Magnetic attraction device of wall-climbing robot

Abstract

The invention relates to the technical field of magnetic attraction equipment, in particular to a magnetic attraction device of a wall-climbing robot. The arc-shaped permanent magnet and the wheel axle are coaxially arranged, the main magnetic attraction face and the guide magnetic attraction face which are parallel to the current attraction wall face and the adjacent to-be-climbed wall face respectively are formed, it is guaranteed that the distances from the two magnetic attraction faces to the corresponding wall faces are equal in the transition climbing process, and the robot can be stably climbed in the transition process from the current wall face to the adjacent wall face. The stability of the magnetic attraction force is maintained, sudden reduction of the magnetic attraction force caused by change of the magnetic attraction distance is avoided, and therefore the robot is effectively prevented from slipping or overturning, and the stability and safety in the wall climbing process are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic attraction equipment, in particular to a magnetic attraction device for a wall-climbing robot. Background Art

[0002] In the field of wall-climbing robot technology, the magnetic suction device is the core component that enables the robot to operate stably on ferromagnetic walls (such as ship bulkheads, tank outer walls, etc.). Its performance directly affects the robot's adsorption reliability, movement smoothness and operation safety.

[0003] Currently, the magnetic attraction devices of traditional wall-climbing robots mostly use a single-plane or fixed-angle permanent magnet structure. The permanent magnet's magnetic surface typically only matches the current surface being attracted, with the magnetic field oriented perpendicular to that surface to provide attraction. However, when the robot needs to transition from its current surface to an adjacent wall to be climbed (such as from a horizontal wall to an uphill slope or across a corner), the distance between the permanent magnet and the adjacent wall to be climbed changes significantly due to factors such as wheel lift and body posture adjustments. This makes it difficult for the original magnetic surface to quickly and effectively form a parallel connection with the new wall.

[0004] This structural defect causes a sudden drop or instability in the magnetic attraction during the transition process. On the one hand, the magnetic attraction distance between the permanent magnet and the new wall increases, weakening the magnetic field and potentially causing the robot to slip or capsize. On the other hand, the magnetic field cannot be adjusted perpendicular to the new wall in a timely manner, resulting in insufficient effective attraction, further exacerbating motion safety issues. This defect in conventional magnetic devices can severely impact the robot's efficiency and reliability, particularly in scenarios requiring frequent crossing of wall corners, such as ship rust removal and large tank inspections. It represents a critical bottleneck restricting the expansion of wall-climbing robots into complex applications. Summary of the Invention

[0005] To avoid and overcome the technical problems existing in the prior art, the present invention provides a magnetic attraction device for a wall-climbing robot. This device ensures that the magnetic attraction distances between the permanent magnet's corresponding magnetic attraction surface and the two walls are equal when the wheels transition from the current attraction wall to the adjacent wall to be climbed, thereby maintaining a stable magnetic attraction force and effectively ensuring the stability of the wall-climbing robot as it climbs.

[0006] To achieve the above object, the present invention provides the following technical solutions: A magnetic attraction device for a wall-climbing robot comprises a fixed bracket mounted on a vehicle frame, the fixed bracket being mounted with an arc-shaped permanent magnet, the permanent magnet being coaxially arranged with a wheel at its location; the permanent magnet being formed with a main magnetic attraction surface that magnetically cooperates with and is parallel to the currently adsorbed wall surface, and a guide magnetic attraction surface that is parallel to and is parallel to an adjacent wall surface to be climbed, the magnetic field directions of the main magnetic attraction surface and the guide magnetic attraction surface being respectively perpendicular to the corresponding wall surface; when the wheel is located at the junction between the currently adsorbed wall surface and the adjacent wall surface to be climbed, that is, when the wheel is in contact with both the currently adsorbed wall surface and the adjacent wall surface to be climbed, the magnetic attraction distance from the guide magnetic attraction surface of the permanent magnet at the wheel to the adjacent wall surface to be climbed is equal to the magnetic attraction distance from the main magnetic attraction surface to the currently adsorbed wall surface.

