A magnetic wall-climbing robot with an adaptive magnetic force pendulum and an obstacle crossing method thereof

Abstract

The application discloses a magnetic wall-climbing robot with self-adaptive magnetic pendulum and an obstacle-crossing method thereof, and relates to the field of magnetic wheel type wall-climbing robots. Each magnetic wheel mechanism of the wall-climbing robot is provided with a magnetic pendulum capable of rotating around a hub axis, and the magnetic pendulum can actively adapt to the change of a wall surface, thereby ensuring that the robot can smoothly pass through intersecting wall surfaces with a large included angle. The wall-climbing robot comprises a frame module, a robot control module, a front driving wheel module, a rear driven wheel module and a detection camera module. The magnetic wheel mechanism of the wall-climbing robot uses a hollow double-layer gear shaft structure. The outer ring gear shaft is driven by a worm gear and worm shaft reduction motor, and drives the wheels to rotate, so that the wall-climbing robot can freely move on a vertical wall surface. The inner ring gear shaft is driven by a rudder, and controls the angle of the magnetic pendulum, so that the magnetic attraction direction of the magnetic pendulum is perpendicular to the steel wall surface, and the wall-climbing robot can adapt to the change of the wall surface, thereby realizing self-adaptive obstacle avoidance and obstacle crossing.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, specifically to a magnetic wall-climbing robot with an adaptive magnetic pendulum and its obstacle-crossing method. Background Technology

[0002] A magnetic wall-climbing robot is an autonomous robot capable of moving and performing tasks on vertical or inverted ferromagnetic surfaces. Wall-climbing robots used on steel walls primarily utilize permanent magnets or electromagnets as the source of magnetic attraction. Existing magnetic wall-climbing robots mostly employ tracked or wheeled locomotion methods.

[0003] Wall-climbing robots that use tracked locomotion have magnets on their tracks. The large contact area between the tracks and the steel wall results in a strong magnetic attraction, allowing them to carry heavier tools. However, tracked wall-climbing robots have a weak ability to overcome obstacles on walls. When encountering intersecting walls, the tracks are easily suspended in mid-air, causing the robot to fall. Therefore, they cannot pass through intersecting walls or other obstacles and are only suitable for working on flat walls.

[0004] Wall-climbing robots that use wheeled locomotion often employ all-magnetic wheels. This method can reliably ensure that the wall-climbing robot adheres to metal surfaces. However, such wall-climbing robots have poor adaptability. When the robot moves between intersecting walls at a certain angle, the magnetic adsorption system of the wall-climbing robot cannot cross the intersecting obstacles, so it can only be used on flat walls.

[0005] Currently, there are also wall-climbing robots on the market that have a rotating axis on their adsorption mechanism. This allows the magnet to rotate and adjust its orientation as the adsorption surface changes. However, a drawback is that when encountering right angles or small corners, the adsorption mechanism cannot automatically detach from the original adsorption surface, preventing the robot from moving forward and resulting in poor maneuverability. Summary of the Invention

[0006] In view of the above problems, the purpose of this invention is to provide a magnetic wall-climbing robot with an adaptive magnetic pendulum, enabling the robot's magnetic adsorption mechanism to actively adapt to changes in the wall surface, ensuring that the robot can smoothly traverse intersecting walls with an angle greater than or equal to 60 degrees. The technical solution is as follows:

[0007] A magnetic wall-climbing robot with an adaptive magnetic pendulum includes a frame module, on which a robot control module and a detection camera module are mounted. A front drive wheel module and a rear driven wheel module are respectively located on the front and rear sides of the frame module. The front drive wheel module includes an independently rotatable active hub mechanism and a magnetic pendulum assembly, used to provide forward propulsion and wall adhesion for the wall-climbing robot. The rear driven wheel module includes an independently rotatable driven hub mechanism and a magnetic pendulum assembly, used to provide wall adhesion for the wall-climbing robot. The active and driven hub mechanisms combine to form the robot's movement module, and the magnetic pendulum assemblies in the two drive wheel modules combine to form a magnetic adhesion module. The detection camera module is used for the wall-climbing robot to detect the tank wall. The robot control module controls the operation of each drive wheel module and the detection camera module.

