Magnetic attraction combined type metal wall surface mobile robot

Abstract

The invention discloses a magnetic attraction combined type metal wall surface mobile robot. The magnetic attraction combined type metal wall surface mobile robot comprises a permanent magnet wheel combined type transmission structure, a magnetic attraction combined type transmission structure, a radial displacement mechanism, a driving shaft and a driven shaft; the radial displacement mechanism comprises a driving shaft connecting plate, a connecting rod, a driven shaft connecting plate, a universal rod, a sleeve and a driving part; sleeves are correspondingly installed on the two sides of the upper ends of the driving shaft connecting plate and the driven shaft connecting plate respectively, one ends of two connecting rods are rotationally matched with the sleeves on the outer side of the driving shaft connecting plate, and the other ends of the two connecting rods are rotationally matched with the corresponding sleeves on the outer side of the driven shaft connecting plate; the two ends of the universal rod are connected with the inner side end of a driven shaft respectively, and a second synchronous belt wheel and a third synchronous belt wheel are further installed on the driven shaft and used for obtaining power; the output ends of the two driving parts are respectively connected with the inner side end of a driving shaft, and a third synchronous belt wheel is further mounted on the driving shaft; one end of the permanent magnet wheel composite transmission structure is rotatably matched with the middle of the upper end of the driven shaft connecting plate. The robot can adapt to metal wall surfaces of different shapes and states, so that the robot stably moves.

Description

Technical Field

[0001] The invention relates to a magnetic attraction composite metal wall-moving robot, belonging to the field of wall-moving robots. Background Art

[0002] Metal wall mobile robots have important applications in many fields. For example, in the petrochemical industry, they can perform regular inspection and maintenance on the walls of oil storage tanks to promptly detect defects such as corrosion and cracks on the tank surface. In the construction field, they can be used to clean the glass curtain walls of high-rise buildings to improve cleaning efficiency and ensure worker safety. In the nuclear industry, they can inspect the walls of nuclear reactors to reduce the risk of radiation exposure to personnel.

[0003] At present, traditional wall-mounted mobile robots have deficiencies in adaptability. For example, for uneven surfaces, convex or concave walls, the adsorption force may decrease, causing the robot to fall; when the wall material changes or there are impurities such as oil, the adsorption effect will also be greatly reduced. With the development of industry, the demand for robots to operate in complex wall environments is increasing. For example, in the inspection of offshore platforms, the surface of steel structures may be uneven due to long-term erosion by seawater; therefore, mobile robots with wall-mounted adaptive technology can better adapt to different wall conditions, automatically adjust the adsorption force and movement mode, and thus improve work efficiency. At the same time, it can reduce accidents caused by weak adsorption or improper movement, and improve the safety and reliability of robots.

[0004] In order to make up for the problem that traditional wall-moving robots are insufficiently applied in special occasions, a magnetic composite metal wall-moving robot with wall-adaptive function is proposed. Summary of the invention

[0005] The present invention provides a magnetic composite metal wall mobile robot, which can adapt to metal walls of different shapes and states, efficiently cross wall obstacles, enable the robot to move stably, and carry an upper module to effectively operate on the wall.

[0006] The technical solution of the present invention is:

[0007] A magnetic composite metal wall mobile robot, comprising a permanent magnetic wheel composite transmission structure 1, a magnetic composite transmission structure 3, a radial displacement mechanism 4, a driving shaft, and a driven shaft;

[0008] The radial displacement mechanism 4 comprises a driving shaft connecting plate 4.1, a connecting rod 4.2, a driven shaft connecting plate 4.3, a universal rod 4.4, a sleeve 4.5, and a driving component; sleeves 4.5 are respectively installed on both sides of the upper ends of the driving shaft connecting plate 4.1 and the driven shaft connecting plate 4.3, one end of the two connecting rods 4.2 is rotatably matched with the sleeve 4.5 on the outer side of the driving shaft connecting plate 4.1, and the other end of the two connecting rods 4.2 is rotatably matched with the sleeve 4.5 corresponding to the outer side of the driven shaft connecting plate 4.3; The two ends are respectively connected to the inner end of a driven shaft extending from the lower end of a driven shaft connecting plate 4.3, and the driven shaft is also installed with the second synchronous pulley 1.7 in the permanent magnet wheel composite transmission structure 1 and a third synchronous pulley 3.4 of the magnetic composite transmission structure 3 from the inner side to the outer side; the output ends of the two driving components are respectively connected to the inner end of a driving shaft extending from the lower end of a driving shaft connecting plate 4.1, and the driving shaft is also installed with another third synchronous pulley 3.4 of the magnetic composite transmission structure 3 from the inner side to the outer side;

[0009] One end of the permanent magnet wheel composite transmission structure 1 is rotationally matched with the middle part of the upper end of the driven shaft connecting plate 4.3, and the second synchronous pulley 1.7 in the permanent magnet wheel composite transmission structure 1 is used to obtain power.