[0007] As a further solution of the present invention: the fixing bracket is provided with an arc-shaped groove, and the arc-shaped groove and the wheel axle at the position thereof are coaxially arranged; and the permanent magnet is fixedly installed in the arc-shaped groove.

[0008] As a further solution of the present invention: the permanent magnet includes a plurality of magnets, and the magnets are arranged in sequence along the length direction of the arc-shaped slot.

[0009] As a further solution of the present invention: each magnet is a sector ring segment, and the cross section of each sector ring segment is perpendicular to the wheel axle; the axial side surfaces of adjacent magnets fit together to form the arc-shaped permanent magnet.

[0010] As a further solution of the present invention: each magnet has a radial symmetry plane, which is perpendicular to the cross section and passes through the center of the sector; the sector center angles of each magnet are the same, and the sector centers of each sector center angle coincide with each other.

[0011] As a further solution of the present invention: along the radial outward direction of the magnet, the intersection line of the radial symmetry plane and the outer cylindrical surface of the magnet is the symmetry line, and the intersection line of the radial symmetry plane and the current adsorption wall is the calibration line; the vertical distance from the symmetry line to the current adsorption wall is the reference distance , the vertical distance between the symmetry line and the calibration line is the calibration distance , then the magnetic attraction force generated between the magnet and the current adsorption wall is : ; ; Where, represents the vacuum permeability; Indicates the magnetic induction intensity of the magnet; It represents the projected chord length of the outer cylindrical surface of the magnet on the cross section; Indicates the axial thickness of the magnet; Indicates the radial thickness of the magnet; Represents the rectangular area corresponding to the outer cylindrical surface of the magnet, that is, ; Indicates residual magnetism; represents pi; Represents the inverse tangent function.

[0012] In the formula It is the core correction factor for accurately quantifying the correlation between magnetic attraction and distance. It is the vertical reference distance from the intersection of the radial symmetry plane of the magnet and the outer cylindrical surface (symmetry line) to the current adsorption wall. It represents the standard distance between the magnet and the wall in the reference state and is the "reference scale" for calculating the magnetic attraction force. It is the vertical distance between the symmetry line, the radial symmetry plane and the intersection line of the current adsorption wall (calibration line), reflecting the real-time distance change between the magnet and the wall in actual working conditions. The ratio of the two is directly related to the attenuation law of the magnetic attraction with distance, that is, when the actual distance is Greater than the reference distance When the ratio is less than 1, the magnetic attraction decreases proportionally; when Less than When the ratio is greater than 1, the magnetic attraction increases proportionally. This perfectly aligns with the principle of magnetic attraction: "magnetic attraction decreases with increasing distance." To address the issue of magnetic attraction stability during wall-climbing robot transitions (such as from a flat surface to an inclined surface), and to overcome the sudden changes in magnetic attraction caused by distance changes in traditional devices, which can easily lead to slippage or overturning, this invention utilizes an arc-shaped permanent magnet design to ensure a constant magnetic attraction distance during transitions. The introduction of is to transform the "constant distance" characteristic of this mechanical design into a precise mathematical calculation. That is, through the ratio of the reference distance to the actual distance, the formula can dynamically adapt to the distance changes under different wall angles, so that the calculated magnetic attraction force is always consistent with the actual adsorption requirements. For example, when the robot climbs a 45° slope, The value of will adjust with the wall angle, but by The correction can ensure that the calculation result of the magnetic attraction force always reflects the effective adsorption force perpendicular to the wall, which forms a technical echo with the structural design of "the magnetic field directions of the main and guide magnetic attraction surfaces are perpendicular to the corresponding wall surfaces", and ultimately realizes the quantitative controllable and stable output of the magnetic attraction force.

[0013] As a further solution of the present invention: the total magnetic attraction force between the frame and the current adsorption wall is : ; Where, Indicates the The magnetic attraction between a magnet and the current adsorption wall; It represents the set of magnets whose radially outward direction and radially symmetric plane intersect with the current adsorption wall.

