Self-adaptive magnetic wall surface wall-climbing robot

Abstract

The invention relates to a self-adaptive magnetic wall surface wall-climbing robot, which belongs to the field of wall-climbing robots, and comprises a machine body frame, three permanent magnet wheels, a driving wheel fixing mechanism and a driven wheel fixing mechanism, the three permanent magnet wheels are respectively a first permanent magnet wheel, a second permanent magnet wheel and a third permanent magnet wheel; each of the first permanent magnet wheel, the second permanent magnet wheel and the third permanent magnet wheel comprises a hub, a rubber coating and a permanent magnet array; the permanent magnet array comprises m groups of permanent magnets, m is a positive integer greater than or equal to 3, the m groups of permanent magnets are arranged in a circumferential array at intervals, and each group of permanent magnets comprises a permanent magnet I and a permanent magnet II which are opposite in magnetization direction and are adjacently arranged. The self-adaptive magnetic conductive wall surface wall-climbing robot has a light and small body, is flexible to move, is provided with a self-adaptive structure, and can be suitable for detecting magnetic conductive curved surfaces with various curvatures. The circumferential embedded permanent magnet wheel has the characteristics of light weight, small size, easiness in installation, high adsorption capacity and difficulty in damage of the permanent magnets.

Description

Technical Field

[0001] The invention belongs to the field of wall-climbing robots, and in particular relates to an adaptive magnetic wall-climbing robot. Background Art

[0002] A wall-climbing robot is a special robot that can be equipped with specific tools to perform operations in a space wall environment. It can replace humans to complete multiple tasks in high-altitude and high-risk environments, including ship rust removal and spraying, large building exterior wall cleaning, anti-terrorism reconnaissance operations, paint inspection of large oil tanks in the petrochemical industry, other metal tank capacity measurement, and large wind turbine blade maintenance.

[0003] Most of the existing wall-climbing robots use permanent magnets as their main adsorption devices. Although this ensures the stability of the robot on the wall to a certain extent, it also brings significant problems. For example, the mass of the permanent magnet is usually large, which increases the overall weight of the robot and affects its movement efficiency and flexibility. In addition, when the robot faces a large curvature surface or needs to cross an obstacle, the permanent magnet is easy to come into direct contact with the wall, resulting in excessive adsorption force, making it difficult for the robot to move or adjust its posture flexibly, and may even cause the magnet to be damaged due to the magnet's close fit to the wall, which seriously hinders the robot's ability to operate in a complex environment. For example, Chinese patent CN115946789 B discloses a wheeled magnetic adsorption wall-climbing robot, which uses a passive posture change device with multi-dimensional displacement and rotation functions to avoid the phenomenon of motor asynchronism when the magnetic adsorption wall-climbing robot walks on a non-flat work surface, but it is large in size, heavy in weight, and complex in structure. When operating in a small and complex space, it is easy to have problems such as inflexible movement and easy damage to components. Therefore, it is urgent to study a new wall-climbing robot in order to solve the above problems. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides an adaptive magnetic wall climbing robot, which has a simple structure, flexible movement, and an adaptive structure on the robot body, and can be applied to various magnetic curved surfaces for detection operations, and can be used in multiple occasions. The present invention has the characteristics of small size, small mass, high adsorption efficiency, and at the same time has a curved passive adaptive structure, and can be widely applied to various curvature walls for high-efficiency detection operations.

[0005] To achieve the above object, the present invention discloses the following technical solution:

[0006] Specifically, the present invention provides an adaptive magnetic wall-climbing robot, which comprises a body frame, three permanent magnetic wheels, a driving wheel fixing mechanism and a driven wheel fixing mechanism; two groups of driving wheel fixing mechanisms are symmetrically arranged on both sides of the rear end of the body frame, and the driven wheel fixing mechanism is arranged in the middle position of the front end of the body frame; the three permanent magnetic wheels are respectively a first permanent magnetic wheel, a second permanent magnetic wheel and a third permanent magnetic wheel, the first permanent magnetic wheel and the second permanent magnetic wheel are respectively connected to the body frame through the driving wheel fixing mechanism, and the third permanent magnetic wheel is connected to the body frame through the driven wheel fixing mechanism; the wheel axle of the first permanent magnetic wheel and the wheel axle of the second permanent magnetic wheel respectively form two first hinge structures with the side baffles of their respective driving wheel fixing mechanisms and the through holes of the motor side baffles, and the shaft ends of the front baffle and the rear baffle of the driving wheel fixing mechanism are respectively hinged to the driving wheel fixing plate of the body frame to form an adaptive hinge structure;