[0010] Furthermore, the permanent magnet wheel composite transmission structure 1 includes a first synchronous pulley 1.1, a spring compression rod mechanism 1.2, an obstacle crossing module 1.3, a variable diameter permanent magnet wheel 1.4, a permanent magnet wheel center axis 1.6, a second synchronous pulley 1.7, and a first synchronous belt 1.8; one end of the spring compression rod mechanism 1.2 is rotationally matched with the middle of the upper end of the driven shaft connecting plate 4.3, the first synchronous pulley 1.1 is installed in the middle of the permanent magnet wheel center axis 1.6, and the obstacle crossing module 1.3 and the variable diameter permanent magnet wheel 1.4 are symmetrically installed in sequence from the middle of the permanent magnet wheel center axis 1.6 to both sides, and one end of the obstacle crossing module 1.3 is clearance-matched with the permanent magnet wheel center axis 1.6, and the other end of the obstacle crossing module 1.3 is rotationally matched with the other end of the spring compression rod mechanism 1.2; the first synchronous pulley 1.1 is connected to the second synchronous pulley 1.7 through the first synchronous belt 1.8 to obtain power.

[0011] Furthermore, the spring compression rod mechanism 1.2 includes a spring rod 1.2.3, a second spring 1.2.4, a spring compression chamber 1.2.5, two connecting frames 1.2.1, and two gaskets 1.2.2; one end of the first connecting frame 1.2.1 is rotatably matched with one end of the obstacle crossing module 1.3, and the other end of the first connecting frame 1.2.1 is provided with an integrated first gasket 1.2.2, one end of the second connecting frame 1.2.1 is rotatably matched with the driven shaft connecting plate 4.3 in the radial displacement mechanism 4, and the other end of the second connecting frame 1.2.1 is provided with An integrated spring compression chamber 1.2.5, the first gasket 1.2.2 is provided with a first cavity on the side facing the spring compression chamber 1.2.5, the spring compression chamber 1.2.5 is provided with a second cavity on the side facing the first gasket 1.2.2, the second gasket 1.2.2 and the second spring 1.2.4 are sequentially sleeved on the spring rod 1.2.3 from one end to the other end; the spring rod 1.2.3 extends from the end extending from the second gasket 1.2.2 into the second cavity, and the spring rod 1.2.3 extends from the end extending from the second spring 1.2.4 into the first cavity.

[0012] Furthermore, the variable diameter permanent magnet wheel 1.4 includes a hub 1.4.1 and permanent magnets 1.4.4; a plurality of the permanent magnets 1.4.4 are arranged in a ring array, the hub 1.4.1 is located between the plurality of the permanent magnets 1.4.4, and each of the permanent magnets 1.4.4 can move relatively close to or away from the hub 1.4.1.

[0013] Furthermore, the magnetic composite transmission structure 3 includes a clamping sleeve 3.1, a second synchronous belt 3.2, a baffle 3.3, a third synchronous pulley 3.4, a clamping device 3.5, and a permanent magnet block 3.6. The third synchronous pulley 3.4 installed on the driving shaft is connected to the third synchronous pulley 3.4 installed on the driven shaft through the second synchronous belt 3.2. At the same time, a baffle 3.3 is connected to both sides of the third synchronous pulley 3.4 to position the clamping device 3.5 between the two shafts. The outer ends of the driving shaft and the driven shaft are fixed with a clamping sleeve 3.1; permanent magnet blocks 3.6 are arranged at intervals on the outer periphery of the second synchronous belt 3.2; and the clamping device 3.5 is fixed between the two baffles 3.3 by screws.

[0014] Furthermore, the clamping device 3.5 includes an electric push rod 3.5.1, a positioning plate 3.5.2, a gear base 3.5.3, and a gear 3.5.4; the upper base at one end of the electric push rod 3.5.1 is connected to one end of a positioning plate 3.5.2 on opposite sides, and the other ends of the two symmetrical positioning plates 3.5.2 are connected to the baffle 3.3 on the corresponding side, the other end of the electric push rod 3.5.1 is embedded in the cylindrical groove of the gear base 3.5.3 and the lower base of the electric push rod 3.5.1 is fixed to the gear base 3.5.3, and the gear base 3.5.3 is installed with moving shafts extending along the driving shaft direction on opposite sides, and the moving shafts are respectively installed with gears 3.5.4 meshing with the second synchronous belt 3.2; the electric push rod motor 3.5.6 located on the lower base of the electric push rod 3.5.1 enables the electric push rod 3.5.1 to obtain thrust.

[0015] Furthermore, the magnetic composite metal wall mobile robot also includes a control box 2, which includes an outer shell and an electronic control system installed in the outer shell, wherein the outer shell includes a bottom shell and a top cover 2.1 for opening and closing the bottom shell, and the bottom shell is composed of a bottom plate 2.3 and two cross beams 2.4 and two longitudinal beams 2.2 installed on the four sides of one side of the bottom plate 2.3. At the same time, the cross beam 2.4 is also rotatably matched with the sleeve 4.5 close to the inner side of the driving shaft connecting plate 4.1 and the driven shaft connecting plate 4.3.

