Robot device capable of continuously crossing external corner through permanent magnet adsorption and operation method

Abstract

The invention discloses a permanent magnet adsorption robot device capable of continuously crossing an external corner and an operation method. The device comprises a first machine body, a second machine body, driving wheels, a rotating shaft, a permanent magnet chassis, an annular telescopic mechanism and a power mechanism. The robot body can carry a control system, a battery and other carried functional devices of the robot. The power mechanism provides power for the driving wheel through the rotating shaft. The permanent magnet chassis provides adsorption force with the wall surface, one or more sets of concave arc sections are arranged at the bottom of the permanent magnet chassis, the concave arc sections are matched with the curvature of the external corner protruding outwards, so that the robot can conduct continuous transition when crossing the external corner, and the adsorption force is provided to the maximum extent. The annular telescopic mechanism is connected with the two machine bodies and generates active jacking force to provide pressing force facing the wall face for the robot. According to the device, the permanent magnetic chassis and the annular telescopic mechanism are arranged to provide continuous adsorption force and pressing force for the machine body on a zigzag plane, and the anti-falling capacity of the robot when the robot climbs over an external corner is effectively improved.

Description

Technical Field

[0001] This invention belongs to the technical field of bridge steel structure inspection equipment, and more specifically, relates to a robot device and operation method for continuous cross-cornering using permanent magnet adsorption. Background Technology

[0002] Magnetic adsorption wall-climbing robots are a core technology for the automated inspection of large bridge steel box girders, steel arch ribs, and other steel structures. However, the outer surfaces of bridge steel box girders and arch ribs commonly feature numerous outward-protruding corner structures. These structures create continuous curved transitions, posing a significant challenge to the robot's stable adhesion and continuous movement. Existing conventional magnetic adsorption wall-climbing robots mostly employ planar or low-curvature chassis designs. Their permanent magnet or electromagnet adsorption units are only suitable for flat or low-curvature steel surfaces. When the robot moves into a corner area, the contact area between the chassis and the wall decreases drastically, and the adsorption force drops significantly, making it prone to slippage, instability, or even falls. Furthermore, the robot's center of gravity shifts violently during corner crossings, making it difficult to maintain posture stability using only adsorption force. Traditional structures cannot simultaneously guarantee reliable adsorption and smooth transitions at both planar surfaces and corners.

[0003] To address the obstacle crossing or curved surface transition issues of magnetic adsorption wall-climbing robots, existing technologies have employed designs using swing arms, articulated structures, or passive adaptive chassis, attempting to adapt to complex curved surfaces such as external corners through mechanical structure adjustments. However, these solutions all suffer from significant technical drawbacks: (1) the overall mechanical structure is complex, increasing the difficulty of robot control; (2) in actual working conditions such as external corners where continuous contact with the wall surface and stable clamping are required, the core issues such as discontinuous transitions, easy interruption of adsorption force, and insufficient clamping of the wall surface cannot be resolved, making it difficult to meet the requirements for long-term, continuous, and stable automated inspection operations of large steel structures such as steel box girders and steel arch ribs.

[0004] Therefore, there is an urgent need for a permanent magnet adsorption wall-climbing robot device that can continuously and stably climb over the external corners of steel structures. This device can improve the adaptability and reliability of robots working on complex geometric surfaces and ensure the safe and efficient completion of automated inspection tasks for bridge steel structures. Summary of the Invention

[0005] To address the problems of unstable adsorption and discontinuous transition at external corners in existing traditional equipment, this invention provides a robotic device and operating method for continuous cross-corner adsorption using permanent magnets to solve these problems.

[0006] To achieve the above objectives, this invention provides a robot device for continuously traversing external corners using permanent magnet adsorption, comprising a first body and a second body connected by a hinge; three parallel rotating shafts, including a front shaft at the bottom of the first body, a rear shaft at the bottom of the second body, and a central shaft shared by the first and second bodies, which enables the hinge connection between the first and second bodies; drive wheels located at both ends of the rotating shafts, which output power through a power mechanism to ensure that the three pairs of drive wheels are always attached to the wall surface and alternately driven, thereby driving the device to smoothly traverse external corners; and a permanent magnet base for adsorbing steel structure walls. The device includes a permanent magnet one fixedly mounted at the bottom of a first body and a permanent magnet two fixedly mounted at the bottom of a second body. The first and second permanent magnets are rotatably connected to the central shaft to complete the coaxial connection of the magnetic circuit, so that the adsorption force can be continuously transitioned with the mechanical rotation of the device. The bottom of the permanent magnet chassis is provided with one or more concave arc segments, which are adapted to the curvature of the external corner, so that the external corner extends into the concave space of the chassis, thereby realizing the continuous and smooth sliding of the permanent magnet chassis along the external corner; and a ring telescopic mechanism, which is connected between the first and second bodies, for actively adjusting the distance between the two bodies and providing a clamping force facing the wall.

[0007] Furthermore, the two ends of the permanent magnet are respectively sleeved on the central shaft and the rear shaft, and two of them are symmetrically arranged on the inner side of the two pairs of drive wheels at the bottom of the body. The permanent magnet includes a concave arc segment and end arc segments respectively provided at both ends of the concave arc segment. The three are integrally formed, and the top is horizontally connected and the bottom arc is smoothly connected. The curved surface of the concave arc segment is precisely determined by three positioning points. The two positioning points at both ends are the tangent points with the two end arc segments, and the middle positioning point is the position where the corner extends into the chassis the deepest when the robot crosses the corner.

