Six-legged magnetic wall-climbing robot and wall-climbing method thereof

Abstract

The application discloses a six-legged magnetic wall-climbing robot and a wall-climbing method thereof. The lock catch device is arranged at one end of the main frame, the mechanical hand is arranged at the hollow position of the middle part of the main frame, the camera holder is arranged at the other end of the main frame and drives the camera to rotate, three walking assemblies are arranged at the two sides of the main frame with a spacing, and the walking assembly comprises a walking driving assembly and a self-adaptive walking foot end. The self-adaptive walking foot end has a universal rotation function, can be actively adjusted, can adapt to a non-completely flat wall surface, has a good contact effect with the wall surface, prevents the occurrence of overturning accidents, reduces the accuracy requirement of the double-shaft motor after long-term work, and ensures the moving speed. The application has two new motion postures in the climbing process, and can realize the transfer from the wall surface to a wall surface perpendicular to the wall surface and another wall surface parallel to the wall surface.

Description

Technical Field

[0001] This invention belongs to the field of wall-climbing robot technology, specifically relating to a six-legged magnetic wall-climbing robot and its wall-climbing method. Background Technology

[0002] Currently, wall-climbing robots can be broadly categorized into wheeled, tracked, and legged types. While wheeled and tracked wall-climbing robots can quickly traverse continuous flat or rugged walls, they are essentially incapable of traversing discontinuous walls. Legged robots, on the other hand, control multiple mechanical legs to move alternately and are fixed to and detached from the wall via fasteners at the ends of the mechanical legs, forming a multi-legged locomotion mechanism that propels the body forward, enabling them to walk on discontinuous walls. However, existing legged robots also have some shortcomings.

[0003] For example, patent number CN201911055540.9 discloses an electromagnetic adsorption six-legged climbing robot. The end of the leg structure of this invention is connected to the electro-magnetic chuck by a ball joint bearing. However, the ball joint bearing has almost no damping. Due to the effect of gravity, the electro-magnetic chuck cannot make good contact with the wall surface during the climbing process, resulting in insufficient adsorption force of the electro-magnetic chuck, which easily causes the robot to tip over. Patent number CN202310170381.7 discloses a multi-legged wall-climbing hull grinding robot. The foot end of this invention has no shock absorption or compensation function in the direction perpendicular to the wall, which makes the invention poorly adaptable to non-perfectly smooth wall surfaces. When there are protrusions or depressions on the wall surface, due to the generally large torque of the servo motor, the leg posture remains unchanged, causing the electromagnet at the foot end to lift up or have gaps with the wall surface, which weakens the adsorption effect of the electromagnet on the wall surface, thus easily causing accidents such as the robot tipping over. Meanwhile, in existing legged robots, the mechanical legs need to make multi-dimensional and complex posture adjustments when moving. As the usage time increases, it is difficult to guarantee the control precision of the motors on the mechanical legs, which will also lead to difficulties in connecting the foot to the wall and affect the robot's walking speed. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and to propose a six-legged magnetic wall-climbing robot and its wall-climbing method.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This invention relates to a six-legged magnetic wall-climbing robot, comprising a main body assembly and a walking assembly. The main body assembly includes a main frame, a locking device, a robotic arm, a camera, and a camera gimbal. The locking device is located at one end of the main frame, the robotic arm is located at a hollowed-out position in the middle of the main frame, and the camera gimbal is located at the other end of the main frame, driving the camera to rotate. Three walking assemblies are spaced apart on both sides of the main frame. Each walking assembly includes a walking drive component and adaptive walking feet.

[0007] The walking drive assembly includes a dual-axis motor 1, a cross-joint bracket, a dual-axis motor 2, a shin bracket, a dual-axis motor 3, and a tarsal support. One end of the cross-joint bracket forms a revolute joint with the main frame and is driven by the dual-axis motor 1. Two parallel and symmetrically arranged shin brackets each form a revolute joint with the other end of the cross-joint bracket and are synchronously driven by the two output shafts of the dual-axis motor 2. Two tarsal support members, parallel and symmetrically arranged to the shin brackets, each form a revolute joint with the other end of the two shin brackets and are synchronously driven by the two output shafts of the dual-axis motor 3. The central axes of the two output shafts of the dual-axis motor 1 are perpendicular to the main frame, while the central axes of the two output shafts of the dual-axis motors 2 and 3 are parallel and parallel to the main frame.

[0008] The adaptive walking foot includes a connecting sleeve, a foot connector, a foot bracket, a hinge, a tension spring, a magnetic sleeve, a de-energized electromagnet, a compression spring (first type), a fixing component, a compression spring (second type), a slider, and an octagonal connecting plate. The two ends of the foot connector are fixed to the other ends of the two tarsal supports. The middle portions of the foot connector and the foot bracket, along with the two ends of the connecting sleeve, form a rotating pair. Two pairs of symmetrically arranged hinges are detachably fixed to the two cross-shaped sides of the octagonal connecting plate. The hinges are parallel to the upper surface of the octagonal connecting plate and perpendicular to the corresponding sides. The middle portion of the integrally formed support rod at both ends of the foot bracket, along with one of the hinges, forms a rotating pair. The magnetic sleeve is located between the two support rods and passes through the opening in the middle of the octagonal connecting plate. There is a through hole two, and there is a gap between the through hole two and the inner wall of the through hole two. The middle part of the bracket rod two integrally formed at both ends of the magnet sleeve and another pair of hinges respectively form a rotating pair; each bracket rod one and each bracket rod two are fixed with a connecting rod at the end away from the connecting sleeve, and the two ends of each connecting rod are respectively connected to the two sides of the octagonal connecting plate that are adjacent to each other and not fixed with hinges through two tension springs; a partition plate is fixed inside the magnet sleeve. The de-energized electromagnet is placed inside the magnet sleeve at the end away from the connecting sleeve and on one side of the partition plate, and is connected to the partition plate through a compression spring one; the slider is placed inside the magnet sleeve at the end close to the connecting sleeve and on the other side of the partition plate, and is connected to the partition plate through a compression spring two; the slider and the de-energized electromagnet are detachably fixed by a fixing member and form a sliding pair with the magnet sleeve.

[0009] Preferably, the main frame body is composed of two parallel frame plates spaced apart, and both frame plates have a hollowed-out center.

[0010] More preferably, the locking device includes a pin locking component, a pin, and a servo motor. The servo motor is located between two frame plates, and the housing of the servo motor is fixed to both frame plates. The pin locking component is fixed to the housing of the servo motor. The pin locking component has two through holes and a channel that are arranged opposite to each other at both ends. The straight rod section of the pin is fixed to the output shaft of the servo motor. The arc section of the pin passes through the through hole and into the channel, forming a sliding pair with the channel.

