Magnetic adsorption walking robot with obstacle crossing and steering functions

Abstract

The invention relates to a magnetic adsorption walking robot with obstacle crossing and steering functions. The magnetic adsorption walking robot comprises a controller, a rack, a turntable mechanism, at least one magnetic adsorption crawler belt, at least three sets of supporting mechanisms, at least one magnetic isolation mechanism and at least one traction mechanism, supporting mechanisms are at least arranged at the front end, the rear end and the middle position of the rack, each supporting mechanism comprises a supporting driving assembly and at least two walking wheels, and the supporting driving assemblies can drive the walking wheels to stretch out of the adsorption faces of the magnetic adsorption crawler belts; the magnetism isolating mechanisms are arranged on the rack, each magnetic adsorption crawler belt corresponds to at least one magnetism isolating mechanism, and the magnetism isolating mechanisms are used for isolating the adsorption surfaces of the magnetic adsorption crawler belts from the working surfaces; the fixed part of the turntable mechanism is arranged on the rack, the traction mechanism is connected with the rotating part of the turntable mechanism and the top and the bottom of the working surface, and the traction mechanism can pull the rack to walk on the working surface. The robot has good obstacle crossing and steering capabilities, and can adapt to more complex working environments.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent equipment for building construction, and in particular to a magnetic adsorption walking robot with obstacle crossing and steering functions. Background Art

[0002] Magnetic adsorption walking robots are usually used to climb magnetic metal surfaces. They are equipped with magnets on the tracks to make the robot firmly adhere to the magnetic metal surface, and the tracks roll to achieve walking. However, most of the current magnetic adsorption walking robots can only walk on relatively flat magnetic metal surfaces, and it is difficult to pass through obstacles, especially obstacles that are raised relative to the walking surface. Current walking robots are basically unable to pass through, and most of the current walking robots can only walk in a straight line, and it is difficult to turn, turn around, or change positions.

[0003] Modern civil and industrial buildings both use a large number of steel structures. In addition, the outer walls of ships are mostly non-straight steel plates, oil tanks use round steel plates, drilling platforms use round steel columns, etc., which provide a broader application space for magnetic adsorption walking robots. However, due to factors such as hollowing out of steel structures, bonding between steel structures, and equipment installation, connecting nodes, connecting rods, and installation platforms are inevitable. It is impossible for all magnetic metal surfaces that can be used for magnetic adsorption walking robots to walk to be flat. Therefore, it is of great significance to improve the obstacle crossing and turning capabilities of magnetic adsorption walking robots to adapt to more complex application environments. Summary of the invention

[0004] The object of the present invention is to provide a magnetic adsorption walking robot with obstacle-crossing and turning functions, which has good obstacle-crossing and turning capabilities and can adapt to more complex working environments.

[0005] To achieve the above-mentioned purpose, the present invention discloses a magnetic adsorption walking robot with obstacle crossing and steering functions, comprising a controller, a frame and at least one magnetic adsorption crawler, wherein the magnetic adsorption crawler is arranged at the bottom of the frame, and the controller controls the operation of the magnetic adsorption crawler; in addition, the robot also comprises a turntable mechanism, at least three sets of supporting mechanisms, at least one magnetic isolation mechanism, and at least one traction mechanism, wherein the supporting mechanism, the magnetic isolation mechanism, the turntable mechanism and the traction mechanism are connected to the controller; A support mechanism is provided at least at the front end, the rear end and the middle position of the frame, the support mechanism comprises a support drive assembly and at least two running wheels, and the support drive assembly can drive the running wheels to extend out of the adsorption surface of the magnetic adsorption crawler; The magnetic isolation mechanism is arranged on the frame, and each magnetic adsorption crawler corresponds to at least one magnetic isolation mechanism, and the magnetic isolation mechanism is used to isolate the adsorption surface of the magnetic adsorption crawler from the working surface; The fixed part of the turntable mechanism is connected to the frame, and the traction mechanism is connected to the rotating part of the turntable mechanism and the top and bottom of the working surface. The traction mechanism can pull the frame to walk on the working surface.

[0006] Preferably, the supporting mechanisms located at the front and rear ends of the frame are first supporting mechanisms, and the supporting driving components corresponding to the first supporting mechanisms include a first electric push rod, a synchronization rod, two connecting rods and two struts, the first electric push rod is installed on the frame, and the first electric push rod drives the synchronization rod to move in a direction away from or close to the bottom surface of the frame; the connecting rod, the strut and the first walking wheel correspond one by one, one end of the connecting rod is hinged to the synchronization rod, the other end of the connecting rod is hinged to one end of the strut, the first walking wheel is installed at the other end of the strut, and the middle section of the strut is also hinged to the frame.

