Tire for climbing robot, climbing system, climbing method and climbing robot

Abstract

The invention discloses a tire for a climbing robot, which comprises a controller, electromagnets and wheels, the output end of the controller is electrically connected with the input ends of the electromagnets, the tire also comprises a cylindrical fixed disc, and the electromagnets are annularly distributed on the inner ring of the fixed disc; the maximum diameter of the fixing disc is smaller than that of the wheel, the fixing disc and the wheel are coaxially arranged side by side, and the fixing disc is detachably connected to the end face of a hub in the wheel, an inner ring of the wheel or a shaft of the wheel so that the fixing disc and the wheel can rotate synchronously. Compared with the prior art, the device has higher adaptability and safety, energy consumption is reduced, the working efficiency is improved, the problem that substances such as rusted paint with static electricity, dust and the like are prone to being attached to the surfaces of wheels is solved, and maintenance and cleaning are easy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of climbing robots, and in particular to a tire for a climbing robot, a climbing system, a climbing method and a climbing robot. BACKGROUND

[0002] A climbing robot, also known as a wall-climbing robot, is widely used in the field of high-altitude wall work, serving multiple fields such as nuclear industry, petrochemical industry, construction industry, shipbuilding industry, aerospace, municipal engineering, and military, police, and fire departments, and is usually responsible for detection and maintenance tasks in construction and industrial facilities.

[0003] Currently, such robots mainly rely on negative pressure suction or magnetic force to achieve close contact with the wall and perform vertical wall climbing work. Due to the relatively loud noise of negative pressure suction, permanent magnet suction is generally used in scenarios where the wall is made of steel structure, such as ships. The work in such scenarios mainly includes rust removal, spraying, welding, cleaning, detection and maintenance, etc.

[0004] However, the existing climbing robots applied in such scenarios mostly use permanent magnets installed on the tires to achieve wall climbing function. In actual operation, the suction force of these robots usually remains constant.

[0005] However, when performing different tasks, the weight of the equipment may change. For example, when performing spraying tasks, the amount of paint that can be carried is limited by the suction force of the permanent magnet, which affects the spraying efficiency. Even when performing other tasks, the suction force of the permanent magnet will change when facing steel structure walls with different material properties, different inclinations or uneven walls, or the constant suction force cannot meet the actual required suction force, so the adaptability of robots using permanent magnets is not good enough to meet different needs. Moreover, the use of permanent magnets also affects the climbing speed and thus the work efficiency.

[0006] In addition, the use of permanent magnets also requires the use of special auxiliary tools when the robot climbs up and down the steel structure wall. During installation and removal, the permanent magnet continuously provides suction force, and the equipment may suddenly be attracted to the steel plate again when separated, posing a high risk of injury to personnel.

[0007] We have also observed that when the robot is used for rust removal or spraying (especially paint containing ferromagnetic components, such as ferrite-containing anti-corrosion paint), the removed rust, paint containing ferromagnetic components, or dust with static electricity will be attracted by the magnetic field generated by the magnet; even some paint that is not dry and does not contain ferromagnetic components may be attracted by the magnetic field due to static electricity. This causes these substances to adhere to the tire where the magnet is installed, causing the tire surface to be abnormally raised, which seriously affects the stability of wall climbing. At the same time, it is also difficult to clean these substances embedded in the tire pattern.

[0008] Therefore, in order to improve the adaptability, operation efficiency and operation convenience of the climbing robot on different steel structure walls, and improve the wall climbing stability during operation, the application provides a more reliable tire for a climbing robot in performance. SUMMARY

[0009] The tire for a climbing robot provided by the application has stronger adaptability and safety, saves energy consumption, improves operation efficiency, solves the problem that rust, electrostatic paint and dust are easily adhered to the surface of the wheel, and is easy to maintain and clean.

[0010] In a first aspect, in order to achieve the above-mentioned purpose, the application provides the following technical scheme: a tire for a climbing robot, comprising a controller, an electromagnet and a wheel, the output end of the controller is electrically connected with the input end of the electromagnet, characterized in that it further comprises a fixed disc coaxially arranged beside the wheel, and each electromagnet is annularly distributed on the outer edge of the end face of the fixed disc. The maximum diameter of the fixed disc is smaller than the maximum diameter of the wheel, and the fixed disc can be detachably connected to the end face of the hub, the inner ring of the wheel or the shaft of the wheel, so that the fixed disc rotates synchronously with the wheel.

