Permanent magnet adsorption wall-climbing robot

Abstract

The invention relates to the field of robots, and discloses a permanent magnet adsorption wall-climbing robot which comprises a driving mechanism, and the driving mechanism comprises a front driving axle, a middle driving axle and a rear driving axle; the main frame comprises a front axle connecting frame, a connecting seat and a rear axle connecting frame, one end of the front axle connecting frame is hinged to the connecting seat, and the connecting seat is fixedly connected to the top end of the rear axle connecting frame; the front drive axle is connected with the middle drive axle through the front axle connecting frame. The device is composed of a front drive axle, a front axle connecting frame, a middle drive axle, a rear axle connecting frame and a rear drive axle, and six drive wheels are arranged in total. When the screw array spanning the vertical surface is arranged, at most two wheels of one drive axle are arranged on the screw array, and the other four wheels provide enough adsorption force to prevent gliding or falling, so that obstacles can be smoothly spanned, and the subsequent operation is not influenced. And meanwhile, climbing of the external corner and the internal corner can be easily achieved through the equipment.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a permanent magnet adsorption wall-climbing robot. Background Art

[0002] With the accelerating progress of industrialization, the demand for high-altitude and wall surface operations has become increasingly urgent. Against this background, permanent magnet adsorption wall-climbing robots have emerged. They can efficiently complete the inspection, cleaning, and maintenance of large equipment and building facades, etc., while ensuring the safety of personnel, greatly improving the operation efficiency.

[0003] Most of the permanent magnet adsorption wall-climbing robots on the market at present are suitable for large equipment or buildings with relatively flat surfaces, and their obstacle-crossing ability is relatively weak. The surface conditions of large metal equipment in hydropower stations are complex, with many obstacles, such as stiffeners, lifting lugs, bolts, and grids. For some small obstacles, such as weld seams, the wall-climbing robot can operate normally without being affected. However, due to the insufficient obstacle-crossing ability of traditional wall-climbing robots, when facing larger obstacles, they often cannot cross the obstacles smoothly for operation. Take the gantry crane (referred to as "gantry" for short) as an example. There is a relatively wide screw area on the surface of this equipment, with a width of about 370 mm, and multiple screws are arrayed in the area. The height of the screws protruding from the surface of the equipment is relatively high, about 40 mm. When the front two wheels or the rear two wheels of the permanent magnet wall-climbing robot drive to the screw area, it is very easy to fall off the gantry due to insufficient adsorption force, thus affecting normal operation. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is that due to the insufficient obstacle-crossing ability of traditional wall-climbing robots, when facing larger obstacles, they often cannot cross the obstacles smoothly for operation.

[0005] The above technical problem is solved by the following technical solutions: The present invention provides a permanent magnet adsorption wall-climbing robot, which includes, a driving mechanism, the driving mechanism includes a front driving axle, a middle driving axle, and a rear driving axle; a main frame, the main frame is composed of a front axle connecting frame, a connecting seat, and a rear axle connecting frame. One end of the front axle connecting frame close to the middle driving axle is hinged to the connecting seat, and the connecting seat is fixedly connected to the top of the rear axle connecting frame; The front driving axle is connected to the middle driving axle through the front axle connecting frame, and the middle driving axle is connected to the rear driving axle through the rear axle connecting frame; The front driving axle includes an installation frame, driving motors arranged on both sides of the installation frame, driving wheels arranged at the output ends of the driving motors, and permanent magnet adsorption blocks arranged inside the driving wheels; Among them, the structures of the front drive axle, the middle drive axle, and the rear drive axle except for the permanent magnet adsorption blocks are exactly the same.

[0006] In a preferred embodiment of the permanent magnet adsorption wall-climbing robot of the present invention: the installation frame is an overall square frame, and both sides of the installation frame are fixedly connected with motor support seats, which are used to install the drive motors on both sides of the installation frame. The output end of the drive motor is fixedly connected with a drive shaft, and a sleeve is sleeved outside the drive shaft. The sleeve is rotatably connected with the motor support seat.

[0007] In a preferred embodiment of the permanent magnet adsorption wall-climbing robot of the present invention: the outer wall of the sleeve is fixedly connected with a magnet support frame, and an end cover is arranged at one end of the sleeve away from the motor support seat; Among them, the permanent magnet adsorption block is installed outside the sleeve through the magnet support frame, the drive wheel is sleeved outside the sleeve, and the end cover installs and connects the drive wheel and the sleeve.

