A Suspension-Adaptive Magnetic Adsorption Pipe Climbing Robot

Abstract

This invention relates to the field of intelligent machine technology, specifically to a suspension-adaptive magnetic adsorption pipe-climbing robot, comprising a vehicle body, front and rear drive mechanisms, a control module, sensing devices, and permanent magnet adsorption wheels. The front vehicle body is connected to the upper vehicle body via a yaw-rotation joint and is equipped with a multi-link suspension adaptive mechanism, which can passively adapt to changes in pipe curvature to ensure full contact adsorption of the magnetic wheels. The drive mechanism uses a gear transmission set to drive four permanent magnet adsorption wheels respectively. The control module detects the attitude of the front vehicle body in real time and adjusts the speed of each wheel in a closed loop to achieve motion synchronization and path tracking. This invention effectively solves the problems of adsorption instability, motion stagnation, and trajectory deviation caused by "single wheel suspension" in traditional robots in variable curvature pipes by combining mechanical adaptation and active control. It significantly improves the robot's passability, motion stability, and reliability of inspection operations in complex pipe environments such as bends and sharp corners.

Description

Technical Field

[0001] This invention relates to the field of intelligent machine technology, specifically to a suspension-adaptive magnetic adsorption pipe climbing robot. Background Technology

[0002] Pipeline transportation, as a key component of the modern integrated transportation system, is an important carrier for the transport of strategic and civilian materials such as oil, natural gas, and urban water supply. These pipelines operate in complex environments for extended periods, and their inner walls are prone to corrosion, cracks, and other defects. If not inspected in time, these defects can easily lead to serious consequences such as leaks and pollution. Currently, pipeline internal inspection mainly relies on manual labor, which suffers from high safety risks, low efficiency, and a high rate of missed inspections. Wall-climbing robots are considered an ideal platform to replace manual labor in confined spaces. Although scholars at home and abroad have made significant progress in adsorption, actuation, and control, existing wall-climbing robots still generally face two major challenges: First, they lack the ability to adapt to unstructured pipeline environments with welds, obstacles, and surface variations, and rigid structures cannot adjust their adsorption state according to changes in pipeline curvature. Second, it is difficult to balance adsorption stability and movement flexibility. Increasing adsorption force sacrifices movement efficiency, while optimizing movement performance may increase the risk of detachment. The synergistic optimization of these two aspects is a bottleneck that urgently needs to be overcome.

[0003] Among numerous technical approaches, magnetic adsorption wall-climbing robots have demonstrated unique potential in ferromagnetic pipeline inspection due to their advantages such as strong adhesion and low energy consumption. However, the mainstream wheeled magnetic adsorption robots still face severe challenges in actual pipeline scenarios. First, they have poor passability in complex pipeline topologies such as L-shaped and T-shaped pipes. When passing through bends, tees, and other external corners of pipelines, they are prone to detachment or jamming due to sudden changes in adsorption force or structural interference. Second, they lack the smoothness and stability of movement on curved surfaces. The walking resistance caused by strong magnetic adsorption and the difficulty in accurately synchronizing multi-wheel drive can lead to walking stuttering, severe slippage, and positioning drift. This not only affects the movement efficiency and accuracy, but the vibrations generated also directly interfere with the operation of the high-precision inspection equipment. To address these issues, a suspension-adaptive magnetic adsorption pipeline wall-climbing robot is proposed. Summary of the Invention

[0004] To address the technical problems existing in the prior art, the present invention provides a suspension adaptive magnetic adsorption pipe climbing robot, which overcomes the limitations of existing wheeled magnetic adsorption robots in terms of passage through complex pipe structures and smoothness of curved surface motion.

[0005] To solve the above technical problems, the present invention provides the following technical solution: a suspension adaptive magnetic adsorption pipe climbing robot, including a vehicle body mechanism and a drive mechanism, wherein the vehicle body mechanism includes a slewing bearing connecting plate and a front vehicle body, and the front vehicle body includes a front side wall and a suspension adaptive mechanism.