[0011] Through the above structure, compared with the existing method of directly installing a permanent magnet on the wheel, the tire has stronger adaptability and safety, saves energy consumption, improves operation efficiency, solves the problem that rust, electrostatic paint and dust are easily adhered to the surface of the wheel, and is easy to maintain and clean.

[0012] Preferably, the magnetic pole direction of the electromagnet is perpendicular to the tangent direction of the position of the fixed disc where the electromagnet is located, and the fixed disc is detachably connected to the end face of the hub.

[0013] Through the above structure, the optimal use of magnetic force is ensured, the maximum utilization degree of energy consumption is achieved, and the installation of the fixed disc with the electromagnet on the tire is more convenient, and has higher universality.

[0014] Preferably, the fixed disc comprises a disc body and a plurality of mounting positions annularly distributed on the outer edge of the end face of the disc body, the electromagnet is fixedly connected to the mounting position, and the fixed disc is made of at least one of hard paramagnetic material, hard diamagnetic material and hard insulating material.

[0015] Preferably, the mounting position is a clamp.

[0016] Through the above structure, the installation of the fixed disc with the electromagnet on the tire has both assembly firmness and installation convenience.

[0017] Preferably, the electromagnet is located in an area not covered by the wheel surface.

[0018] The above structure minimizes the probability of material adhering to the wheels without excessively increasing the overall width of the tires, ensuring easier cleaning and maintenance, and also ensuring the safety of the climbing robot during its movement.

[0019] Preferably, the fixed disk further includes an outer cylinder located at the end of the disk body away from the hub, the outer cylinder covering all the electromagnets, and the radial profile of the outer cylinder is arc-shaped, V-shaped, trapezoidal, or inclined.

[0020] The above structure improves the protection of the electromagnet and also enhances the convenience of cleaning and maintenance.

[0021] Preferably, the end face of the fixed disc near the wheel hub is provided with a mounting structure, which includes at least one of a flange, a buckle, a clamp, a magnet, and a pin.

[0022] Preferably, the end face of the fixed disc on the side near the wheel hub is threaded to the end face of the wheel hub.

[0023] Secondly, the present invention also provides the following technical solution: a climbing system, including the aforementioned tire, and further comprising: A drive module is used to drive the tire to rotate, and the input end of the drive module is connected to the output end of the controller; A calibration module is used to detect whether the current position of at least one of the electromagnets is at the system zero point, and the output of the calibration module is connected to the input of the controller; A magnetic force adjustment module is used to adjust the magnetic force intensity of each electromagnet, and each electromagnet is connected to the controller through the magnetic force adjustment module.

[0024] Preferably, the calibration module includes a sensor attached to the position corresponding to at least one electromagnet to detect the current position of at least one electromagnet relative to the road surface. The sensor includes at least one of a distance sensor, a pressure sensor, an acceleration sensor, a gyroscope, and a contact switch.

[0025] The above structure enables the automatic calibration of the gripping force required by the climbing robot when climbing a wall, so that the gripping force and climbing speed are truly balanced, thereby saving energy while ensuring the reliability of climbing.

[0026] Thirdly, the present invention also provides the following technical solution: a climbing method for the above-mentioned system, comprising the following steps: The zero-point position of the electromagnet is calibrated, and after successful calibration, it enters standby mode. In response to work commands, the tires are driven to rotate; When the electromagnet is close to the road surface, its magnetic force gradually increases; when the electromagnet is far away from the road surface, its magnetic force gradually decreases.

[0027] The methods described above help improve the working efficiency of climbing robots.

[0028] Fourthly, the present invention also provides the following technical solution: a climbing robot, including the system described above.

[0029] Preferably, the vehicle also includes a frame for mounting the drive module, which is connected to the tires via a reducer, and the frame is also provided with a waterproof cover for covering the controller, the drive module and the reducer.