[0008] Furthermore, the front drive wheel module includes a front wheel mounting base fixedly connected to the frame module, and the active wheel hub mechanism includes a front wheel reduction motor and a front wheel bearing housing fixedly mounted on the front wheel mounting base. A front wheel hub drive gear shaft is rotatably mounted inside the front wheel bearing housing. The gear end of the front wheel hub drive gear shaft is connected to the output end of the front wheel reduction motor, and the other end is fixedly connected to the front wheel hub.

[0009] Furthermore, a front wheel servo is provided on the front wheel fixed base, and a front wheel magnetic pendulum drive gear shaft is rotatably provided in the front wheel hub drive gear shaft. The gear end of the front wheel magnetic pendulum drive gear shaft is connected to the output end of the front wheel servo, and the other end passes through the front wheel hub and is connected to the magnetic pendulum assembly.

[0010] Furthermore, the rear driven wheel module includes a rear wheel mounting base fixed on the frame module, and the driven wheel hub mechanism includes a rear wheel servo and a rear wheel bearing seat mounted on the rear wheel mounting base. A rear wheel hub drive gear shaft is rotatably mounted in the rear wheel bearing seat, and a rear wheel hub is connected to the outer end of the rear wheel hub drive gear shaft. A rear wheel magnetic pendulum drive gear shaft is rotatably mounted in the rear wheel hub drive gear shaft. The gear end of the rear wheel magnetic pendulum drive gear shaft is connected to the output end of the rear wheel servo, and the other end is connected to a magnetic pendulum assembly.

[0011] Furthermore, the magnetic pendulum assembly includes a magnetic pendulum shell, a set of magnets is disposed inside the magnetic pendulum shell, and a magnetic adjustment fixing plate is disposed on the magnetic pendulum shell to control the number of internal magnets.

[0012] Furthermore, the detection camera module includes a depth camera and an inertial measurement unit (IMU).

[0013] A method for a magnetic wall-climbing robot with an adaptive magnetic pendulum to actively adapt to obstacles includes the following steps:

[0014] S1. When the wall-climbing robot encounters a cross-wall obstacle, the depth camera acquires the depth information of the obstacle.

[0015] S2. When the front wheel hub of the wall-climbing robot's front drive wheel module is in contact with an obstacle, the front wheel servo motor of the front drive wheel module controls the magnetic pendulum to rotate to the angle of contact with the surface of the obstacle.

[0016] S3. The wall-climbing robot continues to move forward. The front drive wheel module detaches from the original contact wall and moves on the obstacle wall, while the two rear wheels adhere to the original contact wall and move.

[0017] S4. When the rear wheel hub in the rear driven wheel module is in contact with the surface of the obstacle, the rear wheel servo motor in the rear driven wheel module controls the magnetic pendulum to rotate to the angle in contact with the surface of the obstacle, and the wall-climbing robot successfully passes through the cross wall obstacle.

[0018] By employing the above-described technology, the beneficial effects of the present invention compared to the prior art are as follows:

[0019] Each magnetic wheel mechanism of the wall-climbing robot of this invention is equipped with a magnetic pendulum that can rotate around the hub axis. The magnetic pendulum can actively adapt to changes in the wall surface, ensuring that the robot can smoothly pass through intersecting walls with an angle greater than or equal to 60°. The magnetic wheel mechanism of the wall-climbing robot uses a hollow double-layer gear shaft structure. The outer gear shaft is driven by a worm gear reducer motor, which drives the wheels to rotate, allowing the wall-climbing robot to move freely on the vertical wall surface. The inner gear shaft is driven by a servo motor, which controls the angle of the magnetic pendulum, ensuring that the magnetic attraction force of the magnetic pendulum is perpendicular to the steel wall surface, allowing the wall-climbing robot to adapt to changes in the wall surface, thereby achieving adaptive obstacle avoidance and obstacle crossing. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the assembly of the magnetic wall-climbing robot in this invention;

[0021] Figure 2 This is a schematic diagram of the composition of the left front drive wheel module in this invention;

[0022] Figure 3 This is a schematic diagram of the assembly of the left front drive wheel module in this invention;

[0023] Figure 4 This is a cross-sectional view of the left front drive wheel module along the axis of the magnetic pendulum in this invention;

[0024] Figure 5 This is a cross-sectional view of the left front drive wheel module along the drive wheel hub axis in this invention;

