Magnetic composite metal wall surface mobile robot

Abstract

The application discloses a kind of magnetic composite metal wall surface mobile robots, including permanent magnet wheel composite transmission structure, magnetic composite transmission structure, radial displacement mechanism, driving shaft, driven shaft;Radial displacement mechanism includes driving shaft connecting plate, connecting rod, driven shaft connecting plate, universal bar, sleeve, drive component;The two sides of driving shaft connecting plate, driven shaft connecting plate upper end are respectively installed sleeve, the sleeve of the outside of one end of two connecting rods is rotatably matched with driving shaft connecting plate, the sleeve of the outside of the other end of two connecting rods is rotatably matched with driven shaft connecting plate;Two ends of universal bar are respectively connected with one driven shaft inner side end, second synchronous pulley for obtaining power, third synchronous pulley are also installed on driven shaft;The output end of two drive components is respectively connected with one driving shaft inner side end, third synchronous pulley is also installed on driving shaft;Permanent magnet wheel composite transmission structure one end is rotatably matched with the middle part of driven shaft connecting plate upper end.The application can be self-adapting different shapes and state metal wall surface to make robot stable movement.

Description

Technical Field

[0001] The invention relates to a magnetic 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 conduct regular inspections 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, improving cleaning efficiency and ensuring worker safety. In the nuclear industry, they can inspect the walls of nuclear reactors to reduce the risk of radiation exposure to personnel.

[0003] Currently, traditional wall-mounted mobile robots lack adaptability. For example, on uneven surfaces with protrusions or depressions, the robot's grip may decrease, causing it to fall. Adsorption is also significantly reduced when the surface material changes or impurities such as oil are present. With the development of industry, the demand for robots capable of operating in complex surface environments is increasing. For example, during inspections of offshore platforms, the surface of steel structures may be uneven due to long-term seawater erosion. Therefore, mobile robots equipped with wall-mounted adaptive technology can better adapt to different surface conditions, automatically adjusting grip and movement, thereby improving operational efficiency. This technology can also reduce accidents caused by weak grip or improper movement, thereby improving the safety and reliability of the robots.

[0004] In order to make up for the problem that traditional wall-moving robots are insufficient in application in special occasions, a magnetic composite metal wall-moving robot with wall self-adaptation 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, connecting rods 4.2, a driven shaft connecting plate 4.3, universal rods 4.4, sleeves 4.5, and driving components; the sleeves 4.5 are respectively installed on both sides of the upper end of the driving shaft connecting plate 4.1 and the driven shaft connecting plate 4.3, one end of each of the two connecting rods 4.2 is rotationally fitted with the sleeve 4.5 on the outer side of the driving shaft connecting plate 4.1, and the other end of each of the two connecting rods 4.2 is rotationally fitted with the corresponding sleeve 4.5 on the outer side of the driven shaft connecting plate 4.3; the universal rods 4.4 are respectively connected to the inner side of the driven shaft extending from the lower end of the driven shaft connecting plate 4.3, and a second synchronous pulley 1.7 in the permanent magnet wheel composite transmission structure 1 and a third synchronous pulley 3.4 in the magnetic attraction composite transmission structure 3 are installed on the inner side of the driven shaft from the inside to the outside; the output ends of the two driving components are respectively connected to the inner side of the driving shaft extending from the lower end of the driving shaft connecting plate 4.1, and the other third synchronous pulley 3.4 in the magnetic attraction composite transmission structure 3 is installed on the inner side of the driving shaft from the inside to the outside.

[0009] One end of the permanent magnet wheel composite transmission structure 1 is rotationally fitted 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] Further, 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 rotationally fitted with the middle part of the upper end of the driven shaft connecting plate 4.3, the first synchronous pulley 1.1 is installed in the middle part of the permanent magnet wheel center shaft 1.6, the obstacle crossing module 1.3 and the variable-diameter permanent magnet wheel 1.4 are symmetrically installed in the two side directions from the middle part of the permanent magnet wheel center shaft 1.6, one end of the obstacle crossing module 1.3 is gap-fitted with the permanent magnet wheel center shaft 1.6, and the other end of the obstacle crossing module 1.3 is rotationally fitted with the other end of the spring compression rod mechanism 1.2; the first synchronous pulley 1.1 is connected with 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, and 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; 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.

[0012] Furthermore, the variable diameter permanent magnet wheel 1.4 includes a hub 1.4.1 and permanent magnets 1.4.4; multiple permanent magnets 1.4.4 are arranged in a ring array, the hub 1.4.1 is located between the multiple permanent magnets 1.4.4, and each permanent magnet 1.4.4 can move relatively closer to or farther 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 on 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 distributed at intervals on the 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. The gear base 3.5.3 is installed with moving shafts extending along the driving shaft direction on opposite sides, and 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.