[0008] Furthermore, the permanent magnet includes an integrally formed end arc segment and a concave arc segment, with the top of the two connected horizontally and the bottom arc smoothly transitioned. The end arc segment has a through hole that matches the diameter of the rotating shaft and is fitted onto the rotating shaft to achieve coaxiality with the corresponding drive wheel, ensuring that the distance between the magnet and the wall is uniform when the magnet rotates with the drive wheel.

[0009] Furthermore, the permanent magnet 1 is provided in three parts, two of which are located inside the front drive wheel of the fuselage 1 and sleeved on the front axle, serving as the basic adsorption unit of the fuselage 1. The other part is located at the common central axis of the fuselage 1 and the fuselage 2, and is located between the two permanent magnet 2 parts, realizing the coaxial connection of the magnetic circuit at the bottom of the two fuselage. The end arc segments and concave arc segments of the three permanent magnet 1 parts are smoothly connected to form the concave space at the bottom of the fuselage 1, thereby realizing the continuous and smooth contact and movement of the permanent magnet chassis at the bottom of the fuselage 1 along the convex corner.

[0010] Furthermore, the annular telescopic mechanism includes a telescopic sleeve, an electric gear, a base, and a telescopic bar.

[0011] Furthermore, the telescopic sleeve has an arc-shaped structure and is fixedly installed on the top of the machine body, with its inner cavity providing sliding space for the telescopic strip; the base is fixed to the end of the telescopic sleeve; the electric gear is rotatably mounted on the base, and its teeth mesh with the teeth of the telescopic strip; the telescopic strip has an arc-shaped structure and is fixedly installed on the top of the second machine body, with a cross-sectional dimension smaller than the inner cavity dimension of the telescopic sleeve, and its upper part is machined with teeth that mesh with the teeth of the electric gear.

[0012] Furthermore, the power mechanism includes a motor and a power control assembly; the motor is provided in two sets, respectively installed in the middle of the shaft of the front axle and the rear axle; the power control assembly includes a controller, a speed sensor, and a torque sensor; the controller is installed inside the main body and communicates with the two motors and corresponding sensors via a CAN bus; the speed sensor is a Hall effect speed sensor and is installed at the end of the corresponding shaft; the torque sensor is installed at the connection between the motor and the shaft.

[0013] Furthermore, both the first and second bodies are high-strength rigid frame structures, and the robot's core control system, power supply battery pack, and sensor components are respectively mounted on them.

[0014] According to another aspect of the present invention, a method for operating a permanent magnet adsorption continuous corner-crossing robot device is also provided, comprising the following steps: S1: Once the machine body reaches the external corner position, based on the collected device operating information, the electric gear drives the telescopic strip to extend along the arc-shaped inner cavity of the telescopic sleeve, generating a normal clamping force that acts on the permanent magnet chassis to compensate for the loss of adsorption force at the external corner. S2: The external corner extends into the concave space of the permanent magnet chassis. Permanent magnet one and permanent magnet two are connected in a coaxial manner with a shared central axis of rotation as the core, maintaining the continuous transmission of the adsorption force and ensuring that the permanent magnet chassis and the external corner curved surface fit tightly without jamming. S3: The power unit dynamically adjusts the output torque and speed of the motor driving the machine body one according to the curvature of the corner and the coefficient of friction of the wall. It relies on three pairs of drive wheels that are always attached to the wall to achieve alternating drive, so as to drive the machine body one to complete the corner crossing. S4: The device adjusts its posture using a shared central axis as a fulcrum. The first and second bodies complete the corresponding angle rotation adjustment. The ring telescopic mechanism maintains the maximum extension state and the clamping force. The power component coordinates and controls the two motors to drive the central axis of the rotating shaft to smoothly flip over the yang corner. S5: When the second body enters the corner-crossing stage, the control system drives the electric gear to reverse, causing the telescopic bar to retract along the telescopic sleeve. The ring telescopic mechanism maintains the preset pre-tightening force, and the corner extends into the concave space at the bottom of the second body. S6: The power components synchronously adjust the output torque and speed of the motor driving the second body. The three pairs of drive wheels continuously adhere to the wall and drive it alternately, driving the second body to complete the corner crossing.

[0015] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: 1. The robot device of the present invention has a concave arc section on the permanent magnet chassis that is adapted to the external corner, so that the external corner can naturally extend into the concave space, so as to achieve the maximum fit between the chassis and the curved surface of the external corner and ensure the maximum adsorption area; at the same time, permanent magnet one and permanent magnet two are connected by a common central axis to achieve coaxial connection of magnetic circuit, so that the adsorption force is continuously transmitted with the mechanical rotation of the device without interruption or sudden drop, effectively avoiding the problem of slippage and instability of the robot at the external corner due to the decrease of adsorption force.

[0016] 2. The robot device of the present invention adopts an arc-shaped structure design through a ring telescopic mechanism, which is suitable for the 0-90° rotation angle adjustment of the dual-body without motion interference; the telescopic movement is achieved by electric gear drive, and the generated clamping force can be automatically decomposed into a normal clamping force perpendicular to the wall surface, which accurately compensates for the adsorption force loss of the arc-shaped chassis compared with the flat chassis, and can also effectively resist the robot's own weight when it crosses the corner, solving the core problem of insufficient wall clamping of traditional equipment and significantly improving the anti-fall performance.

[0017] 3. The robot device of the present invention has a body 1 and a body 2 that are hinged together by a common central axis, which can complete the rotation angle adjustment from 0 to 90°. With the concave arc section structure of the permanent magnet chassis, it can not only adapt to the right-angled external corners of bridge steel structures, but also fit the external corner surfaces with different curvatures. The device can automatically adjust its posture according to the shape of the external corner without the need for additional complex adjustment structures. It has extremely strong adaptability to external corners of parts such as bridge steel box girders and steel arch ribs.