[0016] The beneficial effects of the present invention are:

[0017] 1. In the present invention, the transmission mechanism motor and the reducer are directly connected to the driving shaft, and the driving shaft is connected to the driven shaft through a synchronous belt with a permanent magnet block via a synchronous pulley. The driven shaft then uses a sleeve to directly connect another synchronous pulley to the front permanent magnet wheel. This makes the power transmission efficiency high, reduces the power consumption and demand, and also ensures the consistency and stability of the robot's movement;

[0018] 2. In the present invention, the driven shaft as the front shaft is replaced by a universal rod connection so that the robot can well adapt to radial displacement when encountering obstacles in the forward direction or when the wall surface has a curvature change. At the same time, the radial displacement mechanism of the robot can follow the curvature change on both sides of the adaptive curvature, so that the robot can be adsorbed on more working conditions and irregular curvatures, which brings more possibilities for the subsequent secondary development of the robot;

[0019] 3. In the present invention, the main adsorption method is the magnetic second synchronous belt and permanent magnet wheel. Under the condition that the magnetic force of the synchronous belt is sufficient, the permanent magnet wheel is generally used only as a driven wheel for walking and overcoming obstacles. When the magnetic force of the synchronous belt is insufficient or obstacles need to be overcome, the permanent magnet wheel can increase the contact area between the permanent magnet wheel and the wall by shortening the outer diameter of the wheel to achieve a dynamic magnetic attraction effect; the front permanent magnet wheel is connected to the spring telescopic rod connected to the driven shaft connecting plate frame through the obstacle crossing module, and the obstacle crossing module of the permanent magnet wheel and the wheel itself can change the diameter relative to the frame itself, thus forming a two-stage variable diameter wheel, which helps the permanent magnet wheel to better adapt to different situations so that the magnetic composite robot can adapt to a variety of force scenarios;

[0020] 4. The present invention includes an electronic control system, which is placed in the robot control box and can be used to control the movement of the motor according to the information fed back by the sensor to ensure better movement efficiency when the friction and adsorption forces are sufficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the structure of the permanent magnet wheel composite transmission structure of the present invention;

[0023] Figure 3 This is an exploded view of the permanent magnet wheel composite transmission structure of the present invention;

[0024] Figure 4 This is a schematic diagram of an obstacle-crossing module of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of the variable diameter permanent magnetic wheel of the present invention;

[0026] Figure 6 It is a schematic diagram of the structure of the spring telescopic rod of the present invention;

[0027] Figure 7 This is a schematic diagram of the control box structure of the present invention

[0028] Figure 8 It is a schematic diagram of the internal structure of the control box of the present invention;

[0029] Fig. 9 It is a schematic diagram of the overall structure of the clamping device and the magnetic synchronous belt of the present invention;

[0030] Fig.10 It is a schematic diagram of the internal structure of the clamping device and the magnetic synchronous belt of the present invention;

[0031] Fig.11 1. It is a schematic diagram of the structure of the clamping device;

[0032] Fig.12 It is a schematic diagram of the explosion of the clamping device;

[0033] Fig.13 It is a schematic diagram of the radial displacement mechanism and shaft system structure;

[0034] Fig.14 Schematic diagram of the connection structure between the driven shaft and the universal rod;

[0035] The numbers in the figure are: 1-permanent magnetic wheel composite transmission structure, 2-control box, 3-magnetic attraction composite transmission structure, 4-radial displacement mechanism, 1.1-first synchronous pulley, 1.2-spring compression rod mechanism, 1.2.1-connecting frame, 1.2.2-gasket, 1.2.3-spring rod, 1.2.4-second spring, 1.2.5-spring compression chamber, 1.3-obstacle crossing support frame, 1.4-variable diameter permanent magnetic wheel, 1.4.1-wheel hub, 1.4.2-wheel connecting shaft, 1.4.3-slider, 1.4.4-permanent magnet, 1.5-round nut, 1.6-permanent magnetic wheel center axis, 1.7-second synchronous pulley, 1.8-first synchronous belt, 2.1-top cover, 2.2-longitudinal beam, 2.3-bottom plate, 2.4-cross beam, 2.5-battery pack, 2.6- Copper pillars on circuit board, 2.7-single chip microcomputer, 2.8-acrylic board, 2.9-motor drive board, 3.1-expansion sleeve, 3.2-second synchronous belt, 3.3-baffle, 3.4-third synchronous pulley, 3.5-clamping device, 3.5.1-spring rod, 3.5.2-positioning plate, 3.5.3-gear base, 3.5.4-gear, 3.5.5-round nut, 3.5.6-linear push rod motor, 3.6-permanent magnet block, 4.1-driving shaft connecting plate, 4.2-connecting rod, 4.3-driven shaft connecting plate, 4.4-universal rod, 4.4.1-shaft head, 4.4.2-universal rod connecting shaft, 4.4.3-cross pin, 4.5-sleeve, 4.6-stepping motor, 4.7-motor reducer, 4.8-connecting shaft sleeve, 4.9-driven shaft sleeve. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other arbitrarily without conflict.

