A passive self-adaptive variable-curvature wall-climbing robot structure

Abstract

The application discloses a wall-climbing robot structure with a passive self-adaptive variable-curvature magnetic-conducting wall surface, which comprises a frame unit, self-adaptive moving mechanisms and a control box, wherein the two self-adaptive moving mechanisms are symmetrically hinged in copper sleeve mounting holes reserved on both sides of the frame unit; the wall-climbing robot structure is designed with self-adaptive wheel sets and a frame unit capable of self-adaptive deformation, so that the driving wheels and the driven wheels are always closely attached to the wall surface, the effective contact points of the synchronous belt wall surface are increased, the friction force is increased to prevent slipping, the safety of the robot in wall surface operation is improved, and the wall-climbing robot structure can also realize obstacle crossing, thereby ensuring the practicability of the equipment. In addition, the permanent magnets on the driving wheels and the driven wheels adopt an embedded permanent magnet mode, which avoids the problem of adsorption force deviation caused by the multi-hinge structure of the robot, and the structure is more compact. The arrangement of multiple groups of permanent magnetic adsorption elements enables the wall-climbing robot structure to simultaneously adapt to the concave and convex surfaces of a magnetic-conducting vertical surface.

Description

Technical Field

[0001] This invention belongs to the field of cleaning equipment technology, specifically a wall-climbing robot structure capable of passively and adaptively adapting to variable curvature magnetically conductive walls. This design is applicable to various complex metal facades, such as variable curvature facades of ship hulls, variable curvature facades of offshore wind turbine towers, large steel facades, aircraft facades, and large storage tanks. Background Technology

[0002] Large ships, offshore wind turbine towers, and large petrochemical storage tanks are susceptible to rust and damage due to water, weathering corrosion, and biological contamination. Currently, the cleaning, corrosion prevention, and inspection of metal surfaces on large ships and offshore wind turbine towers in my country are mostly carried out manually. Manual labor is labor-intensive, has a low safety factor, is time-consuming, inefficient, highly susceptible to weather conditions, and causes environmental pollution.

[0003] Wall-climbing robots are an important component of the industrial robot field, primarily used in facade scenarios. They can carry various inspection functions, replacing manual labor. However, addressing issues such as the robot's weight, size, structure, adhesion, and adaptability to different environments remains a key research challenge. Current wall-climbing robots generally employ integrated rigid structures such as permanent magnet wheels or permanent magnet tracks. Due to their relatively fixed structural characteristics, they struggle to adapt to complex facade morphologies with varying curvatures, limiting their ability to adhere and move only on relatively flat surfaces. Adaptive curvature capability is crucial for improving the facade motion performance of wall-climbing robots. It is the core guarantee for the robot's movement flexibility and path accuracy in planning operations on large, complex metal facades with varying curvatures, fundamentally restricting the widespread application of these robots. Therefore, the adaptive curvature problem has long been a focus of research in the field of wall-climbing robots. Summary of the Invention

[0004] To address the problems of wall-climbing robots' inability to adapt to varying curvature walls, difficulty in adhering to surfaces, high risk, and low efficiency, this invention provides a wall-climbing robot structure capable of passively adapting to varying curvature magnetically conductive walls. Compared to traditional methods, this invention's wall-climbing robot structure retains the advantages of traditional operation methods while offering higher safety, a more compact structure, and greater stability. In particular, this invention has the advantage of simultaneously adapting to both concave and convex curved surfaces of magnetically conductive walls.

[0005] To achieve the above objectives, the invention adopts the following solution: a wall-climbing robot structure that can passively and adaptively adapt to a variable curvature magnetically conductive wall surface, characterized in that the wall-climbing robot structure includes a frame unit, an adaptive movement mechanism, and a control box. The two adaptive movement mechanisms are mirror-symmetrically hinged in copper sleeve mounting holes reserved on both sides of the frame unit, and the control box is located at the middle position of the top of the frame unit.

[0006] The frame unit includes a fixed plate, a front connecting plate, graphite copper sleeves, and a rear connecting plate. The front and rear ends of the fixed plate are fixed to the middle of the top of the front and rear connecting plates with screws. The front and rear connecting plates are the same size and are aligned. There is a mounting hole symmetrically reserved on the left and right sides of the front and rear connecting plates. The two mounting holes on the front connecting plate are aligned with the two mounting holes on the rear connecting plate. Four graphite copper sleeves are fixed in the mounting holes on the front and rear connecting plates with screws, forming four copper sleeve mounting holes. The front and rear ends of the two adaptive movement mechanisms are symmetrically hinged in the four copper sleeve mounting holes reserved on both sides of the front and rear connecting plates in the frame unit.

[0007] Taking the adaptive movement mechanism on the left as an example, its structure is described as follows: the adaptive movement mechanism on the left includes a driving wheel, a synchronous belt, an adaptive wheel set, a magnetic shielding plate, a driven wheel, a rear fixed plate, a right side plate, a tensioning mechanism, a motor, a front fixed plate, a left side plate, a bearing housing, an angular contact bearing, and a motor mounting plate.

[0008] The front ends of the right side plate and the left side plate are respectively fixedly connected to the left and right sides of the front fixed plate by screws. The rear ends of the right side plate and the left side plate are respectively fixedly connected to the left and right sides of the rear fixed plate by screws. The right side plate, the left side plate, the front fixed plate, and the rear fixed plate form a cuboid space. An adaptive rotating shaft is fixedly installed in the middle of the outer side of the front fixed plate and the rear fixed plate. The two adaptive rotating shafts are directly opposite each other. The two adaptive rotating shafts of the adaptive moving mechanism on the left side are respectively installed in the copper sleeve mounting holes on the left side of the front connecting plate and the rear connecting plate, and are hinged by a pivot pin.

