Adjustable wheel track magnetic adsorption robot and obstacle crossing control method thereof

Abstract

The application relates to an adjustable wheel track magnetic adsorption robot and an obstacle crossing control method thereof. The magnetic adsorption robot comprises a rack, a wheel track control mechanism, a driving and steering mechanism, a control panel and a power supply for the whole magnetic adsorption robot which are mounted on the rack. The driving and steering mechanism drives the front and rear magnetic force wheels respectively, and is used for controlling the driving and steering of the front and rear magnetic force wheels. The control panel is connected with the wheel track control mechanism and the driving and steering mechanism respectively. The wheel track control mechanism comprises a wheel track control steering engine, a wheel track control steering engine fixing plate, a shaft coupling, a screw rod, a moving sliding block, a screw rod nut, a bearing seat fixing plate, a bearing seat and a linear guide assembly. Compared with the prior art, the application can change the distance between the front and rear wheels of the robot according to different thicknesses of steel plates, control the speed of the front and rear wheels, and realize stable crossing of the steel structure edge obstacles.

Description

Technical Field

[0001] This invention relates to the field of magnetic adsorption robots, and in particular to an adjustable wheel gauge magnetic adsorption robot and its obstacle-crossing control method. Background Technology

[0002] Steel structures are prone to surface cracks and corrosion damage due to external environmental factors and long-term service. Therefore, regular inspections of steel structures to obtain their health status are crucial. In recent years, the development of magnetic adsorption wall-climbing robots has provided new opportunities for steel structure defect detection. These robots can carry inspection equipment and be remotely controlled by operators to reach designated locations for defect detection.

[0003] Because steel structures are composed of crisscrossing beams and columns, robots need to overcome various obstacles to reach their designated locations. These obstacles include the joints between different surfaces of the beams and columns (outer right-angled edges, inner right-angled edges, etc.), as well as the flanges, webs, and stiffening ribs of the beams and columns. While many wall-climbing robots on the market can overcome obstacles on the inner and outer right-angled edges of steel structures, for plates of varying thickness such as flanges and stiffening ribs, the robot's front and rear wheel track needs to be adjusted according to the thickness of the plate. During the robot's crawling process, its front and rear wheels must adhere to the surface of the steel structure and not detach. If the wheelbase (distance between the outer edges of the wheels) is greater than the thickness of the steel plate, either the front or rear wheel will detach from the steel plate during the crossing, and the robot may fall. If the wheelbase is less than the thickness of the steel plate, both the front and rear wheels will be located on the edge during the crossing, resulting in weak magnetic attraction and the robot may also fall. If the wheelbase is equal to the thickness of the steel plate, some of the robot's wheels (either the front or rear wheels) will always adhere to the surface of the steel plate during the crossing, preventing both wheels from adhering to the edge simultaneously. This ensures both stable crossing and stable adhesion.

[0004] However, existing robots, due to limitations in their structural design and control methods, cannot achieve continuously adjustable wheelbase. To address this issue, there is an urgent need to develop a magnetic adsorption robot with continuously adjustable wheelbase, capable of overcoming obstacles by adjusting the wheelbase to accommodate steel structural plates of varying thicknesses. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art by providing an adjustable wheelbase magnetic adsorption robot and its obstacle crossing control method that can adjust the wheelbase to cross obstacles for steel structure plates of different thicknesses.

[0006] The objective of this invention can be achieved through the following technical solutions: An adjustable wheelbase magnetic adsorption robot includes a frame and a wheelbase control mechanism, a drive steering mechanism, a control board, and a power supply for the entire magnetic adsorption robot, all mounted on the frame. The drive steering mechanism drives and connects the front magnetic wheel and the rear magnetic wheel respectively, and is used to control the driving and steering of the front magnetic wheel and the rear magnetic wheel. The control board is connected to the wheelbase control mechanism and the drive steering mechanism respectively. The wheel track control mechanism includes a wheel track control servo, a wheel track control servo mounting plate, a coupling, a lead screw, a movable slider, a lead screw nut, a bearing housing mounting plate, a bearing housing, and a linear guide assembly. Both the wheel track control servo mounting plate and the bearing housing mounting plate are mounted on the frame. The wheel track control servo is mounted on the wheel track control servo mounting plate and passes through it. The coupling connects the output shaft of the wheel track control servo and the lead screw. The lead screw nut is fitted onto the lead screw and fixedly connected to the movable slider. The bearing housing is fitted onto the outside of one end of the lead screw and fixedly connected to the bearing housing mounting plate. The linear guide assembly connects the wheel track control servo mounting plate and the bearing housing mounting plate and passes through the movable slider. The movable slider is connected to the front magnetic wheel via a drive steering mechanism.

[0007] Furthermore, there are multiple linear guide components, located on both sides of the lead screw; each linear guide component includes an optical axis seat, a linear bearing, and an optical axis. The two ends of the optical axis are respectively mounted on the wheel track control servo fixing plate and the bearing seat fixing plate through the optical axis seat. The linear bearing is sleeved on the optical axis and fixed on the movable slider.

[0008] Furthermore, the rear magnetic wheel includes a first rear magnetic wheel and a second rear magnetic wheel, and the drive steering mechanism includes a front drive steering mechanism, a first rear drive steering mechanism, and a second rear drive steering mechanism. The front drive steering mechanism includes a front steering servo, a front drive servo, and a front drive servo mounting component. The front steering servo is mounted on a movable slider, and the output end of the front steering servo is connected to the front drive servo mounting component. The front drive servo is mounted on the front drive servo mounting component and drives the front magnetic wheel. The first rear-drive steering mechanism includes a first rear steering servo, a first rear drive servo, and a first rear drive servo mounting component. The first rear steering servo is mounted on the frame, and the output end of the first rear steering servo is connected to the first rear drive servo mounting component. The first rear drive servo is mounted on the first rear drive servo mounting component and drives the first rear magnetic wheel. The second rear-drive steering mechanism includes a second rear steering servo, a second rear drive servo, and a second rear drive servo mounting bracket. The second rear steering servo is mounted on the frame, and the output end of the second rear steering servo is connected to the second rear drive servo mounting bracket. The second rear drive servo is mounted on the second rear drive servo mounting bracket and drives the second rear magnetic wheel.

