Magnetic attraction type crawler chassis and magnetic attraction type wall-climbing robot

Abstract

The invention relates to the field of wall-climbing robots, and discloses a magnetic type crawler chassis which comprises a rack, a driver, a chain wheel and a crawler belt, the driver, the chain wheel and the crawler belt are arranged on the rack, the crawler belt comprises a chain link body and a roller, the roller is rotatably connected with the chain link body, and the roller is of a regular polygon prism structure. When the chassis walks and turns, the rollers rotate to make up the relative movement between the crawler belt and the wall surface, sliding friction is converted into rolling friction, the friction loss of the rollers is reduced, the rollers adopt regular polygon prism structures, each side surface of each roller can be in contact with the wall surface, the friction is uniform, and the service life of the rollers can be prolonged; rotation of the rollers can reduce turning torque of the chassis, reduce requirements for torque parameters of a driver and reduce energy consumption of the chassis. When wall surface wrinkles or break angles are met, the angle of the roller is rapidly adjusted under the attraction of the second magnet and the action of the prism structure of the roller, the roller is in good contact with the wall surface, and the structural stability of the base plate is guaranteed. The invention further provides the magnetic type wall-climbing robot.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots and their peripheral supporting facilities, and in particular to a magnetic crawler chassis and a magnetic wall-climbing robot. Background Art

[0002] The development of magnetic wall-climbing robots has faced numerous challenges with traditional tracked chassis. During operation, the sliding friction between the tracks and the wall causes severe wear, significantly shortening their service life and increasing the cost of frequent maintenance and component replacement. Turning in place requires overcoming significant friction, which places excessive demands on the motor torque. This not only consumes a lot of energy but also easily causes motor overload and damage. Furthermore, the traditional cylindrical roller structure lacks stability on walls, making it difficult to stably hover at any angle. This severely limits the robot's operating range and flexibility, making it unable to meet the demands of operating in complex wall environments.

[0003] While some existing technologies have attempted innovations, such as combining Mecanum wheels with tracked structures, replacing traditional track links with rollers parallel to the direction of travel, achieving a degree of omnidirectional mobility, these configurations are only suitable for flat terrain. When subjected to lateral loads, the rollers' rolling resistance coefficient is much smaller than their static friction coefficient, making them prone to displacement, especially when in contact with near-rigid load-bearing surfaces such as steel plates. This makes them unable to operate stably on complex vertical surfaces, such as the interior walls of ship cabins.

[0004] Other technologies utilize three tracks arranged in a triangular pattern and cylindrical rollers arranged at a 45-degree angle. While these technologies offer a certain degree of stability, they also suffer from significant drawbacks. The robot's movement is hampered when encountering uneven surfaces or obstacles. Furthermore, the Mecanum rollers arranged at a 45-degree angle fail to effectively reduce wear, leading to energy waste and rapid component wear. These technologies also fail to fully consider key practical application issues, such as the friction characteristics between the magnetic robot chassis and rough metal surfaces, and the proper design of chain links and magnets. Consequently, these existing technologies still face significant limitations in practical applications.

[0005] Therefore, how to change the current situation in the existing technology where the track chassis of the magnetic wall-climbing robot is severely worn and has poor stability has become an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0006] The purpose of the present invention is to provide a magnetic crawler chassis and a magnetic wall-climbing robot to solve the problems existing in the above-mentioned related technologies, alleviate the wear of the crawler chassis, extend the trouble-free service time of the crawler chassis, improve operating efficiency, and at the same time improve the walking stability of the crawler chassis, thereby enhancing the flexibility and adaptability of the wall-climbing robot.

