An obstacle-climbing wall-climbing robot

Abstract

This invention relates to the field of obstacle-climbing vehicle technology, and discloses an obstacle-climbing robot, comprising: a frame; a front drive module including a first mounting base, a first motor, a first permanent magnet adsorption wheel, a second mounting base, a second motor, and a second permanent magnet adsorption wheel; a rear follow-up steering module including two omnidirectional wheels; and a U-shaped magnet. The obstacle-climbing robot is configured to pass through at least right-angled convex and right-angled concave surfaces. When passing through a right-angled convex surface, the first and second permanent magnet adsorption wheels adsorb the horizontal wall surface of the right-angled convex surface, and the front adsorption arm adsorbs the vertical wall surface of the right-angled convex surface, forming a three-point adsorption. When passing through a right-angled concave surface, the first and second permanent magnet adsorption wheels adsorb the vertical wall surface of the right-angled concave surface, and the rear adsorption arm adsorbs the horizontal wall surface of the right-angled concave surface, forming a three-point adsorption. The advantages of this invention are that the obstacle-climbing robot achieves passive compliant adaptation through its own mechanical structure, adapts to multiple scenarios, is flexible and stable in obstacle-climbing, and has a simple structure.

Description

Technical Field

[0001] This invention relates to the field of obstacle-climbing vehicle technology, and more particularly to an obstacle-crossing and obstacle-climbing robot. Background Technology

[0002] Structural inspections of large ferromagnetic equipment (such as port crane booms, ship hulls, and bridge structures) often face extreme unstructured environments. These scenarios typically feature the following geometric characteristics: large areas of flat surface, cylindrical surfaces with varying diameters, 90-degree right-angled convex / concave surfaces, and prominent weld and bolt obstructions.

[0003] Existing wall-climbing robots mainly fall into two mechanical structure categories: magnetically attached tracked and wheeled. Tracked robots have a large contact area and high load capacity, but suffer from extremely high steering friction resistance. Furthermore, in transitional zones with varying curvature (such as from a plane to a cylinder), the rigid tracks may fail to maintain contact, leading to instability and "bridging." Traditional four-wheeled magnetically attached structures are stable and relatively flexible, but when traversing 90-degree angles or high obstacles, the fixed wheel span and lack of flexible cushioning often cause a sudden drop in overall adhesion when the front wheel is suspended in the air, resulting in a fall. Moreover, four-wheel drive causes severe wheel wear during steering, exacerbating wheel damage. Wall-climbing robots have limited adaptability and poor stability. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the existing technology, the technical problem to be solved by the present invention is to propose an obstacle-crossing and wall-climbing robot that achieves passive compliant adaptation through its own mechanical structure, adapts to a variety of scenarios, is flexible in obstacle crossing and wall climbing, has good stability, and has a simple structure.

[0005] The technical solution adopted by this invention to solve its technical problem is to propose an obstacle-crossing and wall-climbing robot, comprising: Frame; A front drive module, mounted on the vehicle frame, includes a first mounting base, a first motor, a first permanent magnet adsorption wheel, a second mounting base, a second motor, and a second permanent magnet adsorption wheel. The first and second mounting bases are rotatably mounted on the vehicle frame, and their rotation directions are perpendicular to the axial directions of the first and second permanent magnet adsorption wheels. The first and second motors are respectively mounted on the first and second mounting bases and are used to drive the first and second permanent magnet adsorption wheels to rotate. The first and second permanent magnet adsorption wheels are respectively located at the output ends of the first and second motors. A rear-mounted steering module, mounted on the vehicle frame, includes two omnidirectional wheels; A U-shaped magnet is disposed between the two omnidirectional wheels and has a front adsorption arm and a rear adsorption arm. The obstacle-crossing and wall-climbing robot is configured to pass through at least a right-angled convex surface and a right-angled concave surface, both of which have horizontal and vertical walls. When passing through the right-angled convex surface, the first permanent magnet adsorption wheel and the second permanent magnet adsorption wheel adsorb the horizontal wall surface of the right-angled convex surface, and the front adsorption arm adsorbs the vertical wall surface of the right-angled convex surface, forming a three-point adsorption. When passing through a right-angled concave surface, the first permanent magnet adsorption wheel and the second permanent magnet adsorption wheel adsorb the vertical wall of the right-angled concave surface, and the rear adsorption arm adsorbs the horizontal wall of the right-angled concave surface, forming a three-point adsorption.

[0006] Furthermore, the obstacle-crossing and wall-climbing robot uses a right-angled convex or right-angled concave surface, and when the obstacle-crossing and wall-climbing robot lifts its head to cross obstacles, the U-shaped magnet always provides a reverse anti-overturning torque.