[0009] Furthermore, the magnetic adsorption robot is used on a steel structure, and according to the thickness of the steel plate in the steel structure, the wheel distance between the front magnetic wheel and the rear magnetic wheel is controlled by the wheel distance control servo and the front drive servo in the drive steering mechanism.

[0010] The present invention also provides an obstacle-crossing control method for a magnetically adsorbed robot with adjustable wheelbase as described above, including a robot wheelbase control method before crossing obstacles, the robot wheelbase control method comprising the following steps: S101: Obtain the initial wheel spacing between the front and rear magnetic wheels. Lead of the lead screw and the diameters of the front and rear magnetic wheels And set the target wheelbase Wheelbase tolerance ; S102: Based on the initial wheel track and target wheelbase The relationship between the wheel track control servo motor output shaft and the output shaft of the front magnetic wheel drive steering mechanism needs to be rotated by the required angle; S103: Keep the angle of the drive steering mechanism of the front magnetic wheel at zero position. Based on the calculated wheel track, control the output shaft of the servo motor and the required rotation angle of the output shaft of the front drive servo motor in the drive steering mechanism to achieve the change of the front and rear wheel track of the magnetic adsorption robot. S104: Reacquire the real-time wheel distance between the front and rear magnetic wheels. Compare real-time wheelbase wheelbase to target The size of the wheel track is determined, and it is determined whether it falls within the allowable error range. If the distance is within the specified range, then the robot wheel gauge adjustment is completed; otherwise, return to step S102.

[0011] Furthermore, step S102 specifically includes: When the target wheelbase Greater than the initial wheel track At that time, the output shaft of the wheel track control servo needs to rotate forward by an angle of _____. The output shaft of the drive steering mechanism of the front magnetic wheel needs to rotate forward by an angle of... ; When the target wheelbase Less than the initial wheel track At that time, the output shaft of the wheel track control servo needs to rotate in the opposite direction by an angle of _____. The output shaft of the drive steering mechanism of the front magnetic wheel needs to rotate in the opposite direction by an angle of... ; When the output shaft of the wheel track control servo and the output shaft of the drive steering mechanism of the front magnetic wheel rotate in the positive direction, the lead screw nut gradually approaches the wheel track control servo. When the output shaft of the wheel track control servo and the output shaft of the drive steering mechanism of the front magnetic wheel rotate in opposite directions, the lead screw nut gradually moves away from the wheel track control servo.

[0012] Furthermore, the obstacle-crossing control method also includes a method for controlling the angular velocity of the robot's front and rear wheels during obstacle crossing, which includes the following steps: S201: Obtain the thickness of the steel plate to be crossed, and adjust the wheel distance between the front magnetic wheel and the rear magnetic wheel using the robot wheel distance control method to make it equal to the thickness of the steel plate; then adjust the orientation of the magnetic adsorption robot using the drive steering mechanism so that the axes of the front magnetic wheel and the rear magnetic wheel of the magnetic adsorption robot are parallel to the edge of the steel plate to be crossed. S202: Based on the relative positional relationship between the magnetic adsorption robot and the steel plate during the crossing, determine the key states during the crossing of the magnetic adsorption robot, and determine the stage of the crossing process based on the key states; S203: Determine the speed relationship between the front and rear magnetic wheels of the magnetic adsorption robot based on the stage of the climbing process; S204: Based on the speed relationship between the front and rear magnetic wheels of the magnetic adsorption robot, control the magnetic adsorption robot to complete obstacle crossing.

[0013] Furthermore, the climbing process of the magnetic adsorption robot is divided into eight stages, and the first four stages and the last four stages are determined by the pitch angle of the magnetic adsorption robot being equal to 90 degrees; the pitch angle is the angle between the magnetic adsorption robot and the horizontal plane. In the first four stages, keep the angular velocity of the front magnetic wheel constant and solve for the relationship between the angular velocity of the rear magnetic wheel and time; in the last four stages, keep the angular velocity of the rear magnetic wheel constant and solve for the relationship between the angular velocity of the front magnetic wheel and time.

[0014] Furthermore, the first four stages include a first stage, a second stage, a third stage, and a fourth stage, in which the angular velocity of the front magnetic wheel is fixed. ; In the first stage, both the front and rear magnetic wheels operate on the upper surface of the steel plate, and the magnetic adsorption robot is in a horizontal position with a pitch angle of zero; the angular velocity of the rear magnetic wheel... equal ; In the second stage, the front magnetic wheel reaches the edge of the steel plate and begins to tumble around its edge, with its center rotating at a constant speed around the edge. The rear magnetic wheel rests on the upper surface of the steel plate. The pitch angle of the magnetic adsorption robot gradually increases, and the angular velocity of the rear magnetic wheel... The calculation expression is: In the formula, Let be the radii of the front and rear magnetic wheels. For the thickness of the steel plate, , This indicates the time taken for the first stage of the robot's movement. The center of the front magnetic wheel has an angular velocity of The time required to rotate 90 degrees around the edge of the steel plate; In the third stage, the front magnetic wheel rolls vertically downwards along the vertical plane of the steel plate, and the rear magnetic wheel rolls horizontally towards the edge of the steel plate along the upper surface of the steel plate until the front magnetic wheel reaches the lower edge of the vertical plane of the steel plate; the angular velocity of the rear magnetic wheel is... The calculation expression is: In the formula, , This indicates the time taken for the third stage of the magnetic adsorption robot's movement. In the fourth stage, the front magnetic wheel rotates around the lower surface edge of the steel plate at a uniform angular velocity until it reaches the lower surface, while the rear magnetic wheel moves from the upper surface of the steel plate to the upper surface edge until the pitch angle of the magnetic adsorption robot reaches 90 degrees; the angular velocity of the rear magnetic wheel... The calculation expression is: In the formula, , This indicates the time taken for the fourth stage of the magnetic adsorption robot's movement.

