall-climbing mechanical leg and the wall-climbing robot based on the air-gap structure provided by the present invention support the electromagnetic adsorbent based on the driving wheel and the auxiliary wheel, provide an air gap between the electromagnetic adsorbent and the adsorption surface, adjust the magnitude of the magnetic adsorption force, provide a stable wheel pressure for the driving wheel, avoid slipping or falling, each single leg has an independent wall-climbing ability, and multiple legs can be used simultaneously for wall-climbing inspection along a plane, improving the inspection efficiency; wheel drive, and the overall shape is a strip-shaped leg, which can adapt to wall-climbing inspection in narrow spaces; moreover, multiple single legs can be combined into a two-leg or multi-leg structure, and after combination, different terrain environments can be adapted. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the electromagnetic wall-climbing mechanical leg based on the air-gap structure provided by an embodiment of the present invention; Figure 2 is a three-dimensional view from another perspective of the electromagnetic wall-climbing mechanical leg based on the air-gap structure provided by an embodiment of the present invention; Figure 3 is a front perspective view of the electromagnetic wall-climbing mechanical leg based on the air-gap structure provided by an embodiment of the present invention; Figure 4 is a perspective view of the electromagnetic wall-climbing mechanical leg based on the air-gap structure provided by an embodiment of the present invention, in which the air-gap adjusting member adopts an electric telescopic rod; Figure 5 is a control block diagram of the electromagnetic wall-climbing mechanical leg based on the air-gap structure provided by an embodiment of the present invention, in which the air-gap adjusting member adopts an electric telescopic rod; Figure 6 is a three-dimensional schematic diagram of the wall-climbing robot based on the air-gap structure provided by an embodiment of the present invention; Figure 7 is a three-dimensional schematic diagram of multiple units of the wall-climbing robot based on the air-gap structure provided by an embodiment of the present invention.

[0018] DESCRIPTION OF REFERENCE NUMERALS: 1. Frame; 11. First plate; 12. Second plate; 13. Link column; 2. Electromagnetic adsorbent; 21. Air-gap adjusting member; 211. Housing; 212. Threaded cylinder; 213. Gasket; 214. Electric telescopic rod; 215. Pressure sensor; 216. Controller; 22. Electromagnet; 3. Driving wheel; 31. Driving motor; 32. Driving pulley; 33. Transmission belt; 34. Driven pulley; 35. Tensioning wheel; 36. Wheel body; 4. Auxiliary wheel; 100, Wall-climbing robot unit; 200, Rotating mechanism; 300, Connecting frame. Detailed implementation manners

[0019] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0020] In order to solve the technical problems that the volume of the crawler walking mechanism is too bulky and the inspection speed is slow, resulting in low efficiency of wall-climbing inspection on a flat wall surface and inconvenience in inspection in a narrow space, the present invention provides an electromagnetic wall-climbing mechanical leg based on an air-gap structure, which can realize the support of an electromagnetic adsorbent by a driving wheel and an auxiliary wheel, provide an air gap between the electromagnetic adsorbent and the adsorption surface, adjust the magnitude of the magnetic adsorption force, provide a stable wheel pressure for the driving wheel, avoid slipping or falling, each single leg has an independent wall-climbing ability, and multiple legs can be used simultaneously for wall-climbing inspection along a plane, improving the inspection efficiency; wheel drive, and the whole is in the shape of a strip leg, which can adapt to wall-climbing inspection in a narrow space; moreover, multiple single legs can be combined into a double-leg or multi-leg structure, and after combination, different terrain environments can be adapted.

[0021] It should be noted that the electromagnetic wall-climbing machine leg and wall-climbing robot based on the air-gap structure of the present invention are used for but not limited to wall-climbing inspection, etc. For the convenience of description, in the present invention, only the application of the electromagnetic wall-climbing mechanical leg based on the air-gap structure to wall-climbing inspection is taken as an example for description, and the principle of the electromagnetic wall-climbing mechanical leg based on the air-gap structure applied to other usage environments is substantially the same as that applied to wall-climbing inspection, and will not be elaborated one by one here.