[0011] More preferably, the robotic arm includes a second servo motor, a slave robotic arm, a master robotic arm, a third servo motor, a fourth servo motor, and a gripper connecting plate. The third servo motor is located between two frame plates, and its housing is fixed to both frame plates. The output shaft of the third servo motor is fixed to one end of the master robotic arm. The housing of the second servo motor is fixed to the other end of the master robotic arm, and its output shaft is fixed to one end of the slave robotic arm. The other end of the slave robotic arm is fixed to the gripper connecting plate. Two meshing incomplete gears are hinged on the gripper connecting plate, and one of the incomplete gears is driven by the fourth servo motor. Two integrally formed and symmetrically arranged gripper connectors are provided on the two incomplete gears, and two symmetrically arranged grippers are hinged to the two gripper connectors. The middle of the two grippers is hinged to the gripper connecting plate through two connecting rods. The output shafts of the second, third, and fourth servo motors are arranged in parallel and parallel to the frame plates.

[0012] More preferably, the dual-axis motor 1 is located between two frame plates, and the housing of the dual-axis motor 1 is fixed to both frame plates. The two output shafts of the dual-axis motor 1 are fixed to two symmetrically arranged protrusions integrally formed at one end of the cross-joint bracket. The two symmetrically arranged protrusions integrally formed at the other end of the cross-joint bracket are fixed to the two output shafts of the dual-axis motor 2. One end of each of the two tibia brackets is fixed to the housing of the dual-axis motor 2, and the other end of each of the two tibia brackets is fixed to the housing of the dual-axis motor 3. The two output shafts of the dual-axis motor 3 are fixed to two tarsal support members. The central axis of the two output shafts of the dual-axis motor 1 is perpendicular to the frame plate, and the central axis of the two output shafts of the dual-axis motor 2 and the dual-axis motor 3 is parallel to the frame plate.

[0013] Preferably, the octagonal connecting plate has a pair of through slots at the two pairs of sides arranged in a cross shape, and a pair of through holes are provided on each of the two pairs of sides. The support rods one integrally formed at both ends of the foot bracket pass through one pair of through slots, and the support rods two integrally formed at both ends of the magnet sleeve pass through the other pair of through slots. A round hole is provided in the middle of the two support rods one and the two support rods two. Each hinge piece passes through one through hole three and one round hole in sequence and is detachably fixed to the through slot.

[0014] More preferably, the hinge is made of bolt, which passes through the corresponding through hole three and round hole, and the threaded section of the bolt is connected to the through groove by thread, and the optical axis section of the bolt forms a rotating pair with the round hole on the support rod one or support rod two.

[0015] Preferably, the fixing component is a double-ended stud, the threaded sections at both ends of the double-ended stud are connected to the de-energized electromagnet and the slider by threads, and the optical axis section in the middle of the double-ended stud passes through the through hole four opened on the partition plate, forming a sliding pair with the through hole four; both compression spring one and compression spring two are sleeved on the double-ended stud, and compression spring one is located between the de-energized electromagnet and the partition plate, with both ends of compression spring one fixed to the de-energized electromagnet and the partition plate, and compression spring two is located between the slider and the partition plate, with both ends of compression spring two fixed to the slider and the partition plate.

[0016] The wall-climbing method of the hexapod magnetic wall-climbing robot of the present invention is as follows:

[0017] When crawling forward or backward on the wall, firstly, the two de-energized electromagnets located at the front or rear of the main frame are disconnected from the wall surface. The controller then controls the operation of the two walking drive components located at the front or rear, namely, dual-axis motor one, dual-axis motor two, and dual-axis motor three. This, in turn, drives the two adaptive walking feet located at the front or rear to move forward or backward through the corresponding cross-joint brackets, tibia brackets, and tarsal supports, until these two adaptive walking feet have moved forward or backward a preset distance, at which point the de-energized electromagnets at these two adaptive walking feet contact and connect with the wall surface. Next, the two de-energized electromagnets located in the middle of the main frame are disconnected from the wall surface. The controller then controls the operation of the four walking drive components located at the front and rear, namely, dual-axis motor one, dual-axis motor two, and dual-axis motor three. This, in turn, drives the two adaptive walking feet to move forward or backward through the corresponding cross-joint brackets. The tibia support and tarsal support drive the main body assembly and the two walking components in the middle to move forward or backward until the main body assembly and the two walking components in the middle have moved forward or backward a preset distance. At this point, the two de-energized electromagnets in the middle contact and connect with the wall surface. Finally, the two de-energized electromagnets on the rear or front of the main frame disconnect from the wall surface. The controller then controls the dual-axis motors 1, 2, and 3 of the two walking drive components located at the rear or front to work. This, in turn, drives the two adaptive walking feet located at the rear or front to move forward or backward through the corresponding cross-joint support, tibia support, and tarsal support until the two adaptive walking feet located at the rear or front have moved forward or backward a preset distance. At this point, the two de-energized electromagnets located at the rear or front contact and connect with the wall surface.

[0018] When crawling laterally on a wall, the three de-energized electromagnets on the main frame, located on the same side as the lateral movement direction, first disconnect from the wall surface. The controller then controls the operation of the three walking drive components on the same side: dual-axis motor one, dual-axis motor two, and dual-axis motor three. These motors, through corresponding cross-joint supports, tibia supports, and tarsal supports, drive the three adaptive walking feet on the same side to move laterally in the lateral movement direction until the three adaptive walking feet have moved a preset distance two in the lateral movement direction. At this point, the three de-energized electromagnets on the same side of the lateral movement direction contact the wall surface and... Connection; then the three de-energized electromagnets on the other side of the main frame are disconnected from the wall. The controller controls the operation of the three walking drive components on the same side of the main frame as the lateral movement direction, namely the dual-axis motor one, dual-axis motor two, and dual-axis motor three. In turn, through the corresponding cross-joint bracket, tibia bracket, and tarsal support, the main component and the three walking components on the other side are driven to move in the lateral movement direction until the main component and the three walking components on the other side have moved a preset distance two in the lateral movement direction. At this point, the three de-energized electromagnets on the other side contact and connect with the wall.

