Curved surface adaptive mobile driving mechanism and wall-climbing robot

Abstract

The application belongs to the technical field of driving devices, and relates to a curved surface self-adaptive mobile driving mechanism and a wall climbing robot. A power input system is connected with a bevel gear reversing driving system through a two-stage planetary reduction system, and is used for realizing intersecting shaft transmission. A front axle curved surface self-adaptive system is installed between the two-stage planetary reduction system and the bevel gear reversing driving system, and is used for realizing rotation of the front axle bevel gear reversing driving system relative to the power input system and the two-stage planetary reduction system. A rear axle curved surface self-adaptive system is installed on the two-stage planetary reduction system, and is used for realizing rotation of a rear axle universal wheel relative to the power input system and the two-stage planetary reduction system. A magnet adsorption system comprises front wheel magnet groups and rear wheel magnet groups which are always parallel to a wall surface. Real-time automatic adaptive adjustment of the robot to a complex wall surface is realized, adsorption stability of the robot on the wall surface is improved, an operation mode of the robot is optimized, the ability of the robot to adapt to a complex surface is improved, and the use scene of the robot is widened.

Description

Technical Field

[0001] This invention belongs to the field of drive device technology, specifically relating to a curved surface adaptive motion drive mechanism and a wall-climbing robot. Background Technology

[0002] One of the core challenges of wall-climbing robots, especially those used for automated rust removal on large steel structures such as ship hulls, storage tanks, and bridges, is achieving reliable adhesion and free movement on vertical walls, ceilings, and even complex curved surfaces. The drive and adhesion mechanism directly determines the robot's load capacity, mobility, operational stability, and safety.

[0003] Currently, four main methods are used for adaptive driven adsorption on curved surfaces:

[0004] (1) Multi-degree-of-freedom universal joint with flexible sealing skirt mechanism: Each drive wheel is covered by an independent negative pressure chamber. The adsorption chamber is connected to the robot body through a ball joint or universal joint, so that the adsorption foot can deflect freely within a certain angle to adapt to the normal change of the curved surface. The sealing structure is designed at the bottom of the adsorption chamber, with a sealing skirt made of flexible material. This material is soft and elastic, and can fit tightly against the uneven surface under negative pressure. Even if there are small bumps, it can deform and fill them to form an effective seal.

[0005] For multi-degree-of-freedom universal joints with flexible sealing skirts, the structure is relatively complex and the cost is high. The flexible skirt is a vulnerable part that needs to be inspected and replaced regularly, and its adaptability to sharp protrusions or sudden steps is limited.

[0006] (2) Multi-cavity parallel negative pressure adsorption mechanism: This scheme adapts to curved surfaces in a "matrix" manner through dispersed, miniaturized adsorption units. The robot's chassis is not a large adsorption chamber, but consists of dozens or even hundreds of independent small adsorption chambers. These small chambers are mounted on the chassis by means of flexible corrugated pipes or spring supports, and each chamber can independently extend and retract vertically. All small chambers are connected through a common negative pressure pipeline. When the robot is placed on the curved surface, each small chamber is compressed to a different height according to the contact situation, but the sealing ring at its bottom can contact the curved surface. After the system is evacuated, each contacting chamber provides adsorption force, and the total adsorption force is the resultant force of all effectively contacting chambers.

[0007] For multi-chamber parallel negative pressure adsorption mechanisms, a large number of adsorption units are required to ensure sufficient adsorption force. The system is more complex, and the requirements for the flow rate and response speed of the common negative pressure system are high. The total volume and weight may also be large.

[0008] (3) Adaptive Adsorption Mechanism of Magnetorheological Fluid or Magnetic Powder: This is an advanced solution based on smart materials with the potential for active control. The adsorption chamber is filled with magnetorheological fluid or magnetic powder. This material exhibits good fluidity as a liquid or powder in the absence of a magnetic field, but instantly transforms into a solid-like substance under a strong magnetic field. The bottom of the adsorption chamber is a flexible membrane. During adsorption, an electric current is applied to generate a magnetic field, causing the magnetorheological fluid to solidify and "lock" the flexible membrane at the bottom of the chamber in its current shape, thus tightly fitting the curved surface contour and forming a rigid seal. When moving, the magnetic field is disconnected, the magnetorheological fluid returns to a fluid state, allowing the flexible membrane to deform freely to adapt to the curved surface contour of the next location, and then solidifies again.

[0009] For magnetorheological fluid or magnetic powder adaptive adsorption mechanisms, the technology is in the research and development and experimental stage, with high cost, complex system, high voltage power supply and control system, and magnetorheological fluid has problems with sedimentation, sealing and long-term stability, and large added weight.

[0010] (4) Modular articulated track adsorption mechanism: This scheme combines adaptability and mobility closely and is often used in wall-climbing robots. The robot adopts a tracked movement mechanism. The track consists of multiple articulated modular track plates, each of which is an independent negative pressure chamber with sealing material at the bottom. Because the track is flexible, each track plate can fit as closely as possible to the curved surface when it wraps around it. The articulated structure of the track itself provides strong self-adaptability.

[0011] For complex structures with multiple sealing elements, the failure of any one track plate seal will result in a loss of adsorption force. Maintaining negative pressure in a large cavity leads to relatively high energy consumption, and consequently, greater weight and volume.

[0012] Chinese patent application CN115582654A discloses a dot-matrix curved surface conformal magnetic adsorption mobile welding robot, including a frame, and a detection system, a control system, a four-wheel independent drive system, a walking system, a welding device, and a conformal adsorption device mounted on the frame. The control system is connected to the conformal adsorption device, ensuring that the dot-matrix magnetic core rods within the conformal adsorption device remain in constant contact with the curved surface weldment under the operation of an electro-hydraulic cylinder. This allows the robot to adapt to curved surfaces with irregular curvature changes and to maintain stable magnetic adsorption force by following the shape of the curved surface. However, this patent employs an independent four-wheel drive system with four servo motors. The adjustment of the conformal adsorption device and the four-wheel drive system are independent, resulting in a complex control structure and process. Furthermore, the four-wheel independent drive system is fixedly mounted on the frame and cannot be adjusted to change with the curved surface, leading to poor stability and adaptability of the robot on curved surfaces.

