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

Abstract

The application discloses a kind of magnetically suspended flexible wall-climbing robots and its operating method, including rack one, the both ends of rack one are equipped with support, two The camera is installed on the support, auxiliary robot operation and environmental perception;Two symmetric distribution dynamic balance units, distance sensor controls dynamic balance unit to carry out angle adjustment, and magnetic attraction unit, the lower end of rack one is equipped with two symmetric distribution magnetic attraction piece one, located magnetic attraction piece one both ends are equipped with two movable symmetric distribution magnetic attraction piece two, each The magnetic attraction piece two is movably arranged at the lower end of rack two, and the both ends of each magnetic attraction piece two are symmetrically distributed with magnetic attraction piece three, and the magnetic attraction piece three is installed on the magnetic attraction wheel.The application realizes the accurate dynamic adjustment of robot posture, ensures that the robot always keeps stable movement on the wall, effectively prevents the falling risk caused by posture imbalance, and greatly improves the safety and reliability of operation.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, specifically to a magnetically suspended flexible wall-climbing robot and its operation method. Background Technology

[0002] In some pipeline-type equipment, such as substation GIS switches, after a period of operation, it is necessary to check the status of their internal pipelines. These internal pipelines are cylindrical, requiring the wall-climbing robot to be able to crawl on both vertical and horizontal surfaces. Furthermore, since the pipelines are cylindrical, the wall-climbing robot also needs to have the ability to crawl on curved surfaces.

[0003] Since most wall-climbing robots on the market use neodymium iron boron permanent magnets for fixed installation, and the wheels, chassis, magnets, and servo motor drives are all mounted on a fixed chassis, they will either slip and be unable to pass through welds or uneven surfaces, or they will fall, tilt, or become detached when they try to pass through. If the weld is too large or the surface is uneven, the magnetic attraction may even weaken, causing them to fall or detach. The fixed integrated chassis design is generally very narrow (≤300mm) due to fitting reasons, resulting in low work efficiency and frequent falls and detachments. Furthermore, they cannot autonomously change diameter to adapt to the working surface as the pipe diameter changes, requiring robots of various sizes to climb all pipes, tapered pipes, and pipe walls. Summary of the Invention

[0004] The purpose of this invention is to provide a magnetically suspended flexible wall-climbing robot and its operation method, to solve the problems mentioned in the background art. Since most wall-climbing robots on the market use neodymium iron boron permanent magnets for fixed installation, and the wheels, chassis, magnets, and servo motor drives are all mounted on a fixed chassis, they either slip and cannot pass through welds or uneven surfaces, or they may fall, tilt, or detach when trying to pass. In cases where the weld is too large or the surface is uneven, the weakening of the magnetic attraction can even lead to falls and detachment. Furthermore, the fixed integrated chassis design, due to fitting constraints, generally results in a very narrow working surface (≤300mm), leading to low work efficiency and frequent falls and detachments. It also cannot autonomously adjust its diameter to adapt to changes in pipe diameter, requiring robots of various sizes to climb all pipes, including tapered pipes and pipe walls.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a magnetically suspendable flexible wall-climbing robot, comprising...

[0006] A frame 1, with brackets installed at both ends, and cameras installed on both brackets to collect wall image information to assist the robot in operation and environmental perception;

[0007] Two symmetrically distributed dynamic balancing units are provided. The distance sensor controls the dynamic balancing units to adjust their angles. The dynamic balancing unit includes an opening 1 on both sides of the support, a frame 2 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 that rotate on the frame 2, and a drive component for driving the frame 2 to rotate. The lower ends of the two frames 2 are each equipped with a distance sensor for controlling the dynamic balancing units to adjust their angles.

[0008] The system includes a magnetic suction unit, comprising a magnetic suction plate 1, a magnetic suction plate 2, a magnetic suction plate 3, and a connecting member 1. The lower end of the frame 1 is provided with two symmetrically distributed magnetic suction plates 1. At both ends of the magnetic suction plates 1 are two movable magnetic suction plates 2 that are symmetrically distributed. Each magnetic suction plate 2 is movably disposed at the lower end of the frame 2. Each magnetic suction plate 2 has magnetic suction plates 3 distributed at both ends. The magnetic suction plates 3 are mounted on magnetic suction wheels. Multiple magnetic suction plates 1 are dynamically suspended on the frame 1 through the connecting member 1. Two magnetic suction plates 2 are dynamically suspended on the frame 2 through the connecting member 2.