[0018] 4. The robot device of the present invention is equipped with independent magnetic suction components and power mechanisms on both bodies, forming independent working units to avoid overall device instability caused by single component failure; the two motors independently drive the front and rear axles, and if one motor or one power shaft fails, the other power system can drive the device to retreat to the plane area at low speed, providing safety assurance for bridge outdoor high-altitude inspection operations.

[0019] 5. The robot device of the present invention is equipped with two bodies, each equipped with an independent magnetic suction component and a power mechanism, forming an independent working unit, thus avoiding overall device instability caused by the failure of a single component; the two motors independently drive the front and rear axles, and if one of the motors or one power shaft fails, the other power system can drive the device to retreat to the plane area at low speed, providing a safety guarantee for bridge outdoor high-altitude inspection operations.

[0020] 6. Compared with traditional wall-climbing robots that use swing arms, articulated structures, or passive adaptive chassis, the robot device of the present invention has no complex linkages, hydraulic components, or multi-joint adjustment structures. The core functional components are compactly arranged and few in number, simplifying the mechanical structure. The control system realizes the linkage between dual motors and sensors through the CAN bus. The ring telescopic mechanism only needs to complete the telescopic and clamping force adjustment through the forward and reverse rotation of the electric gear. The control logic is simple, which greatly reduces the control difficulty and mechanical failure rate of the device. Attached Figure Description

[0021] Figure 1 is an overall structural diagram of a robot device for continuously crossing a corner using permanent magnet adsorption in an embodiment of the present invention; Figure 2 is a structural diagram of the permanent magnet chassis of the robot device in an embodiment of the present invention; Figure 3 is a schematic diagram of the permanent magnet structure of the robot device in an embodiment of the present invention; Figure 4 is a schematic diagram of the ring telescopic mechanism of the robot device in an embodiment of the present invention; Figure 5 is a diagram showing the state of the robot device in an embodiment of the present invention as it flips over a right-angled corner; Figure 6 is a diagram showing the state of the robot device in an embodiment of the present invention as it crosses a right-angled positive corner via its common axis of rotation; Figure 7 is a diagram showing the state of the robot device in an embodiment of the present invention as it flips over a right-angled positive corner.

[0022] In all the accompanying drawings, the same reference numerals indicate the same technical features, specifically: 1-body one, 2-drive wheel, 3-rotating shaft, 4-permanent magnet one, 5-permanent magnet two, 6-ring telescopic mechanism, 61-telescopic sleeve, 62-electric gear, 63-base, 64-telescopic bar, 7-motor, 8-body two. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0024] like Figure 1-7As shown, this invention provides a permanent magnet adsorption continuous corner-crossing robot device, including a body 1, a body 2, a drive wheel 2, a rotating shaft 3, a permanent magnet chassis, and a ring telescopic mechanism 6. The rotating shaft 3 has three shafts: a front shaft at the bottom of body 1, a rear shaft at the bottom of body 2, and a central shaft shared by body 1 and body 2, which enables the hinge connection between body 1 and body 2. The drive wheel 2 is mounted at both ends of the rotating shaft 3. The permanent magnet chassis includes a permanent magnet 4 fixedly mounted at the bottom of body 1 and a permanent magnet 5 fixedly mounted at the bottom of body 2. The permanent magnet 4 and permanent magnet 5 are rotatably connected to the central shaft, completing the coaxial connection of the magnetic circuit, so that the adsorption force follows the movement of the device. The mechanical rotation achieves continuous transition; the bottom of the permanent magnet chassis is provided with one or more concave arc segments, which are adapted to the curvature of the outwardly protruding yang corner, so that the yang corner extends into the concave space of the chassis, thereby realizing the continuous and smooth sliding of the permanent magnet chassis along the yang corner; the annular telescopic mechanism 6 includes an arc-shaped telescopic sleeve 61 located on the top of the body 1, a telescopic bar 64 located on the top of the body 2, and an electric gear 62 located on the telescopic sleeve 61. The telescopic bar 64 is slidably located in the inner cavity of the telescopic sleeve 61 and meshes with the electric gear 62. When the body 1 moves to the yang corner, the electric gear 62 drives the telescopic bar 64 to extend, applying a normal clamping force to the body 1 to compensate for the loss of adsorption force. The yang corner extends into the chassis and fits with the concave arc segment, generating relative displacement. The permanent magnet 1 4 and the permanent magnet 2 5 achieve coaxial connection of the magnetic circuit through a shared central axis to maintain the continuity of the adsorption force. Relying on the three pairs of drive wheels 2 always being attached to the wall and driving alternately, the device smoothly flips over the yang corner. The robot device of the present invention has a concave arc section on the permanent magnet chassis, which allows the external corner to extend under the body, avoiding the chassis from being blocked by the external corner and enabling the robot to continuously operate over external corners. At the same time, the arc-shaped chassis can get as close as possible to the curved surface of the external corner, ensuring the adsorption area, maintaining the continuity of the adsorption force, and maximizing the adsorption force between the robot and the wall. In conjunction with the annular telescopic mechanism 6, it provides a clamping force facing the wall, which can resist the risk of instability caused by the robot's own weight and greatly improve the robot's anti-fall capability when overcoming external corners.

[0025] like Figure 1-2 As shown in the embodiment of the invention, the robot device adopts a dual-body setup, including body 1 and body 2, both of which are high-strength rigid frame structures. The frame strength is adapted to the complex working conditions of outdoor inspection of bridge steel box girders and steel arch ribs. It can stably carry the robot's core control system, power supply battery pack, and sensor components (such as speed sensors, attitude sensors, and distance sensors). At the same time, it reserves standardized installation interfaces, which can be equipped with various inspection and operation function devices such as high-definition cameras, ultrasonic flaw detectors, and grinding and spraying robotic arms as needed. Moreover, the layout design strictly takes into account the convenience of component installation and the balance of the body's center of gravity, so as to avoid the center of gravity shift and instability of the device during wall travel and corner crossing.

