Four-legged magnetic adsorption wall-climbing robot with foot tactile

Abstract

The application provides a four-legged magnetic adsorption wall-climbing robot with foot tactile sensation, which comprises a body, a camera is installed on the top of the body, a leg is installed at each corner of the body, a foot is installed at the bottom end of the leg through a transverse telescopic device, and a foot tactile sensor device is installed on the outside of the foot. The application endows the wall-climbing robot with a foot tactile sensor, and designs a leg structure with transverse telescopic function and a supporting leg structure for the four-legged wall-climbing robot, so that the four-legged wall-climbing robot can perceive the magnetic adsorption state or the wall-climbing state through the foot tactile sensation to ensure that the wall-climbing robot does not fall off the wall in a whole body, and can keep the wall-climbing robot balanced as much as possible under the action of the leg structure with telescopic function and the supporting leg structure.

Description

Technical Field

[0001] This invention relates to the field of magnetic adsorption wall-climbing robot technology, specifically a quadruped magnetic adsorption wall-climbing robot with foot tactile sensation. Background Technology

[0002] With the development of mechanization and intelligence, dangerous and repetitive tasks such as cleaning, installation, and monitoring of structures in the shipbuilding and marine engineering field are gradually being replaced by robots. At the same time, the rapid development of the shipbuilding and marine engineering industry and the increasing complexity of structures place higher demands on the adaptability of wall-climbing robots. Although magnetic adsorption wheeled robots have already been applied to operations and inspections in the shipbuilding and marine engineering field, ordinary magnetic adsorption wheeled wall-climbing robots still cannot work in special scenarios. Therefore, there is a need for a robot capable of magnetic adsorption wall-climbing on complex structural surfaces.

[0003] Currently, with the rapid development of the shipbuilding and marine engineering fields, the size of ship and marine engineering structures is constantly increasing, and structural welded joints and stress-reinforcing ribs are also appearing on the surface of these structures. Therefore, the wheeled structure of traditional magnetic adsorption wall-climbing robots is often unable to cross these hurdles. The legged structure of new magnetic adsorption wall-climbing robots has a greater advantage. Since the weight of the wall-climbing robot significantly affects its endurance, a simpler and lighter structure results in greater endurance. However, while a simpler structure and increased endurance lead to increased endurance, the stability of the wall-climbing robot decreases. Therefore, it is necessary to develop and design a simple, lightweight, and highly stable legged magnetic adsorption wall-climbing robot. Currently, quadrupedal magnetic adsorption wall-climbing robots still have three problems: 1. Lack of tactile sensing capabilities in the legs, which can easily lead to the robot detaching from the wall when it misses a step or when the magnetic adsorption becomes unstable due to uncleanliness; 2. Due to the magnetic adsorption of the legs, mechanical locking can easily occur during the robot's crawling process, preventing normal crawling; 3. Due to the structural characteristics of quadrupedal magnetic adsorption wall-climbing robots, there are problems such as unbalanced forces during the robot's movement. Therefore, a flexible foot structure needs to be designed to solve the self-locking problem encountered by quadruped magnetic wall-climbing robots. Meanwhile, since varying degrees of corrosion and dents often exist on the surfaces of ships and marine engineering structures, robot foot sensing technology is particularly important. Sensing the reliability of magnetic adhesion allows for autonomous judgment and decision-making regarding the robot's gait, which is crucial for magnetic wall-climbing robots to cope with the complex surfaces of ships and marine engineering structures. Summary of the Invention

[0004] To address the aforementioned technical issues, a quadrupedal magnetic adsorption wall-climbing robot with foot tactile sensation is provided.

[0005] The technical means employed in this invention are as follows:

[0006] A quadruped magnetic wall-climbing robot with foot tactile sensation includes a body, a camera mounted on the top of the body, legs mounted at the four corners of the body, and feet mounted at the bottom of the legs via a lateral telescopic device. Foot tactile sensor devices are mounted on the outside of the feet.

[0007] The legs are used to propel the feet up the wall;

[0008] The lateral telescopic device includes a slide rod fixed to the bottom of the leg, and the slide rod is horizontally arranged. An electromagnet fixing seat is provided on the slide rod for sliding cooperation with it, and a first spring is provided on the slide rod; the foot includes a foot electromagnet fixed to the bottom of the electromagnet fixing seat;

[0009] The foot tactile sensor device includes a housing fixed outside the foot electromagnet. A slider is provided on the lower inner wall of the housing, fitted around the foot electromagnet and slidably connected to both the inner wall of the housing and the outer wall of the foot electromagnet. Multiple foot tactile sensors are fixed from top to bottom on the inner wall of the housing above the slider. Multiple vertically arranged guide rods are fixed inside the housing around the foot electromagnet. A guide hole is provided on the slider for the guide rods to pass through. A second spring is fitted around each guide rod, with the bottom of the second spring fixedly connected to the bottom of the guide hole. During upward sliding, the slider contacts and rubs against the foot tactile sensors, triggering them.