[0007] The first permanent magnet wheel, the second permanent magnet wheel and the third permanent magnet wheel all include a hub, a rubber bag and a permanent magnet array, the outermost side of the hub is covered with the rubber bag, and magnet slots arranged in a circumferential array are evenly arranged on the outer circumference of the rubber bag, and the permanent magnet array is installed in the magnet slots; the permanent magnet array includes m groups of permanent magnets, m is a positive integer greater than or equal to 3, and the m groups of permanent magnets are arranged in a circumferential array at intervals, each group of permanent magnets includes a permanent magnet 1 and a permanent magnet 2 with opposite magnetization directions and arranged adjacently, and the magnetization direction of the permanent magnet 1 is magnetized radially outward, The magnetization direction of permanent magnet two is radially inward magnetization; or the permanent magnet array includes n groups of permanent magnets, n is a positive integer greater than or equal to 2, and the n groups of permanent magnets are arranged in a circular array at intervals, and each group of permanent magnets includes permanent magnet one, permanent magnet two, permanent magnet three and permanent magnet four with opposite magnetization directions and adjacently arranged, the magnetization direction of permanent magnet one is radially inward magnetization, the magnetization direction of permanent magnet two is circumferentially clockwise magnetization, the magnetization direction of permanent magnet three is radially outward magnetization, and the magnetization direction of permanent magnet four is circumferentially counterclockwise magnetization.

[0008] Preferably, the permanent magnet is a sector-shaped permanent magnet or a cylindrical permanent magnet.

[0009] Preferably, the driving wheel fixing mechanism comprises a front baffle, a rear baffle and a side baffle, and a motor side baffle is arranged in the middle of the side baffle.

[0010] Preferably, the driven wheel fixing mechanism includes a driven wheel fixing plate and a driven wheel connecting plate.

[0011] Preferably, the axle of the first permanent magnet wheel and the axle of the second permanent magnet wheel are respectively hinged to the through holes of the side baffles of their respective driving wheel fixing mechanisms and the motor side baffles, the through holes of the driven wheel fixing plates are hinged to the axles of the permanent magnet wheels, and the driven wheel fixing mechanism is hinged to the fuselage frame by means of cross-stick bearings.

[0012] Preferably, the driven wheel fixing mechanism is fixedly connected to the inner ring of the cross-stick bearing, and the fuselage frame is fixedly connected to the outer ring of the cross-stick bearing.

[0013] Preferably, the shaft ends of the front baffle plate and the rear baffle plate of the driving wheel fixing mechanism are connected to the driving wheel fixing plate of the fuselage frame by means of a damper.

[0014] Preferably, both side surfaces of the hub of the third permanent magnet wheel are provided with cylindrical wheel axles, the first side surfaces of the first permanent magnet wheel and the second permanent magnet wheel are provided with cylindrical wheel axles, and the second side surfaces of the first permanent magnet wheel and the second permanent magnet wheel are provided with mounting holes for mounting the motor shaft.

[0015] Preferably, the permanent magnet array includes three groups of permanent magnets, the three groups of permanent magnets are respectively the first permanent magnet, the second permanent magnet, the third permanent magnet, the fourth permanent magnet, the fifth permanent magnet and the sixth permanent magnet, the first permanent magnet, the second permanent magnet, the third permanent magnet, the fourth permanent magnet, the fifth permanent magnet and the sixth permanent magnet are arranged in a circular array at intervals, the first permanent magnet, the third permanent magnet and the fifth permanent magnet are used as permanent magnets of each group of permanent magnets, and the magnetization direction is magnetized radially outward, the second permanent magnet, the fourth permanent magnet and the sixth permanent magnet are arranged radially outward, and the second permanent magnet, the fourth permanent magnet and the sixth permanent magnet are arranged radially outward. The permanent magnet serves as the second permanent magnet of each group of permanent magnets, and the magnetization direction is radially inward. The first permanent magnet, the second permanent magnet, the third permanent magnet, the fourth permanent magnet, the fifth permanent magnet and the sixth permanent magnet can be cylindrical magnets or arc magnets. The first permanent magnet and the second permanent magnet have opposite magnetization directions and are arranged adjacent to each other to form a first group of permanent magnets; the third permanent magnet and the fourth permanent magnet have opposite magnetization directions and are arranged adjacent to each other to form a second group of permanent magnets; the fifth permanent magnet and the sixth permanent magnet have opposite magnetization directions and are arranged adjacent to each other to form a third group of permanent magnets.