[0008] In a preferred embodiment of the permanent magnet adsorption wall-climbing robot of the present invention: the permanent magnet adsorption block is integrally arc-shaped and has an upward opening; Among them, the adsorption range of the permanent magnet adsorption block arranged in the front drive axle is larger than that of the permanent magnet adsorption block arranged in the rear drive axle, and the adsorption range of the permanent magnet adsorption block arranged in the middle drive axle is larger than that of the permanent magnet adsorption block arranged in the rear drive axle.

[0009] In a preferred embodiment of the permanent magnet adsorption wall-climbing robot of the present invention: the adsorption range of the permanent magnet adsorption block arranged in the front drive axle is 225°, the adsorption range of the permanent magnet adsorption block arranged in the middle drive axle is 225°, and the adsorption range of the permanent magnet adsorption block arranged in the rear drive axle is 90°.

[0010] In a preferred embodiment of the permanent magnet adsorption wall-climbing robot of the present invention: taking the straight line passing through the center of the drive wheel of the front drive axle and extending in the vertical direction as the dividing line, the corresponding permanent magnet adsorption block is divided into two parts, the front part and the rear part. The adsorption force range of the front part is larger than that of the rear part; Taking the straight line passing through the center of the drive wheel of the middle drive axle and extending in the vertical direction as the dividing line, the corresponding permanent magnet adsorption block is divided into two parts, the front part and the rear part. The adsorption force range of the front part is larger than that of the rear part; Taking the straight line passing through the center of the drive wheel of the rear drive axle and extending in the vertical direction as the dividing line, the corresponding permanent magnet adsorption block is divided into two parts, the front part and the rear part. The adsorption force range of the front part is the same as that of the rear part.

[0011] In a preferred embodiment of the permanent magnet adsorption wall-climbing robot of the present invention: the front bridge connecting frame includes a front frame, a rectangular frame, and a rear frame. The front frame is fixedly connected to one end of the rectangular frame, and the rear frame is fixedly connected to the other end of the rectangular frame; Wherein, the front frame is fixedly connected to the installation frame of the front drive axle, and the rear frame is hinged to the connecting seat.

[0012] In a preferred embodiment of the permanent magnet adsorption wall-climbing robot of the present invention: a rotating shaft is rotatably connected to the inner side of the connecting seat, and a rotating motor is adaptively installed on the outer side of the connecting seat. The output end of the rotating motor is fixedly connected to the rotating shaft; Wherein, the rear frame is fixedly connected to the rotating shaft.

[0013] In a preferred embodiment of the permanent magnet adsorption wall-climbing robot of the present invention: the rear bridge connecting frame includes a first sub-frame and a second sub-frame. The first sub-frame is connected to the second sub-frame by a hinge. The first sub-frame is fixedly connected to the connecting seat, and the second sub-frame is fixedly connected to the installation frame of the rear drive axle.

[0014] In a preferred embodiment of the permanent magnet adsorption wall-climbing robot of the present invention: an anti-falling ring is fixedly connected to the outer side of the first sub-frame or the second sub-frame. The anti-falling ring is used to connect a safety rope; Wherein, a control board is adaptively installed at the top of the second sub-frame.

[0015] The beneficial effect of the present invention is that: this device is composed of a front drive axle, a front bridge connecting frame, a middle drive axle, a rear bridge connecting frame, and a rear drive axle, and there are a total of six drive wheels. When setting the screw array across the vertical surface, at most two wheels of only one drive axle are on the screw array, and the remaining four wheels provide sufficient adsorption force to prevent slipping or falling, so as to smoothly cross the obstacle without affecting the subsequent operation. At the same time, this robot can also easily climb the outer corner and inner corner. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below only relate to some embodiments of the present invention and do not limit the present invention.

[0017] Figure 1 Shows the overall schematic diagram of the present invention.

[0018] Figure 2 Shows another perspective schematic diagram of the overall of the present invention.

[0019] Figure 3Shows an overall side view of the present invention.

[0020] Figure 4 Shows an overall top view of the present invention.

[0021] Figure 5 Shows an overall bottom view of the present invention.

[0022] Figure 6 Shows a schematic diagram of the partial structure of the present invention.

