All-terrain ball wheel type magnetic wall-climbing robot capable of adapting to variable curved surface

Abstract

The invention discloses an all-terrain ball wheel type magnetic wall-climbing robot capable of adapting to a variable curved surface, and relates to the technical field of wall-climbing robots. The device comprises a pair of ball wheel type suspension magnetic attraction mechanisms which are symmetrically arranged along the front end and the rear end, and the two ball wheel type suspension magnetic attraction mechanisms are connected through a connecting block to form an I-shaped symmetrical framework; the ball wheel type suspension magnetic attraction mechanism mainly comprises a center balancing device, a magnetic ball wheel sphere supporting rack and a magnetic ball wheel mechanism. According to the robot, the adaptive passing capacity to all-terrain wall surfaces can be achieved through a suspension mechanism composed of the center balance device and the magnetic ball wheel sphere supporting rack; the adaptive change of active or passive adsorption points in the magnetic ball wheel mechanism can realize the curved surface adaptive capacity to a curved surface with a complex change curvature, and can actively control the transfer of the adsorption points to realize the wall surface transition capacity.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, and in particular to an all-terrain ball-wheel magnetic wall-climbing robot. Background Technology

[0002] Magnetic wall-climbing robots are specialized automated robots capable of adhering to and moving on ferromagnetic vertical, inclined, and complex curved surfaces. Equipped with appropriate actuators, they can also perform maintenance tasks such as cleaning, grinding, rust removal, inspection, and welding. They are used in various applications, including large structural components such as ship hulls and bulkheads, petrochemical storage tanks, large wind turbine towers, and large power plant water-cooled walls; complex spatial frameworks such as large steel bridges and angle steel power transmission towers; and complex multi-branch pipelines such as nuclear power plant piping systems and petrochemical pipeline systems. Furthermore, they are being introduced into special operational scenarios, such as large hydroelectric generator sets, to replace manual maintenance work in hydropower engineering.

[0003] For complex curved surface working environments in specific scenarios, the commonly used magnetic wall-climbing robots currently lack the ability to actively or passively adapt to changing curved surfaces, pass through all-terrain walls, and transition between walls. At the same time, it is also difficult to guarantee the stability of the adsorption on curved surface walls. Summary of the Invention

[0004] This invention provides an all-terrain ball-wheel magnetic wall-climbing robot that can adapt to varying curvature surfaces. It can achieve active control of adsorption force, passive adaptation to complex walls with varying curvature, and adsorption passage through undulating walls, providing a novel magnetic wall-climbing robot platform for the operation and maintenance of large irregular structural components.

[0005] The technical solution of this invention is: A ball-wheel magnetic wall-climbing robot adaptable to varying curved surfaces includes a pair of ball-wheel suspension magnetic mechanisms symmetrically arranged along the front and rear ends. The two ball-wheel suspension magnetic mechanisms are connected by connecting blocks to form an I-shaped symmetrical structure. Each ball-wheel suspension magnetic mechanism includes a central balancing device, a magnetic ball wheel ball support frame, and a magnetic ball wheel mechanism. The central balancing device includes a central main support rod, and the central main support rods of the two ball wheel suspension magnetic attraction mechanisms are respectively fixed on both sides of the connecting block, and the nitrogen spring rods are arranged in pairs on the central main support rod; The magnetic ball wheel ball support frame is installed on both sides of the central main support rod. The end of the assisting nitrogen spring rod is also connected to the magnetic ball wheel ball support frame. The magnetic ball wheel ball support frame is equipped with a magnetic ball wheel mechanism and a drive and servo control mechanism. The magnetic ball wheel ball support frame and the assisting nitrogen spring rod constitute a suspension mechanism to achieve passive adaptive floating of the machine body with preset damping on complex variable curvature walls. The magnetic ball wheel mechanism is equipped with an array of permanent magnets. When the magnetic ball wheel mechanism is adsorbed onto the wall surface, the array of permanent magnets can actively or passively ensure that the adsorption force is always in the normal direction of the tangent point between the ball wheel and the wall surface through two rotational degrees of freedom around the circumference and the longitudinal direction, so as to realize the adaptive magnetic adsorption to the concave and convex curved surfaces and the transitional movement between the wall surface.