[0014] gather I Refers to the set of magnets whose radially symmetrical planes intersect with the current adsorption wall along the magnet's radial outward direction. Among them, the radially symmetrical plane refers to the plane perpendicular to the magnet's cross section and passing through the center of the sector circle. The sector center angles of each magnet are the same and the sector centers coincide with each other. When the magnet is in working state, only those magnets whose radially symmetrical planes intersect with the current adsorption wall will be included in the set. I When calculating the total magnetic attraction between the frame and the current adsorption wall, only the set I The magnetic attraction forces generated by each magnet are summed up, which can accurately reflect the total magnetic attraction force provided by the magnets that actually have an effective adsorption effect on the current adsorption wall surface, eliminating the interference of those magnets that do not have an effective effect on the current adsorption wall surface, making the calculation of the total magnetic attraction force more in line with the actual working situation, and providing an accurate quantitative basis for ensuring the stable adsorption of the wall-climbing robot on the current adsorption wall surface.

[0015] The radially symmetrical planes of other magnets do not intersect the current attachment wall, meaning their relative position to the current attachment wall prevents the magnetic attraction they generate from effectively acting on the current attachment wall, resulting in minimal or negligible impact on the attachment effect. If the magnetic attraction of these magnets is included in the total magnetic attraction, the calculated result will deviate from the actual effective attraction force and fail to accurately reflect the wall-climbing robot's actual ability to adhere to the current attachment wall.

[0016] Therefore, in order to accurately calculate the total magnetic attraction between the frame and the current adsorption wall, only the set I The magnetic attraction forces of the middle magnet are summed up and the magnetic attraction forces of other magnets are excluded to ensure the accuracy of the total magnetic attraction force calculation and provide a reliable quantitative basis for the stable adsorption of the wall-climbing robot.

[0017] As a further solution of the present invention: a total of four wheels are installed on the frame, and a group of permanent magnets are provided at each wheel.

[0018] As a further solution of the present invention: a distance adjusting part with adjustable magnetic attraction distance is also installed on the frame, the distance adjusting part includes a telescopic rod fixedly installed on the frame, the telescopic direction of the telescopic rod is perpendicular to the wheel axis at its position, and the fixed bracket is fixedly installed on the telescopic end of the telescopic rod.

[0019] As a further solution of the present invention: the fixed end of the telescopic rod is hinged to the frame, and the hinge axis and the wheel axis at its position are parallel to each other; a locking member for locking the swing angle of the telescopic rod is also provided at the hinge axis.

[0020] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention arranges an arc-shaped permanent magnet coaxially with the wheel axle to form a main magnetic surface and a guide magnetic surface parallel to the current adsorption wall and the adjacent wall to be climbed, respectively, and ensures that the distances between the two magnetic surfaces and the corresponding wall surfaces are equal during transition climbing. This can maintain the stability of the magnetic attraction force during the robot's transition from the current wall surface to the adjacent wall surface, avoid a sudden drop in the magnetic attraction force due to changes in the magnetic attraction distance, thereby effectively preventing the robot from slipping or overturning, and significantly improving the stability and safety of the robot during wall climbing.

[0021] 2. The fixed bracket is provided with an arc-shaped groove coaxial with the wheel axle and fixes the permanent magnet. This can not only accurately constrain the arc shape and installation position of the permanent magnet, ensuring the coaxiality of the permanent magnet and the wheel axle, but also provide stable support for the permanent magnet to prevent it from displacement or loosening during the movement of the robot, thereby ensuring the spatial position accuracy of the magnetic surface and enhancing the reliability and stability of the overall structure of the device.

