Magnetic force adjusting device for wall-climbing robot and magnetic force adjusting method based on Halbach array

Abstract

The invention relates to the technical field of magnetic force adjustment, in particular to a magnetic force adjusting device for a wall-climbing robot and a magnetic force adjusting method based on a Halbach array, the magnetic force adjusting device comprises a magnetic force unit, and the magnetic force unit comprises a shell, a magnet arrangement assembly arranged in the shell and an adjusting assembly arranged at the top of the shell; the magnet arrangement assembly is used for controlling the arrangement mode and the magnetizing direction of magnets; the adjusting assembly is used for adjusting the magnetic force of the magnet arrangement assembly within the magnetic force range. The beneficial effects of the invention are that through a special arrangement mode based on the Halbach array, the three magnets can generate a large magnetic force, and the vertical pulling force of the magnet required for changing the air gap of the middle magnet is small and is almost not influenced by the transverse force of the left and right magnets; when the overall magnetic force is adjusted, only the air gap of the middle magnet needs to be adjusted, the magnetic force can be monitored in real time in the operation process of the robot, the air gap can be monitored and controlled in real time, and the total adsorption force is kept within a safe range.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic force adjustment, in particular to a magnetic force adjustment device for a wall-climbing robot and a magnetic force adjustment method based on a Halbach array. Background Art

[0002] When the existing marine magnetic adsorption wall-climbing robot performs special operations, as the curvature of the ship's surface, the attachment of marine organisms, welds, etc. change, the magnetic force fluctuates. And when the attachment or weld is too thick and the curvature changes too much, the magnetic force fluctuates violently, which may cause the magnetic force to decrease sharply and the robot to fall off dangerously.

[0003] The magnetic force requirements for the heavy-load operation and light-load crawling of the wall-climbing robot are very different. However, the existing magnetic force adjustment schemes are limited to small-range magnetic force adjustment, non-automatic adjustment, or inaccurate control adjustment, and cannot adapt to complex working conditions and the changeable adsorption wall surface conditions. Summary of the Invention

[0004] In view of the problems existing in the above or the prior art, the present invention is proposed.

[0005] Therefore, the purpose of the present invention is to provide a magnetic force adjustment device for a wall-climbing robot and a magnetic force adjustment method based on a Halbach array, which can adjust the air gap of only one magnet by the adjustment mechanism based on the arrangement of the Halbach array, and while realizing the adjustment of a large range of magnetic force, the requirements for the adjustment mechanism are lower.

[0006] To solve the above technical problems, the present invention provides the following technical solutions: A magnetic force adjustment device for a wall-climbing robot, which includes a magnetic force unit, including a housing, a magnet arrangement assembly arranged inside the housing, and an adjustment assembly arranged on the top of the housing;

[0007] The magnet arrangement assembly is used to control the arrangement mode and magnetization direction of the magnets; the adjustment assembly is used to adjust the magnetic force of the magnet arrangement assembly within the magnetic force range;

[0008] The adjustment assembly includes a servo electric cylinder fixedly arranged on the top of the housing and a force sensor threadedly arranged at the output end of the servo electric cylinder; one end of the force sensor away from the servo electric cylinder is fixedly connected to the magnet arrangement assembly.

[0009] As a preferred scheme of the magnetic force adjustment device for a wall-climbing robot of the present invention, wherein: the magnet arrangement assembly includes two groups of fixed magnets fixedly arranged inside the housing, an adjustment magnet housing slidably arranged between the adjacent sides of the two groups of fixed magnets, and an intermediate magnet embedded inside the adjustment magnet housing;

[0010] The two groups of the fixed magnets are fixedly connected to the inner walls of the left and right sides of the housing respectively.

[0011] As a preferred solution of the magnetic force adjusting device for a wall-climbing robot according to the present invention, wherein: the two groups of the fixed magnets and the intermediate magnet are all permanent magnets;

[0012] One end of the force sensor away from the servo electric cylinder is fixedly connected to the top of the intermediate magnet.

[0013] As a preferred solution of the magnetic force adjusting device for a wall-climbing robot according to the present invention, wherein: two groups of baffle plates are arranged at the bottom of the housing through screws; the two groups of baffle plates are respectively located below the two groups of the fixed magnets.

[0014] As a preferred solution of the magnetic force adjusting device for a wall-climbing robot according to the present invention, wherein: the two groups of the fixed magnets and the intermediate magnet are magnetized in the up-down-up magnetization direction;

[0015] The servo electric cylinder monitors the pulling force received by the intermediate magnet in real time through the force sensor.