[0006] Furthermore, a pair of ball wheel and ball support frame connecting hinges are arranged on the left and right sides of the central main support rod for installing the ball wheel and ball support frame; a set of spring rod connecting hinge plates are arranged above the central main support rod, each spring rod connecting hinge plate is equipped with a spring rod connecting shaft, and two opposing nitrogen spring rods are installed on the spring connecting shaft.

[0007] Furthermore, the nitrogen-assisted spring rod includes a cylinder body, a rod, and a terminal. One end of the terminal is rotatably connected to the spring connecting shaft, and the other end of the terminal is connected to the magnetic ball wheel ball support frame.

[0008] Furthermore, the magnetic ball wheel ball support frame includes a U-shaped ball wheel bracket, side plates, a drive motor fixing bracket plate, a top cover plate, and a spring rod tail end connecting shaft. Side plates are installed on both sides of the U-shaped ball wheel bracket, and the spring rod tail end connecting shaft passes through the two side plates. The end of the assisting nitrogen spring rod is connected to the spring rod tail end connecting shaft. A servo motor is installed on the outer side of the U-shaped ball wheel bracket, and the drive motor fixing bracket plate is located on the inner side of the U-shaped ball wheel bracket and installed between the two side plates. An L-shaped stepper drive motor is installed between the U-shaped ball wheel bracket and the drive motor fixing bracket plate, and the top cover plate is fixed to the top of the side plates.

[0009] Furthermore, the vertical installation position of the connecting shaft at the tail end of the spring rod is on the same vertical axis as the magnetic ball wheel mechanism, ensuring that the suspension mechanism is centered on the magnetic ball wheel mechanism during levitation.

[0010] Furthermore, the magnetic ball wheel mechanism includes a ball wheel housing, a servo motor circumferential servo axis, a drive flange, a passive radial rotating shaft, and an array of permanent magnets. The ball wheel housing is connected to the drive flange, which provides driving torque through an L-shaped stepper motor to drive the entire ball to rotate. The array of permanent magnets is fixedly installed inside the ball wheel housing by the servo motor circumferential servo axis and the passive radial rotating shaft. The array of permanent magnets can rotate actively and passively around the two axes, and the center of the rotation circumference is concentric with the center of rotation of the ball wheel housing.

[0011] Furthermore, a rebound spring is embedded inside the connection between the passive radial rotating shaft and the array of permanent magnets.

[0012] Furthermore, the array of permanent magnets includes a magnet support plate, a support plate baffle, and cubic permanent magnets. Five cubic permanent magnets are evenly arranged in an array on an arc-shaped magnet support plate through a pair of magnet support plates and an outer support plate baffle. A symmetrical magnet array cavity extends from the center of the arc-shaped magnet support plate to one side, and two more cubic permanent magnets are arrayed therefrom. A total of seven cubic permanent magnets are arranged in a Helbeck array, concentrating the magnetic force on the central area of ​​the array of permanent magnets.

[0013] The beneficial effects of this invention are: This invention provides an all-terrain ball-wheel magnetic wall-climbing robot adaptable to varying curved surfaces. The suspension system, composed of a nitrogen spring rod and an external mechanism, enables adaptation to all terrains, such as undulating walls. The array of permanent magnets within the magnetic ball-wheel mechanism, which can actively or passively rotate around the center of the ball, facilitates surface adaptation to complex curved walls and transitional movements between walls. Specifically: 1. In this invention, the wall-climbing robot has an overall I-shaped symmetrical structure with good symmetry. It can maintain its balance well when adsorbing on the wall surface, and can ensure its balance and stability when expanding and installing the actuators and other devices for subsequent inspection and maintenance.

[0014] 2. In this invention, the suspension mechanism mentioned, which allows the two symmetrically arranged ball wheels of the ball wheel suspension magnetic attraction mechanism to float up and down independently to adapt to complex curved surfaces and has a certain damping, can enable the four pairs of magnetic ball wheel mechanisms of the front and rear ball wheel magnetic attraction bodies to float up and down around the ball wheel ball support frame connecting hinge in their respective suspension mechanisms when the robot as a whole is connected and operating. This allows the robot to adapt to complex curved surfaces with varying heights and give it all-terrain adaptability.