[0037] Example 1: Figure 1-Figure 14 As shown, a magnetic composite metal wall mobile robot includes a permanent magnetic wheel composite transmission structure 1, a magnetic composite transmission structure 3, a radial displacement mechanism 4, a driving shaft, and a driven shaft;

[0038] The radial displacement mechanism 4 comprises a driving shaft connecting plate 4.1, a connecting rod 4.2, a driven shaft connecting plate 4.3, a universal rod 4.4, a sleeve 4.5, and a driving component; sleeves 4.5 are respectively installed on both sides of the upper ends of the driving shaft connecting plate 4.1 and the driven shaft connecting plate 4.3, one end of the two connecting rods 4.2 is rotationally matched with the sleeve 4.5 on the outer side of the driving shaft connecting plate 4.1, and the other end of the two connecting rods 4.2 is rotationally matched with the sleeve 4.5 corresponding to the outer side of the driven shaft connecting plate 4.3, that is, the long bolts are respectively tightened and connected with the sleeve 4.5 while allowing the connecting rod to rotate axially; the universal rod 4.4 The two ends are respectively connected to the inner end of a driven shaft extending from the lower end of a driven shaft connecting plate 4.3, and the driven shaft is also installed with the second synchronous pulley 1.7 in the permanent magnet wheel composite transmission structure 1 and a third synchronous pulley 3.4 of the magnetic composite transmission structure 3 from the inner side to the outer side, and the outer end is fixed by a tightening sleeve 3.1; the output ends of the two driving components are respectively connected to the inner end of a driving shaft extending from the lower end of a driving shaft connecting plate 4.1, and the driving shaft is also installed with another third synchronous pulley 3.4 of the magnetic composite transmission structure 3 from the inner side to the outer side, and the outer end is fixed by a tightening sleeve 3.1;

[0039] One end of the permanent magnet wheel composite transmission structure 1 is rotationally matched with the middle part of the upper end of the driven shaft connecting plate 4.3, and the second synchronous pulley 1.7 in the permanent magnet wheel composite transmission structure 1 is used to obtain power.

[0040] Furthermore, if Figure 2-Figure 4 As shown, the permanent magnet wheel composite transmission structure 1 includes a first synchronous pulley 1.1, a spring compression rod mechanism 1.2, an obstacle crossing module 1.3, a variable diameter permanent magnet wheel 1.4, a round nut 1.5, a permanent magnet wheel center shaft 1.6, a second synchronous pulley 1.7, and a first synchronous belt 1.8; one end of the spring compression rod mechanism 1.2 is rotatably matched with the middle part of the upper end of the driven shaft connecting plate 4.3, and the first synchronous pulley 1.1 is installed in the middle part of the permanent magnet wheel center shaft 1.6 by a key connection, and the permanent magnet wheel center shaft 1.6 is rotated from the first synchronous pulley 1.1 to the second synchronous belt 1.8. The obstacle module 1.3 and the variable diameter permanent magnet wheel 1.4 are symmetrically installed in the middle of the wheel 6 in both sides, and one end of the obstacle module 1.3 is clearance-matched with the permanent magnet wheel center axis 1.6 by means of a sleeve (the sleeve and the permanent magnet wheel center axis 1.6 are clearance-matched, and the sleeve and the obstacle module 1.3 are interference-fitted), and the other end of the obstacle module 1.3 is rotationally matched with the other end of the spring compression rod mechanism 1.2; the first synchronous pulley 1.1 is connected to the second synchronous pulley 1.7 through the first synchronous belt 1.8 to obtain power. Further, the two ends of the sleeve extend out of the obstacle module 1.3, so that the obstacle module 1.3 and the first synchronous pulley 1.1 and the variable diameter permanent magnet wheel 1.4 do not interfere with each other; the variable diameter permanent magnet wheel 1.4 is locked on the permanent magnet wheel center axis 1.6 through the shoulder of the permanent magnet wheel center axis 1.6 and the round nut 1.5.

[0041] By applying the above technical solution, it can be known that the first synchronous pulley 1.1 is connected to the second synchronous pulley 1.7 on the driven shaft through the first synchronous belt 1.8 to provide power to the permanent magnet wheel. The spring telescopic rod 1.2 is a spring telescopic rod structure, which is connected to the obstacle crossing module 1.3 and the driven shaft connecting plate 4.3 through the connecting frames 1.2.1 on both sides to realize the two-stage wheel diameter change. The installation of the obstacle crossing module 1.3 enables the robot to help the wheel body to cross the obstacle when the obstacle is too close or the permanent magnet wheel diameter is shortened. At the same time, since the end of the obstacle crossing module adopts a fan ring design, The obstacle-crossing part of the obstacle-crossing module can be perpendicular to the wall when there is no obstacle-crossing pressure, which also matches the posture of the spring telescopic rod when the force is relatively small when there is no vertical pressure on the wall. Therefore, this structure can help the wheel to overcome obstacles when the variable-diameter permanent magnet wheel 1.4 is subjected to excessive radial pressure. The force on the spring telescopic rod 1.2 is affected by the permanent magnet wheel 1.4. When the permanent magnet wheel 1.4 is subjected to relatively small force, the spring compression degree is small, and the vertical pressure on the wall is small. On the contrary, when the permanent magnet wheel is subjected to relatively large force, the spring compression degree becomes larger, the spring telescopic rod 1.2 becomes shorter, and the obstacle-crossing module 1.3 tilts up to help the permanent magnet wheel overcome obstacles.

