Wall-climbing robot multi-dimensional advancing system based on hydraulic coordination control

Abstract

The invention discloses a wall-climbing robot multi-dimensional advancing system based on hydraulic coordination control. The wall-climbing robot multi-dimensional advancing system comprises a machine body, a walking mechanism, a hanging mechanism and an auxiliary magnetic attraction mechanism. Suspension mechanisms are arranged on the periphery of the machine body and adjust the posture of the machine body through electric push rods and gas springs, and multi-direction balance on the inner wall of the tank body is achieved; the walking mechanism comprises a cabin, a driving motor, a chain and an adsorption mechanism, the driving motor drives the chain to operate, and the adsorption mechanism achieves stable attachment through a Halbach structure magnetic field; a hydraulic coordination system composed of a first hydraulic rod and a second hydraulic rod is arranged in the cabin and used for synchronously adjusting the tensioning force and the adsorption pressure of the chain. According to the system, the magnetic attraction strength and the chain tension can be adjusted in real time according to the curvature and posture change of the tank body, the problems that an existing wall-climbing robot is insufficient in attraction force, lagged in posture adjustment and unstable in movement in a complex curved surface environment are solved, and stable climbing and high-precision detection in a multi-dimensional space are achieved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent detection and special robot technology, specifically relating to a multi-dimensional movement system for a wall-climbing robot based on hydraulic coordinated control. Background Technology

[0002] With the increasing scale and complexity of industrial equipment, internal inspection and cleaning tasks for facilities such as storage tanks, pipe racks, and large pressure vessels are becoming more frequent. Traditional manual inspection methods are not only labor-intensive and dangerous, but also cannot be carried out continuously for extended periods in toxic, pressurized, or confined environments. Therefore, wall-climbing robots are gradually becoming important equipment to replace manual inspection and maintenance. They move on vertical or curved walls through magnetic attraction or negative pressure adsorption. However, existing wall-climbing robots mostly use rigid drives and unidirectional adsorption structures, which often result in uneven adsorption forces when the wall curvature is large or the environment is complex, easily leading to detachment, slippage, or instability.

[0003] Currently, some wall-climbing robots employ chain- or tracked walking structures to enhance adhesion. However, limited by their mechanical structure and control methods, their motion coordination and adaptability remain insufficient. Especially in complex spaces such as the inner walls of tanks, the robot's adhesion surface often fails to maintain full contact with the wall due to localized curvature, welds, and uneven areas, leading to decreased adhesion. Simultaneously, some structures lack effective buffering and posture adjustment systems. When the robot's posture changes or the wall curvature abruptly shifts, the adhesion surface of the walking mechanism struggles to adjust quickly, causing deviations in the climbing trajectory or interruptions in adhesion. Furthermore, hydraulic or electric control systems are mostly single-loop drives, lacking multi-dimensional coordinated control capabilities. This prevents synchronous adjustment of the robot's posture and adaptive control of chain tension in complex spaces, affecting overall climbing stability.

[0004] Traditional magnetic attraction systems are prone to issues of excessively strong or weak magnetic force during continuous operation. Excessive magnetic force increases the robot's resistance and makes turning difficult, while insufficient force prevents the robot from stably attaching to inverted or vertical walls. Furthermore, existing auxiliary support mechanisms often employ fixed brackets or roller structures, lacking the ability to dynamically adapt to the curvature of the tank wall, making it difficult to achieve smooth movement under complex working conditions. Summary of the Invention

[0005] To address the problems existing in the prior art, the purpose of this invention is to provide a multi-dimensional movement system for a wall-climbing robot based on hydraulic coordinated control, which can stably adhere to and flexibly move in complex curved surface environments.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A multi-dimensional movement system for a wall-climbing robot based on hydraulic coordinated control includes a body, with suspension mechanisms arranged around the body, and a walking mechanism connected to each suspension mechanism. The walking mechanism is used to drive the body to move inside the tank to be inspected. The traveling mechanism includes a cabin connected to the suspension mechanism. Both ends of the cabin's interior are equipped with drive sprockets and driven sprockets, and the exterior of the cabin is equipped with a drive motor that cooperates with the drive sprockets. The cabin is equipped with a chain, and adsorption mechanisms are evenly spaced on the chain. The adsorption mechanisms adsorb onto the inner wall of the tank to be tested. The bottom of the device is symmetrically equipped with an auxiliary magnetic attraction mechanism, which allows the device to be attached to the inner wall of the tank by magnetic attraction.

[0007] Furthermore, the auxiliary magnetic attraction mechanism includes a connecting platform connected to the body, with guide members symmetrically arranged at the bottom of the connecting platform, and an electromagnet slidably connected inside the guide member; a base is fixedly connected to the outer side of each of the four corners of the electromagnet, and a guide post is fixedly connected to the base, the guide post is movably inserted into the guide member, and a spring is sleeved on the guide post, and a stop cap is provided on the top of the guide post. The bottom of the base is connected to a rolling support.