[0022] Please refer to Figure 1 , Figure 1 which is a schematic structural diagram of an electromagnetic wall-climbing mechanical leg based on an air-gap structure in an embodiment of the present invention. The electromagnetic wall-climbing mechanical leg based on the air-gap structure is used for wall-climbing movement on a magnetizable adsorption surface, and includes a frame 1, an electromagnetic adsorbent 2, a driving wheel 3 and an auxiliary wheel 4; the electromagnetic adsorbent 2 is installed on the frame 1, and has a magnetic force end with an adjustable air gap with the adsorption surface and performing magnetic adsorption, generating a magnetic field when energized, and can be magnetically adsorbed on the magnetizable adsorption surface; the driving wheel 3 is installed on the frame 1 and is used for rolling drive on the adsorption surface. Under the magnetic adsorption of the electromagnetic adsorbent 2, the driving wheel 3 is pressed against the wall surface where wall-climbing inspection is required; at least one of the auxiliary wheels 4 is installed on the frame, and together with the driving wheel 3, provides rolling support for the frame 1 on the adsorption surface. The electromagnetic end is located between the auxiliary wheel 4 and the driving wheel 3 to form a balanced support, making the air gap stable, and providing a stable wheel pressure.

[0023] It can be understood that each single electromagnetic wall - climbing mechanical leg can be regarded as an independent inspection robot, which can perform independent wall - climbing during planar wall - climbing inspection.

[0024] It should be noted that a binocular camera is provided on each single electromagnetic wall - climbing mechanical leg, which is used to capture the picture information of the surrounding environment for inspection.

[0025] Preferably in this embodiment, the number of auxiliary wheels 4 is two, the number of driving wheels 3 is one, and the number of electromagnetic adsorbing components 2 is also two.

[0026] Among them, the frame 1 includes a first plate 11, a second plate 12 and a connecting rod column 13. The first plate 11 and the second plate 12 are connected by a plurality of connecting rod columns 13 to form a hollow structure inside for the installation of the electromagnetic adsorbing component 2, the driving wheel 3 and the auxiliary wheel 4.

[0027] Furthermore, the driving wheel 3 is arranged in the middle of the longitudinal length of the frame 1, the two electromagnetic adsorbing components 2 are arranged on both sides of the driving wheel 3, and the two auxiliary wheels 4 are arranged on both sides of the two electromagnetic adsorbing components 2, all of which are symmetrically distributed with the driving wheel 3 in the middle.

[0028] It can be understood that by controlling the air - gap structure between the magnetic adsorption end of the electromagnetic adsorbing component 2 and the adsorption surface, the magnitude of the adsorption force can be controlled, which not only avoids the wear of the magnetic adsorption end, but also avoids the slipping caused by the driving wheel being unable to rotate due to excessive magnetic adsorption force, and at the same time avoids the situation where the magnetic adsorption force is too small to enable stable wall - climbing.

[0029] In one of the embodiments, please refer to Figure 1 and Figure 2 , in order to adjust the air - gap structure, the electromagnetic adsorbing component 2 includes an air - gap adjusting member 21 and an electromagnet 22. The air - gap adjusting member 21 has a movable end whose distance from the adsorption surface can be adjusted. Its movable end is connected to the electromagnet 22 to drive the electromagnet 22 to adjust the air - gap size between it and the adsorption surface. The smaller the air - gap width, the stronger the magnetic adsorption force. On the contrary, the larger the air - gap width, the weaker the magnetic adsorption force.

[0030] It can be understood that when the wall - climbing position is on a vertical wall surface, compared with the wall surface at the ceiling position, in order to maintain a balanced wheel pressure, the air - gap between its electromagnet 22 and the adsorption surface needs to be adjusted accordingly.

[0031] Furthermore, please refer to Figure 3, in order to achieve the manual adjustment effect, obtain a relatively stable air gap size, and meet the basic wall-climbing requirements, the air gap adjusting member 21 includes a housing 211 and a threaded cylinder 212. The electromagnet 22 is fixedly installed inside the threaded cylinder 212. The threaded cylinder 212 is threadedly connected inside the housing 211 and can rotate and extend relative to the housing 211. By rotating the threaded cylinder 212, the electromagnet 22 can be moved to extend or retract downward relative to the housing 211 to adjust the air gap size.

[0032] It can be understood that under the load condition, a greater magnetic attraction force is required. Therefore, the air gap can be selectively adjusted according to the demand. For one-time manual adjustment, it can be adjusted before use. According to the on-site situation, the corresponding air gap size can be rotated.