[0009] A wheel axle mounting hole is reserved at the front and rear ends of the left side plate and at the rear end of the right side plate. A motor shaft mounting hole is reserved at the front end of the right side plate. The line connecting the center of the three wheel axle mounting holes and the center of the motor shaft mounting hole forms a horizontal rectangle. Each bearing housing contains an angular contact bearing. The three bearing housings are respectively installed in the three wheel axle mounting holes on the right side plate and the left side plate by screws.

[0010] The motor is fixed on the motor mounting plate, and the motor is fixed to the motor shaft mounting hole at the front end of the right side plate through the motor mounting plate. One end of the drive wheel is rotatably set in the angular contact bearing at the front end of the left side plate, and the other end is fixedly connected to the output shaft of the motor by screws. The two ends of the driven wheel are rotatably set in the angular contact bearings at the rear end of the left side plate and the rear end of the right side plate, respectively.

[0011] The driving pulley and driven pulley are connected by a synchronous belt. The inner surface of the synchronous belt is toothed, and the outer surfaces of both the driving and driven pulleys are also toothed. The inner surface of the synchronous belt meshes with the outer surfaces of the driving and driven pulleys. A magnetic shield is installed between the driving and driven pulleys, parallel to the axis of the driving pulley. The two ends of the magnetic shield are fixed to the lower middle of the inner surface of the left and right plates, respectively. A self-adaptive pulley set is symmetrically installed on both sides of the magnetic shield. The left and right ends of the self-adaptive pulley sets are fixed to the inner surfaces of the left and right plates, respectively, by screws. Two tensioning mechanisms are fixedly installed at the top of the front and rear ends of the left and right plates, respectively.

[0012] Taking an adaptive wheelset as an example, its structure is described as follows: the adaptive wheelset includes a mounting plate, guide post, compression spring, pin, small synchronous pulley, double-headed shaft, permanent magnet, small graphite copper sleeve, spring retaining ring, first magnet bracket, upper spring retaining plate, and lower spring retaining plate; the mounting plate has an "H" shaped structure, and is fixedly connected to the inner side of the left and right side plates respectively by drilling holes and installing screws on the connecting plates on its left and right sides; the connecting plate in the middle of the mounting plate is horizontally set and has a spline hole in the middle, the outer circumferential surface of the guide post is provided with a spline that mates with it, and the middle of the guide post is located in the spline Inside the hole; an upper spring stop is provided at the top of the guide post, and a lower spring stop is provided at the bottom of the guide post. A connecting lug with a curved end and a hole is provided on the bottom surface of the lower spring stop facing downwards. The connecting lug is spatially orthogonal to the connecting piece in the middle of the mounting plate. Two compression springs are respectively fitted on the upper and lower parts of the guide post. The two ends of the upper compression spring are fixedly connected to the lower surface of the upper spring stop and the upper surface of the connecting piece in the middle of the mounting plate, respectively. The two ends of the lower compression spring are fixedly connected to the lower surface of the connecting piece in the middle of the mounting plate and the upper surface of the lower spring stop.

[0013] The projection of the magnetic shielding plate in the horizontal direction is directly opposite the permanent magnet. Two through holes are provided on the permanent magnet, penetrating its left and right sides. These two through holes are at the same horizontal height and parallel to the axis of the drive pulley. Two double-headed shafts are fixed to these two through holes in the permanent magnet with screws. Small graphite copper sleeves are fixed to the shaft holes of small synchronous pulleys with screws. Four small synchronous pulleys are symmetrically arranged at both ends of the two double-headed shafts via their respective small graphite copper sleeves. The small graphite copper sleeves are fitted to the double-headed shafts with a clearance fit. Simultaneously, spring retaining rings are installed on the double-headed shafts at both ends of the small graphite copper sleeves to hold them in place and prevent the small synchronous pulleys from falling off the shafts. The outer surface of the small synchronous pulleys is toothed, and its outer surface meshes with the inner surface of the synchronous belt.

[0014] The first magnet bracket is fixedly installed in the middle of the top surface of the permanent magnet by screws. The middle of its top surface has two positioning ears with holes and curved ends. These two positioning ears are parallel to the connecting ears on the bottom surface of the lower spring baffle. The connecting ears are set in the two positioning ears by pins to realize the hinge between the lower spring baffle and the first magnet bracket.

[0015] Taking a tensioning mechanism as an example, its structure is described as follows: The tensioning mechanism includes spring supports, pressure rollers, screws, and springs. The two spring supports are approximately "π" shaped and are positioned opposite each other on the top of the left and right side plates by drilling holes in their lower parts and installing screws. Each spring support has a through hole at its top, and each end of the pressure roller's support shaft has a symmetrical through hole. Each end of the pressure roller's support shaft is connected to the inside of the two spring supports by a screw. The upper outer surface of the screw has threads, and the screw passes through the through holes at the top of the spring supports and the corresponding through holes at the ends of the pressure roller's support shafts from top to bottom. Each screw is fitted with a spring, the top of which is fixedly connected to the inner surface of the top of the spring support, and its bottom is fixedly connected to the corresponding end of the pressure roller's support shaft. Receiving holes are provided on the left and right side plates, opposite to the through holes at the top of the two spring supports, to accommodate the lower part of the screw. The springs are initially compressed, giving the synchronous belt initial tension.

