Magnetic type synchronous wall-climbing winding-free robot

Abstract

According to the magnetic attraction type synchronous wall-climbing winding-free robot, in the robot, a permanent magnet attraction assembly at least comprises two sets of permanent magnets which are symmetrically installed on the two sides of the bottom of a robot vehicle body so as to provide magnetic attraction force; the walking wheel set comprises two pairs of walking wheels which are correspondingly installed on the two sides of the robot vehicle body respectively, the electromagnetic adjusting assembly is arranged between the two pairs of walking wheels, the electromagnetic adjusting assembly comprises an electromagnetic adjusting assembly body, and dynamic adjustment of friction force is achieved by adjusting the magnitude of exciting current and changing the additional adsorption force on the adsorption surface; the safety rope control module is installed in the robot vehicle body to achieve releasing and recycling of a safety rope, the rope is tensioned, the releasing length of the rope is measured, the rope tensioning mechanism is arranged on the releasing path of the safety rope, and a mechanical structure is adopted to apply pulling force to the released rope to prevent the rope from loosening; the control module is arranged on the robot vehicle body and electrically connected with the electromagnetic adjusting assembly, the distance measuring module, the posture sensing module, the wireless communication module and the safety rope control module.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing, wire-free robot technology, and in particular to a magnetically attached synchronous wall-climbing, wire-free robot. Background Technology

[0002] In the petrochemical, energy, and power industries, the internal inspection and maintenance of large tanks such as pressure vessels is a crucial aspect of ensuring the safe operation of equipment. Currently, wall-climbing robots are commonly used to carry inspection equipment into the tanks to perform tasks. However, existing wall-climbing robots face several problems in practical applications: First, inside confined containers, robots often rely on cables for safety, power, and communication, but these safety cables are prone to tangling with the tank walls or obstacles, restricting robot movement or even causing task failure. Second, the complex internal structure of tanks requires robots to move along vertical walls or ceilings, demanding precise control of adsorption and friction forces. Traditional permanent magnet adsorption methods struggle to dynamically adjust adsorption forces, easily leading to robot slippage or detachment. Furthermore, severe attenuation of wireless signals inside the tank frequently disrupts communication between robots and between robots and external host computers, affecting real-time data transmission and status monitoring. Additionally, the accuracy of robot posture and position monitoring inside the tank is insufficient, hindering collaborative operations. Therefore, there is an urgent need for a wall-climbing robot system capable of stable movement in the complex environment inside tanks, real-time adjustment of adsorption forces, avoidance of safety cable entanglement, and reliable communication relay.

[0003] The information disclosed in the background section is only intended to enhance the understanding of the background of the present invention, and therefore may contain information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] To address the shortcomings or defects of the existing technology, a magnetic synchronous wall-climbing, cordless robot is provided. This effectively solves the problems of severe communication electromagnetic shielding interference, easy entanglement of safety ropes, insufficient state perception of the robot, and contradiction between magnetic force and robot mobility in existing robot systems used for closed environment detection.

[0005] The objective of this invention is achieved through the following technical solutions.

[0006] A magnetically attached synchronous wall-climbing, wire-free robot includes,

[0007] The robot body is a rigid structure that houses a ranging module, an attitude sensing module, and a wireless communication module.

[0008] A permanent magnet adsorption assembly, comprising at least two sets of permanent magnets symmetrically mounted on both sides of the bottom of the robot body to provide magnetic adsorption force;

[0009] The walking wheel assembly includes two pairs of walking wheels, which are respectively installed on both sides of the robot body, and the position of the walking wheel assembly corresponds to the arrangement position of the permanent magnet. The walking wheel assembly is driven by a motor to provide movement power.

[0010] An electromagnetic adjustment component is disposed between two pairs of walking wheels. The electromagnetic adjustment component includes an electromagnetic adjustment element that dynamically adjusts the friction force by adjusting the magnitude of the excitation current to change the additional adsorption force on the adsorption surface.

[0011] The safety rope control module is installed inside the robot body to realize the release and retrieval of the safety rope, tension the rope and measure the release length of the rope. The safety rope control module includes a safety rope storage tray (61), a safety rope, a rope release and retrieval motor assembly and a rope tensioning mechanism. The rope tensioning mechanism is set on the release path of the safety rope and uses a mechanical structure to apply tension to the released rope to prevent the rope from slack.