[0025] Figure 6 This is a schematic diagram of the composition of the magnetic pendulum in this invention;

[0026] Figure 7 This is a schematic diagram of the composition of the left rear driven wheel module in this invention;

[0027] Figure 8 This is an assembly diagram of the left rear driven wheel module in this invention;

[0028] Figure 9 This is a cross-sectional view of the left rear driven wheel module along the axis of the magnetic pendulum in this invention;

[0029] Figure 10 This is a schematic diagram illustrating the composition of the chassis module in this invention;

[0030] Figure 11 This is a schematic diagram illustrating the obstacle-crossing process of the wall-climbing robot in this invention;

[0031] Figure 12 This is a schematic diagram of the obstacle-crossing process of the wall-climbing robot in this invention.

[0032] In the diagram: 1. Right rear driven wheel module; 2. Robot control module; 3. Right front drive wheel module; 4. Frame module; 5. Left rear driven wheel module; 6. Detection camera module; 7. Left front drive wheel module; 401. Wall-climbing robot frame; 402. Depth camera; 403. Inertial Measurement Unit (IMU); 404. Battery mounting bracket; 405. Lithium battery pack; 501. Rear wheel magnetic pendulum drive gear; 502. Rear wheel magnetic pendulum drive gear shaft; 503. Rear wheel hub drive gear shaft; 504. Rear wheel bearing housing; 505. Rear wheel hub; 506. Rear wheel tire rubber ring; 507. Rear wheel magnetic pendulum assembly; 508. Rear wheel servo motor; 50 9. Rear wheel mounting base; 510. Rear wheel magnetic pendulum drive gear shaft bearing; 511. Rear wheel magnetic pendulum drive gear shaft bearing; 701. Front wheel magnetic pendulum drive gear; 702. Front wheel magnetic pendulum drive gear shaft; 703. Front wheel hub drive gear; 704. Front wheel hub drive gear shaft; 705. Front wheel bearing housing; 706. Front wheel hub; 707. Front wheel tire rubber ring; 708. Front wheel magnetic pendulum assembly; 709. Front wheel servo mounting bracket; 710. Front wheel servo; 711. Front wheel mounting base; 712. Front wheel worm gear reducer motor; 713. Front wheel magnetic pendulum drive gear shaft bearing; 714. Front wheel hub drive gear shaft bearing. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0034] Conversely, this invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of the invention as defined in the claims. Furthermore, to provide a better understanding of the invention, certain specific details are described in detail below. However, those skilled in the art will fully understand the invention even without these detailed descriptions.

[0035] Example:

[0036] like Figure 1 As shown, this embodiment provides a magnetic wall-climbing robot with an adaptive magnetic pendulum, consisting of a right rear driven wheel module 1, a robot control module 2, a right front drive wheel module 3, a frame module 4, a left rear driven wheel module 5, a detection camera module 6, and a left front drive wheel module 7. The right front drive wheel module 3 and the left front drive wheel module 7 are symmetrically fixed to the front of the frame module 4 with screws, providing forward propulsion and wall adhesion for the wall-climbing robot; the right rear driven wheel module 1 and the left rear driven wheel module 5 are symmetrically fixed to the rear of the frame module 4 with screws, providing wall adhesion for the wall-climbing robot; the robot control module 2 is fixed to the middle of the frame module 4 with screws, serving as the control center of the wall-climbing robot; the detection camera module 6 is fixed to the left side of the frame module 4 with screws, used for the wall-climbing robot to detect the tank wall.

[0037] The left front drive wheel module 7 has the same structure as the right front drive wheel module 3. The following explanation will take the left front drive wheel module 7 as an example:

[0038] like Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, the left front drive wheel module 7 includes a front wheel magnetic pendulum drive gear 701, a front wheel magnetic pendulum drive gear shaft 702, a front wheel hub drive gear 703, a front wheel hub drive gear shaft 704, a front wheel bearing seat 705, a front wheel hub 706, a front wheel tire rubber ring 707, a front wheel magnetic pendulum assembly 708, a front wheel servo motor mounting bracket 709, a servo motor 710, a front wheel mounting base 711, a front wheel worm gear reducer motor 712, a front wheel magnetic pendulum drive gear shaft bearing 713, and a front wheel hub drive gear shaft bearing 714. The front wheel magnetic pendulum drive gear shaft 702 is the inner ring gear shaft, and the front wheel hub drive gear shaft 704 is the outer ring gear shaft. The two are coaxially mounted through the front wheel magnetic pendulum drive gear shaft bearing 713. The front wheel hub drive gear shaft 704 is mounted on the front wheel bearing seat 705 through the front wheel hub drive gear shaft bearing 714. The front wheel hub drive gear shaft 704 and the front wheel magnetic pendulum drive gear shaft 702 can rotate independently, and the front wheel hub 706 and the front wheel magnetic pendulum assembly 708 can be controlled independently by their rotation angles.