[0030] Compared with the prior art, the beneficial effects of this invention are as follows: It has enhanced adaptability and safety, saves energy, improves work efficiency, and solves the problem of rust, static-charged paint, dust and other substances easily adhering to the wheel surface, making it easy to maintain and clean. Attached Figure Description

[0031] Figure 1 This is a three-dimensional structural diagram of the climbing robot proposed in this invention; Figure 2 This is a three-dimensional structural diagram of the climbing robot proposed in this invention from another perspective; Figure 3 This is a schematic diagram of the exploded structure of the climbing robot proposed in this invention; Figure 4 This is a side view of the tire for a climbing robot proposed in this invention; Figure 5 This is a front view of the tire for a climbing robot proposed in this invention; Figure 6 This is a schematic diagram of the climbing system proposed in this invention.

[0032] In the diagram: 1. Frame; 2. Wheel; 21. Wheel hub; 22. Axle; 3. Fixing plate; 31. Plate body; 311. Mounting structure; 32. Mounting position; 321. Clamp; 33. Outer cylinder; 4. Electromagnet; 5. Controller; 6. Drive module; 7. Calibration module; 8. Magnetic force adjustment module; 9. Reducer; 10. Waterproof cover. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Currently, climbing robots used for steel structure surface operations typically use permanent magnets mounted on their tires to allow them to adhere closely to the steel wall surface during climbing. However, in actual operation, these permanent magnets with constant magnetic force result in varying adhesion forces on steel structures with different material properties. Excessive adhesion forces affect climbing efficiency and thus overall work efficiency, while insufficient adhesion forces make them unsuitable for tasks like spraying, and may even pose safety hazards. Furthermore, directly integrating magnets into the tires is inconvenient for replacement and can easily cause rust, dust, or paint to stick to the tires due to the magnets' adhesion, making cleaning difficult and impacting both the robot's efficiency and safety.

[0035] It should be understood that the following implementation methods are proposed as improvements to existing technologies where the use of permanent magnets in robots affects adaptability, work efficiency, and safety. Other unmentioned technical solutions should be understood in accordance with existing technologies.

[0036] Example 1: Please see Figures 1-6 The present invention provides the following technical solution: a tire for a climbing robot, including a controller 5, an electromagnet 4 and a wheel 2, wherein the output end of the controller 5 is electrically connected to the input end of the electromagnet 4, and the tire also includes a fixed disk 3 arranged coaxially and parallel to the wheel 2, wherein each electromagnet 4 is distributed in a ring on the inner circle of the fixed disk 3. The maximum diameter of the fixed disc 3 is smaller than the maximum diameter of the wheel 2. The fixed disc 3 can be detachably connected to the end face of the hub 21 of the wheel 2, the inner ring of the wheel 2, or the axle of the wheel 2 so that the fixed disc 3 rotates synchronously with the wheel 2.

[0037] As an optional implementation of the present invention, before operation, the fixed plate 3 is coaxially installed on the wheel 2. During operation, the magnetic force of each electromagnet 4 can be controlled according to the properties of the steel structure material to be operated and the current operation type, thereby controlling the adsorption force of the climbing robot on the steel structure wall, realizing the balance between the climbing speed and "grip" of the climbing robot, so as to meet the condition that the climbing robot can perform various climbing operations on steel structure walls with various properties, while also saving energy consumption, and combining high adaptability, high safety and reliability, high operation efficiency and energy saving. After the work is completed, the robot can be dragged or hoisted, and then the magnetic force of electromagnet 4 can be reduced or electromagnet 4 can be turned off directly. This will reduce or release the robot's adhesion to the wall, so that there is no need to use additional tools to pull the robot off the wall. This makes the process of removing the robot after the work is completed more convenient and safer.

[0038] On the other hand, since the fixed plate 3 is installed on the side of the wheel 2, the electromagnet 4 is installed on the side of the fixed plate 3 away from the wheel 2, and the diameter of the fixed plate 3 is smaller than that of the wheel 2 (so that the electromagnet 4 does not contact the road surface), it can be ensured that the installation method of the electromagnet 4 will not directly increase the tire contact width. This is more important for small climbing robots or for applications on complex steel structure walls such as curved surfaces, to ensure that the probability of collision when the climbing robot is moving will not increase significantly.