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

[0018] 2. In this invention, the driven shaft, which serves as the front shaft, is replaced by a universal joint connection, allowing the robot to adapt well to radial displacement when encountering obstacles or wall curvature changes in the forward direction. At the same time, the robot's radial displacement mechanism can adaptively adapt to changes in curvature on both sides of the curvature, allowing the robot to adhere to more working conditions and irregular curvatures, bringing more possibilities for subsequent secondary development of the robot.

[0019] 3. In the present invention, the main adsorption method is a magnetic second synchronous belt and a permanent magnet wheel. When the magnetic force of the synchronous belt is sufficient, the permanent magnet wheel generally only serves 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 an obstacle crossing module. The obstacle crossing module of the permanent magnet wheel and the wheel itself can be variable in diameter relative to the frame itself, thus forming a two-stage variable diameter wheel, which helps the permanent magnet wheel better adapt to different situations and enables the magnetic composite robot to 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, ensuring 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 This is a schematic diagram 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 the obstacle crossing module of the present invention;

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

[0026] Figure 6 This is a schematic structural diagram 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 This is a schematic diagram of the internal structure of the control box of the present invention;

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

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

[0031] Figure 11 1. It is a structural diagram of the pressing device;

[0032] Figure 12 It is a schematic diagram of the explosion of the pressing device;

[0033] Figure 13 It is a schematic diagram of the radial displacement mechanism and shafting structure;

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

[0035] The numbers in the figure are: 1-permanent magnet 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 support frame, 1.4-variable diameter permanent magnet 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 magnet 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 the 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, 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] To make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other in any way.

[0037] Example 1: Figures 1-14 As shown, a magnetic composite metal wall mobile robot includes a permanent magnet 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 includes 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 installed on both sides of the upper ends of the driving shaft connecting plate 4.1 and the driven shaft connecting plate 4.3, respectively. One end of the two connecting rods 4.2 rotates 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 rotates with the corresponding sleeve 4.5 on the outer side of the driven shaft connecting plate 4.3, that is, the long bolts are tightened with the sleeves 4.5 respectively, while allowing the connecting rods to rotate axially; the universal rod 4.4 is 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. The driven shaft, from the inner end to the outer end, is also equipped with the second synchronous pulley 1.7 of the permanent magnet wheel composite transmission structure 1 and a third synchronous pulley 3.4 of the magnetic composite transmission structure 3, and the outer end is fixed by a expansion sleeve 3.1. The output ends of the two drive components are respectively connected to the inner end of a driving shaft extending from the lower end of the driving shaft connecting plate 4.1. The driving shaft, from the inner end to the outer end, is also equipped with another third synchronous pulley 3.4 of the magnetic composite transmission structure 3 and the outer end is fixed by a expansion sleeve 3.1.

[0039] 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. The second synchronous pulley 1.7 in the permanent magnet wheel composite transmission structure 1 is used to obtain power.

[0040] Furthermore, if Figures 2-4 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 engaged 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 middle portion of the permanent magnet wheel center shaft 1.6 via a key connection. The obstacle clearance module 1.3 and the variable diameter permanent magnet wheel 1.4 are symmetrically mounted on either side of the central portion of the wheel 6. One end of the obstacle clearance module 1.3 is clearance-fitted with the permanent magnet wheel center shaft 1.6 via a sleeve (the sleeve and the permanent magnet wheel center shaft 1.6 have a clearance fit, while the sleeve and the obstacle clearance module 1.3 have an interference fit). The other end of the obstacle clearance module 1.3 is rotationally engaged 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 generate power. Furthermore, both ends of the sleeve extend beyond the obstacle clearance module 1.3, ensuring that the obstacle clearance module 1.3, 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 to the permanent magnet wheel center shaft 1.6 via a shoulder of the permanent magnet wheel center shaft 1.6 and a round nut 1.5.