[0022] 3. The permanent magnet is designed as a structure consisting of multiple magnets arranged in sequence along an arc-shaped groove. The modular combination method is adopted. This not only facilitates the manufacture, installation and replacement of individual magnets, reducing production and maintenance costs, but also allows the number or specifications of magnets to be flexibly adjusted according to actual magnetic attraction requirements, achieving graded adaptation of the magnetic attraction force. At the same time, it disperses the overall stress of the permanent magnet and extends the service life of the device.

[0023] 4. Each magnet utilizes a sector-shaped ring segment design with its cross section perpendicular to the wheel axle. Adjacent magnets flank each other, allowing for close assembly to form a complete arc-shaped permanent magnet. This ensures continuity and uniformity in magnetic field distribution, minimizing magnetic force losses caused by gaps in the magnetic field. The cross section perpendicular to the wheel axle ensures that each magnet's magnetic force is precisely directed toward the corresponding wall, further enhancing the effective utilization of the magnetic attraction.

[0024] 5. By setting radial symmetry planes, unifying the central angles of the sectors and coinciding the centers, the structural parameters of the magnets in each sector ring segment are consistent and symmetrically distributed, ensuring that the magnetic field distribution of the arc-shaped permanent magnet is symmetrical and uniform. The suction force of each magnet on the wall is balanced, avoiding force imbalance on the robot caused by local suction force differences. The robot can maintain a stable adsorption state during the climbing process, especially when performing better during wall transitions.

[0025] 6. A quantitative calculation formula for magnetic attraction based on multiple parameters (such as distance, size, residual magnetism, etc.) is provided. It can accurately calculate the magnetic attraction of a single magnet on the current adsorption wall. The magnetic attraction can be predicted and adjusted in advance according to the actual working conditions (such as wall material, robot load, etc.) to ensure that the attraction meets the adsorption requirements without excessive energy consumption, providing a scientific theoretical basis for the optimized design and precise debugging of the magnetic attraction device.

[0026] 7. The total magnetic attraction force is defined as the sum of the magnetic attraction forces at the intersection of the radially symmetrical plane and the current adsorption wall. This eliminates the interference of magnets that have no effective effect on the current wall, making the calculation of the total magnetic attraction force more consistent with the actual effective adsorption effect. It can accurately reflect the actual adsorption capacity of the robot on the current wall, and provides an accurate quantitative indicator for judging whether the robot meets the adsorption stability requirements.

[0027] 8. A set of permanent magnets is installed at each of the four wheels of the frame, realizing a distributed design of four-wheel independent magnetic attraction. This evenly distributes the robot's adsorption force to each wheel position, avoiding the problem of excessive or insufficient local adsorption force. When climbing complex walls (such as slopes and corners), each wheel can independently adapt to the wall according to its own position, significantly improving the robot's overall adsorption stability and adaptability to complex terrain.

[0028] 9. The magnetic attraction distance is adjusted by the distance adjustment part composed of a telescopic rod, and the telescopic direction is perpendicular to the wheel axis. It can flexibly change the distance between the permanent magnet and the wall, thereby adjusting the magnetic attraction force in real time. The suction force can be dynamically adapted according to different wall materials, flatness or workload requirements, avoiding slipping caused by insufficient suction and preventing excessive suction from increasing driving resistance, greatly improving the adaptability of the device to working conditions.

[0029] 10. The fixed end of the telescopic rod is hinged and the axis is parallel to the wheel axis. The locking piece is used to lock the angle, so that the magnetic device can not only adjust the distance, but also adapt to the changes in the inclination angle of the wall. When climbing slopes or curved surfaces, the telescopic rod can be swung to keep the permanent magnet in a reasonable relative posture with the wall, ensuring the effective effect of the magnetic surface; the locking piece ensures the stability of the adjusted angle, taking into account the flexibility and structural stability of the device, and further enhancing the robot's ability to climb complex walls. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0031] Figure 2 It is a structural schematic diagram of the distance adjustment part in the present invention.

[0032] Figure 3 Schematic diagram of the arrangement structure of magnets in an embodiment of the present invention.

[0033] Figure 4 Schematic diagram of the magnet structure in an embodiment of the present invention.