[0007] Preferably, each of the first traveling wheels is also equipped with at least one magnetic attraction component, and the magnetic attraction component is arranged on the side of the first traveling wheel; the magnetic attraction component includes an articulated seat, a first limit screw, a first buffer spring and a first magnet, the articulated seat is hinged at one end of the support rod connected to the first traveling wheel, and the rotation center of the articulated seat coincides with the center of the first traveling wheel; the first limit screw passes through the articulated seat and is connected to the first magnet, the first buffer spring is sleeved on the first limit screw, and the two ends of the first buffer spring respectively abut the articulated seat and the first magnet; the first magnet is located on the side of the articulated seat away from the frame, and the wheel surface of the first traveling wheel exceeds the first magnet by 1.5 to 3 mm.

[0008] Preferably, the supporting mechanism arranged at the center position of the frame is a second supporting mechanism, the second supporting mechanism includes a second electric push rod, a disk, a synchronous frame and a plurality of second walking wheels, the second electric push rod is installed on the frame, the second electric push rod drives the synchronous frame to move in a direction away from or close to the bottom surface of the frame, the second walking wheels are installed on the synchronous frame, and the second walking wheels are evenly arranged on the periphery of the synchronous frame, and the second walking wheels can extend out of the adsorption surface of the magnetic adsorption track; the second electric push rod is connected to the controller.

[0009] Preferably, the synchronous frame is also provided with a magnetic adsorption plate, a plurality of second limit screws and a plurality of second buffer springs, the magnetic adsorption plate is located at the bottom of the synchronous frame, the second limit screws correspond to the second buffer springs one by one, the second limit screws pass through the synchronous frame and are connected to the magnetic adsorption plate, the second buffer spring is sleeved on the second limit screw, and the two ends of the second buffer spring respectively abut the synchronous frame and the magnetic adsorption plate; the wheel surface of the second walking wheel exceeds the magnetic adsorption plate by 1.5 to 3 mm.

[0010] Preferably, the front and rear ends of each of the magnetic adsorption tracks are provided with a magnetic isolation mechanism, and the magnetic isolation mechanism includes a magnetic isolation driving push rod, an adjusting member, a wedge block and two connecting springs, and the wedge block is made of magnetic isolation material; the connecting springs are placed on both sides of the wedge block, one end of the connecting spring is hinged to the frame, and the other end of the connecting spring is hinged to the end of the wedge block; the magnetic isolation driving member push rod is installed on the frame and drives the adjusting member to move in a direction away from or close to the bottom surface of the frame; the adjusting member is provided with an abutment groove, when the magnetic isolation driving push rod is retracted, one end of the wedge block abuts against the abutment groove, when the magnetic isolation driving push rod is extended, the adjusting member pushes the wedge block to move downward and rotate, and when the magnetic isolation driving push rod is extended to the limit position, the wedge block is inserted between the magnetic adsorption track and the working surface.

[0011] Preferably, the length of the wedge block is not less than the width of the track, the bottom width of the wedge block is 30 to 60 mm, the height of the wedge block is 10 to 30 mm, and the surface of the wedge block is arc-shaped; when the wedge block abuts in the abutment groove, the distance between the hinge point of the wedge block and the magnetic adsorption track is 20 to 30 mm.

[0012] Preferably, the traction mechanism includes a rope climbing machine and a traction rope, the rope climbing machine is installed on the rotating part of the turntable mechanism, one end of the traction rope is connected to the rope climbing machine, and the other end is connected to the top and bottom anchor points of the working surface; or, the rope climbing machine is installed on the top and bottom anchor points of the working surface, one end of the traction rope is connected to the rope climbing machine, and the other end is connected to the rotating part of the turntable mechanism.

[0013] Preferably, four groups of the traction mechanisms are provided, and the rope climbing machines corresponding to the four groups of the traction mechanisms are respectively arranged at four corner positions of the periphery of the working surface.

[0014] Preferably, the turntable mechanism includes a disk body, a rotating motor and a fixed ring, the rotating motor is connected to a controller; the fixed ring is locked to the frame, the disk body is rotatably connected to the fixed ring, and the disk body cannot be separated from the fixed ring; the rotating motor is locked to the frame, a gear is provided on the output shaft of the rotating motor, and a gear ring meshing with the gear is provided on the disk body; the traction mechanism connects the disk body and the top and bottom of the working surface.

