Double-wheel magnetic wall-climbing robot adopting permanent magnet adsorption

Abstract

The invention discloses a double-wheel magnetic wall-climbing robot adopting permanent magnet adsorption, and relates to the technical field of detection robot production, the double-wheel magnetic wall-climbing robot comprises a main frame, a wheel base adjusting mechanism, a front frame and a rear frame, and the wheel base adjusting mechanism is connected with the front frame and the rear frame; the vehicle further comprises deformation magnetic wheels, the deformation magnetic wheels are arranged on the front vehicle frame and the rear vehicle frame, the deformation magnetic wheels comprise permanent magnet wheels and supporting wheels, deformation driving mechanisms are arranged in the deformation magnetic wheels, and the deformation driving mechanisms drive the supporting wheels and the permanent magnet wheels to be separated and deformed. The axle distance adjusting mechanism drives the front frame and the rear frame to keep rotating, and the axle distance between the deformation magnetic wheels on the front frame and the rear frame is adjusted. According to the double-wheel magnetic wall-climbing robot adopting permanent magnet adsorption, the front frame and the rear frame are driven by the axle distance adjusting mechanism to keep rotating, and the axle distance between the front deformation magnetic wheel and the rear deformation magnetic wheel can be synchronously adjusted; and the safety and the environment adaptability of the robot during high-risk crawling on the surface of the complex steel structure can be remarkably enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of detection robot production, and in particular to a two-wheeled magnetic wall-climbing robot using permanent magnetic adsorption. Background Art

[0002] Steel structures are increasingly being used in projects such as high-rise buildings, large bridges, and industrial plants. Due to the dense connections between steel structure components, the complex distribution of welds, and the susceptibility to corrosion, regular inspections have become an important means of ensuring structural safety and extending service life. Currently, the main inspection methods for steel structures include manual inspections and automatic inspection robots based on magnetic adsorption or tracked mobile platforms. Manual inspections rely on personnel carrying equipment to conduct point-by-point inspections, which is not only labor-intensive and inefficient, but also poses significant operational risks in special environments such as high altitudes and confined spaces. Inspection robots have been used in existing technologies for inspection.

[0003] According to the utility model patent application with publication number CN213054840U and announcement date of April 27, 2021, a permanent magnetic omnidirectional wheel robot chassis is disclosed. It includes a chassis box, a drive motor, permanent magnetic omnidirectional wheels, a coupling, a permanent magnetic omnidirectional wheel drive board, a power module, a control module, an expansion board, and a Mecanum wheel car remote control. The permanent magnetic omnidirectional wheel robot chassis is equipped with a connection detection instrument and a cavitation jet cleaning machine nozzle. The detection instrument performs safety inspection, flaw detection, and precise calibration of large metal objects, while the cavitation jet cleaning machine quickly cleans metal objects. The permanent magnetic omnidirectional wheel robot chassis utilizes permanent magnetic omnidirectional wheels and four independent wheels. The four-axis four-differential mechanism uses a unique dry-coupled wheel joint, which does not require coupling agent and can crawl vertically, parallel, and reversely. The wireless control system and wired coaxial cable system enable users to reach most locations on various steel structures without the need for scaffolding, enabling cleaning, safety inspection, flaw detection, and precise calibration of large metal objects.

[0004] Some of the existing automated inspection robots use permanent magnetic adsorption, and their adsorption force on steel structures cannot be adjusted. Therefore, they cannot adapt to the needs of different working conditions, which will cause problems such as excessive adsorption or failure. Some other electromagnetic adsorption inspection robots completely lose their adsorption ability when the power is off, and there is a risk of falling during high-altitude operations, which is insufficient in safety. In addition, the wheel groups of the automated inspection robots mostly adopt a rigid design. When facing obstacles such as welds, bolts, and protrusions on the surface of steel structures, they have poor obstacle crossing ability and are prone to getting stuck, affecting continuous operation. For this reason, a two-wheeled magnetic wall-climbing robot using permanent magnetic adsorption is proposed, which aims to solve the problems of permanent magnetic adsorption, excessive adsorption force or failure, insufficient safety of the electromagnetic structure when the power is off, and poor obstacle crossing ability of the wheel group using a rigid structure. Summary of the Invention

[0005] The purpose of the present invention is to provide a two-wheeled magnetic wall-climbing robot using permanent magnetic adsorption, aiming to solve the problems of existing automated inspection robots, such as permanent magnetic adsorption, excessive or ineffective adsorption force, insufficient safety of the electromagnetic structure when the power is off, and poor obstacle climbing ability of the wheel group using a rigid structure.