[0009] In a preferred embodiment: the spherical bearing assembly includes a limiting ring, a dynamic cylinder, a connecting column, a fixing ring, and a limiting plate. The limiting ring is installed in the opening, the dynamic cylinder is slidably disposed within the limiting ring, the connecting column is fixedly installed through the center of the dynamic cylinder, one end of the connecting column is fixedly connected to the limiting plate, the frame has a cavity, the limiting plate is movably disposed within the cavity, and a fixing ring is installed at the end of the connecting column away from the limiting plate. The fixing ring is installed within the frame.

[0010] In a preferred embodiment: the dynamic cylinder is spherical, and each of the two end walls of the limiting plate has an opening, and each opening is connected to the inner wall of the cavity with a shock absorber. The middle section of the limiting plate is arc-shaped. Two symmetrically distributed protrusions are installed on the frame, one end of each protrusion protrudes into the cavity, and the protruding ends of the two protrusions contact the arc-shaped middle section of the limiting plate on the same side.

[0011] In a preferred embodiment: the driving component includes a servo motor, a gear, and an adjusting ring. A base is mounted on the upper end of the second frame via a fastening bolt. The servo motor is mounted on the base. A gear is fixedly connected to the output shaft of one end of the servo motor. A connecting plate is mounted on the side wall of the first frame via a fastening bolt. An adjusting ring is fixedly connected to the upper end of the connecting plate. The adjusting ring has a toothed groove, and the number of toothed grooves is several, which match the gear.

[0012] In a preferred embodiment: the distance sensor on the same side is electrically connected to the servo motor, the servo motor is provided with a housing, and the housing is mounted on the second frame.

[0013] In a preferred embodiment: the connecting member 1 includes an opening 3, an opening 4, a connecting post 2, and a dynamic cylinder 2. Each of the multiple magnetic plates 1 has several equally spaced openings 3. The dynamic cylinder 2 is movably disposed in the opening 3. The upper end of the dynamic cylinder 2 is fixedly connected to the connecting post 2. The upper end of the connecting post 2 passes through the opening 4 and is slidably connected to the opening 4. The opening 4 is opened at the lower end of the frame, and the positions of the opening 4 and the opening 3 are corresponding.

[0014] In a preferred embodiment: the connecting member 2 includes an opening 5, an opening 6, a connecting post 3, and a dynamic cylinder 3. Each of the multiple magnetic suction plates 2 has several equally spaced openings 5. The dynamic cylinder 3 is movably disposed in the opening 5. The upper end of the dynamic cylinder 3 is fixedly connected to the connecting post 3. The upper end of the connecting post 3 passes through the opening 6 and is slidably connected to the opening 6. The opening 6 is opened at the lower end of the frame 2, and the positions of the opening 6 and the opening 5 are corresponding.

[0015] In a preferred embodiment: a limiting spring is provided between the second connecting post and the fourth opening, and between the third connecting post and the sixth opening. The third and fifth openings are each composed of a spherical opening and a conical opening. The second and third dynamic cylinders are both spherical and match the spherical openings. The second and third dynamic cylinders are respectively movably disposed in the adjacent spherical openings.

[0016] In a preferred embodiment: the plurality of magnetic rollers are driven to rotate by a frameless motor, the magnetic chuck three is disposed on the magnetic roller along the arc surface of the magnetic roller, the magnetic roller is attracted to the external magnetic wall surface by the magnetic chuck three, the anti-slip strip for anti-slip of the magnetic roller is detachably sleeved on the magnetic roller, the frameless motor is disposed inside the magnetic roller, the rotor of the frameless motor is connected to the magnetic roller, and the magnetic roller moves on the attracted magnetic wall surface under the action of the frameless motor.

[0017] A method for operating a magnetically suspended flexible wall-climbing robot, the specific operating steps of which are as follows:

[0018] S1, the operator moves the robot to the vicinity of the magnetic wall to be climbed, so that the magnetic wheels are close to the wall and the magnetic wheels are attracted to the external magnetic wall by the magnetic plates.