[0010] Preferably, the leg includes a first joint, a second joint, and a third joint; the end of the first joint near the body is rotatably connected to the body via a vertically arranged first rotating shaft, and a first driving mechanism for driving the first joint to rotate around the first rotating shaft is provided inside the body; one end of the second joint is rotatably connected to the end of the first joint away from the body via a horizontally arranged second rotating shaft, and a second driving mechanism for driving the second joint to rotate around the second rotating shaft is provided on the first joint, the second rotating shaft being perpendicular to the slide rod; the vertically arranged third joint is hinged to the end of the second joint away from the first joint via a third rotating shaft parallel to the second rotating shaft; the slide rod is fixed to the bottom of the third joint.

[0011] Preferably, all four first drive mechanisms are fixed at the four corners of the body via mounting brackets.

[0012] Preferably, the first output mechanism is a first joint motor, and the second output mechanism is a second joint motor;

[0013] The first joint includes an upper plate, a lower plate, and a first mounting post; one end of the upper plate is rotatably connected to the upper surface of the corner of the body through the first rotating shaft, and the other end is fixedly connected to the top of the first mounting post; one end of the lower plate is connected to the output end of the first joint motor through a gear transmission mechanism, and the other end is fixedly connected to the bottom of the first mounting post.

[0014] The second joint includes an upper arm and a lower arm. One end of the upper arm is rotatably connected to the upper plate via a second rotating shaft mounted on the upper plate, and the other end is hinged to the third joint via a third rotating shaft mounted on the upper part of the third joint. One end of the lower arm is rotatably connected to the mounting column via a second rotating shaft mounted on the mounting column. The second joint motor is mounted inside the mounting column, and its output end is connected to the second rotating shaft. The other end is hinged to the third joint via a third rotating shaft mounted on the lower part of the third joint.

[0015] Preferably, a support leg is installed at the bottom of the body. The support leg includes a column that is vertically fixed to the bottom of the body. A horizontal rotating shaft that is rotatably connected to the column is installed inside the column. The axis of the horizontal rotating shaft is vertically set, and a permanent magnet wheel is installed at the bottom of the horizontal rotating shaft through an axle.

[0016] Preferably, a camera mounting bracket is fixed to the upper part of the body, the camera is fixed to the camera mounting clip by camera mounting screws, and the camera mounting clip is fastened to the camera mounting bracket by mounting clip locking screws.

[0017] Preferably, the inner wall of the housing is fixed with three foot tactile sensors from top to bottom above the slider.

[0018] This invention equips a wall-climbing robot with a foot-based tactile sensor and designs a leg structure with a lateral telescopic mechanism and a supporting leg structure. This allows the quadrupedal wall-climbing robot to sense its magnetic adhesion or wall-climbing status through foot tactile sensing, ensuring it adheres tightly to the wall and avoids the risk of detachment. Simultaneously, the telescopic leg structure helps maintain the robot's balance on the wall without mechanical locking, and the supporting leg structure helps maintain its own force balance. Furthermore, the foot-based tactile sensor utilizes triboelectric nanogenerator technology to achieve passive electrical signal transmission, avoiding the problem of the sensing system failing due to insufficient battery power and reducing the robot's weight. It meets the wall-climbing detection requirements for specific application scenarios, ensuring the magnetically adhering wall-climbing robot can operate smoothly on the wall.

[0019] During the landing process of the robot's foot, the slider overcomes the spring force of the second spring under the mutual compression of the crawling wall and the foot, sliding along the guide rod into the outer shell. It rubs against the lowermost foot tactile sensor attached to the inner wall of the outer shell, triggering the foot tactile sensor. When the uppermost foot tactile sensor is triggered, it indicates that the foot has formed a stable adhesion to the crawling wall, allowing the robot to take further steps forward. If no signal is detected from the uppermost foot tactile sensor, to protect the robot from falling or other dangers, the robot stops crawling, changes the position of that foot, and continues crawling only after the uppermost foot sensor is triggered. This achieves fall protection during the robot's crawling process. In addition to its protective function, the three foot tactile sensors also play a role in judging the crawling environment. For example, if only the lowermost foot tactile sensor is triggered, it may indicate a misstep; if only the lowermost and middle foot tactile sensors are triggered, it may indicate an encounter with a protrusion.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] 1. The lateral telescopic device can solve the problem of diagonal leg mechanical locking caused during robot movement.