[0016] As a preferred solution of the magnetic force adjusting device for a wall-climbing robot according to the present invention, wherein: four groups of rubber pads are embedded in the inner side wall of the housing;

[0017] An adjusting opening for the output end of the servo electric cylinder to slide is formed at the top of the housing.

[0018] As a preferred solution of the magnetic force adjusting device for a wall-climbing robot according to the present invention, wherein: a control module is fixedly arranged outside the servo electric cylinder;

[0019] The control module is electrically connected to the servo electric cylinder and the force sensor respectively.

[0020] The beneficial effects of the present invention: Through the special arrangement based on the Halbach array, the three magnets of the present invention can generate a relatively large magnetic force, the vertical pulling force of the magnet required to change the air gap of the intermediate magnet is small, and it is hardly affected by the lateral force of the left and right magnets; when adjusting the overall magnetic force, only the air gap of the middle magnet needs to be adjusted, reducing the adjustment load.

[0021] Another object of the present invention is to provide a magnetic force adjusting method based on the Halbach array, by which the problem of how to adjust the air gap of only one magnet through the adjusting mechanism based on the arrangement of the Halbach array to achieve the adjustment of a large range of magnetic forces can be solved.

[0022] To solve the above technical problems, the present invention provides the following technical solutions: including the following steps:

[0023] Arrange the two groups of the fixed magnets and the intermediate magnet in the "up-down-up magnetization direction" to form a Halbach array;

[0024] By changing the air gap between the intermediate magnet and the magnetic wall surface, a large range of adjustment of the magnetic force is realized;

[0025] Use the force sensor to monitor the vertical force received by the intermediate magnet in real time, and calculate the total magnetic force of the entire magnet module according to the relationship diagram between the vertical force and the total magnetic force;

[0026] When the total magnetic force exceeds the preset safety range, control the servo electric cylinder to adjust the intermediate magnet so that the total magnetic force is kept within the safety range.

[0027] As a preferred solution of the magnetic force adjustment method based on the Halbach array of the present invention, wherein: the control module calculates the total magnetic force magnitude of the entire magnet module by monitoring the change of the vertical force of the intermediate magnet in real time and combining the relationship diagram between the vertical force of the intermediate magnet and the total adsorption force, so as to realize the real-time feedback and precise control of the magnetic force.

[0028] As a preferred solution of the magnetic force adjustment method based on the Halbach array of the present invention, wherein: when the total magnetic force exceeds the preset safety range, adjusting the air gap of the intermediate magnet by controlling the servo electric cylinder to keep the total magnetic force within the safety range includes: when the ground clearance of the intermediate magnet changes, the magnetic force generated by the intermediate magnet changes, which is reflected in the change of the pulling force received by the force sensor, obtaining the current pulling force magnitude received by the intermediate magnetic force, and calculating the magnitude of the total magnetic force. Therefore, the magnitude of the total magnetic force is determined by measuring the force received by the intermediate magnet.

[0029] Another beneficial effect of the present invention: The present invention can be used for wall-climbing robots, can monitor the magnetic force magnitude in real time during the operation of the robot, and can monitor and control the air gap in real time through the control module to keep the total adsorption force within the safety range; when the wall curvature, attachments, corrosion, etc. passed by cause the air gap of the magnet module to change, resulting in a change in the overall magnetic force, the overall magnetic force can be kept within the safety range by changing the intermediate magnet, improving the wall adaptability and ensuring safety. Description of the Drawings

[0030] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0031] Figure 1 It is an overall structure diagram of a magnetic force adjustment device for a wall-climbing robot and a magnetic force adjustment method based on a Halbach array.

[0032] Figure 2 It is a bottom view of a magnetic force adjustment device for a wall-climbing robot and a magnetic force adjustment method based on a Halbach array.

[0033] Figure 3 It is a partial structure schematic diagram of a magnetic force adjustment device for a wall-climbing robot and a magnetic force adjustment method based on a Halbach array.

[0034] Figure 4 It is a partial structure bottom view of a magnetic force adjustment device for a wall-climbing robot and a magnetic force adjustment method based on a Halbach array.

[0035] Figure 5 It is a partial structure rear view of a magnetic force adjustment device for a wall-climbing robot and a magnetic force adjustment method based on a Halbach array.

[0036] Figure 6 It is a schematic diagram of the housing structure of a magnetic force adjustment device for a wall-climbing robot and a magnetic force adjustment method based on a Halbach array.