[0013] CN114084242A discloses a curved surface adaptive wheeled wall-climbing robot and its working method, including a vehicle body, a walking mechanism, a four-bar linkage, an adjustable permanent magnet adsorption force mechanism, sensors, and a control device. The four-bar linkage adjusts the wheel arm angle to adjust the wheel's position and make it fit against the wall. A lead screw device changes the gap between the adsorption module and the wall surface to adjust the magnitude of the magnetic adsorption force. In this patent, the wheels and adsorption module are independently set, and the wheel position and the adjustment of the adsorption module are independently controlled. The adsorption module can only be adjusted vertically. When the robot is on a curved wall, the wheel position can fit against the wall, but because the adsorption module can only be adjusted vertically, it cannot adapt to changes in the curvature of the surface. Therefore, it cannot guarantee that the maximum magnetic adsorption force will always be maintained, reducing the robot's adsorption stability on curved walls.

[0014] In the aforementioned existing technical solutions, the driving device and the adsorption device are set up and controlled independently, and neither has a curved surface adaptive driving mechanism. When the robot faces a complex curved surface, the driving force cannot follow the surface direction, causing a conflict between the driving force and the adsorption force. This can result in low driving efficiency or, in severe cases, a lack of adsorption reliability, leading to a direct fall.

[0015] Therefore, there is an urgent need for a wall-climbing robot with a curved surface adaptive motion drive mechanism to solve the problem that the existing wall-climbing robots have independent drive devices and adsorption devices that are set up and controlled separately, resulting in poor adaptability of the robot to complex curved walls and inability to maintain maximum magnetic attraction. Summary of the Invention

[0016] The purpose of this invention is to provide a curved surface adaptive movement drive mechanism in which the front and rear axles rotate to adapt to the wall surface, and the magnets of the front and rear axles are always parallel to the wall surface to maintain maximum magnetic attraction, thereby optimizing the robot's operation and improving its ability to adapt to complex surfaces.

[0017] The technical solution adopted by this invention to solve its technical problem is: a curved surface adaptive movement drive mechanism, comprising:

[0018] A power input system is used to realize the power input of the bevel gear reversing drive system. The power input system includes a drive motor, a motor coupling and a transverse fixed beam. The drive motor is connected to the two-stage planetary reduction system through the motor coupling.

[0019] A two-stage planetary reduction system is fixedly installed on a transverse fixed beam. The input end of the two-stage planetary reduction system is connected to the motor coupling, and the output end of the two-stage planetary reduction system is connected to the bevel gear reversing drive system to realize speed reduction and torque increase of the drive motor power transmission.

[0020] A bevel gear reversing drive system is used to realize the transmission of intersecting shafts. It includes a bevel gear reversing component and a drive wheel. The input end of the bevel gear reversing component is connected to the output end of the two-stage planetary reduction system, and the output end of the bevel gear reversing component is connected to the drive wheel.

[0021] The front axle curved surface adaptive system is installed between the two-stage planetary reduction system and the bevel gear commutation drive system to realize the rotation of the front axle bevel gear commutation drive system relative to the power input system and the two-stage planetary reduction system.

[0022] The rear axle curved surface adaptive system is fixedly installed at the bottom of the two-stage planetary reduction system to enable the rear axle caster to rotate relative to the power input system and the two-stage planetary reduction system.

[0023] The magnetic adsorption system, used to adhere to the wall surface, includes a front wheel magnet assembly and a rear wheel magnet assembly. The front wheel magnet assembly is fixedly installed at the bottom of the bevel gear reversing drive system, and the rear wheel magnet assembly is fixedly installed at the bottom of the rear axle curved surface adaptive system. The front wheel magnet assembly and the rear wheel magnet assembly are always parallel to the wall surface.

[0024] Furthermore, the two-stage planetary reduction system includes a G1 planetary gear set and a G2 planetary gear set. The G1 planetary gear set is connected to the drive motor via a motor coupling. The G1 planetary gear set is connected to the G2 planetary gear set, and a reducer adjusting washer is installed between the G1 planetary gear set and the G2 planetary gear set. The G2 planetary gear set is connected to the bevel gear reversing drive system. The drive motor achieves speed reduction and torque increase through the G1 planetary gear set and the G2 planetary gear set.

[0025] Furthermore, the G1 planetary gear set includes a G1 sun gear, G1 planet gears, a G1 ring gear, and a G1 planet carrier. The G1 sun gear is connected to the drive motor via a motor coupling. The G1 sun gear serves as the driving gear of the G1 planetary gear set. The G1 ring gear is fixed and also serves as the housing of the G1 planetary gear set and the connecting flange between the G1 planetary gear set and the drive motor. The G1 sun gear meshes with the three G1 planet gears. The outer side of the G1 planet gears also meshes with the G1 ring gear. The three G1 planet gears are fixedly connected to the G1 planet carrier. The G1 planet carrier is fixedly connected to the G2 planetary gear set. The G1 sun gear drives the three G1 planet gears to rotate. The G1 planet gears not only rotate on their own axis but also roll along the outer G1 ring gear, thereby driving the G1 planet carrier to rotate in the same direction and transmitting power to the G2 planetary gear set.

[0026] The G2 planetary gear set includes a G2 sun gear, G2 planet gears, a G2 ring gear, and a G2 planet carrier. The G1 planet carrier and the G2 sun gear are connected by a key or integrally machined. The power of the G2 planetary gear set is input from the G1 planetary gear set through the G2 sun gear. The G2 ring gear is fixed and also serves as the housing of the G2 planetary gear set. The G2 sun gear meshes with the three G2 planet gears, and the outer sides of the G2 planet gears also mesh with the G2 ring gear. The G2 planet carrier is fixedly connected to the three G2 planet gears and to the bevel gear reversing drive system. The G2 sun gear drives the three G2 planet gears to rotate. The G2 planet gears not only rotate on their own axis but also roll along the outer G2 ring gear, thereby driving the G2 planet carrier to rotate in the same direction and transmitting power to the bevel gear reversing drive system.

[0027] Furthermore, the bevel gear reversing drive system includes a small bevel gear, a large bevel gear, and an output shaft. The small bevel gear is fixedly connected to the output end of the G2 planetary carrier, the small bevel gear meshes with the large bevel gear, the large bevel gear is fixedly connected to the output shaft, and the output shaft is connected to the drive wheel. The G2 planetary carrier drives the small bevel gear to rotate, which in turn drives the large bevel gear and the output shaft to rotate, ultimately realizing the power output of the drive wheel.

[0028] Furthermore, the bevel gear commutation drive system also includes a drive wheel flange, an outer commutator housing, and an inner commutator housing. The outer and inner commutator housings are fixedly connected to form a sealed housing. The small bevel gear, the large bevel gear, and the output shaft are all located within the sealed housing to achieve closed-loop transmission. A commutator adjusting washer is installed between the outer and inner commutator housings. An axial positioning sleeve is installed on the output shaft to limit the axial sliding of the large bevel gear on the output shaft. Both ends of the output shaft pass through the outer and inner commutator housings respectively and are fixedly connected to the drive wheel flange. The drive wheel flange is fixedly connected to the drive wheel. Tapered roller bearings are installed between the output shaft and the outer and inner commutator housings to prevent dry friction.