[0023] Figure 7 Shows a schematic diagram of the partial cross-section of the present invention.

[0024] Figure 8 Shows a schematic diagram of the structural partition of the permanent magnet adsorption block of the present invention.

[0025] Figure 9 Shows a schematic diagram of the screw array passing through the front drive axle of the present invention.

[0026] Figure 10 Shows a schematic diagram of the screw array passing through the middle drive axle of the present invention.

[0027] Figure 11 Shows a schematic diagram of the screw array passing through the rear drive axle of the present invention.

[0028] Figure 12 Shows a schematic diagram of the front drive axle passing through the external acute angle of the present invention.

[0029] Figure 13 Shows a schematic diagram of the middle drive axle passing through the external acute angle of the present invention.

[0030] Figure 14 Shows a schematic diagram of the rear drive axle passing through the external acute angle of the present invention.

[0031] Figure 15 Shows a schematic diagram of the front drive axle passing through the internal acute angle of the present invention.

[0032] Figure 16 Shows a schematic diagram of the middle drive axle passing through the internal acute angle of the present invention.

[0033] Figure 17 Shows a schematic diagram of the rear drive axle passing through the internal acute angle of the present invention.

[0034] In the figure: 1. Driving mechanism; 11. Front driving axle; 12. Middle driving axle; 13. Rear driving axle; 2. Main frame; 21. Front axle connecting frame; 22. Connecting seat; 23. Rear axle connecting frame; 111. Installation frame; 112. Driving motor; 113. Driving wheel; 114. Permanent magnet adsorption block; 1121. Motor support seat; 1122. Driving shaft; 1123. Sleeve; 1131. Magnet support frame; 1132. End cover; 211. Front frame; 212. Rectangular frame; 213. Rear frame; 221. Rotating shaft; 222. Rotating motor; 231. First sub-frame; 232. Second sub-frame; 233. Anti-falling ring; 234. Control board. Specific embodiments

[0035] In order to enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below in conjunction with specific embodiments and the accompanying drawings.

[0036] The terms used in the present invention are those general terms currently widely used in the art in consideration of the functions of the present invention, but these terms may change according to the intentions of those of ordinary skill in the art, precedents, or new technologies in the art. In addition, specific terms may be selected by the applicant, and in this case, their detailed meanings will be described in the detailed description of the present invention. Therefore, the terms used in the specification should not be understood as simple names, but based on the meanings of the terms and the overall description of the present invention.

[0037] Referring to Figures 1 to 7 , this embodiment provides a permanent magnet adsorption wall-climbing robot, including a driving mechanism 1, and the driving mechanism 1 includes a front driving axle 11, a middle driving axle 12, and a rear driving axle 13; a main frame 2, and the main frame 2 is composed of a front axle connecting frame 21, a connecting seat 22, and a rear axle connecting frame 23. One end of the front axle connecting frame 21 close to the middle driving axle 12 is hinged to the connecting seat 22, and the connecting seat 22 is fixedly connected to the top end of the rear axle connecting frame 23; The front driving axle 11 and the middle driving axle 12 are connected through the front axle connecting frame 21, and the middle driving axle 12 and the rear driving axle 13 are connected through the rear axle connecting frame 23; after the front driving axle 11, the middle driving axle 12, and the rear driving axle 13 are installed and connected through the main frame 2, the coordinated movement of the three can be realized.

[0038] The front driving axle 11 includes an installation frame 111, driving motors 112 arranged on both sides of the installation frame 111, driving wheels 113 arranged at the output ends of the driving motors 112, and permanent magnet adsorption blocks 114 arranged inside the driving wheels 113; Among them, the structures of the front drive axle 11, the middle drive axle 12, and the rear drive axle 13 are completely the same except for the permanent magnet adsorption block 114. The permanent magnet adsorption blocks 114 arranged inside the front drive axle 11, the middle drive axle 12, and the rear drive axle 13 can enable the device to adsorb on the wall surface of the working device.

[0039] The drive motors 112 of the front drive axle 11, the middle drive axle 12, and the rear drive axle 13 independently control the corresponding drive wheels 113 to rotate. When the initial device needs to move forward, only need to synchronously control multiple groups of drive motors 112 to rotate forward simultaneously and with the same output power, then the device can move forward. Similarly, when the device needs to move backward, multiple groups of drive motors 112 rotate backward simultaneously and with the same output power, then the device can move backward.