[0016] The drive pulley consists of a shaft, flange, pulley, retaining ring, second magnet bracket, arc magnet, deep groove ball bearing, and pulley shaft. The outer surface of the pulley is toothed and positioned between the flange and the pulley shaft. A threaded through hole is located in the center of the flange, and a threaded hole is located on the left outer end face of the pulley shaft. The flange is fixed to the left outer end face of the pulley shaft with screws. The left and right ends of the pulley are connected to the right side face of the flange and the right inner side face of the pulley shaft respectively through stepped structures at corresponding ends. The right side face of the shaft is secured with drilled screws. The left side of the retaining edge is fixedly connected; the middle of the right side of the pulley shaft is fixedly connected to the output shaft of the motor by drilling holes and installing screws; the second magnet bracket is fitted on the shaft section with the smallest shaft diameter in the middle of the pulley shaft and fixedly installed by a deep groove ball bearing and a retaining ring; the arc magnet is fixedly connected to the second magnet bracket by screws. As an example, depending on the shape and size of the arc magnet, a shim can be set between the arc magnet and the second magnet bracket to adjust the position of the arc magnet; the shaft of the drive wheel and the inner ring of the angular contact bearing are connected by an overfit.

[0017] The driven wheel structure is based on the driving wheel structure, with the addition of a rotating shaft. This rotating shaft is fixedly connected to the right side of the driven wheel's pulley rotating shaft by drilling and installing screws. The two rotating shafts of the driven wheel are respectively connected to the inner rings of two angular contact bearings by an overfit.

[0018] When the robot walks on a plane, the bottom of the small synchronous pulley, the bottom of the driving pulley, and the bottom of the driven pulley are all on the same horizontal plane.

[0019] The motors in both the adaptive movement mechanism on the right and the adaptive movement mechanism on the left are electrically connected to the control box via conductive wires.

[0020] Compared with existing technologies, the advantages of this invention are as follows: The wall-climbing robot structure of this invention, through the design of adaptive wheel sets and adaptively deformable frame units, ensures that the driving and driven wheels are always in close contact with the wall surface. This increases the effective contact points of the synchronous belt against the wall, increases friction to prevent slippage, improves the safety of the robot operating on the wall, and enables obstacle crossing, thus ensuring the practicality of the device. Furthermore, the permanent magnets on the driving and driven wheels are built-in, avoiding the problem of adsorption force shifting caused by the robot's multi-hinge structure, while also making the structure more compact. The arrangement of multiple sets of permanent magnet adsorption elements allows this wall-climbing robot structure to simultaneously adapt to both concave and convex curved surfaces of the magnetically conductive facade. This wall-climbing robot structure of this invention can simultaneously adapt to concave and convex curved walls, and can be equipped with various operating devices, enabling applications in various facade scenarios. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of an embodiment of a wall-climbing robot with a passively adaptive variable curvature magnetically conductive wall surface according to the present invention.

[0022] Figure 2 This is a schematic diagram of the frame unit of an embodiment of a wall-climbing robot structure with a passively adaptive variable curvature magnetically conductive wall surface according to the present invention.

[0023] Figure 3 This is a schematic diagram of the adaptive movement mechanism on the left side of one embodiment of a wall-climbing robot structure with a passively adaptive variable curvature magnetically conductive wall surface according to the present invention.

[0024] Figure 4 This is a schematic diagram of the internal structure of the adaptive movement mechanism on the left side of an embodiment of a wall-climbing robot structure with a passively adaptive variable curvature magnetically conductive wall surface according to the present invention (left side plate removed).

[0025] Figure 5 This is a schematic diagram of the motor assembly of the adaptive movement mechanism on the left side of an embodiment of a wall-climbing robot structure with a passively adaptive variable curvature magnetically conductive wall surface according to the present invention.

[0026] Figure 6 This is a schematic diagram of an adaptive wheel assembly structure of one embodiment of a wall-climbing robot structure capable of passively adapting to a variable curvature magnetically conductive wall surface according to the present invention.

[0027] Figure 7This is a schematic diagram of the tensioning mechanism structure of one embodiment of a wall-climbing robot structure with a passively adaptive variable curvature magnetically conductive wall surface according to the present invention.

[0028] Figure 8 This is a schematic diagram (sectional view) of the active wheel structure of an embodiment of a wall-climbing robot structure with a passively adaptive variable curvature magnetically conductive wall surface according to the present invention.

[0029] Figure 9 This is a schematic diagram (sectional view) of the driven wheel of an embodiment of a wall-climbing robot structure with a passively adaptive variable curvature magnetically conductive wall surface according to the present invention.

[0030] Figure 10 This is a schematic diagram of the adaptive movement mechanism of a wall-climbing robot structure capable of passively adapting to a variable curvature magnetically conductive wall surface when walking on a concave surface (side plates removed).

[0031] Figure 11 This is a schematic diagram of the overall state of a wall-climbing robot structure with a passively adaptive variable curvature magnetically conductive wall surface when walking on a concave surface, according to the present invention.

[0032] Figure 12 This is a schematic diagram of the adaptive movement mechanism of a wall-climbing robot structure with passive adaptive variable curvature magnetic wall surface (side plates removed) when walking on a convex surface.

[0033] Figure 13 This is a schematic diagram of the overall state of a wall-climbing robot structure with a passively adaptive variable curvature magnetically conductive wall surface when walking on a convex surface, according to the present invention.

[0034] In the diagram: 1—Frame unit, 2—Adaptive moving mechanism, 3—Control box.

[0035] 1.1—Fixed plate, 1.2—Front connecting plate, 1.3—Graphite copper sleeve, 1.4—Rear connecting plate.