[0022] 2. The use of foot tactile sensors improves the motion stability of the magnetic adsorption wall-climbing robot, avoiding problems such as unreliable magnetic adsorption and damage caused by the robot detaching from the wall due to uneven or unclean surfaces. This is of great significance for improving the obstacle-crossing ability, adsorption capacity and environmental adaptability of the quadruped magnetic adsorption wall-climbing robot.

[0023] 3. The addition of support legs significantly improves the stability and reliability of the quadrupedal magnetic wall-climbing robot.

[0024] 4. The foot-mounted tactile sensor utilizes triboelectric nanotechnology to achieve passive electrical signal transmission, avoiding the problem of the sensing system malfunctioning due to insufficient battery power, and also reducing the weight of the wall-climbing robot itself. It meets the wall-climbing detection requirements according to specific application scenarios, ensuring that the magnetically adsorbed wall-climbing robot can operate smoothly on the climbing surface.

[0025] Based on the above reasons, this invention can be widely applied in fields such as magnetic adsorption wall-climbing robots. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of a quadrupedal magnetic adsorption wall-climbing robot with foot tactile sensation according to a specific embodiment of the present invention.

[0028] Figure 2 This is a schematic diagram of the camera mounting structure in a specific embodiment of the present invention.

[0029] Figure 3 This is a schematic diagram of the internal structure of the fuselage in a specific embodiment of the present invention.

[0030] Figure 4 This is a schematic diagram of the structure in a specific embodiment of the present invention, showing the output end of the first joint motor extending through the body.

[0031] Figure 5 This is a schematic diagram of the leg structure in a specific embodiment of the present invention.

[0032] Figure 6 This is a schematic diagram of the lateral telescopic device in a specific embodiment of the present invention.

[0033] Figure 7 This is a front view of the foot and foot tactile sensor device in a specific embodiment of the present invention.

[0034] Figure 8 This is a schematic diagram of the internal structure of the foot tactile sensor device in a specific embodiment of the present invention.

[0035] Figure 9 This is a schematic diagram of the supporting leg structure in a specific embodiment of the present invention.

[0036] In the picture:

[0037] 1. Camera; 11. Camera mounting clip; 12. Clip locking screw; 13. Camera mounting screw; 14. Camera mounting bracket;

[0038] 2. Body; 21. Bottom shell of the body; 22. First joint motor; 23. Card slot; 24. Output shaft of the first joint motor; 25. Body cover;

[0039] 3. Leg; 31. First rotating shaft; 32. First joint; 33. Second joint; 34. Third joint; 35. Second rotating shaft; 36. Third rotating shaft; 37. Second joint motor;

[0040] 4. Foot; 41. Electromagnet mounting base; 42. Electromagnet fixing bolt; 43. Foot electromagnet; 44. Housing; 45. Guide rod; 46. Second spring; 47. Foot tactile sensor; 48. Slider;

[0041] 5. Supporting leg; 51. Column; 52. Horizontal rotating axis; 53. Permanent magnet wheel; 54. Wheel and axle;

[0042] 6. Lateral telescopic device; 61. Slide bolt; 62. Slide rod; 63. First spring. Detailed Implementation

[0043] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0046] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0047] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0048] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0049] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0050] like Figures 1-9As shown, a quadrupedal magnetic wall-climbing robot with foot tactile sensation includes a body 2, a camera 1 mounted on the top of the body 2, legs 3 mounted at the four corners of the body, and feet 4 mounted on the bottom of the legs 3 via a lateral telescopic device 6. Foot tactile sensor devices are mounted on the outside of the feet 4; and support legs 5 are mounted on the bottom of the body 2.

[0051] like Figure 2 As shown, a camera mounting bracket 14 is fixed to the upper part of the body 2. The camera 1 is fixed to the camera mounting clip 11 by camera mounting screws 13, and the camera mounting clip 11 is fixed to the camera mounting bracket 14 by a pair of mounting clip locking screws 12.

