A magnetic force adsorption strength measuring device and method for a wall-climbing robot

Abstract

The application belongs to the technical field of robots, and particularly discloses a magnetic force adsorption strength measuring device and method for a wall-climbing robot, which comprises a rotating plate fixed on a shaft body and arranged in parallel with a permanent magnet wheel along the axial direction of the shaft body, a through hole extending along the radial direction of the shaft body is formed on the rotating plate, and a plurality of through holes are arranged along the circumferential direction of the shaft body, a plurality of force measuring magnetic parts are movably arranged in the through holes, the force measuring magnetic parts generate magnetic force data in cooperation with a magnetic wall surface in the process of approaching the edge of the permanent magnet wheel, an adjusting part is fixed on the shaft body, one end of the force measuring magnetic part close to the shaft body is flexibly connected with the adjusting part, and the adjusting part is used for adjusting the distance between the force measuring magnetic part and the normal line of the magnetic wall surface when the force measuring magnetic part generates the magnetic force data, and has the following advantages: the magnetic force adsorption strength is monitored in real time, the problem that the magnetic adsorption force is insufficient and difficult to monitor is solved, and the stability and safety of the wall-climbing robot under various working conditions are ensured.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a device and method for measuring the magnetic adsorption strength of a wall-climbing robot. Background Technology

[0002] With the widespread application of large steel structures in modern industry and construction, wall-climbing robots have played a significant role in steel structure maintenance, non-destructive testing, painting, and cleaning. These robots can perform various high-altitude operations on large-scale steel structure surfaces with significant ground clearance, and their applications have gradually expanded from simple cleaning and coating removal to complex industrial inspection and maintenance tasks.

[0003] Existing wall-climbing robots typically use permanent magnets as adsorption devices to ensure adhesion to metal surfaces. However, the required adsorption force varies with changes in the working environment, such as surface cleanliness, load, and climbing angle. Under extreme conditions, wall-climbing robots face the risk of insufficient adsorption force, especially under high loads or harsh surface conditions, which may lead to instability and detachment, resulting in equipment damage and safety accidents. Furthermore, existing wall-climbing robots usually employ preset permanent magnet configurations based on maximum load and general operating conditions. However, these configurations fail to consider the need for real-time feedback on adsorption strength. Due to the lack of real-time monitoring and adjustment mechanisms, wall-climbing robots may not be able to detect changes in adsorption force in a timely manner during actual operation. Summary of the Invention

[0004] The present invention aims to provide a device and method for measuring the magnetic adsorption strength of a wall-climbing robot, in order to solve or improve the problem that the above-mentioned technical problem is that no mechanism is provided for real-time monitoring and adjustment of magnetic adsorption strength, which leads to the wall-climbing robot being unable to detect insufficient adsorption force in time under complex working conditions.

[0005] In view of this, a first aspect of the present invention is to provide a device for measuring the magnetic adsorption intensity of a wall-climbing robot.

[0006] A second aspect of the present invention is to provide a method implemented according to a magnetic adsorption strength measuring device for a wall-climbing robot.

[0007] A first aspect of the present invention provides a magnetic adsorption intensity measuring device for a wall-climbing robot. The wall-climbing robot includes a circumferentially arranged permanent magnet wheel and a rotating motor. The permanent magnet wheel is connected to the rotating motor via a shaft. The magnetic adsorption intensity measuring device includes: a rotating plate fixed on the shaft and arranged parallel to the permanent magnet wheel along the axial direction of the shaft; a plurality of through holes extending radially along the shaft are formed on the rotating plate; a plurality of force-measuring magnetic parts, each of which is movably disposed within the through holes; as the force-measuring magnetic part approaches the magnetic wall surface corresponding to the edge of the permanent magnet wheel, the force-measuring magnetic part cooperates with the magnetic wall surface to generate at least one magnetic force data; and an adjustment part fixed on the shaft; one end of the force-measuring magnetic part near the shaft is flexibly connected to the adjustment part, the adjustment part being used to adjust the normal distance between the force-measuring magnetic part and the magnetic wall surface when generating the magnetic force data.

[0008] A second aspect of the present invention provides a method for measuring the magnetic adsorption intensity of a wall-climbing robot, comprising the following steps: adjusting the normal distance between the force-measuring magnetic part and the magnetic wall surface through the adjustment part, and calibrating the magnetic force value corresponding to the adjusted normal distance as the zero value of the force measurement; acquiring magnetic force data when the edge of the permanent magnet wheel corresponding to the force-measuring magnetic part contacts the magnetic wall surface, and determining the magnitude of the zero value of the force measurement and the magnetic force data; if the value of the magnetic force data is less than the zero value of the force measurement, the magnetic adsorption intensity is insufficient; if the value of the magnetic force data is greater than or equal to the zero value of the force measurement, the magnetic adsorption intensity is sufficient.

[0009] The beneficial effects of this invention compared to the prior art are as follows:

[0010] By installing a magnetic adsorption strength measuring device on a wall-climbing robot, the lack of a mechanism for real-time feedback of adsorption strength in existing technologies is solved. Magnetic data is generated through the interaction between the force-measuring magnetic part and the magnetic wall surface, enabling real-time monitoring and feedback of the robot's current magnetic adsorption strength. This avoids the shortcomings of traditional wall-climbing robots that rely on pre-set permanent magnet configurations, ensuring the robot's stability under various working conditions. This allows the wall-climbing robot to maintain stable adsorption force under high loads or harsh surface conditions, preventing instability or detachment due to insufficient adsorption force, and reducing the risk of equipment damage and safety accidents.