[0036] 2.1—Driving pulley, 2.2—Synchronous belt, 2.3—Adaptive pulley set, 2.4—Magnetic shielding plate, 2.5—Driven pulley, 2.6—Rear fixed plate, 2.7—Right side plate, 2.8—Tensioning mechanism, 2.9—Motor, 2.10—Front fixed plate, 2.11—Left side plate, 2.12—Bearing housing, 2.13—Angular contact bearing, 2.14—Motor mounting plate.

[0037] 2.3.1—Mounting plate, 2.3.2—Guide post, 2.3.3—Compression spring, 2.3.4—Pin, 2.3.5—Small synchronous pulley, 2.3.6—Double-headed shaft, 2.3.7—Permanent magnet, 2.3.8—Small graphite copper sleeve, 2.3.9—Spring retaining ring, 2.3.10—No. 1 magnet bracket, 2.3.11—Lower spring retaining plate.

[0038] 2.8.1—Spring bracket, 2.8.2—Pressure roller, 2.8.3—Screw, 2.8.4—Spring.

[0039] 2.1.1—Shaft, 2.1.2—Side guard, 2.1.3—Pulley, 2.1.4—Snap ring, 2.1.5—Second magnet bracket, 2.1.6—Circular arc magnet, 2.1.7—Deep groove ball bearing, 2.1.8—Pulley shaft. Detailed Implementation

[0040] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, this embodiment is only a part of the embodiments of the present invention, and not all of them.

[0041] This invention provides a wall-climbing robot structure capable of passively adapting to a variable curvature magnetically permeable wall surface (hereinafter referred to as the wall-climbing robot structure, see below). Figure 1-9 The wall-climbing robot structure includes a frame unit 1, an adaptive movement mechanism 2, and a control box 3. The two adaptive movement mechanisms 2 are symmetrically hinged in the copper sleeve mounting holes reserved on both sides of the frame unit 1, and the control box 3 is located in the middle of the top of the frame unit 1.

[0042] The frame unit 1 includes a fixed plate 1.1, a front connecting plate 1.2, graphite copper sleeves 1.3, and a rear connecting plate 1.4. The front and rear ends of the fixed plate 1.1 are fixed to the middle of the top of the front connecting plate 1.2 and the rear connecting plate 1.4 with screws. The front connecting plate 1.2 and the rear connecting plate 1.4 are the same size and are oriented opposite each other. There is a symmetrical mounting hole on each side of the front connecting plate 1.2 and the rear connecting plate 1.4. The two mounting holes on the front connecting plate 1.2 are oriented opposite to the two mounting holes on the rear connecting plate 1.4. Four graphite copper sleeves 1.3 are fixed in the mounting holes on the front connecting plate 1.2 and the rear connecting plate 1.4 with screws, forming four copper sleeve mounting holes. The front and rear ends of the two adaptive moving mechanisms 2 are symmetrically hinged in the four copper sleeve mounting holes on both sides of the front connecting plate 1.2 and the rear connecting plate 1.4 in the frame unit 1.

[0043] With the left side (with) Figure 1 Based on this, and taking the left-right direction of the view as the front-back direction of the wall-climbing robot structure (i.e., the setting direction of the synchronous belt 2.2), and taking the front-back direction of the view (with the closer end as the front) as the left-right direction of the wall-climbing robot structure (the same applies below), the adaptive movement mechanism is described as an example. See [link to relevant documentation]. Figure 3-5The adaptive movement mechanism 2 on the left includes a driving wheel 2.1, a synchronous belt 2.2, an adaptive wheel set 2.3, a magnetic shielding plate 2.4, a driven wheel 2.5, a rear fixed plate 2.6, a right side plate 2.7, a tensioning mechanism 2.8, a motor 2.9, a front fixed plate 2.10, a left side plate 2.11, a bearing seat 2.12, an angular contact bearing 2.13, and a motor mounting plate 2.14.

[0044] The front ends of the right side plate 2.7 and the left side plate 2.11 are respectively fixedly and perpendicularly to the left and right sides of the front fixed plate 2.10 by screws. The rear ends of the right side plate 2.7 and the left side plate 2.11 are respectively fixedly and perpendicularly to the left and right sides of the rear fixed plate 2.6 by screws. The right side plate 2.7, the left side plate 2.11, the front fixed plate 2.10, and the rear fixed plate 2.6 form a cuboid space. An adaptive rotating shaft is fixedly installed in the middle of the outer side of the front fixed plate 2.10 and the rear fixed plate 2.6. The two adaptive rotating shafts are positioned opposite each other. The two adaptive rotating shafts of the adaptive movement mechanism on the left side are respectively installed in the copper sleeve mounting holes on the left side of the front connecting plate 1.2 and the rear connecting plate 1.4, and are hinged by a pin. At the same time, the pin can restrict the axial displacement of the two and allow the two to rotate circumferentially.

[0045] A wheel axle mounting hole is pre-drilled at both the front and rear ends of the left side plate 2.7 and at the rear end of the right side plate 2.11. A motor shaft mounting hole is pre-drilled at the front end of the right side plate 2.11. The line connecting the center of the three wheel axle mounting holes and the center of the motor shaft mounting hole forms a horizontal rectangle. Each bearing housing 2.12 houses an angular contact bearing 2.13. The three bearing housings 2.12 are respectively installed in the three wheel axle mounting holes on the right side plate 2.7 and the left side plate 2.11 using screws.

[0046] Motor 2.9 is fixed to motor mounting plate 2.14. Motor 2.9 is fixed to the motor shaft mounting hole at the front end of right side plate 2.7 via motor mounting plate 2.14. One end of the drive wheel 2.1 is rotatably mounted in angular contact bearing 2.13 at the front end of left side plate 2.7, and the other end is fixedly connected to the output shaft of motor 2.9 by screws. Both ends of the driven wheel 2.5 are rotatably mounted in angular contact bearings 2.13 at the rear ends of left side plate 2.11 and right side plate 2.7, respectively.