[0039] Furthermore, because electromagnet 4 is always installed on the side of the tire, such as Figure 5 As shown, when the climbing robot is applied to tasks such as spraying and rust removal, the attraction generated by the electromagnet 4 will attract rust, ferromagnetic paint, and static-charged dust to the location of the electromagnet 4 when they pass by the wheel 2. Compared to the existing method of designing magnets directly on the surface or inner ring of the wheel 2, the wheel 2 in this climbing robot does not have a direct or indirect attraction force on these substances, thus greatly reducing the probability of these substances adhering to the surface of the wheel 2.

[0040] Even if a small amount of material still drifts onto the surface of wheel 2, it is easy for this material to fall off due to the lack of additional adhesion on the surface of wheel 2 and the movement of the climbing robot.

[0041] At least, the amount of these substances remaining on the surface of wheel 2 is greatly reduced, so that the obstruction to the robot's movement is negligible, the impact on the stability of climbing walls is minimal, and the safety of operation is further guaranteed. Of course, cleaning and maintenance of wheel 2 is also easier.

[0042] In this embodiment, since existing technologies allow for the selection of specialized wheels 2 for various types of operations in different scenarios, these climbing robots can possess different performance characteristics. For example, wide wheels may be more suitable for operations on large, flat, unobstructed walls such as those on ships, while narrow wheels may be more suitable for operations on smaller walls with complex terrain, such as those on power towers and bridges. This necessitates the use of electromagnets 4 of different specifications, magnetic strengths, and sizes. Therefore, this technology does not impose specific limitations on the selection of electromagnets 4 or the design distance between electromagnets 4 and the fixed plate 3 and wheel 2, as long as the final mounting position 32 of the electromagnet 4 is located on the end face of the wheel 2 and its top position is within the outline projection of the wheel 2. Preferably, the electromagnets 4 on the two wheels 2 on the same axle should be located on opposite end faces of the wheelset to prevent the aforementioned substances from being attracted to the climbing robot body.

[0043] Regarding the detachable connection method of the fixed disc 3 to the wheel 2, it can be any of the quick-release and quick-install methods commonly found in the prior art, such as threads or snap-fits, and this embodiment does not impose any specific limitations on this. However, it should be understood that compared to permanent welding or one-piece molding, the detachable connection allows the fixed disc 3 and the electromagnet 4 to be independent of each other relative to the wheel 2, only connecting together to rotate synchronously when in use. This is beneficial for manufacturing, selection and replacement, cleaning and maintenance, etc., making the present invention more practical.

[0044] Compared with the existing method of directly installing permanent magnets onto the wheel 2, this implementation method has stronger adaptability and safety, saves energy, improves work efficiency, and solves the problem that rust, static-charged paint, dust and other substances are easy to adhere to the surface of the wheel 2, making it easy to maintain and clean.

[0045] Example 2: Please see Figure 5 The present invention provides the following technical solution: a tire for a climbing robot, including a controller 5, an electromagnet 4 and a wheel 2, wherein the output end of the controller 5 is electrically connected to the input end of the electromagnet 4, and the tire also includes a fixed disk 3 arranged coaxially and parallel to the wheel 2, wherein each electromagnet 4 is distributed in a ring on the inner circle of the fixed disk 3. The maximum diameter of the fixed plate 3 is smaller than the maximum diameter of the wheel 2. The fixed plate 3 is detachably connected to the end face of the wheel hub 21 so that the fixed plate 3 and the wheel 2 rotate synchronously. The direction of the magnetic poles of electromagnet 4 is perpendicular to the tangent direction of the electromagnet 4 at the position of the fixed disk 3.

[0046] As an optional implementation of the present invention, the installation method of the electromagnet 4 is further defined compared to embodiment 1. Since this technical solution restricts the electromagnet 4 from contacting the tires or the road surface, controlling the magnetic force of the electromagnet 4 requires ensuring that each electromagnet 4 has a reliable attraction force to the steel structure surface during robot movement. Most commercially available electromagnets 4 are cylindrical, with the end face of the cylinder indicating the direction of the magnetic poles. Therefore, each electromagnet 4 must be positioned perpendicular to the road surface when closest to it to ensure optimal utilization of the magnetic force and maximum energy efficiency.