[0015] Furthermore, the latter four stages include a fifth stage, a sixth stage, a seventh stage, and an eighth stage, in which the angular velocity of the rear magnetic wheel is fixed. ; In the fifth stage, the front magnetic wheel moves horizontally along the lower surface of the steel plate, gradually moving away from the edge of the steel plate; the rear magnetic wheel rotates around the upper edge of the steel plate, rotating 90 degrees until it reaches the lower surface; the angular velocity of the front magnetic wheel... The calculation expression is: In the formula, , This indicates the time taken for the fifth stage of the magnetic adsorption robot's movement; In the sixth stage, the front magnetic wheel continues to move horizontally along the lower surface of the steel plate, while the rear magnetic wheel moves vertically downwards along the vertical surface of the steel plate with a uniform angular velocity. The expression for calculating the angular velocity of the front magnetic wheel is: In the formula, , This indicates the time taken for the sixth stage of the magnetic adsorption robot's movement. In the seventh stage, the front magnetic wheel continues to move along the lower surface of the steel plate, gradually moving away from the edge of the steel plate; the rear magnetic wheel rotates 90 degrees from the vertical plane around the lower surface edge of the steel plate and flips over to the lower surface. The expression for calculating the angular velocity of the front magnetic wheel is: In the formula, , This indicates the time taken for the seventh stage of the magnetic adsorption robot's movement. In the eighth stage, both the front and rear magnetic wheels are located on the lower surface of the steel plate and move together in a direction away from the edge of the lower surface of the steel plate. The angular velocity of the front magnetic wheel is equal to the angular velocity of the rear magnetic wheel. .

[0016] Compared with the prior art, the present invention has the following advantages: (1) The magnetic adsorption robot proposed in this invention is based on a drive structure of wheel spacing control servo motor, coupling, lead screw, moving slider and lead screw nut. The moving slider moves back and forth through the drive of the lead screw, thereby driving the corresponding front magnetic wheel to move back and forth, thereby changing the distance between the front and rear wheels of the robot, making it adaptable to crossing steel plates of different thicknesses; and by connecting the magnetic wheel through the drive steering mechanism, the robot can achieve linear motion and turning in the plane through different servo motor parameters.

[0017] (2) This invention proposes a wheelbase control method before crossing and a front and rear wheel speed control method during crossing. By adjusting the wheelbase and calculating the relationship between the front and rear wheel angular velocities during crossing and time, the robot can achieve stable crossing of steel structure edge obstacles. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of one side of an adjustable wheel gauge magnetic adsorption robot provided in an embodiment of the present invention; Figure 2 This is a three-dimensional structural diagram of the other side of an adjustable wheel gauge magnetic adsorption robot provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of a magnetic adsorption robot with adjustable wheelbase provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a large wheelbase magnetic adsorption robot with adjustable wheelbase provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of eight stages of a robot's movement across the edge of a steel structure plate, provided in an embodiment of the present invention. Figure 6 This is a schematic diagram illustrating the critical state of a robot crossing the edge of a steel structure plate, as provided in an embodiment of the present invention. In the diagram, 1. Wheelbase control mechanism; 101. Wheelbase control servo; 102. Wheelbase control servo mounting plate; 103. Optical shaft seat; 104. Coupling; 105. Lead screw; 106. Linear bearing; 107. Optical shaft; 108. Moving slider; 109. Lead screw nut; 110. Bearing seat mounting plate; 111. Bearing seat; 2. Front drive steering mechanism; 201. Front steering servo; 202. Front drive servo; 203. Front drive servo. 204. Fixing component; 3. Front magnetic wheel; 4. First rear drive steering mechanism; 301. First rear steering servo; 302. First rear drive servo; 303. First rear drive servo fixing component; 304. First rear magnetic wheel; 5. Second rear drive steering mechanism; 6. Second rear steering servo; 7. Second rear magnetic wheel; 8. Second rear drive servo fixing component; 9. Second rear magnetic wheel; 100. Frame; 11. Power supply; 12. Control board. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0022] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed during use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0023] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0024] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0025] Example 1 like Figure 1 and Figure 2 As shown, this embodiment provides an adjustable wheel track magnetic adsorption robot, including a frame 5 and a wheel track control mechanism 1, a drive steering mechanism, a control board 7 and a power supply 6 that supplies power to the entire magnetic adsorption robot, all mounted on the frame 5. Wheel spacing control mechanism 1 is used to control the distance between the front and rear wheels of the magnetic robot; The drive steering mechanism drives the front magnetic wheel 204 and the rear magnetic wheel respectively, and is used to control the drive and steering of the front magnetic wheel 204 and the rear magnetic wheel; the control board 7 is connected to the wheel track control mechanism 1 and the drive steering mechanism respectively. Power supply 6 supplies power to wheel track control mechanism 1, drive steering mechanism and control system; The control system is responsible for sending control commands to the wheel track control mechanism 1 and the drive steering mechanism to realize the robot's drive, steering and wheel track control.

[0026] Specifically, the wheel track control mechanism 1 includes a wheel track control servo 101, a wheel track control servo mounting plate 102, a coupling 104, a lead screw 105, a moving slider 108, a lead screw nut 109, a bearing housing mounting plate 110, a bearing housing 111, and a linear guide assembly. Both the wheel track control servo mounting plate 102 and the bearing housing mounting plate 110 are mounted on the frame 5. The wheel track control servo 101 is mounted on the wheel track control servo mounting plate 102 and passes through it. The coupling 104 connects the output shaft of the wheel track control servo 101 and the lead screw 105 respectively. The lead screw nut 109 is sleeved on the lead screw 105 and fixedly connected to the movable slider 108. The bearing seat 111 is sleeved on the outside of one end of the lead screw 105 and fixedly connected to the bearing seat fixing plate 110. The linear guide assembly connects the wheel track control servo fixing plate 102 and the bearing seat fixing plate 110 and passes through the movable slider 108. The movable slider 108 is connected to the front magnetic wheel 204 through the drive steering mechanism.

