Climbing robot with self-adaptive plane transition capability

Abstract

The invention discloses a climbing robot with self-adaptive plane transition capability, and relates to the technical field of climbing robots, the climbing robot comprises a robot base, a steering motor is fixed on the front side of the robot base, a magnetic self-adaptive front wheel is fixed on an output shaft of the steering motor, and a magnetic self-adaptive rear wheel is fixed on the rear side of the robot base; according to the magnetic force self-adaptive robot, the design of double wheels in the front-back layout is adopted, cooperative driving of the front wheels and the rear wheels is achieved, so that the robot is endowed with strong power, steering control is achieved through the steering motor, and the magnetic force self-adaptive front wheels and the magnetic force self-adaptive rear wheels are provided with magnetic force mechanisms capable of self-adapting to different crawling surfaces; the robot can adjust magnetic force distribution according to surface conditions, can adapt to inner angles and curved surfaces within a certain range, is easy and convenient to operate, has the capacity of rapidly moving and rapidly and reliably transitioning the inner angles and the outer angles, has excellent load performance and can efficiently work on narrow and complex structure surfaces.

Description

Technical Field

[0001] The invention relates to the technical field of climbing robots, and in particular to a climbing robot with adaptive plane transition capability. Background Art

[0002] Magnetic adsorption climbing robots usually have the characteristics of fast movement speed and strong load capacity. They are often used for crawling operations on steel surfaces, such as viaducts, containers, color steel tile buildings, wind power towers, etc. However, since the working environment structure is usually complex, the climbing robot is required to have good environmental adaptability. Wheeled climbing robots are convenient for meeting the working requirements of contact detection and close-range detection, and have the characteristics of high stability, low energy consumption, small required movement space and easy control. However, existing wheeled climbing robots face many challenges in overcoming obstacles. These challenges include slow speed or the need for manual intervention, which makes operation complicated and inefficient in complex structural environments.

[0003] The existing invention patent with publication number CN117429526B discloses a high-maneuverability wheeled climbing robot, including a base, a magnetic wheel module rotatably installed on the left and right sides of the base, a tail wheel module movably installed on the rear side of the base and movably retractable into the base relative to the base, an inner angle transition auxiliary mechanism installed on the rear side of the base, and a motion auxiliary wheel rotatably installed on the front side of the base, wherein the magnetic wheel module includes a drive motor and a magnetic wheel connected to the output shaft of the drive motor.

[0004] The above-mentioned invention patent realizes the transition between inner and outer angles by controlling the expansion and storage of the tail wheel module. However, in scenarios where the inner angles are continuously or frequently transitioned, such as container corrugated plates, it is necessary to continuously control the storage and expansion of the tail wheel, resulting in low work efficiency and not convenient for widespread promotion and application. Therefore, the present invention proposes a climbing robot with adaptive plane transition capability to solve the problems existing in the prior art. Summary of the invention

[0005] In view of the above problems, the purpose of the present invention is to propose a climbing robot with adaptive plane transition capability to solve the problems that existing wheeled climbing robots are slow, require constant intervention from workers, and are complex and inefficient to operate in complex structural environments.

[0006] In order to achieve the purpose of the present invention, the present invention is implemented by the following technical solutions: a climbing robot with adaptive plane transition capability, comprising a robot base, a steering motor is fixed to the front side of the robot base, a magnetic adaptive front wheel is fixed to the output shaft of the steering motor, and a magnetic adaptive rear wheel is fixed to the rear side of the robot base;

[0007] The magnetic adaptive front wheel comprises a front wheel shaft fixed to the output shaft of the steering motor and a front wheel motor fixed to the front wheel shaft, a first front wheel bearing is symmetrically arranged on the front wheel shaft and a front wheel inner hub and a front wheel outer hub are respectively rotatably connected via the first front wheel bearing, an output shaft of the front wheel motor is fixedly connected to the front wheel inner hub and the front wheel outer hub via a front coupling, an adaptive feeler is rotatably connected between the front wheel inner hub and the front wheel outer hub via a second front wheel bearing, a front wheel magnetic ring is fixed to the side of the adaptive feeler close to the front wheel inner hub, and front wheel rubbers are fixed to the front wheel inner hub and the front wheel outer hub;

