Magnetic suspension type flexible wall-climbing robot and operation method thereof

Abstract

The magnetic suspension type flexible wall-climbing robot comprises a first rack, supports are installed at the two ends of the first rack, and cameras are installed on the two supports to assist robot operation and environment perception; the two dynamic balance units are symmetrically distributed, the distance sensor controls the dynamic balance units to conduct angle adjustment, the lower end of the first rack is provided with two first magnetic attraction pieces which are symmetrically distributed, and the two ends of the first magnetic attraction pieces are provided with two movable second magnetic attraction pieces which are symmetrically distributed. And each second magnetic attraction piece is movably arranged at the lower end of the second rack, third magnetic attraction pieces are distributed at the two ends of each second magnetic attraction piece, and the third magnetic attraction pieces are installed on the magnetic attraction wheels. The falling risk caused by attitude imbalance is effectively prevented, and the safety and reliability of operation are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and in particular to a magnetically suspended flexible wall-climbing robot and an operating method thereof. Background Art

[0002] In some pipeline-type equipment, such as substation GIS switches, after running for a period of time, it is necessary to check the status of the internal pipelines. These internal pipelines are cylindrical, and these internal pipelines require the wall-climbing robot to be able to crawl on both vertical surfaces and negative surfaces. In addition, the pipelines are cylindrical, and the wall-climbing robot is also required to have the ability to crawl on curved surfaces.

[0003] However, since all wall-climbing robots on the market basically use NdFeB permanent magnets for fixed installation, and the wheels, chassis, magnets, and servo motor drives are all installed on a fixed chassis, when encountering welds or undulating surfaces, they will either slip and fail to pass, or when rushing over, there will be a risk of falling and tilting as a whole, or escaping. If the weld is too large or the undulations are uneven, it may even cause falling and escaping due to weakened magnetic attraction. The fixed integrated chassis design basically has a very narrow working surface (≤300mm) due to fitting reasons, resulting in low work efficiency, frequent falling, falling and escaping, and it cannot autonomously change its diameter to adapt to the working surface as the diameter of the pipe changes. Robots of various specifications are required to achieve crawling of all pipes, conical pipes, and pipe walls. Summary of the invention

[0004] The purpose of the present invention is to provide a magnetically suspended flexible wall-climbing robot and an operating method thereof, so as to solve the problem raised in the above background technology that all wall-climbing robots on the market basically adopt a fixed installation method of neodymium iron boron permanent magnets, and the wheels, chassis, magnets, and servo motor drives are all installed on a fixed chassis. In this way, when encountering welds or undulating surfaces, the robot will either slip and fail to pass, or when rushing through, the robot will fall and tilt as a whole, and there will be danger of detachment. When the weld is too large or the undulations are uneven, the robot may even fall and detach due to weakened magnetic attraction. The fixed integrated chassis design basically has a narrow working surface (≤300mm) due to fitting reasons, resulting in low work efficiency, frequent falling, falling and detachment, and the robot cannot change its diameter to adapt to the working surface as the diameter of the pipe changes. Robots of various specifications are required to realize the crawling of all pipes, conical pipes, and pipe walls.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a magnetically suspended flexible wall-climbing robot, comprising Frame 1, both ends of the frame 1 are equipped with brackets, and cameras are installed on the two brackets for collecting wall image information to assist the robot in operation and environmental perception; Two symmetrically distributed dynamic balancing units, the distance sensor controls the dynamic balancing unit to adjust the angle, the dynamic balancing unit includes an opening 1 arranged on both sides of the bracket, a frame 2 arranged on both sides of the frame 1, a joint bearing assembly for connecting the frame 1 and the frame 2, two symmetrically distributed magnetic wheels rotating on the frame 2, and a driving member for driving the frame 2 to rotate, and the lower ends of the two frames 2 are both installed with distance sensors for controlling the dynamic balancing unit to adjust the angle; And a magnetic unit, including magnetic sheet one, magnetic sheet two, magnetic sheet three and connecting member one, the lower end of the frame one is provided with two symmetrically distributed magnetic sheets one, and two movable symmetrically distributed magnetic sheets two are provided at both ends of the magnetic sheet one, each of the magnetic sheets two is movably arranged at the lower end of the frame two, and each of the magnetic sheets two is distributed with magnetic sheets three at both ends, and the magnetic sheet three is installed on the magnetic wheel, and multiple magnetic sheets one are dynamically suspended on the frame one through connecting member one, and two magnetic sheets two are dynamically suspended on the frame two through connecting member two.

[0006] In a preferred embodiment: the joint bearing assembly includes a limit ring, a dynamic cylinder, a connecting column, a fixed ring and a limit plate, the limit ring is installed in the opening, the dynamic cylinder is slidably arranged in the limit ring, the center position of the dynamic cylinder is penetrated by a connecting column, one end of the connecting column is fixedly connected to the limit plate, the frame is provided with a cavity, the limit plate is movably arranged in the cavity, the connecting column is installed with a fixed ring at one end away from the limit plate, and the fixed ring is installed in the frame two.