[0029] Furthermore, the front axle curved surface adaptive system includes a commutator reducer transition flange, a rotary mechanism axial positioning flange, a rotary mechanism axial positioning retaining ring, a thin-walled bearing, a first axial positioning bearing, and a retaining ring for the bore. The commutator reducer transition flange and the G2 gear ring are fixedly connected, and a reducer adjusting washer is installed between the commutator reducer transition flange and the G2 gear ring. The rotary mechanism axial positioning flange is fixedly connected to the outer commutator housing and the inner commutator housing. A thin-walled bearing and a first axial positioning bearing are installed between the rotary mechanism axial positioning flange and the commutator reducer transition flange. The rotary mechanism axial positioning retaining ring is fixed to the commutator reducer transition flange, and a retaining ring is provided on the inner side of the commutator reducer transition flange. A retaining ring for holes is installed in the slot of the retaining ring. The first axial positioning bearing is installed between the retaining ring for holes and the axial positioning retaining ring of the rotating mechanism. The commutator reducer transition flange and the axial positioning flange of the rotating mechanism are rotated through a thin-walled bearing and the first axial positioning bearing, thereby realizing the relative rotation of the two-stage planetary reduction system and the bevel gear commutation drive system. The output end of the G2 planetary carrier passes through the commutator reducer transition flange and the axial positioning flange of the rotating mechanism and is fixedly connected to the small bevel gear. The small bevel gear is coaxial with the output shaft of the drive motor. The large bevel gear can both rotate on its own axis and revolve around the small bevel gear. The rotation of the front axle bevel gear commutation drive system is completed without affecting the normal transmission of the two-stage planetary reduction system and the bevel gear commutation drive system.

[0030] Furthermore, the rear axle curved surface adaptive system includes a rotating mechanism column, a rotating mechanism shaft, a wheel axle fixing frame, a rear wheel axle, and casters. The rotating mechanism column is fixedly installed on the housing of the two-stage planetary reduction system. The rotating mechanism shaft is nested at the end of the rotating mechanism column and is rotatably connected to the rotating mechanism column through a second axial positioning bearing. The wheel axle fixing frame is fixedly installed on the rotating mechanism shaft. The rear wheel axle is installed on the wheel axle fixing frame through bearings, and casters are installed at both ends of the rear wheel axle.

[0031] Furthermore, the rear axle curved surface adaptive system also includes a column merging flange, a second axial positioning bearing, and a shaft retaining ring. Two sets of the second axial positioning bearing are provided along the axial direction of the rotating mechanism shaft. A retaining ring groove is provided on the end side wall of the rotating mechanism shaft, and a shaft retaining ring is installed in the retaining ring groove. The shaft retaining ring is used to hold the inner ring of the second axial positioning bearing located at the end of the rotating mechanism shaft. A column merging flange is installed at the end of the rotating mechanism column. The column merging flange is used to reinforce the rotating mechanism column and hold the outer ring of the second axial positioning bearing located at the shoulder of the rotating mechanism shaft.

[0032] Furthermore, the front wheel magnet assembly includes a front wheel magnet, a front wheel magnet fixing plate, a front wheel magnet housing, and a front wheel magnet L-shaped plate. The front wheel magnet and the front wheel magnet housing are both fixedly connected to the front wheel magnet fixing plate, and the front wheel magnet is located inside the front wheel magnet housing. The front wheel magnet fixing plate is fixedly connected to the outer commutator housing and the inner commutator housing respectively through two sets of front wheel magnet L-shaped plates to ensure that the front wheel magnet is always parallel to the wall surface.

[0033] The rear wheel magnet assembly includes a rear wheel magnet, a rear wheel magnet mounting plate, a rear wheel magnet housing, and a rear wheel magnet U-shaped plate. The rear wheel magnet and the rear wheel magnet housing are both fixedly connected to the rear wheel magnet mounting plate, and the rear wheel magnet is located inside the rear wheel magnet housing. The rear wheel magnet mounting plate is fixedly connected to the wheel axle mounting bracket through the rear wheel magnet U-shaped plate to ensure that the rear wheel magnet is always parallel to the wall surface.

[0034] Another objective of this invention is to provide a wall-climbing robot employing a curved surface adaptive motion drive mechanism, comprising a robot body, with curved surface adaptive motion drive mechanisms symmetrically mounted on both sides of the robot body, and a working mechanism also mounted on the robot body.

[0035] Preferably, a main support rod is installed on the robot body, and the curved surface adaptive movement drive mechanism is fixedly installed at both ends of the main support rod through a transverse fixed beam.

[0036] The present invention has the following beneficial effects:

[0037] 1. The curved surface adaptive motion drive mechanism of the present invention completes the rotation of the front axle drive wheel through the front axle curved surface adaptive system without affecting the normal power transmission of the secondary planetary reduction system and the bevel gear reversing drive system, and realizes the rotation of the rear axle universal wheel through the rear axle curved surface adaptive system, so that the front axle drive wheel and the rear axle universal wheel can automatically adapt to the curved wall surface on which they are located, thereby realizing the robot's real-time automatic adaptive adjustment to complex curved wall surfaces.

[0038] 2. The curved surface adaptive motion drive mechanism of the present invention is provided with a front wheel magnet group and a rear wheel magnet group. The front wheel magnet group rotates synchronously with the bevel gear reversing drive system to adapt to the curved wall surface where the drive wheel is located. The rear wheel magnet group rotates synchronously with the universal wheel to adapt to the curved wall surface where the universal wheel is located. The front wheel magnet and the rear wheel magnet always remain parallel to the wall surface where they are located, maintain the maximum magnetic attraction force, and improve the robot's adsorption stability on the wall surface.

[0039] 3. The curved surface adaptive motion drive mechanism of the present invention adopts a structure combining bearings and snap rings to separate the front and rear axles from the fixed drive system (power input system and two-stage planetary reduction system) in the middle, which optimizes the robot's operation mode, improves the robot's ability to adapt to complex surfaces, and broadens the robot's application scenarios. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the curved surface adaptive motion drive mechanism of the present invention.

[0041] Figure 2 This is a top view of the curved surface adaptive motion drive mechanism of the present invention.