[0015] 3. In this invention, the array of permanent magnets can passively oscillate radially (from -45° to 45°) via a passive radial shaft. The driving force for this oscillation comes from the magnetic attraction between the magnets and the wall surface. That is, when facing a curved wall surface, the array of permanent magnets in the magnetic ball wheel is always tangent to the wall surface in the positive direction under the action of magnetic force. The passive radial shaft is also equipped with a snap ring return device to achieve passive oscillation that adapts to the magnetic attraction in the radial direction, ensuring passive adaptability to complex curved walls. At the same time, after the task is completed, the magnetic attraction of the wall surface can be transferred by active axial rotation, which facilitates the removal of the robot body from the wall surface.

[0016] 4. In this invention, the outer shell of the magnetic ball wheel is used as the actuator for crawling and walking. It can have a certain tangential contact point with the wall surface of any geometric structure. At the same time, the outer shell is also covered with rubber strips to increase friction. Sufficient front friction can be maintained on the wall surface of any geometric structure. Combined with the adsorption adaptation mechanism in 3, the downward pressure of the wall adsorption during adsorption crawling is kept constant.

[0017] 5. In this invention, the array of permanent magnets inside the magnetic ball wheel can actively rotate and swing axially via a servo motor through a transmission shaft and a servo motor circumferential servo shaft. This allows for active adsorption point transition during transitions between walls, thus achieving the wall transition action. Furthermore, after the task is completed, the active axial rotation and swinging motion can transfer the magnetic attraction force on the wall, facilitating the removal of the robot body from the wall. Attached Figure Description

[0018] The accompanying drawings are not intended to be drawn to scale, and not every component in each drawing is labeled for clarity of layering; Figure 1 This is an overall assembly drawing of the all-terrain ball-wheel magnetic wall-climbing robot adaptable to varying curved surfaces, as well as the three parts of the overall structure. Figure 2 This is an overall assembly drawing of the central balancing device, a key mechanism of the present invention, as well as an exploded view of its main structure and other fasteners. Figure 3 This is an exploded view of the nitrogen spring rod structure in the central balancing device of the present invention; Figure 4 This is an overall assembly drawing and exploded view of the main structure of the magnetic ball wheel ball support frame of the present invention; Figure 5 The present invention provides an overall assembly drawing of the magnetic ball wheel mechanism and an exploded view of its main structure. Figure 6 This is an exploded view and a planar view of the assembly of the array permanent magnet group of the present invention. Figure 7 This is a schematic diagram illustrating the working principle of the all-terrain suspension mentioned in this invention; Figure 8 This is a schematic diagram illustrating the working principle of the magnetic ball wheel mechanism mentioned in this invention. Figure 9 The diagram shown is a schematic representation of the axial transformation of the magnetic ball wheel adsorption tangent point in this invention. Figure 10 The diagram shown is a schematic representation of the radial transformation of the magnetic ball wheel adsorption tangent point in this invention. Figure 11 The diagram shows the adsorption adaptation of the present invention on the concave wall surface; Figure 12 The diagram shows the adsorption adaptation of the present invention on a convex wall surface; Figure 13 The diagram shows the adsorption adaptation of the present invention on an uneven wall surface. Figure 14 The diagram shows the front and lateral views of the robot platform of the present invention adapting to adsorption on complex terrain walls. Figure 15The diagram shows the state of the robot platform of the present invention during the transition of the internal angle vertical wall surface; Figure 16 The diagram shows the workflow of the robot platform of the present invention during the transition of the internal angle vertical wall surface; The following are the labels in the diagram: Ball wheel suspension magnetic attraction mechanism A, ball wheel suspension magnetic attraction mechanism B, connecting block C; central balancing device 1, magnetic ball wheel ball support frame 2, magnetic ball wheel mechanism 3; central main support rod 1-1, ball wheel ball support frame connecting hinge 1-2, assist nitrogen spring rod 1-3, spring rod head end connecting hinge plate 1-4, spring head end connecting shaft 1-5, U-shaped ball wheel bracket 2-1, side plate 2-2, drive motor fixing bracket. Plate 2-3, upper cover plate 2-4, spring rod tail end connecting shaft 2-5, L-shaped stepper drive motor 2-6, servo motor 2-7, ball wheel housing 3-1, servo motor circumferential servo shaft 3-2, drive flange 3-3, passive radial rotating shaft 3-4, array permanent magnet group 3-5; cylinder 1-3-1, air rod 1-3-2, terminal 1-3-3, magnet support plate 3-5-1, support plate baffle 3-5-2, cubic permanent magnet 3-5-3. Detailed Implementation

[0019] The invention will be further described below with reference to the accompanying drawings and embodiments, but the scope of the invention is not limited to the description.

