Self-adaptive turn-over magnetic attraction robot

Abstract

The invention provides a self-adaptive turn-over magnetic attraction robot. The self-adaptive turn-over magnetic attraction robot comprises a vehicle body, a turn-over shaft module, an active steering engine module, a wheel self-adaptive module, a wheel moving module and a wheel magnetic attraction module. The vehicle body comprises a vehicle body core plate and vehicle body side plates arranged on the two sides of the vehicle body core plate, the vehicle body core plate and the vehicle body side plates are connected through the turnover shaft module, and the active steering engine module is used for driving the turnover shaft module to rotate so as to drive the vehicle body side plates and the vehicle body core plate to turn over relatively; the wheel moving module is installed at the bottom of a side plate of the vehicle body through the wheel self-adaption module, and the wheel magnetic attraction module is installed on the wheel moving module. The device can be actively adsorbed on the surface of a metal facility for adsorption, has the capability of adapting to adsorption of surfaces with different curvatures through the wheel self-adaptive module, realizes rapid movement through the wheel moving module, and can be turned over at the edge of the metal, so that secondary carrying is avoided, and the problem that only one surface can be detected is solved; and the flaw detection efficiency of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of crawling robots, and in particular to an adaptive flipping magnetic suction robot. Background Art

[0002] Currently, in super-large water conservancy projects such as the Three Gorges Dam, wall-climbing robots can be used for crack detection and corrosion monitoring on the surface of turbine blades. By adopting automated and intelligent detection methods, potential hidden dangers can be discovered in a timely manner, assisting in predictive maintenance of equipment.

[0003] Wall-climbing robots can crawl on walls through methods such as magnetic adsorption and negative pressure adsorption. However, for large metal facilities such as turbine blades, magnetic adsorption has natural advantages such as simple structure, no need for additional energy, and stable adsorption. Therefore, it has been widely used in such environments.

[0004] The robot can move on the blade surface by tracks, wheels, legs, etc., so magnetic adsorption can be achieved by tracked magnetic adsorption, magnetic wheels, foot-end magnetic adsorption, etc. Tracked motion makes it difficult to cross various obstacles and has difficulty turning. Leg-foot robots can flexibly climb over obstacles, but it is difficult to control their dynamics on curved walls. Magnetic wheels are flexible and compact, with a simple structure, so they are widely used in flaw detection and maintenance work on the surface of large facilities.

[0005] Patent document with publication number CN119078406A discloses a wall-climbing robot capable of performing maintenance work on the surface of large facilities such as large ships and offshore wind turbines. The robot realizes plane adsorption movement by driving a first rotating component, a universal joint, and a second rotating component located on the same axis through a driving rotating component. At the same time, the universal joint can be lifted. At this time, the second rotating component can fit tightly against the curved wall surface to realize the curved surface adaptive adsorption function, which ensures that the wall-climbing robot can perform maintenance and repair work on surfaces with large curvatures. It has strong flexibility and practicality, but it cannot actively select a magnetically attracted surface and cannot realize the function of climbing from one side of a metal surface to the other.

[0006] Unlike work on the surface of large ships or offshore hydroelectric generators, turbine blades require double-sided maintenance and flaw detection. However, previous technologies were unable to achieve the function of a wall-climbing robot climbing from one side of the blade to the other while taking into account the adaptive adsorption of the curved surface. Summary of the invention

[0007] In view of the defects in the prior art, an object of the present invention is to provide an adaptive flipping magnetic suction robot.

[0008] The adaptive flipping magnetic suction robot provided by the present invention comprises a body, a flip axis module, an active steering gear module, a wheel adaptive module, a wheel moving module and a wheel magnetic suction module;

[0009] The vehicle body comprises a vehicle body core panel and vehicle body side panels arranged on both sides of the vehicle body core panel, the vehicle body core panel and the vehicle body side panels are rotatably connected via a flip axis module, the active servo module is mounted on the vehicle body core panel and connected to the flip axis module, and is used to drive the flip axis module to rotate, thereby driving the vehicle body side panels to flip relative to the vehicle body core panel;

[0010] The wheel moving module is installed at the bottom of the vehicle body side panel through the wheel adaptive module, and the wheel magnetic attraction module is installed on the wheel moving module.