[0042] Figure 3 This is a cross-sectional view of the curved surface adaptive motion drive mechanism of the present invention.

[0043] Figure 4 This is the present invention. Figure 3 Enlarged view of the local structure at point A in the middle.

[0044] Figure 5 This is the present invention. Figure 3 Enlarged view of the local structure at point B in the middle.

[0045] Figure 6 This is the present invention. Figure 3 Enlarged view of the local structure at point C.

[0046] Figure 7 This is the present invention. Figure 3 Enlarged view of the local structure at point D.

[0047] Figure 8 This is a top sectional view of the bevel gear reversing drive system of the present invention.

[0048] Figure 9 This is an exploded view of the structure of the two-stage planetary deceleration system of the present invention.

[0049] Figure 10 This is a simplified diagram of the connection structure between the two-stage planetary deceleration system and the bevel gear commutation drive system of the present invention.

[0050] Figure 11 This is a schematic diagram of the overall three-dimensional structure of the curved surface adaptive movement drive mechanism of the present invention under curved surface working conditions.

[0051] Figure 12 This is a left view of the curved surface adaptive movement drive mechanism of the present invention under curved surface working conditions.

[0052] Figure 13 This is a schematic diagram of the overall three-dimensional structure of the robot using the curved surface adaptive motion drive mechanism of the present invention in a planar working condition.

[0053] Figure 14 This is a left view of a robot employing the curved surface adaptive motion drive mechanism of the present invention in a planar working condition.

[0054] Figure 15 This is a top view of a robot employing the curved surface adaptive motion drive mechanism of the present invention in a planar working condition.

[0055] Figure 16This is a schematic diagram of the overall three-dimensional structure of the robot using the curved surface adaptive motion drive mechanism of the present invention under curved surface working conditions.

[0056] Figure 17 This is a left view of a robot using the curved surface adaptive motion drive mechanism of the present invention under curved surface working conditions.

[0057] Figure 18 This is a top view of a robot using the curved surface adaptive motion drive mechanism of the present invention under curved surface working conditions.

[0058] Figure 19 This is a schematic diagram of the working state of a robot using the curved surface adaptive motion drive mechanism of the present invention under curved surface conditions.

[0059] In the picture:

[0060] 1. Power input system; 2. Two-stage planetary reduction system; 3. Bevel gear reversing drive system; 4. Front axle surface adaptive system; 5. Rear axle surface adaptive system; 6. Magnet adsorption system; 7. Robot body; 8. Surface adaptive motion drive mechanism.

[0061] 101. Drive motor; 102. Motor coupling; 103. Transverse fixed beam;

[0062] 201, G1 sun gear; 202, G1 planet gear; 203, G1 ring gear; 204, G1 planet carrier; 205, G2 sun gear; 206, G2 planet gear; 207, G2 ring gear; 208, G2 planet carrier; 209, reducer adjusting washer.

[0063] 301. Small bevel gear; 302. Large bevel gear; 303. Output shaft; 304. Axial positioning sleeve; 305. Drive wheel flange; 306. Drive wheel; 307. Commutator adjusting washer; 308. Outer commutator housing; 309. Inner commutator housing.

[0064] 401. Commutator reducer adapter flange; 402. Rotary mechanism axial positioning flange; 403. Rotary mechanism axial positioning retaining ring; 404. Thin-walled bearing; 405. First axial positioning bearing; 406. Hole snap ring.

[0065] 501. Rotating mechanism column; 502. Rotating mechanism shaft; 503. Column merging flange; 504. Wheel and axle fixing bracket; 505. Rear wheel and axle; 506. Caster wheel; 507. Second axial positioning bearing; 508. Shaft retaining ring.

[0066] 601. Front wheel magnet; 602. Front wheel magnet mounting plate; 603. Front wheel magnet housing; 604. Front wheel magnet L-shaped plate; 605. Rear wheel magnet; 606. Rear wheel magnet mounting plate; 607. Rear wheel magnet housing; 608. Rear wheel magnet U-shaped plate. Detailed Implementation

[0067] The following are specific embodiments of the present invention, which further describe the technical solution of the present invention. However, the scope of protection of the present invention is not limited to these embodiments. All changes or equivalent substitutions that do not depart from the concept of the present invention are included within the scope of protection of the present invention.

[0068] like Figures 1-6 As shown, a curved surface adaptive motion drive mechanism includes:

[0069] The power input system 1 is used to realize the power input of the bevel gear reversing drive system 3. The power input system 1 includes a drive motor 101, a motor coupling 102 and a transverse fixed beam 103. The drive motor 101 is connected to the two-stage planetary reduction system 2 through the motor coupling 102.

[0070] The two-stage planetary reduction system 2 is fixedly installed on the transverse fixed beam 103. The input end of the two-stage planetary reduction system 2 is connected to the motor coupling 102, and the output end of the two-stage planetary reduction system 2 is connected to the bevel gear reversing drive system 3, so as to realize the speed reduction and torque increase of the power transmission of the drive motor 101.

[0071] The bevel gear reversing drive system 3 is used to realize the intersecting shaft transmission. It includes a bevel gear reversing component and a drive wheel 306. The input end of the bevel gear reversing component is connected to the output end of the two-stage planetary reduction system 2, and the output end of the bevel gear reversing component is connected to the drive wheel 306.

[0072] The front axle curved surface adaptive system 4 is installed between the two-stage planetary reduction system 2 and the bevel gear reversing drive system 3, and is used to realize the rotation of the front axle bevel gear reversing drive system 3 relative to the power input system 1 and the two-stage planetary reduction system 2.

[0073] The rear axle curved surface adaptive system 5 is fixedly installed at the bottom of the two-stage planetary reduction system 2, and is used to realize the rotation of the rear axle universal wheel relative to the power input system 1 and the two-stage planetary reduction system 2;

[0074] The magnetic adsorption system 6 is used to adsorb onto the wall surface, including a front wheel magnet assembly and a rear wheel magnet assembly. The front wheel magnet assembly is fixedly installed at the bottom of the bevel gear reversing drive system 3, and the rear wheel magnet assembly is fixedly installed at the bottom of the rear axle curved surface adaptive system 5. The front wheel magnet assembly and the rear wheel magnet assembly are always parallel to the wall surface.

[0075] like Figure 6-10As shown, the two-stage planetary reduction system 2 includes a G1 planetary gear set and a G2 planetary gear set. The G1 planetary gear set is connected to the drive motor 101 via a motor coupling 102. The G1 planetary gear set is connected to the G2 planetary gear set, and a reducer adjusting washer 209 is installed between the G1 planetary gear set and the G2 planetary gear set to seal and adjust the axial distance between the transmission components of the G1 planetary gear set and the G2 planetary gear set. The G2 planetary gear set is connected to the bevel gear reversing drive system 3. The drive motor 101 achieves speed reduction and torque increase through the G1 planetary gear set and the G2 planetary gear set.