[0020] In one embodiment, such as Figure 1 As shown, an all-terrain ball-wheel magnetic wall-climbing robot adaptable to varying curved surfaces includes ball-wheel suspension magnetic attraction mechanisms A and B symmetrically arranged along the front and rear ends. Ball-wheel suspension magnetic attraction mechanisms A and B are connected by a connecting block C, forming an I-shaped symmetrical structure. The connecting block C in the middle is a V-shaped component, providing a certain support angle at the front and rear ends of the wall-climbing robot, thereby maintaining better balance and stability.

[0021] Specifically, the ball wheel suspension magnetic attraction mechanism A and ball wheel suspension magnetic attraction mechanism B serve as the main support frame of the overall symmetrical structure, connecting the various components and providing overall support. The ball wheel suspension magnetic attraction mechanism A and ball wheel suspension magnetic attraction mechanism B have the same structure, mainly including a central balancing device 1, a magnetic ball wheel ball support frame 2, and a magnetic ball wheel mechanism 3. The central balancing device 1 includes a central main support rod 1-1, with two central main support rods 1-1 connected to both sides of the connecting block C via track fixing blocks a. The assisting nitrogen spring rods 1-3 are arranged in pairs on the central main support rod 1-1.

[0022] The magnetic ball wheel ball support frame 2 is installed on both sides of the central main support rod 1-1. The end of the assisting nitrogen spring rod 1-3 is also connected to the magnetic ball wheel ball support frame 2. The magnetic ball wheel mechanism 3 and the drive and servo control mechanism are installed on the magnetic ball wheel ball support frame 2. The magnetic ball wheel ball support frame 2 and the assisting nitrogen spring rod 1-3 constitute a suspension mechanism to achieve passive adaptive floating of the machine body with preset damping on complex variable curvature walls.

[0023] The magnetic ball wheel mechanism 3 is the main adsorption and crawling execution unit, used to realize the adsorption and crawling actions of the robot as a whole on the wall. It is equipped with an array of permanent magnets 3-5. When the magnetic ball wheel mechanism 3 is adsorbed on the wall, the array of permanent magnets 3-5 can actively or passively ensure that the adsorption force is always in the normal direction of the tangent point between the ball wheel and the wall through two rotational degrees of freedom around the circumference and the longitudinal direction, so as to realize the adaptive magnetic adsorption to the concave and convex curved surfaces and the transitional motion between the wall and the wall.

[0024] This embodiment is mainly aimed at solving the problem of adsorption and wall climbing operations on complex curved surfaces. The gas spring rod type all-terrain suspension, which is composed of the central balancing device 1 and the magnetic ball wheel ball support frame 2, achieves all-terrain passability when climbing and walking on complex walls. The magnetic ball wheel mechanism 3 achieves adsorption stability on curved walls. At the same time, some motorized operation control steps can realize the transition between different wall shapes.

[0025] like Figure 2 As shown, the central main support rod 1-1 is made of irregular aluminum profile, which acts as the "spine" to support and connect the various component units. A pair of ball wheel / ball support frame connecting hinges 1-2 are arranged on the left and right sides respectively, used to install the ball wheel / ball support frame 2. Above the central main support rod 1-1, a set of spring rod connecting hinge plates 1-4 are arranged, each spring rod connecting hinge plate 1-4 is equipped with a spring rod connecting shaft 1-5, and two opposing nitrogen spring rods 1-3 are installed on the spring connecting shaft 1-5.