[0011] By arranging multiple force-measuring magnetic units and through holes, and through adjustment of the adjustment mechanism, this invention can achieve multi-point circumferential motion tracking magnetic data acquisition, providing more comprehensive and accurate magnetic measurement results. The position of the force-measuring magnetic units can be adjusted as needed to ensure that they are always in the correct magnetic measurement area, thereby improving the accuracy and reliability of magnetic adsorption intensity measurement.

[0012] Additional aspects and advantages of embodiments of the invention will become apparent in the following description or may be learned by practice of embodiments of the invention. Attached Figure Description

[0013] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0014] Figure 1 This is a schematic diagram of the structure of the present invention;

[0015] Figure 2 This is a schematic diagram of the outer plate of the force measuring module and its connection structure of the present invention;

[0016] Figure 3 This is a schematic diagram of the internal support component and its connection structure of the present invention;

[0017] Figure 4 This is a schematic diagram of the half-section structure of the present invention;

[0018] Figure 5 This is a flowchart of the method steps of the present invention.

[0019] in, Figures 1-5 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0020] 1. Permanent magnet wheel, 2. Base plate of the wall-climbing robot, 3. Rotary motor, 4. Force-measuring magnet, 5. Outer plate of force-measuring module, 6. Adjustment track, 7. Adjustment knob, 8. Force-measuring spring, 9. Force gauge, 10. Inner plate of force-measuring module, 11. Soft connector, 12. Force-measuring control ring, 13. Internal support component, 14. Data processing module, 15. Ring body, 16. Shaft body, 17. Magnetic wall surface, 18. Connecting rod. Detailed Implementation

[0021] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0022] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0023] Please see Figures 1-5 The following describes a device and method for measuring the magnetic adsorption intensity of a wall-climbing robot according to some embodiments of the present invention.

[0024] An embodiment of the first aspect of the present invention provides a device for measuring the magnetic adsorption strength of a wall-climbing robot. In some embodiments of the present invention, such as... Figures 1-4 As shown, the wall-climbing robot includes a circumferentially arranged permanent magnet wheel 1 and a rotating motor 3. The permanent magnet wheel 1 is connected to the rotating motor 3 via a shaft 16. The shaft 16 is rotatably mounted on the wall-climbing robot's base plate 2. The rotating motor 3 is fixedly mounted on the wall-climbing robot's base plate 2, which is connected to the robot's main body. The magnetic adsorption intensity measuring device includes:

[0025] A rotating plate is fixed on the shaft 16 and arranged in parallel with the permanent magnet wheel 1 along the axial direction of the shaft 16, so that the rotating plate can rotate together with the permanent magnet wheel 1; a through hole is formed on the rotating plate extending radially along the shaft 16, and multiple through holes are arranged along the circumference of the shaft 16.

[0026] Multiple force-measuring magnetic units are movably disposed within the through hole, allowing the force-measuring magnetic units to be distributed at equal angles to correspond to the edge of the permanent magnet wheel 1, thereby obtaining the same magnetic force environment. As the force-measuring magnetic units approach the magnetic wall 17 at the edge of the permanent magnet wheel 1, the force-measuring magnetic units cooperate with the magnetic wall 17 to generate at least one magnetic force data, thereby approximating the magnetic force value obtained by the force-measuring magnetic units at the edge of the permanent magnet wheel 1.

[0027] An adjustment part is fixed on the shaft 16; the end of the force measuring magnetic part near the shaft 16 is flexibly connected to the adjustment part. The adjustment part is used to adjust the normal distance between the force measuring magnetic part and the magnetic wall 17 when the force measuring magnetic part generates magnetic data. On the one hand, it is used to enable the force measuring magnetic part to obtain the edge of the permanent magnet wheel 1 along the axial direction of the shaft 16. On the other hand, the magnetic value obtained at this time and the specific position are calibrated for the subsequent judgment of whether the magnetic adsorption strength is sufficient.

[0028] This invention provides a magnetic adsorption strength measuring device for a wall-climbing robot. The wall-climbing robot, to which the magnetic adsorption strength measuring device operates, includes multiple circumferentially arranged permanent magnet wheels 1 and a rotating motor 3. The permanent magnet wheels 1 are connected to the rotating motor 3 via shafts 16, which are rotatably mounted on the wall-climbing robot's base plate 2. The rotating motor 3 is fixedly mounted on the wall-climbing robot's base plate 2, which is connected to the robot's main body. The permanent magnet wheels 1 provide sufficient adsorption force for the wall-climbing robot on metal surfaces, maintaining stable adhesion through magnetic interaction with the metal surface. The permanent magnet wheels 1 achieve adsorption through their multiple circumferentially arranged permanent magnets, ensuring a stable and uniform adsorption force throughout the robot's movement. The rotating motor 3 electrically drives the permanent magnet wheels 1 to rotate, propelling the wall-climbing robot across the metal surface. The power output from the rotating motor 3 maintains the adsorption force between the permanent magnet wheels 1 and the metal surface while driving the wall-climbing robot along a predetermined path. The rotating motor 3 is connected to the shaft 16, and the rotation of the shaft 16 drives the permanent magnet wheel 1 to move. The shaft 16 is rotatably mounted on the base plate 2 of the wall-climbing robot.

