Magnetic Gap Wall Climbing Robot

Abstract

The present invention belongs to the technical field of wall-climbing robots, and in particular, relates to a magnetic gap wall-climbing robot, comprising a frame, a swing arm mechanism, an adsorption walking mechanism and two driving mechanisms, wherein the frame comprises a main frame and two sub-frames hinged to the left and right sides of the main frame by a hinge mechanism, the swing arm mechanism is installed at the front side of the top of the main frame, the adsorption walking mechanism comprises a driving wheel, a magnetic adsorption unit and an auxiliary magnetic wheel, the auxiliary magnetic wheel is installed at the rear side of the bottom of the main frame, the two driving mechanisms are respectively installed on the two sub-frames, and the bottoms of the two driving mechanisms are both provided with magnetic adsorption units, and two driving wheels connected to the driving mechanisms are installed on the two sub-frames, and the two driving wheels on each sub-frame are respectively arranged on both sides of the magnetic adsorption unit, and the horizontal position of the bottom of the driving wheel is lower than the horizontal position of the bottom of the magnetic adsorption unit. The magnetic gap wall-climbing robot of the present invention can take into account load capacity, obstacle crossing ability and curved surface adaptability.

Description

Technical Field

[0001] The invention belongs to the technical field of wall-climbing robots, and in particular relates to a magnetic gap type wall-climbing robot. Background Art

[0002] The wall-climbing robot combines ground mobile robot technology with adsorption technology, extending the wall movement to the vertical space. The wall-climbing robot carries the equipment and adsorbs it on the wall to complete the corresponding work, improving the work efficiency. The existing wall-climbing robots are generally tracked and wheeled, and the fuselage is mostly a rigid structure, which is only suitable for large flat surfaces. However, the surfaces of ships, offshore platforms, and wind towers are complex working environments with obstacles such as multi-curvature surfaces and welds. This leads to limited application of wall-climbing robots in various fields and cannot meet the working requirements of complex curved surface environments.

[0003] The patent "A three-wheel wall-climbing robot with magnetic distribution adsorption" (application number: 201710179867.1) proposes a magnetic gap wall-climbing robot, with multiple permanent magnets on the chassis, which can adjust the chassis height according to the wall surface. The robot has a simple structure, reliable adsorption, and flexible steering, but its obstacle-crossing ability and curved surface adaptability are insufficient. The patent "A stable wall-climbing painting robot" (application number: 201710181074.3) proposes a wheeled wall-climbing robot, which can ensure that the robot can effectively adsorb on irregular working surfaces by setting elastic wheels and rotating nozzles, but the robot can only adapt to a certain degree of potholes and planes, and cannot meet the needs of small-radius cylinders and spheres. The patent "A tracked multi-legged hybrid wall-climbing robot device" (application number: 201710260478.1) proposes a tracked multi-legged hybrid wall-climbing robot. The robot adopts negative pressure adsorption, with multiple vacuum suction cups arranged on the tracks, and four mechanical foot units with suction cups at the front and rear ends. The tracks and mechanical foot units move alternately to ensure the stability of adsorption and improve the robot's obstacle crossing ability. However, the wall-climbing robot has a complex structure, limited load capacity, and insufficient surface adaptability.

[0004] In summary, the existing wall-climbing robots are mostly rigid structures, and the whole machine is large and bulky. When encountering obstacles, the degree of fit between the adsorption structure and the wall is greatly affected, and they cannot adapt to multi-curvature surfaces such as ship walls, oil tank surfaces, and wind tower surfaces. At the same time, the wall cleaning equipment has a certain weight, which will generate a large recoil force when working, requiring the robot to have a large load capacity. In other words, the load capacity of existing wall-climbing robots is often contradictory to the flexibility of movement. The load capacity, obstacle crossing ability and surface adaptability cannot be taken into account at the same time, so they are limited in the maintenance of various metal walls. Summary of the invention

[0005] The purpose of the present invention is to provide a magnetic gap wall-climbing robot, aiming to solve the technical problems that the load capacity of the wall-climbing robot in the prior art is often inconsistent with the flexibility of movement, and the load capacity, obstacle crossing ability and surface adaptability cannot be taken into account at the same time, resulting in its limited role in maintenance operations on various walls.