[0006] The adaptive suspension mechanism includes a yaw bearing, a yaw shaft, a suspension support frame, suspension links, shock absorber springs, locking bolts, and hinge pins. One end of the yaw shaft is rotatably connected to the bottom surface of the yaw bearing connecting plate via the yaw bearing, and the other end of the yaw shaft is connected to the suspension support frame. Four sets of suspension links are symmetrically arranged at both ends of the suspension support frame, with two links in each set stacked vertically. Both ends of each suspension link are rotatably connected to the suspension support frame and the front side wall of the vehicle via hinge pins. Four locking bolts are symmetrically arranged on both sides of the suspension support frame, with two locking bolts on each side connecting between the two ends of the suspension support frame and between the two upper suspension links. Both ends of each shock absorber spring are respectively hooked onto the two locking bolts on each side.

[0007] Preferably, the vehicle body mechanism further includes an upper vehicle body cover plate, an upper vehicle body, and a rear vehicle body. The upper vehicle body cover plate and the slewing bearing connecting plate are respectively detachably and fixedly connected to the upper and lower surfaces of the upper vehicle body, and the rear vehicle body is fixedly connected to the bottom surface of the slewing bearing connecting plate.

[0008] Preferably, network cameras and lighting sources are installed at both the front and rear ends of the upper vehicle body, and a control module is installed inside the upper vehicle body to control the robot's operation.

[0009] Preferably, the drive mechanism is provided in two sets, with two drive mechanisms in each set respectively located on both sides of the rear vehicle body and the front vehicle body. Each drive mechanism is connected to a permanent magnet adsorption wheel on its outer side. The drive mechanism includes a drive gear set, an idler gear set, and a driven gear set for driving the robot to move.

[0010] Preferably, the drive gear set includes a drive motor, a drive motor adapter flange, a motor shaft sleeve, and a drive gear. The four drive motor adapter flanges are respectively fixedly installed on the rear vehicle body and the front vehicle side wall. Each drive motor is fixed on the corresponding motor adapter flange. Each drive gear is disposed inside the corresponding motor adapter flange. Each motor shaft sleeve is connected to the side of the drive gear closest to the drive motor. The output shaft of each drive motor passes through the motor shaft sleeve and is connected to the drive gear.

[0011] Preferably, each of the drive motor adapter flanges has a slot at the bottom that mates with the drive gear.

[0012] Preferably, the idler wheel assembly includes interlocking idler wheels, a gear shaft, a gear bearing housing, and an idler wheel bearing. The top of each interlocking idler wheel is meshed with the bottom of the drive gear. The side end of each interlocking idler wheel is connected to one end of the gear shaft. The other end of each gear shaft is supported inside the idler wheel bearing. Each idler wheel bearing is installed inside the gear bearing housing. Each gear bearing housing is fixedly installed on the rear vehicle body and the front vehicle side wall, respectively.

[0013] Preferably, the driven gear set includes a magnetic wheel shaft, a driven gear, a magnetic wheel bearing housing, and a driven bearing. One end of each magnetic wheel shaft is connected to a permanent magnet adsorption magnetic wheel, and the other end of each magnetic wheel shaft is supported inside the driven bearing. Each driven bearing is installed inside the magnetic wheel bearing housing, and each magnetic wheel bearing housing is fixedly installed on the rear vehicle body and the front vehicle side wall, respectively. The top of each driven gear is meshed with the bottom of an interlocking idler gear, and each driven gear is sleeved on the magnetic wheel shaft between the driven bearing and the permanent magnet adsorption magnetic wheel.

[0014] Preferably, the control module includes a PCB main control board, a fixing component, a lighting controller, a network switch, a motor driver, an angle sensor, and an aviation connector. The PCB main control board is mounted on the upper vehicle body via the fixing component. The lighting controller and the network switch are mounted on the slewing bearing connecting plate. The four motor drivers are respectively mounted on both sides of the upper vehicle body. The angle sensor is fixedly connected to the slewing bearing connecting plate, and the input end of the angle sensor is connected to the yaw shaft. The aviation connector is mounted at the rear end of the upper vehicle body and located below the lighting source.