[0037] Figure 7 It is a diagram showing the relationship between the force on the adjustment magnet, the total adsorption force and the adjustment range of a magnetic force adjustment device for a wall-climbing robot and a magnetic force adjustment method based on a Halbach array.

[0038] Figure 8 It is a magnetic force control flow chart of a magnetic force adjustment device for a wall-climbing robot and a magnetic force adjustment method based on a Halbach array. Specific embodiments

[0039] To make the above objects, features and advantages of the present invention more obvious and understandable, the following will make a detailed description of the specific embodiments of the present invention in conjunction with the drawings in the specification.

[0040] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention may be practiced in other ways than those specifically described herein. Those skilled in the art can make similar generalizations without departing from the spirit of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0041] Secondly, as used herein, an "embodiment" or "embodiments" refers to specific features, structures, or characteristics that may be included in at least one implementation of the present invention. The phrase "in an embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it an individual or alternative embodiment that is mutually exclusive of other embodiments.

[0042] Embodiment 1, referring to Figures 1 to 6 , is the first embodiment of the present invention. This embodiment provides a magnetic force adjustment device for a wall-climbing robot, which can achieve a wide range of magnetic force adjustment; the magnetic force unit 1 includes a housing 11, a magnet arrangement assembly 12 disposed inside the housing 11, and an adjustment assembly 13 disposed on the top of the housing 11.

[0043] Furthermore, the magnet arrangement assembly 12 is used to control the arrangement mode and magnetization direction of the magnets; the adjustment assembly 13 is used to adjust the magnetic force magnitude of the magnet arrangement assembly 12 within the magnetic force range.

[0044] Furthermore, the adjustment assembly 13 includes a servo electric cylinder 131 fixedly disposed on the top of the housing 11 and a force sensor 132 threadedly disposed at the output end of the servo electric cylinder 131; one end of the force sensor 132 away from the servo electric cylinder 131 is fixedly connected to the magnet arrangement assembly 12.

[0045] During use, when the working environment of the wall-climbing robot changes, such as the curvature of the wall surface on which the robot crawls, attachments, corrosion, etc., the force sensor 132 detects that the pulling force on the middle magnet 123 changes and is not within the preset magnetic force range for safe adsorption of the robot. The servo electric cylinder 131 is activated to make the magnetic force within the preset safe range; the force sensor 132 detects a change in the pulling force of the middle magnet 123 and sends a signal to the control module 1311. The control module 1311 combines the vertical force of the middle magnet 123 with the total adsorption force relationship diagram, judges and sends a signal to the servo electric cylinder 131, causing the servo electric cylinder 131 to drive the middle magnet 123 to move vertically by a certain distance. At this time, the force sensor 132 monitors and feedbacks the magnitude of the vertical force in real time, and finally makes the total magnetic force within the safe range.

[0046] In summary, the magnetic force adjustment device is applied to the wall - climbing robot, which can monitor the magnetic force in real - time during the operation of the robot, and the control module 1311 can monitor and control the air gap in real - time to maintain the total adsorption force within a safe range; when the wall curvature, attachments, corrosion, etc. passed by cause the change of the air gap of the magnet module, resulting in the change of the overall magnetic force, the overall magnetic force can be adjusted to be within the safe range by changing the intermediate magnet 123, improving the wall adaptability and ensuring safety.

[0047] Embodiment 2, referring to Figures 1 to 7 , which is the second embodiment of the present invention. The difference from the first embodiment is that it also includes an arrangement based on the Halbach array, and the adjustment mechanism can adjust the air gap of only one magnet, achieving a large - range adjustment of the magnetic force while having lower requirements for the adjustment mechanism. In the previous embodiment, a magnetic force adjustment device for a wall - climbing robot includes a magnetic force unit 1, which includes a housing 11, a magnet arrangement component 12 arranged inside the housing 11, and an adjustment component 13 arranged on the top of the housing 11.

[0048] Furthermore, the magnet arrangement component 12 is used to control the arrangement mode and magnetization direction of the magnets; the adjustment component 13 is used to adjust the magnetic force of the magnet arrangement component 12 within the magnetic force range.

[0049] Furthermore, the adjustment component 13 includes a servo electric cylinder 131 fixedly arranged on the top of the housing 11 and a force sensor 132 threadedly arranged at the output end of the servo electric cylinder 131; one end of the force sensor 132 away from the servo electric cylinder 131 is fixedly connected to the magnet arrangement component 12.