[0008] The magnetic adaptive rear wheel comprises a rear wheel shaft fixed to the bottom end of the robot base and a rear wheel motor fixed to the rear wheel shaft, the rear wheel shaft is symmetrically provided with rear wheel bearings and is rotatably connected to a rear wheel inner hub and a rear wheel outer hub via the rear wheel bearings, the output shaft of the rear wheel motor is fixedly connected to the rear wheel inner hub and the rear wheel outer hub via a rear coupling, a rear wheel magnetic ring is provided between the rear wheel inner hub and the rear wheel outer hub, and rear wheel rubbers are fixed to both the rear wheel inner hub and the rear wheel outer hub.

[0009] A further improvement is that the front wheel magnetic ring adopts a radial magnetization method, the magnetization direction of the front wheel magnetic ring passes through the center of the circle O1 where the contact surface of the adaptive feeler arc is located and the center O of the front wheel rubber at the same time, and the outer diameter R2 of the front wheel magnetic ring is smaller than the outer diameter R of the front wheel rubber.

[0010] A further improvement is that: an arc-shaped contact surface with a radius of R1 is provided on the adaptive feeler, and a circle O1 where the arc-shaped contact surface on the adaptive feeler is located is tangent to the outer diameter of the front wheel rubber with a radius of R.

[0011] A further improvement is that the outer circle of the front wheel rubber is located at the coordinate point (R, R), the radius is R, and any point (x, y) on the outer circumference of the rubber satisfies the following equation:

[0012] (xR) 2 +(yR) 2 =R 2 .

[0013] A further improvement is that the radius R1 of the arc-shaped contact surface of the adaptive feeler satisfies the following equation:

[0014]

[0015] A further improvement is that the rear wheel magnetic ring adopts an axial magnetization magnetization method, the rear wheel magnetic ring cooperates with the gap between the rear wheel inner hub and the rear wheel outer hub, and the inner radius r1 of the rear wheel magnetic ring is larger than the axial radius r2 of the rear wheel inner hub, the rear wheel outer hub and the rear wheel magnetic ring.

[0016] A further improvement is that when magnetic force is generated between the rear wheel magnetic ring and a single plane, the minimum air gap d between the outer ring of the rear wheel magnetic ring and the plane is:

[0017] d=R2-r1+r2-r

[0018] Among them, r is the outer radius of the rear wheel magnetic ring, R2 is the outer radius of the rear wheel rubber, and the adsorption force of the magnetic adaptive rear wheel on the plane is:

[0019] F M (d)≥F k

[0020] Among them, F M (x) is a decreasing function of the magnetic management air gap size, F k The magnetic force required for the magnetic adaptive rear wheel.

[0021] A further improvement is that when magnetic force is generated between the rear wheel magnetic ring and the two planes, the minimum air gap d1 between the outer ring of the rear wheel magnetic ring and the plane is:

[0022]

[0023] Where θ is the internal angle, and the difference Δd between d1 and d is:

[0024]

[0025] Among them, Δd>d.

[0026] The beneficial effects of the present invention are as follows: the magnetic force of the magnetic adaptive front wheel of the present invention can automatically adjust the magnetic force according to the characteristics of the robot's crawling structure. On planes, curved surfaces and outer corners, the magnetic ring of the front wheel adopts a radial magnetization method, and the magnetization direction will always be toward the position closest to the adsorption surface, so that the magnetic adaptive front wheel always maintains a strong adsorption force. At the inner corner, the magnetic magnetization direction can be transferred from the original adsorption plane to another plane pointing to the inner corner with the help of adaptive tentacles, reducing the adsorption force of the magnetic wheel on the original adsorption surface while increasing the adsorption force on the next plane of the inner corner, ensuring that when transitioning the inner corner, it can easily transition from one plane of the inner corner to another plane while having a safe and reliable adsorption force. This design can reduce the driving force of the robot when transitioning the inner corner, and can have a large load capacity;

[0027] The rear wheel magnetic ring and the rear wheel hub are fitted with a clearance fit, so the rear wheel magnetic ring can float radially relative to the rear wheel hub. The magnetic adaptive rear wheel can maintain a large magnetic force in a single plane, and can automatically reduce the magnetic force when transitioning the inner angle. The smaller the inner angle, the more the magnetic force is reduced, so that the robot's magnetic force can adapt to the transition of inner angles of various angles, ensuring the safety of the magnetic ring crawling on the plane while greatly reducing the driving torque.