[0011] Preferably, the vehicle body core panel comprises an upper layer of the vehicle body core panel and a lower layer of the vehicle body core panel, and the edge of the lower layer of the vehicle body core panel exceeds the edge of the upper layer of the vehicle body core panel for installing an active servo module.

[0012] Preferably, the upper layer of the body core panel and the lower layer of the body core panel are both carbon fiber panels, the upper layer of the body core panel and the lower layer of the body core panel are provided with corresponding holes, and are connected by support columns.

[0013] Preferably, the flip shaft module includes a flip shaft, a bearing module, a gland type module and a flange coupling;

[0014] The flange coupling is installed at the end of the flip shaft and is used to connect the active steering gear module and the flip shaft, and the active steering gear module is used to drive the flip shaft to rotate;

[0015] The gland type module is fixedly mounted on the flip shaft and is circumferentially fixed to the flip shaft. The gland type module is fixedly connected to the vehicle body side panel for transmitting torque.

[0016] The inner ring of the bearing module is fixedly mounted on the flip shaft and is circumferentially fixed to the flip shaft. The outer ring of the bearing module is fixedly connected to the core plate of the vehicle body. The bearing module and the gland type module are spaced apart along the length direction of the flip shaft.

[0017] Preferably, the active steering gear module comprises an active steering gear, a steering gear connecting member, a metal steering disc and a steering gear fixing member;

[0018] The active servo is used to provide an active rolling torque. The rolling shaft of the active servo is connected to a metal steering wheel. The metal steering wheel is connected to a rolling shaft module through a servo connector to drive the rolling shaft module to rotate. The active servo is fixedly mounted on the vehicle body core panel through a servo fixing.

[0019] Preferably, the wheel adaptive module comprises a spring fixing member and an adaptive connecting member, two ends of the spring fixing member are respectively connected to the bottom of the vehicle body side panel and the top of the adaptive connecting member, and the wheel of the wheel moving module is installed in the adaptive connecting member.

[0020] Preferably, the wheel movement module comprises a worm gear motor, a wheel housing and a first steering gear connecting member, one side of the first steering gear connecting member is fixedly connected to one side of the adaptive connecting member, and the worm gear motor is installed on the other side of the first steering gear connecting member;

[0021] The wheel housing is installed on one side of the first steering gear connecting piece and is located at the bottom of the adaptive connecting piece. The worm gear motor is connected to the wheel housing and is used to drive the wheel housing to rotate.

[0022] Preferably, the wheel magnetic attraction module comprises a magnet fixing part, a magnet, a magnet-controlled steering gear and a second steering gear connecting part;

[0023] One side of the second steering gear connecting member is fixedly connected to the other side of the adaptive connecting member, the magnet-controlled steering gear is installed on the other side of the second steering gear connecting member, the adaptive connecting member, the first steering gear connecting member and the second steering gear connecting member form an inverted U-shaped groove structure, and the wheel housing is installed in the inverted U-shaped groove structure;

[0024] The magnet fixing part and the magnet are both installed inside the wheel housing. The magnet fixing part is fixedly connected to the magnet-controlled steering gear and is used to rotate synchronously along the circumferential direction under the drive of the magnet-controlled steering gear. The magnet is fixedly installed on the lower surface of the magnet fixing part.

[0025] Preferably, there are a plurality of magnet fixing members, which are arranged along the axial direction of the wheel housing and fixedly connected in sequence, and the magnets are arranged in a Halbach array and fixedly mounted on the lower surface of the magnet fixing members.

[0026] Preferably, two wheel moving modules are installed in parallel at the bottom of each of the vehicle body side panels, and the wheels of the wheel moving modules are columnar roller structures.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The present invention has a simple structure and is easy to operate. It rises to the surface of metal facilities by carrying an unmanned aerial vehicle platform, actively adsorbs on the surface of the metal facilities for adsorption, and has the ability to adapt to adsorption on surfaces with different curvatures through the wheel adaptive module. It can achieve rapid movement through the wheel moving module and can fold at the edge of the metal to avoid secondary loading and solve the problem of only being able to detect one side, thereby improving the efficiency of robot flaw detection.