[0029] A rotating plate is fixed to the shaft 16 and arranged parallel to the permanent magnet wheel 1 along the axial direction of the shaft 16. The rotating plate is designed to rotate synchronously with the permanent magnet wheel 1. The rotation of the rotating plate and the permanent magnet wheel 1 ensures that the relative position of the force-measuring magnetic part remains unchanged. The rotating plate rotates together with the shaft 16 through its fixed connection to the shaft 16. The rotation of the shaft 16 drives the rotating plate to rotate synchronously, so the rotating plate remains synchronized with the permanent magnet wheel 1 during its movement. The parallel arrangement of the rotating plate is designed to maintain a fixed relative position with the permanent magnet wheel 1, so that during rotation, the rotating plate and the permanent magnet wheel 1 act together in a magnetic environment, ensuring that the contact between the force-measuring magnetic part and the magnetic wall surface 17 is always in the same magnetic environment, thereby achieving accurate magnetic force measurement.

[0030] A through-hole extending radially along the shaft 16 is formed on the rotating plate to accommodate the force-measuring magnetic unit. The through-holes allow each force-measuring magnetic unit to move independently and flexibly on the rotating plate. The radial extension direction of the through-holes is aligned with the axial direction of the shaft 16, allowing the force-measuring magnetic unit to move freely on the rotating plate and adjust its measurement position as needed. The radially arranged through-holes enable the force-measuring magnetic unit to perform magnetic force measurements at different angles and positions. Multiple through-holes are arranged circumferentially along the shaft 16, ensuring that multiple force-measuring magnetic units are evenly distributed on the rotating plate, corresponding to the edge of the permanent magnet wheel 1. This circumferential arrangement ensures that each force-measuring magnetic unit is in the same magnetic environment, thereby obtaining consistent and accurate magnetic force data.

[0031] Multiple magnetic force measuring units are movably disposed within a through hole, each capable of free movement radially along the through hole. These magnetic force measuring units are designed to ensure uniform distribution along the edge of the permanent magnet wheel 1, thereby ensuring uniformity and representativeness of the measurement results. When a magnetic force measuring unit approaches the magnetic wall 17 at the edge of the permanent magnet wheel 1, the magnetic interaction between the unit and the wall generates at least one magnetic force data point. This magnetic force data is used to estimate the magnetic force intensity experienced by the magnetic force measuring unit at different locations, thereby approximating the magnetic force value at the edge of the permanent magnet wheel 1 corresponding to the magnetic force measuring unit. When a magnetic force measuring unit approaches the edge of the permanent magnet wheel 1, the magnetic force it generates interacts with the magnetic wall 17. Since each component experiences a similar magnetic environment when arranged circumferentially, the magnetic force generated at the edge of the permanent magnet wheel 1 can be measured collectively. Each magnetic force measuring unit generates magnetic force data through its interaction with the magnetic wall 17 when in contact with it. The aforementioned magnetic data reflects the strength and distribution of the magnetic force, thus helping to analyze the changes in the adsorption force of the permanent magnet wheel 1 under different working conditions. Data collected from multiple force-measuring magnetic units allows for a comprehensive evaluation of the magnetic adsorption strength of the permanent magnet wheel 1, ensuring sufficient stability and safety for the wall-climbing robot during operation.

[0032] The magnetic adsorption intensity measuring device also includes an adjustment unit, which is fixed to the shaft 16 and connected to the end of the force-measuring magnetic unit near the shaft 16 via a flexible connection. The adjustment unit is used to adjust the normal distance between the force-measuring magnetic unit and the magnetic wall 17, ensuring that the force-measuring magnetic unit can acquire accurate magnetic force data in the area corresponding to the edge of the permanent magnet wheel 1. By adjusting the normal distance, the force-measuring magnetic unit can be finely adjusted in position according to changes in the working environment to ensure it is always in the optimal magnetic force measurement state, and to align the force-measuring magnetic unit with the edge of the permanent magnet wheel 1, thereby avoiding measurement errors caused by positional deviations.

[0033] The adjustment unit, through a flexible connection, allows the force-measuring magnetic unit to move axially along the shaft 16, thereby adjusting the measurement position. During adjustment, the interaction between the force-measuring magnetic unit and the magnetic wall 17 generates magnetic force data, which accurately reflects the strength of the adsorption force between the permanent magnet wheel 1 and the metal surface. By adjusting the normal distance, the adjustment unit ensures that each force-measuring magnetic unit is positioned appropriately for magnetic force data acquisition, avoiding errors caused by improper measurement angles. The acquired magnetic force data not only provides raw data for subsequent assessment of the sufficiency of magnetic adsorption strength but also, by combining it with specific position calibration, evaluates the adsorption state of the wall-climbing robot.

[0034] By adjusting the force-measuring magnetic unit, the strength of the magnetic attraction of the wall-climbing robot under specific working conditions can be determined in real time. When the magnetic force value is lower than the preset safety standard, an alarm will be triggered, prompting the operator to perform necessary checks and adjustments, thereby ensuring the stability and safety of the wall-climbing robot during operation.

[0035] In summary, through the rotating plate and the force-measuring magnetic unit, the force-measuring magnetic units can be evenly distributed at an angle along the axial direction of the shaft 16 on the edge of the permanent magnet wheel 1. This configuration ensures that each force-measuring magnetic unit performs measurements in the same magnetic environment. Each force-measuring magnetic unit generates magnetic force data through interaction with the magnetic wall surface 17. This data accurately reflects the magnetic attraction strength of the permanent magnet wheel 1, thus providing reliable measurement results and avoiding errors caused by positional deviations or environmental differences. The adjustment unit allows for flexible adjustment of the normal distance between the force-measuring magnetic unit and the magnetic wall surface 17, thereby controlling the contact state between each force-measuring magnetic unit and the magnetic wall surface 17 during measurement. This ensures that the force-measuring magnetic unit corresponds to the edge of the permanent magnet wheel 1 during measurement, making the obtained magnetic force value more consistent with the actual change in attraction force, thus improving the accuracy and consistency of the measurement results. With the device of this invention, the wall-climbing robot can adjust the attraction force in real time according to different working conditions, ensuring that the attraction force is always maintained at a sufficient level to cope with use under different working conditions.