[0019] S2, the frameless motor drives the magnetic rollers to start moving on the magnetically attached wall surface, and the robot begins to climb the wall. The distance sensor located at the lower end of frame two monitors the distance information between the robot and the wall in real time. When the distance sensor detects a change in the distance on one side, indicating that the robot has a tendency to tilt, it transmits a 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, causing frame two to rotate relative to frame one, so that the robot can move stably.

[0020] S3: When the robot completes its task or needs to stop climbing, a stop command is sent to the frameless motor. The magnetic wheels stop rotating, and the servo motor is controlled to reverse, so that the robot gradually detaches from the magnetic wall and completes one wall-climbing task.

[0021] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0022] 1. The robot of this invention is equipped with two symmetrically distributed dynamic balancing units, in which the distance sensor plays a key role: during the robot's climbing process, when the distance sensor detects a change in the distance between one side and the wall, indicating that the robot is tilting, it will quickly transmit the signal to the servo motor on the same side. After the servo motor starts, its output shaft drives the gear to rotate. The gear interacts with the tooth groove of the adjustment ring, causing the second frame to rotate relative to the first frame. For example, when encountering local unevenness on the wall, causing one side of the robot to lift or sink, this adjustment mechanism can respond quickly. At the same time, the spherical dynamic cylinder one in the joint bearing assembly slides within the limiting ring, and the limiting plate moves within the cavity of the first frame. The shock absorber connected between the opening two on the walls at both ends of the limiting plate and the inner wall of the cavity plays an auxiliary buffering and reset role, realizing 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.

[0023] 2. The overall vehicle structure adopts a suspension design. Through the damping and buffering characteristics of components such as joint bearings and shock absorbers, the main structure becomes flexible. During the robot's movement, each joint can work together to absorb and disperse the stress caused by uneven walls or movement impacts. For example, when the magnetic wheels cross higher obstacles, the suspension mechanism of the two side wheels cooperates with the distributed magnetic plates one and two, so that magnetic plates one and two can move with the magnetic force unchanged, maintain stable adsorption, and avoid falling or detaching due to the weakening of magnetic force caused by crossing. This multi-joint collaborative design ensures the robot's movement stability in complex wall environments, reduces the probability of failure caused by rigid collisions or stress concentration, extends the robot's service life, and reduces maintenance costs.

[0024] 3. The robot possesses intelligent diameter-changing capabilities. It writes pipe diameter information into the main control system through visual feedback and then combines it with information from the bottom anti-fall distance sensor to perform real-time diameter changes. The diameter change is completed in real time by a servo motor combined with angle information. In practical applications, such as when dealing with pipe systems of different diameters, the robot can automatically sense changes 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 adjust the spacing of the magnetic wheels and the distribution of the magnetic units, enabling the robot to closely adhere to the wall surface, maintain stable adsorption, and move effectively. This intelligent diameter-changing function requires no manual intervention, greatly improving work efficiency and reducing the time wastage and cost increases caused by changing to different specifications of robots. It enables the robot to work efficiently in complex systems composed of pipes of various diameters, significantly improving the overall flexibility and adaptability of the operation.

[0025] 4. The robot's magnetic suction unit adopts a unique suspension design. Magnetic suction plate one is dynamically suspended on frame one via connecting component one, and magnetic suction plate two is dynamically suspended on frame two via connecting component two. When encountering welds or surface undulations, such as in pipeline inspection of GIS switches in substations, the magnetic suction plates can automatically adjust their position and angle according to the actual conditions of the wall. The dynamic cylinders in the connecting components (such as the cooperation between dynamic cylinder two in the connecting component of magnetic suction plate one and opening three, connecting column two and opening four, and the cooperation between dynamic cylinder three in the connecting component of magnetic suction plate two and opening five, connecting column three and opening six) can move flexibly within the corresponding openings. Furthermore, the limiting springs between connecting column two and opening four and connecting column three and opening six provide buffering and adaptive adjustment, ensuring that the magnetic suction plates always maintain good contact with the wall surface and that the magnetic attraction does not weaken due to local structural changes. This guarantees a stable adsorption force, allowing the robot to smoothly cross welds and surface undulations, effectively avoiding... Traditional fixed-chassis robots often experience slippage, falls, or detachment due to these obstacles. The distributed magnetic plates 1, 2, and 3 employ a suspension structure design to ensure and maintain the magnetic attraction. The magnetic attraction is not weakened by welds or surface undulations. The suspension allows for forward, backward, left, and right displacement, thus ensuring the permanence of the magnetic force. Throughout the entire operation, whether on vertical or curved walls, the robot maintains a stable adsorption force. For example, in high-altitude pipeline inspection, the stable adsorption force effectively prevents the robot from falling off the wall due to unexpected situations, ensuring the safety of personnel and equipment below the work site and reducing the possibility of accidents.