[0015] Preferably, the PCB main control board supplies power to the lighting controller, network switch, motor driver, and angle sensor, and is electrically connected to each component. The power input terminal of the PCB main control board is connected to an external power source via an aviation plug. The network switch is connected to two sets of network cameras and the PCB main control board via a network cable. The network switch communicates with an external control terminal through the PCB main control board. The output terminal of the lighting controller is connected to the input terminals of the two sets of lighting sources.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] 1. This invention effectively solves the problems of adsorption instability and kinematic constraint failure caused by "single wheel suspension" on the wall of a variable curvature pipe by the synergistic effect of a multi-link suspension system and a yaw rotation joint. At the same time, it can automatically compensate for the height difference between the magnetic wheel and the wall caused by changes in pipe curvature or pose fluctuations in a passive and compliant manner, ensuring that the four magnetic drive units always maintain reliable contact with the curved surface. This fundamentally eliminates the risk of the whole machine tipping over due to single wheel adsorption failure and maintains accurate kinematic relationships, significantly improving the reliability and trajectory tracking accuracy of the robot's movement in complex pipes.

[0018] 2. This invention integrates the passive deformation of the multi-link suspension system with the active steering of the yaw joint, thereby achieving decoupling and coordination between the geometric adaptation of the pipe surface and the control of the robot's motion direction. The suspension system automatically ensures all-wheel ground contact and attitude compliance, while the yaw joint provides an independent horizontal steering degree of freedom. This allows the robot to achieve flexible and precise steering and path tracking by closely adhering to irregular walls and through front wheel differential speed without complex real-time force and position control. Thus, it has both high adaptability to complex pipe environments and superior motion controllability.

[0019] 3. This invention, by adopting a purely mechanical multi-link adaptive suspension structure, greatly enhances the system's operational robustness and ease of maintenance in harsh and unknown pipeline environments. It can achieve real-time adaptation without relying on sensor feedback and complex control algorithms, reducing the system's dependence on electronic control and failure rate. Furthermore, its robust mechanical structure can reliably cope with collisions and vibrations inside the pipeline, and its simple maintenance significantly improves the robot's overall reliability, durability, and maintainability in long-term, high-intensity inspection tasks.

[0020] 4. This invention significantly improves the overall efficiency and operational quality of integrated pipeline "inspection-maintenance" tasks by providing a continuously stable and vibration-controlled mobile platform for the mounted work module. The continuous and reliable adsorption of the four wheels ensures that the upper-mounted equipment has a stable base, and the multi-link structure effectively attenuates the impact and vibration from uneven wall surfaces. This creates excellent working conditions for vibration-sensitive high-precision detection sensors such as ultrasonic probes and laser scanners, ensuring the accuracy and consistency of detection data. Ultimately, this achieves efficient and high-quality collaborative operation between the mobile carrier and the work unit. Attached Figure Description

[0021] Figure 1 This is an overall schematic diagram of the wall-climbing robot of the present invention;

[0022] Figure 2 This is a schematic diagram of the internal structure of the vehicle body of the present invention;

[0023] Figure 3This is a schematic diagram of the control module of the present invention;

[0024] Figure 4 This is a schematic diagram of the vehicle body mechanism of the present invention;

[0025] Figure 5 This is a schematic diagram of the suspension adaptive mechanism of the present invention;

[0026] Figure 6 This is a schematic diagram of the drive mechanism of the present invention;

[0027] Figure 7 This is a schematic diagram of the idler gear set and driven gear set of the present invention;

[0028] Figure 8 This is a schematic diagram showing the state of the wall-climbing robot of the present invention during wall climbing;

[0029] Figure 9 This is a schematic diagram of another state of the wall-climbing robot of the present invention during wall climbing;

[0030] Figure 10 This is a schematic diagram of the wall-climbing robot of the present invention inside a pipe.