[0029] 2. The present invention adopts a technical means of installing a flip axis module in the vehicle body, which includes a series of gland type connectors and bearing type connectors. The gland type connectors are connected to the side panels of the vehicle body and will move with the flip axis; the bearing type connectors are connected to the core panels of the vehicle body and will not move with the flip axis, so that the vehicle body has the ability to fold; the end of the flip axis is connected to the flange coupling, and the flange coupling is connected to the active servo, so that the vehicle body has the ability to actively flip.

[0030] 3. The present invention adopts the technical means of installing a wheel magnetic attraction module on one side of the wheel. The magnet is installed in a Halbach array on the lower surface of the arc-shaped magnet fixing part to enhance the magnetic attraction to the metal wall. Multiple magnet fixing parts are arranged horizontally to also enhance the magnetic attraction. The magnet controls the steering gear to control the rotation of the magnet fixing part to achieve the separation of the magnet from the metal wall when necessary. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 It is a structural schematic diagram of the vehicle body module in the present invention;

[0034] Figure 3 It is a structural schematic diagram of the flip axis module in the present invention;

[0035] Figure 4 It is a schematic diagram of assembling the wheel adaptive module and the wheel moving module in the present invention;

[0036] Figure 5 It is a schematic diagram of assembling the wheel magnetic attraction module and the wheel movement module in the present invention;

[0037] Figure 6 It is a schematic diagram of the structure when the present invention realizes the climbing action.

[0038] The figure shows:

[0039] Vehicle body 1 Active servo 31

[0040] Flip axis module 2 Servo connector 32

[0041] Active steering gear module 3 Metal steering wheel 33

[0042] Wheel adaptive module 4 Steering gear fixing part 34

[0043] Wheel moving module 5 Spring fixing 41

[0044] Wheel magnetic module 6 Adaptive connector 42

[0045] Body core board upper layer 11 Worm gear motor 51

[0046] Body side panel 12 Wheel housing 52

[0047] Body core plate lower layer 13 Magnet fixing part 61

[0048] Flip shaft 21 Magnet 62

[0049] Bearing module 22 Magnet control servo 63

[0050] Covering module 23 Second steering gear connecting piece 64

[0051] Flange coupling 24 DETAILED DESCRIPTION

[0052] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0053] In response to the problem of difficulty in flaw detection and maintenance of existing large-scale metal facilities, the present invention discloses an adaptive flipping magnetic suction robot, which rises to the surface of the metal facility by carrying an unmanned aerial vehicle platform, actively adsorbs on the surface of the metal facility for adsorption, and has the ability to adapt to adsorption on surfaces of different curvatures through a wheel adaptive module, realizes rapid movement through a wheel movement module, and can fold at the edge of the metal to avoid secondary loading and solve the problem of only being able to detect one side, thereby improving the efficiency of robot flaw detection.

[0054] The self-adaptive flip magnetic suction robot provided by the present invention can be used for flaw detection on metal surfaces of large facilities, such as Figure 1 As shown, it includes a vehicle body 1, a flip axis module 2, an active steering gear module 3, a wheel adaptive module 4, a wheel movement module 5 and a wheel magnetic attraction module 6;

[0055] The vehicle body 1 includes a vehicle body core plate and vehicle body side plates 12 arranged on both sides of the vehicle body core plate, the vehicle body core plate and the vehicle body side plates 12 are rotatably connected through a flip shaft module 2, the active servo module 3 is installed on the vehicle body core plate, and is connected to the flip shaft module 2, and is used to drive the flip shaft module 2 to rotate, thereby driving the vehicle body side plates 12 and the vehicle body core plate to flip relative to each other; the wheel moving module 5 is installed at the bottom of the vehicle body side plate 12 through the wheel adaptive module 4, and the wheel magnetic module 6 is installed on the wheel moving module 5. Preferably, two wheel moving modules 5 are installed in parallel at the bottom of each of the vehicle body side plates 12, and the wheels of the wheel moving module 5 are columnar roller structures.