[0016] Preferably, the permanent magnet array includes two groups of permanent magnets, and the two groups of permanent magnets are respectively a first permanent magnet, a second permanent magnet, a third permanent magnet, a fourth permanent magnet, a fifth permanent magnet, a sixth permanent magnet, a seventh permanent magnet and an eighth permanent magnet. The first permanent magnet, the second permanent magnet, the third permanent magnet, the fourth permanent magnet, the fifth permanent magnet, the sixth permanent magnet, the seventh permanent magnet and the eighth permanent magnet are arranged in a circular array at intervals. The first permanent magnet and the fifth permanent magnet serve as permanent magnet one of each group of permanent magnets, and the magnetization direction is radially inward magnetization. The second permanent magnet and the sixth permanent magnet serve as permanent magnet two of each group of permanent magnets, and the magnetization direction is circumferentially clockwise magnetization. The third permanent magnet and the seventh permanent magnet serve as permanent magnet three of each group of permanent magnets, and the magnetization direction is radially outward magnetization. The fourth permanent magnet and the eighth permanent magnet serve as permanent magnet four of each group of permanent magnets, and the magnetization direction is circumferentially counterclockwise magnetization.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) The present invention provides an adaptive magnetic wall climbing robot, which has a simple structure, a light and compact body, and flexible movement. The robot body has an adaptive structure, and can be applied to various magnetic curved surfaces for detection operations, and can be used in multiple occasions. The present invention has the characteristics of small size, small mass, high adsorption efficiency, etc., and at the same time has a curved surface passive adaptive structure, which can be widely applied to various curvature wall surfaces for high-efficiency detection operations.

[0019] (2) The circumferential embedded permanent magnet wheel of the invention has the characteristics of light weight, small size, easy installation, strong adsorption ability and non-destructive permanent magnet; based on specific needs, the permanent magnet can be set as a fan-shaped permanent magnet or a cylindrical permanent magnet, and the number of permanent magnets and the arrangement of the permanent magnets can be adjusted according to the application scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the three-dimensional structure of a novel permanent magnet wheel used in the driving wheel of the present invention;

[0021] Figure 2 A schematic diagram of the three-dimensional structure of a novel permanent magnet wheel used in the driven wheel of the present invention;

[0022] Figure 3 It is a structural schematic diagram of the fan-shaped magnet permanent magnet array of the present invention;

[0023] Figure 4 It is a structural schematic diagram of a cylindrical magnet permanent magnet array of the present invention;

[0024] Figure 5 It is a schematic diagram of the overall structure of the adaptive magnetic wall-climbing robot of the present invention;

[0025] Figure 6 It is a schematic diagram of the front view structure of the adaptive magnetic wall-climbing robot of the present invention;

[0026] Figure 7 It is a schematic diagram of the structure of the adaptive magnetic wall-climbing robot from a top view of the present invention;

[0027] Figure 8 It is a top view of a three-dimensional structure of a fuselage frame of the present invention;

[0028] Fig. 9 It is a bottom-up three-dimensional structural schematic diagram of the fuselage frame of the present invention;

[0029] Fig.10 It is a three-dimensional structural schematic diagram of the driving wheel fixing mechanism of the present invention;

[0030] Fig.11 It is a schematic diagram of the three-dimensional structure of the driven wheel fixing mechanism of the present invention.