[0026] 5. The synergistic effect of the robot's dynamic balancing unit and magnetic suction unit enables it to precisely control its posture and trajectory in complex wall environments. The image information captured by the camera, the data from the distance sensor, and the intelligent analysis and control of the main control system allow the robot to perceive the surrounding environment and wall conditions in advance, avoiding collisions with obstacles on the wall (such as accessories on pipes, protruding welds, etc.). This precise control capability is particularly important when working in narrow spaces or dense pipe areas, reducing robot damage and work 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.

[0027] 6. Due to the joint design, the working surface of the robot is significantly widened by the cooperation between the two-sided drive components and the distributed magnetic suction plate one and magnetic suction plate two structures. The working surface of the working vehicle can reach 800mm-1000mm. When working on large-area walls, such as the inspection and maintenance of large tanks or pipeline clusters, the robot can cover a wider area, reducing the number of moves and adjustment time during the operation. For example, when inspecting large oil storage tanks, the wide working surface design allows the robot to inspect a larger area of ​​the tank wall at one time, avoiding the tedious operation of frequent repositioning and path adjustment of traditional narrow working surface robots, further improving work efficiency, and also reducing the errors and risks that may be caused by multiple adjustments, thus improving the quality and reliability of the operation. Attached Figure Description

[0028] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0029] Figure 1 This is a schematic diagram of the overall structure of the robot of the present invention;

[0030] Figure 2 This is a schematic diagram of the internal structure of the robot cavity of the present invention;

[0031] Figure 3 This is a schematic diagram of the drive component structure of the present invention;

[0032] Figure 4 This is a schematic diagram of the robot's bottom structure according to the present invention;

[0033] Figure 5 This is a three-dimensional schematic diagram of a portion of the connecting component of the present invention;

[0034] Figure 6 This is a schematic diagram of the cross-sectional structure of the robot of the present invention;

[0035] Figure 7 This is a cross-sectional front view of a portion of the connecting member of the present invention;

[0036] Figure 8 This is a front view schematic diagram of the two-section structure of the connecting member of the present invention;

[0037] In the diagram: 1. Rack 1; 2. Stand; 3. Camera;

[0038] 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. Protrusion; 43. Magnetic roller; 44. Drive component; 440. Servo motor; 441. Gear; 442. Adjusting ring; 443. Base; 444. Connecting plate; 445. Gear groove; 446. Chassis; 45. Distance sensor; 46. Frameless motor; 47. Anti-slip strip;

[0039] 5. Magnetic suction unit; 50. Magnetic suction piece one; 51. Magnetic suction piece two; 52. Magnetic suction piece three; 53. Connecting component one; 530. Opening three; 531. Opening four; 532. Connecting post two; 533. Dynamic cylinder two; 534. Limiting spring; 54. Connecting component two; 540. Opening five; 541. Opening six; 542. Connecting post three; 543. Dynamic cylinder three. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Please see Figures 1-8 The present invention provides a technical solution: a magnetically suspended flexible wall-climbing robot, comprising...

[0042] A frame 1, with brackets 2 installed at both ends of the frame 1, and cameras 3 installed on both brackets 2;

[0043] Two symmetrically distributed dynamic balancing units 4 are provided. Distance sensors 45 control the dynamic balancing units 4 to adjust their angles. Each dynamic balancing unit 4 includes an opening 40 on both sides of the support 2, a frame 41 on both sides of the frame 1, a joint bearing assembly 42 for connecting the frame 1 and the frame 2 41, two symmetrically distributed magnetic wheels 43 rotating on the frame 2 41, and a drive component 44 for driving the frame 2 41 to rotate. The lower ends of both frames 2 41 are equipped with distance sensors 45 for controlling the dynamic balancing units 4 to adjust their angles.