[0006] In order to achieve the above object, the present invention provides the following technical solutions: A two-wheeled magnetic wall-climbing robot using permanent magnetic adsorption comprises a main frame and: A wheelbase adjustment mechanism is provided on the main frame, the main frame is rotatably connected to the front frame and the rear frame, and the wheelbase adjustment mechanism is respectively in transmission connection with the front frame and the rear frame; The vehicle further comprises a deformable magnetic wheel, wherein the front frame and the rear frame are both provided with a deformable magnetic wheel, the deformable magnetic wheel comprises a permanent magnetic wheel and a support wheel, and a deformable driving mechanism is provided inside the deformable magnetic wheel, and the support wheel and the permanent magnetic wheel are driven to separate and deform by the deformable driving mechanism; The wheelbase adjustment mechanism drives the front frame and the rear frame to keep rotating, so as to adjust the wheelbase between the deformable magnetic wheels on the front frame and the rear frame.

[0007] Preferably, the vehicle further includes a detection mechanism disposed at the bottom of the main frame. The detection mechanism is disposed at the bottom of the main frame. The detection mechanism includes a detection probe, a connecting rod group and a movable block slidably connected to the main frame. The detection probe is movably connected to the movable block through the connecting rod group.

[0008] Preferably, the wheelbase adjustment mechanism includes an adjustment drive mechanism, a front adjustment rod and a rear adjustment rod, the adjustment drive mechanism is arranged inside the main frame, the front adjustment rod and the rear adjustment rod are both slidably connected to the main frame, the front adjustment rod and the rear adjustment rod are both transmission-connected to the output end of the adjustment drive mechanism, one end of the front adjustment rod is movably connected to the front frame, and one end of the rear adjustment rod is movably connected to the rear frame, and the front adjustment rod and the rear adjustment rod are driven by the adjustment drive mechanism to move toward or away from each other, so that the front frame and the rear frame keep rotating synchronously.

[0009] Preferably, the front frame is provided with an arc-shaped slide rail, an arc-shaped slider is slidably connected inside the arc-shaped slide rail, the deformable magnetic wheel is rotatably connected to the arc-shaped slider, and the deformable magnetic wheel is connected to the arc-shaped slide rail through the arc-shaped slider.

[0010] Preferably, the deformable magnetic wheel further includes a mounting seat and a rotation drive motor, the mounting seat is connected to the front frame or the rear frame, the rotation drive motor is installed on the mounting seat, and the output end of the rotation drive motor is connected to the permanent magnetic wheel.

[0011] Preferably, the deformation drive mechanism includes a connecting slide rail, a magnet block and an electromagnetic block, the magnet block is installed on the support wheel, the connecting slide rail is installed inside the permanent magnet wheel, the electromagnetic block is slidably connected to the connecting slide rail, and the magnet block maintains a magnetic connection with the electromagnetic block.

[0012] Preferably, a permanent magnet is fixedly installed inside the permanent magnet wheel, and an electric slip ring is installed outside the permanent magnet wheel. The electric slip ring is electrically connected to the electromagnetic block and the electric slip ring is electrically connected to an external power supply.

[0013] Preferably, a connecting groove is provided on the outer wall of the permanent magnet wheel, a connecting shaft is installed on the supporting wheel, and the connecting shaft is slidably connected to the connecting groove.

[0014] Preferably, the detection mechanism also includes a linkage mechanism, which is respectively arranged on both sides of the movable block, one end of the linkage mechanism on both sides is connected to the movable block, one end of one linkage mechanism is connected to the front frame, and one end of the other linkage mechanism is connected to the rear frame.

[0015] In the above technical solution, the present invention provides a two-wheeled magnetic wall-climbing robot using permanent magnetic adsorption, which has the following beneficial effects: This invention drives the front frame and the rear frame to keep rotating respectively through the wheelbase adjustment mechanism, which can realize the synchronous adjustment of the wheelbase between the front and rear deformable magnetic wheels, and can adjust the wheelbase of the two deformable magnetic wheels according to the wall thickness, thereby improving the robot's passability and stability in complex steel structure spaces. Secondly, the deformation drive mechanism can drive the support wheel to separate from the permanent magnetic wheel, so that in special environments, the support wheel can be separated from the permanent magnetic wheel, disengaged from the drive, and only cross the obstacle in a supporting manner, avoiding the risk of falling caused by adsorption instability; after the climbing is completed, the deformation drive mechanism drives the support wheel to reset, so that the deformable magnetic wheel can be fully adsorbed and move synchronously, which can significantly enhance the safety and environmental adaptability of the robot when performing high-risk crawling on the surface of complex steel structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments described in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0017] Figure 1 A schematic diagram of the overall three-dimensional structure provided by an embodiment of the present invention; Figure 2 A schematic structural diagram of a wheelbase adjustment mechanism provided in an embodiment of the present invention; Figure 3A schematic diagram of the internal structure of the front frame provided by an embodiment of the present invention; Figure 4 A schematic diagram of the overall structure of the front frame provided by an embodiment of the present invention; Figure 5 A schematic diagram of the disassembled structure of a deformable magnetic wheel provided in an embodiment of the present invention; Figure 6 A schematic diagram of the installation position of the electric slip ring provided in an embodiment of the present invention; Figure 7 A schematic diagram of the structure of a detection mechanism provided in an embodiment of the present invention; Figure 8 A schematic diagram of the planar movement of a robot provided by an embodiment of the present invention; Figure 9 Schematic diagram of a robot climbing over a 90° wall provided by an embodiment of the present invention; Figure 10 A schematic diagram of the internal structure of a deformable magnetic wheel provided in an embodiment of the present invention; Figure 11 This is a schematic diagram of the connecting chute structure provided by an embodiment of the present invention.