[0033] Furthermore, in order to facilitate the control of the manually adjusted air gap size, the air gap adjusting member 21 further includes a plurality of gaskets 213 with the same thickness or different thicknesses. One or more of the gaskets 213 are placed in the gap between the inner side of the housing 211 and the end of the threaded cylinder 212. The thickness of the gaskets 213 is fixed. Therefore, it is known how thick the gasket 213 is to be inserted. After inserting the gasket and then installing the threaded cylinder 212, rotating and pressing the gasket 213 can achieve the corresponding contraction amplitude to achieve the purpose of a controllable air gap.

[0034] In another embodiment, please refer to Figure 4 , in order to facilitate electric control and dynamically adjust the air gap according to the different pressures generated by the attitude during driving, the air gap adjusting member 21 includes an electric telescopic rod 214. The electric telescopic rod 214 is installed on the frame 1, and its telescopic end is connected to the electromagnet 22. The electromagnet 22 is driven to extend or retract by the electric telescopic rod 214 to adjust the air gap size.

[0035] It can be understood that according to the space size, existing structural members with linear telescopic functions such as a lead screw guide pair can also be used.

[0036] Furthermore, in order to form dynamic adjustment, the air gap adjusting member 21 further includes a pressure sensor 215 and a controller 216. The pressure sensor 215 is installed on the auxiliary wheel 4 and / or the driving wheel 3 to detect the positive pressure adsorbed on the adsorption surface. Both the electric telescopic rod 214 and the pressure sensor 215 are electrically connected to the controller 216. The controller 216 controls the telescopic movement of the electric telescopic rod 214 according to the detection signal of the pressure sensor 215 to control the air gap size, so that the positive pressure formed by the adsorption of the electromagnet 22 is in dynamic balance.

[0037] It can be understood that if the tire adopts an inflatable vacuum tire, it can be installed in the tire to detect the tire pressure; if the tire does not have a carcass structure, it can be installed at the position corresponding to the frame and the shaft to detect the pressure on the rotating shaft; other existing installation structures or sensors for detecting wheel pressure can also be used to achieve the purpose of detecting pressure values.

[0038] It should be noted that the controller 216 is a programmable controller or a control chip having a logic control function.

[0039] In one embodiment, see Figure 1 and Figure 2 In order to drive the driving wheel 3 to roll, the driving wheel 3 includes a driving motor 31, an active pulley 32, a transmission belt 33, a driven pulley 34, a tensioning wheel 35 and a wheel body 36, wherein the wheel body is rotatably connected to the inner side of the frame 1, the driving motor 31 is built into the inner side of the frame 1, the active pulley 32, the driven pulley 34 and the tensioning wheel 35 are all rotatably connected to the outer side of the frame 1, and the transmission belt 33 is transmission-connected between the outer sides of the active pulley 32 and the driven pulley 34. At least one of the tensioning wheels 35 is in contact with the outer side of the transmission belt 33. The output shaft of the driving motor 31 passes through the frame 1 and is connected to the central axis of the active pulley 32, driving the active pulley 32 to rotate. The central axis of the driven pulley 34 passes through the frame 1 and is connected to the central axis of the wheel body 36. The driving motor 31 drives the active pulley 32 to rotate. The active pulley 32 drives the driven pulley 34 to rotate under the transmission of the transmission belt 33, and the driven pulley 34 drives the wheel body 36 to rotate. Through the above structural arrangement, the width of the mechanical leg can be simplified, avoiding the arrangement of too many components in the width direction, so that it can adapt to narrow environments.

[0040] The present invention also provides a wall-climbing robot, which includes at least one electromagnetic wall-climbing mechanical leg based on an air gap structure as described in any one of the above embodiments. When the number of mechanical legs is one, it is mainly used for plane wall climbing inspection, that is, a wall-climbing robot has multiple mechanical legs, and after the mechanical legs are disassembled, they are all independent inspectable units, which can be evenly arranged on a plane for wall climbing inspection, which can improve the efficiency of plane wall climbing inspection.