[0047] On the other hand, this embodiment also specifies the mounting position 32 of the fixing plate 3 on the wheel 2. The embodiment also introduces the commonly used tire types for climbing robots, but inevitably there are various types of wheel hubs 21, and inevitably there are situations where the outer rim of the wheel 2 is wide while the center of the wheel hub 21 is relatively narrow. Therefore, mounting the fixing plate 3 on the inner rim of the wheel 2 is not feasible. At the same time, most axles 22 do not protrude excessively from the end of the center rim of the wheel hub 21, and even if installation were possible, the connection stability of the fixing plate 3 would be insufficient. Therefore, connecting the fixing plate 3 to the end face of the wheel hub 21 is the most suitable method, allowing for a wider connection range, more operational space, and greater versatility.

[0048] The specific method by which the fixed disc 3 is detachably connected to the end face of the hub 21 is not limited in this technical solution.

[0049] In addition, there are also tires with a bulge at the center of the hub 21 and a narrower outer rim. In this case, only the mounting method of the fixed plate 3 specified in this technical solution can be used.

[0050] This implementation method makes it easier to install the fixed plate 3 with electromagnet 4 on the tire and has greater versatility.

[0051] Furthermore, the fixed disc 3 is threadedly connected to the end face of the hub 21 on the side of the hub 21.

[0052] As an optional implementation of this invention, this technical solution limits the connection method of the fixing plate 3 on the end face of the wheel hub 21. Choosing a threaded connection offers both secure assembly and ease of installation, requiring only drilling holes in the wheel hub 21. Of course, this drilling can be pre-designed at the factory, similar to the decorative cover (equivalent to a flange) on a car wheel hub, allowing users to choose a suitable fixing plate 3.

[0053] Of course, those skilled in the art can also use other detachable installation methods to support the installation of the fixed plate 3 on the hub 21, such as at least one of the following: clips, clamps, magnets, and pins, or a combination of two or more of them.

[0054] Furthermore, the fixed disk 3 includes a disk body 31 and a plurality of clamps 321 distributed in a ring on the outer edge of the end face of the disk body 31. The electromagnet 4 is fixedly connected to the clamps 321. The fixed disk 3 is made of at least one of hard paramagnetic material, hard antimagnetic material, and hard insulating material.

[0055] As an optional implementation of the present invention, it is well known that the existing methods of directly mounting magnets on tires are generally inlay or threaded. However, the present technical solution is a newly proposed solution that uses a fixed plate 3 to transfer the magnet to the end face of the wheel hub 21. The installation method of the electromagnet 4 on the fixed plate 3 should be further designed.

[0056] Since electromagnets 4 are generally much larger than permanent magnets, their installation is more complex. Considering the potential for impacts to electromagnets 4 located outside the wheel 2's range during actual use, and the need to maintain magnetic force control during operation, they also require removal for calibration and maintenance after prolonged use. Therefore, each electromagnet 4 must be securely mounted on the fixed plate 3, and it must also be independently detachable. The clamp method 321 is the most suitable solution.

[0057] Therefore, the clamp 321 is threaded onto the end face of the fixed plate 3 to enable the detachable installation of the electromagnet 4 on the fixed plate 3. This allows for the simultaneous installation and removal of all electromagnets 4 along with the fixed plate 3, as well as the independent installation and removal of each electromagnet 4 on the fixed plate 3, while ensuring reliable and secure installation. Of course, those skilled in the art can prioritize selecting electromagnets 4 that are compatible with the clamp 321, such as those with pin holes or grooves on the shaft side of the electromagnet 4 to enhance its stability and prevent it from being thrown off when the climbing robot is climbing at high speed.

[0058] Of course, those skilled in the art can also use other methods to install the electromagnet 4 to replace the clamp 321, such as spring buckles.

[0059] like Figure 5 As shown, the position of electromagnet 4 is located in the area not covered by the surface of wheel 2.

[0060] As an optional implementation of the present invention, as mentioned above, in order to avoid substances such as rust, paint, and dust adhering to the tire surface due to the attraction of the electromagnet 4, the electromagnet 4 is designed in the uncovered area of ​​the wheel 2 surface to minimize the impact on the climbing robot during travel or cleaning and maintenance.

[0061] Regarding the specific location of electromagnet 4, as mentioned earlier, the overall width of the tire should not be increased as much as possible. Therefore, the magnetic position of electromagnet 4 should be at the edge of the width of wheel 2. It should be noted that the area not covered by the surface of wheel 2 mentioned in this technical solution should be based on the premise that the magnetic direction of electromagnet 4 is radial to wheel 2, and refers to the area on the width of wheel 2, not the area on the end face of wheel 2.