[0012] The control module is located on the robot body and is electrically connected to the electromagnetic adjustment component, the ranging module, the attitude sensing module, the wireless communication module, and the safety rope control module to control the on / off state or the magnitude of the magnetic force of the electromagnetic adjustment component. It monitors the robot's running distance and position attitude by processing data from the ranging module and the attitude sensing module, controls the safety rope control module, and detects the release and retraction of the rope in real time, as well as transmits and detects data information generated by the robot and the host computer in real time.

[0013] In the aforementioned magnetic synchronous wall-climbing, cordless robot, the rope winding and unwinding motor component in the safety rope control module drives the storage tray to rotate via a stepper motor to achieve rope winding and unwinding; the rope length detection device generates an electrical signal through an encoder, which is transmitted to the control module for length calculation.

[0014] In the aforementioned magnetically attached synchronous wall-climbing, wire-free robot, each electromagnetic adjustment component is mounted on the bottom surface of the robot body via a bracket, located inside the four wheels. When the coil is energized, the magnetic field generated is perpendicular to the adsorption surface.

[0015] In the aforementioned magnetic synchronous wall-climbing cable-free robot, the cable tensioning mechanism includes a spring-loaded clamping wheel structure that applies a constant clamping friction force to the safety cable passing through it, ensuring that the cable is always kept taut and does not hinder the normal release and retraction of the cable.

[0016] In the aforementioned magnetically attached synchronous wall-climbing, wire-free robot, the ranging module includes a laser ranging sensor, and the attitude sensing module includes an IMU (Inertial Measurement Unit) integrating a three-axis gyroscope and a three-axis accelerometer.

[0017] In the aforementioned magnetic synchronous wall-climbing, cordless robot, the wireless communication module is equipped with a 2.4GHz-based wireless module to establish a wireless data link.

[0018] In the aforementioned magnetic synchronous wall-climbing cable-free robot, the control module determines the robot distance and the slack state of the safety cable based on data from the ranging module and the cable length detection device, and controls the cable winding and discharging motor assembly to perform winding and discharging actions to keep the cable taut.

[0019] In the aforementioned magnetic synchronous wall-climbing, cordless robot, the control module receives data from the attitude sensing module and simultaneously receives data from the attitude sensor inside the tank detection robot via the wireless channel; based on the data, it determines the angle difference between the robot body and the tank detection robot in the cross-sectional direction of the tank; according to the determination result, the control module drives the walking wheel set to make the robot move in the cross-sectional direction of the tank, thereby reducing the angle difference.

[0020] In the aforementioned magnetic synchronous wall-climbing, cordless robot, a safety rope storage tray holds the safety rope. The rope receiving and releasing motor assembly rotates the storage tray via a motor to receive or release the rope. The rope length detection device generates an electrical signal by following the rope's movement through an encoder and transmits it to the control module for length calculation.

[0021] In the aforementioned magnetic synchronous wall-climbing cable-free robot, the cable take-up and release mechanism includes a storage tray base, a motor gear, and a take-up and release mechanism. The storage tray base and the motor gear mesh with each other through gear teeth. The control module controls the rotation of the take-up and release mechanism, which drives the safety cable storage tray on the storage tray base to rotate, thereby taking up the cable. The cable tensioning mechanism is installed between the safety cable storage tray and the cable length monitoring device, and uses a mechanical structure to apply tension to the released cable.

[0022] Compared with existing technologies, the beneficial effects of this invention are as follows: A permanent magnet adsorption assembly is installed at the bottom of the invention, internally housing a control module, a ranging module, an attitude sensing module, and a wireless communication module for controlling, monitoring, and communicating with the robot. A pair of wheels is installed on each side of the vehicle body, with an electromagnetic adjustment assembly between the two pairs of wheels to dynamically adjust the robot's overall adsorption and friction forces. The safety rope control module includes a safety rope storage mechanism, a tensioning mechanism, and a rope length detection device, ensuring the safety rope is suspended and connected to the tank inspection robot under tension. This invention can operate within the cross-section of a sealed container interface, synchronously tracking the posture and position of the tank inspection robot inside the tank, effectively solving the problem of safety rope entanglement inside the tank, and providing effective communication relay, status monitoring, and safety assurance for inspection robots operating in complex environments such as pressure vessels.