[0047] The driving pulley 2.1 and the driven pulley 2.5 are connected by a timing belt 2.2. The inner surface of the timing belt 2.2 is toothed, as are the outer surfaces of the driving pulley 2.1 and the driven pulley 2.5. The inner surface of the timing belt 2.2 meshes with the outer surfaces of the driving pulley 2.1 and the driven pulley 2.5. A magnetic shielding plate 2.4 is provided between the driving pulley 2.1 and the driven pulley 2.5. The magnetic shielding plate 2.4 is parallel to the axis of the driving pulley 2.1. The two ends of the magnetic shielding plate 2.4 are fixed to the lower middle of the inner surface of the left side plate 2.11 and the lower middle of the inner surface of the right side plate 2.7, respectively. A self-adaptive pulley set 2.3 is symmetrically provided on both sides of the magnetic shielding plate 2.4. The left and right ends of the self-adaptive pulley set 2.3 are fixedly connected to the inner surfaces of the left side plate 2.11 and the right side plate 2.7, respectively, by screws. Two tensioning devices 2.8 are fixedly installed at the top of the front and rear ends of the left side plate 2.11 and the right side plate 2.7, respectively.

[0048] Taking an adaptive wheel set as an example, its structure is described as follows: The adaptive wheel set 2.3 includes a mounting plate 2.3.1, a guide post 2.3.2, a compression spring 2.3.3, a pin 2.3.4, a small synchronous pulley 2.3.5, a double-headed shaft 2.3.6, a permanent magnet 2.3.7, a small graphite copper sleeve 2.3.8, a spring retaining ring 2.3.9, a first magnet bracket 2.3.10, an upper spring retaining plate, and a lower spring retaining plate 2.3.11. Mounting plate 2.3.1 has an "H" shaped structure. It is fixedly connected to the inner surfaces of the left side plate 2.11 and right side plate 2.7 respectively by drilling holes in the connecting pieces on its left and right sides and installing screws. The connecting piece in the middle of mounting plate 2.3.1 is horizontally positioned and has a spline hole in the center. The outer circumferential surface of guide post 2.3.2 has a matching spline, and the middle part of guide post 2.3.2 is positioned within this spline hole. An upper spring stop is located at the top of guide post 2.3.2, and a lower spring stop 2.3.11 is located at the bottom of guide post 2.3.2. 3.11 has a bottom surface with a perforated connecting lug and curved end, which is spatially orthogonal to the connecting piece in the middle of the mounting plate 2.3.1; two compression springs 2.3.3 are respectively fitted onto the upper and lower parts of the guide post 2.3.2, wherein the two ends of the upper compression spring 2.3.3 are fixedly connected to the lower surface of the upper spring stop and the upper surface of the connecting piece in the middle of the mounting plate 2.3.1, respectively, and the two ends of the lower compression spring 2.3.3 are fixedly connected to the lower surface of the connecting piece in the middle of the mounting plate 2.3.1 and the upper surface of the lower spring stop 2.3.11, respectively.

[0049] The projection of the magnetic shielding plate 2.4 in the horizontal direction is directly opposite to the permanent magnet 2.3.7. Two through holes are provided on the permanent magnet 2.3.7, penetrating its left and right sides. The two through holes are located at the same horizontal height and are parallel to the axis of the drive wheel 2.1. Two double-headed rotating shafts 2.3.6 are respectively fixed to the two through holes of the permanent magnet 2.3.7 by screws. The small graphite copper sleeve 2.3.8 is fixed in the shaft hole of the small synchronous pulley 2.3.5 with screws. The four small synchronous pulleys 2.3.5 are symmetrically arranged at both ends of the two double-headed shafts 2.3.6 via their respective small graphite copper sleeves 2.3.8. The small graphite copper sleeves 2.3.8 and the double-headed shafts 2.3.6 are assembled with a clearance fit. Simultaneously, spring retaining rings 2.3.9 are installed on the double-headed shafts 2.3.6 at both ends of the small graphite copper sleeves 2.3.8 via slots to hold the small graphite copper sleeves 2.3.8 in place, preventing the small synchronous pulleys 2.3.5 from falling off the double-headed shafts 2.3.6. The outer surface of the small synchronous pulley 2.3.8 is toothed, and its outer surface meshes with the inner surface of the synchronous belt 2.2.

[0050] The first magnet bracket 2.3.10 is fixedly installed on the middle of the top surface of the permanent magnet 2.3.7 by screws. The middle of its top surface has two positioning ears with holes and curved ends. These two positioning ears are parallel to the connecting ears on the bottom surface of the lower spring baffle 2.3.11. The connecting ears are set in the two positioning ears by pins 2.3.4, so as to realize the hinge between the lower spring baffle 2.3.11 and the first magnet bracket 2.3.10.

[0051] As one embodiment, threaded holes are provided in the middle of the upper and lower end faces of the guide post 2.3.2, and a threaded connecting rod is provided in the middle position of the upper spring baffle and the lower spring baffle 2.3.11. The guide post 2.3.2 is connected to the upper spring baffle and the lower spring baffle 2.3.11 by threads.