[0008] Furthermore, a guide groove is provided on the side of the guide member, and the guide post is located in the guide groove; Both ends of the guide are fixedly connected to positioning rings, and the guide post passes through the positioning rings set at the bottom; The connecting platform has symmetrical through holes, and the positioning ring at the top is connected to the connecting holes by screws.

[0009] Furthermore, the rolling support includes a positioning chamber, inside which a rolling ball is placed, and a positioning window is provided at the bottom of the positioning chamber, the diameter of which is smaller than that of the rolling ball. The positioning chamber has a limiting groove, which is evenly distributed around the axis of the positioning chamber. Each limiting groove contains a ball, which can rotate within the limiting groove. The ball and the ball are in contact. The top of the positioning chamber is secured with a pressure cap.

[0010] Furthermore, the bottom of the base is symmetrically and fixedly connected with plug-in posts; The top of the positioning chamber is symmetrically provided with insertion slots corresponding to the insertion posts; The upper end face of the pressure cap is provided with a through hole corresponding to the insertion slot; When the rolling support is connected to the base, the plug is inserted into the through hole and the plug groove.

[0011] Furthermore, a lower pressure ring is provided at the bottom of the pressure cap, and a positioning block is provided on the outer side of the lower pressure ring; When the pressure cap is connected to the positioning chamber, the positioning block engages in the limiting groove.

[0012] Furthermore, the adsorption mechanism includes a steel plate connected to a chain, a brass plate is provided at the upper middle part of the steel plate, and permanent magnets are provided on both sides of the brass plate. The two permanent magnets are distributed in a Heilbeck structure, and a protective cover is provided on the steel plate to prevent the permanent magnets from being directly adsorbed onto the tank wall.

[0013] Furthermore, the suspension mechanism includes a support frame arranged opposite to each other, a connecting plate is provided at the bottom of the support frame, the connecting plate is fixed to the machine body by bolts, an upper crossbar and a lower crossbar are provided inside the support frame, an electric push rod is symmetrically arranged on the upper crossbar, and the telescopic end of the electric push rod is rotatably connected to the connecting frame. A gas spring is rotatably connected to the lower crossbar, and the other end of the gas spring is rotatably connected to the connecting frame. A pin plate is rotatably connected between the connecting frame and the support frame; The connecting frame has a connecting seat on its side, which is connected to the cabin.

[0014] Furthermore, the cabin is symmetrically equipped with first hydraulic rods, and the telescopic end of the first hydraulic rods is rotatably connected to a pressure wheel; The cabin is equipped with fixed wheels. Both the pressure roller and the fixed roller are in contact with the adsorption mechanism; The cabin interior is equipped with a tensioning mechanism, which includes a second hydraulic rod rotatably connected to the cabin. The second hydraulic rod is rotatably connected to an auxiliary wheel, which is connected to the adsorption mechanism. A diagonal brace is rotatably connected to the auxiliary wheel, and the other end of the diagonal brace is rotatably connected to the engine compartment.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention achieves self-balancing and continuous adhesion in multi-directional space by combining a suspension mechanism and a walking mechanism around the robot body. The suspension mechanism consists of a support frame, upper crossbar, lower crossbar, electric push rod, and gas spring. It can automatically compensate for expansion and contraction according to changes in the tilt angle and curvature of the tank wall, ensuring that the robot body always remains in contact with the tank wall surface. The electric push rod precisely controls the pitch angle to ensure uniform pressure distribution between the robot body and the tank wall, avoiding adhesion imbalance caused by sudden changes in curvature. The gas spring structure provides buffering force and reset function, effectively reducing adhesion fluctuations caused by external vibrations, thereby improving the robot's posture stability inside complex tanks. 2. The walking mechanism of this invention adopts a hybrid hydraulic and electric drive structure. The drive motor drives the chain, and a coordinated control system formed by the first hydraulic rod, the second hydraulic rod, and the tensioning mechanism enables real-time adjustment of chain tension and adsorption pressure. The first hydraulic rod drives the lower pressure wheel to apply pressure to the chain, ensuring the adsorption mechanism remains in contact with the tank wall, thus preventing the chain from loosening due to uneven wall surfaces or load fluctuations. The tensioning mechanism, composed of the second hydraulic rod, auxiliary wheel, and diagonal brace, automatically adjusts the tension force according to the running resistance, maintaining a constant adhesion force on curved or vertical walls. The hydraulic coordinated control system dynamically balances the overall adhesion state, solving the problem of discontinuous movement caused by chain slippage or uneven adsorption force in traditional wall-climbing robots. 3. This invention improves the structure of the adsorption mechanism by employing a Heilbeck magnetic field distribution composed of a steel plate and two permanent magnets, achieving gradient control of the magnetic attraction force. This magnetic field structure can form directional adsorption between different wall surfaces, enabling the robot to move stably in the horizontal, vertical, and inverted areas of the tank. The protective cover effectively prevents direct contact between the magnet and the metal wall surface, avoiding surface damage caused by friction or excessive adsorption. This design significantly improves the adaptability and controllability of the magnetic adsorption system, solving the problem of uneven adsorption force in traditional fixed magnetic adsorption systems under different tank wall environments. 4. The combined structure of the auxiliary magnetic attraction mechanism and the rolling support component in this invention can effectively disperse pressure and reduce frictional resistance during robot movement. The electromagnet in the auxiliary magnetic attraction mechanism is flexibly connected to the guide post via a guide component, and the spring provides adaptive buffering during the attraction process, enabling the magnetic attraction unit to automatically adjust its angle according to the curvature of the tank wall and maintain stable contact. The rolling support component adopts a composite rolling structure of rolling balls and rollers, which reduces wall friction and prevents local jamming during robot movement, thus ensuring smooth robot movement on complex curved surfaces. This design solves the technical problems of high motion resistance and easy posture deviation in existing robots in areas of curvature variation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the suspension mechanism of the present invention; Figure 4 This is a schematic diagram of the walking mechanism of the present invention; Figure 5 This is a schematic diagram of the internal structure of the walking mechanism of the present invention; Figure 6 This is a schematic diagram of the adsorption mechanism of the present invention; Figure 7This is a diagram showing the magnetic field strength distribution of two permanent magnets on a steel plate. Figure 8 This is a schematic diagram of the auxiliary magnetic attraction mechanism of the present invention; Figure 9 This is a schematic diagram of the structure of the electromagnet of the present invention; Figure 10 This is a schematic diagram of the structure of the guide component of the present invention; Figure 11 This is a schematic diagram of the structure of the rolling support component of the present invention; Figure 12 This is a schematic diagram of the positioning chamber of the present invention; Figure 13 This is a schematic diagram of the structure of the pressure cap of the present invention.