[0015] Preferably, it also includes at least one distance measuring sensor for identifying obstacles and measuring distances, and the distance measuring sensor is connected to the controller.

[0016] Preferably, a magnetic adsorption track is respectively provided on both sides of the frame, and the magnetic adsorption track is rotatably connected relative to the frame.

[0017] Preferably, it also includes a clamping push rod corresponding to the magnetic adsorption track one by one, and the clamping push rod is connected to the controller; the base of the clamping push rod is connected to the frame, the movable part of the clamping push rod is hinged with a swing arm, and the swing arm is also hinged to one side of the magnetic adsorption track, and the other side of the magnetic adsorption track is rotatably connected to the frame.

[0018] The present invention has the following beneficial effects: 1. By isolating the magnetic adsorption crawler, the support mechanism extends out to touch the working surface, and the traction mechanism pulls the machine to move, thereby simplifying and realizing the complex high-altitude vertical obstacle crossing problem.

[0019] 2. By making the magnetic adsorption crawler detach from the working surface and making the middle support mechanism extend to touch the working surface, the rotating part of the rotating mechanism is tightened through the traction mechanism. When the rotating mechanism is started, the frame can rotate and reverse.

[0020] 3. The present invention can be walked in both vertical and horizontal directions, can overcome obstacles, and can turn; the walking surface can be used for straight walls, inclined walls, curved walls, and pipe walls, and has strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the present invention.

[0022] Figure 2 It is a schematic diagram of another viewing angle of the present invention.

[0023] Figure 3 for Figure 2 Enlarged schematic diagram of the middle R part.

[0024] Figure 4 It is a side view of the present invention.

[0025] Figure 5 for Figure 4 Enlarged schematic diagram of the middle S part.

[0026] Figure 6 for Figure 4 Enlarged schematic diagram of the middle T section.

[0027] Figure 7 Schematic diagram of the magnetic isolation mechanism.

[0028] Figure 8 Schematic diagram of the wedge and magnetic adsorption track.

[0029] Fig. 9 This is a schematic diagram of the turntable mechanism (the disk body is hidden).

[0030] Fig.10 This is a usage state diagram of the present invention.

[0031] Main component symbols: Frame 10, disc body 11, rotating motor 12, fixing ring 13, gear 14, gear ring 15, pressing push rod 16, swing arm 17; Magnetic adsorption track 20; A first supporting mechanism 30, a first electric push rod 31, a synchronization rod 32, a connecting rod 33, a support rod 34, a first walking wheel 35, a hinge seat 36, a first limiting screw 37, a first buffer spring 38, and a first magnet 39; A second supporting mechanism 40, a second electric push rod 41, a synchronous frame 42, a second traveling wheel 43, and a magnetic adsorption plate 44; Rope climbing machine 51, traction rope 52; Magnetic isolation mechanism 60, magnetic isolation driving push rod 61, adjustment member 62, wedge block 63, connecting spring 64; Working surface 70. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0033] like Figures 1 to 10 As shown, the present invention discloses a magnetic adsorption walking robot with obstacle crossing and steering functions, including a controller, a frame 10, a magnetic adsorption track 20, a first support mechanism 30, a second support mechanism 40, a magnetic isolation mechanism 60, a turntable mechanism, a traction mechanism and a distance sensor. The magnetic adsorption track 20 can be a steerable magnetic adsorption track 20 with an anti-slip sleeve, which is arranged at the bottom of the frame 10, and the controller controls the operation of the magnetic adsorption track 20. In this case, the configuration of two magnetic adsorption tracks 20 is used as an example for explanation. As a preference, the two magnetic adsorption tracks 20 are respectively arranged on both sides of the frame 10, and the magnetic adsorption tracks 20 are rotatably connected relative to the frame 10 through a rotating shaft or a hinge. After such a configuration, the magnetic adsorption track 20 can adaptively adsorb a non-straight working surface 70, such as the inner and outer walls of a steel pipe or a curved surface such as a curved steel plate wall (wall). Furthermore, each magnetic adsorption track 20 is also configured with a clamping push rod 16, and the clamping push rod 16 is connected to the controller. The seat of the pressing push rod 16 is connected to the frame 10, and the movable part of the pressing push rod 16 is connected to a swing arm 17. Specifically, one end of the swing arm 17 is hinged to the movable part of the pressing push rod 16, and the other end of the swing arm 17 is hinged to one side of the magnetic adsorption track 20, and the other side of the magnetic adsorption track 20 is rotatably connected to the frame 10. By providing the pressing push rod 16, when the magnetic adsorption track 20 just adsorbs the working surface 70, the pressing push rod 16 extends, which can play a role similar to pressing the robot to the working surface 70, thereby ensuring that the magnetic adsorption track 20 is reliably adsorbed on the working surface 70.