[0042] Furthermore, if Figure 5 As shown, the variable diameter permanent magnet wheel 1.4 includes a wheel hub 1.4.1, a wheel connecting shaft 1.4.2, a slider 1.4.3, and a permanent magnet 1.4.4; a plurality of the permanent magnets 1.4.4 are arranged in a ring array, a guide groove is opened on the inner side of each permanent magnet 1.4.4, a first spring is sleeved on the wheel connecting shaft 1.4.2 and the end of the wheel connecting shaft 1.4.2 extends out from the first spring, one end of the wheel connecting shaft 1.4.2 is fixedly connected to the end of the mounting hole opened in the radial direction of the outer periphery of the wheel hub 1.4.1 by a thread, and a slider 1.4.3 is installed on the other end of the wheel connecting shaft 1.4.2, the slider 1.4.3 is slidably matched with the guide groove and the slider 1.4.3 extends out from the guide groove; a travel groove is correspondingly provided at the mounting hole of the wheel hub 1.4.1 and passes through the thickness direction of the wheel hub 1.4.1 to facilitate the compression and extension movement of the first spring.

[0043] For example, Figure 5As shown, a cylindrical permanent magnet is evenly divided into six permanent magnets 1.4.4, the initial position of the slider 1.4.3 is not completely embedded in the permanent magnet 1.4.4 (that is, in the initial state, the slider 1.4.3 extends out of the guide groove), and the stroke of the spring compression is consistent with the depth of the slider moving in the permanent magnet 1.4.4; in normal movement, the permanent magnet 1.4.4 is uniformly adsorbed on the wall surface. When the curvature of the wall surface changes, resulting in a decrease in the adsorption force of the permanent magnet block 3.6 on the second synchronous belt 3.2, the permanent magnet 1.4.4 needs a greater adsorption force, so the permanent magnet 1.4.4 in contact with the wall surface moves toward the direction of the hub 1.4.1 (that is, the permanent magnet 1.4.4 in contact with the wall surface in the variable diameter permanent magnet wheel 1.4 moves relative to the hub 1.4.1). When the variable diameter permanent magnetic wheel 1.4 encounters an obstacle or cannot cross it, the variable diameter permanent magnetic wheel 1.4 will be subject to greater resistance at the front end of the robot, causing its outer diameter to become smaller. At this time, the obstacle crossing module 1.3 will protrude to help the robot overcome the obstacle. When installing the obstacle crossing module 1.3, it is designed to be at a certain angle to the ground so that when the front wheel of the robot contacts a raised wall or obstacle, the obstacle crossing module 1.3 can help the robot pass and overcome the obstacle smoothly. When the robot walks on a flat wall, the bottom of the permanent magnet 1.4.4 in the variable diameter permanent magnetic wheel 1.4 that contacts the wall and the bottom of the permanent magnet block 3.6 are located in the same horizontal plane.

[0044] Furthermore, if Figure 6 The structure shown in the figure, the spring compression rod mechanism 1.2 includes a spring rod 1.2.3, a second spring 1.2.4, a spring compression chamber 1.2.5, two connecting frames 1.2.1, and two gaskets 1.2.2; one end of the first connecting frame 1.2.1 is rotatably matched with one end of the obstacle crossing module 1.3, and the other end of the first connecting frame 1.2.1 is provided with an integrated first gasket 1.2.2; one end of the second connecting frame 1.2.1 is rotatably matched with the driven shaft connecting plate 4.3 in the radial displacement mechanism 4, and the other end of the second connecting frame 1.2.1 is provided with an integrated spring compression chamber 1.2.5, The first gasket 1.2.2 is provided with a first cavity on the side facing the spring compression cavity 1.2.5, and the spring compression cavity 1.2.5 is provided with a second cavity on the side facing the first gasket 1.2.2. The second gasket 1.2.2 and the second spring 1.2.4 are sequentially sleeved on the spring rod 1.2.3 from one end to the other end; the end of the spring rod 1.2.3 extending from the second gasket 1.2.2 extends into the second cavity, and the end of the spring rod 1.2.3 extending from the second spring 1.2.4 extends into the first cavity, and limit blocks are provided at both ends of the spring rod 1.2.3 to prevent it from slipping out.

[0045] Furthermore, the angle between the spring compression rod device and the wall is ≤40° to prevent interference in movement; the maximum stroke of the spring rod 1.2.3 is the depth of the second cavity minus the length of the spring rod 1.2.3 extending into the second cavity in the initial state; the connecting frame is rotatably matched with the driven shaft connecting plate 4.3 and with one end of the obstacle crossing module 1.3, both of which are connected by studs and nuts, and can rotate around the axis.

[0046] Furthermore, if Figure 7 As shown, it also includes a control box 2, the control box 2 includes a shell and an electronic control system installed in the shell, wherein the shell includes a bottom shell and a top cover 2.1 for opening and closing the bottom shell, the bottom shell is composed of a bottom plate 2.3 and two cross beams 2.4 and two longitudinal beams 2.2 installed on four sides of one side of the bottom plate 2.3, the bottom plate 2.3 and the cross beam 2.4 are connected by bolts, and the cross beam 2.4 is also rotatably matched with the sleeve 4.5 close to the inner side of the driving shaft connecting plate 4.1 and the driven shaft connecting plate 4.3 in the radial displacement mechanism 4, and the cross beam 2.4 has a total of six holes, two of which are responsible for the vertical direction It is connected to the top cover 2.1, and the other four are coaxial holes of different sizes on the front and back sides of the beam. The size of the hole near the outside of the beam is mainly the same as the aperture of the driving shaft connecting plate 4.1 and the driven shaft connecting plate 4.3, so as to be used for the connection between the beam and the connecting plate. The inner aperture is larger than the outer aperture, which is mainly used for later assembly and disassembly. The control box 2 does not have the need for radial movement, so when the second synchronous belt and wheels on both sides undergo radial displacement, with the assistance of the radial displacement mechanism 4, it can always maintain a state parallel to the wall, reducing the possibility of components falling off due to vibration of the control box.