[0019] During crawling, when moving to a wall perpendicular to the current wall, the de-energized electromagnets in the three walking components on the side of the main frame adjacent to this wall disconnect from the wall. Then, the controller activates the three dual-axis motors (motor 1, motor 2, and motor 3) in the other three walking components on the main frame. This, in turn, drives the main frame and the three walking components on one side to rotate away from the wall via the corresponding cross-joint support, tibia support, and tarsal support. Simultaneously, the controller activates the three dual-axis motors (motor 1, motor 2, and motor 3) in the other three walking components on the main frame, which in turn drive the three adaptive walking feet to rotate via the corresponding cross-joint support, tibia support, and tarsal support until the de-energized electromagnets in these three adaptive walking feet disconnect from the wall. The three walking components on the other side of the main frame make contact and connect; then the de-energized electromagnets of the three walking components on one side of the main frame disconnect from the wall. The controller controls the dual-axis motors 1, 2, and 3 of the three walking components on one side of the main frame to work, thereby driving the main component and the three walking components on the other side to rotate toward this wall through the corresponding cross-joint bracket, tibia bracket, and tarsal support. At the same time, the controller controls the dual-axis motors 1, 2, and 3 of the three walking components on the other side of the main frame to work, thereby driving the three adaptive walking feet on the other side to rotate toward this wall through the corresponding cross-joint bracket, tibia bracket, and tarsal support, until the de-energized electromagnets of the three adaptive walking feet on the other side make contact and connect with this wall, completing the transfer to this wall.

[0020] When moving to another wall parallel to the current wall, the de-energized electromagnets of the three spaced-apart walking components disconnect from the current wall. Then, the controller activates the two-axis motors (two and three) of these three walking components, which in turn drive the three adaptive walking feet to rotate toward the other wall via the corresponding shin supports and tarsal supports until the de-energized electromagnets of these three adaptive walking feet contact and connect with the other wall. Then, the de-energized electromagnets of the other three walking components disconnect from the current wall, and the controller activates the two-axis motors (two and three) of the other three walking components, which in turn drive the three adaptive walking feet to rotate toward the other wall via the corresponding shin supports and tarsal supports until the de-energized electromagnets of the other three adaptive walking feet contact and connect with the other wall, thus completing the transfer to the other wall.

[0021] When the controller de-energizes the coil of the de-energized electromagnet via a relay, the de-energized electromagnet is magnetically attracted to the wall. When the controller energizes the coil of the de-energized electromagnet via a relay, the coil generates a force opposite to the magnetic force of the de-energized electromagnet, which cancels out the magnetic force of the de-energized electromagnet, thereby disconnecting the de-energized electromagnet from the wall.

[0022] Preferably, the working process of the adaptive walking foot is as follows:

[0023] When the de-energized electromagnet makes inclined contact with the wall or a protrusion on the wall, the de-energized electromagnet drives the slider to move closer to the connecting sleeve via the fixing component, compressing spring one and stretching spring two. Simultaneously, if one end of the de-energized electromagnet near one of the support rods first contacts the wall or protrusion, the de-energized electromagnet, through the magnetic sleeve and a pair of hinges connected to the magnetic sleeve, drives the octagonal connecting plate to rotate around another pair of hinges. This compresses the two tension springs connected to the connecting rod on that support rod, and stretches the two tension springs connected to the connecting rod on the other support rod, until the de-energized electromagnet connects to the wall. If one end of the de-energized electromagnet near one of the support rods first contacts the wall or protrusion, the de-energized electromagnet drives the magnetic sleeve... The cylinder rotates around a pair of hinges connected to the magnet sleeve, compressing two tension springs connected to the connecting rod on the first support rod, and stretching two tension springs connected to the connecting rod on the other support rod, until the de-energized electromagnet connects to the wall. If the de-energized electromagnet encounters a recessed position, there is a gap between the de-energized electromagnet and the wall. However, due to the magnetic force of the de-energized electromagnet, it causes the first compression spring to stretch and the second compression spring to compress, and they adhere to the wall. When the de-energized electromagnet disconnects from the wall, due to the restoring force of the first and second compression springs, the first and second compression springs cause the de-energized electromagnet to return to its original position. Due to the restoring force of the tension springs, the tension springs, through the corresponding connecting rods, cause either the second support rod or the first support rod to return to its original position.

[0024] The beneficial effects of this invention are as follows:

[0025] 1. In this invention, the adaptive walking foot has a near-omnidirectional rotation function, which can actively adjust during the climbing process, thereby adapting to non-perfectly smooth wall surfaces and having a good contact effect with the wall surface, preventing overturning accidents, and reducing the accuracy requirements of each dual-axis motor after long-term operation, thus ensuring the movement speed. In this invention, the two ends of the foot support and the magnetic sleeve in the adaptive walking foot end form a rotating pair with the two pairs of sides of the octagonal connecting plate. The de-energized electromagnet is connected to the partition plate through a compression spring. When the de-energized electromagnet is in inclined contact with the wall or in contact with a protrusion on the wall, it can move towards the connecting sleeve while driving the magnetic sleeve to rotate around the center line of the corresponding hinge, or drive the magnetic sleeve and the octagonal connecting plate to rotate around the center axis of the corresponding hinge, thus realizing a near-universal rotation function. When the de-energized electromagnet encounters a concave position on the wall, the compression spring is stretched under the action of magnetic force and it is attracted to the wall. This allows each de-energized electromagnet to adapt to non-perfectly smooth walls and to have a good contact effect with the wall, thereby preventing overturning accidents. At the same time, even after the accuracy of each dual-axis motor decreases due to long-term operation, each de-energized electromagnet can still maintain a good contact effect with the wall, thus ensuring the movement speed.

[0026] 2. This invention features two novel movement postures during crawling, enabling transfer between different wall surfaces. First, the invention achieves transfer from the current wall surface to a wall perpendicular to it by disconnecting the three adaptive walking feet on one side of the main frame from the current wall surface and connecting them to a wall surface perpendicular to it. Second, the invention achieves transfer from the current wall surface to a wall surface parallel to it by disconnecting the adaptive walking feet of three spaced-apart walking components from the current wall surface and connecting them to another wall surface parallel to it. Finally, the invention achieves transfer from the current wall surface to a wall surface parallel to it by disconnecting the adaptive walking feet of another walking component from the current wall surface and connecting them to yet another wall surface. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the main components in this invention;

[0029] Figure 3 This is a schematic diagram of the overall structure of the locking device in this invention;

[0030] Figure 4 This is a schematic diagram of the robotic arm in this invention;

[0031] Figure 5 This is a schematic diagram of the walking component in this invention;

[0032] Figure 6 This is a cross-sectional view of the adaptive walking foot in this invention;

[0033] Figure 7 This is a three-dimensional view of the adaptive walking foot structure in this invention;

[0034] Figure 8 This is a schematic diagram of the structure when the present invention is transferred to a wall perpendicular to the original wall. Figure 1 ;

[0035] Figure 9 This is a schematic diagram of the structure when the present invention is transferred to a wall perpendicular to the original wall. Figure 2 ;

[0036] Figure 10 This is a schematic diagram of the structure when the present invention is transferred to a wall perpendicular to the original wall. Figure 3 ;

[0037] Figure 11 This is a schematic diagram of the structure when the present invention is transferred to another wall parallel to the current wall. Figure 1 ;

[0038] Figure 12 This is a schematic diagram of the structure when the present invention is transferred to another wall parallel to the current wall. Figure 2 ;

[0039] Figure 13 This is a schematic diagram of the structure when the present invention is transferred to another wall parallel to the current wall. Figure 3 . Detailed Implementation

[0040] The present invention will now be further described with reference to the accompanying drawings.