[0040] When turning on the surface plane area of the working device, using the differential principle, setting the speeds of the drive motors 112 corresponding to the three drive wheels 113 on the left side of the device's forward direction to be greater than the speeds of the drive motors 112 corresponding to the three drive wheels 113 on the right side can achieve a set right turn; setting the speeds of the drive motors 112 corresponding to the three drive wheels 113 on the right side of the device's forward direction to be greater than the speeds of the drive motors 112 corresponding to the three drive wheels 113 on the left side can achieve a left turn of the device.

[0041] The device in this embodiment is provided with three drive axles, that is, a total of six drive wheels 113 are included, and the axial spacing between adjacent drive wheels 113 on the same side is relatively long, and the axial spacing is at least greater than the width of the screw array. Refer to Figures 9 to 11 , when the device crosses the screw array obstacle, at most only one drive axle, that is, two drive wheels 113, will be on the screw array at the same time. And when one drive axle travels above the screw array, the remaining two drive axles, that is, four drive wheels 113, can provide sufficient adsorption force, and there will be no situation of slipping or falling, enabling the device to successfully cross the obstacle to complete subsequent operations.

[0042] As an embodiment provided, such as Figure 1 , Figure 7 , the installation frame 111 is an overall square frame. Both sides of the installation frame 111 are fixedly connected with motor support seats 1121. The motor support seats 1121 are used to install the drive motors 112 on both sides of the installation frame 111. The output end of the drive motor 112 is fixedly connected with a drive shaft 1122. A sleeve 1123 is sleeved outside the drive shaft 1122. The sleeve 1123 is rotatably connected with the motor support seat 1121. When the drive motor 112 is started, the drive motor 112 will drive the sleeve 1123 to rotate through the drive shaft 1122, so as to finally realize the rotation of the drive wheel 113.

[0043] As an embodiment provided, such asFigure 6 , Figure 7 On the outer wall of the sleeve 1123, a magnet support frame 1131 is fixedly connected, and at one end of the sleeve 1123 away from the motor support base 1121, an end cover 1132 is provided. Among them, the permanent magnet adsorption block 114 is installed on the outer side of the sleeve 1123 through the magnet support frame 1131. The driving wheel 113 is sleeved on the outer side of the sleeve 1123, and the end cover 1132 installs and connects the driving wheel 113 and the sleeve 1123. When the sleeve 1123 rotates, it will synchronously drive the rotation of the driving wheel 113. Through the rotation of the driving wheel 113, the device can be moved on the working device.

[0044] In an embodiment provided, such as Figure 1 , Figure 2 The front axle connecting frame 21 includes a front frame 211, a rectangular frame 212 and a rear frame 213. One end of the front frame 211 is fixedly connected to the rectangular frame 212, and the other end of the rear frame 213 is fixedly connected to the rectangular frame 212. Different types of working modules can be installed at the top of the rectangular frame 212. Through the movement of the device and the cooperation of the working modules installed at the top of the rectangular frame 212, the specified operation can be realized.

[0045] Among them, the front frame 211 is fixedly connected to the installation frame 111 of the front drive axle 11, and the rear frame 213 is hinged to the connecting seat 22. By setting the front drive axle 11 and the middle drive axle 12 to be rotatably connected, more degrees of freedom are provided, and the device can switch and drive in different planes.

[0046] In an embodiment provided, such as Figures 1 to 5 ,

[0047] The rear axle connecting frame 23 includes a first sub-frame 231 and a second sub-frame 232. The first sub-frame 231 is connected to the second sub-frame 232 through a hinge. The first sub-frame 231 is fixedly connected to the connecting seat 22, and the second sub-frame 232 is fixedly connected to the installation frame 111 of the rear drive axle 13. By setting the middle drive axle 12 and the rear drive axle 13 to be rotatably connected, the degrees of freedom of the device are further improved, so that the device can not only travel on a single plane of the working device, but also cross the external and internal corners. Figure 1 , Figure 2 On the inner side of the connecting seat 22, a rotating shaft 221 is rotatably connected, and on the outer side of the connecting seat 22, a rotating motor 222 is adaptively installed. The output end of the rotating motor 222 is fixedly connected to the rotating shaft 221. The rear frame 213 is fixedly connected to the rotating shaft 221. By setting the auxiliary power source - the rotating motor 222, the front drive axle 11 can be lifted and lowered, providing additional pressure or lift for the front drive axle 11.