[0018] Description of reference numerals: 1. Main frame; 11. Front frame; 12. Rear frame; 13. Connecting seat; 14. Rotating seat; 15. Arc-shaped slide rail; 16. Arc-shaped slider; 17. First rotating motor; 18. Second rotating motor; 2. Deformed magnetic wheel; 21. Permanent magnetic wheel; 211. Permanent magnet; 212. Electric slip ring; 213. Connecting slide groove; 2131. Arc portion; 2132. Straight portion; 22. Support wheel; 221. Connecting shaft; 222. Ordinary magnet; 23. Deformed drive mechanism; 231. Connecting slide rail; 232. Magnet block; 233, electromagnetic block; 234, control slider; 24, mounting seat; 25, rotation drive motor; 3, wheelbase adjustment mechanism; 31, adjustment drive mechanism; 311, moving motor; 312, bevel gear set; 313, rotating gear; 32, front adjustment rod; 33, rear adjustment rod; 34, rotating connecting rod; 4, detection mechanism; 41, detection probe; 42, connecting rod set; 43, movable block; 44, linkage mechanism; 441, first movable rod; 442, second movable rod; 45, elastic unit. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0020] See also Figures 1-11 A two-wheeled magnetic wall-climbing robot using permanent magnetic adsorption comprises a main frame 1 and further comprising: A wheelbase adjustment mechanism 3 is provided on the main frame 1, and the main frame 1 is rotatably connected to the front frame 11 and the rear frame 12, and the wheelbase adjustment mechanism 3 maintains transmission connection with the front frame 11 and the rear frame 12 respectively; The vehicle further includes a deformable magnetic wheel 2. The front frame 11 and the rear frame 12 are both provided with a deformable magnetic wheel 2. The deformable magnetic wheel 2 includes a permanent magnetic wheel 21 and a support wheel 22. A deformation driving mechanism 23 is provided inside the deformable magnetic wheel 2. The deformation driving mechanism 23 drives the support wheel 22 to separate and deform from the permanent magnetic wheel 21. The wheelbase adjustment mechanism 3 drives the front frame 11 and the rear frame 12 to keep rotating, so as to adjust the wheelbase between the deformable magnetic wheels 2 on the front frame 11 and the rear frame 12 .

[0021] Specifically, as an embodiment provided by the present invention, Figure 1 As shown, a connecting seat 13 is provided on the front frame 11 and the rear frame 12, and a rotating seat 14 is provided on the outer walls on opposite sides of the main frame 1. The front frame 11 and the rear frame 12 are rotatably connected to the main frame 1 through a pin shaft, the connecting seat 13, and the rotating seat 14.

[0022] A wheelbase adjustment mechanism 3 is provided inside the main frame 1. The wheelbase adjustment mechanism 3 is respectively connected to the front frame 11 and the rear frame 12. The wheelbase adjustment mechanism 3 can synchronously drive the front frame 11 and the rear frame 12 to rotate on the main frame 1, thereby achieving synchronous adjustment of the angles of the front frame 11 and the rear frame 12, and further adjusting the distance between the two deformable magnetic wheels 2.

[0023] Furthermore, deformable magnetic wheels 2 are provided on both the front frame 11 and the rear frame 12. As an embodiment provided by the present invention, the deformable magnetic wheel 2 includes a permanent magnetic wheel 21 and a support wheel 22. A deformable driving mechanism 23 is provided on the permanent magnetic wheel 21. The deformable driving mechanism 23 can drive the support wheel 22 to separate from the permanent magnetic wheel 21 to ensure that the robot has a certain climbing ability under special circumstances.

