Active adaptive dual-drive magnetic wall-climbing robot wheel set and transition method

Abstract

The present invention relates to an active adaptive dual-drive magnetic wall-climbing robot wheel set and transition method, comprising: a central axis of a hollow cylinder; a drive-control integrated actuator inserted into the interior of both ends of the central axis, and an output end of the drive-control integrated actuator is connected to a driving wheel; a magnetic suction assembly includes a driving worm wheel rotatably connected to the central axis and a driving worm corresponding to the driving worm wheel, at least two driving worm wheels are arranged on the central axis, and the surface of the driving worm wheel is provided with tooth grooves along the circumferential direction, and the surface of the driving worm wheel is connected to a magnetic suction cup through a force sensor, and the two ends of the central axis are connected to side plates, and the top of the side plate is connected to the top plate, and the driving worm is installed on the lower surface of the top plate through a bearing seat, and one end of the driving worm is connected to a steering gear. The present invention can always ensure the uniformity and stability of the air gap between the magnetic suction cup and the wall surface, thereby ensuring the stability and reliability of the magnetic suction force, and can quickly release the force, and realize the walking of the wheel set between two walls with arbitrary angles.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and in particular to an actively adaptive dual-drive magnetic wall-climbing robot wheel set and a transition method. Background Art

[0002] A wall-climbing robot is a special robot that can crawl on non-horizontal walls and perform operations to replace manual labor. It is mostly used in tasks such as spraying, cleaning, hull inspection, welding, rust removal, etc. on the surface of a ship, spraying, sandblasting, grinding, and inspection on the surface of a large oil tank, and cleaning and painting the exterior surface of a high-rise building. With the continuous development of science and technology, the research on wall-climbing robots has important significance and application value.

[0003] The posture of the magnet assembly on the existing walking wheel group is not easy to adjust, and its adaptability to different crawling walls is weak. The stability and reliability of the magnetic attraction between the magnet assembly and the crawling wall cannot be guaranteed. The front and rear sets of wheels need to cooperate to achieve steering, especially when turning between horizontal and vertical walls. Summary of the invention

[0004] To this end, the technical problem to be solved by the present invention is to overcome the defect in the prior art that the wheel group of the magnetic wall-climbing robot is prone to insufficient adsorption force when transitioning between two wall surfaces, causing the robot to fall, and to provide an actively adaptive dual-drive magnetic wall-climbing robot wheel group and transition method, so that the robot wheel group can always maintain adsorption force on the wall, thereby improving the safety of the robot.

[0005] In order to solve the above technical problems, the present invention provides an active adaptive dual-drive magnetic wall-climbing robot wheel set, comprising:

[0006] A central axis, wherein the central axis is a hollow cylinder;

[0007] A drive-control integrated actuator, the drive-control integrated actuator is inserted into the two ends of the central shaft, and the output end of the drive-control integrated actuator is connected to a driving wheel;

[0008] A magnetic attraction component, the magnetic attraction component includes a driving worm wheel rotatably connected to the central axis and a driving worm corresponding to the driving worm wheel, at least two driving worm wheels are arranged on the central axis, the surface of the driving worm wheel is provided with tooth grooves along the circumferential direction, the surface of the driving worm wheel is connected to a magnetic suction cup through a force sensor, side plates are connected to both ends of the central axis, the top end of the side plate is connected to the top plate, the driving worm is installed on the lower surface of the top plate through a bearing seat, and one end of the driving worm is connected to a steering gear.

[0009] In one embodiment of the present invention, two driving worm gears are provided, the width of the magnetic suction cup is greater than the width of one driving worm gear, one side of the magnetic suction cup is connected to the first driving worm gear, and the other side of the magnetic suction cup extends toward the second driving worm gear, and the two magnetic suction cups are staggered in the circumferential direction of the central axis.

[0010] In one embodiment of the present invention, the magnetic chuck is connected to the driving worm gear via at least two force sensors.