[0026] In one embodiment, the suspension structure of this magnetic wall-climbing robot is as follows: Figure 7 As shown in the diagram, there are three revolute joints: one connecting the two ends of the nitrogen-assisted spring rod 1-3 (both ends are connected to the central balancing device and the ball wheel support frame), and another connecting the central balancing device 1 and the magnetic ball wheel support frame 2 via the ball wheel support frame connecting hinge 1-2. Additionally, there is a damping sliding joint from the nitrogen-assisted spring. These three revolute joints and one sliding joint together constitute a four-bar suspension mechanism, allowing the magnetic ball wheel mechanism 3, supported by the magnetic ball wheel support frame 2, to float up and down around the ball wheel support frame connecting hinge 1-2.

[0027] like Figure 3As shown, the nitrogen-assisted spring rod 1-3 includes a cylinder body 1-3-1, a rod 1-3-2, and a terminal 1-3-3. One end of the terminal 1-3-3 is rotatably connected to the spring connecting shaft 1-5, and the other end of the terminal 1-3-3 is connected to the magnetic ball wheel ball support frame 2. The deep groove ball bearing b forms a rotating pair for the mechanism, enabling rotation at the rotatable connection. The hexagonal flange nut d is used for radial locking at the rotatable connection.

[0028] like Figure 4 As shown, the magnetic ball wheel support frame 2 includes a U-shaped ball wheel bracket 2-1, side plates 2-2, a drive motor fixing bracket plate 2-3, an upper cover plate 2-4, and a spring rod tail end connecting shaft 2-5. Side plates 2-2 are installed on both sides of the U-shaped ball wheel bracket 2-1. The spring rod tail end connecting shaft 2-5 passes through both side plates 2-2. The end of the nitrogen-assisted spring rod 1-3 is connected to the spring rod tail end connecting shaft 2-5. It has two structural forms to accommodate different radial locking of the spring rods on both sides. Simultaneously, the vertical installation position of the spring rod tail end connecting shaft 2-5 is on the same vertical axis as the magnetic ball wheel mechanism 3, ensuring that the suspension mechanism is centered on the magnetic ball wheel mechanism ball 3 during levitation. A servo motor 2-7 is mounted on the outer side of the U-shaped ball wheel bracket 2-1. The drive motor fixing bracket plate 2-3 is located on the inner side of the U-shaped ball wheel bracket 2-1 and is mounted between the two side plates 2-2. An L-shaped stepper drive motor 2-6 is installed between the U-shaped ball wheel bracket 2-1 and the drive motor fixing bracket plate 2-3. The upper cover plate 2-4 is fixed to the top of the side plate 2-2.

[0029] like Figure 5 As shown, the magnetic ball wheel mechanism 3 includes a ball wheel housing 3-1, a servo motor circumferential servo shaft 3-2, a drive flange 3-3, a passive radial rotating shaft 3-4, and an array of permanent magnets 3-5. The ball wheel housing 3-1 comes in two forms: a left hemispherical housing and a right hemispherical housing. The outer surface of the housing is also covered with a strip of rubber with a grid distribution approximately 1mm thick to increase friction. An elastic retaining ring e is used to radially lock the ball wheel housing 3-1, the array of permanent magnets 3-5, and the matching bearing components on the servo motor circumferential servo shaft 3-2. Hex bolts f are used to connect and fix the two left and right hemispherical housings. The ball wheel housing 3-1 is connected to the drive flange 3-3, as shown... Figure 8 As shown, the drive flange 3-3 provides driving torque through the L-shaped stepper motor 2-6, thereby driving the entire sphere to rotate. The array permanent magnet assembly 3-5 is fixedly installed inside the sphere housing 3-1 by two interleaved axes: a servo motor circumferential servo axis 3-2 and a passive radial rotation axis 3-4. The array permanent magnet assembly 3-5 can rotate actively and passively around the two axes, and the center of the rotation circumference is concentric with the center of rotation of the sphere housing 3-1. Figure 9As shown, the active axial rotation relies on the servo motor's circumferential servo axis 3-2 connected to the servo motor transmission to achieve circumferential rotation. This allows the array of permanent magnets 3-5 to rotate around the sphere's center axis within the sphere via the servo motor. For example... Figure 10 As shown, the array of permanent magnets 3-5 can also passively oscillate radially (from -45° to 45°) via the passive radial shaft 2-4. That is, when facing a curved wall, the array of permanent magnets 3-5 in the magnetic ball wheel is always tangent to the wall in the positive direction under the action of magnetic force. A rebound spring is embedded inside the connection between the passive radial shaft 3-4 and the array of permanent magnets 3-5, so that the array of permanent magnets has a certain rebound damping and can passively oscillate radially under the action of magnetic attraction.