[0041] By applying the above technical solution, it can be seen 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 achieve two-stage wheel diameter change. At the same time, the installation of the obstacle crossing module 1.3 allows the robot to help the wheel body cross the obstacle when it encounters an obstacle too close or the permanent magnet wheel diameter is shortened. At the same time, due to the fan ring design at the end of the obstacle crossing module, This allows the obstacle-crossing part of the obstacle-crossing module to 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 from 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 less force, the spring compression degree is small, and the vertical pressure on the wall is small. Conversely, when the permanent magnet wheel is subjected to greater force, the spring compression degree becomes greater, 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, and 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 from the first spring. The extended 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 threaded connection, 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 slides in cooperation with the guide groove and the slider 1.4.3 extends from the guide groove; a travel groove is correspondingly provided at the mounting hole of the wheel hub 1.4.1 along 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 from the guide groove). The stroke of the spring compression is consistent with the depth of the slider movement in the permanent magnet 1.4.4. In normal movement, the permanent magnet 1.4.4 is uniformly adsorbed on the wall. When the curvature of the wall 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 requires a greater adsorption force, so the permanent magnet 1.4.4 in contact with the wall moves toward the hub 1.4.1 (that is, the permanent magnet 1.4.4 in contact with the wall in the variable diameter permanent magnet wheel 1.4 moves relative to the hub 1.4.1). When the robot is walking on a flat wall, the bottom of the permanent magnet 1.4.4 in the variable diameter permanent magnet wheel 1.4 that is in contact with the wall and the bottom of the permanent magnet block 3.6 that is in contact with the wall are located on the same horizontal plane.

[0044] Further, if Figure 6 The structure shown in the figure is that 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. Limit blocks are provided at both ends of the spring rod 1.2.3 to prevent it from slipping out.

[0045] Further, the spring compression rod device and the wall surface are at an angle of ≤40° to prevent motion interference; 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 and the driven shaft connecting plate 4.3 are rotationally connected, and one end of the obstacle module 1.3 is rotationally connected, both of which are connected by studs and nuts and can rotate around the shaft.

[0046] Further, as shown in Figure 7 the control box 2 includes a housing and an electronic control system installed in the housing, wherein the housing 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 transverse beams 2.4 and two longitudinal beams 2.2 installed on the four sides of the bottom plate 2.3, the bottom plate 2.3 and the transverse beam 2.4 are connected by bolts, and the transverse beam 2.4 is also rotationally connected with the sleeve 4.5 on 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, the transverse beam 2.4 has six holes, two of which are responsible for connecting with the top cover 2.1 in the vertical direction, and the other four are coaxial but different in size, the hole size of the transverse beam close to the outside is mainly the same as the hole diameter of the driving shaft connecting plate 4.1 and the driven shaft connecting plate 4.3 for the connection of the transverse beam and the connecting plate, and the hole diameter of the inside is larger than that of the outside, mainly for later assembly and disassembly; the control box 2 does not have the need for radial movement, so when the second synchronous belt and wheel on both sides are radially displaced, it can always keep parallel to the wall surface with the help of the radial displacement mechanism 4, reducing the possibility of components falling off due to vibration of the control box.

[0047] Further, as shown in Figure 8 the electronic control system includes a battery pack 2.5 and a single-chip microcomputer 2.7 connected by bolts on the bottom plate 2.3, and the single-chip microcomputer 2.7 is supported by a copper column 2.6 on the circuit board to support an acrylic plate 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 feedback by the pressure sensor, to ensure better movement efficiency under sufficient friction and adsorption force.

[0048] Further, as shown in Figure 9 and Figure 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). At the same time, a baffle 3.3 is connected on 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 structure are installed near the inner baffle of the driven shaft. In the transmission structure 1, the first synchronous pulley 1.1 is connected via a first synchronous belt 1.8. The outer ends of the driving shaft and the driven shaft are secured with expansion sleeves 3.1. The inner end of the driving shaft extends from a driving shaft connecting plate 4.1 in the radial displacement mechanism 4, and the inner end of the driven shaft extends from a driven shaft connecting plate 4.3 in the radial displacement mechanism 4. Permanent magnets 3.6 are arranged at intervals on the outer side of the second synchronous belt 3.2 (the permanent magnets 3.6 are secured to the second synchronous belt 3.2 using bolts and nuts). The clamping device 3.5 is fixed between the two baffles 3.3 by screws to ensure that the clamping device 3.5 does not undergo axial displacement.

[0049] Further, if Figure 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 positioning purpose, 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 moving shafts extending along the driving shaft direction 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 4 and the second synchronous belt 3.2. At the same time, 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 movement is stable, 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] Further, if Figure 13 As shown, the driving components of the radial displacement mechanism 4 include a stepper motor 4.6 and a motor reducer 4.7; the two stepper motors 4.6 are each connected to one end of a driving shaft via a sleeve via the motor reducer 4.7. During normal stable motion, if the curvature of the wall surface suddenly changes, the universal joint 4.4 deflects, causing radial displacement of the second synchronous belts 3.2 on both sides. Simultaneously, because the connecting rod 4.2 is tensioned and connected to the sleeve 4.5 via a long bolt, while allowing axial rotation of the connecting rod, the driving and driven shafts undergo the same degree of radial displacement. Furthermore, because the driving and driven shaft connecting plates 4.1 and 4.3, located on the same side relative to the front, are on the same horizontal plane and the sleeve 4.5 is also coaxially located, the robot achieves a more stable operation. When the universal joint 4.4 undergoes radial displacement, the above mechanism can achieve passive radial displacement while ensuring that the control box 2 remains horizontal.