[0027] Optionally, there are multiple linear guide components, located on both sides of the lead screw 105. Each linear guide component includes an optical axis seat 103, a linear bearing 106, and an optical axis 107. The two ends of the optical axis 107 are respectively mounted on the wheel track control servo fixing plate 102 and the bearing seat fixing plate 110 through the optical axis seat 103. The linear bearing 106 is sleeved on the optical axis 107 and fixed on the movable slider 108.

[0028] In this embodiment, the wheel track control mechanism 1 includes a wheel track control servo motor 101, a wheel track control servo motor mounting plate 102, an optical shaft seat 103, a coupling 104, a lead screw 105, a linear bearing 106, an optical shaft 107, a movable slider 108, a lead screw nut 109, a bearing seat mounting plate 110, and a bearing seat 111. The wheel track control servo motor 101 is fixed to the wheel track control servo motor mounting plate 102 by bolts, and the optical shaft seat 103 clamps the optical shaft 107 with bolts. The wheel track control servo is fixed to the wheel track control servo mounting plate 102 by bolts. The coupling 104 connects the output shaft of the wheel track control servo 101 and the lead screw 105 respectively. The linear bearing 106 is sleeved on the optical shaft 107 and fixed to the movable slider 108 by bolts. The lead screw nut 109 is sleeved on the lead screw 105 through internal threads and fixed to the movable slider 108 by bolts. The bearing seat 111 is sleeved on the outside of the lead screw 105 and fixed to the bearing seat mounting plate 110 by bolts.

[0029] Specifically, the rear magnetic wheel includes a first rear magnetic wheel 304 and a second rear magnetic wheel 404, and the drive steering mechanism includes a front drive steering mechanism 2, a first rear drive steering mechanism 3 and a second rear drive steering mechanism 4. The front drive steering mechanism 2 includes a front steering servo 201, a front drive servo 202, and a front drive servo mounting member 203. The front steering servo 201 is mounted on the movable slider 108. The output end of the front steering servo 201 is connected to the front drive servo mounting member 203. The front drive servo 202 is mounted on the front drive servo mounting member 203 and drives the front magnetic wheel 204. The first rear drive steering mechanism 3 includes a first rear steering servo 301, a first rear drive servo 302 and a first rear drive servo mounting member 303. The first rear steering servo 301 is mounted on the frame 5. The output end of the first rear steering servo 301 is connected to the first rear drive servo mounting member 303. The first rear drive servo 302 is mounted on the first rear drive servo mounting member 303 and drives the first rear magnetic wheel 304. The second rear drive steering mechanism 4 includes a second rear steering servo 401, a second rear drive servo 402, and a second rear drive servo mounting member 403. The second rear steering servo 401 is mounted on the frame 5, and the output end of the second rear steering servo 401 is connected to the second rear drive servo mounting member 403. The second rear drive servo 402 is mounted on the second rear drive servo mounting member 403 and drives the second rear magnetic wheel 404.

[0030] In this embodiment, the drive servo of the steering mechanism is fixed to one side of the drive servo mounting component by bolts. The magnetic wheel is fixed to the drive servo by a shaft and coupling. The shaft is mounted to the other side of the drive servo mounting component by bearings. The drive servo mounting component is bolted to the output shaft of the drive servo. With this connection method, rotation of the drive servo can drive the magnetic wheel to rotate, and rotation of the steering servo can drive the drive servo mounting component to rotate, thereby driving the magnetic wheel to rotate, thus realizing the driving and steering of the magnetic wheel.

[0031] The drive servos and steering servos of the front drive steering mechanism, the first rear drive steering mechanism 3 and the second rear drive steering mechanism 4 can cooperate with each other to realize the robot's linear motion in the plane, rotational motion around the rotation center, and obstacle-crossing motion outside the plane.

[0032] The frame 5 is used to mount the wheel track control servo mounting plate 102, the bearing seat mounting plate 110, the first rear steering servo 301, the second rear steering servo 401, the power supply 6, and the control board 7.

[0033] The magnetic adsorption robot is used on steel structures, and the wheel spacing between the front magnetic wheel 204 and the rear magnetic wheel is controlled by the wheel spacing control servo motor 101 according to the thickness of the steel plate in the steel structure.

[0034] The principle of wheel track control mechanism is as follows: the front steering servo 201 is fixed to the movable slider 108 by bolts. At the same time, the front steering servo 201 is connected to the front drive servo fixing part 203. Therefore, when the wheel track control servo 101 rotates forward, the lead screw 105 rotates in the same direction as the wheel track control servo 101. Therefore, the lead screw nut 109 moves linearly in the opposite direction relative to the lead screw 105. Since the lead screw nut 109 is fixed to the movable slider 108, and the movable slider 108 is fixed to the linear bearing 106, which is sleeved on the optical shaft 107, when the movable slider 108 moves linearly together with the lead screw nut, the front drive servo 202 drives the front magnetic wheel 204 to roll in the direction of the movable slider 108, thereby driving the entire front drive steering mechanism to move.

[0035] like Figure 3 and Figure 4 As shown, the controllable range of the robot's wheel track in this embodiment can be adjusted according to the specific application scenario. The minimum controllable wheel track should be the thickness of the thinnest steel plate in the steel structure, and the maximum controllable wheel track should be determined according to the minimum size of the scenario that the steel structure can enter.

[0036] Through the above process, the distance between the front drive steering mechanism and the first rear drive steering mechanism 3 and the second rear drive steering mechanism 4 changes, thereby controlling the wheel track between the front and rear wheels. When the wheel track control servo 101 reverses, the wheel track between the front and rear wheels changes in the opposite direction.