[0011] In one embodiment of the present invention, a pin corresponding to each of the driving worm gears protrudes from the outer surface of the central shaft, and two set screws protrude from the inner surface of the driving worm gear. The set screws are located on both sides of the pin along the circumference of the central shaft.

[0012] In one embodiment of the present invention, two groups of magnetic attraction components are arranged between the two driving wheels, and the two groups of magnetic attraction components are separated by an auxiliary wheel, and the auxiliary wheel is rotatably connected to the central shaft through a bearing.

[0013] In one embodiment of the present invention, the width of the auxiliary wheel is smaller than the width of the driving wheel, the outer diameter of the auxiliary wheel is smaller than the outer diameter of the driving wheel, and is larger than the distance from the vertex of the magnetic chuck to the axis of the central axis.

[0014] In one embodiment of the present invention, a gel adhesive ring and a round rope are clamped on the side of the auxiliary wheel, the gel adhesive ring and the round rope are in contact with the sealing plate, and the sealing plate is fixedly connected to the top plate.

[0015] In one embodiment of the present invention, two auxiliary wheels are provided, and the sealing plate is locked to the side of the bearing seat.

[0016] In one embodiment of the present invention, the magnetic chuck includes a permanent magnet and a yoke.

[0017] The dual-drive magnetic wall-climbing robot wheel set transition method includes a first wall surface and a second wall surface at an angle, and adopts the above-mentioned active adaptive dual-drive magnetic wall-climbing robot wheel set. When the wall-climbing robot wheel set moves from the first wall surface to the second wall surface, the method includes the following steps:

[0018] S1: The force sensor detects the pressure data of multiple magnetic suction cups in the magnetic suction assembly and transmits it to the main controller;

[0019] S2: The main controller controls the steering gear to work according to the pressure data, so that at least one magnetic chuck corresponds to the first wall surface, and at least one magnetic chuck corresponds to the second wall surface;

[0020] S3: The main controller controls the magnetic suction cup corresponding to the first wall to move away from the first wall, and the wheel group of the wall-climbing robot moves on the second wall.

[0021] The above technical solution of the present invention has the following advantages compared with the prior art:

[0022] The robot wheel set of the present invention always ensures the uniformity and stability of the air gap between the magnetic suction cup and the wall surface, and because there are two independently working magnetic suction components, a single wheel set can realize the transfer of the magnetic suction cup between two wall surfaces, and can ensure the adsorption of the original wall surface, and after the transfer, the force of the original wall surface is released, so that the wheel set can stably transfer between the two crawling walls;

[0023] The transition method described in the present invention enables one magnetic suction cup to always adsorb the original wall surface, and the other magnetic suction cup is transferred to adsorb the new wall surface, and then the force is released to the original wall surface, thereby always ensuring the stability and reliability of the magnetic suction force on the wall surface and improving the safety of the wall-climbing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein

[0025] Figure 1 is a schematic diagram of Embodiment 1 of the present invention;

[0026] Figure 2 is a front cross-sectional view of a first embodiment of the present invention;

[0027] Figure 3 is a side sectional view of embodiment 1 of the present invention;

[0028] Figure 4 is a schematic diagram of Embodiment 2 of the present invention;

[0029] Figure 5 is a front cross-sectional view of a second embodiment of the present invention;

[0030] Figure 6 is a side sectional view of a second embodiment of the present invention;

[0031] Figure 7 is a schematic diagram of the internal structure of the second embodiment of the present invention;

[0032] Figure 8 is a schematic diagram of the wheel group moving on the first wall;

[0033] Fig. 9 This is a diagram showing the process of the wheel group moving toward the second wall. Figure 1 ;

[0034] Fig.10 This is a diagram showing the process of the wheel group moving toward the second wall. Figure 2 ;

[0035] Fig.11 It is a schematic diagram of the movement of the wheel group on the second wall.