[0023] The description provided is merely an overview of the technical solution of this invention. In order to make the technical means of this invention clearer and more understandable, so that those skilled in the art can implement it according to the contents of the specification, and to make the described and other objects, features and advantages of this invention more obvious and understandable, specific embodiments of this invention are described below. Attached Figure Description

[0024] Various other advantages and benefits of the present invention will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. Furthermore, the same reference numerals denote the same parts throughout the drawings.

[0025] In the attached diagram:

[0026] Figure 1 This is an overall schematic diagram of the robot provided by the present invention;

[0027] Figure 2 A schematic diagram of the robot from another angle provided by the present invention;

[0028] Figure 3 A schematic diagram of the bottom of the robot provided by the present invention;

[0029] Figure 4 Left view of the robot provided by this invention;

[0030] Figure 5 A front view of the robot provided by this invention.

[0031] The present invention will be further explained below with reference to the accompanying drawings and embodiments. Detailed Implementation

[0032] Specific embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While specific embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the invention and to fully convey the scope of the invention to those skilled in the art.

[0033] It should be noted that certain terms are used in the specification and claims to refer to specific components. Those skilled in the art will understand that different terms may be used to refer to the same component. This specification and claims do not distinguish components based on differences in terminology, but rather on differences in function. The terms "comprising" or "including" used throughout the specification and claims are open-ended and should be interpreted as "comprising but not limited to." The following descriptions are preferred embodiments for carrying out the invention; however, these descriptions are for the purpose of understanding the general principles of the specification and are not intended to limit the scope of the invention. The scope of protection of this invention is determined by the appended claims.

[0034] To facilitate understanding of the embodiments of the present invention, the following will provide further explanation and description with reference to the accompanying drawings and several specific embodiments, and the accompanying drawings do not constitute a limitation on the embodiments of the present invention.

[0035] To better understand, such as Figures 1 to 5 As shown, a magnetically attached synchronous wall-climbing, wire-free robot includes,

[0036] The robot body 1 is a rigid structure, comprising a battery compartment 11, a control compartment 12, an engineering signal light group 13, and a walking motor mounting frame 14. The control compartment 12 houses an attitude sensing module 55 and a wireless communication module 52.

[0037] The permanent magnet adsorption assembly 2 includes at least two sets of permanent magnets, which are symmetrically installed on both sides of the bottom of the robot body 1 through permanent magnet mounting slots 21, fastening bolts 22, permanent magnet cover 23, fixing bolts 24 and positioning bolts 25 to provide magnetic adsorption force for the robot.

[0038] The walking wheel assembly 3 includes two pairs of walking wheels, which are respectively installed on both sides of the robot body 1. The position of the walking wheel assembly corresponds to the arrangement position of the permanent magnet. The walking wheel assembly 3 is driven by the motor 32 to provide the moving power. The walking wheels are connected to the motor shaft through the wheel axle 311 and the fastening bolt 312.

[0039] The electromagnetic adjustment component 4 is located between the two pairs of walking wheels and is connected to the robot body 1 by fixing bolts 42. The electromagnetic adjustment component 4 includes an electromagnetic adjustment component 41 with a built-in cubic iron core 411. Adjusting the magnitude of the excitation current can change the additional adsorption force on the adsorption surface, thereby realizing the dynamic adjustment of the friction force.

[0040] The safety rope control module, installed inside the robot body 1, enables the release and retrieval of the safety rope, tensions the rope, and measures the released length. The safety rope control module includes a safety rope storage tray 61, a safety rope, a rope release / retrieval motor assembly 63, and a rope tensioning mechanism 64. The rope tensioning mechanism 64 is positioned along the release path of the safety rope and uses a mechanical structure to apply tension to the released rope to prevent slack. The rope length detection device consists of a wheel encoder 621 and a small wheel 622. The wheel encoder generates square wave signals with different phase differences as the rope is released and retrieved, which are transmitted to the control module to calculate the rope length.