[0052] Taking a tensioning mechanism as an example, its structure is described as follows: the tensioning mechanism 2.8 includes spring supports 2.8.1, pressure rollers 2.8.2, screws 2.8.3, and springs 2.8.4. The two spring supports 2.8.1 have an approximately "π" shaped structure. The two spring supports 2.8.1 are positioned opposite each other on the top of the left side plate 2.11 and the right side plate 2.7 by drilling holes in their lower parts and installing screws. Each of the tops of the two spring supports 2.8.1 has a through hole. The support shaft of the pressure roller 2.8.2 has a through hole symmetrically located at both ends. The support shaft of the pressure roller 2.8.2 is connected to both ends of the two spring supports 2.8.1 by a screw 2.8.3. The upper outer surface of the screw 2.8.3 is threaded, and the screw 2.8.3 passes through the spring supports 2.8.1 sequentially from top to bottom. The screw 2.8.1 has a through hole at the top and a through hole at the corresponding end of the support shaft of the pressure roller 2.8.2; each screw 2.8.3 is fitted with a spring 2.8.4, the top of the spring 2.8.4 is fixedly connected to the inner surface of the top of the spring bracket 2.8.1, and its bottom is fixedly connected to the corresponding end of the support shaft of the pressure roller 2.8.2; receiving holes are provided on the left side plate 2.11 and the right side plate 2.7 at positions directly opposite to the through holes at the top of the two spring brackets 2.8.1, for accommodating the lower part of the screw 2.8.3; the spring 2.8.4 is initially in a compressed state, so that the timing belt 2.2 obtains initial tension.

[0053] The drive pulley 2.1 consists of a shaft 2.1.1, a flange 2.1.2, a pulley 2.1.3, a retaining ring 2.1.4, a second magnet bracket 2.1.5, an arc magnet 2.1.6, a deep groove ball bearing 2.1.7, and a pulley shaft 2.1.8. The outer surface of the pulley 2.1.3 is toothed and is positioned between the flange 2.1.2 and the pulley shaft 2.1.8. The flange 2.1.2 has a threaded through hole in its middle, and the pulley shaft 2.1.8 has a threaded hole on its left outer end face. The flange 2.1.2 is fixed to the left outer end face of the pulley shaft 2.1.8 with screws. The left and right ends of the pulley 2.1.3 are respectively connected to the right side of the flange 2.1.2 and the right inner side of the pulley shaft 2.1.8 (with the side facing the flange 2.1.2 as the inner side) through stepped structures at the corresponding ends. The right side of the rotating shaft 2.1.1 is fixedly connected to the left side of the flange 2.1.2 by a drilled screw; the middle of the right side of the pulley shaft 2.1.8 is fixedly connected to the output shaft of the motor 2.9 by a drilled screw. The second magnet bracket 2.1.5 is fitted onto the smallest diameter section of the middle section of the pulley shaft 2.1.8 and is fixedly installed using a deep groove ball bearing 2.1.7 and a retaining ring 2.1.4. The arc magnet 2.1.6 is fixedly connected to the second magnet bracket 2.1.5 by screws. As an example, depending on the shape and size of the arc magnet 2.1.6, a shim can be placed between the arc magnet 2.1.6 and the second magnet bracket 2.1.5 to adjust the position of the arc magnet 2.1.6. The rotating shaft 2.1.1 of the drive wheel 2.1 is connected to the inner ring of the angular contact bearing 2.13 using an overfit connection.

[0054] The driven wheel 2.5 is based on the structure of the driving wheel 2.1, with the addition of a rotating shaft. This rotating shaft is fixedly connected to the right side of the pulley rotating shaft of the driven wheel 2.5 by drilling and installing screws. The two rotating shafts of the driven wheel 2.5 are respectively connected to the inner rings of the two angular contact bearings 2.13 by an overfit.

[0055] When the robot walks on a plane, the bottom of the small synchronous pulley 2.3.8, the bottom of the driving pulley 2.1, and the bottom of the driven pulley 2.5 are all on the same horizontal plane.

[0056] The structure of the adaptive motion mechanism on the right is mirror-symmetrical to that on the left.

[0057] The motors in both the right-side and left-side adaptive movement mechanisms are electrically connected to the control box 3 via conductive wires. The motor model is HT-04-D.

[0058] The wall-climbing robot structure incorporates eight permanent magnet adsorption elements. Two sets of four adaptive wheel groups contain four permanent magnets (2.3.7), while the two sets of driving wheels (2.1) and driven wheels (2.5) contain four arc magnets (2.1.6). When the robot moves on a variable-curvature magnetically conductive wall, the adsorption force of the permanent magnet elements follows the curvature of the wall. This causes the two adaptive wheel groups on the same side of the synchronous belt to rotate. Simultaneously, the small synchronous belt pulley (2.3.8) automatically pulls the synchronous belt (2.2) against the wall. Utilizing magnetic properties, the supporting force of the adaptive wheel groups remains perpendicular to the hull's curved surface, causing the two compression springs (2.3.3) to extend or compress. Simultaneously, the spring (2.8.4) in the tensioning mechanism (2.8) compresses, flattening the upper synchronous belt (2.2) and transferring its excess weight to the lower section for compensation. The simultaneous movement of these components enables the adaptive module to change its posture, thus achieving adaptive motion on the concave-convex curved surface.