[0036] In any of the above embodiments, the rotating plate includes:

[0037] The inner plate 10 of the force measuring module is connected to the shaft 16;

[0038] The internal support 13 is connected to the side wall of the inner plate 10 of the force measuring module away from the permanent magnet wheel 1; the through hole is opened on the internal support 13.

[0039] The outer plate 5 of the force measuring module is connected to the side wall of the internal support 13 away from the inner plate 10 of the force measuring module.

[0040] In this embodiment, the inner plate 10 of the force measuring module is fixed to the rotating plate by connecting with the shaft 16. The rotation of the shaft 16 drives the inner plate 10 of the force measuring module to rotate together, thereby ensuring that the relative positions of each component of the entire device do not shift during the rotation process. The synchronous movement of the inner plate 10 of the force measuring module and the shaft 16 enables the force measuring magnetic part to perform magnetic force measurement at the edge of the permanent magnet wheel 1.

[0041] The internal support 13 is connected to the side of the inner plate 10 of the force measuring module away from the permanent magnet wheel 1, serving a supporting and fixing function. The through-holes in the internal support 13 provide space for the movement of the force measuring magnetic unit, allowing it to move freely within the through-holes and always remain aligned with the edge of the permanent magnet wheel 1. During magnetic force measurement, the force measuring magnetic unit is evenly distributed on the rotating plate, ensuring the accuracy of the magnetic force data. The internal support 13 not only enhances the structural stability of the entire device but also provides flexible measurement space through the through-holes, allowing the position of the force measuring magnetic unit to be adjusted as needed.

[0042] The outer plate 5 of the force measuring module is fixed to the side wall of the internal support 13 away from the inner plate 10 of the force measuring module, further strengthening the overall structural strength of the device. The outer plate, together with the internal support 13 and the inner plate 10 of the force measuring module, works to prevent the rotating plate from loosening or deforming during operation and to maintain the cooperation between the components.

[0043] In any of the above embodiments, the outer plate 5 of the force measuring module has a hole in the middle, and the adjustment part includes a force measuring control ring 12 that is rotatably connected to the hole.

[0044] The force-measuring magnetic part and the force-measuring control ring 12 are connected by a flexible connector 11. The force-measuring control ring 12 can drive the flexible connector 11 to pull all the circumferentially arranged force-measuring magnetic parts at the same time, and can make simultaneous position adjustments. The length of the flexible connector 11 limits the maximum distance that the force-measuring magnetic parts can move in the through hole, so that the force-measuring magnetic parts are pulled the same distance when they are attracted by magnetic force.

[0045] In this embodiment, a hole is provided in the middle of the outer plate 5 of the force measuring module, and it is connected to the adjustment unit via a force measuring control ring 12. The force measuring control ring 12 is rotatably connected to the hole, and its function is to control the position adjustment of the force measuring magnetic unit. Through the force measuring control ring 12, multiple circumferentially arranged force measuring magnetic units can be uniformly adjusted, so that the force measuring magnetic units always maintain a consistent working state during the measurement process. The adjustment unit is used to enable the force measuring magnetic units to adjust their positions synchronously, avoiding measurement errors caused by positional deviations.

[0046] The force-measuring magnetic unit and the force-measuring control ring 12 are connected by a flexible connector 11. The flexible connector 11 is flexible and can flexibly adjust the relative positions of the force-measuring magnetic units under the action of the force-measuring control ring 12. All force-measuring magnetic units can be adjusted circumferentially simultaneously, ensuring that the force-measuring magnetic units can perform measurements in the same magnetic environment when measuring magnetic force at the edge of the permanent magnet wheel 1. The flexible connector 11 not only connects the force-measuring magnetic units and the force-measuring control ring 12, but also ensures coordinated movement of each force-measuring magnetic unit, avoiding errors caused by asynchronous movement of components during measurement.

[0047] Furthermore, the length of the flexible connector 11 is limited to allow the force-measuring magnetic part to move the maximum distance within the through hole, thereby ensuring that the force-measuring magnetic part can be pulled a consistent distance when attracted by magnetic force. This structure guarantees that each force-measuring magnetic part experiences the same displacement under magnetic force, thus improving the consistency and accuracy of the measurement results.

[0048] In any of the above embodiments, the adjustment unit includes:

[0049] Link 18, the end of link 18 near shaft 16 is connected to the side wall of force control ring 12; link 18 is used to cooperate with force control ring 12 to drive all force-measuring magnetic parts to move closer to or away from the edge of permanent magnet wheel 1 via soft connector 11.

[0050] In this embodiment, the adjustment unit includes a connecting rod 18, one end of which is connected to the side wall of the force control ring 12, and the other end is connected to multiple force-measuring magnetic parts via a flexible connector 11. The cooperation between the connecting rod 18 and the force control ring 12 allows the position of all force-measuring magnetic parts to be adjusted synchronously by rotating the force control ring 12. Specifically, the connecting rod 18, through its connection with the force control ring 12, drives the flexible connector 11 to simultaneously pull all the circumferentially arranged force-measuring magnetic parts, enabling them to move synchronously along the axial direction of the shaft 16. All force-measuring magnetic parts can simultaneously move closer to or further away from the edge of the permanent magnet wheel 1, thus ensuring they are measured under the same magnetic environment and avoiding data inconsistencies caused by different measurement positions.