[0007] Furthermore, the obstacle-crossing and wall-climbing robot is configured to traverse planes, cylindrical surfaces, and access points from planes to cylindrical surfaces; When passing through a plane, the U-shaped magnet maintains a gap with the plane; When moving from the plane to the cylindrical surface, both the first permanent magnet adsorption wheel and the second permanent magnet adsorption wheel adsorb onto the cylindrical surface, causing the first mounting base and the second mounting base to be passively twisted, and both the first permanent magnet adsorption wheel and the second permanent magnet adsorption wheel adhere to the cylindrical surface; when the two omnidirectional wheels just come into contact with the cylindrical surface, the U-shaped magnet simultaneously adsorbs the cylindrical surface and the plane.

[0008] Furthermore, the front adsorption arm and the rear adsorption arm are respectively suspended to the vehicle frame by bolts, and floating springs are provided between the front adsorption arm and the vehicle frame and between the rear adsorption arm and the vehicle frame; When the obstacle-crossing and wall-climbing robot overcomes an obstacle, the U-shaped magnet can move upwards to avoid the obstacle and compress the floating spring.

[0009] Furthermore, multiple shims are sequentially placed between the frame and the bolt. By increasing the number of shims, the height of the U-shaped magnet can be adjusted.

[0010] Furthermore, when passing through a plane, the gap between the U-shaped magnet and the plane is maintained between 2 and 5 millimeters; The U-shaped magnet is coated with a Teflon anti-friction layer.

[0011] Furthermore, the diameter of both the first permanent magnet adsorption wheel and the second permanent magnet adsorption wheel is greater than or equal to 120 mm, and both of them integrate multiple fan-shaped neodymium iron boron magnets. The multiple fan-shaped neodymium iron boron magnets are arranged in a ring in the first permanent magnet adsorption wheel and the second permanent magnet adsorption wheel to form a closed magnetic circuit. The diameters of the two omnidirectional wheels are smaller than the diameters of the first permanent magnet adsorption wheel and the second permanent magnet adsorption wheel, and each omnidirectional wheel is provided with double rows of rollers, the axial direction of the rollers being perpendicular to the axial direction of the omnidirectional wheel.

[0012] Furthermore, the frame is provided with a first arc-shaped groove and a second arc-shaped groove, the center of the first arc-shaped groove coincides with the rotation center of the first mounting base, and the center of the second arc-shaped groove coincides with the rotation center of the second mounting base; The first mounting base is provided with a first limiting bolt, which passes through the first arc-shaped groove to limit the rotation angle of the first mounting base; The second mounting base is provided with a second limiting bolt, which passes through the second arc-shaped groove to limit the rotation angle of the second mounting base.

[0013] Furthermore, the frame is equipped with a mounting bracket that can rotate relative to it, and the rotation direction of the mounting bracket is perpendicular to the axis of the omnidirectional wheel; The two omnidirectional wheels are mounted on the mounting bracket via axles, and the U-shaped magnet is mounted on the mounting bracket. External forces can be applied to the omnidirectional wheels, causing the mounting bracket to undergo passive torsion.

[0014] Furthermore, it also includes a vision module, which is disposed on the vehicle frame and configured such that its field of view can cover the contact points of the first permanent magnet adsorption wheel and the second permanent magnet adsorption wheel as well as the working area; The frame is equipped with a servo motor and a vertical guide rail perpendicular to the frame in the middle, and the output end of the servo motor is equipped with a lead screw; The vertical guide rail is provided with a probe mounting base that can be raised and lowered relative to the vertical guide rail. The probe mounting base has a nut structure, and the nut structure is sleeved on the lead screw and threadedly connected to the lead screw. The probe mounting base is provided with a buffer spring, which can be compressed when the probe installed in the probe mounting base presses against the detection wall surface.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: In this invention, the front drive module of the obstacle-crossing and wall-climbing robot is equipped with a first permanent magnet adsorption wheel and a second permanent magnet adsorption wheel (i.e., two front wheels). The corresponding first and second mounting seats are rotatably mounted on the frame, and are driven by a first motor and a second motor respectively to provide driving force. That is, the two front wheels are set as front-drive strong magnetic wheels. The two rear wheels in the rear follow-up steering module are set as omnidirectional wheels, and an auxiliary U-shaped magnet is set between the two omnidirectional wheels to provide auxiliary magnetic adsorption, forming a composite layout of "front-drive strong magnetic wheel + rear follow-up omnidirectional wheel + U-shaped magnet auxiliary magnetic adsorption", which enables the obstacle-crossing and wall-climbing robot to pass smoothly through complex scenes such as planes, cylindrical surfaces, right-angled convex surfaces and right-angled concave surfaces.

[0016] Furthermore, when the obstacle-crossing and wall-climbing robot traverses a right-angled convex surface, the first and second permanent magnet adsorption wheels adhere to the horizontal wall surface, while the front adsorption arm of the U-shaped magnet adheres to the vertical wall surface, forming a three-point adsorption. When traversing a right-angled concave surface, the first and second permanent magnet adsorption wheels adhere to the vertical wall surface, while the rear adsorption arm of the U-shaped magnet adheres to the horizontal wall surface, forming another three-point adsorption. This ensures stable three-point adsorption regardless of whether the robot traverses a right-angled convex or concave surface, guaranteeing that the front and rear wheels remain firmly attached to the wall surface. This ensures the robot's stability and prevents it from falling when the front wheels cross an edge and become suspended, causing a sudden drop in adsorption force. In other words, this three-point adsorption concentrates and allows for localized adjustment of the contact surface between the robot and the work area, increasing support at protrusions, suspensions, and right-angle transitions, directly enhancing the robot's ability to "cross high obstacles" and "stabilize and turn on vertical surfaces."