[0006] To achieve the above-mentioned objectives, an embodiment of the present invention provides a magnetic gap wall-climbing robot, comprising a frame, a swing arm mechanism, an adsorption walking mechanism and two driving mechanisms, the frame comprising a main frame and two sub-frames hinged on the left and right sides of the main frame through a hinge mechanism, the swing arm mechanism is installed at the front side of the top of the main frame, the adsorption walking mechanism comprises a driving wheel, a magnetic adsorption unit and an auxiliary magnetic wheel, the auxiliary magnetic wheel is installed at the rear side of the bottom of the main frame, the two driving mechanisms are respectively installed on the two sub-frames, and the bottom of the two driving mechanisms are both provided with the magnetic adsorption unit, the two sub-frames are both provided with two driving wheels connected to the driving mechanisms, the two driving wheels on each of the sub-frames are respectively arranged on both sides of the magnetic adsorption unit, and the horizontal position of the bottom of the driving wheel is lower than the horizontal position of the bottom of the magnetic adsorption unit.

[0007] Optionally, the articulation mechanism includes a connecting shaft, an articulation seat and an articulation shaft, the connecting shaft is connected to the side of the main frame, and the end of the connecting shaft is provided with an axial hole whose axis extends in the horizontal direction, the articulation seat is connected to the side of the sub-frame, and the articulation seat is provided with an articulation hole whose axis extends in the horizontal direction, the articulation shaft passes through the articulation hole and the axial hole and articulates the articulation seat with the connecting shaft.

[0008] Optionally, each of the driving wheels includes a first hub and a rubber skin covering the outer circumference of the first hub, and the first hub is connected to the driving mechanism.

[0009] Optionally, the surface of the rubber skin is provided with a friction pattern.

[0010] Optionally, the magnetic adsorption unit includes a special-shaped NdFeB permanent magnet, a magnet protection cover and a magnetic yoke iron block, the magnetic yoke iron block is fixed to the bottom of the sub-frame and is located between the two driving wheels, the magnet protection cover is sleeved on the outside of the special-shaped NdFeB permanent magnet, the special-shaped NdFeB permanent magnet is fixed to the bottom of the magnetic yoke iron block, and the horizontal position of the bottom of the special-shaped NdFeB permanent magnet is higher than the horizontal position of the bottom of the driving wheel.

[0011] Optionally, the auxiliary magnetic wheel includes a second hub, an annular NdFeB permanent magnet, a nylon sleeve and an annular yoke block, the second hub is rotatably mounted at the rear side of the bottom of the main frame, the annular yoke block is mounted on the second hub, the nylon sleeve is sleeved on the outside of the annular NdFeB permanent magnet, and the annular NdFeB permanent magnet is fixed to the inner side of the annular yoke block.

[0012] Optionally, a universal wheel frame is provided at the rear side of the bottom of the main frame, and the auxiliary magnetic wheel is mounted on the universal wheel frame.

[0013] Optionally, the driving mechanism includes a first motor and a first reducer, the first reducer is mounted on the sub-frame, the main shaft of the first motor is connected to the input hole of the first reducer, and the two ends of the output shaft of the first reducer are respectively connected to the two adjacent driving wheels.

[0014] Optionally, the swing arm mechanism includes a second motor, a second reducer and a swing arm, the second reducer is installed at the front side of the top of the main frame, the main shaft of the second motor is connected to the input hole of the second reducer, and the swing arm is connected to the output shaft of the second reducer.

[0015] Optionally, an induction iron sheet is provided on the swing arm, and two inductors with different positions and used for induction connection with the induction iron sheet are provided on the second reducer, and the inductors are electrically connected to the second motor.