[0026] Furthermore, the first body 1 and the second body 8 are hinged together by a common central axis, which can realize the rotation angle adjustment in the range of 0-90°, thereby adapting to the right-angled external corners of bridge steel structures and external corner surfaces with different curvatures, providing a structural basis for the device to adjust its posture according to the shape of the external corner; and the bottom of the first body 1 and the second body 8 are each equipped with independent magnetic suction components and power mechanisms, which can realize wall contact and power output independently, avoiding overall instability caused by the failure of a single component.

[0027] In this embodiment of the invention, the rotating shaft 3 provides a structural basis for the device to realize relative rotation of the two fuselages, power transmission of the drive wheels 2, and attitude adjustment for corner crossing. There are three shafts arranged in parallel, namely the front shaft at the bottom of fuselage 1, the rear shaft at the bottom of fuselage 2, and the central shaft shared by fuselage 1 and fuselage 2. The three rotating shafts 3 are equipped with three pairs of drive wheels 2, forming a three-axis six-wheel mechanical structure.

[0028] The front axle is located at the bottom of the fuselage 1, with drive wheels 2 installed at both ends. A power mechanism is installed on the axle, which drives the fuselage 1 to move along the wall and climb over corners. At the same time, it serves as the mounting and positioning reference for the permanent magnet 4 at the bottom of the fuselage 1, ensuring the positional compatibility between the permanent magnet and the drive wheels.

[0029] The rear axle is located at the bottom of the fuselage 2 8, with drive wheels 2 installed at both ends. A power mechanism is installed on the axle, which drives the fuselage 2 8 to provide power for its movement. It forms an independent dual power output structure with the front axle, avoiding overall instability of the device due to single-axis failure. At the same time, it serves as the end positioning shaft of the permanent magnet 2 5 at the bottom of the fuselage 2 8, realizing the coaxial design of the permanent magnet 2 5 and the drive wheel 2.

[0030] The central axis serves as the hinge axis between body 1 and body 2, enabling a flexible connection between them. This allows the two bodies to adjust their rotation angles from 0 to 90 degrees, accommodating right-angled corners and curved surfaces of different curvatures in bridge steel structures, and allowing the device to adapt to the changing posture of the corner shape. Simultaneously, the central axis also serves as the magnetic circuit connection axis between permanent magnet 4 and permanent magnet 5, ensuring that permanent magnet 4 of body 1 and permanent magnet 5 of body 2 are magnetically coaxially connected around the central axis. This guarantees the continuous transmission of adsorption force during cornering and prevents interruption of the adsorption force.

[0031] Furthermore, in a specific embodiment of the present invention, the standardized dimensions of the rotating shaft 3 are 18cm in length and 2cm in diameter, and the wheelbase between the three rotating shafts is 15cm. This size is suitable for the external curved surface specifications of the steel box girder and steel arch rib of the bridge, taking into account both the wall-hugging flexibility and the travel stability of the device.

[0032] In this embodiment of the invention, the power mechanism is used to realize the rotation of the drive wheel 2, the independent attitude adjustment of the two fuselages, and the continuous output of power for overturning the corner. It includes a motor 7 and a power control component.

[0033] Two sets of motors 7 are installed on the front and rear axles respectively. The motors 7 are positioned one-to-one in the middle of the rod body of the front and rear axles. The power of the motors 7 is directly transmitted from the middle of the rod body of the rotating shaft 3 to both ends, driving the corresponding rotating shaft 3 to rotate and driving the drive wheels 2 at both ends to rotate, providing stable power for the device to move and climb over corners. The central common shaft is the driven shaft, without motor 7. It is linked with the rotation of the two bodies and the wall attachment of the drive wheels to achieve linkage, and works with the front and rear axles to complete the coordinated transmission of power and the synchronous adjustment of posture.

[0034] The power control component is used to realize intelligent joint control and adaptive speed adjustment of the two motors 7 under working conditions. It includes a controller, a speed sensor, and a torque sensor. The controller is installed inside the machine body 1 and communicates with the two motors 7 and corresponding sensors via a CAN bus. It has a built-in corner-crossing power control algorithm, which can realize independent speed adjustment, differential linkage, and synchronous braking control of the two motors 7. It adjusts the output torque and speed of the motors in real time according to the corner curvature and the wall friction coefficient. The speed sensor is a Hall effect speed sensor, installed at the end of the rotating shaft 3, and rotates synchronously with the drive wheel 2. It collects the rotation shaft data in real time. The rotational speed signal of motor 3 is fed back to controller 11 with an accuracy of ±1 r / min, providing closed-loop feedback for stepless speed regulation and preventing drive wheel 2 from spinning or slipping. The torque sensors are respectively installed at the front axle at the bottom of the machine body 1 and the rear axle at the bottom of the machine body 2, and are correspondingly located at the connection between motor 7 and shaft 3. They can accurately collect the output torque of motor 7 and the force signals of the front and rear axles, and quickly feed them back to the controller to achieve real-time and accurate control of motor output torque, ensuring reliable adhesion between drive wheel 2 and the steel structure wall, and adapting to the changes in dynamic load when the device crosses the corner.