[0031] The numbers in the diagram represent:

[0032] 1. Vehicle body structure; 11. Upper body cover plate; 12. Upper vehicle body; 13. Slewing bearing connecting plate; 14. Rear vehicle body; 15. Front vehicle body; 151. Front side wall; 152. Suspension adaptive mechanism; 1521. Yaw slewing bearing; 1522. Yaw shaft; 1523. Suspension support frame; 1524. Suspension link; 1525. Shock absorber spring; 1526. Locking bolt; 1527. Hinge pin; 2. Drive mechanism; 21. Drive gear set; 211. Drive motor; 212. Drive motor adapter flange; 213. Motor shaft 214. Shaft sleeve; 22. Drive gear; 22. Idler gear set; 221. Interlocking idler gear; 222. Gear shaft; 223. Gear bearing housing; 224. Idler gear bearing; 23. Driven gear set; 231. Magnetic wheel shaft; 232. Driven gear; 233. Magnetic wheel bearing housing; 234. Driven bearing; 3. Control module; 31. PCB main control board; 32. Fixture; 33. Lighting controller; 34. Network switch; 35. Motor driver; 36. Angle sensor; 37. Aviation connector; 4. Network camera; 5. Lighting source; 6. Permanent magnet adsorption magnetic wheel. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments, which illustrate the above and other technical features and advantages of the present invention. However, the following embodiments are merely preferred embodiments of the present invention and are not exhaustive.

[0034] Example:

[0035] like Figure 1-10 As shown, the present invention provides a suspension adaptive magnetic adsorption pipe climbing robot, including a vehicle body mechanism 1 and a drive mechanism 2. The vehicle body mechanism 1 includes a slewing bearing connecting plate 13 and a front vehicle body 15. The front vehicle body 15 includes a front side wall 151 and a suspension adaptive mechanism 152.

[0036] The adaptive suspension mechanism 152 includes a yaw bearing 1521, a yaw shaft 1522, a suspension support frame 1523, suspension links 1524, a shock absorber spring 1525, a locking bolt 1526, and a hinge pin 1527. One end of the yaw shaft 1522 is rotatably connected to the bottom surface of the slewing bearing connecting plate 13 via the yaw bearing 1521, and the other end of the yaw shaft 1522 is connected to the suspension support frame 1523, thereby achieving a fixed connection between the front vehicle body 15 and the slewing bearing connecting plate 13. Four sets of suspension links 1524 are symmetrically arranged on the suspension support frame 152. At both ends of 3, two suspension links 1524 are stacked one on top of the other. The two ends of each suspension link 1524 are rotatably connected to the suspension support frame 1523 and the front side wall 151 respectively through hinge pins 1527. The locking nuts 1526 are symmetrically arranged on both sides of the suspension support frame 1523. Two locking nuts 1526 on each side are respectively connected between the two ends of the suspension support frame 1523 and between the two upper suspension links 1524. The two ends of each shock absorber spring 1525 are respectively hooked onto the two locking nuts 1526 on each side to absorb and buffer the vibration generated during operation.

[0037] The vehicle body mechanism 1 also includes an upper vehicle body cover plate 11, an upper vehicle body 12, and a rear vehicle body 14. The upper vehicle body cover plate 11 and the slewing bearing connecting plate 13 are respectively fixedly connected to the upper and lower surfaces of the upper vehicle body 12 by bolts. The rear vehicle body 14 is fixedly connected to the bottom surface of the slewing bearing connecting plate 13. Network cameras 4 and lighting sources 5 are installed at both the front and rear ends of the upper vehicle body 12. A control module 3 is set inside the upper vehicle body 12 for controlling the robot's operation. The rear vehicle body 14 is fixedly connected to the bottom surface of the slewing bearing connecting plate 13 by aluminum profiles.

[0038] In this embodiment, the drive mechanism 2 is provided in two sets, with two drive mechanisms 2 in each set respectively located on both sides of the rear vehicle body 14 and the front vehicle body 15. Each drive mechanism 2 has a permanent magnet adsorption wheel 6 connected to its outer side. The drive mechanism 2 includes a driving gear set 21, an idler gear set 22, and a driven gear set 23, used to drive the robot's movement. The idler gear set 22 raises the height of the robot's upper vehicle body 12, allowing the robot to move more smoothly when passing through areas such as... Figure 8-9 When the pipe is at an external angle, the vehicle body structure can pass smoothly, avoiding rigid interference or jamming with the external angle structure.