[0031] Some of the drawings in the accompanying drawings are described as follows:

[0032] 1. Fuselage frame; 2. Permanent magnet wheel; 3. Driving wheel fixing mechanism; 4. Driven wheel fixing mechanism; 11. Driving wheel fixing plate; 12. Frame; 21. Fan-shaped magnet permanent magnet array; 22. Rubber coating; 23. Driving wheel hub; 24. Cylindrical magnet permanent magnet array; 25. Rubber coating; 26. Driven wheel hub; 31. Front baffle; 32. Rear baffle; 33. Side baffle; 34. Motor side baffle; 35. Damper; 41. Driven wheel connecting plate; 42. Driven wheel fixing plate; 201. First permanent magnet wheel; 202, the second permanent magnet wheel; 203, the third permanent magnet wheel; 211, the first sector-shaped permanent magnet; 212, the second sector-shaped permanent magnet; 213, the third sector-shaped permanent magnet; 214, the fourth sector-shaped permanent magnet; 215, the fifth sector-shaped permanent magnet; 216, the sixth sector-shaped permanent magnet; 217, the first cylindrical permanent magnet; 218, the second cylindrical permanent magnet; 219, the third cylindrical permanent magnet; 2110, the fourth cylindrical permanent magnet; 2111, the fifth cylindrical permanent magnet; 2112, the sixth cylindrical permanent magnet. DETAILED DESCRIPTION

[0033] The exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0034] The present invention provides an adaptive magnetic wall climbing robot, which comprises a body frame 1, three permanent magnetic wheels 2, a driving wheel fixing mechanism 3 and a driven wheel fixing mechanism 4. Two sets of driving wheel fixing mechanisms are arranged trisymmetrically on both sides of the rear end of the body frame 1, and the driven wheel fixing mechanism 4 is arranged in the middle position of the front end of the body frame 1; the three permanent magnetic wheels 2 are respectively a first permanent magnetic wheel 201, a second permanent magnetic wheel 202 and a third permanent magnetic wheel 203, the first permanent magnetic wheel 201 and the second permanent magnetic wheel 202 are connected to the body frame 1 through the driving wheel fixing mechanism 3, and the third permanent magnetic wheel 203 is connected to the body frame 1 through the driven wheel fixing mechanism 4.

[0035] The driving wheel fixing mechanism 3 includes a front baffle 31, a rear baffle 32 and a side baffle 33, and a motor side baffle 34 is arranged in the middle of the side baffle 33. The front baffle 31, the rear baffle 32 and the side baffle 33 are all plate-like structures, and the motor side baffle 34 is cylindrical and provided with a circular mounting through hole. The axles of the first permanent magnet wheel 201 and the second permanent magnet wheel 202 are respectively hinged to the through holes of the side baffle 33 and the motor side baffle 34 of the driving wheel fixing mechanism. The axial ends of the front baffle 31 and the rear baffle 32 of the driving wheel fixing mechanism 3 are respectively connected and hinged to the driving wheel fixing plate 11 of the fuselage frame 1 by means of a damper 35, forming an adaptive hinge structure, which can be automatically adjusted according to the wall surface, so that the robot can fully fit the large curvature wall surface.

[0036] Secondly, the through hole of the driven wheel fixing plate 42 and the wheel axle of the permanent magnet wheel 2 form a hinged structure, the driven wheel fixing mechanism 4 and the fuselage frame 1 are connected with the help of a cross-stick bearing to form a hinge, and the driven wheel fixing mechanism 4 and the fuselage frame 1 are respectively fixedly connected with the inner and outer rings of the cross-stick bearing to form a hinge, so that the driven wheel can act as a universal wheel during movement and move more flexibly.

[0037] The first permanent magnet wheel 201 and the second permanent magnet wheel 202 have the same structure and size, and are connected to the fuselage frame 1 through the driving wheel fixing mechanism 3. The shaft hole of the third permanent magnet wheel 203 is different from the shaft hole of the first permanent magnet wheel 201 and the second permanent magnet wheel 202. Specifically, the first permanent magnet wheel 201, the second permanent magnet wheel 202 and the third permanent magnet wheel 203 all include a hub, a rubber bag and a permanent magnet array, the outermost side of the hub is covered with a rubber bag, and the outer circumference of the rubber bag is evenly provided with magnet slots arranged in a circumferential array at intervals, and the permanent magnet array is installed in the magnet slot; the permanent magnet array includes m groups of permanent magnets, m is a positive integer greater than or equal to 3, and the m groups of permanent magnets are arranged in a circumferential array at intervals, and each group of permanent magnets includes two permanent magnets with opposite magnetization directions and arranged adjacently, namely, permanent magnet one and permanent magnet two, the magnetization direction of permanent magnet one is magnetized in the radial outward direction, and the magnetization direction of permanent magnet two is magnetized in the radial inward direction. The permanent magnet is a fan-shaped permanent magnet or a cylindrical permanent magnet.