[0036] Description of the reference numerals in the specification: 10, central axis; 11, side plate; 12, top plate; 13, pin; 20, drive-control integrated actuator; 21, driving wheel; 22, auxiliary wheel; 221, gel adhesive ring rope; 222, sealing plate;

[0037] 30. Magnetic suction assembly; 31. Driving worm wheel; 311. Tooth groove; 312. Set screw; 32. Driving worm; 321. Bearing seat; 322. Servo; 33. Magnetic suction cup; 331. Permanent magnet; 332. Yoke iron; 34. Force sensor;

[0038] 41. The first wall; 42. The second wall. DETAILED DESCRIPTION

[0039] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0040] Reference Figure 1 , Figure 2 and Figure 3 FIG. 1 is a schematic diagram of an active adaptive dual-drive magnetic wall-climbing robot wheel assembly embodiment 1 of the present invention. The wall-climbing robot wheel assembly of the present invention comprises:

[0041] The central shaft 10 is a hollow cylinder, which is used to connect the two driving wheels 21 and is convenient for connecting the drive-control integrated actuator 20 .

[0042] The drive-control integrated actuator 20 is a servo-integrated device that integrates a servo motor, a harmonic reducer, and a servo driver. Due to the integrated assembly, the assembly error between the components is small and the overall volume is small, so that the drive-control integrated actuator 20 can be inserted into the hollow interior of the two ends of the central shaft 10, saving installation space, making the distance between the two wheels controllable, and improving the strength of the wall-climbing robot in the axial direction of the central shaft 10. The output end of the drive-control integrated actuator 20 is located outside the central shaft 10, and the driving wheel 21 is connected to the output end of the drive-control integrated actuator 20. The two driving wheels 21 are respectively connected to a drive-control integrated actuator 20, that is, the two driving wheels 21 can move independently, thereby improving the flexibility of the movement of the wall-climbing robot.

[0043] It also includes a magnetic attraction component 30, which includes a driving worm wheel 31 rotatably connected to the central shaft 10 and a driving worm 32 corresponding to the driving worm wheel 31. At least two driving worm wheels 31 are arranged on the central shaft 10. The surface of the driving worm wheel 31 is provided with tooth grooves 311 along the circumferential direction. The surface of the driving worm wheel 31 is connected to a magnetic suction cup 33 through a force sensor 34. The two ends of the central shaft 10 are connected to the side plates 11, and the top of the side plates 11 is connected to the top plate 12. The driving worm 32 is installed on the lower surface of the top plate 12 through a bearing seat 321. One end of the driving worm 32 is connected to a steering gear 322. When the steering gear 322 is started, the driving worm 32 rotates, and the driving worm wheel 31 matched with the driving worm 32 rotates. Since the magnetic suction cup 33 is fixed on the driving worm wheel 31, when the driving worm wheel 31 rotates, the position of the magnetic suction cup 33 in the circumferential direction of the driving worm wheel 31 changes. There is non-contact adsorption between the magnetic chuck 33 and the crawling wall. When the relative distance between the magnetic chuck 33 and the crawling wall is close, the adsorption force is strong. At this time, the reaction force of the pressure-magnetic attraction detected by the force sensor 34 is large. When the relative distance between the magnetic chuck 33 and the crawling wall is far, the adsorption force is weak. At this time, the reaction force of the pressure-magnetic attraction detected by the force sensor 34 is small. Therefore, according to the pressure data detected by the force sensor 34, the start and stop of the servo 322 is controlled, so that the position of the magnetic chuck 33 changes with the ups and downs of the crawling wall, ensuring that the magnetic chuck 33 always adsorbs the crawling wall with the maximum adsorption force, thereby improving the adaptability of the wall-climbing robot to different crawling walls. Furthermore, when the transition between the two crawling walls is relatively steep, the magnetic chuck 33 must have a period of time during the rotation process when the distance between the two walls is relatively far. At this time, the wheel group of the wall-climbing robot is prone to power loss, causing the wall-climbing robot to fall. Therefore, in the present invention, a plurality of driving worm gears 31 are provided, that is, a plurality of magnetic suction cups 33 are provided, and each magnetic suction cup 33 can act independently. When transitioning between the two wall surfaces, there is always at least one magnetic suction cup 33 adsorbing the first wall surface 41, controlling the rotation of the other magnetic suction cups 33 to adsorb the second wall surface 42, and then the magnetic suction cup 33 adsorbing the first wall surface 41 releases force, and the wheel group of the wall-climbing robot can move smoothly on the second wall surface 42. Specifically, the magnetic suction cup 33 includes a permanent magnet 331 and a yoke 332. The permanent magnet 331 is fixed by the yoke 332, so as to improve the utilization rate of the material of the permanent magnet 331, and the permanent magnet 331 has a large suction force, good stability, and high reliability, so as to ensure that the magnetic adsorption force on the crawling wall is sufficient.