[0062] By adopting this implementation method, the probability of material adhering to the wheel 2 is minimized while ensuring that the overall width of the tire is not excessively increased, thus making cleaning and maintenance easier and ensuring the safety of the climbing robot during movement.

[0063] Furthermore, the fixed disk 3 also includes an outer cylinder 33 located at the end of the disk body 31 away from the hub 21. The outer cylinder 33 covers all the electromagnets 4, and the radial profile of the outer cylinder 33 is arc-shaped, V-shaped, trapezoidal, or inclined.

[0064] As one possible implementation of the present invention, such as Figure 5 As shown, the outer cylinder 33 is preferably an insulating cover, similar to an end cap, mainly to prevent the electromagnet 4 from being directly bumped, and to prevent the electromagnet 4 from being directly exposed to the air, where it is difficult to clean once substances such as paint adhere to it.

[0065] On the other hand, during use, substances such as rust and paint are easily attracted to the surface of the outer cylinder 33. Although most of these substances can fall off due to the climbing robot's movement when the electromagnet 4 has a weak or absent magnetic force, in some operations, such as welding, the climbing robot may remain stationary on the steel structure surface. Therefore, to prevent these substances from lingering on the outer cylinder 33 and increasing the overall weight of the climbing robot, the outer cylinder 33 is designed with an arc, U, or V shape, making it easier for these substances to fall off. For the connection method of the outer cylinder 33, a detachable installation method is more suitable. Firstly, it allows for the replacement of the appropriate shape of the outer cylinder 33 for different types of operations; secondly, it facilitates individual disassembly for cleaning, without needing to remove all electromagnets 4 and the fixing plate 3.

[0066] This implementation method improves the protection of electromagnet 4 and also enhances the convenience of cleaning and maintenance.

[0067] Example 3: Please see Figure 6 The present invention also provides the following technical solution: a climbing system, including the tires in Embodiment 1 or Embodiment 2, and further comprising: Drive module 6 is used to drive the tire to rotate. The input end of drive module 6 is connected to the output end of controller 5. The calibration module 7 is used to detect whether the current position of at least one electromagnet 4 is at the system zero point. The output of the calibration module 7 is connected to the input of the controller 5. The magnetic force adjustment module 8 is used to adjust the magnetic force intensity of each electromagnet 4. Each electromagnet 4 is connected to the controller 5 through the magnetic force adjustment module 8. The calibration module 7 includes a sensor attached to the position corresponding to at least one electromagnet 4 to detect the current position of at least one electromagnet 4 relative to the road surface. The sensor includes at least one of a distance sensor, a pressure sensor, an acceleration sensor, a gyroscope, and a contact switch.

[0068] As an optional implementation of the present invention, based on the aforementioned tire scheme in which the electromagnet 4 is mounted on the end face of the wheel hub 21 via the fixed plate 3, we have further improved the climbing system, specifically in zero-point calibration.

[0069] Because the climbing robot needs to independently control the magnetic force of each electromagnet 4 during its wall-climbing process to balance climbing speed and "grip," the robot's "grip" is naturally at its maximum when the electromagnet 4 is closest to the ground on the wheel 2. Therefore, determining which electromagnet 4 should be at maximum "grip" (i.e., maximum magnetic force), which should be in a state of decreasing magnetic force, which should be in a state of increasing magnetic force, and which should be in a state of minimum magnetic force or no magnetic force, must be strictly controlled according to its position relative to the ground during wall climbing. Only then can a true balance between grip and climbing speed be achieved.

[0070] However, before climbing the wall, the system needs to detect the initial position of each electromagnet 4 on the wheel 2, otherwise the magnetic force and grip force may not match.

[0071] In fact, there are many technical solutions to achieve this goal. One approach is to use a distance sensor. This involves installing a distance sensor, such as an infrared laser distance sensor, on at least one electromagnet 4. The laser direction of this sensor is aligned with the magnetic poles of the electromagnet 4. When the measured distance is at its minimum, the position of the wheel 2 corresponding to that electromagnet 4 can be determined as the "zero point," allowing the electromagnet 4 to be controlled to reach its maximum magnetic force. Since the number and distribution angle of the electromagnets 4 are readily available, the magnetic force control of the remaining electromagnets 4 can be directly input. During operation, the wheel 2 position corresponding to the zero point is brought into contact with the wall before the operation is initiated.