[0034] A magnetic isolation mechanism 60 is respectively provided at the front and rear ends of each magnetic adsorption crawler 20, so that the robot can be isolated from magnetism and overcome obstacles when moving forward or backward. Of course, the magnetic isolation mechanism 60 can also be provided only in the forward direction of the robot. Two sets of first support mechanisms 30 are provided, which are respectively placed at the front and rear ends of the frame 10. It is better to place the magnetic adsorption crawler 20 between the two first support mechanisms 30 to ensure smooth obstacle crossing. The second support mechanism 40 is placed in the middle position of the frame 10 and is located at the bottom of the turntable mechanism between the two magnetic adsorption crawlers 20. The distance sensor is used to detect obstacles and measure the distance between the robot and the obstacle. The distance sensor is connected to the controller. Multiple groups of distance sensors can be provided, such as setting distance sensors at the front, rear and left and right ends of the frame 10 to achieve multi-directional sensing, so as to determine the best obstacle crossing or turning method; the frame 10 can be used as a platform for carrying functional devices, such as non-contact functional devices: flaw detection, visual inspection, spray painting, high-pressure spray gun, etc.; contact functional devices: drilling, rust removal, cleaning, etc.

[0035] The first support mechanism 30 includes a first support drive assembly and two first running wheels 35, and the first running wheels 35 are preferably omnidirectional wheels. The first support drive assembly includes a first electric push rod 31, a synchronization rod 32, two connecting rods 33 and two struts 34, and the first electric push rod 31 is connected to the controller. The first electric push rod 31 is installed on the frame 10, and the movable part of the first electric push rod 31 is fixedly connected to one end of the synchronization rod 32. The first electric push rod 31 drives the synchronization rod 32 to move in a direction away from or close to the bottom surface of the frame 10. The connecting rod 33, the strut 34 and the first running wheel 35 correspond to each other. One end of the connecting rod 33 is hinged to the other end of the synchronization rod 32, and the other end of the connecting rod is hinged to one end of the strut 34. The first running wheel 35 is installed at the other end of the strut 34. In addition, the middle section of the strut 34 is also hinged to the frame 10, and the hinge point between the strut 34 and the frame 10 is preferably set close to the synchronization rod 32. As the first electric push rod 31 moves, the support rod 34 performs a seesaw motion, so that the first running wheel 35 can extend out and exceed the adsorption surface of the magnetic adsorption crawler 20, thereby "lifting" the magnetic adsorption crawler 20.

[0036] In order to enable the first travel wheel 35 to effectively contact the working surface 70 and improve the walking stability when overcoming obstacles, two magnetic suction components are configured for each first travel wheel 35, and the two magnetic suction components are respectively arranged on both sides of the first travel wheel 35. The magnetic suction component includes an articulated seat 36, a first limit screw 37, a first buffer spring 38 and a first magnet 39. The articulated seat 36 is hinged to one end of the support rod 34 connected to the first travel wheel 35, and the rotation center of the articulated seat 36 coincides with the center of the first travel wheel 35. The first limit screw 37 passes through the articulated seat 36 and then connects to the first magnet 39. The articulated seat 36 is provided with a through hole for the first limit screw 37 to pass through, so that the first magnet 39 can swing relative to the articulated seat 36. The first buffer spring 38 is sleeved on the first limit screw 37, and the two ends of the first buffer spring 38 respectively abut the articulated seat 36 and the first magnet 39. The first magnet 39 is located on the side of the hinge seat 36 away from the frame 10, and under normal conditions, the first magnet 39 does not exceed the wheel surface of the first running wheel 35, and the distance A between the two is 1.5 to 3 mm. Because the magnetic suction component is hinged relative to the support rod 34, it can automatically rotate relative to the hinge point under its own gravity, so that the first magnet 39 is always close to the contact point between the first running wheel 35 and the working surface 70, so that the first magnet 39 can adsorb the working surface 70 in the air. Under the action of the first buffer spring 38, the first magnet 39 can also have a certain obstacle-passing ability when encountering obstacles on the working surface 70 to avoid getting stuck. By setting up a magnetic suction component, when the magnetic adsorption track 20 is separated from the working surface 70, the first support mechanism 30 can also fit the working surface 70 more closely, thereby improving the walking stability.