[0076] The G1 planetary gear set includes a G1 sun gear 201, G1 planet gears 202, a G1 ring gear 203, and a G1 planet carrier 204. The G1 sun gear 201 is connected to the drive motor 101 via a motor coupling 102, serving as the driving gear of the G1 planetary gear set. The G1 ring gear 203 is fixed and also serves as the housing of the G1 planetary gear set and the connecting flange between the G1 planetary gear set and the drive motor 101. The G1 sun gear 201 connects to the three G1 planetary carriers 204. The star gear 202 is meshed and connected. The outer side of the G1 planetary gear 202 is also meshed and connected to the G1 ring gear 203. The three G1 planetary gears 202 are fixedly connected to the G1 planetary carrier 204. The G1 planetary carrier 204 is fixedly connected to the G2 planetary gear set. The G1 sun gear 201 drives the three G1 planetary gears 202 to rotate. The G1 planetary gears 202 not only rotate on their own axis, but also roll along the outer side of the G1 ring gear 203, thereby driving the G1 planetary carrier 204 to rotate in the same direction, and then transmitting power to the G2 planetary gear set.

[0077] The G2 planetary gear set includes a G2 sun gear 205, G2 planet gears 206, a G2 ring gear 207, and a G2 planet carrier 208. The G1 planet carrier 204 and the G2 sun gear 205 are connected by a key or integrally machined. The power of the G2 planetary gear set is input from the G1 planetary gear set through the G2 sun gear 205. The G2 ring gear 207 is fixed and also serves as the housing of the G2 planetary gear set. The G2 sun gear 205 meshes with the three G2 planet gears 206. The outer side of the G2 planetary gear 206 is also meshed with the G2 ring gear 207. The G2 planetary carrier 208 is fixedly connected to the three G2 planetary gears 206. The G2 planetary carrier 208 is fixedly connected to the bevel gear reversing drive system 3. The G2 sun gear 205 drives the three G2 planetary gears 206 to rotate. The G2 planetary gears 206 not only rotate on their own axis, but also roll along the outer G2 ring gear 207, thereby driving the G2 planetary carrier 208 to rotate in the same direction, and then transmitting power to the bevel gear reversing drive system 3.

[0078] The bevel gear reversing drive system 3 mainly utilizes a pair of helical bevel teeth to achieve intersecting shaft transmission, transferring power to the drive wheels of the front axle to realize the function of driving the robot. For example... Figures 3-8As shown, the bevel gear reversing drive system 3 includes a small bevel gear 301, a large bevel gear 302, and an output shaft 303. The small bevel gear 301 is connected to the output end of the G2 planetary carrier 208 via an internal spline. The small bevel gear 301, as the driving gear, meshes with the large bevel gear 302, which is the driven gear. The large bevel gear 302 is connected to the output shaft 303 via a flat key. Both ends of the output shaft 303 are connected to the drive wheel 306. The G2 planetary carrier 208 drives the small bevel gear 301 to rotate, which in turn drives the large bevel gear 302 and the output shaft 303 to rotate, ultimately realizing the power output of the drive wheel 306.

[0079] The bevel gear commutation drive system 3 also includes a drive wheel flange 305, an outer commutator housing 308, and an inner commutator housing 309. The outer commutator housing 308 and the inner commutator housing 309 are fixedly connected to form a sealed housing, which is used to limit the position of the transmission components of the bevel gear commutation drive system 3: the small bevel gear 301, the large bevel gear 302, and the output shaft 303. The small bevel gear 301, the large bevel gear 302, and the output shaft 303 are all located in the sealed housing to achieve closed transmission. A commutator adjusting washer 307 is installed between the outer commutator housing 308 and the inner commutator housing 309 for commutation. The adjusting washer 307 is used to seal and adjust the axial distance of the output end of the bevel gear commutator drive system 3. An axial positioning sleeve 304 is installed on the output shaft 303 to limit the axial sliding of the large bevel gear 302 on the output shaft 303. The two ends of the output shaft 303 pass through the outer commutator housing 308 and the inner commutator housing 309 respectively and are connected to the drive wheel flange 305 by a flat key. The drive wheel flange 305 is fixedly connected to the drive wheel 306. Tapered roller bearings are installed between the output shaft 303 and the outer commutator housing 308 and the inner commutator housing 309 to prevent dry friction.

[0080] The front axle curved surface adaptive system 4 mainly achieves the rotation of the front axle bevel gear reversing drive system 3 through a structure of a pair of bearings and a snap ring, in order to adapt to complex curved surfaces. For example... Figure 4As shown, the front axle curved surface adaptive system 4 includes a commutator reducer transition flange 401, a rotary mechanism axial positioning flange 402, a rotary mechanism axial positioning retaining ring 403, a thin-walled bearing 404, a first axial positioning bearing 405, and a hole snap ring 406. The commutator reducer transition flange 401 and the G2 gear ring 207 are fixedly connected, and a reducer adjusting washer 209 is installed between the commutator reducer transition flange 401 and the G2 gear ring 207 to seal and adjust the axial distance of the output end of the second-stage planetary reduction system 2. The rotary mechanism axial positioning flange 402 is connected to the outer commutator housing 308 and the inner commutator housing 308. The commutator housing 309 is fixedly connected. A thin-walled bearing 404 and a first axial positioning bearing 405 are installed between the axial positioning flange 402 of the rotating mechanism and the transition flange 401 of the commutator reducer. The transition flange 401 of the commutator reducer provides axial positioning for the end of the thin-walled bearing 404 near the second-stage planetary reduction system 2. The axial positioning flange 402 of the rotating mechanism provides axial positioning for the end of the outer ring of the thin-walled bearing 404 near the bevel gear commutation drive system 3. The axial positioning retaining ring 403 of the rotating mechanism is fixed to the transition flange 401 of the commutator reducer by screws. The inner side of the transition flange 401 of the commutator reducer is provided with... There is a retaining ring groove, and a retaining ring 406 for drilling is installed in the retaining ring groove. The first axial positioning bearing 405 is installed between the retaining ring 406 for drilling and the axial positioning retaining ring 403 of the rotating mechanism. The retaining ring 406 for drilling provides axial positioning for the end of the first axial positioning bearing 405 near the bevel gear reversing drive system 3. The axial positioning retaining ring 403 of the rotating mechanism has a stepped section to provide axial positioning for the end of the first axial positioning bearing 405 near the second-stage planetary reduction system 2. The commutator reducer transition flange 401 and the axial positioning flange 402 of the rotating mechanism are connected by a thin-walled bearing 404 and the first axial positioning bearing 406. 5. Rotation is achieved, thereby enabling relative rotation between the secondary planetary reduction system 2 and the bevel gear reversing drive system 3. The output end of the G2 planetary carrier 208 passes through the commutator reducer transition flange 401 and the axial positioning flange 402 of the rotating mechanism and is fixedly connected to the small bevel gear 301. The small bevel gear 301 is coaxial with the output shaft of the drive motor 101. The large bevel gear 302 can both rotate on its own axis and revolve around the small bevel gear 301. The rotation of the front axle bevel gear reversing drive system 3 is completed without affecting the normal transmission between the secondary planetary reduction system 2 and the bevel gear reversing drive system 3, thereby improving the adaptability of the drive mechanism to complex curved surfaces.