[0041] The cable tensioning mechanism 64 is set on the release path of the safety cable. It uses a mechanical structure to apply tension to the released cable to prevent the cable from slack. It includes a guide rail 651, a guide rail slider 652, a tension spring fixing rod 653, a tension spring 654, and a fixing ring 655. The tension spring provides tension to the cable. As the weight of the released cable increases, the slider moves away from the ring, the spring deformation increases, and a greater tension force is generated on the cable. This achieves a dynamic force balance between the cable weight, slider displacement, and spring tension, keeping the cable taut.

[0042] The control module is located inside the control cabin 12 of the robot body 1 and is electrically connected to the electromagnetic adjustment component 4, the ranging module 53, the attitude sensing module 55, the wireless communication module 52, and the safety rope control module to control the on / off state or the magnitude of the magnetic force of the electromagnetic adjustment component 4. It monitors the robot's running distance and position attitude by processing the data from the ranging module 53 and the attitude sensing module 55, controls the safety rope control module, and detects the release and retraction of the rope in real time as well as transmits and detects the data information generated by the robot and the host computer in real time.

[0043] In a preferred embodiment of the magnetically attached synchronous wall-climbing, cordless robot, the rope winding and unwinding motor assembly 63 in the safety rope control module uses a stepper motor to drive the storage tray to rotate, thereby realizing the winding and unwinding of the rope.

[0044] In a preferred embodiment of the magnetically attached synchronous wall-climbing, wire-free robot, each electromagnetic adjustment component 41 of the electromagnetic adjustment component 4 is mounted on the bottom surface of the robot body 1 via a bracket, located inside the four walking wheels. When the coil is energized, the magnetic field generated is perpendicular to the adsorption surface.

[0045] In a preferred embodiment of the magnetically attached synchronous wall-climbing, wire-free robot, the ranging module 53 includes a laser ranging sensor, and the attitude sensing module 55 includes an IMU (Inertial Measurement Unit) integrating a three-axis gyroscope and a three-axis accelerometer.

[0046] In a preferred embodiment of the magnetically attached synchronous wall-climbing, wire-free robot, the wireless communication module 52 is equipped with a 2.4GHz-based wireless module to establish a wireless data link.

[0047] In a preferred embodiment of the magnetically attached synchronous wall-climbing, cable-free robot, the control module measures the distance between the robot and the tank inspection robot based on the distance measuring module 53, and calculates the cable release length by combining the output square wave number of the wheel encoder 621 in the cable length detection device, determines the slack state of the cable, and controls the cable winding and discharging motor assembly 63 to perform winding and discharging actions to keep the cable taut.

[0048] In a preferred embodiment of the magnetically attached synchronous wall-climbing, cable-free robot, the control module receives data from the attitude sensing module 55 and simultaneously receives data from the attitude sensor inside the tank inspection robot via the wireless module 52; based on the attitude information of the two robots, the angular difference between the robot body and the tank inspection robot in the cross-sectional direction of the tank is calculated; according to the result, the control module drives the walking wheel set, and the robot moves in the cross-sectional direction of the tank, reducing the cross-sectional angle difference between the two robots and achieving the function of avoiding cable entanglement.

[0049] In a preferred embodiment of the magnetically attached synchronous wall-climbing cable-free robot, a safety cable storage tray stores the safety cable. The cable receiving and releasing motor assembly rotates the storage tray via a motor to receive or release the cable. The cable length detection device generates an electrical signal by following the cable's movement through an encoder and transmits it to the control module for length calculation.

[0050] In a preferred embodiment of the magnetically attached synchronous wall-climbing, cordless robot, the cable take-up and release mechanism includes a storage tray base, a motor gear, and a take-up and release mechanism. The storage tray base and the motor gear mesh with each other through gear teeth. The control module controls the rotation of the take-up and release mechanism, which drives the safety cable storage tray on the storage tray base to rotate, thereby taking up the cable. The cable tensioning mechanism is installed between the safety cable storage tray and the cable length monitoring device, and uses a mechanical structure to apply tension to the released cable.