[0050] Furthermore, the magnet arrangement component 12 includes two groups of fixed magnets 121 fixedly arranged inside the housing 11, an adjustment magnet housing 122 slidably arranged between the adjacent sides of the two groups of fixed magnets 121, and an intermediate magnet 123 embedded inside the adjustment magnet housing 122.

[0051] Furthermore, the two groups of fixed magnets 121 are respectively fixedly connected to the left and right inner walls of the housing 11.

[0052] Furthermore, the two groups of fixed magnets 121 and the intermediate magnet 123 are all permanent magnets.

[0053] Furthermore, one end of the force sensor 132 away from the servo electric cylinder 131 is fixedly connected to the top of the intermediate magnet 123.

[0054] Furthermore, two groups of baffles 111 are arranged at the bottom of the housing 11 through screws; the two groups of baffles 111 are respectively located below the two groups of fixed magnets 121.

[0055] Further, the two sets of fixed magnets 121 and the middle magnet 123 are magnetized in the up-down-up magnetization direction.

[0056] It should be noted that the two sets of fixed magnets 121 and the middle magnet 123 are both 100*85*35 mm in size and are arranged in the up-down-up magnetization direction along the 35-mm height direction when viewed frontally. When the middle magnet 123 is adjusted up and down, the magnet module can achieve a change within the range of 1 KN, and the required lifting force is only 1 / 4 of the overall adjustment, and the middle magnet 123 is hardly interfered by the lateral forces of the two side fixed magnets 121.

[0057] Further, the servo electric cylinder 131 monitors the pulling force received by the middle magnet 123 in real time through the force sensor 132.

[0058] It should be noted that the force sensor 132 is connected between the middle magnet 123 and the servo electric cylinder 131, and can feedback the magnitude of the vertical force received by the middle magnet 123 in real time, and according to the attached Figure 7 relationship, the magnitude of the suction force generated by the overall module can be deduced.

[0059] Specifically, the force sensor 132 is connected to the servo electric cylinder 131 and the adjusting magnet housing 122. The middle magnet 123 is built into the adjusting magnet housing 122. The force sensor 132 can directly reflect the magnitude of the pulling force received by the middle magnet 123. According to the relationship between the vertical force of the middle magnet 123 and the total adsorption force diagram, and the magnetic force relationship corresponding to the adjustment distance of the servo electric cylinder 131 and the change amount of the magnet ground clearance, the magnetic force generated by the magnet module on the current magnetic wall surface can be calculated in real time; such as Figure 7 is the diagram of the force of the middle magnet 123 versus the ground clearance, and the corresponding relationship between the force of the middle magnet 123 and the total magnetic force; when the ground clearance of the middle magnet 123 changes, the magnetic force generated by the middle magnet 123 changes, which is reflected in the change of the pulling force received by the force sensor 132, obtaining the magnitude of the pulling force received by the current middle magnetic force, and calculating the magnitude of the total magnetic force. Therefore, the magnitude of the total magnetic force can be determined by measuring the magnitude of the force received by the middle magnet 123.

[0060] Further, four groups of rubber pads 112 are embedded in the inner side wall of the housing 11.

[0061] Further, an adjustment opening 113 for the output end of the servo electric cylinder 131 to slide is provided at the top of the housing 11.

[0062] Further, a control module 1311 is fixedly arranged outside the servo electric cylinder 131.

[0063] Furthermore, the control module 1311 is electrically connected to the servo electric cylinder 131 and the force sensor 132 respectively.

[0064] It should be noted that the control module 1311 is usually composed of an embedded controller, such as a microcontroller or a single-chip microcomputer, and is responsible for signal processing and logic control. The control module 1311 is connected to the force sensor 132 and the servo electric cylinder 131 through an electrical interface; the control module 1311 usually adopts a feedback control algorithm to achieve precise adjustment of the magnetic force.

[0065] During use, the two groups of fixed magnets 121 and the middle magnet 123 are combined to form a magnet module. The magnetic adsorption force required for the normal crawling state of the wall-climbing robot obtained from theoretical analysis is used as a preset value. The magnetic suction force generated by the two groups of fixed magnets 121 and the middle magnet 123 corresponds one-to-one to the relationship between the ground clearance of the middle magnet 123, and the safety range of the total magnetic force is set. When the ground distance of the magnet module changes due to changes in the wall surface conditions during the crawling process of the wall-climbing robot, the force sensor 132 connected to the middle magnet 123 detects a change in the pulling force, which is different from the preset value. The electronic control system built into the control module 1311 obtains the output displacement value of the servo electric cylinder 131 according to the algorithm and controls it to move accordingly, changing the magnetic force, so as to keep the magnetic force within the safety range of the preset value;

