Permanent magnet adsorption wall climbing robot with self-adaptive variable curvature magnetic guide wall surface

Abstract

The application belongs to the technical field of wall-climbing robots, and provides a permanent magnetic adsorption type wall-climbing robot with self-adaptive variable-curvature magnetic wall surface, which comprises a permanent magnetic driving mechanism, a magnetic force adsorption assembly, a self-adaptive mechanism, a rack and a control unit, the permanent magnetic driving mechanism is symmetrically arranged on both sides of the rack, the permanent magnetic driving mechanism is connected with the rack through the self-adaptive mechanism, a motor reducer of the permanent magnetic driving mechanism is connected with a driving rod of the self-adaptive mechanism, a swing arm part of the self-adaptive mechanism is rotationally connected with a swing part of the rack, a first rotating part of the magnetic force adsorption assembly is connected with an intermediate connecting plate of the rack, the control unit is arranged on the intermediate connecting plate of the rack, and the wall-climbing robot is controlled to move through the control unit. The permanent magnetic driving mechanism formed by the permanent magnetic driving group and the driving magnet makes the wall-climbing robot have strong adsorption capacity and bearing capacity, and the self-adaptive mechanism passively adapts to the variable-curvature magnetic wall surface, so that the wall-climbing robot can be widely applied to various curvature wall surfaces to realize multi-scene detection.

Description

Technical Field

[0001] This invention belongs to the field of wall-climbing robot technology, specifically relating to a permanent magnet adsorption wall-climbing robot with an adaptive variable curvature magnetically conductive wall surface. Background Technology

[0002] Wall-climbing robots are automated robots capable of climbing vertical walls and completing tasks. They possess advantages such as strong environmental adaptability, high degree of automation, and high work efficiency. They primarily adhere to wall surfaces through negative pressure adsorption and magnetic adsorption, and can be widely used in scenarios such as fire rescue, ship rust removal, and chemical storage tank cleaning, replacing manual labor in dangerous and heavy-duty high-altitude operations.

[0003] Most existing wall-climbing robots use permanent magnets as their primary adhesion device. However, in practical applications, this can lead to limitations in load-bearing capacity and adaptability to curved surfaces. Due to the limitations of their adhesion mechanisms and mechanical structures, these robots often struggle to maintain a stable attachment when bearing heavy loads, thus limiting their operational range and efficiency. Furthermore, their designs are mostly geared towards planar environments, lacking sufficient flexibility and adaptability when facing curved walls, making stable climbing on surfaces with varying curvatures difficult. These limitations represent the main challenges to the development of current magnetic wall-climbing robot technology.

[0004] Therefore, it is necessary to propose a permanent magnet adsorption wall-climbing robot with an adaptive variable curvature magnetically conductive wall surface. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a permanent magnet adsorption-type wall-climbing robot with an adaptive variable curvature magnetically conductive wall surface. The permanent magnet drive mechanism, which is formed by the cooperation of the permanent magnet drive group and the drive magnet, enables the wall-climbing robot to have strong adsorption capacity and load-bearing capacity. Moreover, through the adaptive mechanism, it can passively adapt to the variable curvature magnetically conductive wall surface, giving the robot good self-adaptive ability on complex variable curvature magnetically conductive wall surfaces. It can be widely used to achieve multi-scene detection on various curvature walls.

[0006] This invention provides a permanent magnet adsorption wall-climbing robot with an adaptive variable curvature magnetically conductive wall surface. It includes a permanent magnet drive mechanism, a magnetic adsorption assembly, and an adaptive mechanism. The permanent magnet drive mechanism is symmetrically arranged on both sides of a frame and connected to the frame via the adaptive mechanism. The motor reducer of the permanent magnet drive mechanism is connected to the drive rod of the adaptive mechanism. The swing arm of the adaptive mechanism is rotatably connected to the swinging component of the frame. The first rotating component of the magnetic adsorption assembly is connected to the middle connecting plate of the frame. The permanent magnet drive mechanism includes a drive wheel, a permanent magnet drive assembly, a mounting frame, drive magnets, and a motor reducer. Multiple magnets of the permanent magnet drive assembly are evenly spaced along the circumference in magnet slots on the outer circumferential surface of the drive wheel. The drive magnets are connected to the motor reducer via the mounting frame. The drive wheel is symmetrically arranged on both sides of the motor reducer. The output end of the motor reducer is connected to the middle of the drive wheel on both sides and drives it to rotate. The multiple magnets include a first permanent magnet and a second permanent magnet, with the magnetic fields of the first and second permanent magnets being opposite in direction and adjacent to each other. The magnetic adsorption assembly includes a first adsorption assembly and a second adsorption assembly. The first adsorption assembly includes a first rotating component, a first U-shaped magnet, a universal wheel, and a first magnet frame. The universal wheel is symmetrically arranged on both sides of the first rotating component. The first U-shaped magnet is connected to the first rotating component through the first magnet frame. The second adsorption assembly includes a nylon wheel, a connecting plate, a second rotating component, a second magnet frame, and a second U-shaped magnet. The nylon wheel is symmetrically arranged on both sides of the second rotating component. The second U-shaped magnet is connected to the second rotating component through the second magnet frame. The middle part of the connecting plate is rotatably connected to the middle part of the second rotating component through a bearing. The adaptive mechanism includes a drive rod and a swing arm. Multiple drive rods are arranged parallel to each other. The first end of the drive rod is connected to the motor reducer. The second end of the drive rod is connected to the first end of the swing arm through a locking collar. The lug at the second end of the swing arm is rotatably connected to the hinge joint of the swing component in the frame. The permanent magnet drive mechanism rotates around the frame, causing the drive wheel to adaptively conform to the variable curvature magnetic conductive wall surface.