[0037] Example 2 This embodiment provides an obstacle-crossing control method for a magnetically adsorbed robot with adjustable wheelbase, including a robot wheelbase control method before crossing obstacles. The robot wheelbase control method includes the following steps: S101: Determine basic parameters. Use a distance sensor to measure and obtain the initial wheel distance between the front magnetic wheel 204 and the rear magnetic wheel. Lead of lead screw 105 and the diameters of the front magnetic wheel 204 and the rear magnetic wheel And set the target wheelbase Wheelbase tolerance ; S102: Calculate servo control inputs. Based on the initial wheel track. and target wheelbase The relationship between the wheel track control servo 101 and the output shaft of the drive steering mechanism of the front magnetic wheel 204 is calculated to determine the required rotation angle. Specifically, when Greater than Then the output shaft of the wheel track control servo 101 needs to rotate forward by the following angle: Meanwhile, the output shaft of the front drive servo 202 needs to rotate forward by an angle of... ;when Less than Then the output shaft of the wheel track control servo 101 needs to rotate in the opposite direction by the following angle: At the same time, the output shaft of the front drive servo 202 needs to rotate in the opposite direction by an angle of... Specifically, when the output shafts of the wheel track control servo 101 and the front drive servo 202 rotate in the forward direction, the lead screw nut gradually approaches the wheel track control servo 101; when the output shafts of the wheel track control servo 101 and the front drive servo 202 rotate in the reverse direction, the lead screw nut gradually moves away from the wheel track control servo 101. S103: Keep the angle of the drive steering mechanism of the front magnetic wheel 204 at zero, that is, ensure that the axis of the front magnetic wheel is perpendicular to the length direction of the lead screw. Send the motion command calculated in step S102 to the wheel track control servo motor 101 and the front drive servo motor 202 through the control board 7, so that the two servo motors move at the same time to realize the change of the front and rear wheel track of the robot. S104: Reacquire the real-time wheel distance between the front magnetic wheel 204 and the rear magnetic wheel. Compare real-time wheelbase wheelbase to target The size of the wheel track is determined, and it is judged whether it falls within the allowable error range. If the distance is within the specified range, then the robot wheel gauge adjustment is completed; otherwise, return to step S102. That is, when the movement is completed, the wheel track is measured again using the distance sensor. ,Compare and The size, if If so, continue with step S102. After completion, measure the wheel track again until... until.

[0038] This embodiment also provides a method for controlling the angular velocity of the robot's front and rear wheels during vaulting. The steel structure edge obstacle to be vaulted is a cantilevered steel plate similar to the flange of an I-beam, vaulted from top to bottom and from bottom to top. Since the robot is a front and rear wheel mode, the obstacle crossing control method refers to the control of the angular velocity of the front and rear wheels during vaulting, that is, solving the relationship between the angular velocities of the two wheels.

[0039] Before the robot crosses the edge of the steel plate, both wheels are on the upper surface of the plate. The operation steps for controlling the angular velocity of the front and rear wheels of the robot as it flips over the cantilevered steel plate from top to bottom are as follows: S201: Adjust wheel track and orientation before vaulting. Obtain the thickness of the steel plate to be vaulted. The wheel spacing between the front magnetic wheel 204 and the rear magnetic wheel is adjusted by the robot wheel spacing control method to be equal to the thickness of the steel plate; then the orientation of the magnetic adsorption robot is adjusted by the drive steering mechanism so that the axis of the front magnetic wheel 204 of the magnetic adsorption robot is parallel to the edge of the steel plate to be overturned. S202: Based on the relative positional relationship between the magnetic adsorption robot and the steel plate during the crossing, determine the key states during the crossing of the magnetic adsorption robot, and determine the stage of the crossing process based on the key states; S203: Determine the speed relationship between the front magnetic wheel 204 and the rear magnetic wheel of the magnetic adsorption robot based on the stage of the crossing process; for ease of control, the angular velocity of the front wheel is set to a fixed value. The front wheels rotate at a constant speed, and this is used to calculate the speed of the rear wheels at each stage. Assume the radii of both the front and rear wheels are equal. The distance between the centers of the front and rear wheels is Establish a plane coordinate system by taking a cross-section of the front wheel radially, and let the center of the front wheel be... The coordinates are The angular velocity of the front wheel is Let the center of the rear wheel be... The coordinates are The angular velocity of the rear wheel is Let the angle between the fuselage frame and the horizontal plane be the pitch angle. .

[0040] S204: Based on the speed relationship between the front magnetic wheel 204 and the rear magnetic wheel of the magnetic adsorption robot, control the magnetic adsorption robot to complete the obstacle crossing.

[0041] Specifically, such as Figure 5 and Figure 6 As shown, the climbing process of the magnetic adsorption robot is divided into eight stages, and the first four stages and the last four stages are determined by the pitch angle of the magnetic adsorption robot being equal to 90 degrees; the pitch angle is the angle between the magnetic adsorption robot and the horizontal plane. In the first four stages, keep the angular velocity of the front magnetic wheel 204 constant and solve for the relationship between the angular velocity of the rear magnetic wheel and time; in the last four stages, keep the angular velocity of the rear magnetic wheel constant and solve for the relationship between the angular velocity of the front magnetic wheel 204 and time.