[0028] In addition, the robot is installed in a front-to-back layout with magnetic adaptive front wheels and magnetic adaptive rear wheels, so that the front and rear wheels of the robot can automatically adjust magnetically according to the crawling structure. Since the robot crawls on a flat surface, it does not require additional operations when transitioning between inner and outer corners, making the robot's transition between inner and outer corners very simple and fast. It is particularly suitable for use in some scenarios that require continuous transition between inner and outer corners. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the three-dimensional structure of the climbing robot with adaptive plane transition capability of the present invention;

[0030] Figure 2 is a schematic diagram of the magnetic adaptive front wheel structure of the present invention;

[0031] Figure 3 It is a schematic diagram of the working principle of the adaptive antenna of the present invention;

[0032] Figure 4 is a schematic diagram of the positional relationship between the adaptive feeler and the front wheel rubber of the present invention;

[0033] Figure 5 It is a schematic diagram of the magnetic adaptive front wheel transitioning a ninety-degree inner angle of the present invention;

[0034] Figure 6 is a schematic diagram of the magnetic adaptive front wheel transitioning to various internal angles of the present invention;

[0035] Figure 7 is a schematic diagram of the magnetic adaptive rear wheel structure of the present invention;

[0036] Figure 8 is a schematic diagram of the working principle of the magnetic adaptive rear wheel of the present invention;

[0037] Fig. 9 is a schematic diagram of the transition inner angle of the climbing robot with adaptive plane transition capability of the present invention;

[0038] Fig.10 It is a schematic diagram of a climbing robot with adaptive plane transition capability crawling on a corrugated plate surface according to the present invention.

[0039] Among them: 1. Robot base; 2. Steering motor; 3. Magnetic adaptive front wheel; 301. Front wheel shaft; 302. Front wheel motor; 303. First front wheel bearing; 304. Front wheel inner hub; 305. Front wheel outer hub; 306. Front coupling; 307. Second front wheel bearing; 308. Adaptive feeler; 309. Front wheel magnetic ring; 310. Front wheel rubber; 4. Magnetic adaptive rear wheel; 401. Rear wheel shaft; 402. Rear wheel motor; 403. Rear wheel bearing; 404. Rear wheel inner hub; 405. Rear wheel outer hub; 406. Rear coupling; 407. Rear wheel magnetic ring; 408. Rear wheel rubber. DETAILED DESCRIPTION

[0040] 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.

[0041] Robots generally refer to machine devices that can perform tasks automatically. They can be simple robotic arms used to perform specific tasks repeatedly in factories, or they can be complex autonomous systems such as self-driving cars or probes exploring other planets. Robots can be designed to mimic the appearance and behavior of humans or other creatures, or they can be completely non-humanoid, depending on their function and purpose.

[0042] A climbing robot is a special type of robot designed to climb and move on vertical surfaces, walls, tree trunks, pipes, or other hard-to-reach places. Such robots are usually equipped with special attachment mechanisms such as suction cups, claws, magnets, or sticky materials that enable them to climb stably on various surfaces.

[0043] Based on the findings in the prior art, most of the existing climbing robots have the problem of being slow and relying on continuous human intervention, which makes it inconvenient to work in environments with complex structures.