[0007] Preferably, the plurality of magnets are cylindrical magnets or sector magnets.

[0008] Preferably, the magnetic field direction of the first permanent magnet is radially outward, and the magnetic field direction of the second permanent magnet is radially inward.

[0009] Preferably, the driving magnet, the first U-shaped magnet, and the second U-shaped magnet are all neodymium iron boron magnets.

[0010] Preferably, the number of the first U-shaped magnet and the second U-shaped magnet is 2m, where m is a natural number and m≧2.

[0011] Preferably, the outer side of the drive wheel is provided with anti-slip parts arranged at equal intervals along the circumference, and the anti-slip parts are made of polyurethane, rubber coating, epoxy resin or nylon.

[0012] Preferably, a damper is provided at the rotation point of the swing arm and the swing member of the frame.

[0013] Preferably, the plurality of magnets further includes 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, which are arranged in a circumferential array at intervals. The first, third, fifth, and seventh permanent magnets are magnetized in a radially outward direction, while the second, fourth, sixth, and eighth permanent magnets are magnetized in a radially inward direction. The third and fourth permanent magnets are magnetized in opposite directions and are arranged adjacent to each other, as are the fifth and sixth permanent magnets, and the seventh and eighth permanent magnets are magnetized in opposite directions and are arranged adjacent to each other.

[0014] Preferably, the system also includes a control unit mounted on the intermediate connecting plate of the frame. The control unit controls the movement of the permanent magnet drive mechanism, the magnetic adsorption component, and the adaptive mechanism. The control unit includes an embedded system, a wireless communication module, a motor drive module, and a PC. The embedded system receives information transmitted to the control unit and transmits it to the PC via the wireless communication module. The PC returns control parameters to the embedded system via the wireless communication module, and the embedded system sends control commands to the motor drive module to control the movement of the permanent magnet drive mechanism, the magnetic adsorption component, and the adaptive mechanism.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] This invention relates to a permanent magnet adsorption-type wall-climbing robot with adaptive variable curvature magnetically conductive walls. Through a permanent magnet drive mechanism consisting of a permanent magnet drive assembly and a drive magnet, the robot possesses strong adsorption and load-bearing capacity. Furthermore, its adaptive mechanism allows it to passively adapt to variable curvature magnetically conductive walls, giving the robot excellent self-adaptability on complex surfaces. The robot features a more compact structure, higher stability, and stronger adaptability. It can be widely applied to various curvature walls for detection in multiple scenarios. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the permanent magnet adsorption wall-climbing robot with adaptive variable curvature magnetically conductive wall surface of the present invention.

[0018] Figure 2 This is a front view of the permanent magnet adsorption wall-climbing robot with adaptive variable curvature magnetically conductive wall surface of the present invention;

[0019] Figure 3 This is a side view of the permanent magnet adsorption wall-climbing robot with adaptive variable curvature magnetically conductive wall surface of the present invention.

[0020] Figure 4 This is a top view of the permanent magnet adsorption wall-climbing robot with adaptive variable curvature magnetically conductive wall surface of the present invention.