[0007] To achieve the above object, the present invention provides the following solutions:

[0008] The present invention provides a magnetic crawler chassis, comprising a frame and a driver, a sprocket, and a crawler arranged on the frame, wherein the driver can drive the sprocket to rotate, and the sprocket drives the crawler to move; the crawler comprises:

[0009] Chain link bodies, the number of the chain link bodies being multiple, adjacent chain link bodies being hingedly connected to form a ring structure; the chain link bodies having a built-in first magnet;

[0010] The roller is rotatably connected to the chain link body, and the rotation axis of the roller is parallel to the movement direction of the track; the roller is a regular polygonal prism structure, the roller has a built-in second magnet, and the side of the roller can contact the walking wall of the magnetic track chassis.

[0011] Preferably, the roller includes a roller, an inner lining and an outer cladding, the roller is rotatably connected to the chain link body, the inner lining is sleeved on the outside of the roller and the two are coaxially connected, the inner lining is a regular polygonal prism structure, the second magnet is embedded in the inner lining, the outer cladding is sleeved on the outside of the inner lining, and the outer cladding is made of an elastic material with a recovery coefficient of more than 70%.

[0012] Preferably, the second magnet is embedded on each side of the lining.

[0013] Preferably, the intersection of two adjacent side surfaces of the lining has a transitional curved surface.

[0014] Preferably, after the roller is rotatably connected to the chain link body, a shaft retaining ring is used to fix the axial position of the roller;

[0015] The roller has a retaining ring groove matching the shaft retaining ring, and the shaft retaining ring is arranged in the retaining ring groove.

[0016] Preferably, the roller is a regular octagonal prism structure.

[0017] Preferably, the link body has a mounting groove, the opening of the mounting groove is arranged toward the side of the link body away from the sprocket, the roller is rotatably arranged in the mounting groove, and the side surface of the roller protrudes from the opening of the mounting groove so that the side surface of the roller can contact the walking wall surface of the magnetic crawler chassis;

[0018] Each of the chain link bodies has two mounting grooves, which are arranged along the width direction of the chain link body. The mounting grooves correspond to the rollers one by one. The first magnet is arranged between the two rollers.

[0019] Preferably, the link body is connected with a first connecting shaft and a second connecting shaft, and the link body has a mounting hole adapted to the first connecting shaft and the second connecting shaft, and the first connecting shaft and the second connecting shaft are rotatably connected to the mounting holes of adjacent link bodies to realize an articulated connection of adjacent link bodies.

[0020] Preferably, the frame is also connected to a mounting plate, and there are two sprockets, one of which is rotatably connected to the mounting plate, and the other sprocket is transmission-connected to the output end of the driver, and both sprockets are engaged with the crawler to drive the crawler to move; a tensioning mechanism is also provided on the frame to tension the crawler.

[0021] The present invention also provides a magnetic wall-climbing robot, comprising the above-mentioned magnetic crawler chassis.

[0022] Compared with the related art, the present invention has achieved the following technical effects: the magnetic crawler chassis of the present invention includes a frame and a drive, a sprocket, and a crawler track arranged on the frame, the drive can drive the sprocket to rotate, and the sprocket drives the crawler track to move; the crawler track includes a chain link body and a roller, the number of chain link bodies is multiple groups, and adjacent chain link bodies are hingedly connected and form a ring structure; the chain link body has a first magnet built in; the roller is rotatably connected to the chain link body, and the rotation axis of the roller is parallel to the movement direction of the crawler track; the roller is a regular polygonal prism structure, the roller has a second magnet built in, and the side of the roller can contact the walking wall of the magnetic crawler chassis.