[0016] The above one or more technical solutions in the magnetic gap wall-climbing robot provided by the embodiment of the present invention have at least one of the following technical effects: the robot's adsorption walking mechanism is provided with two left and right driving mechanisms, and each driving mechanism drives two driving wheels respectively, and the driving wheels cooperate with the auxiliary magnetic wheels to realize the walking of the entire robot, and a magnetic adsorption unit is installed under the driving mechanism, and the magnetic adsorption unit forms a certain distance with the wall surface. In this way, under the action of the magnetic adsorption unit, the driving wheel can be closely attached to the wall surface; at the same time, the set hinge mechanism enables the sub-frames on the left and right sides to form a certain angle of swing according to the situation of the wall surface. When the robot walks on a curved surface with different curvatures, the driving wheels on both sides will swing around the hinge mechanism with the ups and downs of the wall surface, so that the driving wheels and the auxiliary magnetic wheels are closely attached to the wall surface, and the gap between the magnetic adsorption unit and the wall surface will not change significantly, ensuring that the robot can stably adsorb and walk without the risk of overturning, thereby enabling the robot to have the ability to adapt to curved surfaces, and further enabling the robot to be more flexible in maintenance operations on various walls. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 A schematic structural diagram of a magnetic gap wall-climbing robot provided in an embodiment of the present invention.

[0019] Figure 2 for Figure 1 Schematic diagram of the structure of the magnetic gap wall-climbing robot from another perspective.

[0020] Figure 3 A schematic diagram of the structural decomposition of a magnetic gap wall-climbing robot provided in an embodiment of the present invention.

[0021] Figure 4 for Figure 1 Front view of the magnetic gap wall-climbing robot.

[0022] Figure 5 for Figure 1 Side view of the magnetic gap wall-climbing robot.

[0023] Among them, the reference numerals in the figure are:

[0024] 10 - frame 11 - main frame 12 - auxiliary frame

[0025] 20—swing arm mechanism 21—second motor 22—second reducer

[0026] 23 - swing arm 24 - induction iron sheet 25 - sensor

[0027] 30 - adsorption walking mechanism 31 - driving wheel 32 - magnetic adsorption unit

[0028] 33—auxiliary magnetic wheel 40—driving mechanism 41—first motor

[0029] 42 - first reducer 50 - hinge mechanism 51 - connecting shaft

[0030] 52—articulated seat 53—articulated shaft 111—universal wheel frame

[0031] 121—protective cover 231—cleaning nozzle 311—first wheel hub

[0032] 312—Rubber skin 321—Special-shaped NdFeB permanent magnet 322—Magnet protective cover

[0033] 323 - magnetic yoke iron block 331 - second wheel hub 332 - annular NdFeB permanent magnet

[0034] 333—Nylon sleeve 334—Annular yoke iron block. DETAILED DESCRIPTION

[0035] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. Figures 1 to 5 The described embodiments are exemplary and are intended to be used to explain the embodiments of the present invention, but should not be construed as limiting the present invention.

[0036] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0038] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0039] In one embodiment of the present invention, Figures 1 to 5 As shown, a magnetic gap wall-climbing robot is provided, which can be used for rust removal and cleaning operations on metal surfaces. By being equipped with corresponding operating equipment, it can also be used for operations such as spraying and testing of metal walls.

[0040] Specifically, the magnetic gap wall-climbing robot of this embodiment includes a frame 10, a swing arm mechanism 20, an adsorption walking mechanism 30 and two driving mechanisms 40, the frame 10 includes a main frame 11 and two sub-frames 12 hinged on the left and right sides of the main frame 11 through a hinge mechanism 50, the swing arm mechanism 20 is installed at the front side of the top of the main frame 11, the adsorption walking mechanism 30 includes a driving wheel 31, a magnetic adsorption unit 32 and an auxiliary magnetic wheel 33, the auxiliary magnetic wheel 33 is installed at the rear side of the bottom of the main frame 11, the two driving mechanisms 40 are respectively installed on the two sub-frames 12, and the bottom of the two driving mechanisms 40 are both provided with the magnetic adsorption unit 32, the two sub-frames 12 are both provided with two driving wheels 31 connected to the driving mechanisms 40, the two driving wheels 31 on each of the sub-frames 12 are respectively arranged on both sides of the magnetic adsorption unit 32, and the horizontal position of the bottom of the driving wheel 31 is lower than the horizontal position of the bottom of the magnetic adsorption unit 32.