[0024] It should be pointed out that the two-wheeled magnetic wall-climbing robot provided in the embodiment of the present invention can not only adopt the deformed structure of the permanent magnetic wheel 21 and the support wheel 22, but also adopt the conventional magnetic wheel structure or electromagnetic wheel structure in the prior art to meet the detection requirements of being able to detect conventional detection surfaces at a lower cost.

[0025] Cameras are provided on both the front frame 11 and the rear frame 12, and visual inspection can be performed by the cameras. It should be pointed out that visual inspection by cameras is a conventional technology in the prior art, and its specific structure and working principle are not described in detail here.

[0026] This invention, through the wheelbase adjustment mechanism 3, drives the front frame 11 and the rear frame 12 to keep rotating respectively, and can realize the synchronous adjustment of the wheelbase between the front and rear deformable magnetic wheels 2. The wheelbase of the two deformable magnetic wheels 2 can be adjusted according to the wall thickness, thereby improving the robot's passability and stability in complex steel structure spaces, such as the junction of beams and columns and the corners of special-shaped components. Secondly, the deformation drive mechanism 23 can drive the support wheel 22 to separate from the permanent magnetic wheel 21, so that in special environments, the support wheel 22 can be separated from the permanent magnetic wheel 21, disengaged from the drive, and only cross the obstacle in a supporting manner, avoiding the risk of falling caused by adsorption instability; after the crossing is completed, the deformation drive mechanism 23 drives the support wheel 22 to reset, so that the deformable magnetic wheel 2 can be fully adsorbed and move synchronously, which can significantly enhance the safety and environmental adaptability of the robot when performing high-risk crawling on the surface of complex steel structures. In addition, the wheelbase adjustment mechanism 3 can also adjust the height of the detection probe 41 through the linkage mechanism 44 to prevent the uneven road surface from damaging the detection probe 41.

[0027] When the robot encounters a thinner wall, it performs visual detection through the camera. When a thin wall is detected, the wheelbase adjustment mechanism 3 is used to reduce the wheelbase between the two deformable magnetic wheels 2 to facilitate the robot's passage. When a thicker wall is detected, there is no need to adjust the wheelbase between the two deformable magnetic wheels 2, and the robot can complete the crossing through the freedom provided by the curved slide rail 15 set on the front car body 11.

[0028] It should be noted that the robot provided by the embodiment of the present invention can climb over obstacles within a certain thickness range while ensuring that the two deformable magnetic wheels 2 are not affected by each other's magnetic forces.

[0029] Equipped with deformable magnetic wheels 2 with intelligent separation and reset capabilities, the robot improves obstacle crossing stability and traffic adaptability. The robot adopts a magnetic wheel structure composed of a permanent magnetic wheel 21 and a support wheel 21, which has an active and controllable magnetic adsorption separation mechanism. By setting a connecting slide rail 213 and a control slider 234, the adsorption state of some wheel sets can be temporarily released under special circumstances, realizing the switching of half-wheel adsorption and half-wheel support. When the wheelbase is reduced to the limit and it is still difficult to climb over a narrow obstacle, the structure can temporarily disengage the ordinary wheels from the drive and only climb over the obstacle in a supporting manner, avoiding the risk of falling due to adsorption instability; after climbing over, the system is accurately reset through electromagnetic control to restore the complete adsorption and synchronous movement of the wheel set. This design significantly enhances the safety and environmental adaptability of the robot when performing high-risk crawling on the surface of complex steel structures.

[0030] The robot possesses multi-degree-of-freedom maneuverability, adapting to complex surface posture changes. The robot's front frame 11 and rear frame 12 are equipped with independent first and second rotary motors 17 and 18, respectively. Combined with the front curved rails 15 and articulated structure, these allow for localized body rotation and posture adjustment. This gives the robot a high degree of flexibility, enabling it to adapt to irregular steel surfaces, navigate narrow passages, and perform fine-tuning of its posture.

[0031] Dynamically linked control of the inspection and motion systems is achieved. A high-definition camera and a flexible motion platform with six degrees of freedom are installed at the bottom of the robot, linked to the wheelbase adjustment mechanism 3. When the robot is moving normally, the inspection probe 41 performs surface inspection. During turns or wheelbase adjustments, the movable block 43 rises accordingly, preventing damage and interference to the inspection probe 41, significantly improving inspection accuracy and operational stability.

[0032] The robot's overall axisymmetric modular design simplifies manufacturing and enhances system robustness. The front and rear bodies are highly mirrored in structure and function, resulting in a high degree of component commonality and a well-balanced center of gravity, facilitating stable operation and control response in complex scenarios. This design also reduces manufacturing and maintenance costs, improving system scalability and engineering practicality.