[0059] In the actual operation of the wall-climbing robot structure of this invention, the extension and compression lengths of spring 2.3.3 are determined by the shape and degree of concavity or convexity of the actual magnetically conductive wall surface. Typically, if the hull wall is flat, the extension and compression lengths are determined by the shape and degree of concavity or convexity of the actual magnetically conductive wall surface. Generally, if the hull surface is flat, the extension and compression lengths are determined by the shape and degree of concavity or convexity of the actual magnetically conductive wall surface. Figure 1 Based on the left-right direction of the view as the front-back direction of the wall-climbing robot structure (i.e., the setting direction of the synchronous belt 2.2), and with the front-back direction of the view as the left-right direction of the wall-climbing robot structure (the same applies below): the contact points of the small synchronous belt pulley 2.3.8, the driving pulley 2.1, and the driven pulley 2.5 with the synchronous belt 2.2 remain on the same plane; viewed from the left-right direction: the adaptive movement mechanisms 2 on both sides are in a parallel state and are in contact with the wall surface; if the hull wall is a concave curved surface, viewed from the front-back direction (see... Figure 10 ( ): The upper parts of the two adaptive pulley sets in the same synchronous belt are close together. Under the drive of the permanent magnet 2.3.7, the upper compression spring 2.3.3 is compressed and the lower compression spring is stretched. The small synchronous pulley 2.3.8 drives the synchronous belt 2.2 to press tightly against the concave wall surface; viewed from the left and right direction (see Figure 11 The upper parts of the adaptive moving mechanisms 2 on both sides approach each other, rotate to form a certain angle, and fit against the concave wall surface.

[0060] Similarly, if the hull wall is a convex curved surface, viewed from the fore and aft direction (see...). Figure 12 ): The upper parts of the two adaptive pulley sets in the same side of the synchronous belt are far apart. Under the drive of the permanent magnet 2.3.7, the upper compression spring 2.3.3 is stretched and the lower compression spring is compressed. The small synchronous pulley 2.3.8 drives the synchronous belt 2.2 to press tightly against the inner convex wall surface; viewed from the left and right direction (see... Figure 13 The upper parts of the adaptive moving mechanisms 2 on both sides move away from each other, rotate to form a certain angle, and fit against the inner convex wall surface.

[0061] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

[0062] Any aspects not covered in this invention are applicable to existing technologies.