[0007] In a preferred embodiment: the dynamic cylinder 1 is spherical, and opening 2 is opened on the wall at both ends of each limit plate, and a shock absorber is connected between each opening 2 and the inner wall of the cavity, and the middle section of the limit plate is arc-shaped, and two symmetrically distributed protrusions are installed on the frame 1, and one end of the two protrusions is protruded in the cavity, and the protruding ends of the two protrusions are in contact with the arc-shaped middle section of the limit plate on the same side.

[0008] In a preferred embodiment: the driving component includes a servo motor, a gear and an adjusting ring, the upper end of the frame 2 is mounted on the base by a fastening bolt 1, the servo motor is mounted on the base, the output shaft at one end of the servo motor is fixedly connected with the gear, a connecting plate is mounted on the side wall of the frame 1 by a fastening bolt 2, the upper end of the connecting plate is fixedly connected with the adjusting ring, the adjusting ring is provided with tooth grooves, the number of the tooth grooves is several, and the tooth grooves match the gears.

[0009] In a preferred embodiment: the distance sensor on the same side is electrically connected to a servo motor, the servo motor is provided with a chassis outside, and the chassis is installed on the second frame.

[0010] In a preferred embodiment: the connecting member 1 includes an opening 3, an opening 4, a connecting column 2 and a dynamic cylinder 2, and a plurality of the magnetic suction sheets 1 are each provided with a plurality of openings 3 distributed at equal distances, a dynamic cylinder 2 is movably provided in the opening 3, a connecting column 2 is fixedly connected to the upper end of the dynamic cylinder 2, the upper end of the connecting column 2 passes through the opening 4 and is slidably connected to the opening 4, the opening 4 is provided at a lower end of the frame, and the positions of the opening 4 and the opening 3 correspond.

[0011] In a preferred embodiment: the connecting component 2 includes an opening 5, an opening 6, a connecting column 3 and a dynamic cylinder 3. A plurality of the magnetic suction sheets 2 are each provided with a plurality of openings 5 ​​distributed at equal distances. A dynamic cylinder 3 is movably provided in the opening 5. The upper end of the dynamic cylinder 3 is fixedly connected with a connecting column 3. The upper end of the connecting column 3 passes through the opening 6 and is slidably connected with the opening 6. The opening 6 is provided at the lower end of the frame 2, and the position of the opening 6 corresponds to that of the opening 5.

[0012] In a preferred embodiment: a limit spring is provided between the connecting column 2 and the opening 4 and between the connecting column 3 and the opening 6, the opening 3 and the opening 5 are both composed of a spherical opening and a conical opening, the dynamic cylinder 2 and the dynamic cylinder 3 are both spherical and matched with the spherical opening, and the dynamic cylinder 2 and the dynamic cylinder 3 are respectively movably arranged in the spherical openings adjacent thereto.

[0013] In a preferred embodiment: the plurality of magnetic wheels are driven to rotate by a frameless motor, the magnetic sheet three is arranged on the magnetic wheel along the arc surface of the magnetic wheel, the magnetic wheel is adsorbed on the external magnetic wall surface through the magnetic sheet three, the anti-skid belt for preventing the magnetic wheel from slipping is detachably mounted on the magnetic wheel, the frameless motor is arranged in the magnetic wheel, the rotor of the frameless motor is connected to the magnetic wheel, and the magnetic wheel moves on the adsorbed magnetic wall surface under the action of the frameless motor.