[0044] And a magnetic suction unit 5, including a magnetic suction piece 1 50, a magnetic suction piece 2 51, a magnetic suction piece 3 52 and a connecting member 1 53. The lower end of the frame 1 is provided with two symmetrically distributed magnetic suction pieces 1 50. At both ends of the magnetic suction pieces 1 50 are two movable and symmetrically distributed magnetic suction pieces 2 51. Each magnetic suction piece 2 51 is movably disposed at the lower end of the frame 2 41. Each magnetic suction piece 2 51 has a magnetic suction piece 3 52 distributed at both ends. The magnetic suction piece 3 52 is mounted on a magnetic suction wheel 43. Multiple magnetic suction pieces 1 50 are dynamically suspended on the frame 1 through the connecting member 1 53. Two magnetic suction pieces 2 51 are dynamically suspended on the frame 2 41 through the connecting member 2 54.

[0045] Before the robot approaches the magnetic wall, the magnetic plates 50, 51, and 52 of the magnetic unit 5 are in their natural state. However, due to their inherent magnetic properties, they already possess adsorption capabilities. When the robot is moved to the vicinity of the magnetic wall to be climbed, the magnetic wheel 43 first approaches the wall. The magnetic plate 52 on the magnetic wheel 43 initially adheres to the wall due to its magnetic attraction. At this time, due to the presence of the connecting component 53 and the connecting component 54, the magnetic plates 50 and 51 can move freely within a certain range. They will move according to the contact between the magnetic wheel 43 and the wall, as well as the local magnetic field characteristics of the wall. The magnetic plate 50 automatically adjusts its position to achieve a preliminary balance and stable adsorption state. Through the opening 3 530, dynamic cylinder 2 533, connecting column 2 532 and limiting spring 534 between the connecting component 1 53 and the opening 4 531, the magnetic plate 50 can swing and extend to a certain extent at the lower end of the frame 1, so that the magnetic plate 50 can better fit the magnetic field distribution of the wall and enhance the overall adsorption force. Similarly, the magnetic plate 2 51 at the lower end of the frame 2 41 can make similar adaptive adjustments through the opening 540, dynamic cylinder 3 543, connecting column 3 542 and the corresponding limiting spring 534 of the connecting component 2 54.

[0046] The spherical bearing assembly 42 includes 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 disposed in the limiting ring 420. The 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. The frame 1 has a cavity 425. The limiting plate 424 is movably disposed in the cavity 425. The fixing ring 423 is installed at the end of the connecting column 422 away from the limiting plate 424. The fixing ring 423 is installed in the frame 2 41.

[0047] The dynamic cylinder 421 is spherical. Each of the two end walls of the limiting plate 424 has an opening 426. Each opening 426 is connected to the inner wall of the cavity 425 by a shock absorber 427. The middle section of the limiting plate 424 is arc-shaped. Two symmetrically distributed protrusions 428 are installed on the frame 1. One end of the two protrusions 428 protrudes into 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.

[0048] The driving component 44 includes a servo motor 440, a gear 441, and an adjusting ring 442. A base 443 is mounted on the upper end of the frame 41 by a fastening bolt. The servo motor 440 is mounted on the base 443. The output shaft of one end of the servo motor 440 is fixedly connected to the gear 441. A connecting plate 444 is mounted on the side wall of the frame 1 by a fastening bolt. An adjusting ring 442 is fixedly connected to the upper end of the connecting plate 444. The adjusting ring 442 has a toothed groove 445. The number of toothed grooves 445 is several, and the toothed grooves 445 match the gear 441.

[0049] The distance sensor 45 on the same side is electrically connected to the servo motor 440. The servo motor 440 is provided with a housing 446, which is mounted on the frame 41.

[0050] The connecting component 53 includes an opening 3 530, an opening 4 531, a connecting post 2 532, and a dynamic cylinder 2 533. Several openings 3 530 are evenly distributed on each of the multiple magnetic plates 50. The dynamic cylinder 2 533 is movably disposed in the opening 3 530. The upper end of the dynamic cylinder 2 533 is fixedly connected to the connecting post 2 532. The upper end of the connecting post 2 532 passes through the opening 4 531 and is slidably connected to the opening 4 531. The opening 4 531 is opened at the lower end of the frame 1, and the opening 4 531 corresponds to the position of the opening 3 530.