[0035] The motor 7 of the power mechanism and the power control component form a collaborative working mode of power output and intelligent regulation. When the device moves on a plane, the synchronous drive of the two motors 7 achieves stable and uniform speed operation of the drive wheels 2, ensuring the smoothness of the device's movement along the wall. When turning, the differential speed regulation of the two motors completes the flexible steering of the device. Throughout the process of the device crossing the corner, the power control component dynamically adjusts the output torque and speed of the front and rear axle motors 7 based on the real-time feedback signals from the body posture, the shape of the corner, and the wall adhesion, realizing the alternating drive of the three pairs of drive wheels 2 and reliable wall adhesion. Combined with the hinged rotation of the two bodies and the tightening adjustment of the ring telescopic mechanism 6, it provides continuous and adaptable power support for the smooth and sequential crossing of body 1, the common central shaft, and body 2 8. At the same time, it avoids problems such as drive wheel idling, slippage, and device instability from a power perspective. It forms a functional synergy with the continuous adsorption of the permanent magnet chassis and the active pressing of the ring telescopic mechanism, ensuring the continuous and stable operation of the device at the corner of the bridge steel structure.

[0036] like Figure 2-3 As shown in the embodiment of the present invention, the permanent magnet chassis is used to achieve stable adsorption of the robot device on the steel structure wall and continuous contact with the external corner when it flips over. It adopts an asymmetrical combination layout, including three permanent magnets 4 fixedly installed at the bottom of the body 1 and two permanent magnets 5 fixedly installed at the bottom of the body 8. Each magnet is installed and positioned with the corresponding rotating shaft 3 as the installation reference, which is adapted to the mechanical structure of three axes and six wheels, and strictly fits the spatial layout of the bottom of the two bodies, taking into account both the uniformity of adsorption force and the balance of the body center of gravity.

[0037] The permanent magnet 4 is fixedly mounted on the bottom of the body 1 as a magnetic attraction component, enabling the independent adsorption function of the body 1. The permanent magnet 4 includes an integrally formed end arc segment and a concave arc segment, with the top of the two connected horizontally and the bottom arc smoothly connected. The end arc segment has a through hole that matches the diameter of the rotating shaft 3 and is sleeved on the rotating shaft 3 to achieve coaxiality with the corresponding drive wheel 2, ensuring that the distance between the magnet and the wall is uniform when the magnet rotates with the drive wheel. Furthermore, the permanent magnet 4 is provided in three parts. Two of them are located inside the front drive wheel 2 of the fuselage 1 and are fitted onto the front axle as the basic adsorption unit of the fuselage 1. The other part is located at the common central axis of the fuselage 1 and the fuselage 2, and is located between the two permanent magnets 2, realizing the coaxial connection of the magnetic circuit at the bottom of the two fuselages. The end arc segments and concave arc segments of the three permanent magnets 4 are smoothly connected to form the concave space at the bottom of the fuselage 1, thereby realizing the continuous and smooth contact and movement of the permanent magnet chassis at the bottom of the fuselage 1 along the convex corner.

[0038] The permanent magnet 25 is respectively fitted onto the central shaft and the rear shaft at both ends. It has two pieces and is symmetrically arranged on the inner side of the two pairs of drive wheels 2 at the bottom of the body 28. The permanent magnet 25 includes a set of concave arc segments and two sets of end arc segments. The two sets of end arc segments are respectively located at both ends of the concave arc segments. The three are integrally formed, with the top horizontally connected and the bottom arc smoothly transitioned. Furthermore, the two sets of end arc segments are coaxial with the drive wheels 2 on the central shaft and the rear shaft, respectively, to ensure that the distance between the magnet and the wall is uniform when the drive wheels rotate. The concave arc segment surface is precisely determined by three positioning points. The two positioning points at both ends are the tangent points with the two end arc segments, and the middle positioning point is the position where the corner extends the deepest into the chassis when the robot crosses the corner. This ensures that during the corner crossing process, the concave arc surface of the chassis always maintains the closest distance to the corner surface, maximizing the adsorption area.

[0039] With the concave arc segments provided on magnet 4 and permanent magnet 5 respectively, the external corner provides a dedicated concave space, allowing the external corner to naturally extend into the bottom of the machine body. This completely avoids the hard contact and jamming problems between the traditional flat or small curvature chassis and the external corner, and realizes the continuous and smooth fit and movement of the permanent magnet chassis along the curved surface of the external corner.

[0040] In a specific embodiment of the present invention, the permanent magnet 25 has a thickness of 3cm, and the diameter of the arc segment at its end coaxial with the drive wheel 2 is 8cm, which is smaller than the 10cm diameter of the drive wheel 2, thereby precisely controlling the distance between the magnet and the steel structure wall and achieving the optimal non-contact adsorption effect.

[0041] In this embodiment of the invention, the annular telescopic mechanism 6 is used to actively compensate for the loss of adsorption force and ensure the reliability of wall adhesion. It includes a telescopic sleeve 61, an electric gear 62, a base 63, and a telescopic strip 64.

[0042] The telescopic sleeve 61 has an arc-shaped structure and is fixedly installed on the top of the body 1. Its inner cavity provides sliding space for the telescopic strip 64, and the end is reserved with a dedicated mounting position for the base 63. The overall curvature is adapted to the 0-90° rotation adjustment of the dual bodies, ensuring that the telescopic movement is not interfered with by the hinge rotation of the body.

[0043] The base 63 is fixed to the end of the telescopic sleeve 61, providing rigid mounting support for the electric gear 62, ensuring that the rotation axis of the electric gear 62 is precisely matched with the meshing direction of the telescopic bar 64, and eliminating the transmission jamming problem caused by excessive meshing clearance.

[0044] The electric gear 62 is rotatably mounted on the base 63 and is driven by an internal micro motor to achieve forward and reverse rotation. Its teeth precisely mesh with the keyway of the telescopic bar 64. The forward and reverse rotation of the electric gear 62 driven by the micro motor provides power for the sliding of the telescopic bar 64, and its speed and torque are adapted to the stepless adjustment requirements of the clamping force.