[0014] A method for operating a magnetically suspended flexible wall-climbing robot, the specific operating steps are as follows: S1, the operator moves the robot to the vicinity of the magnetic wall that needs to be climbed, so that the magnetic wheel approaches the wall, and the magnetic wheel is adsorbed on the external magnetic wall through the magnetic sheet 3; S2, the frameless motor drives the magnetic wheel to start moving on the adsorbed magnetic wall, and the robot starts to climb the wall. The distance sensor located at the lower end of the frame 2 monitors the distance information between the robot and the wall in real time. When the distance sensor detects that the distance on one side has changed, indicating that the robot has a tilting trend, it transmits the signal to the servo motor on the same side. After receiving the signal, the servo motor starts, and its output shaft drives the gear to rotate. The gear interacts with the tooth groove of the adjustment ring, so that the frame 2 rotates relative to the frame 1, so that the robot can move stably. S3, when the robot completes the task or needs to stop climbing, it sends a stop command to the frameless motor, the magnetic wheel stops rotating, and by controlling the servo motor to reverse, the robot gradually separates from the magnetic wall and completes a wall climbing task.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are: 1. The robot of the present invention is equipped with two symmetrically distributed dynamic balancing units, in which the distance sensor plays a key role: during the robot climbing process, when the distance sensor detects that the distance between one side and the wall changes, indicating that the robot has a tilting trend, it will quickly transmit the signal to the servo motor on the same side. After the servo motor is started, its output shaft drives the gear to rotate, and the gear interacts with the tooth groove of the adjustment ring, so that the frame 2 rotates relative to the frame 1. For example, when the wall surface is locally uneven, causing one side of the robot to lift or sink, this adjustment mechanism can respond quickly. At the same time, the spherical dynamic cylinder 1 in the joint bearing assembly slides in the limit ring, the limit plate moves in the cavity of the frame 1, and the shock absorber connected between the opening 2 on the wall at both ends of the limit plate and the inner wall of the cavity plays an auxiliary buffering and resetting role, realizing the precise dynamic adjustment of the robot's posture, ensuring that the robot always maintains stable movement on the wall, effectively preventing the risk of falling due to posture imbalance, and greatly improving the safety and reliability of the operation; 2. The whole vehicle structure adopts suspension type, and the damping and buffering characteristics of joint bearings combined with shock absorbers and other components make the main structure flexible: during the movement of the robot, each joint can work together to absorb and disperse the stress caused by uneven wall surface or movement impact. For example, when the magnetic wheel crosses a higher obstacle, the suspension mechanism of the two side wheels cooperates with the distributed magnetic sheet 1 and magnetic sheet 2, so that the magnetic sheet 1 and magnetic sheet 2 can be displaced with the magnetic force unchanged, maintain stable adsorption, and avoid falling or detachment due to weakening of magnetic force caused by crossing. This multi-joint collaborative design ensures the robot's movement stability in a complex wall environment, reduces the probability of failure caused by rigid collision or stress concentration, extends the service life of the robot, and reduces maintenance costs; 3. The robot has the ability to change diameter intelligently. The pipe diameter information is written into the main control system through visual feedback, and then the pipe diameter is changed in real time in combination with the information of the bottom anti-fall distance sensor: the diameter change is completed by the servo motor in real time matching with the angle information. In practical applications, such as when processing pipe systems with different diameters, the robot can automatically sense the change in pipe diameter and quickly adjust its own structure. When transitioning from a large-diameter pipe to a small-diameter pipe, the servo motor drives the relevant components to move, adjust the spacing of the magnetic wheels and the distribution of the magnetic units, so that the robot can fit the wall closely, maintain stable adsorption and effective movement. This intelligent diameter change function does not require manual intervention, greatly improves the operation efficiency, reduces the time waste and cost increase caused by replacing robots of different specifications, and enables the robot to operate efficiently in a complex system composed of pipes with various diameters, significantly improving the flexibility and adaptability of the overall operation; 4. The magnetic unit of the robot adopts a unique suspension design. The magnetic sheet 1 is dynamically suspended on the frame 1 through the connecting member 1, and the magnetic sheet 2 is dynamically suspended on the frame 2 through the connecting member 2. When encountering welds or surface undulations, such as in the pipeline detection of the GIS switch in the substation, the magnetic sheet can automatically adjust its position and angle according to the actual situation of the wall. The dynamic cylinder in the connecting member (such as the dynamic cylinder 2 in the magnetic sheet 1 connecting member and the opening 3, the connecting column 2 and the opening 4, the dynamic cylinder 3 in the magnetic sheet 2 connecting member and the opening 5, the connecting column 3 and the opening 6) can move flexibly in the corresponding opening, and the limit springs between the connecting column 2 and the opening 4 and the connecting column 3 and the opening 6 can play a buffering and adaptive adjustment role, ensuring that the magnetic sheet always maintains good contact with the wall surface, and the magnetic attraction will not be weakened due to local structural changes, thereby ensuring a stable adsorption force, so that the robot can smoothly cross welds and surface undulations, effectively avoiding Traditional fixed chassis robots may slip, fall or detach due to these obstacles. Distributed magnetic sheet 1, magnetic sheet 2 and magnetic sheet 3 adopt a suspension structure design to meet and ensure the retention of magnetic attraction. The magnetic attraction will not be weakened due to welds or surface fluctuations. The suspension type can achieve displacement in the front, back, left and right directions, thereby ensuring the permanence of magnetic force. During the entire operation process, whether on a vertical wall or a curved wall, the robot can always maintain a stable adsorption force. For example, in high-altitude pipeline inspection operations, the stable adsorption force effectively prevents the robot from falling off the wall due to unexpected circumstances, ensuring the safety of personnel and equipment below the operation site and reducing the possibility of safety accidents. 5. The synergistic effect of the robot's dynamic balancing unit, magnetic unit and other functions enables it to accurately control its posture and motion trajectory in complex wall environments. The image information collected by the camera, the data from the distance sensor, and the intelligent analysis and control of the main control system enable the robot to perceive the surrounding environment and wall conditions in advance and avoid collisions with obstacles on the wall (such as auxiliary equipment on the pipeline, protruding welds, etc.). This precise control capability is particularly important when working in narrow spaces or dense pipeline areas, reducing robot damage and operation interruptions caused by collisions, ensuring the continuity and safety of operations, and also protecting other equipment and facilities in the working environment from damage caused by robot collisions.