[0034] In the figure: 10, frame; 11, wheel; 20, fixed bracket; 21, arc groove; 22, permanent magnet; 221. Main magnetic surface; 222. Guide magnetic surface; 223. Magnet; 30. Distance adjustment unit; 31. Telescopic rod; 40. Current adsorption wall; 50. Adjacent wall to be climbed. DETAILED DESCRIPTION

[0035] 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. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0036] See also Figures 1 to 3 The magnetic attraction device in this embodiment includes the following components: 1. Overall Architecture This magnetic device is primarily used in wall-climbing robots to achieve stable adsorption and movement on magnetic surfaces. The entire device is integrated into the robot's frame 10 and walking assembly, working in conjunction with the robot's other systems to complete complex wall-climbing tasks.

[0037] 1. Magnetic structure The permanent magnet 22 is mounted on a fixed bracket 20, which is mounted on the vehicle frame 10 and has an arcuate slot 21 coaxially arranged with the wheel axle at its location. The permanent magnet 22 is fixedly mounted in this arcuate slot 21. The permanent magnet 22 includes a plurality of magnets 223, each of which is arranged in sequence along the length of the arcuate slot 21 and is a sector-shaped ring segment. The cross-sections of the magnets 223 are perpendicular to the wheel axle. The axial sides of adjacent magnets 223 are aligned with each other to form an arcuate permanent magnet 22. At the same time, each magnet 223 has a radially symmetrical plane perpendicular to the cross-section and passing through the center of the sector. The sector center angles of each magnet 223 are the same, and the center of each sector center angle coincides with each other.

[0038] From the perspective of structural formation, the arc-shaped groove 21 of the fixing bracket 20 is coaxial with the wheel axle. When there are a large number of magnets 223, even if the inner and outer cylindrical surfaces of a single magnet 223 are flat, the fan-shaped ring segment magnets 223 arranged in sequence along the arc-shaped groove 21 can form a complete arc surface through the close fit of the adjacent axial side surfaces with the help of a cumulative effect similar to integration. This is because the central angles of each fan-shaped ring segment magnet 223 are the same and the centers of the circles coincide. After multiple planar magnets 223 with small central angles are spliced together, their outer contours will approach a continuous arc curve. Figure 3As shown, if the central angle of the sector of a single magnet 223 is 10°, the 140° arc-shaped permanent magnet 22 can be spliced together by 14 magnets 223. The planar side surfaces of adjacent magnets 223 form a small angle (negligible), and the whole presents a smooth arc shape. This structural design not only retains the convenience of modular installation, but also meets the space requirements for the permanent magnet 22 to match different wall surfaces. From the perspective of magnetic surface matching, the arc surface formed by splicing enables the permanent magnet 22 to naturally adapt to the current adsorption wall 40 and the adjacent wall to be climbed 50. Since the main magnetic surface 221 is parallel to the current adsorption wall 40, the guide magnetic surface 222 is parallel to the adjacent wall to be climbed 50, and the magnetic field directions of both are perpendicular to the corresponding wall surfaces. The arc structure of multiple magnets 223 ensures that during the rotation of the wheel 11, whether it is on the current wall or transitioning to the adjacent wall, there are always some magnets 223 whose magnetic surfaces maintain a preset parallel relationship with the wall, and the magnetic distances during the transition are equal. This is a dynamic adaptation effect that is difficult to achieve with a single planar magnet 223 or a non-arc arrangement structure. From the perspective of calculation logic, the use of the area of a rectangle in the formula to calculate the magnetic attraction is based on a balance between the structural characteristics of a single magnet 223 and the quantitative requirements. For the fan-shaped ring segment magnet 223, although its outer cylindrical surface is arc-shaped, the projected chord length on the cross section perpendicular to the wheel axis can accurately reflect the effective radial width of the magnet 223; the axial thickness directly determines the magnetic field coverage of the magnet 223 along the wheel axis. The rectangular area formed by the two is essentially a simplified quantification of the effective interaction area between the magnet 223 and the wall. That is, compared with the complicated calculation of the sector area, the value of the rectangular area is more intuitive, and the relationship between the magnetic field intensity and the effective area can be accurately correlated by the product of the projected chord length and the axial thickness. This avoids the calculation complexity caused by the curvature of the arc surface when multiple magnets 223 are spliced together, and at the same time ensures the matching with other parameters in the magnetic induction intensity formula, so that the overall calculation model is both in line with the actual structure and operational.