[0017] In this invention, the first and second mounting seats of the first and second permanent magnet adsorption wheels in the front drive module are rotatably mounted on the frame, and their rotation direction is perpendicular to the axis of the first and second permanent magnet adsorption wheels. When the obstacle-crossing and wall-climbing robot transitions from a plane to a cylindrical surface, the first and second permanent magnet adsorption wheels (i.e., the two front wheels) adsorb onto the cylindrical surface. This magnetic adsorption force causes the two front wheels to adaptively abut against the cylindrical surface, maintaining tangency with the cylindrical surface, thus maximizing the magnetic adsorption force. This forces the first and second mounting seats to passively twist. Furthermore, when the two rear wheels (i.e., omnidirectional wheels) just contact the cylindrical surface, the U-shaped magnets simultaneously maintain adsorption on both the cylindrical and plane surfaces until the two rear wheels completely detach from the plane. This effectively solves the instability problem of "three-point contact - one-point suspension" that occurs in traditional four-wheeled robots during transitions, reducing bouncing and instability.

[0018] The frame is provided with a first arc-shaped groove and a second arc-shaped groove. A first limiting bolt and a second limiting bolt are provided on the first mounting seat and the second mounting seat, respectively. The first limiting bolt cooperates with the first arc-shaped groove to control the torsion angle of the first mounting seat, thereby controlling the rolling angle of the first permanent magnet adsorption wheel. The second limiting bolt cooperates with the second arc-shaped groove to control the torsion angle of the second mounting seat, thereby controlling the rolling angle of the second permanent magnet adsorption wheel.

[0019] In this invention, the first and second permanent magnet adsorption wheels (i.e., the two front wheels) are set with a large diameter (greater than or equal to 120 mm), ensuring that the obstacle-crossing and wall-climbing robot can directly climb weld seams or steps larger than 20 mm using the friction of the wheel rims. The two permanent magnet adsorption wheels integrate multiple fan-shaped neodymium iron boron magnets arranged in a ring to form a closed magnetic circuit, ensuring strong magnetic force without the need for high-energy-consuming vacuum pumps or large-capacity battery packs to maintain the adsorption force. The two omnidirectional wheels (i.e., the rear wheels) are set with a small diameter, with two rows of rollers evenly distributed on their surfaces. This allows the obstacle-crossing and wall-climbing robot to maintain the grip of the front wheels while achieving small-radius or even zero-radius turning through the lateral sliding of the rear wheels, solving the problem of difficult turning for robots with strong magnetic adsorption transmissions. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the obstacle-crossing and wall-climbing robot in Embodiment 1 of the present invention; Figure 2 for Figure 1 A structural diagram from another perspective; Figure 3 for Figure 2 A schematic diagram after removing part of the upper frame structure; Figure 4 This is an assembly diagram of the front drive module, rear follow-up steering module, U-shaped magnet, and vehicle frame in Example 1; Figure 5 for Figure 4 A structural diagram from another perspective; Figure 6 This is a schematic diagram of the rear-following steering module and the U-shaped magnet in Embodiment 1; Figure 7 This is a schematic diagram of an obstacle-crossing and wall-climbing robot passing through a cylindrical surface. Figure 8 This is a schematic diagram of an obstacle-crossing and wall-climbing robot passing through a right-angled convex surface. Figure 9 This is a schematic diagram of an obstacle-crossing and wall-climbing robot passing through a right-angled concave surface. Figure 10 This is a schematic diagram of the overall structure of the obstacle-crossing and wall-climbing robot in Embodiment 2 of the present invention; Figure 11This is an assembly diagram of the front drive module, rear follow-up steering module, U-shaped magnet, and vehicle frame in Example 2.

[0021] In the picture: 1. Chassis; 10. Mounting bracket; 11. First arc groove; 12. Second arc groove; 13. Servo; 130. Lead screw; 14. Vertical guide rail; 15. Probe mounting base; 150. Nut structure; 2. Front drive module; 21. First mounting base; 210. First limiting bolt; 22. First motor; 23. First permanent magnet adsorption wheel; 24. Second mounting base; 240. Second limiting bolt; 25. Second motor; 26. Second permanent magnet adsorption wheel; 3. Rear-following steering module; 30. Omnidirectional wheel; 301. Roller; 31. Wheel axle; 32. Rotation center shaft; 4. U-shaped magnet; 41. Front suction arm; 42. Rear suction arm; 43. Bolt; 44. Floating spring; 45. Washer; 5. Visual module; 6. Probe; A. Vertical wall; B. Horizontal wall. Detailed Implementation