[0023] The magnetic crawler chassis of the present invention can utilize the first magnet to adsorb the crawler on the walking wall, the driver drives the sprocket to rotate, and the sprocket drives the crawler to move, thereby realizing the movement of the chassis. During the straight-line movement of the chassis, there is no relative lateral movement between the crawler and the wall. Under the adsorption action of the first magnet and the second magnet, and the rolling resistance coefficient of the regular polygonal prism-shaped roller is large, the roller will not rotate. When the chassis moves in a straight line, there is static friction between the roller and the wall, and the roller loss is small. When the chassis turns while walking, the rotation of the roller compensates for the relative movement between the crawler and the wall, converting sliding friction into rolling friction, reducing the friction loss of the roller, and the roller adopts a regular polygonal prism-shaped structure, so each side of the roller can contact the wall, and the friction is uniform, which can extend the service life of the roller; at the same time, the rotation of the roller can also reduce the turning torque of the chassis, reduce the requirements for the driver torque parameters, and reduce the energy consumption of the chassis. When encountering wrinkles or corners on the wall, the roller quickly adjusts its angle under the adsorption of the second magnet and its own prismatic structure, maintaining good contact with the wall, ensuring the structural stability of the chassis, and ensuring that the chassis can operate continuously and stably in complex wall environments, thereby improving the adaptability of the magnetic crawler chassis.

[0024] At the same time, the present invention also provides a magnetic wall-climbing robot, including the above-mentioned magnetic crawler chassis. Naturally, the magnetic wall-climbing robot of the present invention can also achieve the above-mentioned beneficial effects, ensuring the continuous and stable operation of the robot in a complex wall environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 This is a schematic structural diagram of a magnetic crawler chassis disclosed in an embodiment of the present invention;

[0027] Figure 2 This is an axonometric diagram of a link body of a magnetic crawler chassis disclosed in an embodiment of the present invention;

[0028] Figure 3 Schematic diagrams of axonometric views of the link body of the magnetic crawler chassis disclosed in an embodiment of the present invention from other angles;

[0029] Figure 4 This is a front view schematic diagram of a link body of a magnetic crawler chassis disclosed in an embodiment of the present invention;

[0030] Figure 5 A schematic side view of a link body of a magnetic crawler chassis disclosed in an embodiment of the present invention;

[0031] Figure 6 for Figure 5 Schematic diagram of the section along AA direction;

[0032] Figure 7 This is an axonometric diagram of the rollers of the magnetic crawler chassis disclosed in an embodiment of the present invention;

[0033] Figure 8 A schematic front view of a roller of a magnetic crawler chassis disclosed in an embodiment of the present invention;

[0034] Figure 9 for Figure 8 Schematic diagram of the cross section along the BB direction;

[0035] Figure 10 This is a schematic top view of the rollers of the magnetic crawler chassis disclosed in an embodiment of the present invention.

[0036] In the figure: 1. frame; 2. drive; 3. sprocket; 4. track; 5. chain link body; 6. first magnet; 7. roller; 8. second magnet; 9. roller; 10. liner; 11. shaft retaining ring; 12. outer layer; 13. first connecting shaft; 14. second connecting shaft; 15. mounting plate; 16. planetary gear reducer. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] The purpose of the present invention is to provide a magnetic crawler chassis and a magnetic wall-climbing robot to solve the problems existing in the above-mentioned related technologies, alleviate the wear of the crawler chassis, extend the trouble-free service time of the crawler chassis, improve operating efficiency, and at the same time improve the walking stability of the crawler chassis, thereby enhancing the flexibility and adaptability of the wall-climbing robot.

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] Example 1

[0041] This embodiment provides a magnetic crawler chassis, please refer to Figures 1-10 , including a frame 1 and a driver 2, a sprocket 3, and a crawler track 4 arranged on the frame 1. The driver 2 can drive the sprocket 3 to rotate, and the sprocket 3 drives the crawler track 4 to move; the crawler track 4 includes a chain link body 5 and a roller 7. The chain link bodies 5 are in multiple groups, and adjacent chain link bodies 5 are hingedly connected to form a ring structure; the chain link body 5 has a first magnet 6 built in; the roller 7 is rotatably connected to the chain link body 5, and the rotation axis of the roller 7 is parallel to the movement direction of the crawler track 4; the roller 7 is a regular polygonal prism structure, and the roller 7 has a second magnet 8 built in. The side of the roller 7 can contact the walking wall of the magnetic crawler chassis.