[0033] To overcome thin walls during wall climbing, when the variable wheelbase mechanism reaches its limit but the wheelbase is still insufficient, resulting in unstable climbing and a potential fall due to unstable adhesion, the deformable magnetic wheel 2 is split into two parts, with the permanent magnetic wheel 21 acting as an adsorption mechanism and the support wheel 22 acting as a transitional support mechanism. To reset the robot after climbing, the robot is moved to a position where the connecting rail 231 is nearly parallel to the ground, and the electromagnetic block 233 is re-energized. The magnetic attraction then aligns the two wheels and re-adsorbs them, and the slider 234 is then controlled to reset the support wheel 22.

[0034] As a further embodiment provided by the present invention, Figure 2 As shown, the wheelbase adjustment mechanism 3 includes an adjustment drive mechanism 31, a front adjustment rod 32 and a rear adjustment rod 33. Specifically, the interior of the main frame 1 is a hollow structure, and the output end of the adjustment drive mechanism 31 is connected to the front adjustment rod 32 and the rear adjustment rod 33 respectively. The front adjustment rod 32 and the rear adjustment rod 33 are both slidably connected to the main frame 1.

[0035] As an embodiment of the adjustment drive mechanism 31 provided by the present invention, Figure 3As shown, the adjustment drive mechanism 31 includes a moving motor 311, a bevel gear set 312 and a rotating gear 313. Specifically, the moving motor 311 is fixedly installed inside the main frame 1, and the bevel gear set 312 is specifically four bevel gears, one of which is fixedly installed at the output end of the moving motor 311, and the other two are respectively connected to the inner walls on both sides of the main frame 1 through a rotating shaft, and a bevel gear and a rotating gear 313 are both connected to the partition inside the main frame 1 through a rotating shaft, and the bevel gear and the rotating gear 313 are respectively located on both sides of the partition. The moving motor 311 can be used to drive the bevel gear set 312 to keep rotating, and then the transmission of the bevel gear set 312 can be used to drive the rotating gear 313 to keep rotating.

[0036] Gear openings are provided on the outer walls of the front adjusting rod 32 and the rear adjusting rod 33. The front adjusting rod 32 and the rear adjusting rod 33 are both slidably connected to the inside of the main frame 1, and the front adjusting rod 32 and the rear adjusting rod 33 are engaged with the rotating gear 313 through the gear openings. When the rotating gear 313 keeps rotating, the front adjusting rod 32 and the rear adjusting rod 33 can be driven by the gear openings to keep moving toward or away from each other.

[0037] As an embodiment provided by the present invention, the wheelbase adjustment mechanism 3 further includes a rotating connecting rod 34. Preferably, there are two rotating connecting rods 34, one of which is rotatably connected to one end of the front adjustment rod 32 and the other end is rotatably connected to the front frame 11, and one end of the other rotating connecting rod 34 is rotatably connected to the rear adjustment rod 33 and the other end is rotatably connected to the rear frame 12.

[0038] The bevel gear set 312 is driven to keep rotating by the mobile motor 311, and the rotating gear 313 is driven to keep rotating by the bevel gear set 312. The front adjustment rod 32 and the rear adjustment rod 33 are driven to move synchronously by the rotation of the rotating gear 313, and the front frame 11 and the rear frame 12 are driven to rotate synchronously to achieve wheelbase adjustment.

[0039] As a further embodiment provided by the present invention, Figure 4 As shown, a curved slide rail 15 is provided on the front frame 11, and a curved slider 16 is slidably connected inside the curved slide rail 15. The deformable magnetic wheel 2 is rotatably connected to the curved slider 16, that is, the deformable magnetic wheel 2 is slidably connected to the curved slide rail 15 via the curved slider 16. Specifically, end plates are installed at both ends of the curved slider 16 to prevent the curved slider 16 from falling out.

[0040] A first rotary motor 17 is provided on the arc-shaped slider 16 . The output end of the first rotary motor 17 is connected to the deformable magnetic wheel 2 . The first rotary motor 17 can drive the deformable magnetic wheel 2 to rotate on the arc-shaped slider 16 .

[0041] Preferably, a second rotary motor 18 is provided on the rear frame 12 , and an output end of the second rotary motor 18 is connected to the deformable magnetic wheel 2 . The second rotary motor 18 can drive the deformable magnetic wheel 2 to keep rotating on the rear frame 12 .