Claims

1. A wall-climbing robot structure capable of passively adaptively varying curvature magnetically permeable walls, characterized in that, The wall-climbing robot structure includes a frame unit, an adaptive movement mechanism, and a control box. The two adaptive movement mechanisms are hinged in a mirror-symmetrical manner in the copper sleeve mounting holes reserved on both sides of the frame unit. The control box is located in the middle of the top of the frame unit. The frame unit includes a fixed plate, a front connecting plate, graphite copper sleeves, and a rear connecting plate. The front and rear ends of the fixed plate are fixed to the middle of the top of the front and rear connecting plates with screws. The front and rear connecting plates are the same size and are aligned. There is a mounting hole symmetrically reserved on the left and right sides of the front and rear connecting plates. The two mounting holes on the front connecting plate are aligned with the two mounting holes on the rear connecting plate. Four graphite copper sleeves are fixed in the mounting holes on the front and rear connecting plates with screws, forming four copper sleeve mounting holes. The front and rear ends of the two adaptive movement mechanisms are symmetrically hinged in the four copper sleeve mounting holes reserved on both sides of the front and rear connecting plates in the frame unit. The adaptive movement mechanism on the left includes a drive wheel, a timing belt, an adaptive wheel set, a magnetic shielding plate, a driven wheel, a rear fixed plate, a right side plate, a tensioning mechanism, a motor, a front fixed plate, a left side plate, a bearing housing, an angular contact bearing, and a motor mounting plate. The front ends of the right side plate and the left side plate are respectively fixedly connected to the left and right sides of the front fixed plate by screws. The rear ends of the right side plate and the left side plate are respectively fixedly connected to the left and right sides of the rear fixed plate by screws. The right side plate, the left side plate, the front fixed plate, and the rear fixed plate form a cuboid space. An adaptive rotating shaft is fixedly installed in the middle of the outer side of the front fixed plate and the rear fixed plate. The two adaptive rotating shafts are directly opposite each other. The two adaptive rotating shafts of the adaptive moving mechanism on the left side are respectively installed in the copper sleeve mounting holes on the left side of the front connecting plate and the rear connecting plate, and are hinged by a pivot pin. A wheel axle mounting hole is reserved at the front and rear ends of the left side plate and at the rear end of the right side plate. A motor shaft mounting hole is reserved at the front end of the right side plate. The line connecting the center of the three wheel axle mounting holes and the center of the motor shaft mounting hole forms a horizontal rectangle. Each bearing housing contains an angular contact bearing. The three bearing housings are respectively installed in the three wheel axle mounting holes on the right side plate and the left side plate by screws. The motor is fixed on the motor mounting plate, and the motor is fixed to the motor shaft mounting hole at the front end of the right side plate through the motor mounting plate. One end of the drive wheel is rotatably set in the angular contact bearing at the front end of the left side plate, and the other end is fixedly connected to the output shaft of the motor by screws. The two ends of the driven wheel are rotatably set in the angular contact bearings at the rear end of the left side plate and the rear end of the right side plate, respectively. The driving pulley and driven pulley are connected by a synchronous belt. The inner surface of the synchronous belt is toothed, and the outer surfaces of both the driving and driven pulleys are also toothed. The inner surface of the synchronous belt meshes with the outer surfaces of the driving and driven pulleys. A magnetic shield is installed between the driving and driven pulleys, parallel to the axis of the driving pulley. The two ends of the magnetic shield are fixed to the lower middle of the inner surface of the left and right plates, respectively. A self-adaptive pulley set is symmetrically installed on both sides of the magnetic shield. The left and right ends of the self-adaptive pulley sets are fixed to the inner surfaces of the left and right plates, respectively, by screws. Two tensioning mechanisms are fixedly installed at the top of the front and rear ends of the left and right plates, respectively. The adaptive wheel assembly includes a mounting plate, guide post, compression spring, pin, small synchronous pulley, double-headed shaft, permanent magnet, small graphite copper sleeve, spring retaining ring, first magnet bracket, upper spring retaining plate, and lower spring retaining plate. The mounting plate has an "H" shaped structure, and is fixed to the inner sides of the left and right side plates respectively by drilling holes in the connecting plates on its left and right sides and installing screws. The connecting plate in the middle of the mounting plate is horizontally positioned and has a spline hole in the middle. The outer circumferential surface of the guide post has a spline that mates with it, and the middle part of the guide post is positioned in the spline hole. An upper spring baffle is provided at the top, and a lower spring baffle is provided at the bottom of the guide post. A connecting lug with a curved end and a hole is provided on the bottom surface of the lower spring baffle, which is spatially orthogonal to the connecting piece in the middle of the mounting plate. Two compression springs are respectively fitted on the upper and lower parts of the guide post. The two ends of the upper compression spring are fixedly connected to the lower surface of the upper spring baffle and the upper surface of the connecting piece in the middle of the mounting plate, respectively. The two ends of the lower compression spring are fixedly connected to the lower surface of the connecting piece in the middle of the mounting plate and the upper surface of the lower spring baffle, respectively. The projection of the magnetic shielding plate in the horizontal direction is directly opposite the permanent magnet. Two through holes are provided on the permanent magnet, penetrating its left and right sides. These two through holes are at the same horizontal height and parallel to the axis of the drive pulley. Two double-headed shafts are fixed to these two through holes in the permanent magnet by screws. Small graphite copper sleeves are fixed to the shaft holes of small synchronous pulleys by screws. Four small synchronous pulleys are symmetrically arranged at both ends of the two double-headed shafts via their respective small graphite copper sleeves. The small graphite copper sleeves are fitted to the double-headed shafts with a clearance fit. Simultaneously, spring retaining rings are installed on the double-headed shafts at both ends of the small graphite copper sleeves to hold them in place and prevent the small synchronous pulleys from falling off the shafts. The outer surface of the small synchronous pulleys is toothed, and its outer surface meshes with the inner surface of the synchronous belt. The first magnet bracket is fixedly installed in the middle of the top surface of the permanent magnet by screws. The middle of its top surface has two positioning ears with holes and curved ends. These two positioning ears are parallel to the connecting ears on the bottom surface of the lower spring baffle. The connecting ears are set in the two positioning ears by pins to realize the hinge between the lower spring baffle and the first magnet bracket. The tensioning mechanism includes spring supports, pressure rollers, screws, and springs. The two spring supports are approximately "π" shaped and are positioned opposite each other on the top of the left and right side plates by drilling holes in their lower parts and installing screws. Each spring support has a through hole at its top, and the support shaft of the pressure roller has a through hole symmetrically located at both ends. Each end of the pressure roller's support shaft is connected to the inside of the two spring supports by a screw. The upper outer surface of the screw is threaded, and the screw passes through the through holes at the top of the spring supports and the corresponding through holes at the ends of the pressure roller's support shafts, from top to bottom. Each screw is fitted with a spring, its top fixedly connected to the inner surface of the top of the spring support, and its bottom fixedly connected to the corresponding end of the pressure roller's support shaft. Receiving holes are located on the left and right side plates, opposite the through holes at the top of the two spring supports, to accommodate the lower part of the screw. The springs are initially compressed, providing initial tension to the synchronous belt. The drive pulley consists of a shaft, flange, pulley, retaining ring, second magnet bracket, arc magnet, deep groove ball bearing, and pulley shaft. The outer surface of the pulley has a toothed design and is positioned between the flange and the pulley shaft. A threaded through hole is located in the center of the flange, and a threaded hole is located on the left outer end face of the pulley shaft. The flange is fixed to the left outer end face of the pulley shaft with screws. The left and right ends of the pulley are respectively connected to the right side face of the flange and the right inner side face of the pulley shaft through stepped structures at corresponding ends. The right side face of the shaft is secured with a drilled screw. The drive wheel is fixedly connected to the left side of the retaining edge by a nail; the middle of the right side of the pulley shaft is fixedly connected to the output shaft of the motor by drilling holes and installing screws; the second magnet bracket is fitted onto the smallest shaft section in the middle of the pulley shaft and fixedly installed by a deep groove ball bearing and a retaining ring; the arc magnet is fixedly connected to the second magnet bracket by screws, and shims are placed between the arc magnet and the second magnet bracket according to the shape and size of the arc magnet to adjust the position of the arc magnet; the shaft of the drive wheel is connected to the inner ring of the angular contact bearing by an transition fit; The driven wheel is structured by adding a shaft to the driving wheel. This shaft is fixedly connected to the right side of the driven wheel's pulley shaft by drilling and screwing. The two shafts of the driven wheel are respectively connected to the inner rings of two angular contact bearings by transition fit. When the robot walks on a plane, the bottom of the small synchronous pulley, the bottom of the driving pulley, and the bottom of the driven pulley are all on the same horizontal plane. The motors in both the adaptive movement mechanism on the right and the adaptive movement mechanism on the left are electrically connected to the control box via conductive wires.

2. The wall-climbing robot structure with a passively adaptive variable curvature magnetically permeable wall as described in claim 1, characterized in that, The guide post has threaded holes in the middle of its upper and lower end faces, and a threaded connecting rod is provided in the middle of the upper and lower spring baffles. The guide post is connected to the upper and lower spring baffles by threads.

3. The wall-climbing robot structure with passively adaptive variable curvature magnetically permeable wall surface according to claim 1, characterized in that, The motor model is HT-04-D.

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