Climbing robot with adaptive planar transition capability

Abstract

The application 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 the output shaft of the steering motor, and a magnetic self-adaptive rear wheel is fixed on the rear side of the robot base.The application adopts a double-wheel design with front and rear layouts, realizes cooperative driving of the front and rear wheels, thereby endowing the robot with strong power, and realizes steering control through the steering motor.The magnetic self-adaptive front wheel and the magnetic self-adaptive rear wheel are both equipped with magnetic force mechanisms which can be self-adapted to different climbing surfaces, so that the robot can adjust the magnetic force distribution according to the surface conditions, the robot can adapt to internal angles and curved surfaces within a certain range, is simple to operate, has the ability of fast movement and fast and reliable transition of internal and external angles, and has excellent load performance, so that the robot can efficiently work on narrow and complex structure surfaces.

Description

Technical Field

[0001] The present 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 very 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 simple control. However, existing wheeled climbing robots face various 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 highly maneuverable wheeled climbing robot, which includes a base, magnetic wheel modules rotatably mounted on the left and right sides of the base, a tail wheel module movably mounted on the rear side of the base and movable and retractable relative to the base into the base, an inner angle transition auxiliary mechanism mounted on the rear side of the base, and a motion auxiliary wheel rotatably mounted on the front side of the base. 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 transition continuously or frequently, 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 inconvenience 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 response to the above problems, the purpose of the present invention is to propose a climbing robot with adaptive plane transition capability to solve the problems of existing wheeled climbing robots being slow, requiring constant intervention from workers, and being complex and inefficient to operate in complex structural environments.

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

[0007] The magnetic adaptive front wheel includes 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 provided on the front wheel shaft and is rotatably connected to a front wheel inner hub and a front wheel outer hub via the first front wheel bearing, the 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 rubber is fixed to both the front wheel inner hub and the front wheel outer hub;

[0008] The magnetic adaptive rear wheel includes a rear wheel shaft fixed to the bottom end of the robot base and a rear wheel motor fixed on the rear wheel shaft, rear wheel bearings are symmetrically arranged on the rear wheel shaft and are rotatably connected to the rear wheel inner hub and the rear wheel outer hub through 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 through 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 antenna 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), with a radius of 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] Further improvements are: the rear wheel magnetic ring adopts an axial magnetization magnetization method, the rear wheel magnetic ring is matched 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] Where 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] Wherein, 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 external corners, the front wheel magnetic ring 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 adaptive tentacles can be used to transfer the magnetic magnetization direction from pointing to the original adsorption plane to another plane pointing to the inner corner, 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 from one plane of the inner corner to another plane, it is easy to transition from one plane of the inner corner to another while having a safe and reliable adsorption force. This design can reduce the driving force of the robot when transitioning from an inner corner and can have a large load capacity.

[0027] The rear wheel magnetic ring and the rear wheel hub adopt a clearance fit, and 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 to an 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 various inner angles, ensuring the safety of the magnetic ring crawling on the plane while greatly reducing the driving torque.

[0028] In addition, the robot adopts a front-to-back layout of magnetic adaptive front wheels and magnetic adaptive rear wheels, so that the front and rear wheels of the robot can automatically adjust the magnetic force according to the crawling structure. Since the robot crawls on a flat surface, no additional operation is required when transitioning between inner and outer corners, making the robot's transition between inner and outer corners very simple and fast, and particularly suitable for use in some scenarios that require continuous transition between inner and outer corners. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 3D schematic diagram of the climbing robot with adaptive plane transition capability according to the present invention;

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

[0031] Figure 3 Schematic diagram of the working principle of the adaptive antenna of the present invention;

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

[0033] Figure 5 is a schematic diagram of the magnetic adaptive front wheel transitioning through a ninety-degree interior angle according to the present invention;

[0034] Figure 6 is a schematic diagram of the magnetic adaptive front wheel transitioning through various interior 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] Figure 9 is a schematic diagram of the climbing robot with adaptive plane transition capability of the present invention transitioning an inner angle;

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

[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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0041] Robots generally refer to machines that can perform tasks automatically. They can range from simple robotic arms used to perform specific tasks repeatedly in factories to 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, which enable them to climb stably on various surfaces.

[0043] Based on the findings in the prior art, most 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 、 Figure 9 、 Figure 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, and the output shaft of the steering motor 2 is fixed to the magnetic adaptive front wheel 3 by bolts, and the rear side of the robot base 1 is fixed to 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 is detachably installed on the robot base 1 to facilitate maintenance of the interior of the robot base 1. 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 easily collided with the external environment and hindered from moving. 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 achieve coordinated drive of the two wheels, thereby giving the climbing robot with adaptive plane transition capability powerful 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, and the front wheel motor 302 is fixed to the front wheel shaft 301 by bolts. Two sets of first front wheel bearings 303 are symmetrically provided 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 sets 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 provided 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 bearing 307. The bearing 307 is rotatably connected to 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, thereby providing power for the magnetic adaptive front wheel 3. The magnetic adaptive front wheel 3 can adapt to internal angles, curved surfaces and other structures according to the crawling requirements of the robot, realize automatic adjustment of the magnetic force when crossing internal angles, and maintain a large magnetic force on planes and external 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. Two sets of rear wheel bearings 403 are symmetrically provided on the rear wheel shaft 401, and are respectively rotatably connected to the rear wheel inner hub 404 and the rear wheel outer hub 405 through the two sets of rear wheel bearings 403. 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. A rear wheel magnetic ring 407 is provided between the outer wheel hubs 405, and rear wheel rubbers 408 are fixed to 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 I-shaped, 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, 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 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 antenna 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. 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 is large at both ends of the magnetization direction, and the magnetic force is small on both sides.