[0017] The attached diagram lists the components represented by each number as follows: 1. Organism; 2. Walking mechanism; 21. Engine compartment; 22. Drive motor; 23. Drive sprocket; 24. Driven sprocket; 25. Chain; 26. Adsorption mechanism; 261. Steel plate; 2611. Brass plate; 262. Permanent magnet; 263. Protective cover; 27. First hydraulic rod; 271. Lower pressure wheel; 28. Fixed wheel; 29. Tensioning mechanism; 291. Auxiliary wheel; 292. Diagonal brace; 293. Second hydraulic rod; 3. Auxiliary magnetic attraction mechanism; 31. Connecting platform; 311. Connecting hole; 32. Guide component; 321. Positioning ring; 322. Guide groove; 33. Electromagnet; 331. Base; 3311. Connecting post; 332. Guide post; 333. Spring; 334. Stop cap; 34. Rolling support components; 341. Positioning chamber; 3411. Positioning window; 3412. Limiting groove; 3413. Insertion groove; 342. Ball bearing; 343. Ball bearing; 344. Pressure cap; 3441. Through hole; 3442. Lower pressure ring; 3443. Positioning block; 4. Suspension mechanism; 41. Support frame; 411. Connecting plate; 412. Upper crossbar; 413. Lower crossbar; 42. Electric push rod; 43. Gas spring; 44. Connecting frame; 441. Connecting seat; 45. Pin plate. Detailed Implementation

[0018] To make the objectives and advantages of the present invention clearer, the present invention will be specifically described below in conjunction with embodiments.

[0019] Example 1, see Figures 1-12 A multi-dimensional movement system for a wall-climbing robot based on hydraulic coordinated control includes a body 1, with suspension mechanisms 4 arranged around the body 1, and a walking mechanism 2 connected to each suspension mechanism 4. The walking mechanism 2 is used to drive the body 1 to move inside the tank to be inspected. Since existing wall-climbing robots suffer from problems such as unstable adhesion and lag in posture adjustment on complex curved surfaces, the wall-climbing robot maintains balance and continuous adhesion in multi-dimensional space by arranging the suspension mechanisms 4 and the walking mechanism 2 around the body 1. Each suspension mechanism 4 independently responds to the hydraulic coordinated control signal to compensate for load changes in different directions, thereby avoiding uneven adhesion caused by changes in the curvature of the tank wall. The walking mechanism 2 includes components connected to the suspension mechanisms 4. The machine compartment 21 has drive sprockets 23 and driven sprockets 24 at both ends of the upper part of the interior. The drive motor 22, which works with the drive sprockets 23, is located on the outside of the machine compartment 21. The output torque of the drive motor 22 drives the chain 25 to move through the drive sprockets 23, thereby realizing the wall climbing and walking action. The chain 25 is installed inside the machine compartment 21. Adsorption mechanisms 26 are evenly spaced on the chain 25. The adsorption mechanisms 26 are adsorbed on the inner wall of the tank to be tested to ensure the reliability of robot attachment. The bottom of the machine body 1 is symmetrically provided with auxiliary magnetic attraction mechanisms 3. The auxiliary magnetic attraction mechanisms 3 adsorb the machine body 1 on the inner wall of the tank by magnetic attraction and provide additional adhesion in vertical and inverted conditions, thereby enhancing the overall anti-detachment performance of the system.