[0045] The telescopic strip 64 has an arc-shaped structure and is fixedly installed on the top of the body 8. Its cross-sectional size is smaller than the inner cavity size of the telescopic sleeve 61, allowing it to smoothly extend into or retract into the arc-shaped inner cavity of the telescopic sleeve 61. Its upper part is machined with teeth and keys, which mesh with the teeth of the electric gear 62 to achieve power transmission. The overall curvature of the telescopic strip 64 is consistent with that of the telescopic sleeve 61, ensuring coaxiality and smoothness during the sliding process.

[0046] In this embodiment of the invention, the annular telescopic mechanism 6 achieves telescopic movement through gear meshing, and the telescopic movement is converted into a clamping force on the dual bodies, ultimately generating a normal clamping force facing the wall. The entire process is precisely controlled by the robot control system, and the power transmission and force conversion path is clear and lossless. During corner-crossing operations, based on the corner condition information collected by the robot's posture sensor and distance sensor, forward and reverse commands are sent to the electric gear 62. The electric gear 62 rotates precisely around the mounting shaft of the base 63. The teeth of the electric gear 62 mesh with the key on the upper part of the telescopic bar 64, converting the rotational motion of the gear into the linear sliding motion of the telescopic bar 64 along the arc-shaped inner cavity of the telescopic sleeve 61. The forward rotation of the electric gear 62 drives the telescopic bar 64 to extend, and the reverse rotation drives the telescopic bar 64 to retract. When the telescopic bar 64 extends, the overall length of the annular telescopic mechanism 6 increases, generating a bidirectional arc-shaped clamping force on the robot body 1 and robot body 2 8. This force increases with the extension length of the telescopic bar. The bidirectional clamping force is automatically decomposed into a normal clamping force perpendicular to the two walls of the corner according to the geometric angle of the corner surface. This force acts directly on the robot's permanent magnet chassis, keeping the permanent magnet chassis in close contact with the steel structure wall, maximizing the adsorption area, and compensating for the adsorption force loss of the arc-shaped chassis compared to the flat chassis.

[0047] When the robot device of this invention performs continuous corner-crossing operations, it first moves smoothly along the steel structure wall to the corner area. The robot body 1 makes contact with the corner and begins the corner-crossing action. At this time, the control system drives the electric gear 62 of the annular telescopic mechanism 6 to rotate forward based on the working condition information collected by the attitude sensor and distance sensor. This drives the telescopic bar 64 to extend along the arc-shaped inner cavity of the telescopic sleeve 61, causing the annular telescopic mechanism 6 to generate a clamping force and automatically decompose it into a normal clamping force perpendicular to the two walls of the corner. This force acts on the permanent magnet chassis to compensate for the loss of the adsorption force at the corner. Simultaneously, the external corner naturally extends into the concave space of the permanent magnet chassis. Permanent magnet 4 and permanent magnet 5 are connected coaxially through a shared central shaft 3, maintaining the continuous transmission of the attraction force. The power component dynamically adjusts the output torque and speed of the motor 7 driving body 1, and works with three pairs of drive wheels 2 that are always attached to the wall to achieve alternating drive, driving body 1 to complete the external corner flip. Subsequently, the device adjusts its posture using the shared central shaft 3 as a fulcrum, and body 1 and body 2 8 complete the 0-90° rotation angle adaptation. The annular telescopic mechanism 6 maintains maximum extension. Upon reaching the desired state and applying clamping force, the power unit coordinates and controls two motors 7 to drive the shared rotating shaft 3 smoothly over the corner, ensuring continuous contact between the permanent magnet chassis and the curved surface of the corner. Finally, as the second body 8 enters the corner-overtaking stage, the control system drives the electric gear 62 to reverse, causing the telescopic bar 64 to partially retract. The annular telescopic mechanism 6 maintains a preset preload to avoid excessive mechanical resistance. The power unit synchronously adjusts the output torque and speed of the motor 7 driving the second body 8, continuing to rely on the alternating drive of the three pairs of drive wheels 2 and wall adhesion to complete the corner-overtaking of the second body 8. The entire power assembly achieves closed-loop feedback through speed and torque sensors, and controls the differential speed and torque output of the two motors 7 in real time. The clamping force of the ring telescopic mechanism 6 and the attraction force of permanent magnet 4 and permanent magnet 5 of the permanent magnet chassis work together continuously. The three-axis six-wheel structure of the rotating shaft 3, together with the hinged rotation of the machine body 1 and machine body 2 8, ensures that the device is stable in posture and does not slip or become unstable during the entire process of crossing. Finally, the machine body 1, the shared rotating shaft 3, and the machine body 2 8 are smoothly crossed over the corner in sequence, completing the continuous and smooth operation at the corner of the steel structure.

[0048] The robot device of the present invention has a concave arc section on the permanent magnet chassis that is adapted to the external corner, so that the external corner can naturally extend into the concave space, achieving the maximum fit between the chassis and the curved surface of the external corner and ensuring the maximum adsorption area. At the same time, permanent magnet one and permanent magnet two are connected by a shared central axis to achieve coaxial magnetic circuit connection, so that the adsorption force is continuously transmitted with the mechanical rotation of the device without interruption or sudden drop, effectively avoiding the problem of slippage and instability of the robot at the external corner due to the decrease of adsorption force.