[0041] Furthermore, when a wall-climbing robot has two mechanical legs, the two electromagnetic wall-climbing mechanical legs based on the air gap structure are detachably connected through the rotating mechanism 200 to form a wall-climbing robot unit 100, and the wall-climbing robot unit 100 is composed of a double-leg structure. It can be used for pipeline inspection, that is, the double-leg structure can form different angles under the control of the rotating mechanism 200, and the movement of the pipeline bending area can be constituted under the change of the angle.

[0042] Specifically, the wall - climbing robot unit 100 can be longitudinally parallel and travel through a linear pipeline. At the pipeline bend, it can pass through by gradually bending the two mechanical legs to match the curvature of the pipeline bend. Moreover, with the driving method of the driving wheel 3, it can quickly travel through the pipeline, while the crawler - type structure is difficult to conduct inspections in the above - mentioned environment. And the crawler - type structure does not have bendable performance and is difficult to pass through the bending area.

[0043] It can be understood that in the above structure, the auxiliary wheel 4 can also be driven by a driving motor. When some of the driving wheels 3 fail to adhere to the wall, the auxiliary wheel 4 can be used for driving.

[0044] Furthermore, in order to form a terrain - crossing function, at least two of the wall - climbing robot units 100 are detachably connected through a connecting frame 300 to form a structure composed of four mechanical legs. Under the angle adjustment of the rotating mechanism 200 of the two robot units 100, some mechanical legs are used for magnetic attraction, and some mechanical legs flip to cross the wall surface, so as to cross the steps and cross between the vertical wall surfaces.

[0045] In addition, the wall - climbing robot units 100 can continue to be arrayed along the arrangement direction to form a larger wall - climbing robot. There is no need for a single robot to conduct inspections back and forth. A combined robot that meets the width requirements can complete one inspection trip, which can greatly improve the inspection efficiency.

[0046] Furthermore, when two wall - climbing robot units 100 are assembled into a four - leg robot, it has high adaptability for multi - scenario use. With the detachable structure, the two wall - climbing robots can be disassembled into two separate wall - climbing robot units 100, and two pipelines can be inspected simultaneously; when the wall - climbing robot unit 100 is disassembled, it can be disassembled into four separate electromagnetic wall - climbing mechanical legs based on the air - gap structure, which can be distributed at each plane wall - climbing position for simultaneous wall - climbing inspections, or for more extensive synchronous inspections on one plane to improve the inspection efficiency.

[0047] It should be noted that a visual recognition module is provided on the wall - climbing robot. The visual recognition module is connected to a host computer, and the host computer is connected to a slave computer; the visual recognition module is electrically connected to the host computer, and the visual recognition module is used to photograph and pre - process the surrounding environment and transmit the acquired data to the host computer; the host computer is electrically connected to the slave computer, the host computer is used to process data and transmit control signals to the slave computer, and the slave computer is used to control the angle and posture adjustment of each electromagnetic wall - climbing mechanical leg of the wall - climbing robot unit 100.

[0048] For a better understanding of the present invention, the following is combined with Figures 1 to 7A detailed description of the technical solution of the present invention: The mechanical leg has a frame 1, an electromagnetic adsorbing member 2, a driving wheel 3 and an auxiliary wheel 4. Supported by the driving wheel 3 and the auxiliary wheel 4, and in cooperation with the air gap adjusting member 21 to adjust the position of the electromagnet 22, the air gap between the controllable electromagnet 22 and the adsorbed surface is adjusted, and the magnetic adsorption force is adjusted according to the size of the air gap; when the use environment is single and only simple manual adjustment is required, a low-cost manual-adjustable air gap adjusting member 21 can be used. Fill the gasket 213 with the required thickness into the housing 211, then install the threaded cylinder 212, and rotate and press the gasket 213; when the use environment is complex and the plane involves slope changes, an automatically adjustable air gap adjusting member 21 can be used. According to the detection signal of the pressure sensor 215, the controller 216 controls the telescopic movement of the electric telescopic rod 214 to adjust the position of the electromagnet 22 and the size of the air gap to make the wheel pressure dynamically balanced; when pipeline inspection is required, a wall-climbing robot unit 100 composed of two mechanical legs can be used, which has the function of adjusting the angle between the two mechanical legs, can travel in the pipeline, and walk at the pipeline bend; when complex terrain crossing is required, two wall-climbing robot units 100 can be connected and assembled through a connecting frame 300 to form a four-mechanical-leg structure, which can form a terrain crossing function to cross the wall surface and obstacles such as steps; when rapid and efficient planar inspection is required, multiple mechanical legs can be used for wall-climbing inspection, or multiple wall-climbing robot units 100 can be assembled in an array through a connecting frame 300 to expand the inspection coverage area, so that the area detected at one time is enlarged and the inspection efficiency is improved.