[0047] Furthermore, if Figure 8 As shown, the electronic control system includes a battery pack 2.5 and a single-chip microcomputer 2.7 connected by bolts on a base plate 2.3. The four corners of the single-chip microcomputer 2.7 use circuit board copper pillars 2.6 to support an acrylic board 2.8 for installing two motor drive boards 2.9; the single-chip microcomputer 2.7 is used to control the movement of the motor according to the information fed back by the pressure sensor to ensure better movement efficiency when the friction and adsorption forces are sufficient.

[0048] Furthermore, if Fig. 9 and Fig.10As shown, the magnetic composite transmission structure 3 includes an expansion sleeve 3.1, a second synchronous belt 3.2, a baffle 3.3, a third synchronous pulley 3.4, a clamping device 3.5, and a permanent magnet block 3.6. The third synchronous pulley 3.4 installed on the driving shaft is connected to the third synchronous pulley 3.4 installed on the driven shaft through the second synchronous belt 3.2 (the third synchronous pulley 3.4 is connected to the shaft by a key connection), and a baffle 3.3 is connected to both sides of the third synchronous pulley 3.4 to position the clamping device 3.5 between the two shafts. The second synchronous pulley 1.7 and the permanent magnet wheel composite transmission structure are installed near the inner baffle of the driven shaft. The first synchronous pulley 1.1 in the transmission structure 1 is connected by the first synchronous belt 1.8, the outer ends of the driving shaft and the driven shaft are fixed by the expansion sleeve 3.1, the inner end of the driving shaft extends from the driving shaft connecting plate 4.1 in the radial displacement mechanism 4, and the inner end of the driven shaft extends from the driven shaft connecting plate 4.3 in the radial displacement mechanism 4; permanent magnet blocks 3.6 are distributed at intervals on the outer side of the second synchronous belt 3.2 (the permanent magnet blocks 3.6 are fixed to the second synchronous belt 3.2 by bolts and nuts); the clamping device 3.5 is fixed between the two baffles 3.3 by screws, which can ensure that the clamping device 3.5 will not be displaced axially.

[0049] Furthermore, if Fig.11 , 12As shown, the clamping device 3.5 includes an electric push rod 3.5.1, a positioning plate 3.5.2, a gear base 3.5.3, a gear 3.5.4, and a locking washer 3.5.5; the upper square base at one end of the electric push rod 3.5.1 is connected to one end of a positioning plate 3.5.2 on opposite sides, and the other ends of the two symmetrical positioning plates 3.5.2 are connected to the baffle 3.3 by screws to achieve the purpose of positioning, the other end of the electric push rod 3.5.1 is embedded in the cylindrical groove of the gear base 3.5.3, and the lower base of the electric push rod 3.5.1 and the gear base 3.5.3 are positioned and fixed by screws through four holes, and the gear base 3.5.3 is installed with a moving shaft extending in the direction of the driving shaft on opposite sides, and a gear 3.5.4 meshing with the second synchronous belt 3.2 is installed on the moving shaft, so that the gear 3.5.4 can be in the second synchronous belt 3.2. The second synchronous belt 3.2 runs smoothly on the robot, and the locking washer 3.5.5 is used for axial positioning and locking of the gear 3.5.4; the electric push rod motor 3.5.6 located on the lower square base of the electric push rod 3.5.1 enables the electric push rod 3.5.1 to obtain a certain thrust in a straight line, and under the action of the positioning plate 3.5.2 and the gear base 3.5.3, the force of the electric push rod is concentrated downward and perpendicular to the center of the mechanism, so that the second synchronous belt 3.2 can better fit the wall while being tensioned, thereby increasing the area of ​​magnetic attraction, improving the stability of the robot at work, and effectively preventing the robot from falling from the wall; at the same time, during installation, the installation distance between the gear 3.5.4 and the second synchronous belt 3.2 can be formulated according to actual movement requirements. If the wall moves smoothly, a larger gap can be used to ensure that the friction force is not too large to interfere with the movement of the stepper motor 4.6.

[0050] Furthermore, if Fig.13 As shown, the driving components in the radial displacement mechanism 4 include a stepper motor 4.6 and a motor reducer 4.7; the two stepper motors 4.6 are connected to one end of a driving shaft through a sleeve through the motor reducer 4.7. Under normal stable motion, if the curvature of the wall surface changes suddenly, the universal rod 4.4 will deviate, causing the second synchronous belts 3.2 on both sides to be radially displaced. At the same time, since the connecting rod 4.2 is respectively tensioned and connected to the sleeve 4.5 through a long bolt, while allowing the connecting rod to rotate axially, the driving shaft and the driven shaft will be radially displaced to the same extent. At the same time, since the driving shaft connecting plate 4.1 and the driven shaft connecting plate 4.3 located on the same side relative to the front direction are on the same horizontal plane and the sleeve 4.5 is also at the same axis position, the robot can obtain a more stable running state; when the universal rod 4.4 is radially displaced, the above mechanism can achieve passive radial displacement while ensuring that the control box 2 is always placed horizontally.