[0041] In this embodiment, the robot's adsorption walking mechanism 30 is provided with two left and right driving mechanisms 40, and each driving mechanism 40 drives two driving wheels 31 respectively, and the driving wheels 31 cooperate with the auxiliary magnetic wheels 33 to realize the walking of the entire robot, and a magnetic adsorption unit 32 is installed below the driving mechanism 40, and the magnetic adsorption unit 32 forms a certain distance with the wall surface, so that under the action of the magnetic adsorption unit 32, the driving wheel 31 can be closely attached to the wall surface; at the same time, the provided hinge mechanism 50 enables the sub-frames 12 on the left and right sides to form a certain angle of swing according to the condition of the wall surface. When the robot walks on a curved surface with different curvatures, the driving wheels 31 on both sides will swing around the hinge mechanism 50 with the ups and downs of the wall surface, so that the driving wheel 31 and the auxiliary magnetic wheel 33 are closely attached to the wall surface, and the gap between the magnetic adsorption unit 32 and the wall surface will not change significantly, thereby ensuring that the robot can be stably adsorbed and walked without the danger of overturning, so that the robot has the ability to adapt to the curved surface, and further, the robot can be more flexible in maintenance operations on various walls.

[0042] Furthermore, the robot of the present invention adopts modular design, and different mechanisms do not interfere with each other but cooperate with each other. During installation and maintenance, the robot can be disassembled, replaced and assembled in blocks, making maintenance more convenient. Figures 1-2 As shown, the sub-frames 12 arranged on both sides of the main frame 11 are installed as the driving wheels 31 on both sides, forming a symmetrical arrangement on the left and right sides, and the auxiliary magnetic wheel 33 is located at the rear of the whole machine in the center plane position of the machine; the swing arm mechanism 20 is installed in the front position on the upper side of the main frame 11 to improve the steering stability and flexibility of the robot.

[0043] In another embodiment of the present invention, the provided magnetic gap wall-climbing robot further includes two protective covers 121 disposed outside the two sub-frames 12, which can be used to protect the driving wheel 31 and the driving machine.

[0044] In another embodiment of the present invention, Figures 2-3 As shown, the articulated mechanism 50 of the provided magnetic gap wall-climbing robot includes a connecting shaft 51, an articulated seat 52 and an articulated shaft 53, wherein the connecting shaft 51 is connected to the side of the main frame 11, and the end of the connecting shaft 51 is provided with an axis hole (not shown) whose axis extends in the horizontal direction, the articulated seat 52 is connected to the side of the sub-frame 12, and the articulated seat 52 is provided with an articulated hole (not shown) whose axis extends in the horizontal direction, and the articulated shaft 53 passes through the articulated hole and the axis hole and articulates the articulated seat 52 with the connecting shaft 51. Specifically, the provision of the connecting shaft 51 allows a certain spacing to be formed between the main frame 11 and the sub-frame 12, thereby providing sufficient space for the subsequent swinging of the sub-frame 12. At the same time, extending the axis of the shaft hole set at the end of the connecting shaft 51 in the horizontal direction and extending the axis of the hinge hole set at the hinge shaft 53 in the horizontal direction can ensure that when the hinge shaft 53 passes through the hinge hole and the shaft hole, the axis of the hinge shaft 53 is also extended in the horizontal direction. In this way, when the hinge seat 52 and the connecting shaft 51 rotate relative to each other, they swing around the hinge shaft 53, that is, they swing in the up and down directions. This is beneficial when the robot walks on a curved surface with different curvatures. The driving wheels 31 on both sides will swing around the hinge shaft 53 with the undulations of the wall, so that the driving wheel 31 and the auxiliary magnetic wheel 33 are closely fitted to the wall to prevent overturning.

[0045] In another embodiment of the present invention, Figure 3 As shown, each of the driving wheels 31 of the provided magnetic gap wall-climbing robot includes a first hub 311 and a rubber skin 312 covering the outer circumference of the first hub 311, and the first hub 311 is connected to the driving mechanism 40. Specifically, when the driving wheel 31 encounters an obstacle such as a weld, the contact surface between the driving wheel 31 and the weld is small. Since the rubber skin 312 has a certain degree of softness, the compression amount of the wheel at the contact position is large, and the change of the magnetic adsorption unit 32 and the gap with the wall surface will not be too large, thereby ensuring the adsorption force; and when the auxiliary magnetic wheel 33 at the rear position crosses the obstacle, the driving magnetic adsorption unit 32 provides the main adsorption force and anti-overturning torque, thereby ensuring that the robot can cross the obstacle smoothly.