[0021] Figure 5 This is a schematic diagram of the permanent magnet drive mechanism in this invention;

[0022] Figure 6 This is a schematic diagram of the structure of the first adsorption component in this invention;

[0023] Figure 7 This is a schematic diagram of the structure of the second adsorption component in this invention;

[0024] Figure 8 This is a schematic diagram of the adaptive mechanism in this invention;

[0025] Figure 9 This is a schematic diagram of the frame structure in this invention;

[0026] Figure 10 This is a schematic diagram showing the positions of each magnet in the permanent magnet drive assembly of the present invention;

[0027] Figure 11 This is a cloud map of the magnetic induction intensity of the U-shaped magnet in this invention;

[0028] Figure 12 This is a cloud map of the magnetic induction intensity of the permanent magnet array in this invention.

[0029] Main figure annotations:

[0030] Permanent magnet drive mechanism 1, anti-slip component 11, drive wheel 12, permanent magnet drive assembly 13, first permanent magnet 131, second permanent magnet 132, third permanent magnet 133, fourth permanent magnet 134, fifth permanent magnet 135, sixth permanent magnet 136, seventh permanent magnet 137, eighth permanent magnet 138, mounting bracket 14, drive magnet 15, motor reducer 16, magnetic adsorption assembly 2, first rotating component 21, first U-shaped magnet 23, universal wheel 24, first magnet frame 25, connecting plate 26, second rotating component 27, nylon wheel 28, second magnet frame 29, second U-shaped magnet 30, adaptive mechanism 3, drive rod 31, swing arm component 32, frame 4, swing component 41, intermediate connecting plate 42, control unit 5. Detailed Implementation

[0031] To fully explain the technical content, structural features, objectives, and effects of this invention, a detailed description will be provided below in conjunction with the accompanying drawings.

[0032] This invention relates to a permanent magnet adsorption wall-climbing robot with an adaptive variable curvature magnetically permeable wall surface, such as... Figures 1-4 As shown, it includes a permanent magnet drive mechanism 1, a magnetic adsorption component 2, an adaptive mechanism 3, a frame 4, and a control unit 5. The permanent magnet drive mechanism 1 is symmetrically arranged on both sides of the frame 4. The permanent magnet drive mechanism 1 is connected to the frame 4 through the adaptive mechanism 3. The motor reducer 16 of the permanent magnet drive mechanism 1 is connected to the drive rod 31 of the adaptive mechanism 3. The swing arm 32 of the adaptive mechanism 3 is rotatably connected to the swinging component 41 of the frame 4. The first rotating component 21 of the magnetic adsorption component 2 is connected to the middle connecting plate 42 of the frame 4. The control unit 5 is set on the middle connecting plate 42 of the frame 4. The control unit 5 controls the movement of the permanent magnet drive mechanism 1, the magnetic adsorption component 2, and the adaptive mechanism 3. The control unit 5 includes an embedded system, a wireless communication module, a motor drive module, and a PC. The embedded system receives the information transmitted to the control unit 5 and transmits it to the PC through the wireless communication module. The PC returns the control parameters to the embedded system through the wireless communication module, and the embedded system sends the control commands to the motor drive module to control the movement of the permanent magnet drive mechanism 1, the magnetic adsorption component 2, and the adaptive mechanism 3.

[0033] like Figure 5 As shown, the permanent magnet drive mechanism 1 includes a drive wheel 12, a permanent magnet drive assembly 13, a mounting frame 14, a drive magnet 15, and a motor reducer 16. The drive wheel 12 is provided with anti-slip parts 11 arranged at equal intervals along the circumference on its outer side. The anti-slip parts 11 are made of polyurethane, rubber coating, epoxy resin, or nylon. Multiple magnets of the permanent magnet drive assembly 13 are arranged at equal intervals along the circumference in the magnet grooves on the outer circumference surface of the drive wheel 12. The drive magnet 15 is connected to the motor reducer 16 through the mounting frame 14. The drive wheel 12 is symmetrically arranged on both sides of the motor reducer 16. The output end of the motor reducer 16 is connected to the middle of the drive wheel 12 on both sides and drives it to rotate.

[0034] like Figure 6 and Figure 7As shown, the magnetic adsorption assembly 2 includes a first adsorption assembly and a second adsorption assembly. The first adsorption assembly includes a first rotating component 21, a first U-shaped magnet 23, a caster wheel 24, and a first magnet frame 25. The caster wheel 24 is symmetrically arranged on both sides of the first rotating component 21. The first U-shaped magnet 23 is connected to the first rotating component 21 through the first magnet frame 25. The second adsorption assembly includes a nylon wheel 28, a connecting plate 26, a second rotating component 27, a second magnet frame 29, and a second U-shaped magnet 30. The nylon wheel 28 is symmetrically arranged on both sides of the second rotating component 27. The second U-shaped magnet 30 is connected to the second rotating component 27 through the second magnet frame 29. The middle part of the connecting plate 26 is rotatably connected to the middle part of the second rotating component 27 through a bearing. The number of the first U-shaped magnet 23 and the second U-shaped magnet 30 is 2m, where m is a natural number and m ≥ 2. The driving magnet 15, the first U-shaped magnet 23, and the second U-shaped magnet 30 are all neodymium iron boron magnets.