[0051] In one embodiment, such as Figures 1 to 5 As shown, this invention provides a magnetic wall-climbing synchronous robot. The robot body 1 is made of high-strength aluminum alloy and has a closed shell structure to protect internal components. A warning light is installed on the top of the body to indicate the robot's working status. A battery compartment 11 is provided for housing a lithium battery to provide power for the entire vehicle. The bottom of the body is flattened for mounting the magnetic adsorption components and the walking components. Furthermore, the battery compartment 11 has a battery compartment cover 112 with sides 111. The robot body 1 is equipped with a drive motor bracket.

[0052] The magnetic adsorption assembly 2 includes two sets of neodymium iron boron permanent magnets. These two sets of permanent magnets are installed in the permanent magnet mounting slot 21 and are symmetrically installed on the left and right sides of the bottom of the robot body 1 by fixing bolts 24 and positioning bolts 25. The arrangement of the permanent magnets brings their magnetic poles close to the adsorption surface, providing a stable basic adsorption force for the robot. Furthermore, the permanent magnet mounting slot 21 is provided with a permanent magnet cover 23 fixed by fastening bolts 22.

[0053] The walking wheel assembly includes two pairs of walking wheel sets 3, which are symmetrically installed on both sides of the robot body 1. Each pair of walking wheel sets 3 includes two drive wheels 31, which are mounted on the same side of the body via axles 311 and bearing seats. The walking wheels use rubber tread surfaces to increase friction. The drive wheels are driven by DC servo motors 32 installed in the body of the robot body through gear reducers. The axles 311 are equipped with axle fixing bolts 312.

[0054] The electromagnetic adjustment assembly includes two electromagnetic adjustment components 4, which are mounted on the bottom surface of the robot body 1 via brackets. The two electromagnetic adjustment components are located inside the four drive wheels. The iron core 411 of the electromagnetic adjustment component 4 is made of laminated silicon steel sheets, and the coil winding is made of high-temperature resistant enameled wire. When the coil is energized, the direction of the magnetic field it generates is designed to be perpendicular to the adsorption surface. The electromagnetic adjustment component 4 is connected to the control module via wires. By changing the duty cycle of the PWM signal output by the control module, the excitation current of the electromagnet is adjusted, thereby changing the additional adsorption force it generates on the ferromagnetic can wall. This additional adsorption force, together with the basic adsorption force provided by the permanent magnet, achieves dynamic adjustment of the robot's total adsorption force and the frictional force between the robot and the adsorption surface.

[0055] The control module, serving as the core processing unit, is installed at the rear of the robot's body 1. It mainly comprises a microcontroller and related power management circuitry, motor drive circuitry, and signal conditioning circuitry. The control module is electrically connected to the following components via cables:

[0056] The electromagnetic adjustment component 4 is used to output a controllable current;

[0057] A ranging module 53, which in this embodiment uses a laser ranging sensor, is installed on the left side of the vehicle body to measure the distance between itself and the detection robot that performs the main detection task inside the tank.

[0058] An attitude sensing module 55, in this embodiment, uses an IMU inertial measurement unit that integrates a three-axis gyroscope and a three-axis accelerometer, which is installed in the control cabin to detect the robot's own attitude angle in real time;

[0059] A wireless communication module 52, in this embodiment, is a 2.4GHz-based wireless module used to establish a wireless data link;

[0060] In this embodiment, the safety rope control module outputs a PWM signal to control the movement of the rope release and retrieval motor assembly, thereby realizing the release and retrieval of the rope, and uses an encoder to measure the release amount of the safety rope.

[0061] The safety rope control module is integrated into the front part of the robot body 1. It includes:

[0062] A safety rope storage tray 61 is used for winding and storing safety ropes;

[0063] A cable take-up and release motor assembly 63 includes a stepper motor, a small gear fixedly connected to the motor output shaft, and a large gear disk fixedly connected coaxially to the take-up tray. The large gear disk and the small gear mesh with each other to form a transmission mechanism. In this embodiment, the cable length detection device 54 is a rotary encoder, whose detection wheel contacts the safety cable to detect the release length of the safety cable.