[0044] In the present invention, not only a movable magnetic sucker 33 is provided, but also a plurality of magnetic suckers 33 are provided, each of which can move independently, so that the plurality of magnetic suckers 33 cooperate to improve the stability and reliability of the magnetic suction force of the wall-climbing robot wheel set in the upper and lower wall surfaces, transitional transportation, obstacle crossing, etc. Since there are a plurality of magnetic suckers 33, the traditional driving mechanism is large in size, which will cause the structural size of the wheel set to be too large, so a worm gear transmission mechanism is adopted in this embodiment. The driving worm 32 is located above the driving worm wheel 31, and the diameter of the driving worm 32 can be smaller than the width of the driving worm wheel 31, so that no extra space is occupied in the width direction, and the steering gear 322 is installed at the end of the driving worm 32. On the one hand, the end of the driving worm 32 is far away from the driving worm wheel 31, so that the space there is large, which is convenient for installing the steering gear 322. On the other hand, the steering gear 322 is also a servo-integrated device integrating a servo motor, a harmonic reducer and a servo driver, and its volume itself is small, and it will not occupy extra space, so that multiple driving worm wheels 31 can be closely arranged. Furthermore, in the steering gear 322, the axial direction of the servo motor is perpendicular to the axial direction of the harmonic reducer, so that the extension direction of the driving worm 32 does not occupy too much space. The driving worm wheel 31 only needs to be provided with a tooth groove 311 on its surface, which does not increase the space occupied by it. Therefore, the worm gear transmission mechanism can greatly reduce the structural size of the wheel set.

[0045] Reference Figure 1 and Figure 2 As shown, in this embodiment, two driving worm wheels 31 are provided. Through the cooperation of the magnetic suckers 33 on the two driving worm wheels 31, the adaptability of the wall-climbing robot wheel set to the wall surface is improved, which is helpful for the operation of the robot, and is particularly suitable for transition and transportation between two wall surfaces with an angle. In the case where there are multiple driving worm wheels 31, if the width of the magnetic suckers 33 is not greater than the width of the driving worm wheels 31, the magnetic suction force of the magnetic suckers 33 is too small and cannot meet the adsorption requirements of the wall surface. Therefore, in this embodiment, the width of the magnetic suckers 33 is greater than the width of one driving worm wheel 31, and one side of the magnetic suckers 33 is connected to the first driving worm wheel 31, and the other side of the magnetic suckers 33 extends in the direction of the second driving worm wheel 31, increasing the adsorption area of ​​the magnetic suckers 33 without increasing the structural size of the wheel set. And because the width of the magnetic suckers 33 is relatively wide, if the two magnetic suckers 33 are arranged side by side, the distance between the two driving worm wheels 31 will be increased, so the two magnetic suckers 33 are staggered in the circumferential direction of the central axis 10.