[0039] This structural design with the fixed bracket 20 as the installation basis can accurately ensure the coaxial arrangement of the permanent magnet 22 and the wheel axle, so that the main magnetic surface 221 parallel to the current adsorption wall 40 and the guide magnetic surface 222 parallel to the adjacent wall to be climbed 50 formed on the permanent magnet 22, when the wheel 11 transitions from the current adsorption wall 40 to the adjacent wall to be climbed 50, the magnetic attraction distance from the guide magnetic surface 222 to the adjacent wall to be climbed 50 is equal to the magnetic attraction distance from the main magnetic surface 221 to the current adsorption wall 40, thereby ensuring the stability of the magnetic attraction force during the transition process. In addition, the frame 10 is also equipped with a distance-adjusting part 30 that can adjust the magnetic attraction distance. The distance-adjusting part 30 includes a telescopic rod 31 fixedly mounted on the frame 10. The telescopic direction of the telescopic rod 31 is perpendicular to the wheel axis at its location. The fixed bracket 20 is fixedly mounted on the telescopic end of the telescopic rod 31, and the fixed end of the telescopic rod 31 is hinged to the frame 10. The hinge axis is parallel to the wheel axis at its location. A locking member for locking the swing angle of the telescopic rod 31 is also provided at the hinge axis. Through these structures, the magnetic attraction distance and angle can be flexibly adjusted based on the fixed bracket 20 to adapt to different working conditions.

[0040] In the magnetic attraction device of the wall-climbing robot, the fixed end of the telescopic rod 31 is hinged to the frame 10 with a bolt as the hinge axis, and the bolt hinge axis is parallel to the wheel axis at its position. When it is necessary to lock the swing angle of the telescopic rod 31, by tightening the nut at the hinge axis, the axial pressure between the nut and the bolt generates friction, thereby limiting the rotation of the telescopic rod 31 around the hinge axis and achieving the locking of the swing angle. This structure with a bolt as the hinge axis and locked by tightening the nut not only ensures the flexible rotation of the telescopic rod 31 when adjusting the angle, but also provides a reliable locking effect after determining the angle, ensuring that the fixed bracket 20 and the permanent magnet 22 mounted thereon maintain a stable position during the robot climbing process, thereby maintaining the accuracy of the magnetic attraction distance. In conjunction with the structural design of the arc-shaped permanent magnet 22, it jointly ensures the stable output of the magnetic attraction force when the robot transitions to the wall.

[0041] In the magnetic attraction device of this wall-climbing robot, the telescopic rod 31 of the distance adjustment unit 30 can be a hydraulic cylinder or a telescopic motor. The telescopic rod 31 is fixedly mounted on the vehicle frame 10, with its telescopic direction perpendicular to the wheel axis at its location. The fixed bracket 20 is fixedly mounted on the telescopic end of the telescopic rod 31. When a hydraulic cylinder is used, the pressure of the hydraulic oil drives the piston rod to extend and retract, thereby adjusting the distance between the fixed bracket 20 and the permanent magnet 22 and the wall surface. When a telescopic motor is used, the forward and reverse rotation of the motor drives a transmission structure such as a screw rod or gear rack to extend and retract the telescopic rod 31, similarly achieving the purpose of adjusting the magnetic attraction distance.