[0020] See Figures 7-12 The auxiliary magnetic attraction mechanism 3 includes a connecting platform 31 connected to the body 1. Guide members 32 are symmetrically arranged at the bottom of the connecting platform 31, and an electromagnet 33 is slidably connected inside the guide member 32. To solve the problem of uneven contact on complex curved can walls caused by traditional fixed magnetic attraction structures, the magnetic strength of the electromagnet 33 can be dynamically adjusted by controlling the current. Bases 331 are fixedly connected to the outer sides of the four corners of the electromagnet 33, and guide posts 332 are fixedly connected to the bases 331. The guide posts 332 are movable... A spring 333 is fitted onto the guide post 332 and is inserted into the guide post 332. The spring 333 provides elastic buffer when the electromagnet 33 contacts the tank wall to prevent excessive local magnetic attraction from causing structural damage. A stop cap 334 is provided on the top of the guide post 332 to limit the travel of the electromagnet 33 and prevent it from coming off. A rolling support 34 is connected to the bottom of the base 331. The rolling support 34 bears the contact pressure between the robot body 1 and the tank wall and reduces frictional resistance when the robot moves, thereby improving the stability of the movement.

[0021] See Figures 7-12The guide member 32 has a guide groove 322 on its side, and the guide post 332 is located in the guide groove 322. This structure restricts the vertical sliding of the guide post 332 to avoid lateral swaying and ensures that the electromagnet 33 remains stably attracted on the can wall with different curvatures. Both ends of the guide member 32 are fixedly connected with positioning rings 321, which are used to strengthen the connection between the guide member 32 and the connecting platform 31. The guide post 332 passes through the positioning ring 321 at the bottom and achieves smooth contact of the electromagnet 33 by sliding up and down. The connecting platform 31 has symmetrically through-holes 311, and the positioning ring 321 at the top is connected to the connecting hole 311 by screws, so that the entire auxiliary magnetic attraction mechanism 3 can be stably installed at the bottom of the body 1 to cope with multi-directional load changes.

[0022] See Figures 9-13 The rolling support 34 includes a positioning chamber 341, inside which a ball 342 is placed. A positioning window 3411, smaller in diameter than the ball 342, is located at the bottom of the positioning chamber 341. The ball 342 is partially exposed to form rolling contact with the tank wall surface, reducing motion friction. Limiting grooves 3412 are provided on the positioning chamber 341, evenly distributed around its axis. Each limiting groove 3412 contains a ball 343, which can rotate within the groove. The ball 343 contacts the ball 342 to distribute contact pressure and prevent single-point wear. A pressure cap 344 is fastened to the top of the positioning chamber 341 to seal and limit the internal ball 342 and ball 343, thus forming a self-lubricating rolling unit. This design effectively improves the robot's smooth movement performance on curved tank walls.

[0023] See Figures 8-12 The bottom of the base 331 is symmetrically fixedly connected with plug-in posts 3311; the top of the positioning chamber 341 is symmetrically provided with plug-in slots 3413 corresponding to the plug-in posts 3311; the upper end face of the pressure cover 344 is provided with a through hole 3441 corresponding to the plug-in slot 3413; when the rolling support 34 is connected to the base 331, the plug-in posts 3311 are inserted into the through hole 3441 and the plug-in slot 3413 to achieve precise mechanical fit; this connection method has the advantages of convenient disassembly and assembly and convenient maintenance compared with the traditional threaded or welded fixing method, while ensuring that the rolling support 34 does not loosen or shift during the long-term movement of the robot, thus improving structural stability and maintenance reliability.

[0024] See Figures 7-12The bottom of the pressure cap 344 is provided with a lower pressure ring 3442, and a positioning block 3443 is provided on the outer side of the lower pressure ring 3442. When the pressure cap 344 is connected to the positioning chamber 341, the positioning block 3443 is engaged in the limiting groove 3412, thereby limiting the pressure cap 344 at an angle. This structure prevents the pressure cap 344 from rotating during the rolling process, ensuring the balance and smoothness of the movement of the internal rolling ball 342 and the ball bearing 343. The combination of the pressure cap 344, the lower pressure ring 3442, and the positioning block 3443 not only enhances the anti-vibration performance of the rolling unit, but also enables the rolling support 34 to achieve adaptive adjustment on the curved surface of the tank, effectively solving the problem of adhesion fluctuation caused by poor local contact when the existing wall-climbing robot moves on the curved surface.