[0039] In this embodiment, the drive gear set 21 includes a drive motor 211, a drive motor adapter flange 212, a motor shaft sleeve 213, and a drive gear 214. The four drive motor adapter flanges 212 are respectively fixedly installed on the rear vehicle body 14 and the front vehicle side wall 151. Each drive motor 211 is fixed on the corresponding motor adapter flange 212. Each drive gear 214 is disposed inside the corresponding motor adapter flange 212. Each motor shaft sleeve 213 is connected to the side of the drive gear 214 near the drive motor 211. The output shaft of each drive motor 211 passes through the motor shaft sleeve 213 and is connected to the drive gear 214. Each drive motor adapter flange 212 has a slot at its bottom that mates with the drive gear 214.

[0040] In this embodiment, the idler gear assembly 22 includes an interlocking idler gear 221, a gear shaft 222, a gear bearing housing 223, and an idler gear bearing 224. The top of each interlocking idler gear 221 is meshed with the bottom of the drive gear 214. The side end of each interlocking idler gear 221 is connected to one end of the gear shaft 222. The other end of each gear shaft 222 is supported inside the idler gear bearing 224. Each idler gear bearing 224 is installed inside the gear bearing housing 223. Each gear bearing housing 223 is fixedly installed on the rear vehicle body 14 and the front vehicle side wall 151, respectively.

[0041] In this embodiment, the driven gear set 23 includes a magnetic wheel shaft 231, a driven gear 232, a magnetic wheel bearing seat 233, and a driven bearing 234. One end of each magnetic wheel shaft 231 is connected to a permanent magnet adsorption wheel 6. The permanent magnet adsorption wheel 6 uses the strong magnetic force generated by the permanent magnet to adhere to the ferromagnetic pipe wall, effectively preventing the robot from falling off the wall during movement and providing basic safety assurance for movement and operation. At the same time, the permanent magnet adsorption wheel 6 rotates under the drive of the drive motor 211, the driving gear set 21, the idler gear set 22, and the driven gear set 23. The motion is directly converted into the driving force for the robot to move forward, backward, or turn on the wall. The other end of each magnetic wheel shaft 231 is supported inside the driven bearing 234. Each driven bearing 234 is installed inside the magnetic wheel bearing seat 233. Each magnetic wheel bearing seat 233 is fixedly installed on the rear vehicle body 14 and the front vehicle side wall 151 respectively. The top of each driven gear 232 is meshed with the bottom of the interlocking idler wheel 221. Each driven gear 232 is sleeved on the magnetic wheel shaft 231 between the driven bearing 234 and the permanent magnet adsorption magnetic wheel 6.

[0042] In this embodiment, the control module 3 includes a PCB main control board 31, a fixing component 32, a lighting controller 33, a network switch 34, a motor driver 35, an angle sensor 36, and an aviation connector 37. The PCB main control board 31 is mounted on the upper vehicle body 12 via the fixing component 32. The lighting controller 33 and the network switch 34 are mounted on the slewing bearing connecting plate 13. The four motor drivers 35 are respectively mounted on both sides of the upper vehicle body 12 to control the drive motor 211. The angle sensor 36 is fixedly connected to the slewing bearing connecting plate 13. The input end of the angle sensor 36 is connected to the yaw shaft 1522 to measure the rotation angle of the front vehicle body 15 relative to the upper vehicle body 12. The aviation connector 37 is mounted at the rear end of the upper vehicle body 12 and is located below the lighting source 5.

[0043] In this embodiment, the PCB main control board 31 supplies power to the lighting controller 33, network switch 34, motor driver 35, and angle sensor 36, and is electrically connected to each component. The power input terminal of the PCB main control board 31 is connected to an external power source via an aviation plug 37. The network switch 34 is connected to the two sets of network cameras 4 and the PCB main control board 31 via a network cable. At the same time, it communicates with an external control terminal through the PCB main control board 31 to forward instructions from the control terminal and upload the status information and collected data of the motor driver 35, network camera 4, and angle sensor 36. The output terminal of the lighting controller 33 is connected to the input terminal of the two sets of lighting sources 5 to control and adjust the brightness of the lighting sources 5, providing sufficient light for the network camera 4 to ensure image clarity and facilitate operation in low-light scenarios such as inside pipes.