[0051] The connecting rod 18, through its connection with the force-measuring control ring 12, controls the position of the force-measuring magnetic parts, and the flexible connector 11 ensures that the displacement of each force-measuring magnetic part is the same. The flexible connector 11 is used to ensure that all force-measuring magnetic parts are subjected to the same tension under the action of magnetic force, so that they can be uniformly adjusted within the maximum range of movement within the through hole. This ensures that each force-measuring magnetic part moves under the same conditions, thereby improving the accuracy of magnetic force measurement. The length of the flexible connector 11 is limited to control the pulling distance of the force-measuring magnetic parts, so as to keep their displacement consistent when attracted by magnetic force.

[0052] The coordinated action of connecting rod 18 and force-measuring control ring 12 enables adjustment of the force-measuring magnetic unit. This ensures that the force-measuring magnetic unit is always in the ideal position on the side of the permanent magnet wheel 1, thus avoiding errors in the measurement of magnetic adsorption strength due to positional errors. By adjusting the measurement position and synchronously pulling the force-measuring magnetic unit, this device achieves magnetic monitoring under different working conditions, enabling the wall-climbing robot to stably adhere during high-altitude operations and avoiding safety issues caused by insufficient adsorption force.

[0053] In any of the above embodiments, the adjustment unit further includes:

[0054] The ring body 15 is fixed on the shaft body 16; the connecting rod 18 is arranged between the ring body 15 and the outer plate 5 of the force measuring module along the axial direction of the shaft body 16.

[0055] An adjustment assembly is used to connect the ring 15 and the connecting rod 18; the adjustment assembly is used to drive the end of the connecting rod 18 away from the shaft 16 to move circumferentially.

[0056] In this embodiment, the adjustment unit includes a ring 15, a connecting rod 18, and an adjustment assembly. These components work together to adjust the force-measuring magnetic unit and optimize magnetic force measurement. The ring 15 is fixed to the shaft 16 and serves as the basic support structure for the entire adjustment unit, providing a stable fixing platform for other components of the adjustment unit.

[0057] The connecting rod 18 is arranged axially along the shaft 16, located between the ring 15 and the outer plate 5 of the force measuring module, serving as a component connecting the ring 15 and the outer plate 5 of the force measuring module. The function of the connecting rod 18 is to transmit the force from the adjustment assembly to the outer plate 5 of the force measuring module, thereby causing the force measuring magnetic part to make corresponding displacement adjustments. Since the connecting rod 18 is arranged axially along the shaft 16, it can transmit the force applied by the adjustment assembly to the force measuring magnetic part through the ring 15 and the flexible connector 11, causing the force measuring magnetic part to move. The connecting rod 18 not only ensures positional synchronization during the adjustment process but also avoids measurement errors caused by inconsistencies in position.

[0058] The adjustment assembly controls the circumferential movement of the connecting rod 18 by connecting the ring 15 and the connecting rod 18. The function of the adjustment assembly is to drive the end of the connecting rod 18 away from the shaft 16 to move circumferentially, thereby adjusting the position of the force-measuring magnetic unit. By applying force through the adjustment assembly, the connecting rod 18 moves between the ring 15 and the outer plate 5 of the force-measuring module, allowing the force-measuring magnetic unit to be synchronously adjusted along the axial direction of the shaft 16 to position it at the edge of the permanent magnet wheel 1. The adjustment assembly ensures that each force-measuring magnetic unit measures under the same magnetic environment during each adjustment, avoiding measurement errors caused by different positions.

[0059] In any of the above embodiments, the adjustment component includes:

[0060] Adjustment track 6 is installed through the ring 15; adjustment track 6 extends circumferentially along the shaft 16;

[0061] Adjustment knob 7 is connected to the end of connecting rod 18 away from shaft 16; adjustment knob 7 is detachably installed in adjustment rail 6.

[0062] In this embodiment, the adjustment track 6 is disposed through the ring 15 and extends circumferentially along the shaft 16, providing a smooth sliding path for the adjustment knob 7. The adjustment track 6 not only allows the adjustment knob 7 to move within its circumferential range, but also controls the movement of the connecting rod 18 by adjusting the knob's position, thereby adjusting the position of the force-measuring magnetic part. The through-path of the adjustment track 6 ensures that the knob extends stably along the axial direction of the shaft 16 during adjustment, making the adjustment process smoother.

[0063] The adjusting knob 7 is connected to the end of the connecting rod 18 furthest from the shaft 16. Rotating the adjusting knob 7 causes the connecting rod 18 to move accordingly. Due to the connection between the knob and the connecting rod 18, the rotation of the knob is transmitted to the force-measuring magnetic part through the connecting rod 18, causing it to move axially along the shaft 16, thereby adjusting the relative distance between the force-measuring magnetic part and the permanent magnet wheel 1. The adjusting knob 7 allows the operator to adjust the position of the force-measuring magnetic part according to actual needs, ensuring it is always within the correct magnetic force measurement range and avoiding measurement errors caused by positional deviations. The adjusting knob 7 is detachably installed in the adjusting rail 6. The operator can adjust the position of the adjusting knob 7 and then fix it with bolts or clips to ensure it cannot be moved after adjustment.

[0064] Furthermore, as the edge of the permanent magnet wheel 1 corresponding to the force-measuring magnetic unit approaches the magnetic wall 17, the force-measuring magnetic unit and the magnetic wall 17 cooperate to generate at least one magnetic force data. When only one magnetic force data is measured, it means that the edge of the permanent magnet wheel 1 corresponding to the force-measuring magnetic unit is in contact with the magnetic wall 17. At this time, the magnetic force data can be directly used for force state analysis of the edge in contact with the magnetic wall 17. When at least two magnetic force data are measured, they must be performed when the corresponding force-measuring magnetic unit is close to the magnetic wall 17. Except for the data collected when in contact with the magnetic wall 17, the other magnetic force data are used to determine whether the edge of the permanent magnet wheel 1 corresponding to the force-measuring magnetic unit is close to the magnetic wall 17.