[0022] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0023] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0024] Furthermore, in this invention, descriptions involving terms such as "first," "second," and "a" are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0025] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0027] Example 1: like Figures 1-9 As shown, an obstacle-crossing and wall-climbing robot in this embodiment mainly includes: The frame 1 provides installation positions and strength support for the installation of other components on the obstacle-crossing and wall-climbing robot. According to actual needs, in this embodiment, the frame 1 can be divided into a front frame and a rear frame that are set separately and connected. The front drive module 2 is mounted on the frame 1. Its main function is to serve as the power source for the obstacle-crossing and wall-climbing robot. The front drive module 2 provides power for the robot's movement, steering, obstacle crossing, wall climbing and other actions. The front drive module 2 includes a first mounting base 21, a first motor 22, a first permanent magnet adsorption wheel 23, a second mounting base 24, a second motor 25, and a second permanent magnet adsorption wheel 26. The first mounting base 21 and the second mounting base 24 are rotatably mounted on the vehicle frame 1, and their rotation directions are perpendicular to the axial directions of the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26, that is, the first mounting base 21 and the second mounting base 24 can rotate left and right relative to the vehicle frame 1. The first motor 22 and the second motor 25 are respectively mounted on the first mounting base 21 and the second mounting base 24, and the first motor 22 and the second motor 25 are respectively used to drive the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 to rotate, that is, the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 can be driven independently. The first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 are respectively disposed at the output ends of the first motor 22 and the second motor 25, and the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 can be driven independently. During use, when the first mounting base 21 rotates relative to the frame 1, the first mounting base 21, the first motor 22, and the first permanent magnet adsorption wheel 23 will rotate together relative to the frame 1; when the second mounting base 24 rotates relative to the frame 1, the second mounting base 24, the second motor 25, and the second permanent magnet adsorption wheel 26 will rotate together relative to the frame 1. The rear follow-up steering module 3 is installed on the frame 1. The rear follow-up steering module 3 can move with the front drive module 2, so that the obstacle-crossing and wall-climbing robot can drive normally. The rear follow-up steering module 3 can realize the steering of the obstacle-crossing and wall-climbing robot. The rear follow-up steering module 3 includes two omnidirectional wheels 30 to ensure that the obstacle-crossing and wall-climbing robot can turn. A U-shaped magnet 4 is disposed between two omnidirectional wheels 30, and the U-shaped magnet 4 has a front adsorption arm 41 and a rear adsorption arm 42 arranged symmetrically. It can be understood that the front half of the U-shaped magnet 4 is the front adsorption arm 41, and the rear half of the U-shaped magnet 4 is the rear adsorption arm 42. In this embodiment, the U-shaped magnet 4 is preferably, but not limited to, a magnet. In practical use, the obstacle-crossing and wall-climbing robot is configured to pass through at least a right-angled convex surface and a right-angled concave surface. Both the right-angled convex and concave surfaces have a horizontal wall surface B and a vertical wall surface A, which are perpendicular to each other and form a 90-degree angle. When the obstacle-crossing and wall-climbing robot passes through the right-angled convex surface, the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 adsorb the horizontal wall surface B of the right-angled convex surface, and the front adsorption arm 41 adsorbs the vertical wall surface A of the right-angled convex surface, forming a three-point adsorption, which can effectively prevent the obstacle-crossing and wall-climbing robot from falling after crossing the edge of the right-angled convex surface. When the obstacle-crossing and wall-climbing robot passes through the right-angled concave surface, the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 adsorb the vertical wall surface A of the right-angled concave surface, and the rear adsorption arm 42 adsorbs the horizontal wall surface B of the right-angled concave surface, forming a three-point adsorption, ensuring the stability of the obstacle-crossing and wall-climbing robot when climbing.

[0028] In this embodiment, a first permanent magnet adsorption wheel 23 and a second permanent magnet adsorption wheel 26 (i.e., two front wheels) are set in the front drive module 2 of the obstacle-crossing and wall-climbing robot. The first mounting base 21 and the second mounting base 24 corresponding to the two are rotatably mounted on the frame 1. The first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 are driven separately by the first motor 22 and the second motor 25, respectively, to provide driving force. That is, the two front wheels of the obstacle-crossing and wall-climbing robot are set as front-drive strong magnetic wheels. The two rear wheels in the rear follow-up steering module 3 are set as omnidirectional wheels 30, and an auxiliary U-shaped magnet 4 is set between the two omnidirectional wheels 30 to provide auxiliary magnetic adsorption, forming a composite layout of "front-drive strong magnetic wheel + rear follow-up omnidirectional wheel 30 + U-shaped magnet 4 auxiliary magnetic adsorption". This allows the obstacle-crossing and wall-climbing robot to pass smoothly through complex scenes such as planes, cylindrical surfaces, right-angled convex surfaces and right-angled concave surfaces, and achieve mechanical adaptation to complex scenes such as planes, cylindrical surfaces, right-angled convex surfaces and right-angled concave surfaces.