[0038] The driven wheel fixing mechanism 4 includes a driven wheel fixing plate 42 and a driven wheel connecting plate 41. The driven wheel fixing plate 42 is arranged between the two driven wheel connecting plates 41, and a disc-shaped mounting seat is arranged in the middle of the driven wheel fixing plate 42, and the disc-shaped mounting seat is provided with a through hole. The through hole of the driven wheel fixing plate 42 and the wheel axle of the permanent magnet wheel form an articulated structure, and the driven wheel fixing mechanism and the fuselage frame are respectively fixedly connected to the inner and outer rings of the cross-stick bearing to form a hinge. Figure 1 and Figure 2 As shown, both sides of the hub of the third permanent magnet wheel 203 are provided with Figure 2 The cylindrical wheel shaft shown in the figure has a first side surface of the hub of the first permanent magnet wheel 201 and the second permanent magnet wheel 202 provided with Figure 2 The cylindrical wheel shaft shown has a second side surface provided with a mounting hole for mounting the motor shaft as shown in the figure, so that the motor can drive it. Specific embodiments

[0040] This embodiment provides an adaptive magnetic wall climbing robot. Figure 1-Figure 2 As shown, the permanent magnet wheel 2 of the present invention includes a hub, a rubber coating and a permanent magnet array. The first permanent magnet wheel 201 and the second permanent magnet wheel 202 include a driving wheel hub 23, a rubber coating 22 and a permanent magnet array, and the third permanent magnet wheel 203 includes a driven wheel hub 26, a rubber coating 25 and a permanent magnet array. The permanent magnet array is connected to the driving wheel hub 23 by fixing bolts, and the outermost side of the hub is covered with a rubber coating 22. The surface of the rubber coating 22 has magnet slots arranged in a circumferential array. The permanent magnet array is installed on the surface of the new permanent magnet wheel 2 through the magnet slots. When used for a driven wheel, such as Figure 2 As shown, the structure of both sides of the hub is the same. When used for the driving wheel, one side becomes Figure 1 The structure shown has motor mounting holes to facilitate application of drive.

[0041] like Figure 3-Figure 4 As shown, there are two design schemes for the permanent magnet array 21 of the present invention. Figure 3 It is a fan-shaped permanent magnet array, including three groups of permanent magnets with a total of six fan-shaped permanent magnets, namely the first fan-shaped permanent magnet 211, the second fan-shaped permanent magnet 212, the third fan-shaped permanent magnet 213, the fourth fan-shaped permanent magnet 214, the fifth fan-shaped permanent magnet 215 and the sixth fan-shaped permanent magnet 216. The first fan-shaped permanent magnet 211, the second fan-shaped permanent magnet 212, the third fan-shaped permanent magnet 213, the fourth fan-shaped permanent magnet 214, the fifth fan-shaped permanent magnet 215 and the sixth fan-shaped permanent magnet 216 are arranged in a circular array at intervals, wherein the first fan-shaped permanent magnet 211, the third fan-shaped permanent magnet 213, and the fifth fan-shaped permanent magnet 215 are used as permanent magnets of each group of permanent magnets, and the magnetization direction is the same. The second sector-shaped permanent magnet 212, the fourth sector-shaped permanent magnet 214, and the sixth sector-shaped permanent magnet 216 are magnetized radially outward, and are magnetized radially inward. The first sector-shaped permanent magnet 211 and the second sector-shaped permanent magnet 212 are magnetized in opposite directions and are arranged adjacent to each other as the permanent magnet one and the permanent magnet two of the first group of permanent magnets; the third sector-shaped permanent magnet 213 and the fourth sector-shaped permanent magnet 214 are magnetized in opposite directions and are arranged adjacent to each other as the permanent magnet one and the permanent magnet two of the second group of permanent magnets; the fifth sector-shaped permanent magnet 215 and the sixth sector-shaped permanent magnet 216 are magnetized in opposite directions and are arranged adjacent to each other as the permanent magnet one and the permanent magnet two of the third group of permanent magnets. In another embodiment, Figure 4As shown, the permanent magnets are cylindrical permanent magnets, which form a cylindrical magnet permanent magnet array 24. The cylindrical magnet permanent magnet array 24 includes a total of six cylindrical permanent magnets, namely a first cylindrical permanent magnet 217, a second cylindrical permanent magnet 218, a third cylindrical permanent magnet 219, a fourth cylindrical permanent magnet 2110, a fifth cylindrical permanent magnet 2111 and a sixth cylindrical permanent magnet 2112.