[0042] The fixed end of the telescopic rod 31 is hinged to the vehicle frame 10 with a bolt serving as an articulation axis. The articulation axis is parallel to the wheel axle at its location. Tightening the nut at the articulation axis locks the swing angle of the telescopic rod 31. Both the hydraulic cylinder and the telescopic motor work in conjunction with this articulation structure to stably maintain the position of the permanent magnet 22 after the angle is locked. This ensures that the distances between the main magnetic surface 221 and the guide magnetic surface 222 and the corresponding wall meet the design requirements during the robot's climbing process, ensuring stable output of the magnetic attraction force.

[0043] 2. Magnetic principle When the robot approaches a magnetic wall, the magnetic field generated by permanent magnet 22 interacts with the wall, generating a magnetic attraction. Because the magnetic field of permanent magnet 22 is constant, as long as permanent magnet 22 maintains a certain distance and relative position to the wall, it can provide a continuous attraction force. In the present invention, the magnetic field of each magnet 223 is directed radially toward the corresponding wall.

[0044] 2. Calculation Example The adsorption device of this embodiment is composed of 14 magnets 223, which are arranged as follows: Figure 3 As shown, each small magnet 223 25mm, axial thickness 40mm radial thickness is 30mm, such as Figure 4 shown.

[0045] Depend on Figure 3 It can be seen that the radially symmetrical planes of the first through ninth magnets 223 intersect the current adsorption wall 40, and with the fifth magnet 223 as the symmetry point, the first through fourth magnets and the sixth through ninth magnets are symmetrically positioned on either side of it. Therefore, it is only necessary to calculate the adsorption force of the first through fifth magnets 223. Then, through a symmetric method, the total magnetic attraction force of the permanent magnet 22 on the current adsorption wall 40 can be calculated.

[0046] The material of the magnet 223 is neodymium iron boron, and the specific parameter values are shown in Table 1.

[0047] Table 1 Parameters of Magnet 223 ; Substitute the data in Table 1 into the formula and calculate the results as shown in Table 2.

[0048] Table 2 Magnetic attraction of each magnet 223 ; Based on the data in Table 2, the total magnetic attraction force of the permanent magnet 22 on the current adsorption wall 40 is: ; It can be seen that the present invention forms a first and a second magnetic attraction surface parallel to the current adsorption wall 40 and the adjacent wall to be climbed 50, respectively, by installing an arc-shaped permanent magnet 22 coaxial with the wheel axle on the fixed bracket 20 on the frame 10, and ensures that the distances between the two magnetic attraction surfaces and the corresponding wall surfaces are equal during the transition to maintain the stability of the magnetic attraction force; the permanent magnet 22 is composed of a plurality of fan-shaped ring segment magnets 223 arranged in sequence along the arc groove 21, and each magnet 223 has a specific radial symmetry surface and other structural features. It also provides a calculation formula for the magnetic attraction force and the total magnetic attraction force, and clarifies that the total magnetic attraction force is the sum of the magnetic attraction forces of the radial symmetry surfaces and the current adsorption wall. At the same time, the frame 10 is provided with a distance adjustment part 30 with a telescopic rod 31 to adjust the magnetic attraction distance and angle, thereby improving the stability and safety of the robot climbing the wall as a whole.

[0049] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A magnetic device for a wall-climbing robot, characterized in that: The invention comprises a fixed bracket (20) mounted on a vehicle frame (10), an arc-shaped permanent magnet (22) mounted on the fixed bracket (20), and the permanent magnet (22) and the wheel (11) at which the permanent magnet (22) is located are coaxially arranged with each other; a main magnetic attraction surface (221) for magnetically cooperating with a current adsorption wall surface (40), and a guide magnetic attraction surface (222) for magnetically cooperating with an adjacent wall surface to be climbed (50) are formed on the permanent magnet (22); and the magnetic field directions of the main magnetic attraction surface (221) and the guide magnetic attraction surface (222) are respectively perpendicular to the corresponding wall surfaces; when the wheel (11) is located at the junction between the current adsorption wall surface (40) and the adjacent wall surface to be climbed (50), the magnetic attraction distance from the guide magnetic attraction surface (222) of the permanent magnet (22) at the wheel (11) to the adjacent wall surface to be climbed (50) is equal to the magnetic attraction distance from the main magnetic attraction surface (221) to the current adsorption wall surface (40).