[0029] Furthermore, when the obstacle-crossing and wall-climbing robot passes through a right-angled convex surface, the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 adsorb the horizontal wall surface B of the right-angled convex surface, and the front adsorption arm 41 of the U-shaped magnet 4 adsorbs the vertical wall surface A of the right-angled convex surface, forming a three-point adsorption. When the obstacle-crossing and wall-climbing robot passes through a right-angled concave surface, the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 adsorb the vertical wall surface A of the right-angled concave surface, and the rear adsorption arm 42 of the U-shaped magnet 4 adsorbs the horizontal wall surface B of the right-angled concave surface, forming a three-point adsorption.

[0030] This means that regardless of whether the robot traverses a right-angled convex or concave surface, it can form a three-point stable adhesion, ensuring that the front and rear wheels of the obstacle-crossing and wall-climbing robot remain firmly attached to the wall surface. This guarantees the robot's stability during obstacle crossing and prevents it from falling when the front wheels cross an edge and become suspended in the air, causing a sudden drop in adhesion. In other words, this three-point adhesion concentrates the contact surface between the robot and the work area and allows for localized adjustment, increasing support at protrusions, suspension points, and right-angle transitions. This directly enhances the robot's ability to "cross high obstacles" and "stabilize and turn on vertical surfaces."

[0031] Specifically, in this embodiment, the diameters of both the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 are greater than or equal to 120 mm, and both integrate (e.g., evenly distributed in the wheel core) multiple fan-shaped NdFeB magnets. These multiple fan-shaped NdFeB magnets are arranged in a ring in the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 to form a closed magnetic circuit. This magnetic array design maximizes the radial adsorption force, ensuring that both the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 are configured as strong magnetic adsorption wheels. Furthermore, the large diameters of the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 ensure that the obstacle-crossing and wall-climbing robot can directly climb welds or steps with a diameter greater than 20 mm using the friction of the wheel rims, and provide the main torque when traversing right-angled convex surfaces.

[0032] The hub material of both the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 is set to magnetically conductive stainless steel, and they are covered with a high-friction coefficient polyurethane adhesive layer to prevent slippage.

[0033] More specifically, in this embodiment, the diameters of the two omnidirectional wheels 30 (i.e., the rear wheels) are smaller than the diameters of the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26, and each omnidirectional wheel 30 is provided with double rows of rollers 301, which are staggered to ensure continuous movement. The axial direction of the rollers 301 is perpendicular to the axial direction of the omnidirectional wheel 30, and the radial direction of the rollers 301 is perpendicular to the tangent direction of the outer circumference of the hub of the omnidirectional wheel 30.

[0034] Understandably, the omnidirectional wheel 30 can roll back and forth normally like an ordinary wheel, and can also roll laterally using its double-row staggered rollers 301. The number of rollers 301 in each row can be set to five, seven, or nine, etc.

[0035] In practical use, the large-diameter front wheel in this embodiment facilitates obstacle crossing, while the small-diameter omnidirectional wheel facilitates steering. The rear follow-up steering module 3 uses a small-diameter omnidirectional wheel 30 (i.e., the rear wheel), which, together with the U-shaped magnet 4 (independent auxiliary magnetic adsorption), enables the obstacle-crossing and wall-climbing robot to achieve zero-radius steering by lateral sliding of the rear wheel while maintaining adsorption. This solves the problems of high steering friction and severe rear wheel wear in traditional strong magnetic obstacle-crossing and wall-climbing robots.

[0036] In this embodiment, the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 (i.e., the two front wheels) are set with a large diameter (greater than or equal to 120 mm) to ensure that the obstacle-crossing and wall-climbing robot can directly climb weld seams or steps with a diameter greater than 20 mm by utilizing the friction of the wheel rims. The two permanent magnet adsorption wheels integrate multiple fan-shaped neodymium iron boron magnets arranged in a ring to form a closed magnetic circuit, ensuring strong magnetic force without the need for a high-energy-consuming vacuum pump or a large-capacity battery pack to guarantee the adsorption force. The two omnidirectional wheels 30 (i.e., the rear wheels) are set with a small diameter, with two rows of rollers 301 evenly distributed on their surfaces. This allows the obstacle-crossing and wall-climbing robot to maintain the grip of the front wheels while achieving small-radius or even zero-radius turning through the lateral sliding of the rear wheels, solving the problem of difficult turning for robots with strong magnetic adsorption transmission.

[0037] like Figure 8 and Figure 9 As shown in this embodiment, the obstacle-crossing and wall-climbing robot uses a right-angled convex surface or a right-angled concave surface, and when the obstacle-crossing and wall-climbing robot raises its head to cross obstacles, the U-shaped magnet 4 always provides a reverse anti-overturning torque, effectively preventing the obstacle-crossing and wall-climbing robot from falling.