[0025] See Figures 1-7 The adsorption mechanism 26 includes a steel plate 261 connected to the chain 25. Preferably, the steel plate 261 is made of Q235B low-carbon steel. Utilizing its high magnetic permeability and high saturation magnetic induction intensity, the steel plate 261 acts as a low-resistivity magnetic back iron in the magnetic circuit, effectively constraining and guiding the magnetic flux and reducing magnetic leakage, specifically manifested as a weakening of the magnetic field on the lower side. A brass plate 2611 is provided at the upper middle part of the steel plate 261, and permanent magnets 262 with opposite magnetic field arrangements are provided on both sides of the brass plate 2611. Here, the non-ferromagnetism of brass is used to form a magnetic circuit barrier, preventing the magnetic lines of force between the two permanent magnets 262 from directly closing on the upper layer of the steel plate, thus creating a magnetic short circuit, and forcing the magnetic flux to flow through the working air gap to the tank wall, thereby maximizing the utilization rate of magnetic energy. The two permanent magnets 262 are distributed in a Heilbeck structure, such as... Figure 7 The magnetic field strength distribution diagram of the two permanent magnets is shown. This structure utilizes the principle of spatial rotational superposition of magnetization vectors: on the side attached to the wall, the magnetic flux components generated by different magnetic pole directions undergo constructive interference, resulting in highly dense magnetic field lines, which significantly improves the air gap magnetic induction intensity and thus provides a strong magnetic attraction force; on the other side, the magnetic flux components undergo destructive interference, resulting in sparse magnetic field lines or even close to zero magnetic field. This unilateral magnetic shielding effect can greatly reduce the interference of leakage magnetic field on the internal electromagnetic field of drive motor 22 and ensure control accuracy.

[0026] A protective cover 263, made of Teflon material, is fitted onto the steel plate 261. Thanks to the extremely low coefficient of friction of Teflon, the cover 263 not only prevents the permanent magnet 262 from wearing down due to excessive magnetic attraction, but also acts as a physical shock absorber and a precision non-magnetic gasket to maintain a constant minimum magnetic air gap. This design avoids magnetic locking caused by direct contact between the magnet and the ferromagnetic can wall, and also prevents scratches on the can wall surface or excessive localized adhesion that could affect the smooth operation of the chain 25.

[0027] In summary, through the magnetic field focusing of the Heilbeck array and the structural optimization of the Teflon protective cover, the adsorption mechanism 26 can maintain a uniform and robust adsorption force even when the tank wall is uneven, thereby significantly improving the overall travel stability and wind resistance of the robot.

[0028] See Figure 3 The suspension mechanism 4 includes a support frame 41 arranged opposite to each other. A connecting plate 411 is provided at the bottom of the support frame 41. The connecting plate 411 is fixed to the machine body 1 by bolts. An upper crossbar 412 and a lower crossbar 413 are provided inside the support frame 41. Electric push rods 42 are symmetrically arranged on the upper crossbar 412. The telescopic end of the electric push rod 42 is rotatably connected to the connecting frame 44. A gas spring 43 is rotatably connected to the lower crossbar 413. The other end of the gas spring 43 is rotatably connected to the connecting frame 44. The electric push rod 42 is used for active... The extension and retraction of the suspension mechanism 4 are adjusted to control the pitch attitude of the cabin 21, while the gas spring 43 provides return and shock absorption functions to alleviate the impact force when the robot travels on curved surfaces. The connecting frame 44 and the support frame 41 are rotatably connected by a pin plate 45, so that the suspension mechanism 4 can perform angle compensation according to the shape of the tank wall. A connecting seat 441 is provided on the side of the connecting frame 44, which is connected to the cabin 21 to ensure the synchronous movement of the suspension system and the walking system, and realize automatic attitude adjustment for different angles of the tank wall.

[0029] See Figures 4-7 The machine compartment 21 is symmetrically equipped with first hydraulic rods 27. The telescopic end of the first hydraulic rods 27 is rotatably connected to a lower pressure wheel 271. Under the action of the hydraulic system, the lower pressure wheel 271 applies appropriate pressure to the chain 25 to ensure that the adsorption mechanism 26 fully adheres to the tank wall. The machine compartment 21 is equipped with a fixed wheel 28, which supports the running path of the chain 25 and ensures the tension of the chain 25. The lower pressure wheel 271 and the fixed wheel 28 form a stable transmission relationship with the adsorption mechanism 26 at their contact points, ensuring the continuity of adhesion during the robot's movement. The machine compartment 21 is mirror-equipped with a tensioning mechanism 29, which includes a rotating link. A second hydraulic rod 293 is attached to the cabin 21. The telescopic end of the second hydraulic rod 293 is rotatably connected to an auxiliary wheel 291. The auxiliary wheel 291 contacts the adsorption mechanism 26 to control the tension of the chain 25. A diagonal brace 292 is rotatably connected to the auxiliary wheel 291. The other end of the diagonal brace 292 is rotatably connected to the cabin 21. When the hydraulic system is adjusted, the diagonal brace 292 supports the auxiliary wheel 291 through leverage, realizing adaptive adjustment of the chain 25 tension. This hydraulic coordination control mechanism effectively solves the problems of chain slippage and uneven tension in traditional mechanical chain transmission, enabling the wall-climbing robot to maintain stable movement in complex tank wall environments.