[0037] The second support mechanism 40 includes a second electric push rod 41, a synchronous frame 42, and a plurality of second running wheels 43. The second running wheels are preferably omnidirectional wheels. The second electric push rod 41 is connected to the controller. The second electric push rod 41 is mounted on the frame 10, and its movable part is fixedly connected to the center of the synchronous frame 42. The second electric push rod 41 drives the synchronous frame 42 to move in a direction away from or close to the bottom surface of the frame 10. The second running wheels 43 are mounted on the synchronous frame 42, and the second running wheels 43 are evenly arranged on the periphery of the synchronous frame 42. As the second electric push rod 41 moves, the second running wheels 43 can extend out of the adsorption surface of the magnetic adsorption track 20.

[0038] Similarly, in order to improve the stability of the robot when crossing obstacles, a magnetic adsorption plate 44, a plurality of second limit screws and a plurality of second buffer springs are also provided at the bottom of the synchronous frame 42. The second limit screws correspond to the second buffer springs one by one. The second limit screws pass through the synchronous frame 42 and are connected to the magnetic adsorption plate 44. The synchronous frame 42 is provided with a through hole for the second limit screw to pass through, and the magnetic adsorption plate 44 can swing relative to the synchronous frame 42. The second buffer spring is sleeved on the second limit screw, and the two ends of the second buffer spring abut against the synchronous frame 42 and the magnetic adsorption plate 44 respectively. Under normal conditions, the magnetic adsorption plate 44 does not exceed the wheel surface of the second walking wheel 43, and the distance B between the two is 1.5 to 3 mm. The provision of the second buffer spring can enable the magnetic adsorption plate 44 to have a certain obstacle-crossing ability to avoid getting stuck.

[0039] A turntable mechanism is provided on the top of the frame 10, which includes a disk body 11, a rotating motor 12 and a fixed ring 13, and the rotating motor 12 is connected to the controller. The fixed ring 13 is locked with the frame 10, and the disk body 11 is rotatably connected to the fixed ring 13, and the disk body 11 does not separate from the fixed ring 13. The rotating motor 12 is locked on the frame 10, and a gear 14 is provided on the output shaft of the rotating motor 12, and a gear ring 15 meshing with the gear 14 is provided on the disk body 11. As the rotating motor 12 is started, the disk body 11 can rotate relative to the frame 10.

[0040] The traction mechanism includes a rope climbing machine 51 and a traction rope 52. The rope climbing machine 51 is installed on the disk body 11, one end of the traction rope 52 is connected to the rope climbing machine 51, and the other end is fixed to the top and bottom of the periphery of the working surface 70. Alternatively, the rope climbing machine 51 is installed on the top and bottom of the periphery of the working surface 70, one end of the traction rope 52 is connected to the rope climbing machine 51, and the other end is connected to the disk body 11. As a preferred embodiment, four groups of traction mechanisms are provided, and the rope climbing machines 51 corresponding to the four groups of traction mechanisms are respectively arranged at the four corner positions (upper left, upper right, lower left and lower right) of the periphery of the working surface 70. When the magnetic adsorption crawler 20 is separated from the working surface 70, the traction mechanism provides the robot with walking power on the working surface 70, pulling the robot to walk. The setting of four groups of traction mechanisms can enable the robot to not only move up and down, forward and backward, but also move horizontally or tilted, etc., thereby providing more operation possibilities, not limited to obstacle crossing. In addition, when the four traction ropes 52 are tightened, the disc 11 is relatively fixed, and when the magnetic adsorption crawler 20 is separated from the working surface, the extended second support mechanism 40 touches the working surface, and the first support mechanism 30 retracts. At this time, the driving motor is controlled to rotate the frame 10 to realize the robot turning around.