[0016] 6. Due to the joint design of the present invention, the driving components on both sides cooperate with the distributed magnetic suction piece 1 and the magnetic suction piece 2 structure, and the working surface of the robot is significantly widened. The working surface of the working vehicle can reach 800mm-1000mm. When working on a large area of ​​the wall, such as the inspection and maintenance of large tanks or pipeline clusters, the robot can cover a wider area, reducing the number of movements and adjustment time during the operation. For example, when inspecting a large oil storage tank, the wide working surface design enables the robot to inspect a larger area of ​​the tank wall at one time, avoiding the tedious operations of frequent repositioning and path adjustment of traditional narrow working surface robots, further improving the operation efficiency, while also reducing the errors and risks that may be caused by multiple adjustments, and improving the operation quality and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a schematic diagram of the overall structure of the robot of the present invention; Figure 2 It is a schematic diagram of the internal structure of the robot cavity of the present invention; Figure 3 It is a schematic diagram of the structure of the driving component of the present invention; Figure 4 It is a schematic diagram of the bottom structure of the robot of the present invention; Figure 5 It is a three-dimensional schematic diagram of a part of the structure of the connecting member of the present invention; Figure 6 It is a schematic diagram of the cross-sectional structure of the robot of the present invention; Figure 7 It is a schematic front view of a section view of a part of the structure of the connecting member of the present invention; Figure 8 It is a front view schematic diagram of the second cross-sectional structure of the connecting member of the present invention; In the figure: 1. Frame 1; 2. Bracket; 3. Camera; 4. Dynamic balancing unit; 40. Opening 1; 41. Frame 2; 42. Joint bearing assembly; 420. Limiting ring; 421. Dynamic cylinder 1; 422. Connecting column 1; 423. Fixing ring; 424. Limiting plate; 425. Cavity; 426. Opening 2; 427. Shock absorber; 428. Bump; 43. Magnetic wheel; 44. Driving member; 440. Servo motor; 441. Gear; 442. Adjusting ring; 443. Machine base; 444. Connecting plate; 445. Tooth groove; 446. Chassis; 45. Distance sensor; 46. Frameless motor; 47. Anti-skid belt; 5. Magnetic unit; 50. Magnetic sheet one; 51. Magnetic sheet two; 52. Magnetic sheet three; 53. Connecting member one; 530. Opening three; 531. Opening four; 532. Connecting column two; 533. Dynamic cylinder two; 534. Limiting spring; 54. Connecting member two; 540. Opening five; 541. Opening six; 542. Connecting column three; 543. Dynamic cylinder three. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figure 1-Figure 8 The present invention provides a technical solution: a magnetically suspended flexible wall-climbing robot, comprising A rack 1, wherein brackets 2 are installed at both ends of the rack 1, and cameras 3 are installed on both brackets 2; Two symmetrically distributed dynamic balancing units 4, a distance sensor 45 controls the dynamic balancing unit 4 to adjust the angle, the dynamic balancing unit 4 includes an opening 1 40 arranged on both sides of the bracket 2, a frame 2 41 arranged on both sides of the frame 1 1, a joint bearing assembly 42 for connecting the frame 1 1 and the frame 2 41, two symmetrically distributed magnetic wheels 43 rotating on the frame 2 41, and a driving member 44 for driving the frame 2 41 to rotate, and the lower ends of the two frames 41 are both installed with a distance sensor 45 for controlling the dynamic balancing unit 4 to adjust the angle; And a magnetic unit 5, including a magnetic sheet 1 50, a magnetic sheet 2 51, a magnetic sheet 3 52 and a connecting member 1 53, the lower end of the frame 1 is provided with two symmetrically distributed magnetic sheets 1 50, and two movable symmetrically distributed magnetic sheets 2 51 are provided at both ends of the magnetic sheet 1 50, each of the magnetic sheets 2 51 is movably provided at the lower end of the frame 2 41, and each of the two ends of the magnetic sheet 2 51 is provided with a magnetic sheet 3 52, and the magnetic sheet 3 52 is installed on the magnetic wheel 43, and a plurality of the magnetic sheets 1 50 are dynamically suspended on the frame 1 through the connecting member 1 53, and two of the magnetic sheets 2 51 are dynamically suspended on the frame 2 41 through the connecting member 2 54; Before the robot approaches the magnetic wall, the magnetic sheet 1 50, magnetic sheet 2 51 and magnetic sheet 3 52 of the magnetic unit 5 are in a natural state, but because of their own magnetic properties, they have adsorption capacity. When the robot is moved to the vicinity of the magnetic wall that needs to be climbed, the magnetic wheel 43 first approaches the wall, and the magnetic sheet 3 52 on the magnetic wheel 43 is initially adsorbed on the wall by virtue of its magnetic attraction to the wall. At this time, due to the existence of the connecting member 1 53 and the connecting member 2 54, the magnetic sheet 1 50 and the magnetic sheet 2 51 can move freely within a certain range. They will move according to the contact between the magnetic wheel 43 and the wall and the local magnetic field characteristics of the wall. , automatically adjusts its own position to achieve a preliminary balance and stable adsorption state, the magnetic sheet 1 50 can swing and telescopically adjust to a certain extent at the lower end of the frame 1 through the opening three 530, the dynamic cylinder two 533, the connecting column two 532 and the limit spring 534 between the opening four 531 in the connecting member 1 53, so that the magnetic sheet 1 50 can better fit the wall magnetic field distribution and enhance the overall adsorption force; similarly, the magnetic sheet 2 51 performs similar adaptive adjustment at the lower end of the frame 2 41 through the opening five 540, the dynamic cylinder three 543, the connecting column three 542 and the corresponding limit spring 534 of the connecting member 2 54.