[0049] The specific embodiments of the present invention described above do not constitute a limitation to the protection scope of the present invention. Any other corresponding changes and deformations made according to the technical concept of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An electromagnetic wall - climbing mechanical leg based on an air - gap structure, which is used for climbing and moving on a magnetizable adsorption surface, is characterized in that, Comprising: A frame; An electromagnetic adsorbing component, which is mounted on the frame and has a magnetic end with an adjustable air gap from the adsorption surface for magnetic attraction; A driving wheel, which is mounted on the frame and is used for rolling drive on the adsorption surface; And An auxiliary wheel, at least one of the auxiliary wheels is mounted on the frame, and together with the driving wheel, supports the frame for rolling on the adsorption surface.

2. The electromagnetic wall-climbing mechanical leg based on the air-gap structure according to claim 1, wherein The electromagnetic adsorbing component includes an air gap adjusting member and an electromagnet. The air gap adjusting member has a movable end whose distance from the adsorption surface can be adjusted. The movable end is connected to the electromagnet to drive the electromagnet to adjust the air gap size between the electromagnet and the adsorption surface.

3. The electromagnetic wall-climbing mechanical leg based on the air gap structure according to claim 2, characterized in that, The air gap adjusting member includes a housing and a threaded cylinder. The electromagnet is fixedly installed inside the threaded cylinder, and the threaded cylinder is threadedly connected inside the housing and can rotate and extend relative to the housing.

4. The electromagnetic wall-climbing mechanical leg based on the air-gap structure according to claim 3, wherein The air gap adjusting member further includes a plurality of gaskets with the same or different thicknesses. One or more of the gaskets are placed in the gap between the inner side of the housing and the end of the threaded cylinder.

5. The electromagnetic wall-climbing mechanical leg based on the air-gap structure according to claim 2, characterized in that, The air gap adjusting member includes an electric telescopic rod. The electric telescopic rod is mounted on the frame, and its telescopic end is connected to the electromagnet.

6. The electromagnetic wall-climbing mechanical leg based on the air-gap structure according to claim 5, wherein The air gap adjusting member further includes a pressure sensor and a controller. The pressure sensor is mounted on the auxiliary wheel and / or the driving wheel to detect the positive pressure adsorbed on the adsorption surface. Both the electric telescopic rod and the pressure sensor are electrically connected to the controller. The controller controls the telescopic movement of the electric telescopic rod according to the detection signal of the pressure sensor to control the air gap size, so that the positive pressure formed by the adsorption of the electromagnet is in dynamic balance.

7. The electromagnetic wall-climbing mechanical leg based on the air-gap structure according to claim 1, characterized in that, The driving wheel includes a driving motor, a driving pulley, a transmission belt, a driven pulley, a tensioning wheel and a wheel body. The wheel body is rotatably connected to the inner side of the frame. The driving motor is built inside the frame. The driving pulley, the driven pulley and the tensioning wheel are all rotatably connected to the outer side of the frame. The transmission belt is connected to the outer sides of the driving pulley and the driven pulley. At least one of the tensioning wheels abuts against the outer side of the transmission belt. The output shaft of the driving motor penetrates through the frame and is connected to the central axis of the driving pulley to drive the driving pulley to rotate. The central axis of the driven pulley penetrates through the frame and is connected to the central axis of the wheel body.

8. A wall-climbing robot, characterized in that, Including at least one electromagnetic wall-climbing robotic leg based on an air gap structure as described in any one of claims 1-9.

9. The wall-climbing robot according to claim 8, wherein, Two electromagnetic wall-climbing robotic legs based on the air gap structure are detachably connected through a rotating mechanism to form a wall-climbing robot unit.

10. The wall-climbing robot according to claim 9, wherein At least two of the wall-climbing robot units are detachably connected through a connecting frame.

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