[0046] Reference Figure 2 and Figure 3As shown, since the magnetic suction cup 33 has a certain length and width, and the driving worm gear 31 can only accommodate one magnetic suction cup 33 in the width direction, in order to ensure the stability of the connection of the magnetic suction cup 33, the magnetic suction cup 33 is connected to the driving worm gear 31 through at least two force sensors 34, and the two magnetic suction cups 33 are arranged along the circumference of the driving worm gear 31.

[0047] Furthermore, since the tooth grooves 311 are not distributed all around the circumference of the driving worm wheel 31, in order to prevent the driving worm wheel 31 from rotating out of the meshing area with the driving worm 32, Figure 3 As shown, the present invention sets a limiting mechanism on the central shaft 10 and the driving worm wheel 31. Specifically, the outer surface of the central shaft 10 protrudes with a pin 13 corresponding to the driving worm wheel 31. In the present invention, two driving worm wheels 31 are provided, so two pins 13 are provided on the outer surface of the central shaft 10, and the two pins 13 are located at the top of the central shaft 10, corresponding to the middle of the driving worm wheel 31. The height of the pin 13 protruding from the central shaft 10 is less than the gap between the central shaft 10 and the driving worm wheel 31, so as to avoid interference between the pin 13 and the driving worm wheel 31 and affect the rotation of the driving worm wheel 31. Two set screws 312 are protruded from the inner surface of the driving worm wheel 31, and the set screws 312 are located on both sides of the pin 13 along the circumference of the central shaft 10. Therefore, when the driving worm wheel 31 rotates to the extreme position on both sides, the set screws 312 abut against the pin 13, so that the driving worm wheel 31 cannot continue to rotate, and the driving worm wheel 31 is prevented from being separated from the driving worm 32.

[0048] Reference Figure 4As shown, when a group of magnetic suction components 30 is arranged between the two driving wheels 21, the distance between the two driving wheels 21 is small, which makes the wall-climbing robot easy to tilt when turning. If the distance between the two driving wheels 21 is increased, the magnetic suction force that can be provided by a group of magnetic suction components 30 is too small. Therefore, in the second embodiment of the present invention, two groups of magnetic suction components 30 are arranged between the two driving wheels 21. Since the central shaft 10 is a hollow cylinder, in order to prevent the central shaft 10 from deforming, an auxiliary wheel 22 is arranged between the two groups of magnetic suction components 30. The auxiliary wheel 22 separates the two groups of magnetic suction components 30, and the auxiliary wheel 22 is rotatably connected to the central shaft 10 through a bearing. The auxiliary wheel 22 contacts the crawling wall surface. As the driving wheel 21 rotates, the friction between the auxiliary wheel 22 and the crawling wall surface causes the auxiliary wheel 22 to rotate, thereby supporting the central shaft 10 while minimizing the impact on the movement of the wheel group. Furthermore, since the friction between the auxiliary wheel 22 and the crawling wall will always increase the resistance to the movement of the wheel set, the outer diameter of the auxiliary wheel 22 is set to be smaller than the outer diameter of the driving wheel 21 and larger than the distance from the vertex of the magnetic suction cup 33 to the axis of the central axis 10 in this embodiment. Under normal circumstances, since the outer diameter of the driving wheel 21 is relatively large, when the driving wheel 21 is supported on the crawling wall, the auxiliary wheel 22 does not contact the crawling wall, and there is no friction between the two, which does not affect the movement of the wheel set. If the wall-climbing robot is heavily loaded, causing the central axis 10 to deform, the auxiliary wheel 22 contacts the crawling wall to support the central axis 10 and prevent the central axis 10 from further deformation.