[0081] The rear axle curved surface adaptive system 5 mainly achieves the rotation of the rear axle through a structure of a pair of bearings and a snap ring, such as... Figure 5 , Figure 7As shown, the rear axle curved surface adaptive system 5 includes a rotating mechanism column 501, a rotating mechanism shaft 502, a wheel axle fixing frame 504, a rear wheel axle 505, and casters 506. The rotating mechanism column 501 is fixedly installed on the housing of the two-stage planetary reduction system 2 by bolts and nuts. The rotating mechanism shaft 502 is nested at the end of the rotating mechanism column 501 and is positioned by a second axial positioning bearing 507. The rotating mechanism shaft 502 is rotatably connected to the rotating mechanism column 501 by the second axial positioning bearing 507. The wheel axle fixing frame 504 is fixedly installed on the rotating mechanism shaft 502 by bolts. The rear wheel axle 505 is installed on the wheel axle fixing frame 504 by steps and bearings. Casters 506 are installed at both ends of the rear wheel axle 505 to eliminate the axial force of the drive wheel 306 when the robot is differentially steering.

[0082] The rear axle curved surface adaptive system 5 also includes a column merging flange 503, a second axial positioning bearing 507, and a shaft retaining ring 508. Two sets of the second axial positioning bearing 507 are provided along the axial direction of the rotating mechanism shaft 502. A retaining ring groove is provided on the end side wall of the rotating mechanism shaft 502, and a shaft retaining ring 508 is provided in the retaining ring groove. The shaft retaining ring 508 is used to hold the inner ring of the second axial positioning bearing 507 located at the end of the rotating mechanism shaft 502 to prevent the rear axle from slipping out. The end of the rotating mechanism column 501 is equipped with a column merging flange 503. The column merging flange 503 is used to reinforce the rotating mechanism column 501 and at the same time hold the outer ring of the second axial positioning bearing 507 located at the shoulder of the rotating mechanism shaft 502, so that the entire rear axle can rotate freely.

[0083] Preferably, two sets of wheel axle fixing brackets 504 are symmetrically provided. One end of each set of wheel axle fixing brackets 504 is fixed to the shaft 502 of the rotating mechanism by bolts. The other end of each set of wheel axle fixing brackets 504 is connected to the rear wheel axle 505. The two sets of wheel axle fixing brackets 504 are also used to connect and fix the two open ends of the rear wheel magnet U-shaped plate 608.

[0084] The magnetic adsorption system 6 mainly uses front wheel magnet assemblies and rear wheel magnet assemblies fixed to the front and rear axles respectively. It utilizes the adsorption force of permanent magnets on the wall surface to provide the robot with pressure perpendicular to the wall, enabling it to climb walls. For example... Figure 3As shown, the front wheel magnet assembly includes a front wheel magnet 601, a front wheel magnet mounting plate 602, a front wheel magnet housing 603, and a front wheel magnet L-shaped plate 604. The front wheel magnet 601 and the front wheel magnet housing 603 are both fixedly connected to the front wheel magnet mounting plate 602. The front wheel magnet 601 is fixed to the front wheel magnet mounting plate 602 by long screws. The front wheel magnet 601 is located inside the front wheel magnet housing 603. The front wheel magnet housing 603 is used to prevent the front wheel magnet 601 from attracting surrounding metal objects and damaging the magnet. The front wheel magnet mounting plate 602 is fixedly connected to the outer commutator housing 308 and the inner commutator housing 309 by two sets of front wheel magnet L-shaped plates 604 using long bolts to ensure that the front wheel magnet 601 is always parallel to the wall surface to provide maximum magnetic attraction.

[0085] like Figure 7 As shown, the rear wheel magnet assembly includes a rear wheel magnet 605, a rear wheel magnet mounting plate 606, a rear wheel magnet housing 607, and a rear wheel magnet U-shaped plate 608. Both the rear wheel magnet 605 and the rear wheel magnet housing 607 are fixedly connected to the rear wheel magnet mounting plate 606. The rear wheel magnet 605 is fixedly connected to the rear wheel magnet mounting plate 606 by long screws. The rear wheel magnet 605 is located inside the rear wheel magnet housing 607 to prevent it from attracting surrounding metal objects and damaging the magnet. The rear wheel magnet mounting plate 606 is fixedly connected to the wheel axle mounting bracket 504 via the rear wheel magnet U-shaped plate 608, ensuring that the rear wheel magnet 605 is always parallel to the wall surface to provide maximum magnetic force.

[0086] In planar working conditions, such as Figure 1 As shown, the two drive wheels 306 and the two casters 506 are located in the same plane. The drive motor 101 transmits power to the G1 sun gear 201 through the motor coupling 102. The G1 sun gear 201 drives the G1 planet gear 202 to rotate. The G1 planet gear 202 not only rotates on its own axis but also rolls along the outer G1 gear ring 203, thereby driving the G1 planet carrier 204 to rotate in the same direction. The G1 planet carrier 204 drives the G2 sun gear 205 to rotate, and the G2 sun gear 205 drives the G2 planet gear 206 to rotate. The G2 planetary gear 206 not only rotates on its own axis but also rolls along the outer G2 gear ring 207, thereby driving the G2 planetary carrier 208 to rotate in the same direction. The G2 planetary carrier 208 drives the small bevel gear 301 to rotate, which in turn drives the large bevel gear 302 and the output shaft 303 to rotate, realizing the reversal of the power output of the drive motor 101. The output shaft 303 drives the drive wheel 306 to rotate, thereby enabling the drive wheel 306 to move the entire drive mechanism. During this process, the universal wheel 506 moves with the drive wheel 306 in the same plane. During the movement of the drive mechanism, the front wheel magnet 601 and the rear wheel magnet 605 remain parallel to the wall surface, maintaining maximum magnetic attraction, so that the drive mechanism is stably attached to the wall surface.