[0064] The cable tensioning mechanism 64 is installed near the outlet of the safety cable. In this embodiment, it employs a pair of spring-loaded clamping rollers to apply a constant clamping friction force to the safety cable passing between them. This friction force is sufficient to keep the released cable taut and prevent it from slack off, but it does not excessively hinder the normal release and retraction of the cable.

[0065] Furthermore, while traditional permanent magnet adsorption methods can provide a stable basic attraction force, they cannot adapt to changes in the surface roughness of the inner wall of the tank or the need for posture adjustment, easily leading to slippage or excessive energy consumption. This invention, based on the basic attraction force provided by permanent magnets on both sides, adds a vertically arranged electromagnetic adjustment component between the walking wheel assembly. The excitation current is adjusted in real time by a control module, dynamically superimposing or weakening the total attraction force. For example, attraction is enhanced in smooth areas to prevent slippage, while the attraction force is appropriately reduced on transitional curved surfaces or when turning to decrease driving resistance. This optimizes motion performance and energy efficiency while ensuring safety, resolving the contradiction of "strong attraction affecting maneuverability, and weak attraction causing the risk of detachment." The integrated safety rope control module and rope tensioning mechanism work together to eliminate the risk of entanglement. In existing solutions, the safety rope, when hanging freely, is prone to entanglement with internal components, restricting robot movement or even causing task interruption. This invention integrates the safety rope storage reel, receiver / discharge motor, and encoder length detection device into the vehicle body, and sets a spring-loaded pressure wheel tensioning mechanism at the cable outlet. The mechanism applies a constant micro-tension to the released cable, ensuring it remains attached to the rear of the robot's path and preventing slack or sagging. Simultaneously, the control module intelligently adjusts the release and retraction speed based on distance measurement data and cable length feedback, ensuring the cable is neither too tight to hinder movement nor too loose to create redundant loops, fundamentally eliminating entanglement and significantly improving operational reliability. The built-in wireless communication module and relay function overcome the signal shielding bottleneck in enclosed metal environments. Pressure vessels, being fully enclosed metal structures, exhibit strong electromagnetic shielding against common wireless frequency bands such as 2.4GHz, leading to communication interruptions between the inspection robot and the external host computer. This invention deploys the synchronous robot near manholes or in locations with relatively good signal coverage, utilizing its high-positioned antenna and stable power supply to construct a two-level wireless relay link: "Inspection Robot—Synchronous Robot—External Host Computer." The synchronous robot, acting as a mobile communication node, not only forwards inspection data but also uploads its own and the robot's status information in real time, ensuring the continuity and timeliness of control command issuance and key parameter feedback, providing communication support for remote monitoring and emergency intervention. Multi-sensor fusion and collaborative control logic support high-precision attitude synchronization and spatial positioning. The system acquires the robot's three-dimensional attitude angles via an IMU (Inertial Measurement Unit), and combines this with a laser ranging module to monitor and detect the distance between the two robots in real time, while also receiving each other's attitude data. The control module can calculate the angular deviation between the two robots on the tank's cross-section. Based on this, the system autonomously drives the walking wheel assembly for fine-tuning, ensuring that the synchronizing robot always maintains the same relative position and orientation as the detection robot.

[0066] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0067] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A magnetically attached synchronous wall-climbing, wire-free robot, characterized in that, It includes, The robot body (1) is a rigid structure, which contains a ranging module (53), an attitude sensing module (55) and a wireless communication module (52). The permanent magnet adsorption assembly (2) includes at least two sets of permanent magnets, which are symmetrically installed on both sides of the bottom of the robot body (1) to provide magnetic adsorption force. The walking wheel assembly (3) includes two pairs of walking wheels, which are respectively installed on both sides of the robot body (1), and the position of the walking wheel assembly corresponds to the arrangement position of the permanent magnet. The walking wheel assembly (3) is driven by a motor to provide movement power. The electromagnetic adjustment component (4) is located between two pairs of walking wheels. The electromagnetic adjustment component (4) includes an electromagnetic adjustment component (41), which adjusts the magnitude of the excitation current to change the additional adsorption force on the adsorption surface and realizes dynamic adjustment of the friction force. The safety rope control module is installed inside the robot body (1) to realize the release and retrieval of the safety rope, tension the rope and measure the release length of the rope. The safety rope control module includes a safety rope storage tray (61), a safety rope, a rope release and retrieval motor assembly (63) and a rope tensioning mechanism (64). The rope tensioning mechanism (64) is set on the release path of the safety rope and uses a mechanical structure to apply tension to the released rope to prevent the rope from loosening. The control module is located on the robot body (1) and is electrically connected to the electromagnetic adjustment component (4), the ranging module (53), the attitude sensing module (55), the wireless communication module (52), and the safety rope control module to control the on / off state or the magnitude of the magnetic force of the electromagnetic adjustment component (4). By processing the data from the ranging module (53) and the attitude sensing module (55), the control module monitors the robot's running distance and position attitude, controls the safety rope control module, and detects the release and retraction of the rope in real time, as well as transmits and detects the data information generated by the robot and the host computer in real time.