[0042] Alternatively, the permanent magnet array can also be configured to include n groups of permanent magnets, where n is a positive integer greater than or equal to 2, and the n groups of permanent magnets are arranged in a circular array at intervals, and each group of permanent magnets includes permanent magnet one, permanent magnet two, permanent magnet three and permanent magnet four, which have opposite magnetization directions and are arranged adjacent to each other, the magnetization direction of permanent magnet one is radially inward, the magnetization direction of permanent magnet two is circumferentially clockwise, the magnetization direction of permanent magnet three is radially outward, and the magnetization direction of permanent magnet four is circumferentially counterclockwise.

[0043] In another specific embodiment, the permanent magnet array includes two groups of permanent magnets, the two groups are respectively a first permanent magnet, a second permanent magnet, a third permanent magnet, a fourth permanent magnet, a fifth permanent magnet, a sixth permanent magnet, a seventh permanent magnet and an eighth permanent magnet, the first permanent magnet, the second permanent magnet, the third permanent magnet, the fourth permanent magnet, the fifth permanent magnet, the sixth permanent magnet, the seventh permanent magnet and the eighth permanent magnet are arranged in a circular array at intervals, the first permanent magnet and the fifth permanent magnet serve as permanent magnet one of each group of permanent magnets, and their magnetization direction is radially inward magnetization, the second permanent magnet and the sixth permanent magnet serve as permanent magnet two of each group of permanent magnets, and their magnetization direction is circumferentially clockwise magnetization, the third permanent magnet and the seventh permanent magnet serve as permanent magnet three of each group of permanent magnets, and their magnetization direction is radially outward magnetization, the fourth permanent magnet and the eighth permanent magnet serve as permanent magnet four of each group of permanent magnets, and their magnetization direction is circumferentially counterclockwise magnetization.

[0044] like Figure 5 , Figure 6 and Figure 7 As shown, the adaptive magnetic wall climbing robot of the present invention comprises a body frame 1, three permanent magnetic wheels 2, two sets of driving wheel fixing mechanisms 3 and one set of driven wheel fixing mechanisms 4. The two sets of driving wheel fixing mechanisms 1 are symmetrically arranged on both sides of the body frame 1, wherein the structures and sizes of the two sets of permanent magnetic wheels are exactly the same, and they are connected to the body frame 1 through the driving wheel fixing mechanisms 3, and the remaining set of permanent magnetic wheels has slightly different hub shaft holes, and is connected to the body frame 1 through the driven wheel fixing mechanisms 4.

[0045] like Figure 8-Figure 9 As shown, the fuselage frame 1 of the present invention comprises a frame 12 and four driving wheel fixing plates 11, and the frame 12 is fixedly connected to the driving wheel fixing plates 11. The driving wheel fixing plates 11 are arranged in groups of two, and are respectively hinged to a group of driving wheel fixing mechanisms 3 to form an adaptive hinge structure.

[0046] like Fig.10 As shown, the driving wheel fixing mechanism 3 of the present invention is in two groups, and the driving wheel fixing mechanism 3 includes a front baffle 31, a rear baffle 32, a side baffle 33 and a motor side baffle 34. The connection mode between the two groups of driving wheel fixing mechanisms 3 and the two permanent magnet wheels 2 and the fuselage frame 1 is exactly the same. Taking one group as an example, the axle of the first permanent magnet wheel 201 is hinged with the through holes of the side baffle 33 and the motor side baffle 34 of the driving wheel fixing mechanism 3. The axial ends of the front baffle 31 and the rear baffle 32 of the driving wheel fixing mechanism 3 are respectively hinged with the two driving wheel fixing plates 11 of the fuselage frame 1. The driving wheel fixing mechanism 3 and the fuselage frame 1 form an adaptive hinge structure, which can automatically adjust the angle as needed to adapt to various curvatures.