[0072] Calibration can also be performed using other types of sensors, such as pressure sensors, accelerometers (gravity sensors), gyroscopes, contact switches, encoders mounted on the axle 22, or a combination of these. (For example, contact switches are located on the wheel 2 and the frame 1 respectively. The contact switch on the frame 1 is located on the diameter of the wheel 2 perpendicular to the road surface. There is at least one electromagnet 4 on this diameter. When the contact switch detects a signal, it can be proven that the electromagnet 4 is on the same side or opposite side of the contact switch, and should also be the position closest to or farthest from the road surface.) As long as the electromagnet 4 with the smallest distance from the road surface can be detected, it can be marked as the electromagnet 4 with the strongest magnetic force. The specific calibration methods will not be elaborated in this technical solution. It should be understood that any method that can achieve this calibration purpose can be regarded as the calibration module 7 in this embodiment.

[0073] The drive module 6 should be understood as a motor. In this technical solution, the drive module 6 is preferably a servo motor, which can support the angle marking of the maximum grip position on the wheel 2, facilitating the zero-point calibration and real-time magnetic control of the electromagnet 4.

[0074] In addition, the magnetic force adjustment module 8 is mainly used to adjust the voltage of each electromagnet 4. This can be done using existing electromagnet 4 adjustment methods, such as using PWM to adjust the conduction time of MOSFET / IGBT to control the average current of each electromagnet 4.

[0075] The system can also be configured with an additional data interface to input the weight of an external material hopper, so as to balance grip and climbing speed based on real-time gravity in operations such as spraying.

[0076] Using this implementation method, a system is constructed that can automatically calibrate the grip force required by the climbing robot when climbing a wall, so that the grip force and climbing speed are truly balanced, thereby saving energy while ensuring the reliability of climbing.

[0077] Example 4: Please see Figures 1-6The present invention also provides the following technical solution: a climbing method for the system in embodiment 3, comprising the following steps: Calibrate the zero position of electromagnet 4. After successful calibration, it will enter standby mode. In response to work commands, the tires are driven to rotate; When electromagnet 4 is close to the road surface, its magnetic force gradually increases; when electromagnet 4 is far away from the road surface, its magnetic force gradually decreases.

[0078] As one possible implementation of the present invention, such as Figure 4 As shown, the system performs zero-point calibration upon startup, as detailed in Example 3. During calibration, wheel 2 rotates slowly, causing the target electromagnet 4 to move to its closest point to the road surface, thus completing the zeroing process.

[0079] When doing homework, such as Figure 4 As shown, at this time, electromagnet 4 at point B is at its maximum magnetic force output, while electromagnets 4 at points A and C are at a partial attraction force output, and wheel 2 is as follows. Figure 4 As shown, the electromagnet 4 rotates clockwise. At this time, the magnetic force of the electromagnet 4 at point B begins to decrease, the magnetic force of the electromagnet 4 at point A is in the process of decreasing, the magnetic force of the electromagnet 4 at point C is gradually increasing, and the electromagnet 4 at point D begins to be energized, and its magnetic force begins to gradually increase.

[0080] When the electromagnet at point D moves to point B, its magnetic force reaches its maximum. Electromagnet 4, originally at point B, is now de-energized and its attraction completely disappears. The magnetic force adjustment module 8 can control the current flowing into electromagnet 4, or even turn it on and off, based on its position. The electromagnets 4 fixed on the fixed disk 3 rotate synchronously with the wheels 2, and all electromagnets 4 alternately appear at point B. Before reaching point B, the attraction of electromagnet 4 gradually increases, reaching its maximum at point B (the closest point to the road surface), then gradually decreases and finally disappears. The magnitude of the attraction of electromagnet 4 changes with its position and the magnitude of the current, allowing the drive module 6 to adjust according to the resistance, thus improving the climbing robot's efficiency.

[0081] Example 5: Please see Figures 1-5 The present invention also provides the following technical solution: a climbing robot, including the above-mentioned system, and further including a frame 1 for mounting the drive module 6, the drive module 6 being connected to the tires via a reducer 9, and the frame 1 being provided with a waterproof cover 10 for covering the controller 5, the drive module 6 and the reducer 9.