[0020] The joint bearing assembly 42 includes a limit ring 420, a dynamic cylinder 421, a connecting column 422, a fixed ring 423 and a limit plate 424. The limit ring 420 is installed in the opening 40, and the dynamic cylinder 421 is slidably arranged in the limit ring 420. A connecting column 422 is fixedly installed through the center position of the dynamic cylinder 421, and one end of the connecting column 422 is fixedly connected to the limit plate 424. A cavity 425 is provided on the frame 1, and the limit plate 424 is movably arranged in the cavity 425. A fixing ring 423 is installed at one end of the connecting column 422 away from the limit plate 424, and the fixing ring 423 is installed in the frame 2 41.

[0021] The dynamic cylinder 1 421 is spherical, and an opening 2 426 is opened on the wall at both ends of each of the limit plates 424. A shock absorber 427 is connected between each of the openings 2 426 and the inner wall of the cavity 425. The middle section of the limit plate 424 is arc-shaped, and two symmetrically distributed protrusions 428 are installed on the frame 1. One end of the two protrusions 428 is protruded in the cavity 425, and the protruding ends of the two protrusions 428 are in contact with the arc-shaped middle section of the limit plate 424 on the same side.

[0022] The driving component 44 includes a servo motor 440, a gear 441 and an adjustment ring 442. The upper end of the frame 41 is mounted with a base 443 by a fastening bolt 1. The servo motor 440 is mounted on the base 443. The output shaft at one end of the servo motor 440 is fixedly connected with the gear 441. A connecting plate 444 is mounted on the side wall of the frame 1 by a fastening bolt 2. The upper end of the connecting plate 444 is fixedly connected with the adjustment ring 442. The adjustment ring 442 is provided with tooth grooves 445. The number of the tooth grooves 445 is several, and the tooth grooves 445 match the gear 441.

[0023] The distance sensor 45 on the same side is electrically connected to a servo motor 440 . The servo motor 440 is provided with a chassis 446 outside. The chassis 446 is installed on the second frame 41 .

[0024] The connecting member 1 53 includes an opening 3 530, an opening 4 531, a connecting column 2 532 and a dynamic cylinder 2 533. A plurality of the magnetic sheets 1 50 are provided with a plurality of openings 3 530 which are equidistantly distributed. A dynamic cylinder 2 533 is movably provided in the opening 3 530. The upper end of the dynamic cylinder 2 533 is fixedly connected with a connecting column 2 532. The upper end of the connecting column 2 532 passes through the opening 4 531 and is slidably connected with the opening 4 531. The opening 4 531 is provided at the lower end of the frame 1, and the positions of the opening 4 531 and the opening 3 530 correspond.

[0025] The connecting member 2 54 includes an opening 540, an opening 6 541, a connecting column 3 542 and a dynamic cylinder 3 543. A plurality of the magnetic sheets 2 51 are provided with a plurality of openings 540 that are equidistantly distributed. A dynamic cylinder 3 543 is movably provided in the opening 540. The upper end of the dynamic cylinder 3 543 is fixedly connected with a connecting column 3 542. The upper end of the connecting column 3 542 passes through the opening 6 541 and is slidably connected to the opening 6 541. The opening 6 541 is provided at the lower end of the frame 2 41, and the position of the opening 6 541 corresponds to that of the opening 5 540.