[0042] As an embodiment provided by the present invention, Figure 4 As shown, the deformable magnetic wheel 2 also includes a mounting base 24 and a rotation drive motor 25. Specifically, the rotation drive motor 25 is fixedly mounted on an outer wall of one side of the mounting base 24. The output end of the rotation drive motor 25 extends through the mounting base 24. The deformable magnetic wheel 2 is connected to the output end of the rotation drive motor 25. The rotation drive motor 25 can drive the deformable magnetic wheel 2 to maintain rotation, thereby enabling the robot to maintain movement. A connecting shaft 221 is fixedly mounted on the top of the mounting base 24. The mounting base 24 can maintain a rotational connection with the front frame 11 or the rear frame 12 via the connecting shaft 221.

[0043] As an embodiment provided by the present invention, Figure 5 As shown, the deformation driving mechanism 23 includes a connecting slide rail 231, a magnet block 232 and an electromagnetic block 233. A square groove is opened on the side wall of the permanent magnet wheel 21. The connecting slide rail 231 is fixedly installed inside the square groove. The magnet block 232 is fixedly installed inside the support wheel 22. A control slider 234 is slidably connected to the connecting slide rail 231. The electromagnetic block 233 is fixedly installed on the control slider 234, that is, the electromagnetic block 233 is slidably connected to the connecting slide rail 231 through the control slider 234. Preferably, the control slider 234 can be driven to move on the connecting slide rail 231, thereby driving the electromagnetic block 233 to keep moving on the connecting slide rail 231.

[0044] Specifically, the control slider 234 is an electrically controlled slider in the prior art, and its position on the connecting slide rail 231 can be controlled by a controller.

[0045] Furthermore, a permanent magnet 211 is fixed inside the permanent magnet wheel 21, and an electric slip ring 212 is fixedly connected to the outer wall of the permanent magnet wheel 21. The electric slip ring 212 is connected to an external power source and is electrically connected to the electromagnetic block 233, thereby ensuring the electrical connection of the electromagnetic block 233 during the rotation of the permanent magnet wheel 21. Preferably, the electromagnetic block 233 and the electric slip ring 212 are connected via a key shaft. There are multiple permanent magnets 211, which can be distributed in a circular array within the permanent magnet wheel 21.

[0046] The electric slip ring 212 can ensure that the circuits of the control slider 234 and the electromagnetic block 233 are connected to the external power supply.

[0047] As a preference, in order to improve the adsorption capacity of the deformable magnetic wheel 2, a plurality of ordinary magnets 222 distributed in a circular array can also be provided inside the support wheel 22, such as Figure 10 As shown, an annular magnet can also be arranged inside the permanent magnet wheel 21.

[0048] As a further embodiment provided by the present invention, Figure 10 As shown, a connecting groove 213 is provided on the outer wall of the permanent magnet wheel 21. As a first embodiment of the connecting groove 213 provided by the present invention, the connecting groove 213 includes an arc portion 2131 and a straight portion 2132. The arc portion 2131 is arranged on the outer wall of the end of the permanent magnet wheel 21, one end of the straight portion 2132 is connected to the arc portion 2131, and the other end is located at the axis of the end of the permanent magnet wheel 21. A connecting shaft 221 is fixedly provided on the end face of the support wheel 22, and the connecting shaft 221 is slidably connected to the connecting groove 213.

[0049] As a second embodiment of the connecting slot 213 provided by the present invention, the connecting slot 213 is a linear structure, and the supporting wheel 22 is slidably connected to the connecting slot 213 via a connecting shaft 221 provided on the end surface.

[0050] The detection mechanism 4 includes a detection probe 41, a connecting rod group 42 and a movable block 43 slidably connected to the main frame 1. A connecting groove is provided at the bottom of the main frame 1, and the movable block 43 is slidably connected to the connecting groove. The detection probe 41 is movably connected to the movable block 43 through the connecting rod group 42. An elastic unit 45 is provided between the movable block 43 and the inner wall of the main frame 1. The elastic unit 45 is a compression spring. The movable block 43 is driven to move downward all the time by the compression spring, so that the detection probe 41 connected to the movable block 43 can be close to the detection surface for detection, or can drive the movable block 43 to reset.

[0051] The detection probe 41 is connected to the movable block 43 via a connecting rod assembly 42. Preferably, the detection probe 41 is connected to the connecting rod assembly 42 via a platform. The connecting rod assembly 42 comprises multiple elastic telescopic rods, one end of which rotates the movable block 42 and the other end connects to the detection probe 41. Preferably, the connection is made via a ball joint. The elastic telescopic rods can reset the detection probe 41 or keep it in close contact with the detection surface.

[0052] As a further embodiment provided by the present invention, Figure 3 and Figure 7 As shown, the detection mechanism 4 also includes a linkage mechanism 44. There are two linkage mechanisms 44. The two linkage mechanisms 44 are respectively arranged on both sides of the movable block 43. One end of the linkage mechanism 44 is connected to the movable block 43. One end of one linkage mechanism 44 is connected to the front frame 11, and one end of the other linkage mechanism 44 is connected to the rear frame 12.