[0038] For example, when the obstacle-crossing and wall-climbing robot performs a 90-degree right-angle (right-angle convex surface) flip, after the two front wheels (i.e. the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26) flip over the ridge line, the center of the vehicle moves forward. At this time, the U-shaped magnet 4 moves close to the vertical wall surface A to prevent the vehicle from flipping backward until the two rear wheels (i.e. the two omnidirectional wheels 30) also complete the flip.

[0039] The obstacle-crossing and wall-climbing robot in this embodiment is configured to also be able to pass through planes, cylindrical surfaces, and from planes to cylindrical surfaces. When the obstacle-crossing and wall-climbing robot passes through a plane, the U-shaped magnet 4 maintains a gap with the plane to ensure that the U-shaped magnet 4 does not come into contact with the plane, thereby avoiding affecting the normal driving of the obstacle-crossing and wall-climbing robot and avoiding wear on the U-shaped magnet 4.

[0040] Specifically, when the obstacle-crossing and wall-climbing robot passes through a plane, the gap between the U-shaped magnet 4 and the plane is maintained between 2 and 5 millimeters. This ensures that the U-shaped magnet 4 does not touch the ground, while also ensuring that the U-shaped magnet 4 can adhere to the plane, thus ensuring the structural stability of the obstacle-crossing and wall-climbing robot during operation. At this time, the U-shaped magnet 4 provides approximately 30% to 40% of the total adsorption force, while the remaining 60% to 70% of the total adsorption force is provided by the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26.

[0041] The U-shaped magnet 4 can preferably be configured as an arc surface whose bottom surface is tangent to the rim of the omnidirectional wheel 30, and the U-shaped magnet 4 is covered with a Teflon anti-friction layer. Teflon (PTFE) can prevent the U-shaped magnet 4 from being worn. Furthermore, even if the U-shaped magnet 4 touches the ground, its Teflon anti-friction layer can reduce friction and ensure that the obstacle-crossing and wall-climbing robot travels smoothly.

[0042] In a preferred embodiment, the front adsorption arm 41 and the rear adsorption arm 42 of the U-shaped magnet 4 are respectively suspended from the frame 1 by bolts 43. A floating spring 44 is provided between the front adsorption arm 41 and the frame 1 and between the rear adsorption arm 42 and the frame 1. One end of the floating spring 44 abuts against the front adsorption arm 41 or the rear adsorption arm 42, and the other end abuts against the frame 1. When the obstacle-crossing and wall-climbing robot crosses an obstacle, the U-shaped magnet 4 can move upward to avoid the obstacle and compress the floating spring 44.

[0043] For example, when the obstacle-crossing and wall-climbing robot encounters a weld protrusion, the weld protrusion will squeeze the U-shaped magnet 4, causing the floating spring 44 to be compressed, and the U-shaped magnet 4 will move upward to avoid the weld protrusion (i.e., obstacle avoidance).

[0044] Furthermore, multiple shims 45 are sequentially placed between the frame 1 and the bolt 43. By increasing the number of shims 45, the height of the U-shaped magnet 4 can be adjusted, that is, the height of the U-shaped magnet 4 off the ground can be adjusted. For obstacles of different heights (such as welds), the height of the U-shaped magnet 4 off the ground can be adjusted, thereby ensuring that the obstacle-crossing and wall-climbing robot can successfully cross obstacles.

[0045] When the obstacle-crossing and wall-climbing robot moves from the plane to the cylindrical surface, the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 both adhere to the cylindrical surface, causing the first mounting base 21 and the second mounting base 24 to be passively twisted, and the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 to stick to the cylindrical surface; when the two omnidirectional wheels 30 just contact the cylindrical surface, the U-shaped magnet 4 simultaneously adheres to both the cylindrical surface and the plane, that is, the obstacle-crossing and wall-climbing robot can maintain continuous contact in the transition area from the plane to the cylindrical surface, reducing jumping and instability, thereby expanding the application scenario range of the obstacle-crossing and wall-climbing robot and avoiding adhesion failure caused by curvature changes.

[0046] It should be explained that, since both the first mounting base 21 and the second mounting base 24 are rotatably mounted on the frame 1, they can rotate left and right (inward and outward) relative to the frame 1, rather than being rigidly fixed to the frame 1. When the obstacle-crossing and wall-climbing robot transitions from a planar surface to a cylindrical surface (e.g., with a diameter ≥ 219 mm), the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 attract to the cylindrical surface, causing the first mounting base 21 and the second mounting base 24 to passively twist relative to the frame 1. Simultaneously, the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 adaptively conform to the cylindrical surface, preventing one-sided wheel suspension and detachment due to rigid constraints. That is, in this embodiment, the left and right front wheels of the obstacle-crossing and wall-climbing robot (i.e., the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26) can adaptively conform to the cylindrical surface, ensuring the stability of the obstacle-crossing and wall-climbing robot during operation. A bearing rotation mechanism can be provided between the two mounting bases and their corresponding motors.