[0044] In view of the problems existing in the above-mentioned prior art, according to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 As shown, this embodiment provides a climbing robot with adaptive plane transition capability, such as Figure 1As shown, it includes a robot base 1, a steering motor 2, a magnetic adaptive front wheel 3 and a magnetic adaptive rear wheel 4, wherein the steering motor 2 is fixed to the front side of the robot base 1 by bolts, the output shaft of the steering motor 2 is fixed with the magnetic adaptive front wheel 3 by bolts, and the rear side of the robot base 1 is fixed with the magnetic adaptive rear wheel 4 by bolts, wherein a cavity for accommodating a controller module, a battery module and a motor driver module is provided in the robot base 1, and a cover body is detachably installed on the robot base 1 to facilitate maintenance of the inside of the robot base 1, and the controller module, the battery module and the motor driver module are placed inside the robot base 1, so that the internal components of the robot are not easy to collide with the external environment and hinder movement, in this embodiment, the magnetic adaptive front wheel 3 and the magnetic adaptive rear wheel 4 adopt a double-wheel installation design with a front-to-back layout to realize the coordinated drive of the two wheels, thereby giving the climbing robot with adaptive plane transition capability a strong power, and realizing steering control through the steering motor 2, so that the climbing robot with adaptive plane transition capability can adapt to inner angles and curved surfaces within a certain range, and is easy to operate;

[0045] like Figure 2 As shown, the magnetic adaptive front wheel 3 includes a front wheel shaft 301 and a front wheel motor 302, wherein the front wheel shaft 301 is fixed to the output shaft of the steering motor 2 by bolts, the front wheel motor 302 is fixed to the front wheel shaft 301 by bolts, two groups of first front wheel bearings 303 are symmetrically arranged on the front wheel shaft 301, and the front wheel shaft 301 is rotatably connected to the front wheel inner hub 304 and the front wheel outer hub 305 through the two groups of first front wheel bearings 303, the output shaft of the front wheel motor 302 is connected to the front coupling 306, and is fixedly connected to the front wheel inner hub 304 and the front wheel outer hub 305 through the front coupling 306, a second front wheel bearing 307 is arranged between the front wheel inner hub 304 and the front wheel outer hub 305, and is connected to the front wheel inner hub 304 and the front wheel outer hub 305 through the second front wheel The bearing 307 is rotatably connected with an adaptive feeler 308 located between the front wheel inner hub 304 and the front wheel outer hub 305. A front wheel magnetic ring 309 is fixed to the side of the adaptive feeler 308 close to the front wheel inner hub 304. Front wheel rubber 310 is fixed to both the front wheel inner hub 304 and the front wheel outer hub 305. In this embodiment, the front wheel inner hub 304 and the front wheel outer hub 305 are fixedly assembled together to form a front wheel hub. The front wheel motor 302 transmits power through the front wheel coupling 306 to drive the front wheel hub to rotate, providing power for the magnetic adaptive front wheel 3. The magnetic adaptive front wheel 3 can adapt to structures such as inner angles and curved surfaces according to the robot's crawling requirements, realize automatic magnetic adjustment when crossing inner angles, and maintain a large magnetic force at planes and outer angles.

[0046] like Figure 7As shown, the magnetic adaptive rear wheel 4 includes a rear wheel shaft 401 and a rear wheel motor 402, wherein the rear wheel shaft 401 is fixed to the rear side of the bottom end of the robot base 1 by bolts, and the rear wheel motor 402 is fixed to the rear wheel shaft 401 by bolts, and two groups of rear wheel bearings 403 are symmetrically arranged on the rear wheel shaft 401, and the rear wheel inner hub 404 and the rear wheel outer hub 405 are respectively rotatably connected through the two groups of rear wheel bearings 403, and the output shaft of the rear wheel motor 402 is connected to the rear coupling 406, and is fixedly connected to the rear wheel inner hub 404 and the rear wheel outer hub 405 through the rear coupling 406, and the rear wheel inner hub 404 and the rear wheel outer hub 405 are connected. A rear wheel magnetic ring 407 is provided between the outer wheel hubs 405, and rear wheel rubbers 408 are fixed on the rear wheel inner hub 404 and the rear wheel outer hub 405. The rear wheel inner hub 404 and the rear wheel outer hub 405 are fixedly assembled together to form a rear wheel hub, which is in an I-shaped design, with large diameters on both sides and a small diameter in the middle. The rear wheel motor 402 transmits power through the rear wheel coupling 406 to drive the rear wheel hub to rotate, thereby providing power for the magnetic adaptive rear wheel 4. The magnetic adaptive rear wheel 4 allows the magnetic wheel to maintain the maximum magnetic force in a single plane, and automatically reduces the magnetic force when transitioning to an inner corner, so that the robot can easily cross the inner corner while ensuring the safety of the plane.