[0042] In the magnetic crawler chassis of the present invention, the crawler 4 can be adsorbed on the walking wall by the first magnet 6, the driver 2 drives the sprocket 3 to rotate, and the sprocket 3 drives the crawler 4 to move, thereby realizing the movement of the chassis. During the straight-line movement of the chassis, there is no relative lateral movement between the crawler 4 and the wall. Under the adsorption action of the first magnet 6 and the second magnet 8, and the rolling resistance coefficient of the regular polygonal prism-shaped roller 7 is large, the roller 7 will not rotate. When the chassis moves in a straight line, there is static friction between the roller 7 and the wall, and the loss of the roller 7 is small. When the chassis turns while walking, the rotation of the roller 7 compensates for the relative movement between the crawler 4 and the wall, converting sliding friction into rolling friction, reducing the friction loss of the roller 7, and the roller 7 adopts a regular polygonal prism structure. Each side of the roller 7 can contact the wall, and the friction is uniform, which can extend the service life of the roller 7; at the same time, the rotation of the roller 7 can also reduce the turning torque of the chassis, reduce the requirements for the torque parameters of the driver 2, and reduce the energy consumption of the chassis. When encountering wrinkles or corners on the wall, the roller 7 quickly adjusts its angle under the adsorption of the second magnet 8 and its own prismatic structure, maintaining good contact with the wall, ensuring the structural stability of the chassis, and ensuring that the chassis can operate continuously and stably in complex wall environments, thereby improving the adaptability of the magnetic crawler chassis.

[0043] The roller 7 includes a roller shaft 9, an inner lining 10, and an outer cladding 12. The roller shaft 9 is rotatably connected to the chain link body 5 to ensure that the roller 7 can rotate. The inner lining 10 is mounted on the outside of the roller shaft 9 and the two are coaxially connected. The inner lining 10 has a regular polygonal prism structure. The second magnet 8 is embedded in the inner lining 10. The outer cladding 12 is mounted on the outside of the inner lining 10 and is made of an elastic material with a restitution coefficient of greater than 70%. The inner lining 10 can ensure the structural strength of the roller 7. The outer cladding 12 made of an elastic material outside the inner lining 10 can enhance the wear resistance of the roller 7 and extend the service life of the roller 7. At the same time, it increases the friction between the roller 7 and the wall surface, ensuring the stability of the chassis movement. When the outer cladding 12 wears out, only the outer cladding 12 needs to be replaced, reducing the cost of chassis use. Roller 7 is rotatably connected to link body 5 via roller shaft 9. The axis of rotation of roller shaft 9 is parallel to the forward direction of the chassis, ensuring that the compensation speed of roller 7 is decoupled from the speed of track 4, reducing additional friction losses. In practical applications, the inner lining 10 can be provided with a 1% draft gradient to facilitate the removal and installation of the outer cladding 12 and facilitate replacement of the outer cladding 12 after wear.

[0044] It is important to emphasize that if the outer layer 12 is too elastic, it may not achieve its energy absorption purpose. This may result in the bottom rollers rotating when subjected to a large instantaneous impulse, but the work done by gravity will be greater than the energy consumed by the collision when the rollers contact the wall, causing chassis instability. Therefore, in this specific embodiment, the outer layer 12 is formed by combining rubber and shock-absorbing material. The outer layer 12 includes a rubber layer covering the exterior of the inner liner 10 and a shock-absorbing material filled between the rubber layer and the inner liner 10. The shock-absorbing material is filled between the rubber layer and the inner liner 10 to ensure that the coefficient of restitution of the outer layer 12 remains above 70%, thereby providing good friction and effectively absorbing external impact energy, thereby ensuring the stability of the chassis.