[0042] The first four stages include the first stage, the second stage, the third stage, and the fourth stage. In the first four stages, the angular velocity of the front magnetic wheel 204 is fixed at [value missing]. ; In the first stage, both the front magnetic wheel 204 and the rear magnetic wheel run on the upper surface of the steel plate, and the magnetic adsorption robot is in a horizontal position with a pitch angle of [missing information]. The angular velocity of the rear magnetic wheel is zero. equal ; In the second stage, the front magnetic wheel 204 reaches the edge of the steel plate and begins to tumble around its edge, its center rotating at a constant speed around the edge. The rear magnetic wheel moves horizontally on the upper surface of the steel plate until the front magnetic wheel 204 rotates to the vertical plane of the steel plate. The pitch angle of the magnetic adsorption robot gradually increases, and the angular velocity of the rear magnetic wheel... The calculation expression is: In the formula, Let be the radii of the front magnetic wheel 204 and the rear magnetic wheel. For the thickness of the steel plate, , This indicates that the center of the front magnetic wheel 204 has an angular velocity of The time required to rotate 90 degrees around the edge of the steel plate; In the third stage, the front magnetic wheel 204 rolls vertically downwards along the vertical surface of the steel plate, while the rear magnetic wheel rolls horizontally towards the edge of the steel plate along the upper surface until the front magnetic wheel 204 reaches the lower edge of the vertical surface of the steel plate; the angular velocity of the rear magnetic wheel... The calculation expression is: In the formula, , This indicates the time taken for the third stage of the magnetic adsorption robot's movement. In the fourth stage, the front magnetic wheel 204 rotates around the lower edge of the steel plate at a uniform angular velocity to the lower surface, while the rear magnetic wheel moves from the upper surface of the steel plate to the upper edge. After this process, the robot body is perpendicular to the horizontal plane, with a pitch angle of 90 degrees; the angular velocity of the rear magnetic wheel... The calculation expression is: In the formula, , This indicates the time taken for the third stage of the magnetic adsorption robot's movement.

[0043] The last four stages include the fifth, sixth, seventh, and eighth stages. In these last four stages, the angular velocity of the rear magnetic wheel is fixed at a certain value. ; In the fifth stage, the front magnetic wheel 204 moves horizontally along the lower surface of the steel plate, gradually moving away from the edge of the steel plate; the rear magnetic wheel rotates around the upper edge of the steel plate, rotating 90 degrees until it reaches the lower surface; from this point onwards, the rear wheel is set to move at a uniform angular velocity. Given the rotation, find the angular velocity of the front wheel. Also find the angular velocity of the front magnetic wheel 204. The calculation expression is: In the formula, , This indicates the time taken for the fifth stage of the magnetic adsorption robot's movement; In the sixth stage, the front magnetic wheel 204 continues to move horizontally along the lower surface of the steel plate, while the rear magnetic wheel moves vertically downwards along the vertical surface of the steel plate with a uniform angular velocity. This stage is similar to the third stage. The expression for calculating the angular velocity of the front magnetic wheel 204 is: In the formula, , This indicates the time taken for the sixth stage of the magnetic adsorption robot's movement. In the seventh stage, the front magnetic wheel 204 continues to move along the lower surface of the steel plate, gradually moving away from the edge of the steel plate; the rear magnetic wheel rotates 90 degrees around the lower surface edge of the steel plate from the vertical plane and flips over to the lower surface, a process similar to the second stage. The rear magnetic wheel maintains a uniform rotation speed. The expression for calculating the angular velocity of the front magnetic wheel 204 is: In the formula, , This indicates the time taken for the seventh stage of the magnetic adsorption robot's movement. In the eighth stage, both the front magnetic wheel 204 and the rear magnetic wheel are located on the lower surface of the steel plate and move together in a direction away from the edge of the lower surface of the steel plate. The angular velocity of the front magnetic wheel 204 is equal to the angular velocity of the rear magnetic wheel. : in , This indicates the time taken for the robot to move during this phase, and... Equal values ​​indicate that the robot ran along the surface of the steel plate for a period of time after successfully crossing it.

[0044] The steel structure edge obstacle includes the flanges and stiffeners of the steel beams, the flanges and stiffeners of the steel columns, and the edges of the remaining cantilevered steel plates on the steel structure. The core of the control method lies in controlling the angular velocities of the front and rear wheels for different crossing stages, using a pitch angle of 90 degrees as the critical point. For the first four stages, the angular velocity of the front wheels is kept constant, and the relationship between the angular velocity of the rear wheels and time is calculated. For the last four stages, the angular velocity of the rear wheels is kept constant, and the relationship between the angular velocity of the front wheels and time is calculated. Finally, the relationship between the velocities of the front and rear wheels and time throughout the crossing process is obtained and input into the control board. The control board then sends speed commands to the drive servo motor, controlling its movement to complete the obstacle crossing.