[0056] like Figure 2 As shown. The body core panel includes an upper layer 11 of the body core panel and a lower layer 13 of the body core panel, and the edge of the lower layer 13 of the body core panel exceeds the edge of the upper layer 11 of the body core panel, and is used to install the active servo module 3. The upper layer 11 of the body core panel and the lower layer 13 of the body core panel are both carbon fiber panels, and the upper layer 11 of the body core panel and the lower layer 13 of the body core panel are provided with corresponding holes, and are connected by support columns. Specifically, the carbon fiber panel has holes symmetrically distributed on the axis, wherein the upper and lower layers of the carbon fiber panel have corresponding holes, and are connected by aluminum columns, which can ensure the strength and lightweight requirements of the overall body, wherein the lower edge of the lower layer 13 of the body core panel slightly exceeds the upper layer 11 of the body core panel to carry the active servo module 3.

[0057] like Figure 3 As shown, the flip shaft module 2 includes a flip shaft 21, a bearing module 22, a pressure cover module 23 and a flange coupling 24; the flange coupling 24 is installed at the end of the flip shaft 21, and is used to connect the active servo module 3 and the flip shaft 21, and the active servo module 3 is used to drive the flip shaft 21 to rotate; the pressure cover module 23 is fixedly installed on the flip shaft 21 and remains circumferentially fixed with the flip shaft 21, and the pressure cover module 23 is fixedly connected to the vehicle body side panel 12 for transmitting torque; the inner ring of the bearing module 22 is fixedly installed on the flip shaft 21 and remains circumferentially fixed with the flip shaft 21, the outer ring of the bearing module 22 is fixedly connected to the vehicle body core panel, and the bearing module 22 and the pressure cover module 23 are spaced apart along the length direction of the flip shaft 21.

[0058] Specifically, the flip shaft 21 is used to ensure coaxiality. It is circumferentially fixed to the pressure cover module 23 and the flange coupling 24, and can transmit torque to drive the side panel 12 to rotate. The pressure cover module 23 is fastened by screws, and the flange coupling 24 is fixed by top screws. The bearing module 22 does not move circumferentially with the flipping cycle. It is fixedly connected to the upper layer 11 and the lower layer 13 of the body core panel to achieve a folding effect.

[0059] By adding a flip axis module to the robot, it includes a series of gland type connectors and bearing type connectors. The gland type connector is connected to the body side panel 12 and will move with the flip axis 21; the bearing type connector is connected to the body core panel and will not move with the flip axis, so that the body 1 has the ability to fold; the end of the flip axis 21 is connected to the flange coupling 24, and the flange coupling 24 is connected to the active servo 31, so that the body 1 has the ability to actively flip.

[0060] The active servo module 3 includes an active servo 31, a servo connector 32, a metal steering wheel 33 and a servo fixing part 34; the active servo 31 is used to provide an active flipping torque, the flip axis of the active servo 31 is connected to the metal steering wheel 33, the metal steering wheel 33 is connected to the flip axis module 2 through the servo connector 32, and is used to drive the flip axis module 2 to rotate, the servo connector 32 is used to ensure the circumferential synchronous rotation of the metal steering wheel 33 and the flange coupling 24, and the active servo 31 is fixedly mounted on the vehicle body core plate through the servo fixing part 34 to ensure the accuracy of the position.

[0061] like Figure 4 As shown, the wheel adaptive module 4 includes a spring fixing member 41 and an adaptive connecting member 42, the two ends of the spring fixing member 41 are respectively connected to the bottom of the vehicle body side panel 12 and the top of the adaptive connecting member 42, and the wheel of the wheel moving module 5 is installed in the adaptive connecting member 42, so that the wheel can always be in tangential contact with a continuous plane of a certain curvature within a certain range, so as to improve the adaptability of the wheel.

[0062] like Figure 4 , Figure 5 As shown, the wheel movement module 5 includes a worm gear motor 51, a wheel housing 52 and a first steering gear connecting member, one side of the first steering gear connecting member is fixedly connected to one side of the adaptive connecting member 42, and the worm gear motor 51 is installed on the other side of the first steering gear connecting member; the wheel housing 52 is installed on one side of the first steering gear connecting member and is located at the bottom of the adaptive connecting member 42, and the worm gear motor 51 is connected to the wheel housing 52 to realize the independent rotation of the wheel housing 52. The worm gear motor 51 is directly connected to the wheel housing 52, driving the wheel housing 52 to rotate to realize the movement of the robot on the metal wall.