[0035] like Figure 8 and Figure 9 As shown, the adaptive mechanism 3 includes a drive rod 31 and a swing arm 32. Multiple drive rods 31 are arranged in parallel to each other. The first end of the drive rod 31 is connected to the motor reducer 16. The second end of the drive rod 31 is connected to the first end of the swing arm 32 through a locking collar. The lug of the second end of the swing arm 32 is rotatably connected to the hinge joint of the swing member 41 in the frame 4. A damper is provided at the rotation point of the swing arm 32 and the swing member 41 in the frame 4. The permanent magnet drive mechanism 1 rotates around the frame 4, so that the drive wheel 12 adaptively conforms to the variable curvature magnetic conductive wall surface.

[0036] like Figure 10 As shown, the permanent magnet drive group 13 includes a first permanent magnet 131 and a second permanent magnet 132. The magnetic field directions of the first permanent magnet 131 and the second permanent magnet 132 are opposite and adjacent to each other. The multiple magnets are cylindrical magnets or sector magnets. The magnetic field direction of the first permanent magnet 131 is radially outward, and the magnetic field direction of the second permanent magnet 132 is radially inward. The multiple magnets also include a third permanent magnet 133, a fourth permanent magnet 134, a fifth permanent magnet 135, a sixth permanent magnet 136, a seventh permanent magnet 137, and an eighth permanent magnet 138. The magnets are arranged in a circumferential array at intervals. The first permanent magnet 131, the third permanent magnet 133, the fifth permanent magnet 135, and the seventh permanent magnet 137 are magnetized in a radially outward direction. The second permanent magnet 132, the fourth permanent magnet 134, the sixth permanent magnet 136, and the eighth permanent magnet 138 are magnetized in a radially inward direction. The third permanent magnet 133 and the fourth permanent magnet 134 are magnetized in opposite directions and are arranged adjacent to each other. The fifth permanent magnet 135 and the sixth permanent magnet 136 are magnetized in opposite directions and are arranged adjacent to each other. The seventh permanent magnet 137 and the eighth permanent magnet 138 are magnetized in opposite directions and are arranged adjacent to each other.

[0037] like Figure 11 and Figure 12 As shown, the wall-climbing robot of this invention uses neodymium iron boron N48M permanent magnets with a working temperature of up to 100℃. The gap between the permanent magnet and the metal wall is set to 3mm when the wall-climbing robot is working normally. A permanent magnet array and U-shaped magnet model of the permanent magnet wheel set are established, parameters are configured, and simulation analysis is performed on them to obtain the simulated magnetic force and magnetic induction intensity cloud map of the permanent magnet of the drive wheel.

[0038] This invention relates to a permanent magnet adsorption-type wall-climbing robot with adaptive variable curvature magnetically conductive walls. Through a permanent magnet drive mechanism 1 formed by the cooperation of a permanent magnet drive assembly 13 and a drive magnet 15, the robot possesses strong adsorption and load-bearing capacity. Furthermore, through an adaptive mechanism 3, it can passively adapt to the variable curvature magnetically conductive wall surface, giving the robot excellent self-adaptation capabilities on complex surfaces. The robot features a more compact structure, higher stability, and stronger adaptability. It can be widely applied to various curved walls for detection in multiple scenarios.