[0041] like Figure 1 and Figure 2As shown, this invention discloses a six-legged magnetic wall-climbing robot, comprising a main body component 1 and a walking component. The main body component 1 includes a main frame 1-1, a locking device, a robotic arm, cameras 1-9, and a camera gimbal 1-10. The locking device is located at one end of the main frame 1-1 and can be used to install ropes or slender pipes, enabling the rapid lowering of the wall-climbing robot from a high position or for wiring work on slender pipes. The robotic arm is located at a hollowed-out position in the middle of the main frame 1-1. The camera gimbal 1-10 is located at the other end of the main frame 1-1 and drives the camera 1-9 to rotate. The camera 1-9 is used for filming during the wall-climbing process and for locating the robotic arm's working position. Three walking components are spaced apart on both sides of the main frame 1-1. Each walking component includes a walking drive component 2 and adaptive walking feet 3.

[0042] like Figure 5 As shown, the walking drive assembly 2 includes a dual-axis motor 2-1, a cross-joint bracket 2-2, a dual-axis motor 2-3, a tibia bracket 2-4, a dual-axis motor 2-5, and a tarsal support 2-6. One end of the cross-joint bracket 2-2 forms a revolute joint with the main frame 1-1 and is driven by the dual-axis motor 2-1. Two parallel and symmetrically arranged tibia brackets 2-4 each form a revolute joint with the other end of the cross-joint bracket 2-2 and are synchronously driven by the two output shafts of the dual-axis motor 2-3. Two tarsal supports 2-6, parallel to and symmetrically arranged with respect to the tibia brackets 2-4, each form a revolute joint with the other end of the two tibia brackets 2-4 and are synchronously driven by the two output shafts of the dual-axis motor 2-5. The central axes of the two output shafts of the dual-axis motor 2-1 are perpendicular to the main frame 1-1, while the central axes of the two output shafts of the dual-axis motors 2-3 and 2-5 are parallel and parallel to the main frame 1-1.

[0043] like Figure 6 and Figure 7As shown, the adaptive walking foot end 3 includes a connecting sleeve 3-1, a foot end connector 3-2, a foot end bracket 3-3, a hinge 3-4, a tension spring 3-5, a magnetic sleeve 3-6, a de-energized electromagnet 3-7, a compression spring 1 3-8, a fixing member 3-9, a compression spring 2 3-10, a slider 3-11, and an octagonal connecting plate 3-12; both ends of the foot end connector 3-2 are fixed to the other ends of the two tarsal support members 2-6, and the middle parts of the foot end connector 3-2 and the foot end bracket 3-3 are respectively connected to both ends of the connecting sleeve 3-1. A rotating joint is formed; on the octagonal connecting plate 3-12, two pairs of sides arranged in a cross shape are detachably fixed with a pair of symmetrically arranged hinges 3-4, and the hinges 3-4 are parallel to the upper surface of the octagonal connecting plate 3-12 and perpendicular to the corresponding sides of the octagonal connecting plate 3-12; the middle part of the support rods integrally formed at both ends of the foot bracket 3-3 and one of the pairs of hinges 3-4 respectively form a rotating joint; the magnetic sleeve 3-6 is located between the two support rods and passes through the opening in the middle of the octagonal connecting plate 3-12. Through hole one, and there is a gap between it and the inner wall of through hole one. The middle part of the bracket rod two integrally formed at both ends of the magnet sleeve 3-6 and another pair of hinges 3-4 respectively form a rotating pair; a connecting rod is fixed at the end of each bracket rod one and each bracket rod two away from the connecting sleeve 3-1, and the two ends of each connecting rod are respectively connected to the two sides of the octagonal connecting plate 3-12 that are adjacent to each other and not fixed with hinges 3-4 by two tension springs 3-5; a coaxially arranged partition is fixed inside the magnet sleeve 3-6, and a de-energized electromagnet 3-7. The end of the magnetic sleeve 3-6 away from the connecting sleeve 3-1 and located on one side of the partition, is connected to the partition via a compression spring 3-8; the slider 3-11 is placed inside the magnetic sleeve 3-6 near the connecting sleeve 3-1 and located on the other side of the partition, and is connected to the partition via a compression spring 3-10; the slider 3-11 and the de-energized electromagnet 3-7 are detachably fixed by a fixing member 3-9, and form a sliding pair with the magnetic sleeve 3-6; the de-energized electromagnet 3-7 includes a permanent magnet and a coil wound on the permanent magnet.

[0044] In a preferred embodiment, the frame body 1-1 is composed of two parallel frame plates spaced apart, and both frame plates have a hollowed-out center.

[0045] More preferably, such as Figure 3 As shown, the locking device includes a locking pin 1-2, a pin 1-3, and a servo motor 1-4. The servo motor 1-4 is located between two frame plates, and the housing of the servo motor 1-4 is fixed to both frame plates. The locking pin 1-2 is fixed to the housing of the servo motor 1-4. The two ends of the locking pin 1-2 are provided with opposing through holes and channels. The straight rod section of the pin 1-3 is fixed to the output shaft of the servo motor 1-4. The arc section of the pin 1-3 passes through the through hole and into the channel, forming a sliding pair with the channel.

[0046] More preferably, such as Figure 4 As shown, the robotic arm includes servo motor 2 (1-5), slave robotic arm 1-6, master robotic arm 1-7, servo motor 3 (1-8), servo motor 4 (1-12), and gripper connecting plate 1-13. Servo motor 3 (1-8) is located between two frame plates, and its housing is fixed to both frame plates. The output shaft of servo motor 3 (1-8) is fixed to one end of the master robotic arm 1-7. The housing of servo motor 2 (1-5) is fixed to the other end of the master robotic arm 1-7, and its output shaft is fixed to one end of the slave robotic arm 1-6. The other end of the slave robotic arm 1-6 is connected to the gripper connecting plate 1-13. 13 is fixed. Two meshing incomplete gears 1-11 are hinged on the gripper connecting plate 1-13, and one of the incomplete gears 1-11 is driven by servo motor four 1-12. The two incomplete gears 1-11 are provided with two integrally formed and symmetrically arranged gripper connecting parts, and the two gripper connecting parts are hinged to two symmetrically arranged grippers. The middle part of the two grippers is hinged to the gripper connecting plate 1-13 through two connecting rods. The output shaft center axes of servo motor two 1-5, servo motor three 1-8 and servo motor four 1-12 are arranged parallel to each other and parallel to the frame plate.