[0087] In curved surface conditions, such as Figure 11 , Figure 12 As shown, due to the curved surface of the wall, the drive wheel 306 and the caster wheel 506 are not on the same plane. At this time, the power transmission process of the drive motor 101 is the same as in the planar working condition. The commutator reducer transition flange 401 and the axial positioning flange 402 of the rotating mechanism are rotated through the thin-walled bearing 404 and the first axial positioning bearing 405. The rotation of the front axle bevel gear reversing drive system 3 is completed without affecting the normal transmission of the secondary planetary reduction system 2 and the bevel gear reversing drive system 3. That is, the rotation of the drive wheel 306 is completed to automatically adapt to the curved wall surface where the drive wheel 306 is located. The rotating mechanism shaft 502 is rotatably connected to the rotating mechanism column 501 through the second axial positioning bearing 507. The caster wheel 506 rotates with the rotating mechanism shaft 502 to automatically adapt to the curved wall surface where the caster wheel 506 is located. Thus, the adaptive adjustment of the drive wheel 306 and the caster wheel 506 to the curved wall surface is realized. Since the front wheel magnet assembly is fixedly connected to the outer commutator housing 308 and the inner commutator housing 309, and the rear wheel magnet assembly is fixedly connected to the wheel axle fixing bracket 504, during the movement of the drive mechanism on the curved wall, the front wheel magnet assembly rotates synchronously with the bevel gear commutation drive system 3 to adapt to the curved wall where the drive wheel 306 is located, and the rear wheel magnet assembly rotates synchronously with the universal wheel 506 to adapt to the curved wall where the universal wheel 506 is located. Therefore, the front wheel magnet 601 and the rear wheel magnet 605 always remain parallel to the curved wall where they are located, maintain maximum magnetic attraction, and maintain stable magnetic adsorption.

[0088] Another objective of this invention is to provide a wall-climbing robot employing a curved surface adaptive motion drive mechanism, comprising a robot body 7, with curved surface adaptive motion drive mechanisms 8 symmetrically mounted on both sides of the robot body 7, and a working mechanism also mounted on the robot body 7, wherein different working modules can be installed on the working mechanism according to different working requirements.

[0089] In a preferred embodiment of the present invention, a main support rod is installed on the robot body 7, and the curved surface adaptive movement drive mechanism 8 is fixedly installed at both ends of the main support rod through a transverse fixing beam 103.

[0090] The structure of a wall-climbing robot employing a curved surface adaptive motion drive mechanism in planar conditions is as follows: Figures 13-15 As shown, the structure under curved surface conditions is as follows: Figures 16-18 As shown, the working state under curved surface conditions is as follows: Figure 19 As shown.

[0091] This invention is not limited to the above-described embodiments. Anyone should know that any structural changes made under the guidance of this invention, and any technical solutions that are the same as or similar to this invention, fall within the protection scope of this invention.

[0092] The technologies, shapes, and structures not described in detail in this invention are all known technologies.

Claims

1. A curved surface adaptive mobile drive mechanism, characterized by, The application relates to a power input system for realizing power input of a bevel gear reversing driving system, a two-stage planetary reduction system, a bevel gear reversing driving system, a front axle curved surface self-adapting system, a rear axle curved surface self-adapting system and a magnet adsorption system. The power input system comprises a driving motor, a motor shaft and a transverse fixing beam, wherein the driving motor is connected with the two-stage planetary reduction system through the motor shaft. The two-stage planetary reduction system is fixedly installed on the transverse fixing beam, the input end of the two-stage planetary reduction system is connected with the motor shaft, the output end of the two-stage planetary reduction system is connected with the bevel gear reversing driving system, and the driving motor power transmission is reduced in speed and increased in torque. The bevel gear reversing driving system comprises a bevel gear reversing assembly and a driving wheel, the input end of the bevel gear reversing assembly is connected with the output end of the two-stage planetary reduction system, and the output end of the bevel gear reversing assembly is connected with the driving wheel. The front axle curved surface self-adapting system is installed between the two-stage planetary reduction system and the bevel gear reversing driving system, and is used for realizing rotation of the front axle bevel gear reversing driving system relative to the power input system and the two-stage planetary reduction system. The rear axle curved surface self-adapting system is fixedly installed at the bottom of the two-stage planetary reduction system, and is used for realizing rotation of the rear axle universal wheel relative to the power input system and the two-stage planetary reduction system. The magnet adsorption system is used for being adsorbed on a wall surface, and comprises a front wheel magnet group and a rear wheel magnet group. The front wheel magnet group is fixedly installed at the bottom of the bevel gear reversing driving system, the rear wheel magnet group is fixedly installed at the bottom of the rear axle curved surface self-adapting system, and the front wheel magnet group and the rear wheel magnet group are always parallel to the wall surface. The front axle curved surface self-adapting system comprises a reverser reducer adapter flange, an axial positioning flange of a rotating mechanism, an axial positioning retainer ring of the rotating mechanism, a thin-wall bearing, a first axial positioning bearing, and a hole clamping spring, the reverser reducer adapter flange is fixedly connected with a G2 gear ring, a reducer adjusting washer is arranged between the reverser reducer adapter flange and the G2 gear ring, the axial positioning flange of the rotating mechanism is fixedly connected with an outer reverser box body and an inner reverser box body, the thin-wall bearing and the first axial positioning bearing are arranged between the axial positioning flange of the rotating mechanism and the reverser reducer adapter flange, the reverser reducer adapter flange is provided with a clamping spring groove in the inner side, the hole clamping spring is arranged in the clamping spring groove, the first axial positioning bearing is arranged between the hole clamping spring and the axial positioning retainer ring of the rotating mechanism, the reverser reducer adapter flange and the axial positioning flange of the rotating mechanism are rotated through the thin-wall bearing and the first axial positioning bearing, so that the two-stage planetary reduction system and the bevel gear reversing driving system are relatively rotated, the output end of a G2 planetary carrier passes through the reverser reducer adapter flange and the axial positioning flange of the rotating mechanism and is fixedly connected with a small bevel gear, the small bevel gear is coaxial with the output shaft of the driving motor, and a large bevel gear can rotate around the small bevel gear and can rotate around the small bevel gear, so that the rotation of the front axle bevel gear reversing driving system is realized without affecting the normal transmission of the two-stage planetary reduction system and the bevel gear reversing driving system.