[0051] The connecting component 2 54 includes an opening 540, an opening 6 541, a connecting post 3 542, and a dynamic cylinder 3 543. Several openings 540 are evenly distributed on each of the multiple magnetic plates 2 51. The dynamic cylinder 3 543 is movably disposed within each opening 540. The upper end of the dynamic cylinder 3 543 is fixedly connected to the connecting post 3 542. The upper end of the connecting post 3 542 passes through the opening 6 541 and is slidably connected to the opening 6 541. The opening 6 541 is located at the lower end of the frame 2 41, and the positions of the opening 6 541 and the opening 540 are corresponding.

[0052] Limiting springs 534 are provided between the second connecting post 532 and the fourth opening 531, and between the third connecting post 542 and the sixth opening 541. The third opening 530 and the fifth opening 540 are each 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 disposed in the adjacent spherical opening.

[0053] As the robot begins to climb the wall, the frameless motor 46 drives the magnetic roller 43 to rotate. During this process, the magnetic unit 5 continues to function to maintain stable adhesion. Due to the possibility of unevenness or curvature changes on the wall, the magnetic plates 1 50, 2 51, and 3 52 will work together continuously. When the robot passes over a protruding part of the wall, the distance between the magnetic roller 43 and the wall may decrease instantaneously. At this time, under the action of the connecting component 2 54, the magnetic plate 2 51 will move slightly upward and adjust its angle through the movement of the dynamic cylinder 3 543 within the opening 540 and the extension and retraction of the limiting spring 534 between the connecting column 3 542 and the opening 6 541. This makes the adhesion force of the magnetic plate 3 52 on the magnetic roller 43 more evenly distributed, preventing unstable adhesion or robot posture imbalance due to excessive local pressure. At the same time, the magnetic plate 1 50 will also make corresponding fine adjustments through the connecting component 1 53 according to the overall force situation to balance the force on the robot in the direction perpendicular to the wall.

[0054] Multiple magnetic rollers 43 are driven to rotate by a frameless motor 46. The magnetic suction plate 52 is arranged on the magnetic roller 43 along the arc surface of the magnetic roller 43. The magnetic roller 43 is attracted to the external magnetic wall surface by the magnetic suction plate 52. The anti-slip strip 47 for anti-slip of the magnetic roller 43 is detachably sleeved on the magnetic roller 43. The frameless motor 46 is arranged inside the magnetic roller 43. The rotor of the frameless motor 46 is connected to the magnetic roller 43. The magnetic roller 43 moves on the attracted magnetic wall surface under the action of the frameless motor 46.

[0055] When the robot encounters a wall depression or a change in curvature, the distance between the magnetic roller 43 and the wall will increase in some areas. The magnetic plate 2 51 will move downward and change its angle under the action of gravity and spring tension, so that the magnetic plate 3 52 can better fit the wall and maintain the adsorption force. The magnetic plate 1 50 will also make adaptive adjustments to ensure that the adsorption force between the entire magnetic unit 5 and the wall is always within a stable and effective range, thereby ensuring that the robot can move smoothly on the wall without falling off.

[0056] When the robot completes its task or needs to stop climbing and detach from the magnetic wall, the frameless motor 46 usually stops driving the magnetic wheel 43, causing the magnetic wheel 43 to stop rotating. Then, by controlling the drive component 44, such as the servo motor 440, to reverse and drive the gear 441 and the adjusting ring 442, the frame 41 rotates, changing the robot's posture and causing the magnetic wheel 43 to gradually separate from the wall. During this process, the magnetic plates of the magnetic unit 5 will naturally detach from the adsorption state as the distance between the magnetic wheel 43 and the wall increases. Magnetic plate 50 returns to its initial relative position under the action of the limiting spring 534 of the connecting component 53, and magnetic plate 51 also returns to its initial state under the similar action of the connecting component 54, ready for the next adsorption operation, whether it is a cylindrical pipe or other... The robot performs exceptionally well on curved walls. When climbing cylindrical pipes, the magnetic roller 43 is driven by the frameless motor 46 to roll on the wall. The magnetic suction plate 52 on the magnetic roller 43 is set along the arc surface and works in conjunction with the magnetic suction plate 50 and the magnetic suction plate 51. When the curvature of the wall changes, such as transitioning from a straight section of the cylinder to a curved section, the relative positions of the magnetic suction plates 50, 50, and 51 will automatically adjust. The magnetic suction plate 50 can swing and extend at the lower end of the frame 1 via the connecting component 53, while the magnetic suction plate 51 changes accordingly at the lower end of the frame 2 41. This allows the entire magnetic suction unit 5 to closely conform to the curvature of the wall, ensuring stable adsorption and flexible movement of the robot. This greatly expands the application scenarios of the robot and represents a qualitative leap compared to traditional fixed-structure robots that can only operate on walls with specific curvatures.