[0047] More preferably, the dual-axis motor 2-1 is located between the two frame plates, and the housing of the dual-axis motor 2-1 is fixed to both frame plates. The two output shafts of the dual-axis motor 2-1 are fixed to two symmetrically arranged protrusions integrally formed at one end of the cross-joint bracket 2-2. The two symmetrically arranged protrusions integrally formed at the other end of the cross-joint bracket 2-2 are fixed to the two output shafts of the dual-axis motor 2-3. One end of each of the two tibia brackets 2-4 is fixed to the housing of the dual-axis motor 2-3. The other end of each of the two tibia brackets 2-4 is fixed to the housing of the dual-axis motor 3-5. The two output shafts of the dual-axis motor 3-5 are fixed to two tarsal support members 2-6. The central axis of the two output shafts of the dual-axis motor 2-1 is perpendicular to the frame plate, and the central axis of the two output shafts of the dual-axis motor 2-3 and the dual-axis motor 3-5 is parallel to the frame plate.

[0048] In a preferred embodiment, the octagonal connecting plate 3-12 has a pair of through slots at the two pairs of sides arranged in a cross shape, and a pair of through holes 3 are provided on each of the two pairs of sides. The support rod 1 integrally formed at both ends of the foot bracket 3-3 passes through one of the pairs of through slots, and the support rod 2 integrally formed at both ends of the magnet sleeve 3-6 passes through the other pair of through slots. A round hole is provided in the middle of the two support rods 1 and the two support rods 2. Each hinge 3-4 passes through one through hole 3 and one round hole in sequence and is detachably fixed to the through slot.

[0049] More preferably, the hinge 3-4 is made of bolt, the bolt passes through the corresponding through hole three and round hole, and the threaded section of the bolt is connected to the through groove by thread, and the optical axis section of the bolt forms a rotating pair with the round hole on the support rod one or support rod two.

[0050] In a preferred embodiment, the fixing member 3-9 is a double-ended stud. The threaded sections at both ends of the double-ended stud are connected to the de-energized electromagnet 3-7 and the slider 3-11 by threads. The optical axis section in the middle of the double-ended stud passes through the through hole four opened on the partition plate and forms a sliding pair with the through hole four. The compression spring 1 3-8 and the compression spring 2 3-10 are both sleeved on the double-ended stud. The compression spring 1 3-8 is located between the de-energized electromagnet 3-7 and the partition plate. The two ends of the compression spring 1 3-8 are fixed to the de-energized electromagnet 3-7 and the partition plate. The compression spring 2 3-10 is located between the slider 3-11 and the partition plate. The two ends of the compression spring 2 3-10 are fixed to the slider 3-11 and the partition plate.

[0051] Among them, the camera gimbal 1-10 is driven by its own drive motor. The drive motor, servo motor 1-4, servo motor 2-5, servo motor 3-8, servo motor 4-12, dual-axis motor 1-2-1, dual-axis motor 2-3 and dual-axis motor 3-5 are all controlled by the controller. The signal output terminal of the camera 1-9 is connected to the controller. The coil is connected to the controller through a relay. The controller communicates with the host computer.

[0052] The present invention discloses a wall-climbing method for a six-legged magnetic wall-climbing robot, as detailed below:

[0053] When crawling forward or backward on the wall, firstly, the two de-energized electromagnets 3-7 located at the front or rear of the main frame 1-1 are disconnected from the wall surface. The controller then controls the dual-axis motors 2-1, 2-3, and 2-5 of the two walking drive components 2 located at the front or rear to operate. This, in turn, drives the two adaptive walking feet 3 located at the front or rear to move forward or backward through the corresponding cross-joint support 2-2, tibia support 2-4, and tarsal support 2-6 until these two adaptive walking feet 3 have moved forward or backward a preset distance. At this point, the de-energized electromagnets 3-7 of these two adaptive walking feet 3 contact and connect with the wall surface. Next, the two de-energized electromagnets 3-7 located in the middle of the main frame 1-1 are disconnected from the wall surface. The controller then controls the dual-axis motors 2-1, 2-3, and 2-5 of the four walking drive components 2 located at the front and rear to operate. This, in turn, drives the two adaptive walking feet 3 to move forward or backward through the corresponding cross-joint support 2-2, tibia support 2-4, and tarsal support 2-6. The frame 2-2, tibia support 2-4, and tarsal support 2-6 drive the main body assembly 1 and the two walking components in the middle to move forward or backward until the main body assembly 1 and the two walking components in the middle have moved forward or backward a preset distance, and the two de-energized electromagnets 3-7 in the middle contact and connect with the wall surface. Finally, the two de-energized electromagnets 3-7 on the rear or front of the main frame 1-1 disconnect from the wall surface. The controller controls the dual-axis motor 2-1, dual-axis motor 2-3, and dual-axis motor 2-5 of the two walking drive components 2 located at the rear or front to work, thereby driving the two adaptive walking feet 3 located at the rear or front to move forward or backward through the corresponding cross-joint support 2-2, tibia support 2-4, and tarsal support 2-6 until the two adaptive walking feet 3 located at the rear or front have moved forward or backward a preset distance, and the two de-energized electromagnets 3-7 located at the rear or front contact and connect with the wall surface.

[0054] When crawling laterally on the wall, the three de-energized electromagnets 3-7 on the main frame 1-1, located on the same side as the lateral movement direction, are first disconnected from the wall surface. The controller then controls the dual-axis motors 2-1, 2-3, and 2-5 of the three walking drive components 2 on the same side to operate. This, in turn, drives the three adaptive walking feet 3 on the same side to move laterally in the lateral movement direction through the corresponding cross-joint bracket 2-2, tibia bracket 2-4, and tarsal support 2-6. This continues until the three adaptive walking feet 3 on the same side have moved a preset distance of two in the lateral movement direction, at which point the three de-energized electromagnets 3-7 on the same side as the lateral movement direction contact and connect with the wall surface. Next, the three de-energized electromagnets 3-7 on the other side of the main frame 1-1 are disconnected from the wall. The controller controls the three walking drive components 2 on the same side as the lateral movement direction on the main frame 1-1 to work: dual-axis motor 1 2-1, dual-axis motor 2-3, and dual-axis motor 3 2-5. Then, through the corresponding cross-joint bracket 2-2, tibia bracket 2-4, and tarsal support 2-6, the main component 1 and the three walking components on the other side are driven to move in the lateral movement direction until the main component 1 and the three walking components on the other side have moved a preset distance 2 in the lateral movement direction. At this point, the three de-energized electromagnets 3-7 on the other side contact and connect with the wall.