[0066] Specifically, the magnets of the two groups of fixed magnets 121 and the middle magnet 123 are magnetized in the up-down-up magnetization direction, and only the gap between the middle magnet 123 and the magnetic wall surface is changed, which can realize the large-range change of the magnetic force of the magnet module. For reference, this magnetization method has an initial ground clearance of 20 mm, a left-right magnet spacing of 12.5 mm, and a total magnetic force of about 1900 N is generated at the initial position. The middle magnet 123 can move up 5 mm and down 10 mm, realizing a magnetic force range from 1500 N to 2500 N. And the vertical force received by the middle magnet 123 at the initial position is 650 N. When moving down 10 mm from the initial position, the vertical force received is 550 N, and the horizontal force is 4 N. When moving up 5 mm from the initial position, the vertical force received is 900 N, and the horizontal force is 3 N. This arrangement provides a very small pulling force on the adjustment component 13 for magnet adjustment and is hardly affected by the lateral interference of the other two magnets.

[0067] In summary, through the special arrangement of the Halbach array, two sets of fixed magnets and the middle magnet are arranged in the "up-down-up magnetization direction" to form a Halbach array, which significantly enhances the overall magnetic force of the magnetic force module, optimizes the magnetization direction and layout of the magnets, enables the magnet array to generate a stronger magnetic field on one side and almost no magnetic field on the other side, thereby improving the utilization efficiency of the magnetic force; by only adjusting the air gap between the middle magnet and the magnetic wall surface, a large range of changes in the magnetic force can be achieved to meet the requirements of the wall-climbing robot in different working environments; in addition, the vertical pulling force required to change the air gap of the middle magnet is small and is hardly affected by the lateral forces of the left and right magnets, significantly reducing the load requirements for the adjustment mechanism and ensuring that the magnetic force always remains within a safe range.

[0068] Embodiment 3, referring to Figures 1 to 8 , which is the third embodiment of the present invention. This embodiment provides a magnetic force adjustment method based on the Halbach array, which can further illustrate the arrangement of the Halbach array and only adjust the air gap of one of the magnets to achieve a large range of magnetic force adjustment; it includes the following steps: arranging two sets of fixed magnets 121 and the middle magnet 123 in the "up-down-up magnetization direction" to form a Halbach array;

[0069] By changing the air gap between the middle magnet 123 and the magnetic wall surface, a large range of magnetic force adjustment is achieved;

[0070] The force sensor 132 is used to monitor the vertical force received by the middle magnet 123 in real time, and based on the relationship diagram between the vertical force and the total magnetic force, the total magnetic force of the entire magnet module is calculated;

[0071] When the total magnetic force exceeds the preset safe range, the servo electric cylinder 131 is controlled to adjust the middle magnet 123 to keep the total magnetic force within the safe range.

[0072] It should be noted that the Halbach array is a special permanent magnet arrangement proposed by physicist Klaus Halbach in the 1970s. It optimizes the magnetization direction and arrangement of the magnets, enabling the magnet array to generate a very strong magnetic field on one side and almost no magnetic field on the other side.

[0073] Furthermore, the control module 1311 calculates the total magnetic force magnitude of the entire magnet module by monitoring the vertical force change of the middle magnet 123 in real time and combining the relationship diagram between the vertical force of the middle magnet 123 and the total adsorption force, thereby realizing real-time feedback and precise control of the magnetic force.

[0074] Further, when the total magnetic force exceeds the preset safety range, adjusting the air gap of the intermediate magnet 123 by controlling the servo electric cylinder 131 to keep the total magnetic force within the safety range includes: when the ground clearance of the intermediate magnet 123 changes, the magnetic force generated by the intermediate magnet 123 changes, which is reflected in the change of the tensile force received by the force sensor 132, obtaining the magnitude of the tensile force received by the current intermediate magnetic force, and calculating the magnitude of the total magnetic force. Therefore, the magnitude of the total magnetic force is determined by measuring the force received by the intermediate magnet 123.

[0075] In summary, adopting the special arrangement based on the Halbach array enables the three magnets to generate a large magnetic force. The vertical magnetic force required to change the air gap of the intermediate magnet 123 is small and is hardly affected by the lateral magnetic force of the left and right magnets. When adjusting the overall magnetic force, only the air gap of the middle magnet needs to be adjusted, reducing the adjustment load.