[0044] Working principle: such as Figure 8-10As shown, when the robot moves on an uneven working surface or inside a pipe, the contact state between the permanent magnet adsorption wheel 6 and the wall may vary due to irregular features such as local protrusions and welds on the inner wall of the pipe. At this time, the suspension adaptive mechanism 152 will generate passive deformation. Through the flexible deformation of its suspension link 1524 and shock absorber spring 1525, the front side walls 151 on both sides drive the permanent magnet adsorption wheel 6 connected to them to move, automatically compensating for the height difference between the permanent magnet adsorption wheel 6 and the wall caused by changes in pipe curvature or unevenness of the wall, ensuring that the four permanent magnet adsorption wheels 6 always maintain stability and full contact. At the same time, the angle sensor 36 is activated to collect the deflection angle of the front vehicle body 15 relative to the upper vehicle body 12 in real time. The angle sensor 36 transmits the measured deflection angle data to the control of the PCB main control board 31 through the serial communication interface. After receiving the angle parameters, the system performs real-time analysis and processing through the lower-level control program running on the PCB main control board 31. Combining the current angle state with the preset motion trajectory, the lower-level program calculates and generates the adjustment amount for the speed of each drive motor 211, and sends compensation commands to the corresponding motor drivers 35 through the PCB main control board 31 to dynamically adjust the speed of each drive motor 211. At the same time, the lower-level control program synchronously feeds back the real-time speed of the drive motor 211 and the real-time angle of the angle sensor 36 to the upper-level computer, and displays it in the real-time data area of ​​its human-machine interface, providing operators with intuitive status monitoring and decision support. After adjusting the speed according to the command, each drive motor 211 drives the corresponding permanent magnet adsorption magnetic wheel 6 to rotate through the active gear set 21, idler gear set 22 and driven gear set 23.

[0045] The above description is merely a preferred embodiment of the present invention and is illustrative rather than restrictive. Those skilled in the art will understand that many changes, modifications, and even equivalents can be made within the spirit and scope defined by the claims of the present invention, all of which will fall within the protection scope of the present invention.

Claims

1. A suspension-adaptive magnetic adsorption pipe-climbing robot, characterized in that, It includes a vehicle body mechanism (1) and a drive mechanism (2). The vehicle body mechanism (1) includes a slewing bearing connecting plate (13) and a front vehicle body (15). The front vehicle body (15) includes a front side wall (151) and a suspension adaptive mechanism (152). The adaptive suspension mechanism (152) includes a yaw bearing (1521), a yaw shaft (1522), a suspension support frame (1523), suspension links (1524), a shock absorber spring (1525), a locking bolt (1526), ​​and a hinge pin (1527). One end of the yaw shaft (1522) is rotatably connected to the bottom surface of the yaw bearing connecting plate (13) via the yaw bearing (1521), and the other end of the yaw shaft (1522) is connected to the suspension support frame (1523). Four sets of suspension links (1524) are symmetrically arranged at both ends of the suspension support frame (1523). Two suspension links (1524) are stacked one on top of the other. The two ends of each suspension link (1524) are rotatably connected to the suspension support frame (1523) and the front side wall (151) respectively through hinge pins (1527). Four locking nuts (1526) are symmetrically arranged on both sides of the suspension support frame (1523). Two locking nuts (1526) on each side are respectively connected between the two ends of the suspension support frame (1523) and between the two suspension links (1524) on the upper layer. The two ends of each shock absorber spring (1525) are respectively hooked onto the two locking nuts (1526) on each side.

2. The suspension-adaptive magnetic adsorption pipe-climbing robot as described in claim 1, characterized in that, The vehicle body mechanism (1) also includes an upper vehicle body cover plate (11), an upper vehicle body (12) and a rear vehicle body (14). The upper vehicle body cover plate (11) and the slewing bearing connecting plate (13) are respectively detachably fixedly connected to the upper and lower surfaces of the upper vehicle body (12), and the rear vehicle body (14) is fixedly connected to the bottom surface of the slewing bearing connecting plate (13).

3. The suspension-adaptive magnetic adsorption pipe climbing robot as described in claim 2, characterized in that, The upper vehicle body (12) is equipped with network cameras (4) and lighting sources (5) at both the front and rear ends. The upper vehicle body (12) is equipped with a control module (3) for controlling the robot's operation.