[0052] The leg 3 is used to propel the foot 4 to climb the wall; such as Figures 3-5 As shown, the leg 3 includes a first joint 32, a second joint 33, and a third joint 34; the end of the first joint 32 near the body 1 is rotatably connected to the body 1 via a vertically arranged first rotating shaft 31, and a first joint motor 22 is provided inside the body 1 to drive the first joint 32 to rotate around the first rotating shaft 31; as shown Figures 2-3 As shown, the fuselage 2 includes a bottom shell 21 and a cover 25. Four first joint motors 22 are fixed at the four corners of the bottom shell 21 via mounting brackets 23, and the output shafts 24 of the first joint motors extend out of the bottom shell 21. Figure 5 As shown, the first joint 32 includes an upper plate, a lower plate, and a first mounting post; one end of the upper plate is rotatably connected to the upper surface of the corner of the fuselage cover 25 through the first rotating shaft 31, and the other end is fixedly connected to the top of the first mounting post; one end of the lower plate is connected to the output shaft 24 of the first joint motor through a gear transmission mechanism, and the other end is fixedly connected to the bottom of the first mounting post.

[0053] The second joint 33 includes an upper arm and a lower arm. One end of the upper arm is rotatably connected to the upper plate via a second rotating shaft 35 horizontally mounted on the upper plate, and the other end is hinged to the third joint 34 via a third rotating shaft 36 mounted on the upper part of the third joint 34. One end of the lower arm is rotatably connected to the mounting column via the second rotating shaft 35 mounted on the mounting column. A second joint motor 37 is mounted inside the mounting column, with its output end connected to the second rotating shaft 35. The other end is hinged to the third joint 34 via a third rotating shaft 36 mounted on the lower part of the third joint 34. The third rotating shaft 36 is parallel to the second rotating shaft 35.

[0054] like Figure 6As shown, the lateral telescopic device 6 includes a slide rod 62 fixed to the bottom of the third joint 34 by a slide rod bolt 61, and the slide rod 62 is horizontally arranged. An electromagnet fixing seat 41 is provided on the slide rod 62 and slides therewith. A first spring 63 is provided on the slide rod 62. The foot 4 includes a foot electromagnet 43 fixed to the bottom of the electromagnet fixing seat 41 by an electromagnet fixing bolt 42.

[0055] like Figures 7-8 As shown, the foot tactile sensor device includes a housing 44 fixed outside the foot electromagnet 43. A slider 48 is provided on the lower inner wall of the housing 44, fitted around the foot electromagnet 43 and slidably connected to both the inner wall of the housing 44 and the outer wall of the foot electromagnet 43. Three foot tactile sensors 47 are fixed from top to bottom on the inner wall of the housing 44 above the slider 48. Multiple vertically arranged guide rods 45 are fixed inside the housing 44 around the foot electromagnet 43. A guide hole is provided on the slider 48 for the guide rods 45 to pass through. A second spring 46 is fitted around the guide rod 45, and the bottom of the second spring 46 is fixedly connected to the bottom of the guide hole. Friction triggers the foot tactile sensors during the upward sliding of the slider 48.

[0056] like Figure 9 As shown, the support leg 5 includes a column 51 vertically fixed to the bottom of the body 1. A horizontal rotating shaft 52 rotatably connected to the column 51 is installed inside the column 51. The axis of the horizontal rotating shaft 52 is vertically set, and a permanent magnet wheel 53 is installed at the bottom of the horizontal rotating shaft 52 through a wheel axle 54.

[0057] During the landing of the robot's foot 4, the slider 48, under the mutual compression of the crawling wall and the foot 4, overcomes the spring force of the second spring 46 and slides along the guide rod into the housing 44. It rubs against the lowermost foot tactile sensor 47 attached to the inner wall of the housing 44, triggering the foot tactile sensor 47. When the uppermost foot tactile sensor 47 is triggered, it indicates that the foot has formed a stable adhesion to the crawling wall, allowing the robot to take further steps forward. If no signal is detected from the uppermost foot tactile sensor 47, to protect the robot from falling or other dangers, the robot stops crawling and changes the position of that foot 4 until the uppermost foot sensor 47 is triggered, after which it continues crawling. This achieves fall protection during the robot's crawling process.

[0058] In addition to its protective function, the three foot tactile sensors 47 can also play a role in judging the crawling environment. For example, if only the bottom foot tactile sensor 47 is triggered, it may be due to stepping into a hole. If only the bottom foot tactile sensor 47 and the middle foot tactile sensor 47 are triggered, it may be due to encountering a protrusion.