[0049] Reference Figure 5 and Figure 7 As shown, the auxiliary wheel 22 is provided with a gel adhesive ring rope 221 on the side, the gel adhesive ring rope 221 is attached to the sealing plate 222, and the sealing plate 222 is fixedly connected to the top plate 12. The auxiliary wheel 22 and the magnetic suction component 30 are matched to achieve dynamic sealing. Figure 5 As shown, in order to facilitate modular production and processing, the number of the auxiliary wheels 22 corresponds to the number of the magnetic components 30. Specifically, in this embodiment, two auxiliary wheels 22 are provided, and one auxiliary wheel 22 and a group of magnetic components 30 form a module. In order to reduce the space occupied by the auxiliary wheels 22 and the sealing plate 222, the thickness of the sealing plate 222 is relatively small, so it is not convenient for the sealing plate 222 to be locked with the top plate 12. In this embodiment, the sealing plate 222 is locked to the side of the bearing seat 321. The thickness of the bearing seat 321 is relatively thick, so it is convenient to lock the bearing seat 321 through the surface of the sealing plate 222 and the sealing plate 222, and the stability of the connection of the sealing plate 222 can be ensured.

[0050] The present invention also discloses a dual-drive magnetic wall-climbing robot wheel set transition method, comprising a first wall surface 41 and a second wall surface 42 at an angle, using the above-mentioned active adaptive dual-drive magnetic wall-climbing robot wheel set, referring to Figure 8-Figure 11 As shown, when the wheel set of the wall-climbing robot moves from the first wall surface 41 to the second wall surface 42, the following steps are included:

[0051] S1: The force sensor 34 detects the pressure data of the multiple magnetic suction cups 33 in the magnetic suction assembly 30 and transmits it to the main controller;

[0052] S2: The main controller controls the steering engine 322 to work according to the pressure data, so that at least one magnetic chuck 33 corresponds to the first wall 41, and at least one magnetic chuck 33 corresponds to the second wall 42. Figure 8 As shown, in this embodiment, each group of magnetic suction components 30 is provided with two driving worm gears 31, that is, there are two magnetic suction cups 33: a first magnetic suction cup 33a and a second magnetic suction cup 33b. When the wheel group moves on the first wall 41, the first magnetic suction cup 33a corresponds to the first wall 41. Since the two magnetic suction cups 33 are staggered, the second magnetic suction cup 33b has no adsorption force on the first wall 41 at this time. As the wheel group moves toward the second wall 42, since the first magnetic suction cup 33a is close to the second wall 42, and the second magnetic suction cup 33b cannot cross the first magnetic suction cup 33a to adsorb the second wall 42, the two driving worms 32 are started at the same time, so that the first magnetic suction cup 33a rotates to adsorb the second wall 42, and the second magnetic suction cup 33b rotates to adsorb the first wall 41. In this process, refer to Fig. 9 As shown, even if the first magnetic chuck 33a rotates to the angle corresponding to the two walls, that is, the first magnetic chuck 33a has a small adsorption force on the first wall 41 and the second wall 42, the second magnetic chuck 33b has an adsorption force on the first wall 41, so the position of the wheel set on the wall can be ensured to be stable. The first magnetic chuck 33a and the second magnetic chuck 33b continue to rotate, referring to Fig.10 As shown, at this time, the first magnetic suction cup 33a absorbs the second wall surface 42, and the second magnetic suction cup 33b absorbs the first wall surface 41. The wheel set has an adsorption force on both walls, which can ensure the stability of the wheel set position.

[0053] S3: Since the wheel set is about to leave the first wall 41, and the adsorption force of the second magnetic chuck 33b on the first wall 41 hinders the movement of the wheel set, Fig.11 As shown, the main controller controls the magnetic suction cup 33 corresponding to the first wall 41 to move away from the first wall 41. In this embodiment, since the second magnetic suction cup 33b cannot overlap with the first magnetic suction cup 33a, in order to move away from the first wall 41, the second magnetic suction cup 33b is controlled to rotate to the side away from the first suction cup. The wheel group has no adsorption force on the first wall 41, so that the wheel group of the wall-climbing robot can move freely on the second wall 42.

[0054] In the present invention, a single wheel set of the wall-climbing robot can achieve stable transfer between two climbing walls, always ensuring the uniformity and stability of the air gap between the magnetic suction cup 33 and the wall, thereby ensuring the stability and reliability of the magnetic suction force, and being able to quickly release the force to achieve switching between the two walls.