[0049] The robot device of this invention adopts an arc-shaped structure design through a ring telescopic mechanism, which is suitable for the 0-90° rotation angle adjustment of the dual-body without motion interference. The telescopic movement is achieved by electric gear drive, and the generated clamping force can be automatically decomposed into a normal clamping force perpendicular to the wall surface. This accurately compensates for the adsorption force loss of the arc-shaped chassis compared to the flat chassis, and can also effectively resist the robot's own weight when it crosses a corner. This solves the core problem of insufficient wall clamping of traditional equipment and significantly improves the anti-fall performance.

[0050] The robot device of the present invention has a body 1 and a body 2 that are hinged together by a common central axis, which can complete the rotation angle adjustment from 0 to 90°. With the concave arc section structure of the permanent magnet chassis, it can not only adapt to the right-angled external corners of bridge steel structures, but also fit the external corner surfaces with different curvatures. The device can automatically adjust its posture according to the shape of the external corner without the need for additional complex adjustment structures. It has extremely strong adaptability to external corners of parts such as bridge steel box girders and steel arch ribs.

[0051] The robot device of the present invention is equipped with independent magnetic suction components and power mechanisms on both bodies, forming independent working units to avoid overall device instability caused by single component failure; the two motors independently drive the front and rear axles, and if one motor or one power shaft fails, the other power system can drive the device to retreat to the plane area at low speed, providing safety assurance for bridge outdoor high-altitude inspection operations.

[0052] The robot device of the present invention is equipped with two bodies, each equipped with an independent magnetic suction component and a power mechanism, forming an independent working unit, thus avoiding overall device instability caused by the failure of a single component; the two motors independently drive the front and rear axles, and if one motor or one power shaft fails, the other power system can drive the device to retreat to the plane area at low speed, providing a safety guarantee for bridge outdoor high-altitude inspection operations.

[0053] Compared with traditional wall-climbing robots that use swing arms, articulated structures, or passive adaptive chassis, the robot device of this invention has no complex linkages, hydraulic components, or multi-joint adjustment structures. The core functional components are compactly arranged and few in number, simplifying the mechanical structure. The control system realizes the linkage between dual motors and sensors through the CAN bus. The ring telescopic mechanism only needs to complete the telescopic and clamping force adjustment through the forward and reverse rotation of the electric gear. The control logic is simple, which greatly reduces the control difficulty and mechanical failure rate of the device.

[0054] In this embodiment of the invention, a method for operating a robot device that continuously crosses corners using permanent magnet adsorption is also provided, comprising the following steps: S1: When the machine body 1 reaches the external corner position, the electric gear 62 drives the telescopic bar 64 to extend along the arc-shaped inner cavity of the telescopic sleeve 61 through the collected device operating information, generating a normal clamping force to act on the permanent magnet chassis to compensate for the loss of adsorption force at the external corner. S2: The external corner extends into the concave space of the permanent magnet chassis. Permanent magnet 4 and permanent magnet 5 are connected in a coaxial manner with the central axis of the shared rotating shaft 3 as the core, maintaining the continuous transmission of the adsorption force and ensuring that the permanent magnet chassis and the curved surface of the external corner fit tightly without jamming. S3: The power component dynamically adjusts the output torque and speed of the motor 7 driving the machine body 1 according to the curvature of the corner and the coefficient of friction of the wall. It relies on three pairs of drive wheels 2 that are always attached to the wall to achieve alternating drive, so as to drive the machine body 1 to complete the corner crossing. S4: The device adjusts its posture using a common central axis as a fulcrum. The first body 1 and the second body 8 complete the corresponding angle rotation adjustment. The ring telescopic mechanism 6 maintains the extended state and the clamping force. The power component coordinates and controls the two motors 7 to drive the central axis of the rotating shaft 3 to smoothly flip over the yang corner. S5: When the second body 8 enters the corner-crossing stage, the control system drives the electric gear 62 to reverse, causing the telescopic bar 64 to partially retract along the telescopic sleeve 61. The annular telescopic mechanism 6 maintains the preset pre-tightening force, and the corner extends into the concave space at the bottom of the second body 8. S6: The power components synchronously adjust the output torque and speed of the motor 7 driving the second body 8. The three pairs of drive wheels 2 continuously adhere to the wall and drive it alternately, driving the second body 8 to complete the corner crossing.

[0055] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A permanent magnet adsorption continuous corner-crossing robot device, characterized in that, include: The fuselage 1 (1) and fuselage 2 (8) are connected by a hinge. The three rotating shafts (3) are arranged in parallel, including the front shaft at the bottom of fuselage one (1), the rear shaft at the bottom of fuselage two (8), and the central shaft shared by fuselage one (1) and fuselage two (8), which realizes the hinge of fuselage one (1) and fuselage two (8); The drive wheels (2) located at both ends of the rotating shaft (3) output power through the power mechanism, so that the three pairs of drive wheels (2) are always attached to the wall and drive alternately, so that the device can smoothly flip over the corner; The permanent magnet chassis for adsorbing steel structure walls includes a permanent magnet one (4) fixedly installed at the bottom of the first body (1) and a permanent magnet two (5) fixedly installed at the bottom of the second body (8). The permanent magnet one (4) and the permanent magnet two (5) are respectively rotatably connected to the central shaft to complete the coaxial connection of the magnetic circuit, so that the adsorption force can be continuously transitioned with the mechanical rotation of the device. The bottom of the permanent magnet chassis is provided with one or more concave arc segments. The concave arc segments are adapted to the curvature of the yang corner, so that the yang corner extends into the concave space of the chassis, thereby realizing the continuous and smooth sliding of the permanent magnet chassis along the yang corner. And a ring telescopic mechanism (6), which is connected between the first body (1) and the second body (8), for actively adjusting the distance between the two bodies and providing a clamping force facing the wall.