[0048] In an embodiment provided, such asFigure 4 , Figure 5 , a fall prevention ring 233 is fixedly connected to the outer side of the first sub-frame 231 or the second sub-frame 232. The fall prevention ring 233 is used to connect a safety rope to prevent the equipment from falling from a high altitude to the ground and being damaged in case of an accident.

[0049] Among them, a control board 234 is adaptively installed at the top of the second sub-frame 232.

[0050] In an embodiment provided, such as Figure 3 and Figures 8 to 17 , the permanent magnet adsorption block 114 is integrally arc-shaped and has an upward opening; Among them, the adsorption range of the permanent magnet adsorption block 114 provided in the front drive axle 11 is larger than that of the permanent magnet adsorption block 114 provided in the rear drive axle 13, and the adsorption range of the permanent magnet adsorption block 114 provided in the middle drive axle 12 is larger than that of the permanent magnet adsorption block 114 provided in the rear drive axle 13. During obstacle-crossing operations, especially when passing over the outer and inner corners, in order to avoid rollover and sliding, sufficient adsorption force needs to be provided. During the critical stage of obstacle-crossing, the adsorption force is mainly provided by the front drive axle 11 and the middle drive axle 12. Therefore, the adsorption force ranges of the permanent magnet adsorption blocks 114 of both are larger than that of the rear drive axle 13, so as to achieve the purpose of providing sufficient adsorption force while saving costs and reducing the overall weight.

[0051] The adsorption range of the permanent magnet adsorption block 114 provided in the front drive axle 11 is 225°, the adsorption range of the permanent magnet adsorption block 114 provided in the middle drive axle 12 is 225°, and the adsorption range of the permanent magnet adsorption block 114 provided in the rear drive axle 13 is 90°.

[0052] Taking the straight line passing through the center of the driving wheel 113 of the front drive axle 11 and extending in the vertical direction as the dividing line, the corresponding permanent magnet adsorption block 114 is divided into front and rear parts, and the adsorption range of the front part is larger than that of the rear part; Taking the straight line passing through the center of the driving wheel 113 of the middle drive axle 12 and extending in the vertical direction as the dividing line, the corresponding permanent magnet adsorption block 114 is divided into front and rear parts, and the adsorption range of the front part is larger than that of the rear part; Taking the straight line passing through the center of the driving wheel 113 of the rear drive axle 13 and extending in the vertical direction as the dividing line, the corresponding permanent magnet adsorption block 114 is divided into front and rear parts, and the adsorption range of the front part is the same as that of the rear part.

[0053] The dividing line of the driving wheel 113 of the front drive axle 11, the front part after division corresponds to the permanent magnet adsorption blocks 114 within the 135° adsorption force range, and the rear part corresponds to the permanent magnet adsorption blocks 114 within the 90° suction force range; the dividing line of the driving wheel 113 of the middle drive axle 12, the front part after division corresponds to the permanent magnet adsorption blocks 114 within the 135° adsorption force range, and the rear part corresponds to the permanent magnet adsorption blocks 114 within the 90° suction force range; the dividing line of the driving wheel 113 of the rear drive axle 13, both the front part and the rear part after division correspond to the permanent magnet adsorption blocks 114 within the 60° adsorption force range.

[0054] For ease of description, with reference to Figure 8 , the permanent magnet adsorption blocks 114 within the driving wheel 113 of the front drive axle 11 are divided into five equal-sized sub-units a, b, c, d, and e, and the adsorption range corresponding to each sub-unit is 45°. For the driving wheel 113 of the front drive axle 11, when approaching the inner corner, parts a and b of the corresponding permanent magnet adsorption block 114 adsorb to the Figure 15 vertical wall surface in the middle. As the front drive axle 11 is gradually lifted, that is, when reaching the stage as shown in Figure 15 , mainly parts b and c adsorb to the vertical wall surface. As the driving wheel 113 of the middle drive axle 12 starts to contact the vertical wall surface, parts d and e of the permanent magnet adsorption block 114 of the front drive axle 11 play the main adsorption role until reaching the stage as shown in Figure 17 , parts c and d of the permanent magnet adsorption block 114 of the front drive axle 11 play the main adsorption role. When the driving wheel 113 of the front drive axle 11 passes the outer corner, when in the stage as shown in Figure 12 , mainly parts d and e of the permanent magnet adsorption block 114 mainly adsorb to the horizontal wall surface. Gradually, when in the stage as shown in Figure 14 , mainly parts c and d play the main adsorption role.