[0047] like Fig.11 As shown, the driven wheel fixing mechanism 4 of the present invention includes a driven wheel fixing plate 41 and a driven wheel connecting plate 42, the driven wheel connecting plate 42 is fixedly connected to the driven wheel fixing plate 41, the through hole of the driven wheel fixing plate 41 of the driven wheel fixing mechanism 4 and the wheel axle of the third permanent magnet wheel 203 form an articulated structure, and the driven wheel fixing mechanism 4 is articulated to the fuselage frame 1.

[0048] The robot body of the present invention has an adaptive structure, which can be applied to various curvatures of magnetic conductive surfaces for detection operations and can be used in multiple occasions. The driven wheel fixing mechanism and the fuselage frame are respectively fixedly connected to the inner and outer rings of the cross-stick bearing to form an articulated structure, so that the driven wheel can be used as a universal wheel during movement, and the movement is more flexible. In other embodiments, the robot body of the present invention is connected to a control module to control the movement of the robot.

[0049] The embodiments described above are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An adaptive magnetic wall climbing robot, characterized in that: It includes a fuselage frame, three permanent magnet wheels, a driving wheel fixing mechanism and a driven wheel fixing mechanism; two sets of driving wheel fixing mechanisms are symmetrically arranged on both sides of the rear end of the fuselage frame, and the driven wheel fixing mechanism is arranged in the middle position of the front end of the fuselage frame; the three permanent magnet wheels are respectively a first permanent magnet wheel, a second permanent magnet wheel and a third permanent magnet wheel, the first permanent magnet wheel and the second permanent magnet wheel are respectively connected to the fuselage frame through the driving wheel fixing mechanism, and the third permanent magnet wheel is connected to the fuselage frame through the driven wheel fixing mechanism; the shaft ends of the front baffle plate and the rear baffle plate of the driving wheel fixing mechanism are respectively hinged to the driving wheel fixing plate of the fuselage frame to form an adaptive hinge structure; The first permanent magnet wheel, the second permanent magnet wheel and the third permanent magnet wheel all include a hub, a rubber bag and a permanent magnet array, the outermost side of the hub is covered with the rubber bag, and magnet slots arranged in a circumferential array are evenly arranged on the outer circumference of the rubber bag, and the permanent magnet array is installed in the magnet slots; the permanent magnet array includes m groups of permanent magnets, m is a positive integer greater than or equal to 3, and the m groups of permanent magnets are arranged in a circumferential array at intervals, each group of permanent magnets includes a permanent magnet 1 and a permanent magnet 2 with opposite magnetization directions and arranged adjacently, and the magnetization direction of the permanent magnet 1 is magnetized radially outward, The magnetization direction of permanent magnet two is radially inward magnetization; or the permanent magnet array includes n groups of permanent magnets, n is a positive integer greater than or equal to 2, and the n groups of permanent magnets are arranged in a circular array at intervals, and each group of permanent magnets includes permanent magnet one, permanent magnet two, permanent magnet three and permanent magnet four with opposite magnetization directions and adjacently arranged, the magnetization direction of permanent magnet one is radially inward magnetization, the magnetization direction of permanent magnet two is circumferentially clockwise magnetization, the magnetization direction of permanent magnet three is radially outward magnetization, and the magnetization direction of permanent magnet four is circumferentially counterclockwise magnetization.

2. The adaptive magnetic wall-climbing robot according to claim 1, characterized in that: The permanent magnet is a sector-shaped permanent magnet or a column-shaped permanent magnet.

3. The adaptive magnetic wall-climbing robot according to claim 1, characterized in that: The driving wheel fixing mechanism comprises a front baffle, a rear baffle and a side baffle, and a motor side baffle is arranged in the middle of the side baffle.