[0041] The adsorption force between the magnetic adsorption track 20 and the working surface 70 is very strong, which is also the fundamental reason why the existing magnetic adsorption robot is difficult to overcome obstacles. In this case, the magnetic isolation mechanism 60 is used to isolate the adsorption surface of the magnetic adsorption track 20 from the working surface 70, ensuring that it can be separated from the working surface 70, providing a prerequisite for overcoming obstacles. The magnetic isolation mechanism 60 includes a magnetic isolation drive push rod 61, an adjustment member 62, a wedge block 63 and two connecting springs 64, wherein the magnetic isolation drive push rod 61 is connected to the controller, and the wedge block 63 is made of magnetic isolation material. The connecting spring 64 is placed on both sides of the wedge block 63, and rotating parts are fixed at both ends of the connecting spring 64. The rotating part at one end of the connecting spring 64 is hinged to the frame 10, and the rotating part at the other end of the connecting spring 64 is hinged to the end of the wedge block 63. The magnetic isolation drive push rod is installed on the frame 10 and drives the adjustment member 62 to move in a direction away from or close to the bottom surface of the frame 10. An abutment groove is provided on the adjusting member 62, and the heights of the two groove walls of the abutment groove are different, and the groove wall with a lower height is arranged close to the magnetic adsorption track 20. When the magnetic isolation driving push rod 61 contracts, one end of the wedge block 63 abuts against the abutment groove, and the wedge block 63 will not interfere with the operation of the magnetic adsorption track 20.

[0042] When the magnetic isolation driving push rod 61 is extended, the adjustment member 62 pushes the wedge block 63 downward, and at the same time, the wedge block 63 rotates around the abutment groove. When the magnetic isolation driving push rod 61 is extended to the limit position, the bottom surface of the wedge block 63 is flush with and in contact with the working surface 70, and the wedge block 63 is inserted between the magnetic adsorption track 20 and the working surface 70. The magnetic adsorption track 20 moves forward, and the magnetic adsorption track 20 is partially pressed on the wedge block 63 and lifted up, so that the local adsorption force is cut off. At the same time, the first support mechanism 30 located at the front end of the magnetic adsorption track 20 is extended, so that the part with the adsorption force cut off remains in the lifted state. As the magnetic adsorption track 20 continues to move forward, the front part of the magnetic adsorption track 20 is lifted up by the wedge block 63 to isolate the magnetic field. During the process, the second support mechanism 40 and the other first support mechanism 30 are extended in sequence, and finally the magnetic adsorption track 20 is completely lifted up, and the magnetic adsorption track 20 is separated from the working surface 70. After the magnetic adsorption crawler 20 is separated from the working surface 70, the wedge block 63 is no longer pressed by the magnetic adsorption crawler 20. Under the force of the connecting spring 64, the wedge block 63 is pulled back to the front end of the magnetic adsorption crawler 20 to achieve recovery. The recovered wedge block 63 will not interfere with the operation of the magnetic adsorption crawler 20 after the obstacle is overcome. In the case where the connection node of the connecting spring 64 and the frame 10 is preferably set, the pulled back wedge block 63 can also be abutted against the abutment groove again, thereby realizing the recycling of the magnetic isolation mechanism 60.

[0043] In order to ensure the magnetic isolation effect of the wedge block 63, the following settings are made: the length of the wedge block 63 is required to be not less than the width of the track; the bottom width W of the wedge block 63 is 30 to 60 mm, preferably W=40 mm; the height H of the wedge block 63 is 10 to 30 mm, preferably H=15 mm. In addition, when the wedge block 63 abuts in the abutment groove, the distance L between the hinge point of the wedge block 63 and the magnetic adsorption track 20 is 20 to 30 mm. In addition, in order to prevent the wedge block 63 from getting stuck with the track, a curved surface is also provided on the wedge block 63.

[0044] The working principle of the present invention is as follows: Robot obstacle crossing: The robot detects obstacles in front of the robot's direction of travel through a distance measuring sensor and measures the distance and the height of the obstacle to be crossed. Before the robot reaches the shortest distance to cross the obstacle, the magnetic isolation mechanism 60 located in front of the walking direction acts. As the magnetic adsorption track 20 is gradually isolated from the magnetism, the first support mechanism 30, the second support mechanism 40 and the other first support mechanism 30 at the front act in sequence, so that the magnetic adsorption track 20 is completely separated from the working surface. The first support mechanism 30 and the second support mechanism 40 raise the robot to a height where the magnetic adsorption track 20 can cross the obstacle. At this time, the traction mechanism drives the support mechanism walking wheel to roll, so that the robot can continue to walk. When the first support mechanism 30 at the front is close to the obstacle, the first support mechanism 30 shrinks, and the front end of the robot begins to cross the obstacle. The first support mechanism 30 at the front extends again after successfully crossing the obstacle. After that, the second support mechanism 40 and the other first support mechanism 30 approach in sequence and cross the obstacle in the above manner. After the robot completes the overall obstacle crossing, the support mechanism is completely retracted, and the magnetic adsorption track 20 contacts and adsorbs the working surface 70, and continues to move forward. When the magnetic adsorption crawler 20 works normally, the traction mechanism does not provide walking power, and only follows the movement of the robot to collect or release the rope.