[0053] Specifically, the linkage mechanism 44 includes a first movable rod 441 and a second movable rod 442. One end of the first movable rod 441 is rotatably connected to the movable block 43, one end of the second movable rod 442 is rotatably connected to one end of the first movable rod 441, and the other end is rotatably connected to the front frame 11 or the rear frame 12.

[0054] Working principle: When moving in a normal plane, the entire robot is adsorbed on the working surface by the deformable magnetic wheel 2. At this time, the detection probe 41 of the detection mechanism 4 is attached to the detection surface, and the rotation drive motor 25 drives the deformable magnetic wheel 2 to rotate, thereby driving the entire robot to move on the detection surface; When the wheelbase needs to be reduced, the mobile motor 311 inside the main frame 1 drives the bevel gear set 312 to rotate, and the rotation of the bevel gear set 312 drives the rotating gear 313 to keep rotating, thereby driving the front adjusting rod 32 and the rear adjusting rod 33 to keep moving away, thereby driving the front frame 11 and the rear frame 12 to rotate synchronously, and by driving the front frame 11 and the rear frame 12 to keep rotating inward synchronously, the deformed magnetic wheels 2 connected to the front frame 11 and the rear frame 12 can be driven to keep rotating towards each other, thereby reducing the wheelbase between the two deformed magnetic wheels 2. While the front frame 11 and the rear frame 12 rotate inward, the linkage mechanism 44 of the detection mechanism 4 can be driven to rotate synchronously, and the movable block 43 can be driven to keep moving upward through the rotation of the first movable rod 441 and the second movable rod 442 to ensure that the detection probe 41 can fit the detection surface.

[0055] When the robot needs to climb over a 90° obstacle, first ensure that the moving direction of the control slider 234 is in front of or above the robot's movement direction, then drive the control slider 234 to keep sliding, thereby separating the support wheel 22 from the permanent magnet wheel 21. While the control slider 234 moves, the connecting shaft 221 on the support wheel 22 slides out from the straight portion 2132 of the connecting groove 213, so that the connecting shaft 221 slides into the arc portion 2131, and the electromagnetic block 233 is powered off. At this time, the support wheel 22 can The connecting shaft 221 moves freely in the arc portion 2131 of the connecting slide groove 213 and can rotate freely. In this state, the rotary drive motor 25 only drives the permanent magnet wheel 21 to keep rotating, and drives the support wheel 22 to flip through the rotation of the permanent magnet wheel 21. In addition, after the support wheel 22 is separated from the permanent magnet wheel 21, an abutment slot 25 is formed between the support wheel 22 and the permanent magnet wheel 21. The rotation of the permanent magnet wheel 21 can drive the abutment slot 25 to flip, and then the abutment slot 25 is clamped on the other side of the 90° obstacle surface.

[0056] After the flipping is completed, the electromagnetic block 233 is energized again, and through the electromagnetic block 233 and the magnet block 232 in the adsorption support wheel 22, and in coordination with the rotation of the permanent magnet wheel 21, the connecting shaft 221 moves back from the arc portion 2131 to the straight portion 2132, and then the control slider 234 drives the electromagnetic block 233 to move to adsorb the magnet block 232, so that the support wheel 22 is reset.

[0057] For the second embodiment of the connecting groove 213 provided by the present invention, when deformation is required, the electromagnetic block 233 is directly driven to move by the control slider 234, so that the support wheel 22 is separated from the permanent magnet wheel 21, and then the power supply of the electromagnetic block 233 is disconnected to complete the deformation. After the flipping is completed, the electromagnetic block 233 is re-powered to adsorb the magnet block 232, and then the control slider 234 is reset to complete the reset of the support wheel 22.

[0058] The elastic coefficient of the compression spring mentioned in this article meets the technical requirements of the technical solution of the present invention.

[0059] Those skilled in the art will appreciate that other similar connection methods may also be used to implement the present invention, such as welding, bonding, or screwing.

[0060] The above description is merely illustrative of certain exemplary embodiments of the present invention. It goes without saying that those skilled in the art will be able to modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims.