[0026] A limit spring 534 is provided between the second connecting column 532 and the fourth opening 531, and between the third connecting column 542 and the sixth opening 541. The third opening 530 and the fifth opening 540 are both composed of a spherical opening and a conical opening. The second dynamic cylinder 533 and the third dynamic cylinder 543 are both spherical and matched with the spherical opening. The second dynamic cylinder 533 and the third dynamic cylinder 543 are respectively movably arranged in the spherical openings adjacent thereto.

[0027] As the robot begins to climb the wall, the frameless motor 46 drives the magnetic wheel 43 to rotate. During this process, the magnetic unit 5 continues to work to maintain stable adsorption. Since the wall may be uneven or have a curvature change, the magnetic sheet 1 50, the magnetic sheet 2 51 and the magnetic sheet 3 52 will continue to work together. When the robot passes through the raised part of the wall, the distance between the magnetic wheel 43 and the wall may be reduced instantly. At this time, the magnetic sheet 2 51 will move slightly upward and adjust the angle under the action of the connecting member 2 54 through the movement of the dynamic cylinder 3 543 in the opening 5 540 and the expansion and contraction of the limit spring 534 between the connecting column 3 542 and the opening 6 541, so that the adsorption force of the magnetic sheet 3 52 on the magnetic wheel 43 is more evenly distributed, thereby preventing unstable adsorption or imbalance of the robot posture due to excessive local pressure. At the same time, the magnetic sheet 1 50 will also make corresponding fine adjustments through the connecting member 1 53 according to the overall force conditions to balance the force of the robot in the direction perpendicular to the wall.

[0028] The multiple magnetic wheels 43 are all driven to rotate by the frameless motor 46, the magnetic sheet three 52 is arranged on the magnetic wheel 43 along the arc surface of the magnetic wheel 43, the magnetic wheel 43 is adsorbed on the external magnetic wall surface through the magnetic sheet three 52, the anti-skid belt 47 used to prevent the magnetic wheel 43 from slipping is detachably sleeved on the magnetic wheel 43, the frameless motor 46 is arranged in the magnetic wheel 43, the rotor of the frameless motor 46 is connected to the magnetic wheel 43, and the magnetic wheel 43 moves on the adsorbed magnetic wall surface under the action of the frameless motor 46.

[0029] When the robot encounters a concave wall or a change in curvature, the distance between the magnetic wheel 43 and the wall will increase in some areas, and the magnetic sheet 2 51 will move downward and change its angle under the action of gravity and spring tension, so that the magnetic sheet 3 52 can better fit the wall and maintain the adsorption force. The magnetic sheet 1 50 will also make adaptive adjustments to ensure that the adsorption force between the entire magnetic unit 5 and the wall is always in a stable and effective range, thereby ensuring that the robot can move smoothly on the wall without falling; When the robot completes the task or needs to stop climbing and leave the magnetic wall, it usually stops driving the frameless motor 46 on the magnetic wheel 43 to stop the rotation of the magnetic wheel 43. Then, by controlling the driving component 44, such as the servo motor 440, the gear 441 and the adjustment ring 442 are driven to rotate the frame 2 41, thereby changing the posture of the robot and gradually separating the magnetic wheel 43 from the wall. In this process, the magnetic sheet of the magnetic unit 5 will naturally leave the adsorption state as the distance between the magnetic wheel 43 and the wall increases. The magnetic sheet 1 50 returns to its initial relative position under the action of the limit spring 534 of the connecting component 1 53, and the magnetic sheet 2 51 also returns to its initial state under the similar action of the connecting component 2 54, ready for the next adsorption operation, whether it is a cylindrical pipe or other The robot can perform well on curved walls. When climbing a cylindrical pipe, the magnetic wheel 43 is driven by a frameless motor 46 to roll on the wall. The magnetic sheet three 52 on the magnetic wheel 43 is arranged along the arc surface, and works together with the magnetic sheet one 50 and the magnetic sheet two 51. When the curvature of the wall changes, such as transitioning from a straight wall section of a cylinder to a curved section, the relative positions of the magnetic sheets one 50, two and three will be automatically adjusted. The magnetic sheet one 50 can be swung and retracted at the lower end of the frame one 1 through the connecting member one 53, and the magnetic sheet two 51 changes accordingly at the lower end of the frame two 41, so that the entire magnetic unit 5 can fit the curvature of the wall closely, ensuring that the robot can be stably adsorbed and flexibly moved, which greatly broadens the application scenarios of the robot and has a qualitative leap compared to traditional fixed-structure robots that can only operate on walls with specific curvatures.