[0059] The lateral telescopic device 6 can solve the problem of mechanical locking of the diagonal legs 3 during robot movement.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A four-legged magnetic adsorption wall-climbing robot with foot tactile, comprising a body, a camera is installed on the top of the body, characterized in that, Legs are installed at the four corners of the body, and feet are installed at the bottom of the legs via a lateral telescopic device. Foot tactile sensor devices are installed on the outside of the feet. The legs are used to propel the feet up the wall; The lateral telescopic device includes a slide rod fixed to the bottom of the leg, and the slide rod is horizontally arranged. An electromagnet fixing seat is provided on the slide rod for sliding cooperation with it, and a first spring is provided on the slide rod; the foot includes a foot electromagnet fixed to the bottom of the electromagnet fixing seat; The foot tactile sensor device includes a housing fixed outside the foot electromagnet. A slider is provided on the lower inner wall of the housing, fitted over the foot electromagnet and slidably connected to both the inner wall of the housing and the outer wall of the foot electromagnet. Multiple foot tactile sensors are fixed from top to bottom on the inner wall of the housing above the slider. Multiple vertically arranged guide rods are fixed inside the housing around the foot electromagnet. A guide hole is provided on the slider for the guide rods to pass through. A second spring is fitted over the guide rod, with the bottom of the second spring fixedly connected to the bottom of the guide hole. During upward sliding, the slider contacts and rubs against the foot tactile sensors, triggering them.

2. The four-legged magnetic adsorption wall-climbing robot with foot tactile according to claim 1, characterized in that, The leg includes a first joint, a second joint, and a third joint; the end of the first joint near the body is rotatably connected to the body via a vertically arranged first rotating shaft, and a first driving mechanism is provided inside the body to drive the first joint to rotate around the first rotating shaft; One end of the second joint is rotatably connected to the end of the first joint away from the body via a horizontally arranged second rotating shaft, and the first joint is provided with a second driving mechanism that drives the second joint to rotate around the second rotating shaft, the second rotating shaft being perpendicular to the slide rod; The vertically arranged third joint is hinged to the end of the second joint away from the first joint via a third rotation axis that is parallel to the second rotation axis; the slide rod is fixed to the bottom of the third joint.

3. The four-legged magnetic adsorption wall-climbing robot with foot tactile according to claim 2, characterized in that, All four first drive mechanisms are fixed at the four corners of the body via mounting brackets.

4. A quadrupedal magnetically adsorbed wall-climbing robot with foot tactile sensation according to claim 2, characterized in that, The first drive mechanism is a first joint motor, and the second drive mechanism is a second joint motor; The first joint includes an upper plate, a lower plate, and a first mounting post; one end of the upper plate is rotatably connected to the upper surface of the corner of the body through the first rotating shaft, and the other end is fixedly connected to the top of the first mounting post; one end of the lower plate is connected to the output end of the first joint motor through a gear transmission mechanism, and the other end is fixedly connected to the bottom of the first mounting post. The second joint includes an upper arm and a lower arm. One end of the upper arm is rotatably connected to the upper plate via a second rotating shaft mounted on the upper plate, and the other end is hinged to the third joint via a third rotating shaft mounted on the upper part of the third joint. One end of the lower arm is rotatably connected to the first mounting post via a second rotating shaft mounted on the first mounting post. The second joint motor is mounted inside the first mounting post, and its output end is connected to the second rotating shaft. The other end of the lower arm is hinged to the third joint via a third rotating shaft mounted on the lower part of the third joint.

5. A quadrupedal magnetic wall-climbing robot with foot tactile sensation according to claim 1, characterized in that, The bottom of the machine body is equipped with a support leg, which includes a column that is vertically fixed to the bottom of the machine body. A horizontal rotating shaft that is rotatably connected to the column is installed inside the column. The axis of the horizontal rotating shaft is vertically set, and a permanent magnet wheel is installed at the bottom of the horizontal rotating shaft through an axle.

6. A quadrupedal magnetically adsorbed wall-climbing robot with foot tactile sensation according to claim 1, characterized in that, A camera mounting bracket is fixed to the upper part of the body. The camera is fixed to the camera mounting clip by camera mounting screws, and the camera mounting clip is fastened to the camera mounting bracket by mounting clip locking screws.

7. A quadrupedal magnetically adsorbed wall-climbing robot with foot tactile sensation according to claim 1, characterized in that, The inner wall of the housing is above the slider, and three foot tactile sensors are fixed from top to bottom.

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