[0065] As described above, when measuring only one magnetic force data point, the edge of the force-measuring magnetic part needs to be in contact with the magnetic wall surface 17. The magnetic force data measured at this time can be directly used to analyze the force state of the force-measuring magnetic part when it contacts the magnetic wall surface 17. Since the magnetic force data at contact reflects the actual magnetic attraction between the permanent magnet wheel 1 and the magnetic wall surface 17, it can be used as a basis for judging whether the magnetic attraction strength is sufficient. This data directly reflects the magnitude of the magnetic force experienced by the force-measuring magnetic part and can accurately reflect the attraction force between the permanent magnet wheel 1 and the magnetic wall surface 17.

[0066] When measuring at least two magnetic force data points, the measurement process must be carried out while the force-measuring magnetic unit is close to the magnetic wall 17. At this time, in addition to the magnetic force data collected when in contact with the magnetic wall 17, the other magnetic force data are used to determine whether the edge of the permanent magnet wheel 1 corresponding to the force-measuring magnetic unit is close to the magnetic wall 17. In the case of multiple data acquisition points, the force-measuring magnetic unit will not always be in contact with the magnetic wall 17, but will sequentially approach or move away from it. The multiple measured magnetic force data points can help determine the actual position of the force-measuring magnetic unit, ensuring it is within the effective range during the magnetic force measurement process. If the measured data is significantly lower than the magnetic force data at contact, it may indicate that the force-measuring magnetic unit is not actually in contact with the magnetic wall 17.

[0067] In any of the above embodiments, the force-measuring magnetic unit includes:

[0068] The force-measuring magnet 4 has a through groove formed on its internal support member 13 for radial movement along the shaft 16.

[0069] Force gauge 9 is slidably connected to the inner wall of the through hole; force gauge 9 is connected to force magnet 4 and flexible connector 11 respectively, and force gauge 9 is used to obtain magnetic force data of force magnet 4 interacting with magnetic wall 17.

[0070] In this embodiment, the force-measuring magnet 4 moves freely in the radial direction of the shaft 16 through its cooperation with the internal support member 13. A through slot on the internal support member 13 provides a channel for the force-measuring magnet 4 to move, allowing it to slide radially along the shaft 16 within a predetermined range. This allows the force-measuring magnet 4 to flexibly contact the magnetic wall surface 17 and respond to displacement changes caused by magnetic force. The force-measuring magnet 4 can effectively contact the magnetic wall surface 17 of the metal surface, enabling accurate reflection of the magnetic adsorption strength during measurement.

[0071] The force gauge 9 is slidably connected to the inner wall of the through hole, and is also connected to the force magnet 4 and the flexible connector 11. The function of the force gauge 9 is to acquire the magnetic force data of the interaction between the force magnet 4 and the magnetic wall surface 17. By sliding its connection to the inner wall of the through hole, the force gauge 9 can record the displacement of the force magnet 4 during the measurement process. When the force magnet 4 is displaced by the magnetic force, the force gauge 9 records the displacement in real time and converts it into corresponding magnetic force data. In this way, the force gauge 9 can quantify the magnetic strength between the force magnet 4 and the magnetic wall surface 17, thus providing reliable data for judging the magnetic adsorption strength.

[0072] The connection between the force gauge 9 and the flexible connector 11 ensures that the force gauge 9 can stably transmit displacement information during measurement, while avoiding errors or deviations that may be caused by rigid connections. Through the flexible connector 11, the force gauge 9 can flexibly adapt to minute displacement changes between the force-measuring magnet 4 and the magnetic wall 17, and reflect dynamic changes in the magnetic adsorption strength. This not only improves the accuracy of magnetic force measurement but also enhances the adaptability of the device under different operating conditions.

[0073] Specifically, all force gauges 9 are connected to the data processing module 14. The data processing module 14 calculates the accurate value of the magnetic adsorption force and compares it with the overall load and walking angle to determine whether the current magnetic adsorption force is sufficient for the wall-climbing robot to walk. The data processing module 14 then provides feedback on this.

[0074] As described above, the system first receives real-time magnetic force data from all force gauges 9. By comparing the position, magnitude, and distribution of the magnetic force experienced by each force gauge 9, the data processing module 14 can assess the magnetic adsorption state of the wall-climbing robot at different locations. Based on this, the data processing module 14 combines the overall load and walking angle of the wall-climbing robot to derive an accurate value for the current magnetic adsorption force. Load and walking angle are important factors affecting the adsorption force, and the data processing module 14 will correct the current magnetic adsorption force based on these two parameters.

[0075] Once the current magnetic attraction force is calculated, the data processing module 14 compares this value with the safety standard value for the wall-climbing robot. Based on the comparison result, the data processing module 14 can determine whether the current magnetic attraction force is sufficient to support the wall-climbing robot to continue moving stably. If the magnetic attraction force is insufficient, the data processing module 14 will issue a warning signal, prompting the operator to check or adjust the wall-climbing robot's attraction state. If the magnetic attraction force is sufficient, the data processing module 14 will provide feedback indicating that the magnetic attraction force is adequate, allowing the wall-climbing robot to continue operating. Through real-time feedback and adjustment, the data processing module 14 effectively ensures the safety and stability of the wall-climbing robot.

[0076] In any of the above embodiments, the force-measuring magnetic unit further includes a force-measuring spring 8 for connecting the force gauge 9 and the force-measuring magnet 4. The force-measuring spring 8 is used to absorb the kinetic energy of the force-measuring magnet 4 during its fall due to gravity, thereby reducing interference to the force gauge 9.