[0057] A method for operating a magnetically suspended flexible wall-climbing robot, the specific operating steps of which are as follows:

[0058] S1, the operator moves the robot to the vicinity of the magnetic wall to be climbed, so that the magnetic wheel 43 is close to the wall and the magnetic wheel 43 is attracted to the external magnetic wall by the magnetic plate 52.

[0059] S2, the frameless motor 46 drives the magnetic roller 43 to move on the magnetically attached wall surface, and the robot begins to climb the wall. The distance sensor 45 located at the lower end of the frame 2 41 monitors the distance information between the robot and the wall in real time. When the distance sensor 45 detects a change in the distance on one side, indicating that the robot has a tendency to tilt, it transmits a signal 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 adjusting ring 442, so that the frame 2 41 rotates relative to the frame 1, enabling the robot to move stably. Through the cooperation of the joint bearing assembly 42, especially the sliding of the dynamic cylinder 1 421 in the limiting ring 420 and the movement of the limiting plate 424 in the cavity 425, the shock absorber 427 plays a certain auxiliary buffering and reset role, realizing the dynamic adjustment of the robot's posture to maintain balance and ensure that the robot can always maintain a 10mm gap and move stably on the wall.

[0060] 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 detaches from the magnetic wall and completes one wall climbing task.

[0061] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A magnetically suspended flexible wall-climbing robot, characterized in that: Includes a frame (1), with brackets (2) installed at both ends of the frame (1), and cameras (3) installed on both brackets (2); Two symmetrically distributed dynamic balancing units (4) are provided. The dynamic balancing unit (4) includes an opening 1 (40) on both sides of the support (2), a frame 2 (41) 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 drive component (44) for driving the frame 2 (41) to rotate. The lower ends of the two frames 2 (41) are equipped with distance sensors (45) for controlling the angle adjustment of the dynamic balancing unit (4). And a magnetic suction unit (5), including magnetic suction plate one (50), magnetic suction plate two (51), magnetic suction plate three (52) and connecting member one (53). The lower end of the frame one (1) is provided with two symmetrically distributed magnetic suction plates one (50), and two movable magnetic suction plates two (51) are provided at both ends of the magnetic suction plates one (50). Each magnetic suction plate two (51) is movably provided at the lower end of the frame two (41). Each magnetic suction plate two (51) has magnetic suction plates three (52) distributed at both ends. The magnetic suction plates three (52) are installed on the magnetic suction wheel (43). Multiple magnetic suction plates one (50) are dynamically suspended on the frame one (1) through the connecting member one (53), and two magnetic suction plates two (51) are dynamically suspended on the frame two (41) through the connecting member two (54). The joint bearing assembly (42) includes a limiting ring (420), a dynamic cylinder (421), a connecting column (422), a fixing ring (423), and a limiting plate (424); each of the limiting plates (424) has an opening (426) on both end walls, and each opening (426) is connected to a shock absorber (427) between it and the inner wall of the cavity (425); the middle section of the limiting plate (424) is arc-shaped. Multiple magnetic absorbing pieces (50) are slidably connected to the lower end of frame one (1) through connecting post two (532) and dynamic cylinder two (533) in connecting member one (53), and multiple magnetic absorbing pieces (51) are slidably connected to the lower end of frame two (41) through connecting post three (542) and dynamic cylinder three (543) in connecting member two (54).

2. The magnetically suspended flexible wall-climbing robot according to claim 1, characterized in that: The limiting ring (420) is installed in the opening one (40), the dynamic cylinder one (421) is slidably disposed in the limiting ring (420), the center position of the dynamic cylinder one (421) is fixedly installed with the connecting column one (422), one end of the connecting column one (422) is fixedly connected to the limiting plate (424), the frame one (1) is provided with a cavity (425), the limiting plate (424) is movably disposed in the cavity (425), the end of the connecting column one (422) away from the limiting plate (424) is installed with a fixing ring (423), the fixing ring (423) is installed in the frame two (41).