[0051] Furthermore, if Fig.14As shown, the universal rod 4.4 includes a central shaft 4.4.2, and both sides of the central shaft 4.4.2 of the universal rod are connected to a universal rod shaft head 4.4.1 at the same time. The universal rod shaft head 4.4.1 is connected to one end of the driven shaft at both ends through a connecting shaft sleeve 4.8, wherein the middle of the universal rod shaft head 4.4.1 is interlocked by a cross pin 4.4.3 through a tightening connection; at the same time, the connection between the first synchronous pulley 1.7 and the third synchronous pulley 3.4 installed on the driven shaft is separated by a driven shaft sleeve 4.9 to ensure that there is no interference in the movement, and to ensure that the universal rod 4.4 will not disturb the axial rotational movement when radial displacement occurs on both sides of the robot. In the above technical solution, by using the connection method of the universal rod 4.4 on the driven shaft to adapt to various different robot motion postures, the robot can move asymmetrically on both sides, that is, the radial displacement on both sides is different, which greatly increases the adaptability of the robot.

[0052] By applying the above technical solution, it can be known that the robot of the present invention mainly controls the movement through the electrical components in the control box 2, and the magnetic adsorption mechanism mainly includes a permanent magnet wheel and a second synchronous belt 3.2 with a permanent magnet block 3.6. The mechanism directly connected to the permanent magnet wheel is to control the wheel diameter of the variable diameter permanent magnet wheel 1.4 through a spring compression rod mechanism 1.2 to help the permanent magnet wheel to better fit the wall surface; the magnetic composite transmission structure 3 is provided with a second synchronous belt 3.2 with a permanent magnet block 3.6 to reduce the risk of the robot falling off the wall surface, and the second synchronous belt is tightened by an electric push while closely fitting with the wall surface to increase the magnetic attraction area; at the same time, the transmission of the driving shaft and the driven shaft, and the transmission from the driven shaft to the permanent magnet wheel all adopt synchronous belt transmission, which avoids the complexity of the transmission structure and further improves its magnetic adsorption and movement stability. Through the radial displacement mechanism 4, the main body balance of the robot is not affected when radial displacement occurs, so that both sides of the robot can adapt to magnetic adsorption walls with different curvatures such as concave and convex; at the same time, the control box 2 and the inner sleeves of the active shaft connecting plate 4.1 and the driven shaft connecting plate 4.3 of the radial displacement mechanism 4 are rotated together, and a circular hole slightly larger than the bolt hole diameter is opened at the crossbeam 2.4 of the control box 2 to facilitate the assembly of the bolts.

[0053] The specific implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above implementation modes, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A magnetic composite metal wall mobile robot, characterized in that: It comprises a permanent magnet wheel composite transmission structure (1), a magnetic attraction composite transmission structure (3), a radial displacement mechanism (4), a driving shaft, and a driven shaft; The radial displacement mechanism (4) comprises a driving shaft connecting plate (4.1), a connecting rod (4.2), a driven shaft connecting plate (4.3), a universal rod (4.4), a sleeve (4.5), and a driving component; sleeves (4.5) are respectively installed on both sides of the upper ends of the driving shaft connecting plate (4.1) and the driven shaft connecting plate (4.3); one end of the two connecting rods (4.2) is rotationally matched with the sleeves (4.5) on the outer side of the driving shaft connecting plate (4.1); the other ends of the two connecting rods (4.2) are rotationally matched with the sleeves (4.5) corresponding to the outer side of the driven shaft connecting plate (4.3); the universal rod (4.4) is rotationally matched with the sleeves (4.5) corresponding to the outer side of the driven shaft connecting plate (4.3); The two ends of the driving rod (4.4) are respectively connected to the inner end of a driven shaft extending from the lower end of a driven shaft connecting plate (4.3), and the end of the driven shaft from the inner side to the outer side is also installed with a second synchronous pulley (1.7) in the permanent magnet wheel composite transmission structure (1) and a third synchronous pulley (3.4) of the magnetic composite transmission structure (3); the output ends of the two driving components are respectively connected to the inner end of a driving shaft extending from the lower end of a driving shaft connecting plate (4.1), and the end of the driving shaft from the inner side to the outer side is also installed with another third synchronous pulley (3.4) of the magnetic composite transmission structure (3); One end of the permanent magnet wheel composite transmission structure (1) is rotationally matched with the middle portion of the upper end of the driven shaft connecting plate (4.3), and the second synchronous pulley (1.7) in the permanent magnet wheel composite transmission structure (1) is used to obtain power.