[0082] As an optional implementation of the present invention, since external substances inevitably move onto the robot during actual operation, the waterproof cover 10 can cover the controller 5, drive module 6 and reducer 9, etc., to prevent external substances such as water, paint, and rust from falling into the robot's interior, and also prevent the robot's wiring from being damaged due to collisions, while also facilitating the cleaning and maintenance of the entire machine.

[0083] The working principle and usage process of this invention: Before operation, the fixed plate 3 is coaxially installed on the wheel 2. During operation, the magnetic force of each electromagnet 4 can be controlled according to the properties of the steel structure material to be operated and the current operation type, thereby controlling the adsorption force of the climbing robot on the steel structure wall, realizing the balance between the climbing speed and "grip" of the climbing robot, so as to meet the conditions that the climbing robot can perform various climbing operations on steel structure walls with various properties, while also saving energy consumption, and combining high adaptability, high safety and reliability, high operation efficiency and energy saving. After the work is completed, the robot can be dragged or hoisted, and then the magnetic force of electromagnet 4 can be reduced or electromagnet 4 can be turned off directly. This will reduce or release the robot's adhesion to the wall, so that there is no need to use additional tools to pull the robot off the wall. This makes the process of removing the robot after the work is completed more convenient and safer.

[0084] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A tire for a climbing robot, comprising a controller, an electromagnet, and a wheel, wherein the output terminal of the controller is electrically connected to the input terminal of the electromagnet, characterized in that, It also includes a fixed disk arranged coaxially with the wheel, with each of the electromagnets distributed in a ring on the outer edge of the end face of the fixed disk; The maximum diameter of the fixed plate is smaller than the maximum diameter of the wheel. The fixed plate can be detachably connected to the end face of the wheel hub, the inner ring of the wheel, or the wheel axle so that the fixed plate rotates synchronously with the wheel.

2. The tire according to claim 1, characterized in that, The direction of the magnetic poles of the electromagnet is perpendicular to the tangent direction of the electromagnet at the position of the fixed plate, and the fixed plate is detachably connected to the end face of the hub.

3. The tire according to claim 2, characterized in that, The fixed disk includes a disk body and a plurality of mounting positions distributed in a ring on the outer edge of the end face of the disk body. The electromagnet is fixedly connected to the mounting positions. The fixed disk is made of at least one of hard paramagnetic material, hard antimagnetic material, and hard insulating material.

4. The tire according to claim 3, characterized in that, The electromagnet is located in an area not covered by the wheel surface.

5. The tire according to claim 4, characterized in that, The fixed disk also includes an outer cylinder located at the end of the disk body away from the hub. The outer cylinder covers all the electromagnets, and the radial section of the outer cylinder is arc-shaped, V-shaped, trapezoidal, or inclined.

6. The tire according to claim 3, characterized in that, The end face of the fixed disc near the wheel hub is provided with an installation structure, which includes at least one of a flange, a buckle, a clamp, a magnet, and a pin.

7. A climbing system, comprising the tire of any one of claims 1-6, characterized in that, Also includes: A drive module is used to drive the tire to rotate, and the input end of the drive module is connected to the output end of the controller; A calibration module is used to detect whether the current position of at least one of the electromagnets is at the system zero point, and the output of the calibration module is connected to the input of the controller; A magnetic force adjustment module is used to adjust the magnetic force intensity of each electromagnet, and each electromagnet is connected to the controller through the magnetic force adjustment module.

8. The climbing system according to claim 7, characterized in that, The calibration module includes a sensor attached to the position corresponding to at least one electromagnet to detect the current position of at least one electromagnet relative to the road surface. The sensor includes at least one of a distance sensor, a pressure sensor, an acceleration sensor, a gyroscope, and a contact switch.

9. A climbing method for use in the system of claims 7-8, characterized in that, Includes the following steps: The zero-point position of the electromagnet is calibrated, and after successful calibration, it enters standby mode. In response to work commands, the tires are driven to rotate; When the electromagnet is close to the road surface, its magnetic force gradually increases; when the electromagnet is far away from the road surface, its magnetic force gradually decreases.

10. A climbing robot, characterized in that, The system comprising any one of claims 7-8.

Images