[0047] like Figure 3 As shown, the front wheel magnetic ring 309 adopts a radial magnetization magnetization method. The magnetization direction of the front wheel magnetic ring 309 passes through the center of the circle O1 where the arc-shaped contact surface of the adaptive feeler 308 is located and the center O of the front wheel rubber 310. The outer diameter R2 of the front wheel magnetic ring 309 is smaller than the outer diameter R of the front wheel rubber 310. The front wheel magnetic ring 309 does not directly contact the plane 1. The torque that the front wheel magnetic ring 309 needs to overcome when rotating is very small. The magnetic force of the front wheel magnetic ring 309 at both ends of the magnetization direction is large, and the magnetic force on both sides is small.

[0048] An arcuate contact surface with a radius of R1 is provided on the adaptive feeler 308. The circle O1 where the arcuate contact surface on the adaptive feeler 308 is located is tangent to the outer diameter of the front wheel rubber 310 with a radius of R, and R1>R. The arcuate contact surface of the adaptive feeler 308 is located in front of the contact point between the front wheel rubber 310 and the crawling plane.

[0049] like Figure 3 As shown, the outer wheel center of the front wheel rubber 310 is located at the coordinate point (R, R), with a radius of R. Any point (x, y) on the outer circumference of the rubber satisfies the following equation:

[0050] (xR) 2 +(yR) 2 =R 2

[0051] The arc-shaped contact surface of the adaptive antenna 308 is located on the circumference of the circle O1, and the radius R1 of the arc-shaped contact surface of the adaptive antenna 308 satisfies the following equation:

[0052]

[0053] The contact force F generated by the contact between the arc contact surface and the contact surface N It always passes through the center of circle O1. Since the arc contact surface is located in front of the contact point A between the rubber and plane one, the torque generated by the contact force generated at any position of the arc contact surface always causes the adaptive feeler 308 to rotate in a direction away from plane one.

[0054] like Figure 5 As shown in the figure, it is the process of the climbing robot with adaptive plane transition capability in this embodiment climbing over plane 1 of the inner corner to plane 2 of the inner corner. When the magnetic adaptive front wheel 3 is located at plane 1, since the front wheel magnetic ring 309 is radially magnetized and the adaptive feeler 308 is fixed together with the front wheel magnetic ring 309, it can rotate freely around the wheel hub. When it is far away from the inner corner, the radial magnet always faces plane 1 with the side with strong magnetic force, so that the magnetic adaptive front wheel 3 always maintains a strong attraction when moving in the plane.

[0055] As the magnetic adaptive front wheel 3 approaches the plane 2, the adaptive feeler 308 and the front wheel magnetic ring 309 rotate counterclockwise, the adsorption force between the front wheel magnetic ring 309 and the plane 1 gradually decreases, and the adsorption force between the front wheel magnetic ring 309 and the plane 2 gradually increases. When the front wheel rubber 310 contacts the plane 2, the adsorption force between the radial magnet and the plane 1 is much smaller than the adsorption force between the radial magnet and the plane 2. Therefore, the magnetic adaptive front wheel 3 can easily peel off the plane 1 and achieve the crossing of the inner angle. This process requires very little torque from the motor.

[0056] like Figure 6 As shown, the magnetic adaptive front wheel 3 can not only adapt to the inner angle of 90°, but also complete the magnetic adjustment for inner angles of various sizes, so that the magnetic adaptive front wheel 3 can easily complete the transition of the inner angle.

[0057] The rear wheel magnetic ring 407 adopts an axial magnetization magnetization method. The magnitude of the magnetic force is equal at any position on the circumference of the rear wheel magnetic ring 407. The rear wheel magnetic ring 407 is matched with the gap between the rear wheel inner hub 404 and the rear wheel outer hub 405. The inner radius r1 of the rear wheel magnetic ring 407 is larger than the axial radius r2 of the rear wheel inner hub 404 and the rear wheel outer hub 405 and the rear wheel magnetic ring 407. The rear wheel magnetic ring 407 can float radially while freely rotating around the rear wheel inner hub 404 and the rear wheel outer hub 405.