[0030] like Figure 6 As shown, the array permanent magnet group 3-5 includes a magnet support plate 3-5-1, a support plate baffle 3-5-2, and cubic permanent magnets 3-5-3. Five cubic permanent magnets 3-5-3 are evenly arranged in an array on the arc-shaped magnet support plate 3-5-1 through a pair of magnet support plates 3-5-1 and the outer support plate baffle 3-5-2. A symmetrical magnet array cavity extends from the center of the arc-shaped magnet support plate 3-5-1 to one side, and two more cubic permanent magnets 3-5-3 are arrayed thereon. A total of seven cubic permanent magnets 3-5-3 are arranged in a Hellbeck array, which concentrates the magnetic force in the central area of ​​the array permanent magnet group 3-5. This allows the side of the magnet facing the ferromagnetic surface to provide an enhanced attractive force relative to a single large magnet, ensuring sufficient adsorption force.

[0031] The cubic permanent magnet 3-5-3 is the source of magnetic attraction for the robot platform, and the source of magnetic force is a cube of neodymium iron boron permanent magnet with specific specifications.

[0032] like Figure 8 As shown, the working principle of the magnetic ball wheel mechanism 3 is as follows: the magnetic ball wheel is driven by an external L-shaped stepper motor, which transmits power to the spherical shell via a drive shaft and drive flange 3-3, ultimately enabling the ball wheel to travel along the wall surface. The array of permanent magnets 3-5 inside the magnetic ball wheel can be actively rotated and oscillated axially by a servo motor via the drive shaft and the servo motor's circumferential servo axis 3-2, thereby achieving active adsorption tangent point transition during transitions between walls, such as... Figure 9 As shown. Simultaneously, the array of permanent magnets 3-5 can also passively oscillate radially (-45° to 45°) via the passive radial rotation shaft 2-4, as... Figure 10 As shown, the driving force for the oscillation comes from the magnetic attraction between the magnets and the wall surface. That is, when facing the curved wall surface, the array of permanent magnets 3-5 in the magnetic ball wheel is always tangent to the wall surface in the positive direction under the action of magnetic force. The passive radial rotating shaft 2-4 is also equipped with a snap ring return device to realize the passive oscillation that adapts to the radial magnetic attraction force, ensuring the active and passive adaptability to complex curved walls.

[0033] like Figure 11-12 As shown, in one embodiment, when facing a concave-convex curved wall surface, the array of permanent magnets 3-5 inside the magnetic ball wheel mechanism 3 can also be attracted to the wall surface tangentially under the action of magnetic force by means of a passive radial rotating shaft 3-4, ensuring the stability of the attraction. Meanwhile, as... Figure 13 In this embodiment, since the central balancing device 1 has independent magnetic ball wheel mechanisms 3 on both sides, it can also passively adapt and adsorb on complex and undulating wall surfaces. This is manifested in the array of permanent magnet groups 3-5 within the magnetic ball wheel mechanisms 3 on both sides, which passively adapt and adsorb independently with the help of passive radial rotating shafts 3-4. This embodiment only demonstrates passive yielding and adaptive adsorption on a surface with a certain concave-convex curvature. It can also passively yield and dynamically adapt to adsorption when facing dynamic adsorption on a wall surface with complex changes.

[0034] like Figure 14 As shown, in one embodiment, the robot platform can rely on a four-bar suspension structure consisting of a central balancing device 1, a ball wheel spherical support frame, a hinge 1-2 connecting the frame, a nitrogen spring rod 1-3 connecting the hinge plate at both ends to the central main support rod 1-1, and a magnetic ball wheel spherical support frame 2. The ball wheel suspension magnetic attraction mechanism A and the ball wheel suspension magnetic attraction mechanism B are independent of each other, and the suspensions and magnetic balls on both sides of each body are also opposed to each other, so that each magnetic ball wheel mechanism 3 is driven by its own drive motor. Facing complex walls with varying heights, the central balancing device 1 and the body can always maintain contact with the wall surface without interference (the chassis does not scrape the bottom), achieving all-terrain adaptability. Simultaneously, the array of permanent magnets 3-5 inside the magnetic ball wheel mechanism can also be attracted to the wall surface tangentially under the action of magnetic force by the passive radial rotating shaft 3-4, ensuring the stability of the attraction.