[0047] In this embodiment, the frame 1 is provided with a first arc-shaped groove 11 and a second arc-shaped groove 12. The center of the first arc-shaped groove 11 (i.e., the center of the circle) coincides with the rotation center of the first mounting base 21, and the center of the second arc-shaped groove 12 (i.e., the center of the circle) coincides with the rotation center of the second mounting base 24.

[0048] A first limiting bolt 210 is provided on the first mounting base 21. The first limiting bolt 210 passes through the first arc-shaped groove 11 and is used to limit the rotation angle of the first mounting base 21. When the first mounting base 21 is passively twisted by force, the first limiting bolt abuts against the end of the first arc-shaped groove 11, and the first mounting base 21 reaches the limit position and cannot continue to twist.

[0049] The second mounting base 24 is provided with a second limiting bolt 240, which passes through the second arc-shaped groove 12 to limit the rotation angle of the second mounting base 24. Similarly, when the second mounting base 24 is passively twisted by force, the second limiting bolt abuts against the end of the second arc-shaped groove 12, and the second mounting base 24 reaches the limit position and cannot continue to twist.

[0050] Understandably, in this embodiment, the first arc-shaped groove 11 and the second arc-shaped groove 12 can be configured such that when the obstacle-crossing and wall-climbing robot passes through a plane, the first limiting bolt 210 and the second limiting bolt 240 are respectively located at one end of the first arc-shaped groove 11 and one end of the second arc-shaped groove 12. When the obstacle-crossing and wall-climbing robot passes through a cylindrical surface, the first limiting bolt 210 and the second limiting bolt 240 are respectively located at the other end of the first arc-shaped groove 11 and the other end of the second arc-shaped groove 12, so that the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 adaptively fit onto the cylindrical surface.

[0051] As an improvement, in this embodiment, the first arc-shaped groove 11 and the second arc-shaped groove 12 can also be configured such that when the obstacle-crossing and wall-climbing robot passes through a plane, the first limiting bolt 210 and the second limiting bolt 240 are respectively located at the middle positions of the first arc-shaped groove 11 and the second arc-shaped groove 12. When the obstacle-crossing and wall-climbing robot passes through a cylindrical surface, the first limiting bolt 210 and the second limiting bolt 240 are respectively located at one end of the first arc-shaped groove 11 and one end of the second arc-shaped groove 12, so that the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 adaptively fit onto the cylindrical surface. When the obstacle-crossing and wall-climbing robot passes through a concave cylindrical surface, the first limiting bolt 210 and the second limiting bolt 240 are respectively located at the other end of the first arc-shaped groove 11 and the other end of the second arc-shaped groove 12, so that the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 adaptively fit onto the concave cylindrical surface.

[0052] In this embodiment, both the first mounting base 21 and the second mounting base 24 are made of lightweight aluminum alloy and are CNC machined to ensure that both the first mounting base 21 and the second mounting base 24 have good heat dissipation and structural strength. Each of the first mounting base 21 and the second mounting base 24 includes four mutually perpendicular aluminum alloy plates connected end-to-end, with openings at the top and bottom. Adjacent aluminum alloy plates are detachably fixed together by bolts, ensuring simple assembly and disassembly. The first motor 22 and the second motor 25 are housed within the mounting space enclosed by the four aluminum alloy plates. Preferably, the first motor 22 and the second motor 25 can be, but are not limited to, planetary geared joint motors with appropriate torque. After being reduced in speed by a planetary gearbox, they drive the first permanent magnet adsorption wheel 23 or the second permanent magnet adsorption wheel 26 via a direct drive. This achieves both sufficient power and a lighter weight and greater energy efficiency.

[0053] In practical use, in this embodiment, the first mounting base 21 and the second mounting base 24, corresponding to the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 in the front drive module 2, are rotatably mounted on the frame 1, and their rotation direction is perpendicular to the axis of the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26. When the obstacle-crossing and wall-climbing robot transitions from a plane to a cylindrical surface, the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26 (i.e., the two front wheels) adsorb onto the cylindrical surface. This magnetic adsorption force causes the two front wheels to adaptively abut against the cylindrical surface and remain tangent to the cylindrical surface, maximizing the magnetic adsorption force. This forces the first mounting base 21 and the second mounting base 24 to passively twist. Furthermore, when the two rear wheels (i.e., the omnidirectional wheels 30) just contact the cylindrical surface, the U-shaped magnet 4 simultaneously maintains adsorption on both the cylindrical surface and the plane until the two rear wheels completely detach from the plane. This effectively solves the instability problem of "three-point contact - one-point suspension" that occurs during the transition of traditional four-wheeled robots, reducing jumping and instability.

[0054] The frame 1 is provided with a first arc-shaped groove 11 and a second arc-shaped groove 12. A first limiting bolt 210 and a second limiting bolt 240 are provided on the first mounting seat 21 and the second mounting seat 24, respectively. The first limiting bolt 210 cooperates with the first arc-shaped groove 11 to control the torsion angle of the first mounting seat 21, thereby controlling the rolling angle of the first permanent magnet adsorption wheel 23. The second limiting bolt 240 cooperates with the second arc-shaped groove 12 to control the torsion angle of the second mounting seat 24, thereby controlling the rolling angle of the second permanent magnet adsorption wheel 26.