[0046] In another embodiment of the present invention, the surface of the rubber skin 312 of the magnetic gap wall climbing robot is provided with a friction pattern (not shown). Specifically, the friction pattern provided on the rubber skin 312 can be formed by carving, and the friction force of the entire driving wheel 31 can be increased by its setting, so that it can walk on the wall better.

[0047] In another embodiment of the present invention, Figure 3 As shown, the magnetic adsorption unit 32 of the provided magnetic gap wall climbing robot includes a special-shaped NdFeB permanent magnet 321, a magnet protective cover 322 and a magnetic yoke iron block 323, wherein the magnetic yoke iron block 323 is fixed to the bottom of the sub-frame 12 and is located between the two driving wheels 31, the magnet protective cover 322 is sleeved outside the special-shaped NdFeB permanent magnet 321, the special-shaped NdFeB permanent magnet 321 is fixed to the bottom of the magnetic yoke iron block 323, and the horizontal position of the bottom of the special-shaped NdFeB permanent magnet 321 is higher than the horizontal position of the bottom of the driving wheel 31. Specifically, the magnetic yoke iron block 323 plays the role of installing the special-shaped NdFeB permanent magnet 321 at the bottom of the sub-frame 12, and the magnet protective cover 322 can protect the special-shaped NdFeB permanent magnet 321 and prevent the special-shaped NdFeB permanent magnet 321 from being directly exposed and adsorbed on the wall.

[0048] In another embodiment of the present invention, Figure 3 As shown, the auxiliary magnetic wheel 33 of the provided magnetic gap wall climbing robot includes a second hub 331, an annular NdFeB permanent magnet 332, a nylon sleeve 333 and an annular yoke block 334, wherein the second hub 331 is rotatably mounted at the rear side of the bottom of the main frame 11, the annular yoke block 334 is mounted on the second hub 331, the nylon sleeve 333 is sleeved outside the annular NdFeB permanent magnet 332, and the annular NdFeB permanent magnet 332 is fixed to the inner side of the annular yoke block 334. Specifically, the annular yoke block 334 plays the role of mounting the annular NdFeB permanent magnet 332 on the second hub 331, and the nylon sleeve 333 can protect the annular NdFeB permanent magnet 332 and prevent the annular NdFeB permanent magnet 332 from being directly exposed and adsorbed on the wall.

[0049] In another embodiment of the present invention, Figure 3 As shown, a universal wheel frame 111 is provided at the rear bottom of the main frame 11 of the provided magnetic gap wall climbing robot, and the auxiliary magnetic wheel 33 is mounted on the universal wheel frame 111. Specifically, the universal wheel frame 111 can be rotated, so that according to the walking path of the driving wheel 31, the auxiliary magnetic wheel 33 can swing to a suitable angle to cooperate with the driving wheel 31 to walk.

[0050] In another embodiment of the present invention, Figures 2-3As shown, the driving mechanism 40 of the provided magnetic gap wall climbing robot includes a first motor 41 and a first reducer 42, wherein the first reducer 42 is mounted on the sub-frame 12, the main shaft of the first motor 41 is connected to the input hole of the first reducer 42, and the two ends of the output shaft of the first reducer 42 are respectively connected to the two adjacent driving wheels 31. Specifically, the first motor 41 drives the first reducer 42, and the first reducer 42 drives the two driving wheels 31 connected to the two ends of its output shaft to rotate simultaneously, thereby driving the entire robot to walk.

[0051] In another embodiment of the present invention, Figures 1 to 3 As shown, the swing arm mechanism 20 of the provided magnetic gap wall climbing robot includes a second motor 21, a second reducer 22 and a swing arm 23. The second reducer 22 is installed at the front side of the top of the main frame 11. The main shaft of the second motor 21 is connected to the input hole of the second reducer 22, and the swing arm 23 is connected to the output shaft of the second reducer 22. Specifically, the second motor 21 drives the second reducer 22, and the output shaft of the second reducer 22 drives its swing arm 23 to rotate. The swing arm 23 can perform circular rotation around the output shaft of the second reducer 22, which reduces the length of the swing arm 23 and the load of the second motor 21. At the same time, the center of gravity of the robot is as close to the coaxial line of the rotation axis as possible, reducing the possibility of the robot overturning.