[0030] Example 2, see Figures 1-12A multi-dimensional walking system for a wall-climbing robot based on hydraulic coordinated control is first assembled by combining the body 1 with the walking mechanism 2 via the suspension mechanism 4. The body 1 is equipped with a central control unit, which is used to coordinate and control the drive motor 22, electric push rod 42, first hydraulic rod 27, second hydraulic rod 293 and electromagnet 33. The control unit is connected to each execution component via control cables and data bus. The control program is set with multi-dimensional attitude adjustment and path correction algorithms, which can collect data from tilt sensors, magnetic flux sensors and pressure sensors in real time, so as to make adaptive adjustments according to the curvature of the tank wall and the adhesion status.

[0031] During the equipment startup phase, the control unit first activates the electromagnet 33. The electromagnet 33 drives the base 331 to slowly contact the inner wall of the tank through the guide 32 and guide post 332. At this time, the spring 333 is in the initial compression state, providing flexible support for the electromagnet 33. After the electromagnet 33 is energized, it generates a magnetic field and adheres to the tank wall. The rolling support 34 below the base 331 forms a rolling contact with the tank wall. The ball 342 contacts the wall at the positioning window 3411. The internal ball 343 rotates freely in the limiting groove 3412 to distribute the load, so that the machine body 1 is in a stable initial attachment state before it is fully started and moving.

[0032] Subsequently, the drive motor 22 starts and drives the drive sprocket 23 to rotate, which in turn causes the driven sprocket 24 to rotate synchronously via the chain 25, thereby driving the adsorption mechanism 26 to move continuously along the circumference of the cabin 21. Multiple steel plates 261 set on the chain 25 pass sequentially over the surface of the tank wall. The brass plates 2611 on the steel plates 261 and the permanent magnets 262 are arranged in a Heilbeck structure to generate a gradient magnetic field, forming a uniform adsorption force to ensure that the robot can still adhere stably on the curved surface or weld seam of the tank. The protective cover 263 isolates the magnet from direct contact with the tank wall to prevent wear on the adsorption surface or magnetic field interference. When the chain 25 runs to a certain position, the first hydraulic rod 27 extends to push the pressure wheel 271 to apply pressure to the chain 25, ensuring that the adsorption mechanism 26 always adheres tightly to the tank wall. The fixed wheel 28 provides support for the chain path to prevent the chain 25 from shifting or slipping under high load conditions.

[0033] Meanwhile, the tensioning mechanism 29 participates in the chain tension control. The second hydraulic rod 293 automatically adjusts the position of the auxiliary wheel 291 according to the chain running resistance. The auxiliary wheel 291 achieves stable support through the diagonal brace 292. When the robot passes through the arc surface of the tank wall, the second hydraulic rod 293 adjusts the extension and retraction amount through the pressure feedback signal of the hydraulic oil circuit to keep the tension of the chain 25 constant and prevent the adsorption mechanism 26 from detaching from the tank wall. The first hydraulic rod 27 and the second hydraulic rod 293 operate in coordination through the hydraulic distribution module of the central control unit to form a dual-loop control and achieve dynamic balance between chain tension and adsorption pressure.

[0034] During the robot's movement, the suspension mechanism 4 forms a stable attitude control structure through the upper crossbar 412, lower crossbar 413, electric push rod 42, and gas spring 43. When the angle of the tank wall changes or there is a local protrusion, the electric push rod 42 receives the angle compensation command from the central control unit and actively extends and retracts to adjust the relative angle between the connecting frame 44 and the cabin 21, so that the entire walking mechanism 2 is back in contact with the tank wall. The gas spring 43 provides rebound force to buffer external impacts and ensure that the robot body 1 maintains its balance. Under the simultaneous action of the four suspension mechanisms 4, the robot body 1 can achieve all-round attitude coordination inside the complex tank.

[0035] The auxiliary magnetic attraction mechanism 3 automatically enhances the attraction force when the robot enters the top of the tank or the inverted area. The control unit increases the excitation current of the electromagnet 33 according to the feedback signal from the attitude sensor to enhance the magnetic field strength. When the robot needs to turn or cross the weld seam of the tank wall, the control unit automatically reduces the excitation current to reduce the magnetic attraction force, so that the rolling support 34 can slide smoothly and re-attach to the next area. The rolling support 34 achieves rolling support and load distribution through the combination of positioning chamber 341, rolling ball 342, rolling ball 343 and pressure cover 344, ensuring smooth movement of the robot in different postures.

[0036] During operation, the hydraulic circuit adopts a two-way closed-loop regulation mode. The hydraulic pump and proportional valve group are installed in the hydraulic control compartment inside the machine body 1. The hydraulic oil is delivered to the first hydraulic rod 27 and the second hydraulic rod 293 through pipelines. The control unit adjusts the hydraulic flow and pressure in real time according to the feedback signal to achieve synchronous coordination of walking, tensioning and attitude control. The electric push rod 42, drive motor 22 and electromagnet 33 are connected to the central power module through independent power supply circuits to ensure that different execution units do not interfere with each other. The system is equipped with a waterproof sealed chamber and a high-temperature resistant insulation layer to adapt to the operating requirements of special environments such as storage tanks and reaction vessels.