[0039] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A permanent magnet adsorption wall-climbing robot with an adaptive variable curvature magnetically conductive wall surface, characterized in that, It includes a permanent magnet drive mechanism, a magnetic adsorption component, and an adaptive mechanism. The permanent magnet drive mechanism is symmetrically arranged on both sides of the frame. The permanent magnet drive mechanism is connected to the frame through the adaptive mechanism. The motor reducer of the permanent magnet drive mechanism is connected to the drive rod of the adaptive mechanism. The swing arm of the adaptive mechanism is rotatably connected to the swinging part of the frame. The first rotating part of the magnetic adsorption assembly is connected to the middle connecting plate of the frame. The permanent magnet drive mechanism includes a drive wheel, a permanent magnet drive assembly, a mounting frame, drive magnets, and a motor reducer. Multiple magnets of the permanent magnet drive assembly are evenly spaced along the circumference in magnet slots on the outer circumferential surface of the drive wheel. The drive magnets are connected to the motor reducer via the mounting frame. The drive wheels are symmetrically arranged on both sides of the motor reducer. The output end of the motor reducer is connected to the middle of the drive wheels on both sides and drives them to rotate. The multiple magnets include a first permanent magnet and a second permanent magnet. The magnetic field directions of the first permanent magnet and the second permanent magnet are opposite and they are arranged adjacent to each other. The magnetic adsorption assembly includes a first adsorption assembly and a second adsorption assembly. The first adsorption assembly includes a first rotating component, a first U-shaped magnet, a caster wheel, and a first magnet frame. The caster wheel is symmetrically arranged on both sides of the first rotating component, and the first U-shaped magnet is connected to the first rotating component through the first magnet frame. The second adsorption assembly includes a nylon wheel, a connecting plate, a second rotating component, a second magnet frame, and a second U-shaped magnet. The nylon wheel is symmetrically arranged on both sides of the second rotating component, and the second U-shaped magnet is connected to the second rotating component through the second magnet frame. The middle part of the connecting plate is rotatably connected to the middle part of the second rotating component through a bearing. The adaptive mechanism includes a drive rod and a swing arm. Multiple drive rods are arranged in parallel to each other. The first end of the drive rod is connected to the motor reducer. The second end of the drive rod is connected to the first end of the swing arm through a locking collar. The lug of the second end of the swing arm is rotatably connected to the hinge joint of the swing member in the frame. The permanent magnet drive mechanism rotates around the frame, so that the drive wheel adaptively conforms to the variable curvature magnetic conductive wall.

2. The permanent magnet adsorption wall-climbing robot with an adaptive variable curvature magnetically conductive wall surface according to claim 1, characterized in that, The plurality of magnets are cylindrical magnets or sector magnets.

3. The permanent magnet adsorption wall-climbing robot with an adaptive variable curvature magnetically conductive wall surface according to claim 1, characterized in that, The magnetic field direction of the first permanent magnet is radially outward, and the magnetic field direction of the second permanent magnet is radially inward.

4. The permanent magnet adsorption wall-climbing robot with an adaptive variable curvature magnetically conductive wall surface according to claim 1, characterized in that, The driving magnet, the first U-shaped magnet, and the second U-shaped magnet are all neodymium iron boron magnets.

5. The permanent magnet adsorption wall-climbing robot with an adaptive variable curvature magnetically conductive wall surface according to claim 1, characterized in that, The number of the first U-shaped magnet and the second U-shaped magnet is 2m, where m is a natural number and m ≥ 2.

6. The permanent magnet adsorption wall-climbing robot with an adaptive variable curvature magnetically conductive wall surface according to claim 1, characterized in that, The drive wheel is provided with anti-slip parts arranged at equal intervals along the circumference on its outer side. The anti-slip parts are made of polyurethane, epoxy resin or nylon.

7. The permanent magnet adsorption wall-climbing robot with an adaptive variable curvature magnetically conductive wall surface according to claim 1, characterized in that, Dampers are provided at the rotation points of the swing arm and the swing component of the frame.

8. The permanent magnet adsorption wall-climbing robot with an adaptive variable curvature magnetically conductive wall surface according to claim 1, characterized in that, The plurality of magnets further includes 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, which are arranged in a circumferential array at intervals. The first, third, fifth, and seventh permanent magnets are magnetized in a radially outward direction, while the second, fourth, sixth, and eighth permanent magnets are magnetized in a radially inward direction. The third and fourth permanent magnets are magnetized in opposite directions and are arranged adjacent to each other, as are the fifth and sixth permanent magnets, and the seventh and eighth permanent magnets are magnetized in opposite directions and are arranged adjacent to each other.

9. The permanent magnet adsorption wall-climbing robot with an adaptive variable curvature magnetically conductive wall surface according to claim 1, characterized in that, It also includes a control unit mounted on the intermediate connecting plate of the frame, which controls the movement of the permanent magnet drive mechanism, the magnetic adsorption component, and the adaptive mechanism. The control unit includes an embedded system, a wireless communication module, a motor drive module, and a PC. The embedded system receives information transmitted to the control unit and transmits it to the PC via the wireless communication module. The PC returns control parameters to the embedded system via the wireless communication module, and the embedded system sends control commands to the motor drive module to control the movement of the permanent magnet drive mechanism, the magnetic adsorption component, and the adaptive mechanism.

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