[0063] The wheel magnetic attraction module 6 includes a magnet fixing part 61, a magnet 62, a magnet-controlled steering gear 63 and a second steering gear connecting part 64; one side of the second steering gear connecting part 64 is fixedly connected to the other side of the adaptive connecting part 42, the magnet-controlled steering gear 63 is installed on the other side of the second steering gear connecting part, the adaptive connecting part 42, the first steering gear connecting part and the second steering gear connecting part 64 form an inverted U-shaped groove structure, and the wheel housing 52 is installed in the inverted U-shaped groove structure;

[0064] The magnet fixing part 61 and the magnet 62 are both installed inside the wheel housing 52. The magnet fixing part 61 is fixedly connected to the magnet control steering gear 63, and is used to rotate synchronously along the circumferential direction under the drive of the magnet control steering gear 63. The magnet 62 is fixedly installed on the lower surface of the magnet fixing part 61. There are multiple magnet fixing parts 61, which are arranged along the axial direction of the wheel housing 52 and are fixedly connected in sequence. The magnets 62 are arranged in a Halbach array and fixedly installed on the lower surface of the magnet fixing part 61.

[0065] Specifically, multiple magnet fixings 61 are matched with grooves to ensure synchronous rotation with the magnet-controlled servo 63 in the circumferential direction. The magnets 62 are arranged in a Halbach array and fixed on the lower surface of the magnet fixing 61. The design of multiple rows of magnets is to enhance the magnetic attraction to the metal wall. The magnet-controlled servo 63 controls the rotation of the internal magnet mechanism through the servo connector 64. At the same time, the magnet-controlled servo 63 is also fixed to the adaptive module 4 to realize the independent rotation of the controlled magnet fixing.

[0066] By adding a wheel magnetic attraction module 6 to the robot, in which the magnet 62 is installed in a Halbach array on the lower surface of the arc-shaped magnet fixing part 61 to enhance the magnetic attraction to the metal wall, multiple magnet 62 fixing parts are arranged horizontally to also enhance the magnetic attraction. The magnet control servo 63 controls the rotation of the magnet fixing part 61 to achieve the separation of the magnet 62 from the metal wall when necessary.

[0067] The present invention can adapt to a continuous plane of a certain curvature within a certain range through the wheel adaptive module 4; can selectively adsorb on a metal surface through the wheel control module 5; can flip from 0° to 180° through the flip axis module 2; and can complete inverted adsorption through the wheel magnetic module 6, so it is suitable for flaw detection and maintenance of large metal facilities.

[0068] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0069] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An adaptive flipping magnetic suction robot, characterized in that: It comprises a vehicle body (1), a tilting axis module (2), an active steering gear module (3), a wheel adaptive module (4), a wheel moving module (5) and a wheel magnetic attraction module (6); The vehicle body (1) comprises a vehicle body core panel and vehicle body side panels (12) arranged on both sides of the vehicle body core panel, the vehicle body core panel and the vehicle body side panels (12) are rotatably connected via a flip axis module (2), the active steering gear module (3) is mounted on the vehicle body core panel and connected to the flip axis module (2) to drive the flip axis module (2) to rotate, thereby driving the vehicle body side panels (12) to flip relative to the vehicle body core panel; The wheel moving module (5) is installed at the bottom of the vehicle body side panel (12) via the wheel adaptive module (4), and the wheel magnetic attraction module (6) is installed on the wheel moving module (5).

2. The self-adaptive flipping magnetic suction robot according to claim 1, characterized in that: The vehicle body core panel comprises a vehicle body core panel upper layer (11) and a vehicle body core panel lower layer (13), wherein the edge of the vehicle body core panel lower layer (13) exceeds the edge of the vehicle body core panel upper layer (11) and is used for installing an active steering gear module (3).

3. The self-adaptive flipping magnetic suction robot according to claim 2, characterized in that: The upper layer (11) of the body core panel and the lower layer (13) of the body core panel are both carbon fiber panels, and corresponding holes are opened on the upper layer (11) of the body core panel and the lower layer (13) of the body core panel, and are connected by support columns.