[0058] When the climbing robot with adaptive plane transition capability of this embodiment moves on a plane, since magnetic force is generated between only a single plane and the rear wheel magnetic ring 407, the rear wheel magnetic ring 407 is attracted by the plane and maintains a minimum distance from the plane. At this time, the minimum air gap d between the outer ring of the rear wheel magnetic ring 407 and the plane is:

[0059] d=R2-r1+r2-r

[0060] Wherein, r is the outer radius of the rear wheel magnetic ring 407, and R2 is the outer radius of the rear wheel rubber 408. In order to ensure that the magnetic adaptive rear wheel 4 maintains a safe and reliable adsorption force on the plane, the adsorption force of the magnetic adaptive rear wheel 4 on the plane satisfies:

[0061] F M (d)≥F k

[0062] Among them, F M (x) is a decreasing function of the magnetic management air gap size, F k The magnetic force required for the magnetic adaptive rear wheel 4.

[0063] When the climbing robot with adaptive plane transition capability of this embodiment transitions the inner angle, since the rear wheel magnetic ring 407 is simultaneously subjected to the magnetic force between the two planes, the positional relationship between the two planes constituting the inner angle and the rear wheel magnetic ring 407 is consistent at this time, so the interaction force between the rear wheel magnetic ring 407 and the two planes is the same, and the minimum gap between the outer ring of the rear wheel magnetic ring 407 and the outer ring of the rear wheel rubber 408 appears on the angle bisector of the inner angle, and the minimum air gap d1 between the outer ring of the rear wheel magnetic ring 407 and the two planes is:

[0064]

[0065] Where θ is the internal angle, and the difference Δd between d1 and d is:

[0066]

[0067] Therefore, the magnetic force of the magnetic adaptive rear wheel 4 at the inner corner is smaller than the magnetic force on the plane, so that Δd>d, and the magnetic force of the magnetic adaptive rear wheel 4 has a significant decrease at the inner corner.

[0068] like Fig. 9 As shown, when the climbing robot with adaptive plane transition capability is transitioning the inner corner, the magnetic adaptive front wheel 3 and the magnetic adaptive rear wheel 4 are driven to rotate. When the climbing robot continues to approach the inner corner, the adaptive feeler 308 touches the plane 2 of the inner corner, and the adaptive feeler 308 drives the front wheel magnetic ring 309 to rotate together. The adsorption force of the magnetic adaptive front wheel 3 on the plane 1 is reduced, and the adsorption force on the plane 2 is increased. The magnetic adaptive front wheel 3 crosses the inner corner, and the magnetic adaptive rear wheel 4 continues to approach the inner corner. The adsorption force of the magnetic adaptive rear wheel 4 is reduced. Driven by the front wheel motor 302 and the rear wheel motor 402, the magnetic adaptive rear wheel 4 completes the transition of the inner corner, as shown in FIG. Fig.10 As shown, the climbing robot with adaptive plane transition capability moves on the corrugated plate and continuously completes the crossing of the inner corners.