[0055] During crawling, when it is necessary to move to a wall perpendicular to the current wall, such as... Figure 8 As shown, the de-energized electromagnets 3-7 in the three walking components d, e, and f on the side of the main frame 1-1 adjacent to this wall are disconnected from the wall. Then, the controller controls the dual-axis motors 2-1, 2-3, and 2-5 in the three walking components a, b, and c on the other side of the main frame 1-1 to operate. This, in turn, drives the main frame 1 and the three walking components on one side to rotate away from the wall via the corresponding cross-joint bracket 2-2, tibia bracket 2-4, and tarsal support 2-6. Simultaneously, the controller controls the dual-axis motors 2-1, 2-3, and 2-5 in the three walking components on one side of the main frame 1-1 to operate. This, in turn, drives the three adaptive walking feet 3 to rotate via the corresponding cross-joint bracket 2-2, tibia bracket 2-4, and tarsal support 2-6 until the de-energized electromagnets 3-7 of these three adaptive walking feet 3 contact and connect with the wall. Figure 9As shown; then, the de-energized electromagnets 3-7 of the three walking components on the other side of the main frame 1-1 are disconnected from the wall. The controller controls the dual-axis motors 2-1, 2-3, and 2-5 of the three walking components on one side of the main frame 1-1 to work, thereby driving the main component 1 and the three walking components on the other side to rotate toward this wall through the corresponding cross-joint bracket 2-2, tibia bracket 2-4, and tarsal support 2-6. At the same time, the controller controls the dual-axis motors 2-1, 2-3, and 2-5 of the three walking components on the other side of the main frame 1-1 to work, thereby driving the three adaptive walking feet 3 on the other side to rotate toward this wall through the corresponding cross-joint bracket 2-2, tibia bracket 2-4, and tarsal support 2-6, until the de-energized electromagnets 3-7 of the three adaptive walking feet 3 on the other side contact and connect with this wall, as shown. Figure 10 As shown, the transfer to this wall has been completed.

[0056] When it is necessary to move to another wall parallel to the current wall, such as Figure 11 As shown, the de-energized electromagnets 3-7 in the three spaced-apart walking components a, c, and e are disconnected from the wall surface. Then, the controller controls the dual-axis motors 2-3 and 2-5 of these three walking components to operate. This, in turn, drives the three adaptive walking feet 3 to rotate towards another wall surface via the corresponding tibia support 2-4 and tarsal support 2-6, until the de-energized electromagnets 3-7 of these three adaptive walking feet 3 contact and connect with the other wall surface. Figure 12 As shown; then the de-energized electromagnets 3-7 of the other three walking components b, d, and f are disconnected from the wall surface. The controller controls the dual-axis motors 2-3 and 2-5 of the other three walking components to work, which in turn drive the other three adaptive walking feet 3 to rotate towards another wall surface through the corresponding tibia support 2-4 and tarsal support 2-6, until the de-energized electromagnets 3-7 of the other three adaptive walking feet 3 contact and connect with the other wall surface, as shown. Figure 13 As shown, this completes the transfer to another wall.

[0057] When the controller de-energizes the coil of the de-energized electromagnet 3-7 via a relay, the de-energized electromagnet 3-7 is magnetically attracted to the wall, thus establishing a connection between the de-energized electromagnet 3-7 and the wall. When the controller energizes the coil of the de-energized electromagnet 3-7 via a relay, the coil generates a force opposite to the magnetic force of the de-energized electromagnet 3-7, which cancels out the magnetic force of the de-energized electromagnet 3-7, thus disconnecting the de-energized electromagnet 3-7 from the wall.

[0058] During the wall-climbing process, when the de-energized electromagnet 3-7 makes inclined contact with the wall surface or a protrusion on the wall surface, the de-energized electromagnet 3-7 drives the slider 3-11 to move closer to the connecting sleeve 3-1 via the fixing member 3-9. The compression spring 3-8 is compressed, and the compression spring 3-10 is stretched. Simultaneously, if one end of the de-energized electromagnet 3-7 closest to one of the support rods first contacts the wall surface or a protrusion, the de-energized electromagnet 3-7 drives the octagonal connecting plate 3-12 to rotate around the other pair of hinges 3-4 via the magnetic sleeve 3-6 and the pair of hinges 3-4 connected to the magnetic sleeve 3-6, thus connecting with the support rod. The two tension springs 3-5 connected to the connecting rod on rod 2 are compressed, while the two tension springs 3-5 connected to the connecting rod on the other support rod 2 are stretched until the de-energized electromagnet 3-7 is connected to the wall. If the end of the de-energized electromagnet 3-7 closest to one of the support rods 1 first contacts the wall or protrusion, the de-energized electromagnet 3-7 drives the magnet sleeve 3-6 to rotate around a pair of hinges 3-4 connected to the magnet sleeve 3-6, compressing the two tension springs 3-5 connected to the connecting rod on that support rod 1, while the two tension springs 3-5 connected to the connecting rod on the other support rod 1 are stretched until the de-energized electromagnet 3-7 is connected to the wall. When the de-energized electromagnet 3-7 encounters a recessed area, a gap exists between it and the wall surface. However, due to the magnetic force of the de-energized electromagnet 3-7, it stretches the first compression spring 3-8 and compresses the second compression spring 3-10, causing them to adhere to the wall surface. This ensures that each de-energized electromagnet 3-7 can adapt to the non-perfectly smooth wall surface and maintain good contact with it, preventing overturning accidents caused by poor adhesion of any particular de-energized electromagnet 3-7 to the wall surface. When the de-energized electromagnet 3-7 disconnects from the wall surface, the restoring forces of the first and second compression springs 3-8 and 3-10 cause the de-energized electromagnet 3-7 to return to its original position. The restoring force of the tension spring 3-5, through the corresponding connecting rod, causes either the second or first support rod to return to its original position.