[0045] In this specific embodiment, a second magnet 8 is embedded on each side of the lining 10. During the rotation of the roller 7, the roller 7 can be adsorbed on the wall to ensure the movement stability and reliability of the chassis. The second magnet 8 is set on each side of the lining 10 to ensure that the roller 7 maintains a suitable angle when there is no external force, avoiding the edge of the roller 7 from contacting the wall and causing instability, especially in complex working conditions such as over-angle. It can stably provide friction. It should also be noted that the second magnet 8 of the present invention is embedded in the side of the lining 10, and the outer layer 12 is set outside the lining 10. The second magnet 8 adopts a closed setting method, which effectively avoids the influence of ferromagnetic substances and rust in the cargo residue on the rotation of the magnet and roller 7, and ensures the stable operation of the chassis in complex electromagnetic and physical environments.

[0046] In practical applications, the intersection of two adjacent side surfaces of the lining 10 has a transition arc surface to prevent the edges of the lining 10 from damaging the outer cladding 12 and extend the service life of the outer cladding 12.

[0047] Among them, after the roller 9 is rotatably connected to the chain link body 5, the axial position of the roller 9 is fixed by the shaft retaining ring 11; the use of the shaft retaining ring 11 to fix the roller 9 in both directions facilitates the disassembly and replacement of the roller 7, effectively reducing the difficulty and cost of maintenance.

[0048] Accordingly, the roller 9 has a retaining ring groove that matches the shaft retaining ring 11. The shaft retaining ring 11 is disposed in the retaining ring groove, ensuring the axial relative position stability of the roller 9, the shaft retaining ring 11, and the chain link body 5. When maintenance or replacement of the roller 7 is required, the shaft retaining ring 11 can be easily and quickly removed, and the roller 7 can then be easily removed, greatly reducing the difficulty and cost of maintenance.

[0049] In this specific embodiment, the roller 7 is a regular octagonal prism structure, which ensures that the roller 7 can rotate, converting the sliding friction between the track 4 and the wall into rolling friction, thereby reducing the wear of the contact surface; and the wear rate of the track 4 is greatly reduced, effectively extending the service life of the track 4, reducing the maintenance cost and downtime of frequent replacement of the track 4, and improving the working efficiency and economic benefits of the chassis and the robot. It should also be emphasized that the first magnet 6 of the chain link body 5 and the second magnet 8 on each side of the roller 7 cooperate with each other. When there is no external force, the magnetic force between them can ensure that the roller 7 is maintained at the appropriate angle. Specifically, through the attraction and repulsion of the magnetic force, the various surfaces of the roller 7 can be parallel when in contact with the wall, avoiding the situation where the roller 7 contacts the wall with its edge. Especially under special working conditions such as cornering, this magnetic connection method can effectively ensure that roller 7 provides sufficient friction, preventing the rolling resistance coefficient of roller 7 from being too small when contacting the wall due to an incorrect contact angle, causing rolling before sufficient friction is provided, and thus causing safety problems such as the chassis falling, significantly improving the safety and stability of the chassis operating in complex environments.

[0050] Specifically, the link body 5 has a mounting slot, the opening of which is disposed toward the side of the link body 5 away from the sprocket 3. The roller 7 is rotatably disposed within the mounting slot, with the side surface of the roller 7 protruding from the opening of the mounting slot so that the side surface of the roller 7 can contact the running wall of the magnetic crawler chassis. The provision of the mounting slot facilitates the assembly and disassembly of the roller 7. In this embodiment, each link body 5 has two mounting slots, which are disposed along the width of the link body 5. The mounting slots correspond one to one with the roller 7. Rollers 7 are disposed on both sides of the link body 5 in the width direction to ensure the movement reliability of the chassis. Accordingly, a first magnet 6 is disposed between the two rollers 7. In this embodiment, each link body 5 is provided with a first magnet 6 on both sides along the movement direction of the crawler 4 (i.e., the length direction of the link body 5). The first magnet 6 cooperates with the second magnet 8 to further ensure a reasonable angle of the roller 7, prevent phase disorder of the roller 7, and ensure the stability of the crawler 4 during operation.