[0037] The working principle of this invention is as follows: In operation, a multi-dimensional walking system for a wall-climbing robot based on hydraulic coordinated control connects the robot body 1 to the walking mechanism 2 via suspension mechanisms 4 arranged around the perimeter. Each suspension mechanism 4 coordinates independently to enable the robot to move in multiple directions and adjust its posture on the inner wall of the tank.

[0038] When the robot begins operation, the drive motor 22 in the walking mechanism 2 starts, driving the drive sprocket 23 to rotate. The drive sprocket 23 drives the driven sprocket 24 to rotate synchronously via the chain 25, thereby causing the chain 25 to circulate along the inner wall of the cabin 21. Adsorption mechanisms 26, installed at equal intervals on the chain 25, are sequentially attached to the inner wall of the tank. Two permanent magnets 262 within these mechanisms are arranged in a Helbeck structure, forming a gradient adsorption force in the magnetic field distribution, ensuring stable adhesion of the robot to the tank wall surface. The protective cover 263 on the outside of the steel plate 261 prevents direct contact between the magnets and the tank wall, preventing scratches or interference.

[0039] The suspension mechanism 4 serves as a buffer and provides attitude control. An electric push rod 42 and a gas spring 43 are installed between its upper crossbar 412 and lower crossbar 413. The electric push rod 42 extends and retracts under control signals, causing the connecting frame 44 to swing up and down, thus adjusting the pitch of the cabin 21. The gas spring 43 provides return force and vibration damping, ensuring the robot maintains balance during movement or adsorption. The connecting frame 44 is connected to the cabin 21 via a connecting seat 441, ensuring coordinated movement of the entire suspension system.

[0040] The hydraulic system inside the engine compartment 21 further enhances multi-dimensional coordination performance. The extension and retraction of the first hydraulic rod 27 drives the lower pressure wheel 271 to push the chain 25 inward, making the contact between the adsorption mechanism 26 and the tank wall more compact and improving the magnetic adsorption force; at the same time, the fixed wheel 28 inside the engine compartment 21 maintains the stability of the chain's operation. The mirror-arranged tensioning mechanism 29 consists of a second hydraulic rod 293, an auxiliary wheel 291, and a diagonal brace 292. When the hydraulic system is adjusted, the second hydraulic rod 293 drives the auxiliary wheel 291 to extend and retract along the direction of the tank wall, and the diagonal brace 292 is linked to adjust the tension of the chain 25 adaptively, preventing chain slippage and ensuring adsorption continuity.

[0041] An auxiliary magnetic attraction mechanism 3 is installed at the bottom of the body 1 to assist in adsorption in vertical or inverted areas of the tank. A connecting platform 31 is connected to a guide member 32, and an electromagnet 33 is slidably connected inside the guide member 32. The magnetic strength of the electromagnet 33 is adjustable. A guide post 332 and a spring 333 enable the electromagnet 33 to float and buffer in the vertical direction to accommodate changes in the curvature of the tank wall. The guide post 332 slides in the guide groove 322, and a cap 334 at the top restricts its travel to prevent it from coming off. The connecting platform 31 is securely installed via a connecting hole 311 and a positioning ring 321.

[0042] The electromagnet 33 has a base 331 at its bottom, and a rolling support 34 is mounted below the base 331 to reduce friction with the tank wall. The positioning chamber 341 inside the rolling support 34 contains a ball 342 and a ball bearing 343. The ball 342 contacts the tank wall at the positioning window 3411 to form a rolling support, while the ball bearing 343 rotates within the limiting groove 3412 to distribute the load and prevent jamming. A pressure cap 344 is installed on the top of the positioning chamber 341. The lower pressure ring 3442 of the pressure cap 344 works in conjunction with the positioning block 3443 to limit and fix it within the limiting groove 3412. Simultaneously, the insertion post 3311 on the base 331 engages with the insertion groove 3413 through the through hole 3441, enabling a detachable connection between the rolling support 34 and the base 331.

Claims

1. A wall-climbing robot multi-dimensional traveling system based on hydraulic coordination control, comprising a body (1), characterized in that: The body (1) is provided with a suspension mechanism (4) around, and each suspension mechanism (4) is connected with a walking mechanism (2), which is used for driving the body (1) to walk in the tank to be detected; The walking mechanism (2) comprises a cabin (21) connected with the suspension mechanism (4), both ends of the inside of the cabin (21) are provided with a driving sprocket (23) and a driven sprocket (24), and the outside of the cabin (21) is provided with a driving motor (22) matched with the driving sprocket (23); The cabin (21) is provided with a chain (25), and the chain (25) is provided with adsorption mechanisms (26) at equal intervals; The bottom of the body (1) is symmetrically provided with an auxiliary magnetic attraction mechanism (3), which is used for adsorbing the body (1) on the inner wall of the tank by magnetic attraction.