[0055] Similarly, the situation of the middle drive axle 12 is similar to that of the front drive axle 11 and will not be described in detail here. For the rear drive axle 13, when reaching the key right angle when passing the outer corner or the inner corner, at this time, the driving wheels 113 on the front drive axle 11 and the middle drive axle 12 are basically in a stable adsorption state, that is, on the same wall surface. Therefore, the rear drive axle 13 only needs to be provided with symmetric permanent magnet adsorption blocks 114 with a smaller adsorption range at the lower part.

[0056] Furthermore, vision modules are respectively installed on the front drive axle 11, the middle drive axle 12, and the rear drive axle 13; the vision modules are connected to the control board 234 and are used to transmit the collected vision images to the control board 234 in real time. During use, the operator controls the corresponding actions of each motor according to the vision images fed back to the controller display panel by each vision module.

[0057] As Figures 12 to 17As shown in the figure, the basic movement process of the device in this embodiment during the right-angle transition of the external corner is as follows: When the traditional device travels to the transition position of the external corner wall surface, the adsorption force of the two drive wheels 113 of the front drive axle 11 will suddenly decay, resulting in the inability to adsorb, and the device will tend to fall; this is also the reason why the traditional device cannot perform the external corner transition, that is, at the transition position, the adsorption force drops sharply. Since the center of mass of the device body itself is higher than the wall surface and the wheel center, when the adsorption force is insufficient, the device body will overturn backward under the action of gravity. A rotating motor 222 is added between the front drive axle 11 and the middle drive axle 12 in this embodiment. After the adsorption force of the front drive axle 11 drops sharply, the middle drive axle 12 and the rear drive axle 13 can still adsorb the wall surface to prevent overturning and sliding. If it is a traditional four-wheel structure, there will be a risk of overturning. At this time, the front drive axle 11 in this embodiment can smoothly transition to the other wall surface under the thrust of the rotating motor 222 and reach a safe adsorption position; after the front drive axle 11 passes smoothly, the middle drive axle 12 reaches the position with weak adsorption force and can also pass safely under the action of the magnetic wheels of the front drive axle 11 and the rear drive axle 13; similarly, the rear drive axle 13 can also be smoothly pulled over by the previous structure; the main function of the hinge structure between the rear drive axle 13 and the middle drive axle 12 is to provide a degree of freedom for folding to prevent the device chassis from interfering and colliding with the external corner. Because in order to pass through the screw array before, the axial spacing was designed to be relatively large. Without the degree of freedom provided by the hinged design of the first sub-frame 231 and the second sub-frame 232, the device chassis will interfere with the external corner, resulting in difficult device transition.

[0058] Finally, it should be pointed out that the methods and devices described in detail above are only embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of the present invention.

Claims

1. A permanent magnet adsorption wall-climbing robot, characterized in that: including, a driving mechanism (1), the driving mechanism (1) including a front drive axle (11), a middle drive axle (12) and a rear drive axle (13); a main frame (2), the main frame (2) being composed of a front axle connecting frame (21), a connecting seat (22) and a rear axle connecting frame (23), one end of the front axle connecting frame (21) close to the middle drive axle (12) being hinged to the connecting seat (22), and the connecting seat (22) being fixedly connected to the top end of the rear axle connecting frame (23); the front drive axle (11) and the middle drive axle (12) are connected through the front axle connecting frame (21), and the middle drive axle (12) and the rear drive axle (13) are connected through the rear axle connecting frame (23); the front drive axle (11) includes a mounting frame (111), drive motors (112) arranged on both sides of the mounting frame (111), drive wheels (113) arranged at the output ends of the drive motors (112), and permanent magnet adsorption blocks (114) arranged inside the drive wheels (113); wherein, the structures of the front drive axle (11), the middle drive axle (12) and the rear drive axle (13) except the permanent magnet adsorption blocks (114) are completely the same.