[0039] like Figure 3 , Figure 4 As shown, the shaft end of the front wheel magnetic pendulum drive gear shaft 702 passes through the through hole in the middle of the front wheel hub 706 and is fixedly installed with the front wheel magnetic pendulum assembly 708. The front wheel servo 710 is installed on the left front wheel fixed base 711 by the front wheel servo fixing bracket 709 and screws. The front wheel magnetic pendulum drive gear 701 is fixed on the output shaft of the front wheel servo 710. The front wheel magnetic pendulum drive gear 701 meshes with the gear end of the front wheel magnetic pendulum drive gear shaft 702. The front wheel servo 710 drives the front wheel magnetic pendulum assembly 708 to rotate around the axis of the front wheel hub 706 through the transmission of the front wheel magnetic pendulum drive gear 701 and the front wheel magnetic pendulum drive gear shaft 702, so that the magnetic attraction force of the front wheel magnetic pendulum assembly 708 can be perpendicular to the steel wall.

[0040] like Figure 5 As shown, the front wheel hub 706 and the front wheel tire rubber ring 707 form the wheel of the wall-climbing robot. The wheel is fixedly installed on the shaft end of the front wheel hub drive gear shaft 704. The front wheel worm gear reducer motor 712 is installed on the front wheel left front wheel fixed base 711 by screws. The front wheel hub drive gear 703 is fixedly installed on the output shaft of the front wheel worm gear reducer motor 712. The front wheel hub drive gear 703 meshes with the gear end of the front wheel hub drive gear shaft 704. The front wheel worm gear reducer motor 712 drives the wheel to rotate through the transmission of the front wheel hub drive gear 703 and the front wheel hub drive gear shaft 704, providing the power for the wall-climbing robot to move.

[0041] The left rear driven wheel module 5 has the same structure as the left rear driven wheel module 5. The following explanation will take the left rear driven wheel module 5 as an example:

[0042] like Figure 7 As shown, the left rear driven wheel module 5 includes a rear wheel magnetic pendulum drive gear 501, a rear wheel magnetic pendulum drive gear shaft 502, a rear wheel hub drive gear shaft 503, a rear wheel bearing seat 504, a rear wheel hub 505, a rear wheel tire rubber ring 506, a rear wheel magnetic pendulum assembly 507, a rear wheel servo motor 508, a rear wheel fixed base 509, a rear wheel magnetic pendulum drive gear shaft bearing 510, and a rear wheel magnetic pendulum drive gear shaft bearing 511. The rear wheel magnetic pendulum drive gear shaft 502 is the inner ring gear shaft, and the rear wheel hub drive gear shaft 503 is the outer ring gear shaft. The two are coaxially mounted through the rear wheel magnetic pendulum drive gear shaft bearing 510. The rear wheel hub drive gear shaft 503 is mounted on the rear wheel bearing seat 504 through the rear wheel magnetic pendulum drive gear shaft bearing 511. The rear wheel hub drive gear shaft 503 and the rear wheel magnetic pendulum drive gear shaft 502 can rotate independently, and the rear wheel hub 505 and the rear wheel magnetic pendulum assembly 507 can be controlled independently by their rotation angles.