[0051] More specifically, the link bodies 5 are connected to a first connecting shaft 13 and a second connecting shaft 14, and the link bodies 5 have mounting holes that match the first connecting shaft 13 and the second connecting shaft 14. The first connecting shaft 13 and the second connecting shaft 14 are rotatably connected to the mounting holes of adjacent link bodies 5 to achieve an articulated connection between adjacent link bodies 5. The articulated connection between adjacent link bodies 5 via the first connecting shaft 13 and the second connecting shaft 14 allows the link bodies 5 to rotate relatively flexibly. This articulated connection gives the track 4 excellent flexibility, allowing it to smoothly adapt to changes in terrain when facing complex terrain, such as uneven ground, curved walls, or obstacles, ensuring the continuity and integrity of the entire track 4, ensuring the stable movement of the chassis, and providing stable suction force, thereby ensuring the flexibility and adaptability of the track 4 in complex terrain or in motion.

[0052] In addition, the frame 1 is connected to a mounting plate 15. There are two sprockets 3, one of which is rotatably connected to the mounting plate 15, and the other sprocket 3 is drivingly connected to the output end of the driver 2. Both sprockets 3 are engaged with the crawler track 4 to drive the crawler track 4 to achieve the walking movement of the chassis. The driver 2 can be a motor, and the driver 2 drives the sprockets 3 to rotate using a planetary gear reducer 16. It should also be noted that the frame 1 is also provided with a tensioning mechanism to tension the crawler track 4, further ensuring the movement reliability of the crawler track 4.

[0053] The magnetic crawler chassis of the present invention converts sliding friction between the crawler track 4 and the contact surface into rolling friction through the rotation of the octagonal prism-shaped roller 7, significantly reducing wear on the contact surface. Compared to the crawler track 4 in the prior art, under the same operating conditions, the wear rate of the crawler track 4 of the present invention is significantly reduced, effectively extending the service life of the crawler track 4, reducing the maintenance cost and downtime of frequent crawler track 4 replacement, and improving the robot's operating efficiency and economic benefits. The present invention utilizes the synergistic effect of the octagonal prism-shaped roller 7 and the internal second magnet 8 and first magnet 6 to enable the crawler track 4 to stably hover at any angle on the wall, effectively solving the stability issues of traditional cylindrical roller structures. When facing complex terrain such as vertical walls, corners, and folds, the chassis of the present invention can still maintain good maneuverability and stability, ensuring that the robot can complete its tasks safely and efficiently, and broadening the robot's application scenarios and working range. In addition, the decoupling design of the roller 7 and the movement speed of the crawler track 4 and the use of rolling friction reduce unnecessary friction losses, significantly reducing the robot's energy consumption during operation. At the same time, the torque required by driver 2 during in-situ steering is also reduced accordingly, alleviating the burden on driver 2, increasing its service life and reliability, and further optimizing the robot's overall performance. To address harsh operating environments such as the inner walls of ocean-going vessel bulk holds, the present invention's second magnet 8 utilizes a closed configuration, effectively preventing the effects of ferromagnetic materials and rust from cargo residue on the rotation of the magnet and roller 7, ensuring stable operation of the chassis in complex electromagnetic and physical environments. Furthermore, the rational selection of materials and structural design enable the robot to adapt to wall environments with varying roughness, temperature, and humidity, resulting in strong environmental adaptability and robustness.

[0054] Example 2

[0055] This embodiment provides a magnetic wall-climbing robot, including the magnetic track chassis of the first embodiment.

[0056] The magnetic wall-climbing robot of the present invention includes the magnetic track chassis of embodiment 1, which adopts octagonal rollers 7. When the robot turns, the track 4 rolls with the contact surface, reducing the wear of the track 4 and the contact surface, effectively extending the service life of the track 4, reducing the maintenance cost and downtime of frequent replacement of the track 4, and improving the working reliability of the robot.