[0077] In this embodiment, the force-measuring spring 8 not only transmits force but also absorbs the kinetic energy generated by gravity during the fall of the force-measuring magnet 4, thereby reducing interference from external forces on the force gauge 9. Specifically, when the force-measuring magnet 4 is subjected to magnetic force and begins to move downwards, the force-measuring spring 8 deforms as the magnet falls, gradually dissipating the kinetic energy generated by gravity through its elastic restoring force, preventing this kinetic energy from affecting the readings of the force gauge 9 during measurement. Thus, the force-measuring spring 8 effectively serves to dampen vibrations and stabilize the measurement.

[0078] The functional principle of the force-measuring spring 8 is reflected in its elastic properties. When the force-measuring magnet 4 approaches the magnetic wall 17, it may generate a certain velocity and kinetic energy during its free fall due to gravity. Without the buffering effect of the force-measuring spring 8, this kinetic energy would be directly transferred to the force gauge 9, potentially leading to unstable or erroneous measurement data. By introducing the force-measuring spring 8, the kinetic energy is absorbed through the deformation of the spring 8, slowing down the falling speed of the force-measuring magnet 4 and smoothly converting its displacement change into measurable magnetic force data. Through its appropriate elastic coefficient, the force-measuring spring 8 can effectively reduce the impact caused by gravity while avoiding the impact on measurement accuracy due to excessive absorption of kinetic energy.

[0079] Furthermore, the force-measuring spring 8 also needs to be optimized based on its stiffness and elasticity characteristics, taking into account the mass of the force-measuring magnet 4 and the different working environments. A force-measuring spring 8 with suitable stiffness can not only absorb the kinetic energy of gravity during the falling process of the force-measuring magnet 4, but also accurately reflect the magnetic force data under the action of magnetic attraction, without causing measurement errors due to the force-measuring spring 8 being too soft or too rigid.

[0080] In any of the above embodiments, a shoulder is formed at the connection between the through groove and the through hole, and the edge of the force measuring spring 8 corresponds to the shoulder to prevent the force gauge from falling outside the through hole when it is at the top.

[0081] In this embodiment, the force-measuring spring 8 not only transmits force, but also absorbs the kinetic energy generated by gravity during the fall of the force-measuring magnet 4, thereby reducing the interference of the external force on the force gauge 9 and improving the accuracy of the measurement. Specifically, when the force-measuring magnet 4 is subjected to magnetic force and begins to move downward, the force-measuring spring 8 deforms as the force-measuring magnet 4 falls, and its elastic restoring force gradually dissipates the kinetic energy generated by gravity, preventing the kinetic energy from affecting the reading of the force gauge 9 during the measurement process.

[0082] The functional principle of the force-measuring spring 8 is reflected in its elastic properties. When the force-measuring magnet 4 approaches the magnetic wall 17, it may generate a certain velocity and kinetic energy during its free fall due to gravity. Without the buffering effect of the force-measuring spring 8, this kinetic energy would be directly transferred to the force gauge 9, potentially leading to unstable or erroneous measurement data. By introducing the force-measuring spring 8, the kinetic energy is absorbed through the deformation of the spring 8, slowing down the falling speed of the force-measuring magnet 4 and smoothly converting its displacement change into measurable magnetic force data. Through its appropriate elastic coefficient, the force-measuring spring 8 can effectively reduce the impact caused by gravity while avoiding the impact on measurement accuracy due to excessive absorption of kinetic energy.

[0083] Furthermore, the stiffness and elasticity of the force-measuring spring 8 can be optimized based on the actual hardware conditions, taking into account the mass of the force-measuring magnet 4 and the working environment. A force-measuring spring 8 with suitable stiffness can ensure that the force-measuring magnet 4 not only absorbs the kinetic energy of gravity during its descent but also accurately reflects magnetic data under magnetic attraction, without causing measurement errors due to the spring 8 being too soft or too rigid. The force-measuring spring 8 effectively suppresses interference from external gravity, making the measurement results more stable and reliable.

[0084] A second aspect of the present invention provides a method for implementing the magnetic adsorption intensity measuring device according to any of the above embodiments. In some embodiments of the present invention, such as Figure 5 As shown, the method includes the following steps:

[0085] S101, the normal distance between the force measuring magnetic part and the magnetic wall 17 is adjusted by the adjustment part, and the magnetic force value corresponding to the adjusted normal distance is calibrated as the zero force value.

[0086] S102: When the force measuring magnetic part contacts the magnetic wall 17 at the edge of the permanent magnet wheel 1, magnetic force data is acquired, and the magnitude of the zero force value and the magnetic force data is determined.

[0087] S103, if the value of the magnetic force data is less than the zero value of the measured force, the magnetic adsorption strength is insufficient; if the value of the magnetic force data is greater than or equal to the zero value of the measured force, the magnetic adsorption strength is sufficient.

[0088] This invention provides a method for adjusting the normal distance between a force-measuring magnetic part and a magnetic wall surface 17 using an adjustment mechanism. This adjustment is achieved through the cooperation of a force-measuring control ring 12 and a connecting rod 18, ensuring that the force-measuring magnetic part is at a suitable normal distance when in contact with the magnetic wall surface 17. The adjusted normal distance is calibrated as the zero-value of the force measurement, representing the reference magnetic force value that the force-measuring magnetic part should achieve under ideal magnetic conditions. This calibration process serves as a benchmark for measuring the magnetic adsorption strength, providing a standard for subsequent magnetic data acquisition and comparison.