[0076] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A magnetic force adjusting device for a wall-climbing robot, characterized in that: Comprising, A magnetic force unit (1), including a housing (11), a magnet arrangement assembly (12) disposed inside the housing (11), and an adjustment assembly (13) disposed on the top of the housing (11); The magnet arrangement assembly (12) is used to control the arrangement mode and magnetization direction of the magnets; the adjustment assembly (13) is used to adjust the magnetic force of the magnet arrangement assembly (12) within the magnetic force range; The adjustment assembly (13) includes a servo electric cylinder (131) fixedly arranged on the top of the housing (11), and a force sensor (132) threadedly arranged at the output end of the servo electric cylinder (131); one end of the force sensor (132) away from the servo electric cylinder (131) is fixedly connected to the magnet arrangement assembly (12).

2. A magnetic force adjustment device for a wall-climbing robot according to claim 1, characterized in that: The magnet arrangement assembly (12) includes two groups of fixed magnets (121) fixedly arranged inside the housing (11), an adjustment magnet housing (122) slidably arranged between the adjacent sides of the two groups of fixed magnets (121), and an intermediate magnet (123) embedded inside the adjustment magnet housing (122); The two groups of fixed magnets (121) are respectively fixedly connected to the left and right inner walls of the housing (11).

3. A magnetic force adjustment device for a wall-climbing robot according to claim 2, characterized in that: The two groups of fixed magnets (121) and the intermediate magnet (123) are all permanent magnets; One end of the force sensor (132) away from the servo electric cylinder (131) is fixedly connected to the top of the intermediate magnet (123).

4. The magnetic force adjusting device for a wall-climbing robot according to claim 3, wherein: Two groups of baffles (111) are arranged at the bottom of the housing (11) by screws; the two groups of baffles (111) are respectively located below the two groups of fixed magnets (121).

5. A magnetic force adjustment device for a wall-climbing robot according to claim 4, characterized in that: The two groups of fixed magnets (121) and the intermediate magnet (123) are magnetized in the up-down-up magnetization direction; The servo electric cylinder (131) monitors the pulling force received by the intermediate magnet (123) in real time through the force sensor (132).

6. A magnetic force adjustment device for a wall-climbing robot according to claim 5, characterized in that: Four groups of rubber pads (112) are embedded on the inner side wall of the housing (11); An adjustment opening (113) for the output end of the servo electric cylinder (131) to slide is provided at the top of the housing (11).

7. A magnetic force adjustment device for a wall-climbing robot according to claim 6, characterized in that: A control module (1311) is fixedly arranged outside the servo electric cylinder (131); The control module (1311) is electrically connected to the servo electric cylinder (131) and the force sensor (132) respectively.

8. A magnetic force adjustment method based on a Halbach array, characterized in that: Including a magnetic force adjustment device for a wall-climbing robot according to claim 7; and, Arrange the two sets of the fixed magnets (121) and the intermediate magnet (123) in the "up-down-up magnetization direction" to form a Halbach array; By changing the air gap between the intermediate magnet (123) and the magnetic wall surface, a large-range adjustment of the magnetic force is achieved; Use the force sensor (132) to monitor in real time the vertical force received by the intermediate magnet (123), and calculate the total magnetic force of the entire magnet module according to the relationship diagram between the vertical force and the total magnetic force; When the total magnetic force exceeds the preset safety range, control the servo electric cylinder (131) to adjust the intermediate magnet (123) so that the total magnetic force is kept within the safety range.

9. A magnetic force adjustment method based on a Halbach array according to claim 8, characterized in that: The control module (1311) calculates the total magnetic force magnitude of the entire magnet module by monitoring in real time the change in the vertical force of the intermediate magnet (123) and combining the relationship diagram between the vertical force of the intermediate magnet (123) and the total adsorption force, thereby realizing real-time feedback and precise control of the magnetic force.

10. A magnetic force adjustment method based on a Halbach array according to claim 9, characterized in that: When the total magnetic force exceeds the preset safety range, adjusting the air gap of the intermediate magnet (123) by controlling the servo electric cylinder (131) so that the total magnetic force is kept within the safety range includes: when the ground clearance of the intermediate magnet (123) changes, the magnetic force generated by the intermediate magnet (123) changes, which is reflected in the change in the pulling force received by the force sensor (132), obtaining the magnitude of the pulling force received by the current intermediate magnetic force, and calculating the magnitude of the total magnetic force. Therefore, the magnitude of the total magnetic force is determined by measuring the force received by the intermediate magnet (123).

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