3. The magnetically suspended flexible wall-climbing robot according to claim 2, characterized in that: The dynamic cylinder (421) is spherical, and two symmetrically distributed protrusions (428) are installed on the frame (1). One end of the two protrusions (428) protrudes into 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) includes a servo motor (440), a gear (441), and an adjusting ring (442). A base (443) is installed on the upper end of the frame two (41) by fastening bolt one. The servo motor (440) is installed on the base (443). The output shaft of one end of the servo motor (440) is fixedly connected to the gear (441). A connecting plate (444) is installed on the side wall of the frame one (1) by fastening bolt two. An adjusting ring (442) is fixedly connected to the upper end of the connecting plate (444). A tooth groove (445) is opened in the adjusting ring (442). The number of tooth grooves (445) is several. 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 the servo motor (440), and the servo motor (440) is provided with a chassis (446), which is mounted on the second frame (41).

6. The magnetically suspended flexible wall-climbing robot according to claim 1, characterized in that: The connecting component 1 (53) further includes an opening 3 (530) and an opening 4 (531). Several openings 3 (530) are evenly distributed on each of the multiple magnetic suction plates 1 (50). A dynamic cylinder 2 (533) is movably disposed inside the opening 3 (530). A connecting column 2 (532) is fixedly connected to the upper end of the dynamic cylinder 2 (533). The upper end of the connecting column 2 (532) passes through the opening 4 (531) and is slidably connected to the opening 4 (531). The opening 4 (531) is located at the lower end of the frame 1 (1), and the opening 4 (531) corresponds to the opening 3 (530).

7. The magnetically suspended flexible wall-climbing robot according to claim 6, characterized in that: The connecting component two (54) also includes an opening five (540) and an opening six (541). Several openings five (540) are evenly distributed on each of the multiple magnetic suction plates two (51). A dynamic cylinder three (543) is movably installed inside the opening five (540). A connecting column three (542) is fixedly connected to the upper end of the dynamic cylinder three (543). The upper end of the connecting column three (542) passes through the opening six (541) and is slidably connected to the opening six (541). The opening six (541) is opened at the lower end of the frame two (41), and the positions of the opening six (541) and the opening five (540) are corresponding.

8. The magnetically suspended flexible wall-climbing robot according to claim 7, characterized in that: Limiting springs (534) are provided between the second connecting post (532) and the fourth opening (531) and between the third connecting post (542) and the sixth opening (541). The third opening (530) and the fifth opening (540) are each 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 disposed in the adjacent spherical opening.

9. A magnetically suspended flexible wall-climbing robot according to claim 1, characterized in that: Multiple magnetic rollers (43) are driven to rotate by a frameless motor (46). The magnetic plate three (52) is set on the magnetic roller (43) along the arc surface of the magnetic roller (43). The magnetic roller (43) is attracted to the external magnetic wall surface by the magnetic plate three (52). The anti-slip strip (47) for anti-slip of the magnetic roller (43) is detachably sleeved on the magnetic roller (43). The stator of the frameless motor (46) is set inside the magnetic roller (43). The rotor of the frameless motor (46) is connected to the magnetic roller (43). The magnetic roller (43) moves on the attracted magnetic wall surface under the action of the frameless motor (46).

10. A method for operating a magnetically suspended flexible wall-climbing robot according to any one of claims 1-9, characterized in that: The specific operating steps are as follows: S1, the operator moves the robot to the vicinity of the magnetic wall to be climbed, so that the magnetic wheel (43) is close to the wall and the magnetic wheel (43) is attracted to the external magnetic wall through the magnetic plate three (52); S2, the frameless motor (46) drives the magnetic roller (43) to start moving on the magnetically attached wall surface, and the robot starts climbing the wall. The distance sensor (45) located at the lower end of the frame two (41) monitors the distance information between the robot and the wall in real time. When the distance sensor (45) detects a change in the distance on one side, indicating that the robot has a tendency to tilt, it transmits the signal 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 two (41) rotates relative to the frame one (1), enabling the robot to 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 reversed to make the robot gradually detach from the magnetic wall and complete a wall climbing task.

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