[0051] Further, if Figure 14As shown, the universal joint 4.4 includes a central shaft 4.4.2, with both ends of the central shaft 4.4.2 connected to a universal joint shaft head 4.4.1. The universal joint shaft head 4.4.1 is then connected to one end of the driven shaft at each end through a connecting shaft sleeve 4.8. The universal joint shaft head 4.4.1 is interlocked with 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. When radial displacement occurs on both sides of the robot, the universal joint 4.4 does not disturb the axial rotational movement. In the above technical solution, by using the universal joint 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 seen that the robot of the present invention mainly controls movement through the electrical components in the control box 2. 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 through a spring compression rod mechanism 1.2 to control the wheel diameter of the variable diameter permanent magnet wheel 1.4 to help the permanent magnet wheel better fit the wall surface; for the magnetic composite transmission structure 3, a second synchronous belt 3.2 with a permanent magnet block 3.6 is provided to reduce the risk of the robot falling off the wall. The second synchronous belt is tightened by electric pushing and fits tightly to 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 driving 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 embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in this field without departing from the scope of the present invention.

Claims

1. A magnetic composite metal wall mobile robot, characterized in that: It includes 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 engaged with the sleeve (4.5) on the outer side of the driving shaft connecting plate (4.1); the other end of the two connecting rods (4.2) is rotationally engaged with the corresponding sleeve (4.5) on the outer side of the driven shaft connecting plate (4.3); the universal rod (4.4) is rotationally engaged with the sleeve (4.5) on the outer side of the driven shaft connecting plate (4.3); The two ends of the rod (4.4) are respectively connected to the inner end of a driven shaft extending from the lower end of the driven shaft connecting plate (4.3), and the driven shaft 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) at one end 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 the 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) at one end from the inner side to the outer side. One end of the permanent magnet wheel composite transmission structure (1) is rotatably engaged 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; 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 engaged 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) toward both sides, with one end of the obstacle-crossing module (1.3) being clearance-matched with the permanent magnetic wheel central axis (1.6), and the other end of the obstacle-crossing module (1.3) being 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; The variable diameter permanent magnet wheel (1.4) comprises 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 closer to or farther away from the hub (1.4.1); The magnetic 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 and the third synchronous pulley (3.4) installed on the driven shaft are connected via 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) for positioning the clamping device (3.5) between the two shafts. The outer ends of the driving shaft and the driven shaft are fixed by an expansion sleeve (3.1); the permanent magnets (3.6) are distributed at intervals on the periphery of the second synchronous belt (3.2); and the clamping device (3.5) is fixed between the two baffles (3.3) by screws.

2. The magnetic composite metal wall moving 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), a first connecting frame, a second connecting frame, a first gasket, and a second gasket; one end of the first connecting frame is rotationally engaged with one end of the obstacle crossing module (1.3), the other end of the first connecting frame is provided with an integrated first gasket, one end of the second connecting frame is rotationally engaged with the driven shaft connecting plate (4.3) in the radial displacement mechanism (4), and the other end of the second connecting frame is provided with an integrated spring compression rod. A compression cavity (1.2.5) is provided with a first cavity on the side of the first gasket facing the spring compression cavity (1.2.5), and a second cavity is provided on the side of the spring compression cavity (1.2.5) facing the first gasket. A second gasket and a 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 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.

3. The magnetic composite metal wall moving robot according to claim 1, characterized in that: 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 two opposite sides, the other ends of the two symmetrical positioning plates (3.5.2) are connected to the baffles (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 fixed to the gear base (3.5.3) in the cylindrical groove of the electric push rod (3.5.3). The gear base (3.5.3) is installed with motion shafts extending along the driving shaft direction on two opposite sides. Gears (3.5.4) meshing with the second synchronous belt (3.2) are respectively installed on the motion 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.

4. The magnetic composite metal wall moving robot according to claim 1, characterized in that: The magnetic composite metal wall mobile robot further comprises a control box (2), the control box (2) comprising an outer shell and an electronic control system installed in the outer shell, wherein the outer shell comprises a bottom shell and a top cover (2.1) for opening and closing the bottom shell, the bottom shell comprising a bottom plate (2.3) and two crossbeams (2.4) and two longitudinal beams (2.2) installed on four sides of one side of the bottom plate (2.3), and the crossbeams (2.4) are also rotatably engaged with sleeves (4.5) on the driving shaft connecting plate (4.1) and the driven shaft connecting plate (4.3) close to the inner side.

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