[0045] Of course, when there are multiple sets of traction mechanisms, the supporting mechanism may only need to make the magnetic adsorption track 20 separate from the working surface 70, and then the multiple sets of traction mechanisms work together to enable the robot to walk laterally and cross obstacles laterally to reach a predetermined path, thereby achieving lateral walking and obstacle crossing.

[0046] The robot turns and U-turns: the magnetic isolation mechanism 60 is activated, the magnetic adsorption crawler 20 is gradually isolated from the magnetism, the first support mechanism 30 at the front, the second support mechanism 40 and the first support mechanism 30 at the rear are activated in sequence, the magnetic adsorption crawler 20 is completely separated from the adsorption surface, the four traction ropes 50 are tightened, and the first support mechanism 30 is retracted. The rotating motor 12 is working, and the frame 10 rotates accordingly, so that the robot turns or U-turns in a predetermined direction. After the robot turns, the second support mechanism 40 is retracted, and the magnetic adsorption crawler 20 is then close to the working surface and adsorbed.

[0047] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A magnetic adsorption walking robot with obstacle crossing and steering functions, comprising a controller, a frame and at least one magnetic adsorption crawler, wherein the magnetic adsorption crawler is arranged at the bottom of the frame, and the controller controls the operation of the magnetic adsorption crawler; characterized in that: It also includes a turntable mechanism, at least three sets of supporting mechanisms, at least one magnetic isolation mechanism, and at least one traction mechanism, wherein the supporting mechanism, magnetic isolation mechanism, turntable mechanism and traction mechanism are connected to a controller; A support mechanism is provided at least at the front end, the rear end and the middle position of the frame, the support mechanism comprises a support drive assembly and at least two running wheels, and the support drive assembly can drive the running wheels to extend out of the adsorption surface of the magnetic adsorption crawler; The magnetic isolation mechanism is arranged on the frame, and each magnetic adsorption crawler corresponds to at least one magnetic isolation mechanism, and the magnetic isolation mechanism is used to isolate the adsorption surface of the magnetic adsorption crawler from the working surface; The fixed part of the turntable mechanism is connected to the frame, and the traction mechanism is connected to the rotating part of the turntable mechanism and the top and bottom of the working surface. The traction mechanism can pull the frame to walk on the working surface.

2. The magnetic adsorption walking robot with obstacle-crossing function according to claim 1, characterized in that: The supporting mechanisms located at the front and rear ends of the frame are the first supporting mechanisms, and the supporting driving components corresponding to the first supporting mechanisms include a first electric push rod, a synchronization rod, two connecting rods and two struts, the first electric push rod is installed on the frame, and the first electric push rod drives the synchronization rod to move in a direction away from or close to the bottom surface of the frame; the connecting rod, the strut and the first walking wheel correspond one by one, one end of the connecting rod is hinged to the synchronization rod, the other end of the connecting rod is hinged to one end of the strut, the first walking wheel is installed at the other end of the strut, and the middle section of the strut is also hinged to the frame.

3. The magnetic adsorption walking robot with obstacle-crossing function according to claim 2, characterized in that: Each of the first traveling wheels is also equipped with at least one magnetic attraction component, and the magnetic attraction component is arranged on the side of the first traveling wheel; the magnetic attraction component includes an articulated seat, a first limit screw, a first buffer spring and a first magnet, the articulated seat is hinged at one end of the support rod connected to the first traveling wheel, and the rotation center of the articulated seat coincides with the center of the first traveling wheel; the first limit screw passes through the articulated seat and is connected to the first magnet, the first buffer spring is sleeved on the first limit screw, and the two ends of the first buffer spring respectively abut the articulated seat and the first magnet; the first magnet is located on the side of the articulated seat away from the frame, and the wheel surface of the first traveling wheel exceeds the first magnet by 1.5 to 3 mm.

4. The magnetic adsorption walking robot with obstacle-crossing function according to claim 1, characterized in that: The supporting mechanism arranged at the center position of the frame is the second supporting mechanism, and the second supporting mechanism includes a second electric push rod, a disk, a synchronous frame and a plurality of second running wheels. The second electric push rod is installed on the frame, and the second electric push rod drives the synchronous frame to move in a direction away from or close to the bottom surface of the frame. The second running wheels are installed on the synchronous frame, and the second running wheels are evenly arranged on the periphery of the synchronous frame. The second running wheels can extend out of the adsorption surface of the magnetic adsorption track; the second electric push rod is connected to the controller.