4. The suspension-adaptive magnetic adsorption pipe climbing robot as described in claim 2, characterized in that, The drive mechanism (2) is provided in two sets. Each set of two drive mechanisms (2) is respectively located on both sides of the rear vehicle body (14) and the front vehicle body (15). Each drive mechanism (2) is connected to a permanent magnet adsorption wheel (6) on its outer side. The drive mechanism (2) includes an active gear set (21), an idler gear set (22) and a driven gear set (23) for driving the robot to move.

5. The suspension-adaptive magnetic adsorption pipe climbing robot as described in claim 4, characterized in that, The drive gear set (21) includes a drive motor (211), a drive motor adapter flange (212), a motor shaft sleeve (213), and a drive gear (214). The four drive motor adapter flanges (212) are respectively fixedly installed on the rear vehicle body (14) and the front vehicle side wall (151). Each drive motor (211) is fixed on the corresponding motor adapter flange (212). Each drive gear (214) is located inside the corresponding motor adapter flange (212). Each motor shaft sleeve (213) is connected to the side of the drive gear (214) near the drive motor (211). The output shaft of each drive motor (211) passes through the motor shaft sleeve (213) and is connected to the drive gear (214).

6. The suspension-adaptive magnetic adsorption pipe climbing robot as described in claim 5, characterized in that, Each of the drive motor adapter flanges (212) has a slot at the bottom that engages with the drive gear (214).

7. A suspension-adaptive magnetic adsorption pipe-climbing robot as described in claim 5, characterized in that, The idler assembly (22) includes an interlocking idler (221), a gear shaft (222), a gear bearing housing (223), and an idler bearing (224). The top of each interlocking idler (221) is meshed with the bottom of the drive gear (214). The side end of each interlocking idler (221) is connected to one end of the gear shaft (222). The other end of each gear shaft (222) is supported inside the idler bearing (224). Each idler bearing (224) is installed inside the gear bearing housing (223). Each gear bearing housing (223) is fixedly installed on the rear vehicle body (14) and the front vehicle side wall (151), respectively.

8. The suspension-adaptive magnetic adsorption pipe climbing robot as described in claim 4, characterized in that, The driven gear set (23) includes a magnetic wheel shaft (231), a driven gear (232), a magnetic wheel bearing seat (233), and a driven bearing (234). One end of each magnetic wheel shaft (231) is connected to a permanent magnet adsorption magnetic wheel (6), and the other end of each magnetic wheel shaft (231) is supported inside the driven bearing (234). Each driven bearing (234) is installed inside the magnetic wheel bearing seat (233). Each magnetic wheel bearing seat (233) is fixedly installed on the rear vehicle body (14) and the front vehicle side wall (151), respectively. The top of each driven gear (232) is meshed with the bottom of an interlocking idler wheel (221), and each driven gear (232) is sleeved on the magnetic wheel shaft (231) between the driven bearing (234) and the permanent magnet adsorption magnetic wheel (6).

9. A suspension-adaptive magnetic adsorption pipe-climbing robot as described in claim 3, characterized in that, The control module (3) includes a PCB main control board (31), a fixing part (32), a lighting controller (33), a network switch (34), a motor driver (35), an angle sensor (36), and an aviation plug (37). The PCB main control board (31) is mounted on the upper vehicle body (12) through the fixing part (32). The lighting controller (33) and the network switch (34) are set on the slewing bearing connecting plate (13). The four motor drivers (35) are respectively mounted on both sides of the upper vehicle body (12). The angle sensor (36) is fixedly connected to the slewing bearing connecting plate (13). The input end of the angle sensor (36) is connected to the yaw shaft (1522). The aviation plug (37) is installed at the rear end of the upper vehicle body (12) and is located below the lighting source (5).

10. A suspension-adaptive magnetic adsorption pipe-climbing robot as described in claim 9, characterized in that, The PCB main control board (31) supplies power to the lighting controller (33), network switch (34), motor driver (35) and angle sensor (36) and is electrically connected to each component. The power input terminal of the PCB main control board (31) is connected to an external power source through an aviation plug (37). The network switch (34) is connected to two sets of network cameras (4) and the PCB main control board (31) through a network cable. The network switch (34) communicates with an external control terminal through the PCB main control board (31). The output terminal of the lighting controller (33) is connected to the input terminal of two sets of lighting sources (5).

Images