[0045] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A magnetic adsorption robot with adjustable wheel spacing, characterized in that, It includes a frame (5) and a wheel track control mechanism (1), a drive steering mechanism, a control board (7), and a power supply (6) for the entire magnetic adsorption robot, all mounted on the frame (5); the drive steering mechanism drives and connects the front magnetic wheel (204) and the rear magnetic wheel respectively, and is used to control the driving and steering of the front magnetic wheel (204) and the rear magnetic wheel; the control board (7) is connected to the wheel track control mechanism (1) and the drive steering mechanism respectively; The wheel track control mechanism (1) includes a wheel track control servo (101), a wheel track control servo mounting plate (102), a coupling (104), a lead screw (105), a sliding block (108), a lead screw nut (109), a bearing seat mounting plate (110), a bearing seat (111), and a linear guide assembly. The wheel track control servo mounting plate (102) and the bearing seat mounting plate (110) are both mounted on the frame (5). The wheel track control servo (101) is mounted on the wheel track control servo mounting plate (102) and passes through the wheel track control servo mounting plate (102). The coupling... The device (104) is connected to the output shaft of the wheel track control servo (101) and the lead screw (105). The lead screw nut (109) is sleeved on the lead screw (105) and fixedly connected to the movable slider (108). The bearing seat (111) is sleeved on the outside of one end of the lead screw (105) and fixedly connected to the bearing seat fixing plate (110). The linear guide assembly connects the wheel track control servo fixing plate (102) and the bearing seat fixing plate (110) and passes through the movable slider (108). The movable slider (108) is connected to the front magnetic wheel (204) through the drive steering mechanism. The obstacle-crossing control method for the magnetic adsorption robot includes a method for controlling the angular velocity of the robot's front and rear wheels during the obstacle crossing process. This method includes the following steps: S201: Obtain the thickness of the steel plate to be crossed, adjust the wheel distance between the front magnetic wheel (204) and the rear magnetic wheel to be equal to the thickness of the steel plate; then adjust the orientation of the magnetic adsorption robot through the drive steering mechanism so that the axial direction of the front magnetic wheel (204) and the rear magnetic wheel of the magnetic adsorption robot is parallel to the edge of the steel plate to be crossed. S202: Based on the relative positional relationship between the magnetic adsorption robot and the steel plate during the crossing, determine the key states during the crossing of the magnetic adsorption robot, and determine the stage of the crossing process based on the key states; S203: Determine the speed relationship between the front magnetic wheel (204) and the rear magnetic wheel of the magnetic adsorption robot according to the stage of the crossing process; S204: Based on the speed relationship between the front magnetic wheel (204) and the rear magnetic wheel of the magnetic adsorption robot, control the magnetic adsorption robot to complete the obstacle crossing; The climbing process of the magnetic adsorption robot is divided into eight stages, and the first four stages and the last four stages are determined by the pitch angle of the magnetic adsorption robot being equal to 90 degrees; the pitch angle is the angle between the magnetic adsorption robot and the horizontal plane. In the first four stages, keep the angular velocity of the front magnetic wheel (204) constant and solve the relationship between the angular velocity of the rear magnetic wheel and time; in the last four stages, keep the angular velocity of the rear magnetic wheel constant and solve the relationship between the angular velocity of the front magnetic wheel (204) and time.

2. The magnetic adsorption robot with adjustable wheel spacing according to claim 1, characterized in that, The linear guide assembly is multiple and located on both sides of the lead screw (105); each linear guide assembly includes an optical axis seat (103), a linear bearing (106) and an optical axis (107). The two ends of the optical axis (107) are respectively mounted on the wheel track control servo fixing plate (102) and the bearing seat fixing plate (110) through the optical axis seat (103). The linear bearing (106) is sleeved on the optical axis (107) and fixed on the movable slider (108).

3. The magnetic adsorption robot with adjustable wheel spacing according to claim 1, characterized in that, The rear magnetic wheel includes a first rear magnetic wheel (304) and a second rear magnetic wheel (404), and the drive steering mechanism includes a front drive steering mechanism (2), a first rear drive steering mechanism (3), and a second rear drive steering mechanism (4). The front drive steering mechanism (2) includes a front steering servo (201), a front drive servo (202), and a front drive servo mounting bracket (203). The front steering servo (201) is mounted on the movable slider (108). The output end of the front steering servo (201) is connected to the front drive servo mounting bracket (203). The front drive servo (202) is mounted on the front drive servo mounting bracket (203) and drives the front magnetic wheel (204). The first rear drive steering mechanism (3) includes a first rear steering servo (301), a first rear drive servo (302) and a first rear drive servo mounting member (303). The first rear steering servo (301) is mounted on the frame (5). The output end of the first rear steering servo (301) is connected to the first rear drive servo mounting member (303). The first rear drive servo (302) is mounted on the first rear drive servo mounting member (303) and drives the first rear magnetic wheel (304). The second rear drive steering mechanism (4) includes a second rear steering servo (401), a second rear drive servo (402), and a second rear drive servo mounting member (403). The second rear steering servo (401) is mounted on the frame (5). The output end of the second rear steering servo (401) is connected to the second rear drive servo mounting member (403). The second rear drive servo (402) is mounted on the second rear drive servo mounting member (403) and drives the second rear magnetic wheel (404).

4. The magnetic adsorption robot with adjustable wheel spacing according to claim 1, characterized in that, The magnetic adsorption robot is used on a steel structure, and according to the thickness of the steel plate in the steel structure, the wheel distance between the front magnetic wheel (204) and the rear magnetic wheel is controlled by the wheel distance control servo (101) and the front drive servo in the drive steering mechanism.

5. A method for obstacle-crossing control of a magnetically adsorbed robot with adjustable wheelbase as described in any one of claims 1-4, characterized in that, This includes a robot wheelbase control method before crossing, which comprises the following steps: S101: Obtain the initial wheel distance between the front magnetic wheel (204) and the rear magnetic wheel. Lead of lead screw (105) and the diameters of the front magnetic wheel (204) and the rear magnetic wheel And set the target wheelbase Wheelbase tolerance ; S102: Based on the initial wheel track and target wheelbase The relationship between the wheel track control servo (101) and the output shaft of the drive steering mechanism of the front magnetic wheel (204) is calculated to determine the angle that needs to be rotated. S103: Keep the angle of the drive steering mechanism of the front magnetic wheel (204) at zero position, and drive control is performed according to the calculated wheel track control servo motor (101) output shaft and the required rotation angle of the output shaft of the front drive servo motor in the drive steering mechanism to realize the change of the front and rear wheel track of the magnetic adsorption robot. S104: Reacquire the real-time wheel distance between the front magnetic wheel (204) and the rear magnetic wheel. Compare real-time wheelbase wheelbase to target The size of the wheel track is determined, and it is determined whether it falls within the allowable error range. If the distance is within the specified range, then the robot wheel gauge adjustment is completed; otherwise, return to step S102.

6. The method according to claim 5, characterized in that, Step S102 specifically includes: When the target wheelbase Greater than the initial wheel track At that time, the output shaft of the wheel track control servo (101) needs to rotate forward by an angle of _____. The output shaft of the drive steering mechanism of the front magnetic wheel (204) needs to rotate forward by an angle of... ; When the target wheelbase Less than the initial wheel track At that time, the output shaft of the wheel track control servo (101) needs to rotate in the opposite direction by an angle of _____. The output shaft of the drive steering mechanism of the front magnetic wheel (204) needs to rotate in the opposite direction by an angle of... ; When the output shaft of the wheel track control servo (101) and the output shaft of the drive steering mechanism of the front magnetic wheel (204) rotate in the forward direction, the lead screw nut (109) gradually approaches the wheel track control servo (101). When the output shaft of the wheel track control servo (101) and the output shaft of the drive steering mechanism of the front magnetic wheel (204) rotate in opposite directions, the lead screw nut (109) gradually moves away from the wheel track control servo (101).