5. The magnetic adsorption walking robot with obstacle-crossing function according to claim 4 is characterized in that: The synchronous frame is also provided with a magnetic adsorption plate, a plurality of second limit screws and a plurality of second buffer springs. The magnetic adsorption plate is located at the bottom of the synchronous frame. The second limit screws correspond to the second buffer springs one by one. The second limit screws pass through the synchronous frame and are connected to the magnetic adsorption plate. The second buffer spring is sleeved on the second limit screw, and the two ends of the second buffer spring respectively abut the synchronous frame and the magnetic adsorption plate. The wheel surface of the second walking wheel exceeds the magnetic adsorption plate by 1.5 to 3 mm.

6. The magnetic adsorption walking robot with obstacle-crossing function according to claim 1, characterized in that: The front and rear ends of each of the magnetic adsorption tracks are provided with a magnetic isolation mechanism, and the magnetic isolation mechanism includes a magnetic isolation driving push rod, an adjusting member, a wedge block and two connecting springs, and the wedge block is made of magnetic isolation material; the connecting springs are placed on both sides of the wedge block, one end of the connecting spring is hinged to the frame, and the other end of the connecting spring is hinged to the end of the wedge block; the magnetic isolation driving member push rod is installed on the frame and drives the adjusting member to move in a direction away from or close to the bottom surface of the frame; the adjusting member is provided with an abutment groove, when the magnetic isolation driving push rod is retracted, one end of the wedge block abuts against the abutment groove, when the magnetic isolation driving push rod is extended, the adjusting member pushes the wedge block to move downward and rotate, and when the magnetic isolation driving push rod is extended to the limit position, the wedge block is inserted between the magnetic adsorption track and the working surface.

7. The magnetic adsorption walking robot with obstacle-crossing function according to claim 6, characterized in that: The length of the wedge block is not less than the width of the track, the bottom width of the wedge block is 30 to 60 mm, the height of the wedge block is 10 to 30 mm, and the surface of the wedge block is arc-shaped; when the wedge block abuts in the abutment groove, the distance between the hinge point of the wedge block and the magnetic adsorption track is 20 to 30 mm.

8. The magnetic adsorption walking robot with obstacle-crossing function according to claim 1, characterized in that: The traction mechanism includes a rope climbing machine and a traction rope, wherein the rope climbing machine is installed on the rotating part of the turntable mechanism, one end of the traction rope is connected to the rope climbing machine, and the other end is connected to the top and bottom anchor points of the working surface; or, the rope climbing machine is installed on the top and bottom anchor points of the working surface, one end of the traction rope is connected to the rope climbing machine, and the other end is connected to the rotating part of the turntable mechanism.

9. The magnetic adsorption walking robot with obstacle-crossing function according to claim 8, characterized in that: The traction mechanisms are provided in four groups, and the rope climbing machines corresponding to the four groups of traction mechanisms are respectively arranged at the four corner positions of the periphery of the working surface.

10. The magnetic adsorption walking robot with obstacle-crossing function according to claim 1, characterized in that: The turntable mechanism includes a disk body, a rotating motor and a fixed ring, the rotating motor is connected to a controller; the fixed ring is locked with a frame, the disk body is rotatably connected to the fixed ring, and the disk body cannot be separated from the fixed ring; the rotating motor is locked on the frame, a gear is provided on the output shaft of the rotating motor, and a gear ring meshing with the gear is provided on the disk body; the traction mechanism connects the disk body and the top and bottom of the working surface.

11. The magnetic adsorption walking robot with obstacle-crossing function according to claim 1, characterized in that: It also includes at least one distance measuring sensor for identifying obstacles and measuring distances, and the distance measuring sensor is connected to the controller.

12. The magnetic adsorption walking robot with obstacle-crossing function according to claim 1, characterized in that: A magnetic adsorption track is respectively arranged on both sides of the frame, and the magnetic adsorption track is rotatably connected relative to the frame.

13. The magnetic adsorption walking robot with obstacle-crossing function according to claim 12, characterized in that: It also includes a clamping push rod corresponding to the magnetic adsorption track one by one, and the clamping push rod is connected to a controller; the base of the clamping push rod is connected to a frame, and the movable part of the clamping push rod is hinged with a swing arm, and the swing arm is also hinged to one side of the magnetic adsorption track, and the other side of the magnetic adsorption track is rotatably connected to the frame.

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