[0043] like Figure 8 , Figure 9As shown, the shaft end of the rear wheel magnetic pendulum drive gear shaft 502 passes through the through hole in the middle of the rear wheel hub 505 and is fixedly installed with the rear wheel magnetic pendulum assembly 507. The rear wheel servo motor 508 is fixedly installed on the rear wheel mounting base 509 by screws. The rear wheel magnetic pendulum drive gear 501 is fixed on the output shaft of the rear wheel servo motor 508. The rear wheel magnetic pendulum drive gear 501 meshes with the gear end of the rear wheel magnetic pendulum drive gear shaft 502. Through the transmission between the rear wheel magnetic pendulum drive gear 501 and the rear wheel magnetic pendulum drive gear shaft 502, the rear wheel servo motor 508 drives the rear wheel magnetic pendulum assembly 507 to rotate around the axis of the rear wheel hub 505, so that the magnetic attraction force of the rear wheel magnetic pendulum assembly 507 can be perpendicular to the steel wall.

[0044] The front wheel magnetic pendulum assembly 708 has the same structure as the rear wheel magnetic pendulum assembly 507. The front wheel magnetic pendulum assembly 708 will be used as an example for explanation:

[0045] like Figure 6 As shown, the front wheel magnetic pendulum assembly 708 includes a magnet 7083, a magnetic pendulum housing 7081, and a magnetic force adjustment fixing plate 7082. The magnet 7083 is installed inside the magnetic pendulum housing 7081. Multiple slots are spaced apart on the magnetic pendulum housing 7081. The magnetic force adjustment plate 7082 is inserted into different slots, controlling the number of magnets 7081 installed inside the magnetic pendulum housing 7081, thereby adjusting the magnetic attraction force of the magnetic pendulum assembly 708.

[0046] like Figure 10 As shown, the chassis module 4 includes a wall-climbing robot chassis 401, a detection camera module 6 (including a depth camera 402 and an inertial measurement unit (IMU) 403), a lithium battery pack 405, and a battery mounting bracket 404. The depth camera 402 is fixedly mounted on the camera bracket structure at the upper front of the wall-climbing robot chassis 401 with screws, and can acquire depth information of obstacles in front for obstacle avoidance and obstacle crossing. The inertial measurement unit (IMU) 403 is fixed to the lower front of the wall-climbing robot chassis 401 with screws, and can monitor the robot's posture in real time, facilitating intelligent control of the robot. The lithium battery pack 405 is mounted on the lower rear of the wall-climbing robot chassis 401 via the battery mounting bracket 404 and screws, serving as the power source for the wall-climbing robot.

[0047] like Figure 11As shown, when the wall-climbing robot begins its operation on the inner and outer walls of the steel storage tank, the detected wall surface is generally initially a vertical surface. The magnetic pendulum components inside the four wheels of the wall-climbing robot are perpendicular to the steel wall surface. The wall-climbing robot relies on the magnetic attraction force of the magnetic pendulum components to stably adhere to the wall surface. The worm gear reducer motor 712 on the front wheel rotates, driving the wall-climbing robot to move forward along the steel wall surface. When the wall-climbing robot encounters an obstacle with intersecting walls, the depth camera 402 acquires the depth information of the obstacle, and the robot control module 2 uses the depth information to control the magnetic pendulum components to overcome the obstacle.

[0048] Specifically, when the right front drive wheel module 3 and the left front drive wheel module 7 of the wall-climbing robot move to the two planes that simultaneously conform to the intersecting wall surfaces ( Figure 11 In section a), the front wheel magnetic pendulum assembly 708 of the left front drive wheel module 7 is driven to rotate by the front wheel servo motor 710, so that the magnet 7083 on the front wheel magnetic pendulum assembly 708 is perpendicular to the surface of the cross wall obstacle. Figure 11 In step b), after the front wheel magnetic pendulum assembly 708 of the left front drive wheel module 7 is in place, the magnetic pendulum assembly of the right front drive wheel module 3 rotates to a position perpendicular to the surface of the cross wall obstacle in the same manner.

[0049] Subsequently, the front wheels of the wall-climbing robot continued to rotate, at which point both front wheels detached from their original contact surfaces and moved along the obstacle wall, while the two rear wheels remained attached to their original contact surfaces and continued to move. Figure 11 (c) When the two rear wheels move to the two planes that simultaneously contact the intersecting walls ( Figure 11 In section d), the rear wheel magnetic pendulum assembly 507 of the left rear driven wheel module 5 is driven to rotate by the rear wheel servo motor 508, so that the magnet on the rear wheel magnetic pendulum assembly 507 is perpendicular to the surface of the cross wall obstacle. Figure 11 In step e), after the rear wheel magnetic pendulum assembly 507 of the left rear driven wheel module 5 is in position, the magnetic pendulum assembly of the right rear driven wheel module 1 rotates to a position perpendicular to the surface of the intersecting wall obstacle following the same steps. After completing the above steps, the wall-climbing robot has successfully overcome the obstacle and can continue to move forward for inspection work. The obstacle-crossing process flowchart is as follows. Figure 12 As shown.