[0069] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A climbing robot with adaptive plane transition capability, comprising a robot base (1), characterized in that: A steering motor (2) is fixed to the front side of the robot base (1), a magnetic adaptive front wheel (3) is fixed to the output shaft of the steering motor (2), and a magnetic adaptive rear wheel (4) is fixed to the rear side of the robot base (1); The magnetic adaptive front wheel (3) comprises a front wheel shaft (301) fixed to the output shaft of the steering motor (2) and a front wheel motor (302) fixed to the front wheel shaft (301); a first front wheel bearing (303) is symmetrically arranged on the front wheel shaft (301) and a front wheel inner hub (304) and a front wheel outer hub (305) are rotatably connected via the first front wheel bearing (303); the output shaft of the front wheel motor (302) is connected to the front wheel shaft (304) and the front wheel outer hub (305) via a front coupling (306); The front wheel inner hub (304) and the front wheel outer hub (305) are fixedly connected, an adaptive feeler (308) is rotatably connected between the front wheel inner hub (304) and the front wheel outer hub (305) via a second front wheel bearing (307), a front wheel magnetic ring (309) is fixed on one side of the adaptive feeler (308) close to the front wheel inner hub (304), and front wheel rubber (310) is fixed on both the front wheel inner hub (304) and the front wheel outer hub (305); The magnetic force adaptive rear wheel (4) comprises a rear wheel shaft (401) fixed to the bottom end of the robot base (1) and a rear wheel motor (402) fixed to the rear wheel shaft (401); a rear wheel bearing (403) is symmetrically arranged on the rear wheel shaft (401) and is rotatably connected to a rear wheel inner hub (404) and a rear wheel outer hub (405) through the rear wheel bearing (403); an output shaft of the rear wheel motor (402) is fixedly connected to the rear wheel inner hub (404) and the rear wheel outer hub (405) through a rear coupling (406); a rear wheel magnetic ring (407) is arranged between the rear wheel inner hub (404) and the rear wheel outer hub (405); and rear wheel rubbers (408) are fixed to both the rear wheel inner hub (404) and the rear wheel outer hub (405).

2. A climbing robot with adaptive plane transition capability according to claim 1, characterized in that: The front wheel magnetic ring (309) adopts a radial magnetization method, and the magnetization direction of the front wheel magnetic ring (309) simultaneously passes through the center of the circle O1 where the arc-shaped contact surface of the adaptive feeler (308) is located and the center O of the front wheel rubber (310), and the outer diameter R2 of the front wheel magnetic ring (309) is smaller than the outer diameter R of the front wheel rubber (310).

3. A climbing robot with adaptive plane transition capability according to claim 1, characterized in that: The adaptive feeler (308) is provided with an arc-shaped contact surface with a radius of R1, and a circle O1 where the arc-shaped contact surface on the adaptive feeler (308) is located is tangent to the outer diameter of the front wheel rubber (310) with a radius of R.

4. A climbing robot with adaptive plane transition capability according to claim 3, characterized in that: The outer wheel center of the front wheel rubber (310) is located at the coordinate point (R, R), with a radius of R, and any point (x, y) on the outer circumference of the rubber satisfies the following equation: (x-R) 2 +(y-R) 2 =R 2 。 5. The climbing robot with adaptive plane transition capability according to claim 3, characterized in that: The radius R1 of the arc-shaped contact surface of the adaptive feeler (308) satisfies the following equation:

6. The climbing robot with adaptive plane transition capability according to claim 1, characterized in that: The rear wheel magnetic ring (407) adopts an axial magnetization magnetization method, and the rear wheel magnetic ring (407) is matched with the clearance between the rear wheel inner wheel hub (404) and the rear wheel outer wheel hub (405). The inner radius r1 of the rear wheel magnetic ring (407) is larger than the axial radius r2 of the matching position between the rear wheel inner wheel hub (404) and the rear wheel outer wheel hub (405) and the rear wheel magnetic ring (407).

7. A climbing robot with adaptive plane transition capability according to claim 6, characterized in that: When magnetic force is generated between the rear wheel magnetic ring (407) and a single plane, the minimum air gap d between the outer ring of the rear wheel magnetic ring (407) and the plane is: d=R2-r1+r2-r Wherein, r is the outer radius of the rear wheel magnetic ring (407), R2 is the outer radius of the rear wheel rubber (408), and the adsorption force of the magnetic adaptive rear wheel (4) on the plane is: F M (d)≥F k Among them, F M (x) is a decreasing function of the magnetic management air gap size, F k The magnetic force required for the magnetic adaptive rear wheel (4).

8. The climbing robot with adaptive plane transition capability according to claim 7, characterized in that: When magnetic force is generated between the rear wheel magnetic ring (407) and two planes, the minimum air gap d1 between the outer ring of the rear wheel magnetic ring (407) and the plane is: Where θ is the internal angle, and the difference Δd between d1 and d is: Among them, Δd>d.

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