4. The adaptive magnetic wall-climbing robot according to claim 1, characterized in that: The driven wheel fixing mechanism comprises a driven wheel fixing plate and a driven wheel connecting plate.

5. The adaptive magnetic wall-climbing robot according to claim 1, characterized in that: The axle of the first permanent magnet wheel and the axle of the second permanent magnet wheel are respectively hinged to the side baffles of their respective driving wheel fixing mechanisms and the through holes of the motor side baffles, the through holes of the driven wheel fixing plates are hinged to the axles of the permanent magnet wheels, and the driven wheel fixing mechanism is hinged to the fuselage frame by means of cross-stick bearings.

6. The adaptive magnetic wall-climbing robot according to claim 5, characterized in that: The driven wheel fixing mechanism is fixedly connected to the inner ring of the cross-stick bearing, and the fuselage frame is fixedly connected to the outer ring of the cross-stick bearing.

7. The adaptive magnetic wall-climbing robot according to claim 1, characterized in that: The shaft ends of the front baffle plate and the rear baffle plate of the driving wheel fixing mechanism are connected to the driving wheel fixing plate of the fuselage frame by means of a damper.

8. The adaptive magnetic wall-climbing robot according to claim 5, characterized in that: Both side surfaces of the hub of the third permanent magnet wheel are provided with cylindrical wheel axles, the first side surfaces of the first permanent magnet wheel and the second permanent magnet wheel are provided with cylindrical wheel axles, and the second side surfaces of the first permanent magnet wheel and the second permanent magnet wheel are provided with mounting holes for mounting motor shafts.

9. The adaptive magnetic wall-climbing robot according to claim 1, characterized in that: The permanent magnet array includes three groups of permanent magnets, which are respectively a first permanent magnet, a second permanent magnet, a third permanent magnet, a fourth permanent magnet, a fifth permanent magnet and a sixth permanent magnet. The first permanent magnet, the second permanent magnet, the third permanent magnet, the fourth permanent magnet, the fifth permanent magnet and the sixth permanent magnet are arranged in a circular array at intervals. The first permanent magnet, the third permanent magnet and the fifth permanent magnet serve as permanent magnets of each group of permanent magnets, and the magnetization direction is radially outward. The second permanent magnet, the fourth permanent magnet and the sixth permanent magnet are arranged in a circular array at intervals. The permanent magnet second as each group of permanent magnets has a magnetization direction that is radially inward; the first permanent magnet, the second permanent magnet, the third permanent magnet, the fourth permanent magnet, the fifth permanent magnet and the sixth permanent magnet can be cylindrical magnets or arc magnets; the first permanent magnet and the second permanent magnet have opposite magnetization directions and are arranged adjacent to each other to form a first group of permanent magnets; the third permanent magnet and the fourth permanent magnet have opposite magnetization directions and are arranged adjacent to each other to form a second group of permanent magnets; the fifth permanent magnet and the sixth permanent magnet have opposite magnetization directions and are arranged adjacent to each other to form a third group of permanent magnets.

10. The adaptive magnetic wall-climbing robot according to claim 1, characterized in that: The permanent magnet array includes two groups of permanent magnets, which are respectively a first permanent magnet, a second permanent magnet, a third permanent magnet, a fourth permanent magnet, a fifth permanent magnet, a sixth permanent magnet, a seventh permanent magnet and an eighth permanent magnet. The first permanent magnet, the second permanent magnet, the third permanent magnet, the fourth permanent magnet, the fifth permanent magnet, the sixth permanent magnet, the seventh permanent magnet and the eighth permanent magnet are arranged in a circular array at intervals. The first permanent magnet and the fifth permanent magnet serve as the first permanent magnet of each group of permanent magnets, and the magnetization direction is radially inward magnetization. The second permanent magnet and the sixth permanent magnet serve as the second permanent magnet of each group of permanent magnets, and the magnetization direction is circumferentially clockwise magnetization. The third permanent magnet and the seventh permanent magnet serve as the third permanent magnet of each group of permanent magnets, and the magnetization direction is radially outward magnetization. The fourth permanent magnet and the eighth permanent magnet serve as the fourth permanent magnet of each group of permanent magnets, and the magnetization direction is circumferentially counterclockwise magnetization.

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