2. The magnetically attached synchronous wall-climbing, wire-free robot as described in claim 1, characterized in that, Preferably, the cable winding and unwinding motor assembly (63) in the safety rope control module drives the winding and unwinding of the cable by rotating the winding tray through a stepper motor; the cable length detection device (54) generates an electrical signal through an encoder and transmits it to the control module for length calculation.

3. The magnetically attached synchronous wall-climbing, wire-free robot as described in claim 1, characterized in that, Each electromagnetic adjustment component (41) of the electromagnetic adjustment component (4) is mounted on the bottom surface of the robot body (1) by a bracket, located inside the four walking wheels. When the coil is energized, the magnetic field generated is perpendicular to the adsorption surface.

4. The magnetically attached synchronous wall-climbing, wire-free robot as described in claim 1, characterized in that, The cable tensioning mechanism (64) includes a spring-loaded clamping wheel structure that applies a constant clamping friction force to the safety cable passing through it, ensuring that the cable is always kept taut and does not hinder the normal winding and unwinding of the cable.

5. The magnetically attached synchronous wall-climbing, wire-free robot as described in claim 1, characterized in that, The ranging module (53) includes a laser ranging sensor, and the attitude sensing module (55) includes an IMU inertial measurement unit that integrates a three-axis gyroscope and a three-axis accelerometer.

6. The magnetically attached synchronous wall-climbing, wire-free robot as described in claim 1, characterized in that, The wireless communication module (52) is equipped with a 2.4GHz-based wireless module to establish a wireless data link.

7. The magnetically attached synchronous wall-climbing, wire-free robot as described in claim 1, characterized in that, The control module determines the robot distance and the slack state of the safety rope based on the data from the ranging module (53) and the rope length detection device (54), and controls the rope winding and discharging motor assembly to perform winding and discharging actions to keep the rope taut.

8. The magnetically attached synchronous wall-climbing, wire-free robot as described in claim 1, characterized in that, The control module receives data from the attitude sensing module and simultaneously receives data from the attitude sensors inside the tank inspection robot via the wireless channel; based on the data, it determines the angle difference between the robot body and the tank inspection robot in the cross-sectional direction of the tank; according to the determination result, the control module drives the walking wheel set to make the robot move in the cross-sectional direction of the tank, thereby reducing the angle difference.

9. The magnetically attached synchronous wall-climbing, wire-free robot as described in claim 1, characterized in that, The safety rope storage tray stores the safety ropes. The rope receiving and releasing motor assembly drives the storage tray to rotate via a motor, receiving or releasing the ropes. The rope length detection device generates an electrical signal by following the movement of the rope through an encoder and transmits it to the control module for length calculation.

10. The magnetically attached synchronous wall-climbing, wire-free robot as described in claim 9, characterized in that, The cable take-up and release machine assembly includes a take-up tray base, a motor gear, and a take-up and release machine. The take-up tray base and the motor gear mesh with each other through gear teeth. The control module controls the rotation of the take-up and release machine, which drives the safety cable take-up tray on the take-up tray base to rotate, thereby taking up the cable. The cable tensioning mechanism is installed between the safety cable take-up tray and the cable length monitoring device, and uses a mechanical structure to apply tension to the released cable.

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