Claims

1. A six-legged magnetic wall-climbing robot, comprising a main body assembly and a walking assembly, characterized in that: The main components include a main frame, a locking device, a robotic arm, a camera, and a camera gimbal; the locking device is located at one end of the main frame, the robotic arm is located at the hollowed-out position in the middle of the main frame, and the camera gimbal is located at the other end of the main frame and drives the camera to rotate; three walking components are arranged at intervals on both sides of the main frame, and the walking components include a walking drive component and an adaptive walking foot. The walking drive assembly includes a dual-axis motor 1, a cross-joint bracket, a dual-axis motor 2, a shin bracket, a dual-axis motor 3, and a tarsal support. One end of the cross-joint bracket forms a revolute joint with the main frame and is driven by the dual-axis motor 1. One end of each of the two parallel and symmetrically arranged shin brackets forms a revolute joint with the other end of the cross-joint bracket and is synchronously driven by the two output shafts of the dual-axis motor 2. One end of each of the two tarsal support members, parallel to and symmetrically arranged with the shin brackets, forms a revolute joint with the other end of the two shin brackets and is synchronously driven by the two output shafts of the dual-axis motor 3. The central axes of the two output shafts of the dual-axis motor 1 are perpendicular to the main frame, while the central axes of the two output shafts of the dual-axis motors 2 and 3 are parallel and parallel to the main frame. The adaptive walking foot includes a connecting sleeve, a foot connector, a foot bracket, a hinge, a tension spring, a magnetic sleeve, a de-energized electromagnet, a compression spring (first type), a fixing component, a compression spring (second type), a slider, and an octagonal connecting plate. The two ends of the foot connector are fixed to the other ends of the two tarsal supports. The middle portions of the foot connector and the foot bracket, along with the two ends of the connecting sleeve, form a rotating pair. Two pairs of symmetrically arranged hinges are detachably fixed to the two cross-shaped sides of the octagonal connecting plate. The hinges are parallel to the upper surface of the octagonal connecting plate and perpendicular to the corresponding sides. The middle portion of the integrally formed support rod at both ends of the foot bracket, along with one of the hinges, forms a rotating pair. The magnetic sleeve is located between the two support rods and passes through the opening in the middle of the octagonal connecting plate. A through hole is formed, and there is a gap between the through hole and the inner wall of the through hole. The middle part of the bracket rods 2, which are integrally formed at both ends of the magnetic sleeve, forms a rotating pair with another pair of hinges. Each bracket rod 1 and each bracket rod 2 has a connecting rod fixed at the end away from the connecting sleeve. The two ends of each connecting rod are connected to the two sides of the octagonal connecting plate that are adjacent to each other and not fixed with hinges by two tension springs. A partition plate is fixed inside the magnetic sleeve. The de-energized electromagnet is placed inside the magnetic sleeve at the end away from the connecting sleeve and on one side of the partition plate, and is connected to the partition plate by a compression spring 1. The slider is placed inside the magnetic sleeve at the end close to the connecting sleeve and on the other side of the partition plate, and is connected to the partition plate by a compression spring 2. The slider and the de-energized electromagnet are detachably fixed by a fastener and form a sliding pair with the magnetic sleeve.

2. The hexapod magnetic wall-climbing robot according to claim 1, characterized in that: The main frame consists of two parallel frame plates spaced apart, with the middle of each frame plate being hollowed out.

3. The six-legged magnetic wall-climbing robot according to claim 2, characterized in that: The locking device includes a pin locking component, a pin, and a servo motor. The servo motor is located between two frame plates, and the housing of the servo motor is fixed to both frame plates. The pin locking component is fixed to the housing of the servo motor. The pin locking component has two through holes and a channel that are arranged opposite to each other at both ends. The straight rod section of the pin is fixed to the output shaft of the servo motor. The arc section of the pin passes through the through hole and into the channel, forming a sliding pair with the channel.

4. The six-legged magnetic wall-climbing robot according to claim 2, characterized in that: The robotic arm includes a second servo motor, a slave robotic arm, a master robotic arm, a third servo motor, a fourth servo motor, and a gripper connecting plate. The third servo motor is located between two frame plates, and its housing is fixed to both frame plates. The output shaft of the third servo motor is fixed to one end of the master robotic arm. The housing of the second servo motor is fixed to the other end of the master robotic arm, and its output shaft is fixed to one end of the slave robotic arm. The other end of the slave robotic arm is fixed to the gripper connecting plate. Two meshing incomplete gears are hinged on the gripper connecting plate, and one of the incomplete gears is driven by the fourth servo motor. Two integrally formed and symmetrically arranged gripper connectors are provided on the two incomplete gears, and two symmetrically arranged grippers are hinged to the two gripper connectors. The middle of the two grippers is hinged to the gripper connecting plate through two connecting rods. The central axes of the output shafts of the second, third, and fourth servo motors are parallel and parallel to the frame plates.

5. The hexapod magnetic wall-climbing robot according to claim 2, characterized in that: The dual-axis motor 1 is located between two frame plates, and its housing is fixed to both frame plates. The two output shafts of the dual-axis motor 1 are fixed to two symmetrically arranged protrusions at one end of the cross-joint bracket. The two symmetrically arranged protrusions at the other end of the cross-joint bracket are fixed to the two output shafts of the dual-axis motor 2. One end of each of the two tibia brackets is fixed to the housing of the dual-axis motor 2, and the other end of each of the two tibia brackets is fixed to the housing of the dual-axis motor 3. The two output shafts of the dual-axis motor 3 are fixed to two tarsal support members. The central axes of the two output shafts of the dual-axis motor 1 are perpendicular to the frame plates, while the central axes of the two output shafts of the dual-axis motor 2 and the dual-axis motor 3 are parallel to the frame plates.

6. The hexapod magnetic wall-climbing robot according to claim 1, characterized in that: The octagonal connecting plate has a pair of through slots at the two pairs of sides arranged in a cross shape, and a pair of through holes are provided on each of the two pairs of sides. The support rods one integrally formed at both ends of the foot bracket pass through one of the pairs of through slots, and the support rods two integrally formed at both ends of the magnet sleeve pass through the other pair of through slots. A round hole is provided in the middle of the two support rods one and the two support rods two. Each hinge piece passes through one through hole three and one round hole in sequence and is detachably fixed to the through slot.

7. The hexapod magnetic wall-climbing robot according to claim 6, characterized in that: The hinge component is a bolt, which passes through the corresponding through hole three and round hole, and the threaded section of the bolt is connected to the through groove by thread. The optical axis section of the bolt and the round hole on the support rod one or support rod two form a rotating pair.

8. The hexapod magnetic wall-climbing robot according to claim 1, characterized in that: The fixing component is a double-ended stud. The threaded sections at both ends of the double-ended stud are connected to the de-energized electromagnet and the slider by threads. The optical axis section in the middle of the double-ended stud passes through the through hole four opened on the partition plate and forms a sliding pair with the through hole four. Compression spring one and compression spring two are both sleeved on the double-ended stud. Compression spring one is located between the de-energized electromagnet and the partition plate, and its two ends are fixed to the de-energized electromagnet and the partition plate. Compression spring two is located between the slider and the partition plate, and its two ends are fixed to the slider and the partition plate.