[0055] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. Active adaptive dual-drive magnetic wall-climbing robot wheel set, characterized in that: include: A central axis, wherein the central axis is a hollow cylinder; The drive-control integrated actuator is inserted into the two ends of the central shaft, the output end of the drive-control integrated actuator is connected to a driving wheel, and the two driving wheels are respectively connected to one of the drive-control integrated actuators, so that the two driving wheels can move independently; A magnetic attraction component, the magnetic attraction component includes a driving worm wheel rotatably connected to the central shaft and a driving worm corresponding to the driving worm wheel, at least two driving worm wheels are arranged on the central shaft, the surface of the driving worm wheel is provided with tooth grooves along the circumferential direction, the surface of the driving worm wheel is connected to a magnetic suction cup through a force sensor, the two ends of the central shaft are connected to side plates, the top ends of the side plates are connected to the top plate, the driving worm is installed on the lower surface of the top plate through a bearing seat, and one end of the driving worm is connected to a steering gear; There are two driving worm wheels, the width of the magnetic suction cup is greater than the width of one driving worm wheel, one side of the magnetic suction cup is connected to the first driving worm wheel, and the other side of the magnetic suction cup extends toward the second driving worm wheel, and the two magnetic suction cups are staggered in the circumferential direction of the central axis; Two groups of magnetic suction components are arranged between the two driving wheels, and the two groups of magnetic suction components are separated by an auxiliary wheel. The auxiliary wheel is rotatably connected to the central axis through a bearing. The width of the auxiliary wheel is smaller than the width of the driving wheel. The outer diameter of the auxiliary wheel is smaller than the outer diameter of the driving wheel and is larger than the distance from the vertex of the magnetic suction cup to the axis center of the central axis.

2. The active adaptive dual-drive magnetic wall-climbing robot wheel set according to claim 1, characterized in that: The magnetic chuck is connected to the driving worm gear via at least two force sensors.

3. The active adaptive dual-drive magnetic wall-climbing robot wheel set according to claim 1, characterized in that: The outer surface of the central shaft is protruded with pins corresponding to the driving worm gears one by one, and the inner surface of the driving worm gear is protruded with two set screws, which are located at both sides of the pins along the circumference of the central shaft.

4. The active adaptive dual-drive magnetic wall-climbing robot wheel set according to claim 1, characterized in that: A gel adhesive ring and round rope are clamped on the side of the auxiliary wheel, the gel adhesive ring and round rope are in contact with the sealing plate, and the sealing plate is fixedly connected to the top plate.

5. The active adaptive dual-drive magnetic wall-climbing robot wheel set according to claim 4, characterized in that: The number of the auxiliary wheels corresponds to the number of the magnetic suction components, and the sealing plate is locked to the side of the bearing seat.

6. The active adaptive dual-drive magnetic wall-climbing robot wheel set according to claim 1, characterized in that: The magnetic chuck comprises a permanent magnet and a yoke.

7. A dual-drive magnetic wall-climbing robot wheel set transition method, characterized in that: The invention comprises a first wall surface and a second wall surface which are at an angle, and adopts the active adaptive dual-drive magnetic wall-climbing robot wheel set as claimed in any one of claims 1 to 6. When the wall-climbing robot wheel set moves from the first wall surface to the second wall surface, the invention comprises the following steps: S1: The force sensor detects the pressure data of multiple magnetic suction cups in the magnetic suction assembly and transmits it to the main controller; S2: The main controller controls the steering gear to work according to the pressure data, so that at least one magnetic chuck corresponds to the first wall surface, and at least one magnetic chuck corresponds to the second wall surface; S3: The main controller controls the magnetic suction cup corresponding to the first wall to move away from the first wall, and the wheel group of the wall-climbing robot moves on the second wall.

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