2. The permanent magnet adsorption wall-climbing robot according to claim 1, wherein: The mounting frame (111) is an overall square frame, motor support seats (1121) are fixedly connected to both sides of the mounting frame (111), the motor support seats (1121) are used to mount the drive motors (112) on both sides of the mounting frame (111), a drive shaft (1122) is fixedly connected to the output end of the drive motor (112), a sleeve (1123) is sleeved outside the drive shaft (1122), and the sleeve (1123) is rotatably connected to the motor support seat (1121).

3. The permanent magnet adsorption wall-climbing robot according to claim 2, wherein: A magnet support frame (1131) is fixedly connected to the outer wall of the sleeve (1123), and an end cover (1132) is arranged at one end of the sleeve (1123) away from the motor support seat (1121); wherein, the permanent magnet adsorption block (114) is mounted outside the sleeve (1123) through the magnet support frame (1131), the drive wheel (113) is sleeved outside the sleeve (1123), and the end cover (1132) mounts and connects the drive wheel (113) and the sleeve (1123).

4. The permanent magnet adsorption wall-climbing robot according to claim 3, wherein: The permanent magnet adsorption block (114) is integrally arc-shaped and arranged with the opening facing upwards; wherein, the adsorption range of the permanent magnet adsorption block (114) arranged in the front drive axle (11) is larger than the adsorption range of the permanent magnet adsorption block (114) arranged in the rear drive axle (13), and the adsorption range of the permanent magnet adsorption block (114) arranged in the middle drive axle (12) is larger than the adsorption range of the permanent magnet adsorption block (114) arranged in the rear drive axle (13).

5. The permanent magnet adsorption wall-climbing robot according to claim 4, wherein: The adsorption range of the permanent magnet adsorption block (114) provided in the front drive axle (11) is 225°, the adsorption range of the permanent magnet adsorption block (114) provided in the middle drive axle (12) is 225°, and the adsorption range of the permanent magnet adsorption block (114) provided in the rear drive axle (13) is 90°.

6. The permanent magnet adsorption wall-climbing robot according to claim 5, characterized in that: Taking the straight line passing through the center of the driving wheel (113) of the front drive axle (11) and extending in the vertical direction as the dividing line, the corresponding permanent magnet adsorption block (114) is divided into two parts, the front and the rear. The adsorption force range of the front part is greater than that of the rear part. Taking the straight line passing through the center of the driving wheel (113) of the middle drive axle (12) and extending in the vertical direction as the dividing line, the corresponding permanent magnet adsorption block (114) is divided into two parts, the front and the rear. The adsorption force range of the front part is greater than that of the rear part. Taking the straight line passing through the center of the driving wheel (113) of the rear drive axle (13) and extending in the vertical direction as the dividing line, the corresponding permanent magnet adsorption block (114) is divided into two parts, the front and the rear. The adsorption force range of the front part is the same as that of the rear part.

7. The permanent magnet adsorption wall-climbing robot according to claim 6, wherein: The front axle connecting frame (21) includes a front frame (211), a rectangular frame (212) and a rear frame (213). One end of the front frame (211) is fixedly connected to the rectangular frame (212), and the other end of the rear frame (213) is fixedly connected to the rectangular frame (212). Among them, the front frame (211) is fixedly connected to the installation frame (111) of the front drive axle (11), and the rear frame (213) is hinged to the connecting seat (22).

8. The permanent magnet adsorption wall-climbing robot according to claim 7, characterized in that: A rotating shaft (221) is rotatably connected to the inner side of the connecting seat (22), and a rotating motor (222) is adaptively installed on the outer side of the connecting seat (22). The output end of the rotating motor (222) is fixedly connected to the rotating shaft (221). Among them, the rear frame (213) is fixedly connected to the rotating shaft (221).

9. The permanent magnet adsorption wall-climbing robot according to claim 8, wherein: The rear axle connecting frame (23) includes a first sub-frame (231) and a second sub-frame (232). The first sub-frame (231) is connected to the second sub-frame (232) by a hinge. The first sub-frame (231) is fixedly connected to the connecting seat (22), and the second sub-frame (232) is fixedly connected to the installation frame (111) of the rear drive axle (13).

10. The permanent magnet adsorption wall-climbing robot according to claim 9, characterized in that: A falling prevention ring (233) is fixedly connected to the outer side of the first sub-frame (231) or the second sub-frame (232). The falling prevention ring (233) is used to connect a safety rope. Among them, a control board (234) is adaptively installed at the top of the second sub-frame (232).

Images