7. The method according to claim 5, characterized in that, The obstacle-crossing control method also includes a method for controlling the angular velocity of the robot's front and rear wheels during obstacle crossing, which includes the following steps: S201: Obtain the thickness of the steel plate to be crossed, and adjust the wheel distance between the front magnetic wheel (204) and the rear magnetic wheel through the robot wheel distance control method to make it equal to the thickness of the steel plate; then adjust the orientation of the magnetic adsorption robot through the drive steering mechanism so that the axes of the front magnetic wheel (204) and the rear magnetic wheel of the magnetic adsorption robot are parallel to the edge of the steel plate to be crossed; S202: Based on the relative positional relationship between the magnetic adsorption robot and the steel plate during the crossing, determine the key states during the crossing of the magnetic adsorption robot, and determine the stage of the crossing process based on the key states; S203: Determine the speed relationship between the front magnetic wheel (204) and the rear magnetic wheel of the magnetic adsorption robot according to the stage of the crossing process; S204: Based on the speed relationship between the front magnetic wheel (204) and the rear magnetic wheel of the magnetic adsorption robot, control the magnetic adsorption robot to complete the obstacle crossing.

8. The method according to claim 7, characterized in that, The climbing process of the magnetic adsorption robot is divided into eight stages, and the first four stages and the last four stages are determined by the pitch angle of the magnetic adsorption robot being equal to 90 degrees; the pitch angle is the angle between the magnetic adsorption robot and the horizontal plane. In the first four stages, keep the angular velocity of the front magnetic wheel (204) constant and solve the relationship between the angular velocity of the rear magnetic wheel and time; in the last four stages, keep the angular velocity of the rear magnetic wheel constant and solve the relationship between the angular velocity of the front magnetic wheel (204) and time.

9. The method according to claim 8, characterized in that, The first four stages include a first stage, a second stage, a third stage, and a fourth stage. In the first four stages, the angular velocity of the front magnetic wheel (204) is fixed at [value missing]. ; In the first stage, both the front magnetic wheel (204) and the rear magnetic wheel operate on the upper surface of the steel plate, and the magnetic adsorption robot is in a horizontal state with a pitch angle of zero; the angular velocity of the rear magnetic wheel... equal ; In the second stage, the front magnetic wheel (204) reaches the edge of the steel plate and begins to tumble around the edge of the steel plate. The center of the front magnetic wheel (204) rotates at a constant speed around the edge of the steel plate. The rear magnetic wheel is on the upper surface of the steel plate. The pitch angle of the magnetic adsorption robot gradually increases. The angular velocity of the rear magnetic wheel... The calculation expression is: In the formula, Let be the radii of the front magnetic wheel (204) and the rear magnetic wheel. For the thickness of the steel plate, , This indicates the time taken for the first stage of the robot's movement. The center of the front magnetic wheel (204) is indicated by an angular velocity... The time required to rotate 90 degrees around the edge of the steel plate; In the third stage, the front magnetic wheel (204) rolls vertically downwards along the vertical surface of the steel plate, and the rear magnetic wheel rolls horizontally towards the edge of the steel plate along the upper surface of the steel plate until the front magnetic wheel (204) reaches the lower edge of the vertical surface of the steel plate; the angular velocity of the rear magnetic wheel is... The calculation expression is: In the formula, , This indicates the time taken for the third stage of the magnetic adsorption robot's movement. In the fourth stage, the front magnetic wheel (204) rotates around the lower surface edge of the steel plate at a uniform angular velocity to the lower surface, and the rear magnetic wheel moves from the upper surface of the steel plate to the upper surface edge until the pitch angle of the magnetic adsorption robot reaches 90 degrees; the angular velocity of the rear magnetic wheel The calculation expression is: In the formula, , This indicates the time taken for the fourth stage of the magnetic adsorption robot's movement.

10. The method according to claim 9, characterized in that, The latter four stages include the fifth, sixth, seventh, and eighth stages, in which the angular velocity of the rear magnetic wheel is fixed. ; In the fifth stage, the front magnetic wheel (204) moves horizontally along the lower surface of the steel plate, gradually moving away from the edge of the steel plate; the rear magnetic wheel rotates around the upper edge of the steel plate, rotating 90 degrees until it reaches the lower surface; the angular velocity of the front magnetic wheel (204) is... The calculation expression is: In the formula, , This indicates the time taken for the fifth stage of the magnetic adsorption robot's movement; In the sixth stage, the front magnetic wheel (204) continues to move horizontally along the lower surface of the steel plate, and the rear magnetic wheel moves vertically downward along the vertical surface of the steel plate with a uniform angular velocity. The expression for calculating the angular velocity of the front magnetic wheel (204) is as follows: In the formula, , This indicates the time taken for the sixth stage of the magnetic adsorption robot's movement. In the seventh stage, the front magnetic wheel (204) continues to move along the lower surface of the steel plate, gradually moving away from the edge of the steel plate; the rear magnetic wheel rotates 90 degrees around the lower surface edge of the steel plate from the vertical plane and flips over to the lower surface. The expression for calculating the angular velocity of the front magnetic wheel (204) is: In the formula, , This indicates the time taken for the seventh stage of the magnetic adsorption robot's movement. In the eighth stage, both the front magnetic wheel (204) and the rear magnetic wheel are located on the lower surface of the steel plate and move together in a direction away from the edge of the lower surface of the steel plate. The angular velocity of the front magnetic wheel (204) is equal to the angular velocity of the rear magnetic wheel. .

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