[0052] More specifically, if Figures 1 to 5 As shown, the swing arm 23 can be installed for the actuator, for example, for the cleaning nozzle 231, so that the robot in this embodiment can achieve the cleaning operation through the self-rotation of the cleaning nozzle 231 of the robot and the cooperation of the swing arm 23. After reaching a certain pressure, the cleaning nozzle 231 will start to rotate to form a small cleaning annular surface. At the same time, the swing arm 23 drives the self-rotating cleaning nozzle 231 to swing back and forth under the drive of the second reducer 22, thereby forming a circular cleaning surface with a certain width, achieving efficient cleaning operations.

[0053] In another embodiment of the present invention, Figure 1 and Figure 3 As shown, the swing arm 23 of the provided magnetic gap wall climbing robot is provided with an induction iron sheet 24, and the second reducer 22 is provided with two inductors 25 at different positions and used for induction connection with the induction iron sheet 24, and the inductor 25 is electrically connected with the second motor 21. Specifically, the induction iron sheet 24 is inductively connected with the two inductors 25 at different positions, so that two limit signals can be sent to the second motor 21, that is, the second motor 21 automatically stops when driving the swing arm 23 to swing to two angles in different directions, ensuring the safety of the use of the swing arm 23 and further preventing the robot from overturning due to the wrong swing angle of the swing arm 23.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A magnetic gap wall-climbing robot, characterized in that: The lifting of the ...

2. The magnetic gap wall-climbing robot according to claim 1, characterized in that: The articulation mechanism includes a connecting shaft, an articulation seat and an articulation shaft, the connecting shaft is connected to the side of the main frame, and the end of the connecting shaft is provided with an axial hole whose axis extends in the horizontal direction, the articulation seat is connected to the side of the sub-frame, and the articulation seat is provided with an articulation hole whose axis extends in the horizontal direction, the articulation shaft passes through the articulation hole and the axial hole and articulates the articulation seat with the connecting shaft.

3. The magnetic gap wall-climbing robot according to claim 1, characterized in that: The first hub is connected to the driving mechanism.

4. The magnetic gap wall-climbing robot according to claim 1, characterized in that: The magnetic adsorption unit includes a special-shaped NdFeB permanent magnet, a magnet protection cover and a magnetic yoke iron block. The magnetic yoke iron block is fixed to the bottom of the sub-frame and is located between the two driving wheels. The magnet protection cover is sleeved on the outside of the special-shaped NdFeB permanent magnet. The special-shaped NdFeB permanent magnet is fixed to the bottom of the magnetic yoke iron block, and the horizontal position of the bottom of the special-shaped NdFeB permanent magnet is higher than the horizontal position of the bottom of the driving wheel.

5. The magnetic gap wall-climbing robot according to claim 1, characterized in that: The auxiliary magnetic wheel includes a second hub, an annular NdFeB permanent magnet, a nylon sleeve and an annular yoke block. The second hub is rotatably mounted at the rear side of the bottom of the main frame, the annular yoke block is mounted on the second hub, the nylon sleeve is sleeved on the outside of the annular NdFeB permanent magnet, and the annular NdFeB permanent magnet is fixed to the inner side of the annular yoke block.

6. The magnetic gap wall-climbing robot according to claim 1, characterized in that: A universal wheel frame is arranged at the rear side of the bottom of the main frame, and the auxiliary magnetic wheel is installed on the universal wheel frame.

7. The magnetic gap wall-climbing robot according to any one of claims 1 to 6, characterized in that: The driving mechanism includes a first motor and a first reducer, the first reducer is installed on the sub-frame, the main shaft of the first motor is connected to the input hole of the first reducer, and the two ends of the output shaft of the first reducer are respectively connected to the two adjacent driving wheels.

8. The magnetic gap wall-climbing robot according to any one of claims 1 to 6, characterized in that: The swing arm mechanism includes a second motor, a second reducer and a swing arm. The second reducer is installed at the front side of the top of the main frame. The main shaft of the second motor is connected to the input hole of the second reducer, and the swing arm is connected to the output shaft of the second reducer.

9. The magnetic gap wall-climbing robot according to claim 8, characterized in that: The swing arm is provided with an induction iron sheet, the second reducer is provided with two inductors at different positions and used for induction connection with the induction iron sheet, and the inductors are electrically connected to the second motor.

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