[0089] When the force-measuring magnetic unit contacts the magnetic wall surface 17 at the edge of the permanent magnet wheel 1, magnetic force data is acquired. At this time, the interaction between the force-measuring magnetic unit and the magnetic wall surface 17 generates magnetic force, and the force gauge 9 records the magnetic force data and compares it with the previously calibrated zero force value. By comparing the above comparison, the magnitude of the current magnetic force data can be determined, thereby analyzing whether the magnetic force meets the predetermined standard. This step is used to ensure that each magnetic force measurement is compared with the initial calibration value.

[0090] The magnetic force data obtained in step S102 is compared with the zero force value. If the magnetic force data value is less than the zero force value, it indicates that the magnetic attraction strength of the wall-climbing robot is insufficient and cannot be used for stable attachment. This is judged as insufficient magnetic attraction strength, prompting the operator to take measures for adjustment or inspection. If the magnetic force data value is greater than or equal to the zero force value, it indicates that the magnetic attraction strength is sufficient, and the wall-climbing robot can maintain stable attachment. This is judged as sufficient magnetic attraction strength, and the wall-climbing robot can continue its operation.

[0091] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0092] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A device for measuring the magnetic adsorption strength of a wall-climbing robot, the wall-climbing robot comprising a circumferentially arranged permanent magnet wheel and a rotating motor, the permanent magnet wheel being connected to the rotating motor via an axle, characterized in that, The magnetic adsorption strength measuring device includes: A rotating plate is fixed on the shaft and arranged in parallel with the permanent magnet wheel along the axial direction of the shaft; the rotating plate has through holes extending radially along the shaft, and multiple through holes are arranged circumferentially along the shaft; Multiple force-measuring magnetic units are provided, each movably disposed within the through hole. As the force-measuring magnetic unit approaches the magnetic wall surface at the edge corresponding to the permanent magnet wheel, it interacts with the magnetic wall surface to generate at least one magnetic force data point. Each force-measuring magnetic unit includes a force-measuring magnet and a force gauge, the force gauge being slidably connected to the inner wall of the through hole. The force gauge is connected to both the force-measuring magnet and a flexible connector, and is used to acquire magnetic force data from the interaction between the force-measuring magnet and the magnetic wall surface. The force-measuring magnetic unit also includes a force-measuring spring for connecting the force gauge and the force-measuring magnet. An adjustment part is fixed on the shaft; one end of the force-measuring magnetic part near the shaft is flexibly connected to the adjustment part, and the adjustment part is used to adjust the normal distance between the force-measuring magnetic part and the magnetic wall surface when the force-measuring magnetic part generates the magnetic force data.

2. The magnetic adsorption intensity measuring device for a wall-climbing robot according to claim 1, characterized in that, The rotating plate includes: The inner plate of the force measuring module is connected to the shaft. An internal support member is connected to the side wall of the inner plate of the force measuring module away from the permanent magnet wheel; the through hole is formed on the internal support member; The outer plate of the force measuring module is connected to the side wall of the internal support component away from the inner plate of the force measuring module.

3. The magnetic adsorption intensity measuring device for a wall-climbing robot according to claim 2, characterized in that, The outer plate of the force measuring module has a hole in the middle, and the adjustment part includes a force measuring control ring that is rotatably connected to the hole. The force-measuring magnetic part is connected to the force-measuring control ring via a flexible connector.

4. The magnetic adsorption intensity measuring device for a wall-climbing robot according to claim 3, characterized in that, The adjustment unit includes: A connecting rod, the end of which is near the shaft, is connected to the side wall of the force-measuring control ring; the connecting rod is used to cooperate with the force-measuring control ring to drive all force-measuring magnetic parts to move closer to or away from the edge of the permanent magnet wheel via the flexible connector.

5. The magnetic adsorption intensity measuring device for a wall-climbing robot according to claim 4, characterized in that, The adjustment unit also includes: A ring body is fixed on the shaft body; the connecting rod is arranged axially between the ring body and the outer plate of the force measuring module along the shaft body. An adjustment assembly is used to connect the ring body and the connecting rod; the adjustment assembly is used to drive the end of the connecting rod away from the shaft body to move circumferentially.

6. The magnetic adsorption intensity measuring device for a wall-climbing robot according to claim 5, characterized in that, The adjustment components include: An adjustment track is provided through the ring body; the adjustment track extends circumferentially along the axis of the ring body. An adjustment knob is connected to the end of the connecting rod away from the shaft; the adjustment knob is detachably installed within the adjustment track.

7. The magnetic adsorption intensity measuring device for a wall-climbing robot according to claim 3, characterized in that, The internal support has a through groove formed thereon, which allows the force-measuring magnet to move radially along the shaft.

8. The magnetic adsorption intensity measuring device for a wall-climbing robot according to claim 7, characterized in that, A shoulder is formed at the connection between the through groove and the through hole, and the edge of the force-measuring spring corresponds to the shoulder.

9. A method for implementing the magnetic adsorption intensity measuring device for a wall-climbing robot according to any one of claims 1-8, characterized in that, Includes the following steps: The adjustment unit adjusts the normal distance between the force-measuring magnetic unit and the magnetic wall surface, and the magnetic force value corresponding to the adjusted normal distance is calibrated as the zero force value. When the force measuring magnetic part contacts the magnetic wall surface at the edge of the permanent magnet wheel, magnetic force data is acquired, and the magnitude of the zero force value and the magnetic force data is determined. If the value of the magnetic force data is less than the zero value of the force measurement, the magnetic attraction strength is insufficient; if the value of the magnetic force data is greater than or equal to the zero value of the force measurement, the magnetic attraction strength is sufficient.

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