2. The magnetic composite metal wall mobile robot according to claim 1, characterized in that: The permanent magnet wheel composite transmission structure (1) comprises a first synchronous pulley (1.1), a spring compression rod mechanism (1.2), an obstacle crossing module (1.3), a variable diameter permanent magnet wheel (1.4), a permanent magnet wheel center shaft (1.6), a second synchronous pulley (1.7), and a first synchronous belt (1.8); one end of the spring compression rod mechanism (1.2) is rotatably matched with the middle portion of the upper end of the driven shaft connecting plate (4.3), and the first synchronous pulley (1.1) is mounted on the permanent magnet wheel center shaft (1.6). An obstacle-crossing module (1.3) and a variable-diameter permanent magnetic wheel (1.4) are symmetrically installed in sequence from the middle of the permanent magnetic wheel central axis (1.6) to both sides, and one end of the obstacle-crossing module (1.3) is clearance-matched with the permanent magnetic wheel central axis (1.6), and the other end of the obstacle-crossing module (1.3) is rotationally matched with the other end of the spring compression rod mechanism (1.2); the first synchronous pulley (1.1) is connected to the second synchronous pulley (1.7) via a first synchronous belt (1.8) to obtain power.

3. The magnetic composite metal wall mobile robot according to claim 1, characterized in that: The spring compression rod mechanism (1.2) comprises a spring rod (1.2.3), a second spring (1.2.4), a spring compression chamber (1.2.5), two connecting frames (1.2.1), and two gaskets (1.2.2); one end of the first connecting frame (1.2.1) is rotationally matched with one end of the obstacle crossing module (1.3), the other end of the first connecting frame (1.2.1) is provided with an integrated first gasket (1.2.2), one end of the second connecting frame (1.2.1) is rotationally matched with a driven shaft connecting plate (4.3) in the radial displacement mechanism (4), and the other end of the second connecting frame (1.2.1) is provided with a The spring compression cavity (1.2.5) of the body is provided with a first cavity on the side of the first gasket (1.2.2) facing the spring compression cavity (1.2.5), and the spring compression cavity (1.2.5) is provided with a second cavity on the side facing the first gasket (1.2.2); the second gasket (1.2.2) and the second spring (1.2.4) are sequentially sleeved on the spring rod (1.2.3) from one end to the other end; the end of the spring rod (1.2.3) extending from the second gasket (1.2.2) extends into the second cavity, and the end of the spring rod (1.2.3) extending from the second spring (1.2.4) extends into the first cavity.

4. The magnetic composite metal wall mobile robot according to claim 2, characterized in that: The variable diameter permanent magnet wheel (1.4) comprises a wheel hub (1.4.1) and a permanent magnet (1.4.4); a plurality of the permanent magnets (1.4.4) are arranged in a ring array, the wheel hub (1.4.1) is located between the plurality of the permanent magnets (1.4.4), and each of the permanent magnets (1.4.4) can move relatively close to or away from the wheel hub (1.4.1).

5. The magnetic composite metal wall mobile robot according to claim 1, characterized in that: The magnetic attraction composite transmission structure (3) comprises an expansion sleeve (3.1), a second synchronous belt (3.2), a baffle (3.3), a third synchronous pulley (3.4), a clamping device (3.5), and a permanent magnet (3.6). The third synchronous pulley (3.4) installed on the driving shaft is connected to the third synchronous pulley (3.4) installed on the driven shaft through the second synchronous belt (3.2). At the same time, a baffle (3.3) is connected to both sides of the third synchronous pulley (3.4) to position the clamping device (3.5) between the two shafts. The outer ends of the driving shaft and the driven shaft are fixed by the expansion sleeve (3.1); the permanent magnets (3.6) are distributed at intervals on the outer periphery of the second synchronous belt (3.2); and the clamping device (3.5) is fixed between the two baffles (3.3) by screws.

6. The magnetic composite metal wall mobile robot according to claim 5, characterized in that: The clamping device (3.5) comprises an electric push rod (3.5.1), a positioning plate (3.5.2), a gear base (3.5.3), and a gear (3.5.4); the upper base at one end of the electric push rod (3.5.1) is connected to one end of a positioning plate (3.5.2) at two opposite sides, the other ends of the two symmetrical positioning plates (3.5.2) are connected to the baffle plates (3.3) on the corresponding sides, and the other end of the electric push rod (3.5.1) is embedded in the gear base The electric push rod (3.5.1) is in the cylindrical groove of the gear base (3.5.3) and the lower base of the electric push rod (3.5.1) is fixed to the gear base (3.5.3). The gear base 3.5.3 is provided with moving shafts extending along the driving shaft direction on opposite sides. Gears (3.5.4) meshing with the second synchronous belt (3.2) are respectively installed on the moving shafts. The electric push rod motor (3.5.6) located on the lower base of the electric push rod (3.5.1) enables the electric push rod (3.5.1) to obtain thrust.

7. The magnetic composite metal wall mobile robot according to claim 1, characterized in that: The magnetic composite metal wall mobile robot also includes a control box (2), the control box (2) includes an outer shell and an electronic control system installed in the outer shell, wherein the outer shell includes a bottom shell and a top cover (2.1) used to open and close the bottom shell, the bottom shell is composed of a bottom plate (2.3) and two cross beams (2.4) and two longitudinal beams (2.2) installed on four sides of one side of the bottom plate (2.3), and the cross beam (2.4) is also rotatably matched with sleeves (4.5) close to the inner side of the driving shaft connecting plate (4.1) and the driven shaft connecting plate (4.3).

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