Claims

1. A two-wheeled magnetic wall-climbing robot using permanent magnetic adsorption, comprising a main frame (1), characterized in that: Also includes: A wheelbase adjustment mechanism (3) is provided on the main frame (1), wherein the main frame (1) is rotatably connected to a front frame (11) and a rear frame (12), and the wheelbase adjustment mechanism (3) maintains a transmission connection with the front frame (11) and the rear frame (12), respectively; The vehicle further comprises a deformable magnetic wheel (2), wherein the front frame (11) and the rear frame (12) are both provided with a deformable magnetic wheel (2), wherein the deformable magnetic wheel (2) comprises a permanent magnetic wheel (21) and a support wheel (22), and wherein a deformation driving mechanism (23) is provided inside the deformable magnetic wheel (2), and the support wheel (22) and the permanent magnetic wheel (21) are driven to separate and deform by the deformation driving mechanism (23); The wheelbase adjustment mechanism (3) drives the front frame (11) and the rear frame (12) to keep rotating, so as to adjust the wheelbase between the deformable magnetic wheels (2) on the front frame (11) and the rear frame (12).

2. The two-wheeled magnetic wall-climbing robot using permanent magnetic adsorption according to claim 1 is characterized in that: The vehicle further comprises a detection mechanism (4) arranged at the bottom of the main frame (1), wherein the detection mechanism (4) is arranged at the bottom of the main frame (1), and comprises a detection probe (41), a connecting rod group (42), and a movable block (43) slidably connected to the main frame (1), wherein the detection probe (41) is movably connected to the movable block (43) via the connecting rod group (42).

3. The two-wheeled magnetic wall-climbing robot using permanent magnetic adsorption according to claim 1 is characterized in that: The wheelbase adjustment mechanism (3) comprises an adjustment drive mechanism (31), a front adjustment rod (32) and a rear adjustment rod (33); the adjustment drive mechanism (31) is arranged inside the main frame (1); the front adjustment rod (32) and the rear adjustment rod (33) are both slidably connected to the main frame (1); the front adjustment rod (32) and the rear adjustment rod (33) are both in transmission connection with the output end of the adjustment drive mechanism (31); one end of the front adjustment rod (32) is movably connected to the front frame (11); one end of the rear adjustment rod (33) is movably connected to the rear frame (12); the front adjustment rod (32) and the rear adjustment rod (33) are driven by the adjustment drive mechanism (31) to move toward or away from each other, so that the front frame (11) and the rear frame (12) are kept in synchronous rotation.

4. The two-wheeled magnetic wall-climbing robot using permanent magnetic adsorption according to claim 1, characterized in that: The front frame (11) is provided with an arc-shaped slide rail (15), the arc-shaped slide block (16) is slidably connected inside the arc-shaped slide rail (15), the deformable magnetic wheel (2) is rotatably connected to the arc-shaped slide block (16), and the deformable magnetic wheel (2) is connected to the arc-shaped slide rail (15) via the arc-shaped slide block (16).

5. The two-wheeled magnetic wall-climbing robot using permanent magnetic adsorption according to claim 1, characterized in that: The deformable magnetic wheel (2) further comprises a mounting seat (24) and a rotation drive motor (25); the mounting seat (24) is connected to the front frame (11) or the rear frame (12); the rotation drive motor (25) is mounted on the mounting seat (24); and the output end of the rotation drive motor (25) is connected to the permanent magnetic wheel (21).

6. The two-wheeled magnetic wall-climbing robot using permanent magnetic adsorption according to claim 1, characterized in that: The deformation driving mechanism (23) comprises a connecting slide rail (231), a magnet block (232) and an electromagnetic block (233), wherein the magnet block (232) is mounted on the supporting wheel (22), the connecting slide rail (231) is mounted inside the permanent magnet wheel (21), the electromagnetic block (233) is slidably connected to the connecting slide rail (231), and the magnet block (232) and the electromagnetic block (233) maintain a magnetic connection.

7. The two-wheeled magnetic wall-climbing robot using permanent magnetic adsorption according to claim 6, characterized in that: A permanent magnet (211) is fixedly installed inside the permanent magnet wheel (21), and an electric slip ring (212) is installed outside the permanent magnet wheel (21). The electric slip ring (212) is electrically connected to the electromagnetic block (233), and the electric slip ring (212) is electrically connected to an external power supply.

8. The two-wheeled magnetic wall-climbing robot using permanent magnetic adsorption according to claim 7, characterized in that: A connecting slot (213) is provided on the outer wall of the permanent magnet wheel (21), a connecting shaft (221) is mounted on the supporting wheel (22), and the connecting shaft (221) is slidably connected to the connecting slot (213).

9. The two-wheeled magnetic wall-climbing robot using permanent magnetic adsorption according to claim 2, characterized in that: The detection mechanism (4) further includes a linkage mechanism (44), wherein the linkage mechanism (44) is respectively arranged on both sides of the movable block (43), one end of the linkage mechanism (44) on both sides is connected to the movable block (43), one end of one linkage mechanism (44) is connected to the front frame (11), and one end of the other linkage mechanism (44) is connected to the rear frame (12).

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