[0048] The adaptive feeler 308 is provided with an arc-shaped contact surface with a radius of R1. The circle O1 where the arc-shaped contact surface of 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 arc-shaped contact surface of the adaptive feeler 308 is located in front of the contact point between the front wheel rubber 310 and the crawling surface.

[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 1, the torque generated by the contact force generated at any position of the arc contact surface always causes the adaptive antenna 308 to rotate in the direction away from plane 1.

[0054] like Figure 5 Figure 2 shows the process of the climbing robot with adaptive plane transition capability climbing from plane 1 of an inner corner to plane 2 of an inner corner. When the magnetic adaptive front wheel 3 is located at plane 1, the front wheel magnetic ring 309 is radially magnetized, and the adaptive feeler 308 is fixed to the front wheel magnetic ring 309, so 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 stronger magnetic force, so that the magnetic adaptive front wheel 3 always maintains a strong attraction during the plane movement.

[0055] As the magnetically adaptive front wheel 3 approaches plane 2, the adaptive feeler 308 and the front wheel magnetic ring 309 rotate counterclockwise, and the attraction force between the front wheel magnetic ring 309 and plane 1 gradually decreases, while the attraction force between the front wheel magnetic ring 309 and plane 2 gradually increases. When the front wheel rubber 310 contacts plane 2, the attraction force between the radial magnet and plane 1 is much smaller than the attraction force between the radial magnet and plane 2. Therefore, the magnetically adaptive front wheel 3 can easily peel off plane 1 and achieve the crossing of the inner corner. 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 greater 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 only between 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 a plane, the adsorption force of the magnetic adaptive rear wheel 4 on a 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 through an inner corner, the rear wheel magnetic ring 407 is simultaneously subjected to the magnetic force between the two planes. At this time, the positional relationship between the two planes constituting the inner corner and the rear wheel magnetic ring 407 is consistent. Therefore, the interaction force between the rear wheel magnetic ring 407 and the two planes is the same. 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 corner. 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 an inner corner is smaller than the magnetic force on a plane, so that Δd>d, achieving a significant decrease in the magnetic force of the magnetic adaptive rear wheel 4 at an inner corner.

[0068] like Figure 9 As shown, when the climbing robot with adaptive plane transition capability transitions an inner corner, it drives the magnetic adaptive front wheel 3 and the magnetic adaptive rear wheel 4 to rotate. When the climbing robot continues to approach the inner corner, the adaptive feeler 308 touches the plane 2 of the inner corner. 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 decreases, and the adsorption force on the plane 2 increases. 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 decreases. 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. Figure 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 basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended 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 provided on the front wheel shaft (301) and is rotatably connected to a front wheel inner hub (304) and a front wheel outer hub (305) via the first front wheel bearing (303); the output shaft of the front wheel motor (302) is fixedly connected to the front wheel inner hub (304) and the front wheel outer hub (305) via a front coupling (306); a second front coupling is provided between the front wheel inner hub (304) and the front wheel outer hub (305); The wheel bearing (307) is rotatably connected to an adaptive feeler (308), 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 a front wheel rubber (310) is fixed on both the front wheel inner hub (304) and the front wheel outer hub (305). 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). 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 magnetic 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); rear wheel bearings (403) are symmetrically provided on the rear wheel shaft (401) and are rotatably connected to a rear wheel inner hub (404) and a rear wheel outer hub (405) via the rear wheel bearings (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) via a rear coupling (406); and the rear wheel inner hub (401) is symmetrically provided with a rear wheel bearing (403) and is rotatably connected to a rear wheel inner hub (404) and a rear wheel outer hub (405) via the rear wheel bearing (403). 04) and the rear wheel outer hub (405), a rear wheel magnetic ring (407) is provided between the rear wheel inner hub (404) and the rear wheel outer hub (405), a rear wheel rubber (408) is fixed on both the rear wheel inner hub (404) and the rear wheel outer hub (405), the rear wheel magnetic ring (407) adopts an axial magnetization magnetization method, the rear wheel magnetic ring (407) is clearance-matched with the rear wheel inner hub (404) and the rear wheel outer hub (405), and the inner radius r1 of the rear wheel magnetic ring (407) is greater than the axial radius r2 of the rear wheel inner hub (404), the rear wheel outer hub (405) and the rear wheel magnetic ring (407).

2. The climbing robot with adaptive plane transition capability according to claim 1, characterized in that: An arc-shaped contact surface with a radius of R1 is provided on the adaptive feeler (308), 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.

3. The climbing robot with adaptive plane transition capability according to claim 2, 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. Any point (x, y) on the outer circumference of the rubber satisfies the following equation: (x-R) 2 +(y-R) 2 =R 2 。 4. The climbing robot with adaptive plane transition capability according to claim 2, characterized in that: The radius R1 of the arc-shaped contact surface of the adaptive antenna (308) satisfies the following equation:

5. The climbing robot with adaptive plane transition capability according to claim 1, 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 (d) is a decreasing function of the magnetic management air gap size, F k The magnetic force required for the magnetic adaptive rear wheel (4).

6. The climbing robot with adaptive plane transition capability according to claim 5, 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 planes is: Where θ is the internal angle, and the difference Δd between d1 and d is: Wherein, Δd>d.

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