[0030] A method for operating a magnetically suspended flexible wall-climbing robot, the specific operating steps are as follows: S1, the operator moves the robot to the vicinity of the magnetic wall surface to be climbed, so that the magnetic wheel 43 approaches the wall surface, and the magnetic wheel 43 is adsorbed on the external magnetic wall surface through the magnetic sheet 3 52; S2, the frameless motor 46 drives the magnetic wheel 43 to start moving on the adsorbed magnetic wall surface, and the robot starts to climb the wall surface. The distance sensor 45 located at the lower end of the frame 2 41 monitors the distance information between the robot and the wall surface in real time. When the distance sensor 45 detects that the distance on one side has changed, indicating that the robot has a tilting tendency, the signal is transmitted to the servo motor 440 on the same side. After receiving the signal, the servo motor 440 starts, and its output shaft drives the gear 441 to rotate. The gear 441 interacts with the tooth groove 445 of the adjustment ring 442, so that the frame 2 41 rotates relative to the frame 1 so that the robot can move stably. Through the cooperation of the joint bearing assembly 42, especially the sliding of the dynamic cylinder 1 421 in the limit ring 420 and the activity of the limit plate 424 in the cavity 425, the shock absorber 427 plays a certain auxiliary buffering and resetting role, so as to realize the dynamic adjustment of the robot posture to maintain balance and ensure that the robot can always maintain a 10mm spacing and move stably on the wall surface; S3, when the robot completes the task or needs to stop climbing, a stop command is sent to the frameless motor 46, the magnetic wheel 43 stops rotating, and the servo motor 440 is controlled to reverse, so that the robot gradually separates from the magnetic wall surface and completes a wall climbing task.

[0031] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A magnetically suspended flexible wall-climbing robot, characterized in that: include A frame (1), wherein brackets (2) are installed at both ends of the frame (1), and cameras (3) are installed on both brackets (2); Two symmetrically distributed dynamic balancing units (4), the dynamic balancing units (4) comprising openings (40) arranged on both sides of the bracket (2), frames (41) arranged on both sides of the frame (1), joint bearing assemblies (42) for connecting the frame (1) and the frame (41), two symmetrically distributed magnetic wheels (43) rotating on the frame (41), and a driving member (44) for driving the frame (41) to rotate, and distance sensors (45) for controlling the dynamic balancing units (4) to adjust their angles are installed at the lower ends of the two frames (41); And a magnetic attraction unit (5), comprising a magnetic attraction sheet 1 (50), a magnetic attraction sheet 2 (51), a magnetic attraction sheet 3 (52) and a connecting member 1 (53), wherein two symmetrically distributed magnetic attraction sheets 1 (50) are provided at the lower end of the frame 1 (1), and two movable symmetrically distributed magnetic attraction sheets 2 (51) are provided at both ends of the magnetic attraction sheet 1 (50), each of the magnetic attraction sheets 2 (51) is movably arranged at the lower end of the frame 2 (41), and each of the two ends of the magnetic attraction sheets 2 (51) is provided with a magnetic attraction sheet 3 (52), and the magnetic attraction sheet 3 (52) is mounted on a magnetic attraction wheel (43), and a plurality of the magnetic attraction sheets 1 (50) are dynamically suspended on the frame 1 (1) through the connecting member 1 (53), and two of the magnetic attraction sheets 2 (51) are dynamically suspended on the frame 2 (41) through the connecting member 2 (54).

2. The magnetically suspended flexible wall-climbing robot according to claim 1, characterized in that: The joint bearing assembly (42) comprises a limiting ring (420), a dynamic cylinder (421), a connecting column (422), a fixing ring (423) and a limiting plate (424); the limiting ring (420) is installed in the opening (40); the dynamic cylinder (421) is slidably arranged in the limiting ring (420); a connecting column (422) is fixedly installed through the center of the dynamic cylinder (421); one end of the connecting column (422) is fixedly connected to the limiting plate (424); a cavity (425) is provided on the frame (1); the limiting plate (424) is movably arranged in the cavity (425); a fixing ring (423) is installed at one end of the connecting column (422) away from the limiting plate (424); and the fixing ring (423) is installed in the frame (41).

3. The magnetically suspended flexible wall-climbing robot according to claim 2, characterized in that: The dynamic cylinder 1 (421) is spherical, and opening 2 (426) is formed on the wall bodies at both ends of each of the limiting plates (424). A shock absorber (427) is connected between each of the openings 2 (426) and the inner wall of the cavity (425). The middle section of the limiting plate (424) is arc-shaped. Two symmetrically distributed protrusions (428) are mounted on the frame 1 (1), and one end of the two protrusions (428) is protruded in the cavity (425), and the protruding ends of the two protrusions (428) are in contact with the arc-shaped middle section of the limiting plate (424) on the same side.

4. The magnetically suspended flexible wall-climbing robot according to claim 1, characterized in that: The driving component (44) comprises a servo motor (440), a gear (441) and an adjustment ring (442); the upper end of the frame (41) is mounted with a base (443) via a first fastening bolt; the servo motor (440) is mounted on the base (443); an output shaft at one end of the servo motor (440) is fixedly connected with the gear (441); a connecting plate (444) is mounted on the side wall of the frame (1) via a second fastening bolt; the upper end of the connecting plate (444) is fixedly connected with the adjustment ring (442); a plurality of tooth grooves (445) are provided in the adjustment ring (442); the number of the tooth grooves (445) is multiple, and the tooth grooves (445) match the gear (441).