2. The curved surface adaptive movement drive mechanism of claim 1, wherein, The secondary planetary reduction system comprises a G1 planetary gear set and a G2 planetary gear set, the G1 planetary gear set is connected with the driving motor through a motor shaft, the G1 planetary gear set is connected with the G2 planetary gear set, a reducer adjusting washer is installed between the G1 planetary gear set and the G2 planetary gear set, the G2 planetary gear set is connected with the bevel gear reversing drive system, and the driving motor realizes speed reduction and torque increase through the G1 planetary gear set and the G2 planetary gear set.

3. The curved surface adaptive movement drive mechanism of claim 2, wherein, The G1 sun gear is connected with the driving motor through a motor shaft, the G1 sun gear serves as a driving wheel of the G1 planetary gear set, the G1 ring gear is fixed, the G1 ring gear simultaneously serves as a box body of the G1 planetary gear set and a connecting flange of the G1 planetary gear set and the driving motor, the G1 sun gear is in meshing connection with three G1 planet gears, the outer side of the G1 planet gears is in meshing connection with the G1 ring gear, the three G1 planet gears are fixedly connected with a G1 planet carrier, the G1 planet carrier is fixedly connected with the G2 planetary gear set, the G1 sun gear drives the three G1 planet gears to rotate, the G1 planet gears not only rotate around their own axes but also roll along the outer side of the G1 ring gear, so that the G1 planet carrier rotates in the same direction, and then power is transmitted to the G2 planetary gear set. The G1 planet carrier is connected with the G2 sun gear through a key or is integrally formed, power of the G2 planetary gear set is input through the G2 sun gear, the G2 ring gear is fixed, the G2 ring gear simultaneously serves as a box body of the G2 planetary gear set, the G2 sun gear is in meshing connection with three G2 planet gears, the outer side of the G2 planet gears is in meshing connection with the G2 ring gear, the G2 planet carrier is fixedly connected with the three G2 planet gears, the G2 planet carrier is fixedly connected with the bevel gear reversing drive system, the G2 sun gear drives the three G2 planet gears to rotate, the G2 planet gears not only rotate around their own axes but also roll along the outer side of the G2 ring gear, so that the G2 planet carrier rotates in the same direction, and then power is transmitted to the bevel gear reversing drive system.

4. The curved surface adaptive movement drive mechanism of claim 2, wherein, The bevel gear reversing drive system comprises a small bevel gear, a large bevel gear and an output shaft, the small bevel gear is fixedly connected with an output end of the G2 planet carrier, the small bevel gear is in meshing connection with the large bevel gear, the large bevel gear is fixedly connected with the output shaft, the output shaft is connected with a driving wheel, the G2 planet carrier drives the small bevel gear to rotate, and then drives the large bevel gear and the output shaft to rotate, and finally realizes power output of the driving wheel.

5. The curved surface adaptive movement drive mechanism of claim 4, wherein, The bevel gear reversing drive system further comprises a driving wheel flange, an outer reversing box and an inner reversing box, the outer reversing box and the inner reversing box are fixedly connected to form a sealed box body, the small bevel gear, the large bevel gear and the output shaft are located in the sealed box body to realize closed transmission, a reversing adjusting washer is arranged between the outer reversing box and the inner reversing box, an axial positioning sleeve is arranged on the output shaft to limit the axial sliding of the large bevel gear on the output shaft, the two ends of the output shaft are fixedly connected to the driving wheel flange after penetrating through the outer reversing box and the inner reversing box, the driving wheel flange is fixedly connected to the driving wheel, and a tapered roller bearing is additionally arranged between the output shaft and the outer reversing box and the inner reversing box to prevent dry friction.

6. The curved surface adaptive movement drive mechanism of claim 5, wherein, The rear axle curved surface adaptive system comprises a rotating mechanism stand, a rotating mechanism shaft, an axle fixing frame, a rear axle and universal wheels, the rotating mechanism stand is fixedly installed on the shell of the secondary planetary reduction system, the rotating mechanism shaft is nested at the end of the rotating mechanism stand, and the rotating mechanism shaft is rotatably connected to the rotating mechanism stand through the second axial positioning bearing, the axle fixing frame is fixedly installed on the rotating mechanism shaft, the rear axle is installed on the axle fixing frame through a bearing, and the two ends of the rear axle are respectively provided with the universal wheels.

7. The curved surface adaptive movement drive mechanism of claim 6, wherein, The rear axle curved surface adaptive system further comprises a stand merging flange, a second axial positioning bearing and a shaft clamp spring, two sets of the second axial positioning bearings are arranged along the axial direction of the rotating mechanism shaft, a clamp spring groove is arranged on the side wall of the end of the rotating mechanism shaft, the shaft clamp spring is arranged in the clamp spring groove, the shaft clamp spring is used for pressing the inner ring of the second axial positioning bearing at the end of the rotating mechanism shaft, the end of the rotating mechanism stand is provided with the stand merging flange, the stand merging flange is used for reinforcing the rotating mechanism stand and pressing the outer ring of the second axial positioning bearing at the shaft shoulder of the rotating mechanism shaft.

8. The curved surface adaptive movement drive mechanism of claim 6, wherein, The front wheel magnet group comprises a front wheel magnet, a front wheel magnet fixing plate, a front wheel magnet shell and a front wheel magnet L-shaped plate, the front wheel magnet and the front wheel magnet shell are fixedly connected to the front wheel magnet fixing plate, the front wheel magnet is located in the front wheel magnet shell, and the front wheel magnet fixing plate is fixedly connected to the outer reversing box and the inner reversing box through the two groups of front wheel magnet L-shaped plates, so that the front wheel magnet is always parallel to the wall surface. The rear wheel magnet group comprises a rear wheel magnet, a rear wheel magnet fixing plate, a rear wheel magnet shell and a rear wheel magnet U-shaped plate, the rear wheel magnet and the rear wheel magnet shell are fixedly connected to the rear wheel magnet fixing plate, the rear wheel magnet is located in the rear wheel magnet shell, and the rear wheel magnet fixing plate is fixedly connected to the axle fixing frame through the rear wheel magnet U-shaped plate, so that the rear wheel magnet is always parallel to the wall surface.

9. A wall-climbing robot employing the curved surface self-adaptive mobile driving mechanism according to any one of claims 1-8, characterized in that, The robot body is provided with the curved surface adaptive mobile driving mechanism on both sides and the working mechanism.

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