[0057] In other possible embodiments of the present invention, the magnetic wall-climbing robot can be equipped with two sets of guide wheels mounted on the front and rear of the vehicle body. These guide wheels are attached to the outer fenders of the crawler tracks 4 and maintain a certain angle with the wall. When the vehicle body is in contact with only one wall, the guide wheels do not make contact with the wall. They only come into contact with the wall when traversing the folds in the cabin's inner wall, providing additional lateral force for the chassis to pass through dangerous areas. The guide wheels themselves also possess a certain degree of magnetic attraction, ensuring sufficient friction and enhancing the chassis's ability to navigate complex wall environments and its stability.

[0058] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A magnetic crawler chassis, comprising a frame and a driver, a sprocket, and a crawler mounted on the frame, wherein the driver drives the sprocket to rotate, and the sprocket drives the crawler to move; characterized in that: The crawler comprises: Chain link bodies, the number of the chain link bodies being multiple, adjacent chain link bodies being hingedly connected to form a ring structure; the chain link bodies having a built-in first magnet; The roller is rotatably connected to the chain link body, and the rotation axis of the roller is parallel to the movement direction of the track; the roller is a regular polygonal prism structure, the roller has a built-in second magnet, and the side of the roller can contact the walking wall of the magnetic track chassis.

2. The magnetic crawler chassis according to claim 1, characterized in that: The roller includes a roller, an inner lining and an outer cladding. The roller is rotatably connected to the chain link body. The inner lining is sleeved on the outside of the roller and the two are coaxially connected. The inner lining is a regular polygonal prism structure. The second magnet is embedded in the inner lining. The outer cladding is sleeved on the outside of the inner lining. The outer cladding is made of an elastic material with a recovery coefficient of more than 70%.

3. The magnetic crawler chassis according to claim 2, characterized in that: The second magnet is embedded on each side of the lining.

4. The magnetic crawler chassis according to claim 2, characterized in that: A transitional cambered surface is formed at the intersection of two adjacent side surfaces of the lining.

5. The magnetic crawler chassis according to claim 2, characterized in that: After the roller is rotatably connected to the chain link body, the axial position of the roller is fixed by a shaft retaining ring; The roller has a retaining ring groove matching the shaft retaining ring, and the shaft retaining ring is arranged in the retaining ring groove.

6. The magnetic crawler chassis according to any one of claims 1 to 5, characterized in that: The roller is a regular octagonal prism structure.

7. The magnetic crawler chassis according to claim 1, characterized in that: The link body has a mounting groove, the opening of the mounting groove is arranged toward the side of the link body away from the sprocket, the roller is rotatably arranged in the mounting groove, and the side surface of the roller protrudes from the opening of the mounting groove so that the side surface of the roller can contact the walking wall surface of the magnetic crawler chassis; Each of the chain link bodies has two mounting grooves, which are arranged along the width direction of the chain link body. The mounting grooves correspond to the rollers one by one. The first magnet is arranged between the two rollers.

8. The magnetic crawler chassis according to claim 1, characterized in that: The link body is connected to a first connecting shaft and a second connecting shaft, and the link body has a mounting hole adapted to the first connecting shaft and the second connecting shaft. The first connecting shaft and the second connecting shaft are rotatably connected to the mounting holes of adjacent link bodies to realize an articulated connection of adjacent link bodies.

9. The magnetic crawler chassis according to claim 1, characterized in that: The frame is also connected to a mounting plate, and there are two sprockets, one of which is rotatably connected to the mounting plate, and the other sprocket is transmission-connected to the output end of the driver, and both sprockets are engaged with the crawler to drive the crawler to move; a tensioning mechanism is also provided on the frame to tension the crawler.

10. A magnetic wall-climbing robot, characterized in that: It comprises the magnetic crawler chassis described in any one of claims 1 to 9.

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