9. The wall-climbing method of the hexapod magnetic wall-climbing robot according to any one of claims 1 to 8, characterized in that: Specifically as follows: When crawling forward or backward on the wall, firstly, the two de-energized electromagnets located at the front or rear of the main frame are disconnected from the wall surface. The controller then controls the operation of the two walking drive components located at the front or rear, namely, dual-axis motor one, dual-axis motor two, and dual-axis motor three. This, in turn, drives the two adaptive walking feet located at the front or rear to move forward or backward through the corresponding cross-joint brackets, tibia brackets, and tarsal supports, until these two adaptive walking feet have moved forward or backward a preset distance, at which point the de-energized electromagnets at these two adaptive walking feet contact and connect with the wall surface. Next, the two de-energized electromagnets located in the middle of the main frame are disconnected from the wall surface. The controller then controls the operation of the four walking drive components located at the front and rear, namely, dual-axis motor one, dual-axis motor two, and dual-axis motor three. This, in turn, drives the two adaptive walking feet to move forward or backward through the corresponding cross-joint brackets. The tibia support and tarsal support drive the main body assembly and the two walking components in the middle to move forward or backward until the main body assembly and the two walking components in the middle have moved forward or backward a preset distance, and the two de-energized electromagnets in the middle contact and connect with the wall surface. Finally, the two de-energized electromagnets on the main frame located at the rear or front disconnect from the wall surface. The controller controls the dual-axis motor 1, dual-axis motor 2 and dual-axis motor 3 of the two walking drive components located at the rear or front to work, and then drive the two adaptive walking feet located at the rear or front to move forward or backward through the corresponding cross-joint support, tibia support and tarsal support until the two adaptive walking feet located at the rear or front have moved forward or backward a preset distance, and the two de-energized electromagnets located at the rear or front contact and connect with the wall surface. When crawling laterally on a wall, the three de-energized electromagnets on the main frame, located on the same side as the lateral movement direction, first disconnect from the wall surface. The controller then controls the operation of the three walking drive components on the same side: dual-axis motor one, dual-axis motor two, and dual-axis motor three. These motors, through corresponding cross-joint supports, tibia supports, and tarsal supports, drive the three adaptive walking feet on the same side to move laterally in the lateral movement direction until the three adaptive walking feet have moved a preset distance two in the lateral movement direction. At this point, the three de-energized electromagnets on the same side of the lateral movement direction contact the wall surface and... Connection; then the three de-energized electromagnets on the other side of the main frame disconnect from the wall surface. The controller controls the operation of the three walking drive components on the same side of the main frame as the lateral movement direction, namely the dual-axis motor one, dual-axis motor two, and dual-axis motor three. In turn, through the corresponding cross-joint bracket, tibia bracket, and tarsal support, the main component and the three walking components on the other side move in the lateral movement direction until the main component and the three walking components on the other side move a preset distance two in the lateral movement direction. The three de-energized electromagnets on the other side then contact and connect with the wall surface. During crawling, when moving to a wall perpendicular to the current wall, the de-energized electromagnets in the three walking components on the side of the main frame adjacent to this wall disconnect from the wall. Then, the controller activates the three dual-axis motors (motor 1, motor 2, and motor 3) in the other three walking components on the main frame. This, in turn, drives the main frame and the three walking components on one side to rotate away from the wall via the corresponding cross-joint support, tibia support, and tarsal support. Simultaneously, the controller activates the three dual-axis motors (motor 1, motor 2, and motor 3) in the other three walking components on the main frame, which in turn drive the three adaptive walking feet to rotate via the corresponding cross-joint support, tibia support, and tarsal support until the de-energized electromagnets in these three adaptive walking feet disconnect from the wall. The three walking components on the other side of the main frame make contact and connect; then the de-energized electromagnets of the three walking components on one side of the main frame disconnect from the wall. The controller controls the dual-axis motors 1, 2, and 3 of the three walking components on one side of the main frame to work, thereby driving the main component and the three walking components on the other side to rotate toward this wall through the corresponding cross-joint bracket, tibia bracket, and tarsal support. At the same time, the controller controls the dual-axis motors 1, 2, and 3 of the three walking components on the other side of the main frame to work, thereby driving the three adaptive walking feet on the other side to rotate toward this wall through the corresponding cross-joint bracket, tibia bracket, and tarsal support, until the de-energized electromagnets of the three adaptive walking feet on the other side make contact and connect with this wall, completing the transfer to this wall. When moving to another wall parallel to the current wall, the de-energized electromagnets of the three spaced-apart walking components disconnect from the current wall. Then, the controller controls the two-axis motors (two and three) of these three walking components to operate, thereby driving the three adaptive walking feet to rotate towards the other wall through the corresponding shin supports and tarsal supports until the de-energized electromagnets of these three adaptive walking feet contact and connect with the other wall. Then, the de-energized electromagnets of the other three walking components disconnect from the current wall, and the controller controls the two-axis motors (two and three) of the other three walking components to operate, thereby driving the three adaptive walking feet to rotate towards the other wall through the corresponding shin supports and tarsal supports until the de-energized electromagnets of the other three adaptive walking feet contact and connect with the other wall, thus completing the transfer to the other wall. When the controller de-energizes the coil of the de-energized electromagnet via a relay, the de-energized electromagnet is magnetically attracted to the wall. When the controller energizes the coil of the de-energized electromagnet via a relay, the coil generates a force opposite to the magnetic force of the de-energized electromagnet, which cancels out the magnetic force of the de-energized electromagnet, thereby disconnecting the de-energized electromagnet from the wall.

10. The wall-climbing method of the hexapod magnetic wall-climbing robot according to claim 9, characterized in that: The working process of the adaptive walking foot is as follows: When the de-energized electromagnet makes inclined contact with the wall or a protrusion on the wall, the de-energized electromagnet drives the slider to move closer to the connecting sleeve via the fixing component, compressing spring one and stretching spring two. Simultaneously, if one end of the de-energized electromagnet near one of the support rods first contacts the wall or protrusion, the de-energized electromagnet, through the magnetic sleeve and a pair of hinges connected to the magnetic sleeve, drives the octagonal connecting plate to rotate around another pair of hinges. This compresses the two tension springs connected to the connecting rod on that support rod, and stretches the two tension springs connected to the connecting rod on the other support rod, until the de-energized electromagnet connects to the wall. If one end of the de-energized electromagnet near one of the support rods first contacts the wall or protrusion, the de-energized electromagnet drives the magnetic sleeve... The cylinder rotates around a pair of hinges connected to the magnet sleeve, compressing two tension springs connected to the connecting rod on the first support rod, and stretching two tension springs connected to the connecting rod on the other support rod, until the de-energized electromagnet connects to the wall. If the de-energized electromagnet encounters a recessed position, there is a gap between the de-energized electromagnet and the wall. However, due to the magnetic force of the de-energized electromagnet, it causes the first compression spring to stretch and the second compression spring to compress, and they adhere to the wall. When the de-energized electromagnet disconnects from the wall, due to the restoring force of the first and second compression springs, the first and second compression springs cause the de-energized electromagnet to return to its original position. Due to the restoring force of the tension springs, the tension springs, through the corresponding connecting rods, cause either the second support rod or the first support rod to return to its original position.

Images