[0035] like Figure 15 As shown, in one embodiment, this robot platform can achieve transitions between inner right-angled walls, with specific steps as described in the flowchart. Figure 16As shown, the horizontal wall is defined as wall 1, and the vertical wall is defined as wall 2. When the front ball wheel suspension magnetic attraction mechanism A reaches the vertical intersection of wall 1 and wall 2, the permanent magnet array 3-5 inside the ball wheel of the ball wheel suspension magnetic attraction mechanism A, driven by the servo motor, changes the adsorption contact point from wall 1 to wall 2 (i.e., rotates 90° counterclockwise). The ball wheel shells 3-2 in ball wheel suspension magnetic attraction mechanisms A and B simultaneously rotate under the drive of the L-shaped stepper motor 2-6, causing the robot platform to climb and transition onto wall 2. At this time, the rear ball wheel suspension magnetic attraction mechanism B still maintains adsorption contact with wall 1. When the rear ball wheel suspension magnetic attraction mechanism B reaches the vertical intersection of wall 1 and wall 2... At the point of direct intersection, similar to the ball wheel suspension magnetic attraction mechanism A at the front end, the internal array permanent magnet group 3-5, driven by the servo motor, moves the adsorption contact point from wall 1 to wall 2 (and rotates 90° counterclockwise), finally completing the transition. At the same time, the ball wheel shells 3-2 of the ball wheel suspension magnetic attraction mechanism AB at the front and rear ends rotate under the drive of the L-shaped stepper motor 2-6, allowing the robot platform to climb and operate on wall 2. The transition of the external angle vertical wall and the different inclined walls is similar to the transition of the internal angle vertical wall mentioned above. The specific implementation of this invention will not be described again.

[0036] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A spherical wheel-type magnetic wall-climbing robot adaptable to varying curved surfaces, characterized in that, It includes a pair of ball wheel type suspension magnetic attraction mechanisms symmetrically arranged along the front and rear ends, and the two ball wheel type suspension magnetic attraction mechanisms are connected by connecting blocks to form an I-shaped symmetrical structure; the ball wheel type suspension magnetic attraction mechanism includes a central balancing device (1), a magnetic ball wheel ball support frame (2), and a magnetic ball wheel mechanism (3). The central balancing device (1) includes a central main support rod (1-1), and the central main support rod (1-1) in the two ball wheel suspension magnetic attraction mechanisms is fixed on both sides of the connecting block respectively. The nitrogen spring rods (1-3) are arranged in pairs on the central main support rod (1-1). The magnetic ball wheel ball support frame (2) is installed on both sides of the central main support rod (1-1). The end of the assisting nitrogen spring rod (1-3) is also connected to the magnetic ball wheel ball support frame (2). The magnetic ball wheel mechanism (3) and the drive and servo control mechanism are installed on the magnetic ball wheel ball support frame (2). The magnetic ball wheel ball support frame (2) and the assisting nitrogen spring rod (1-3) constitute a suspension mechanism. The magnetic ball wheel mechanism (3) is equipped with an array of permanent magnets (3-5). When the magnetic ball wheel mechanism (3) is adsorbed onto the wall, the array of permanent magnets (3-5) can actively or passively ensure that the adsorption force is always in the normal direction of the tangent point between the ball wheel and the wall through two rotational degrees of freedom around the circumference and the longitudinal direction, so as to realize the adaptive magnetic adsorption of the concave and convex curved surfaces and the transitional motion between the wall and the wall.