2. The magnetic suction device of a wall-climbing robot according to claim 1, characterized in that: An arc-shaped groove (21) is provided on the fixing bracket (20), and the arc-shaped groove (21) and the axis of the wheel (11) at the location thereof are coaxially arranged with each other, and the permanent magnet (22) is fixedly installed in the arc-shaped groove (21).

3. The magnetic suction device of a wall-climbing robot according to claim 2, characterized in that: The permanent magnet (22) includes a plurality of magnets (223), and the magnets (223) are arranged in sequence along the length direction of the arc-shaped slot (21).

4. The magnetic suction device of a wall-climbing robot according to claim 3, characterized in that: Each magnet (223) is a sector-shaped ring segment, and the cross section of each sector-shaped ring segment is perpendicular to the axis of the wheel (11); the axial side surfaces of adjacent magnets (223) fit together to form the arc-shaped permanent magnet (22).

5. The magnetic suction device of a wall-climbing robot according to claim 4, characterized in that: Each magnet (223) has a radially symmetrical surface, which is perpendicular to the cross section and passes through the center of the sector; the sector center angles of each magnet (223) are the same, and the centers of each sector center angle coincide with each other.

6. The magnetic suction device of a wall-climbing robot according to claim 5, characterized in that: Along the magnet (223) radially outward, the intersection line of the radial symmetry plane and the outer cylindrical surface of the magnet (223) is the symmetry line, and the intersection line of the radial symmetry plane and the current adsorption wall (40) is the calibration line; The vertical distance from the symmetry line to the current adsorption wall (40) is the reference distance , the vertical distance between the symmetry line and the calibration line is the calibration distance , then the magnetic attraction force generated between the magnet (223) and the current adsorption wall (40) is : ； ； Where, represents the vacuum permeability; represents the magnetic induction intensity of the magnet (223); represents the projected chord length of the outer cylindrical surface of the magnet (223) on the cross section; represents the axial thickness of the magnet (223); represents the radial thickness of the magnet (223); represents the rectangular area corresponding to the outer cylindrical surface of the magnet (223), that is, ; Indicates residual magnetism; represents pi; Represents the inverse tangent function.

7. The magnetic suction device of a wall-climbing robot according to claim 6, characterized in that: The total magnetic attraction force between the frame (10) and the current adsorption wall (40) is : ； Where, Indicates the The magnetic attraction between the magnet (223) and the current adsorption wall (40); It represents a set of magnets (223) whose radially symmetrical planes intersect with the current adsorption wall (40) along the radial outward direction of the magnet (223).

8. A magnetic suction device for a wall-climbing robot according to any one of claims 1 to 7, characterized in that: A total of four wheels (11) are mounted on the vehicle frame (10), and a group of permanent magnets (22) are provided at each wheel (11).

9. The magnetic attraction device of a wall-climbing robot according to claim 8, characterized in that: The vehicle frame (10) is also provided with a distance adjusting portion (30) capable of adjusting the magnetic attraction distance. The distance adjusting portion (30) comprises a telescopic rod (31) fixedly mounted on the vehicle frame (10). The telescopic direction of the telescopic rod (31) is perpendicular to the axial direction of the wheel (11) at which the telescopic rod (31) is located. The fixed bracket (20) is fixedly mounted on the telescopic end of the telescopic rod (31).

10. The magnetic attraction device of a wall-climbing robot according to claim 9, characterized in that: The fixed end of the telescopic rod (31) is hinged to the vehicle frame (10) via a hinge shaft, and the hinge shaft and the axis of the wheel (11) at which the hinge shaft is located are parallel to each other; a locking member for locking the swing angle of the telescopic rod (31) is also provided at the hinge shaft.

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