2. The multi-dimensional traveling system of the wall-climbing robot based on hydraulic coordinated control according to claim 1, characterized in that: The auxiliary magnetic attraction mechanism (3) comprises a connecting table (31) connected with the body (1), the bottom of the connecting table (31) is symmetrically provided with a guide piece (32), the inside of the guide piece (32) is movably and slidably connected with an electromagnet (33), the four outer sides of the electromagnet (33) are fixedly connected with a base (331), the base (331) is fixedly connected with a guide column (332), the guide column (332) is movably inserted into the guide piece (32), the guide column (332) is sleeved with a spring (333), and the top of the guide column (332) is provided with a stop cap (334). The bottom of the base (331) is connected with a rolling support (34).

3. The multi-dimensional traveling system of wall-climbing robot based on hydraulic coordinated control according to claim 2, characterized in that: The side surface of the guide piece (32) is provided with a guide groove (322), and the guide column (332) is located in the guide groove (322); Both ends of the guide piece (32) are fixedly connected with a positioning ring (321), and the guide column (332) penetrates the positioning ring (321) arranged at the bottom; The connecting table (31) is symmetrically and throughly provided with a connecting hole (311), and the top arranged positioning ring (321) is connected with the connecting hole (311) through screws.

4. The wall-climbing robot multi-dimensional traveling system based on hydraulic coordinated control according to claim 3, characterized in that: The rolling support (34) comprises a positioning bin (341), the inside of the positioning bin (341) is placed with a rolling ball (342), the bottom of the positioning bin (341) is provided with a positioning window (3411), and the diameter of the positioning window (3411) is smaller than that of the rolling ball (342); The positioning bin (341) is provided with a limiting groove (3412), the limiting grooves (3412) are distributed at equal intervals around the axis of the positioning bin (341), each limiting groove (3412) is placed with a rolling ball (343), the rolling ball (343) can rotate in the limiting groove (3412), and the rolling ball (343) is located at the joint of the rolling ball (342); The top of the positioning bin (341) is buckled with a gland (344).

5. The wall-climbing robot multi-dimensional traveling system based on hydraulic coordinated control according to claim 4, characterized in that: The bottom of the base (331) is symmetrically fixedly connected with a plug-in column (3311); The top of the positioning bin (341) is symmetrically provided with a plug-in groove (3413) corresponding to the plug-in column (3311); An upper end surface of the gland (344) is provided with a through hole (3441) corresponding to the insertion groove (3413); When the rolling support (34) is connected with the base (331), the insertion column (3311) is inserted into the through hole (3441) and the insertion groove (3413).

6. The wall-climbing robot multi-dimensional traveling system based on hydraulic coordinated control according to claim 5, characterized in that: The bottom of the gland (344) is provided with a lower pressing ring (3442), and the outer side of the lower pressing ring (3442) is provided with a positioning block (3443); When the gland (344) is connected with the positioning bin (341), the positioning block (3443) is clamped in the limiting groove (3412).

7. The wall-climbing robot multi-dimensional traveling system based on hydraulic coordinated control according to claim 1, characterized in that: The adsorption mechanism (26) comprises a steel plate (261) connected to the chain (25), the upper end of the steel plate (261) is provided with a brass plate (2611), the two sides of the brass plate (2611) are provided with permanent magnets (262), the two permanent magnets (262) are distributed in a Halbach structure, and the steel plate (261) is provided with a protective cover (263), which can avoid the permanent magnets (262) being directly adsorbed on the tank wall.

8. The wall-climbing robot multi-dimensional traveling system based on hydraulic coordinated control according to claim 1, characterized in that: The suspension mechanism (4) comprises oppositely arranged support frames (41), the bottom of the support frame (41) is provided with a connecting plate (411) fixed on the machine body (1) by bolts, the inside of the support frame (41) is provided with an upper cross bar (412) and a lower cross bar (413), the upper cross bar (412) is symmetrically provided with an electric push rod (42), and the telescopic end of the electric push rod (42) is rotatably connected with a connecting frame (44); The lower cross bar (413) is rotatably connected with a gas spring (43), and the other end of the gas spring (43) is rotatably connected with the connecting frame (44); The connecting frame (44) and the support frame (41) are rotatably connected with a pin connecting plate (45); The side surface of the connecting frame (44) is provided with a connecting seat (441) connected with the machine cabin (21).

9. The wall-climbing robot multi-dimensional traveling system based on hydraulic coordinated control according to claim 1, characterized in that: The inside of the machine cabin (21) is symmetrically provided with a first hydraulic rod (27), and the telescopic end of the first hydraulic rod (27) is rotatably connected with a pressing wheel (271); The inside of the machine cabin (21) is provided with a fixed wheel (28); The pressing wheel (271) and the fixed wheel (28) are connected with the adsorption mechanism (26); The inside of the machine cabin (21) is provided with a tensioning mechanism (29) in mirror image, the tensioning mechanism (29) comprises a second hydraulic rod (293) rotatably connected with the machine cabin (21), and the telescopic end of the second hydraulic rod (293) is rotatably connected with an auxiliary wheel (291), and the auxiliary wheel (291) is connected with the adsorption mechanism (26); The auxiliary wheel (291) is rotatably connected with an inclined support rod (292), and the other end of the inclined support rod (292) is rotatably connected with the machine cabin (21).

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