2. The permanent magnet adsorption continuous corner-crossing robot device according to claim 1, characterized in that, The permanent magnet 2 (5) is respectively fitted on the central shaft and the rear shaft at both ends. It has two pieces and is symmetrically arranged on the inner side of the two pairs of drive wheels (2) at the bottom of the body 2 (8). The permanent magnet 2 (5) includes a concave arc segment and end arc segments respectively provided at both ends of the concave arc segment. The three are integrally formed, and the top is horizontally connected and the bottom arc is smoothly connected. The curved surface of the concave arc segment is precisely determined by three positioning points. The two positioning points at both ends are the tangent points with the two end arc segments, and the middle positioning point is the position point where the yang corner extends into the chassis the deepest when the robot crosses the yang corner.

3. The permanent magnet adsorption continuous corner-crossing robot device according to claim 2, characterized in that, The permanent magnet (4) includes an integrally formed end arc segment and a concave arc segment. The top of the two are horizontally connected, and the bottom arc is smoothly connected. The end arc segment has a through hole that is compatible with the diameter of the rotating shaft (3) and is sleeved on the rotating shaft (3) to achieve coaxiality with the corresponding drive wheel (2) and ensure that the distance between the magnet and the wall is uniform when the magnet rotates with the drive wheel.

4. The permanent magnet adsorption continuous corner-crossing robot device according to claim 3, characterized in that, The permanent magnet 1 (4) is provided in three parts. Two of them are located inside the front drive wheel (2) of the fuselage 1 (1) and are sleeved on the front axle as the basic adsorption unit of the fuselage 1 (1). The other part is located at the common central axis of the fuselage 1 (1) and the fuselage 2 (8) and is located between the two permanent magnets 2 (5) to realize the coaxial connection of the magnetic circuit at the bottom of the two fuselages. The end arc section and the bottom arc of the concave arc section of the three permanent magnets 1 (4) are smoothly connected to form the concave space at the bottom of the fuselage 1 (1), thereby realizing the continuous and smooth sliding of the permanent magnet chassis at the bottom of the fuselage 1 (1) along the yang corner.

5. A permanent magnet adsorption continuous corner-crossing robot device according to any one of claims 1-4, characterized in that, The annular telescopic mechanism (6) includes a telescopic sleeve (61), an electric gear (62), a base (63), and a telescopic bar (64).

6. The permanent magnet adsorption continuous corner-crossing robot device according to claim 5, characterized in that, The telescopic sleeve (61) is an arc-shaped structure and is fixedly installed on the top of the first body (1). Its inner cavity provides sliding space for the telescopic strip (64). The base (63) is fixed to the end of the telescopic sleeve (61). The electric gear (62) is rotatably mounted on the base (63), and its teeth mesh with the teeth of the telescopic strip (64). The telescopic strip (64) is an arc-shaped structure and is fixedly installed on the top of the second body (8). Its cross-sectional size is smaller than the inner cavity size of the telescopic sleeve (61). Its upper part is machined with teeth that mesh with the teeth of the electric gear (62).

7. A permanent magnet adsorption continuous corner-crossing robot device according to any one of claims 1-4, characterized in that, The power mechanism includes a motor (7) and a power control component; The motor (7) is provided in two sets, which are respectively installed in the middle of the shaft of the front axle and the rear axle; The power control component includes a controller, a speed sensor, and a torque sensor. The controller is installed inside the body (1) and communicates with the two motors (7) and corresponding sensors via a CAN bus. The speed sensor is a Hall effect speed sensor and is installed at the end of the corresponding shaft (3). The torque sensor is installed at the connection between the motor (7) and the shaft (3).

8. A permanent magnet adsorption continuous corner-crossing robot device according to any one of claims 1-4, characterized in that, Both the first body (1) and the second body (8) are high-strength rigid frame structures, and the core control system, power supply battery pack and sensor components of the robot are respectively mounted on them.

9. A method for operating a robot device that continuously traverses corners using permanent magnet adsorption, characterized in that, Includes the following steps: S1: When the machine body (1) reaches the corner position, the electric gear (62) drives the telescopic strip (64) to extend along the arc-shaped inner cavity of the telescopic sleeve (61) through the collected device operating information, generating a normal pressing force to act on the permanent magnet chassis to compensate for the loss of adsorption force at the corner. S2: The yang corner extends into the concave space of the permanent magnet chassis. The permanent magnet one (4) and the permanent magnet two (5) are connected in a coaxial manner with the central axis of the shared rotating shaft (3) as the core, maintaining the continuous transmission of the adsorption force and ensuring that the permanent magnet chassis and the yang corner curved surface fit tightly without jamming. S3: The power assembly dynamically adjusts the output torque and speed of the motor (7) of the drive body (1) according to the curvature of the corner and the friction coefficient of the wall. It relies on three pairs of drive wheels (2) that are always attached to the wall to achieve alternating drive, thereby driving the body (1) to complete the corner crossing. S4: The device adjusts its posture using the common central axis as the fulcrum. The first body (1) and the second body (8) complete the corresponding angle rotation adjustment. The ring telescopic mechanism (6) maintains the extended state and the clamping force. The power component coordinates and controls the two motors (7) to drive the central axis of the rotating shaft (3) to smoothly cross the yang corner. S5: When the second body (8) enters the corner-crossing stage, the control system drives the electric gear (62) to reverse, causing the telescopic bar (64) to partially retract along the telescopic sleeve (61), and the ring telescopic mechanism (6) maintains the preset pre-tightening force, and the corner extends into the concave space at the bottom of the second body (8). S6: The power components synchronously adjust the output torque and speed of the motor (7) of the driving body two (8), and the three pairs of driving wheels (2) continuously adhere to the wall and drive alternately, driving the body two (8) to complete the corner crossing.

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