5. The magnetically suspended flexible wall-climbing robot according to claim 4, characterized in that: The distance sensor (45) on the same side is electrically connected to a servo motor (440), and a chassis (446) is provided outside the servo motor (440), and the chassis (446) is mounted on the second frame (41).

6. The magnetically suspended flexible wall-climbing robot according to claim 1, characterized in that: The connecting member 1 (53) comprises an opening 3 (530), an opening 4 (531), a connecting column 2 (532) and a dynamic cylinder 2 (533). A plurality of the magnetic suction sheets 1 (50) are provided with a plurality of openings 3 (530) which are distributed at equal distances. A dynamic cylinder 2 (533) is movably provided in the opening 3 (530). The upper end of the dynamic cylinder 2 (533) is fixedly connected with the connecting column 2 (532). The upper end of the connecting column 2 (532) passes through the opening 4 (531) and is slidably connected with the opening 4 (531). The opening 4 (531) is provided at the lower end of the frame 1 (1), and the positions of the opening 4 (531) and the opening 3 (530) correspond to each other.

7. The magnetically suspended flexible wall-climbing robot according to claim 6, characterized in that: The connecting member 2 (54) comprises an opening 5 (540), an opening 6 (541), a connecting column 3 (542) and a dynamic cylinder 3 (543). A plurality of the magnetic suction plates 2 (51) are provided with a plurality of openings 5 ​​(540) which are distributed at equal distances. A dynamic cylinder 3 (543) is movably provided in the opening 5 (540). The upper end of the dynamic cylinder 3 (543) is fixedly connected with the connecting column 3 (542). The upper end of the connecting column 3 (542) passes through the opening 6 (541) and is slidably connected with the opening 6 (541). The opening 6 (541) is provided at the lower end of the frame 2 (41), and the positions of the opening 6 (541) and the opening 5 (540) correspond to each other.

8. The magnetically suspended flexible wall-climbing robot according to claim 7, characterized in that: A limit spring (534) is provided between the second connecting column (532) and the fourth opening (531) and between the third connecting column (542) and the sixth opening (541). The third opening (530) and the fifth opening (540) are both composed of a spherical opening and a conical opening. The second dynamic cylinder (533) and the third dynamic cylinder (543) are both spherical and match the spherical opening. The second dynamic cylinder (533) and the third dynamic cylinder (543) are respectively movably arranged in the spherical openings adjacent thereto.

9. The magnetically suspended flexible wall-climbing robot according to claim 1, characterized in that: The plurality of magnetic wheels (43) are driven to rotate by a frameless motor (46); the magnetic sheet three (52) is arranged on the magnetic wheel (43) along the arc surface of the magnetic wheel (43); the magnetic wheel (43) is adsorbed on an external magnetic wall surface through the magnetic sheet three (52); an anti-skid belt (47) for preventing the magnetic wheel (43) from skidding is detachably sleeved on the magnetic wheel (43); a stator of the frameless motor (46) is arranged in the magnetic wheel (43); a rotor of the frameless motor (46) is connected to the magnetic wheel (43); and the magnetic wheel (43) moves on the adsorbed magnetic wall surface under the action of the frameless motor (46).

10. The method for operating a magnetically suspended flexible wall-climbing robot according to any one of claims 1 to 9, characterized in that: The specific operation steps are as follows: S1, the operator moves the robot to the vicinity of the magnetic wall surface to be climbed, so that the magnetic wheel (43) approaches the wall surface, and the magnetic wheel (43) is adsorbed on the external magnetic wall surface through the magnetic sheet three (52); S2, the frameless motor (46) drives the magnetic wheel (43) to start moving on the adsorbed magnetic wall surface, and the robot starts to climb the wall surface. The distance sensor (45) located at the lower end of the frame 2 (41) monitors the distance information between the robot and the wall surface in real time. When the distance sensor (45) detects that the distance on one side changes, indicating that the robot has a tilting tendency, the signal is transmitted to the servo motor (440) on the same side. After receiving the signal, the servo motor (440) starts, and its output shaft drives the gear (441) to rotate. The gear (441) interacts with the tooth groove (445) of the adjustment ring (442), so that the frame 2 (41) rotates relative to the frame 1 (1), so that the robot can move stably; S3, when the robot completes the task or needs to stop climbing, a stop command is sent to the frameless motor (46), the magnetic wheel (43) stops rotating, and the servo motor (440) is controlled to rotate in reverse, so that the robot gradually leaves the magnetic wall surface, completing a wall climbing task.

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