Claims

1. A magnetic wall-climbing robot with an adaptive magnetic pendulum, characterized in that, The system includes a frame module, on which a robot control module and a detection camera module are mounted. A front drive wheel module and a rear driven wheel module are located on the front and rear sides of the frame module, respectively. The front drive wheel module includes an independently rotatable active hub mechanism and a magnetic pendulum assembly, providing forward propulsion and wall adhesion for the wall-climbing robot. The rear driven wheel module includes an independently rotatable driven hub mechanism and a magnetic pendulum assembly, providing wall adhesion for the wall-climbing robot. The active and driven hub mechanisms combine to form the robot's movement module, and the magnetic pendulum assemblies in the two drive wheel modules combine to form a magnetic adsorption module. The detection camera module is used by the wall-climbing robot to inspect the tank wall. The robot control module controls the operation of each drive wheel module and the detection camera module. The front drive wheel module includes a front wheel mounting base fixedly connected to the frame module. The active wheel hub mechanism includes a front wheel reduction motor and a front wheel bearing seat fixedly mounted on the front wheel mounting base. A front wheel hub drive gear shaft is rotatably mounted inside the front wheel bearing seat. The gear end of the front wheel hub drive gear shaft is connected to the output end of the front wheel reduction motor, and the other end is fixedly connected to the front wheel hub. The front wheel fixed base is equipped with a front wheel servo motor, and a front wheel magnetic pendulum drive gear shaft is rotatably installed in the front wheel hub drive gear shaft. The gear end of the front wheel magnetic pendulum drive gear shaft is connected to the output end of the front wheel servo motor, and the other end passes through the front wheel hub and is connected to the magnetic pendulum assembly.

2. The magnetic wall-climbing robot with an adaptive magnetic pendulum according to claim 1, characterized in that, The rear driven wheel module includes a rear wheel mounting base fixed on the frame module. The driven wheel hub mechanism includes a rear wheel servo and a rear wheel bearing housing mounted on the rear wheel mounting base. A rear wheel hub drive gear shaft is rotatably mounted in the rear wheel bearing housing. The outer end of the rear wheel hub drive gear shaft is connected to the rear wheel hub. A rear wheel magnetic pendulum drive gear shaft is rotatably mounted in the rear wheel hub drive gear shaft. The gear end of the rear wheel magnetic pendulum drive gear shaft is connected to the output end of the rear wheel servo, and the other end is connected to a magnetic pendulum assembly.

3. A magnetic wall-climbing robot with an adaptive magnetic pendulum according to claim 2, characterized in that, The magnetic pendulum assembly includes a magnetic pendulum shell, a set of magnets is disposed inside the magnetic pendulum shell, and a magnetic adjustment fixing plate is disposed on the magnetic pendulum shell to control the number of internal magnets.

4. A magnetic wall-climbing robot with an adaptive magnetic pendulum according to claim 3, characterized in that, The detection camera module includes a depth camera and an inertial measurement unit (IMU).

5. The obstacle-crossing method for a magnetic wall-climbing robot with an adaptive magnetic pendulum according to claim 4, characterized in that, Includes the following steps: S1. When the wall-climbing robot encounters a cross-wall obstacle, the depth camera acquires the depth information of the obstacle. S2. When the front wheel hub of the wall-climbing robot's front drive wheel module is in contact with an obstacle, the front wheel servo motor of the front drive wheel module controls the magnetic pendulum to rotate to the angle of contact with the surface of the obstacle. S3. The wall-climbing robot continues to move forward. The front drive wheel module detaches from the original contact wall and moves on the obstacle wall, while the two rear wheels adhere to the original contact wall and move. S4. When the rear wheel hub in the rear driven wheel module is in contact with the surface of the obstacle, the rear wheel servo motor in the rear driven wheel module controls the magnetic pendulum to rotate to the angle in contact with the surface of the obstacle, and the wall-climbing robot successfully passes through the cross wall obstacle.

Images