4. The self-adaptive flipping magnetic suction robot according to claim 1, characterized in that: The flip shaft module (2) comprises a flip shaft (21), a bearing module (22), a gland type module (23) and a flange coupling (24); The flange coupling (24) is installed at the end of the tilting shaft (21) and is used to connect the active steering gear module (3) and the tilting shaft (21), and the active steering gear module (3) is used to drive the tilting shaft (21) to rotate; The gland type module (23) is fixedly mounted on the turning shaft (21) and is circumferentially fixed to the turning shaft (21); the gland type module (23) is fixedly connected to the vehicle body side panel (12) for transmitting torque; The inner ring of the bearing module (22) is fixedly mounted on the flip shaft (21) and is circumferentially fixed to the flip shaft (21); the outer ring of the bearing module (22) is fixedly connected to the vehicle body core plate; the bearing module (22) and the gland type module (23) are spaced apart along the length direction of the flip shaft (21).

5. The self-adaptive flipping magnetic suction robot according to claim 1, characterized in that: The active steering gear module (3) comprises an active steering gear (31), a steering gear connecting piece (32), a metal steering plate (33) and a steering gear fixing piece (34); The active steering gear (31) is used to provide an active turning moment; the turning axis of the active steering gear (31) is connected to a metal steering wheel (33); the metal steering wheel (33) is connected to a turning axis module (2) via a steering gear connecting piece (32) and is used to drive the turning axis module (2) to rotate; the active steering gear (31) is fixedly mounted on a vehicle body core plate via a steering gear fixing piece (34).

6. The self-adaptive flipping magnetic suction robot according to claim 1, characterized in that: The wheel adaptive module (4) comprises a spring fixing member (41) and an adaptive connecting member (42), the two ends of the spring fixing member (41) are respectively connected to the bottom of the vehicle body side panel (12) and the top of the adaptive connecting member (42), and the wheel of the wheel moving module (5) is installed in the adaptive connecting member (42).

7. The self-adaptive flipping magnetic suction robot according to claim 6, characterized in that: The wheel movement module (5) comprises a worm gear motor (51), a wheel housing (52) and a first steering gear connecting piece, one side of the first steering gear connecting piece is fixedly connected to one side of the adaptive connecting piece (42), and the worm gear motor (51) is installed on the other side of the first steering gear connecting piece; The wheel housing (52) is mounted on one side of the first steering gear connecting member and is located at the bottom of the adaptive connecting member (42); the worm gear motor (51) is connected to the wheel housing (52) and is used to drive the wheel housing (52) to rotate.

8. The self-adaptive flipping magnetic suction robot according to claim 7, characterized in that: The wheel magnetic attraction module (6) comprises a magnet fixing part (61), a magnet (62), a magnet-controlled steering gear (63) and a second steering gear connecting part (64); One side of the second steering gear connecting member (64) is fixedly connected to the other side of the adaptive connecting member (42), the magnet-controlled steering gear (63) is installed on the other side of the second steering gear connecting member, the adaptive connecting member (42), the first steering gear connecting member and the second steering gear connecting member (64) form an inverted U-shaped groove structure, and the wheel housing (52) is installed in the inverted U-shaped groove structure; The magnet fixing part (61) and the magnet (62) are both mounted inside the wheel housing (52); the magnet fixing part (61) is fixedly connected to a magnet-controlled steering gear (63) and is used to synchronously rotate in a circumferential direction under the drive of the magnet-controlled steering gear (63); and the magnet (62) is fixedly mounted on the lower surface of the magnet fixing part (61).

9. The self-adaptive flipping magnetic suction robot according to claim 8, characterized in that: There are a plurality of magnet fixing members (61), which are arranged along the axial direction of the wheel housing (52) and are fixedly connected in sequence. The magnets (62) are arranged in a Halbach array and are fixedly mounted on the lower surface of the magnet fixing members (61).

10. The self-adaptive flipping magnetic suction robot according to claim 1, characterized in that: Two wheel moving modules (5) are installed in parallel at the bottom of each vehicle body side panel (12), and the wheels of the wheel moving modules (5) are columnar roller structures.

Images