2. The adaptable all-terrain spherical wheel magnetic wall-climbing robot according to claim 1, characterized in that, A pair of ball wheel ball support frame connecting hinges (1-2) are arranged on the left and right sides of the central main support rod (1-1) for installing the ball wheel ball support frame (2); a set of spring rod connecting hinge plates (1-4) are arranged above the central main support rod (1-1), each spring rod connecting hinge plate (1-4) is equipped with a spring rod connecting shaft (1-5), and two opposing nitrogen spring rods (1-3) are installed on the spring connecting shaft (1-5).

3. The adaptable all-terrain spherical wheel magnetic wall-climbing robot according to claim 2, characterized in that, The nitrogen spring rod (1-3) includes a cylinder body (1-3-1), a rod (1-3-2), and a terminal (1-3-3). One end of the terminal (1-3-3) is rotatably connected to the spring connecting shaft (1-5), and the other end of the terminal (1-3-3) is connected to the magnetic ball wheel ball support frame (2).

4. The adaptable all-terrain spherical wheel magnetic wall-climbing robot according to claim 1, characterized in that, The magnetic ball wheel ball support frame (2) includes a U-shaped ball wheel bracket (2-1), side plates (2-2), a drive motor fixing bracket plate (2-3), a top cover plate (2-4), and a spring rod tail end connecting shaft (2-5). Side plates (2-2) are installed on both sides of the U-shaped ball wheel bracket (2-1). The spring rod tail end connecting shaft (2-5) passes through the two side plates (2-2). The end of the assisting nitrogen spring rod (1-3) is connected to the spring rod tail end connecting shaft (2-5). A servo motor (2-7) is installed on the outer side of the U-shaped ball wheel bracket (2-1). The drive motor fixing bracket plate (2-3) is located on the inner side of the U-shaped ball wheel bracket (2-1) and is installed between the two side plates (2-2). An L-shaped stepper drive motor (2-6) is installed between the U-shaped ball wheel bracket (2-1) and the drive motor fixing bracket plate (2-3). The top cover plate (2-4) is fixed on the top of the side plate (2-2).

5. The all-terrain spherical wheel magnetic wall-climbing robot adaptable to varying curved surfaces according to claim 1, characterized in that: The vertical installation position of the connecting shaft (2-5) at the tail end of the spring rod is on the same vertical axis as the magnetic ball wheel mechanism (3), ensuring that the suspension mechanism is centered on the magnetic ball wheel mechanism (3) during suspension motion.

6. The adaptable all-terrain spherical wheel magnetic wall-climbing robot according to claim 1, characterized in that: The magnetic ball wheel mechanism (3) includes a ball wheel housing (3-1), a servo motor circumferential servo shaft (3-2), a drive flange (3-3), a passive radial rotating shaft (3-4), and an array of permanent magnets (3-5). The ball wheel housing (3-1) is connected to the drive flange (3-3). The drive flange (3-3) provides driving torque through an L-shaped stepper motor (2-6) to drive the entire ball to rotate. The array of permanent magnets (3-5) is fixedly installed inside the ball wheel housing (3-1) by the servo motor circumferential servo shaft (3-2) and the passive radial rotating shaft (3-4) in an alternating manner. The array of permanent magnets (3-5) can rotate actively and passively around the two shafts, and the center of the rotation circumference is concentric with the center of rotation of the ball wheel housing (3-1).

7. The all-terrain spherical wheel magnetic wall-climbing robot adaptable to varying curved surfaces according to claim 6, characterized in that: A spring is embedded inside the connection between the passive radial rotating shaft (3-4) and the array permanent magnet group (3-5).

8. The adaptable all-terrain spherical wheel magnetic wall-climbing robot according to claim 6 or 7, characterized in that: The array of permanent magnets (3-5) includes a magnet support plate (3-5-1), a support plate baffle (3-5-2), and cubic permanent magnets (3-5-3). Five cubic permanent magnets (3-5-3) are evenly arranged in an array on an arc-shaped magnet support plate (3-5-1) by a pair of magnet support plates (3-5-1) and an outer support plate baffle (3-5-2). A symmetrical magnet array cavity extends from the center of the arc-shaped magnet support plate (3-5-1) to one side, and two more cubic permanent magnets (3-5-3) are arrayed thereon. A total of seven cubic permanent magnets (3-5-3) are arranged in a Heilbeck array, concentrating the magnetic force on the central area of ​​the array of permanent magnets (3-5).

Images