[0055] like Figures 1-3As shown, in this embodiment, the obstacle-crossing and wall-climbing robot also includes a vision module 5. The vision module 5 is mounted on the frame 1 and configured so that its field of view can cover the contact points of the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26, as well as the working area. It can monitor the working status of the obstacle-crossing and wall-climbing robot in real time, and it can adopt a multi-degree-of-freedom adjustable gimbal structure to ensure its ease of use. The support frame of the vision module 5 is located at the far end of the frame 1 and is set at a 45-degree downward angle to ensure that the camera's field of view is not obstructed by the vehicle body, and can clearly capture images of welds and obstacles in front of the front wheels (i.e., the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26).

[0056] A servo motor 13 and a vertical guide rail 14 perpendicular to the frame 1 are provided in the middle of the frame 1. The output end of the servo motor 13 is equipped with a lead screw 130, which drives the lead screw 130 to rotate. The servo motor 13 and the lead screw 130 can be connected by a coupling. Two vertical guide rails 14 are symmetrically arranged on the frame 1 to provide stable guidance. A probe mounting seat 15 that can be raised and lowered relative to the vertical guide rail 14 is provided on the vertical guide rail 14. The probe mounting seat 15 has a nut structure 150, which is sleeved on the lead screw 130 and threadedly connected to the lead screw 130 to form a lead screw 130 nut mechanism. That is, in this embodiment, a precision lifting mechanism is provided at the rear end of the frame 1, mainly consisting of a right servo motor 13, a lead screw 130 (set as a trapezoidal lead screw 130 or a ball screw 130) and a vertical guide rail 14. The probe mounting seat 15 is installed on the vertical guide rail 14. The servo motor 13 can drive the probe mounting seat 15 to move up and down along the vertical guide rail 14 through the lead screw 130 to adjust the height of the probe mounting seat 15.

[0057] In use, a probe 6, such as an ultrasonic thickness sensor, can be installed in the probe mounting base 15 to measure the thickness of the working area. A buffer spring (not shown in the figure) is provided in the probe mounting base 15. When the probe 6 mounted in the probe mounting base 15 presses against the detection wall surface, the buffer spring is compressed. When the servo motor 13 drives the probe mounting base 15 through the lead screw 130, causing the probe 6 to contact the wall surface of the working area, the buffer spring absorbs rigid impact, preventing damage to the probe 6. Furthermore, a mechanical limit ensures that the probe 6 is always perpendicularly pressed against the wall surface of the working area, ensuring measurement accuracy. Specifically, when the probe 6 presses against the wall surface of the working area, the compression of the buffer spring is approximately 3-5 mm, preventing hard contact damage to the high-precision probe 6 and ensuring that the probe 6 is always perpendicularly pressed against the wall surface of the working area (i.e., the surface to be measured), ensuring that the probe 6 maintains a stable coupling effect even on uneven wall surfaces.

[0058] Traditional obstacle-crossing and wall-climbing robots often use simple support frames for their lifting mechanisms to carry detection equipment. These frames lack the ability to adaptively adjust the normal direction, making it difficult to ensure stable coupling of the probe 6 on uneven surfaces.

[0059] Understandably, when the probe 6 is installed in the probe mounting base 15, the buffer spring can be located at the upper end of the probe 6, with its lower end abutting against the probe 6 and its upper end abutting against the probe mounting base 15. Furthermore, the probe mounting base 15 can also be used to install eddy current probes and rust removal brush heads, among other components.

[0060] Based on the structure of the obstacle-crossing and wall-climbing robot in this embodiment, explain the working principle of the obstacle-crossing and wall-climbing robot under various special working conditions: Plane-Cylindrical Surface Transition: When the obstacle-crossing and wall-climbing robot moves from a plane into a cylindrical surface, the curvature of the cylindrical surface forces the two front wheels (i.e., the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26) to concave inward and passively twist, passively adapting to the curvature of the current surface. The two front wheels adapt, ensuring that the surface of the front wheels remains tangent to the wall of the cylindrical surface and that the attraction is at its maximum. Then, the two front wheels continue to drive, and under the action of driving force and friction, the obstacle-crossing and wall-climbing robot continues to move forward. The two front wheels always maintain adsorption along the normal direction to the tangent plane of the cylindrical surface. The U-shaped magnet 4 between the two rear wheels (i.e., the omnidirectional wheel 30) can maintain adsorption to both the cylindrical surface and the plane when the rear wheels just contact the cylindrical surface, until the rear wheels completely detach from the plane. This effectively solves the instability problem of "three points of contact and one point of suspension" on curved surfaces in traditional four-wheeled rigid chassis.

[0061] Right-angle concave transition: The working conditions of the obstacle-crossing and wall-climbing robot when crossing a right-angle concave surface are similar to those when crossing a flat cylindrical surface. When the two front wheels touch the vertical wall A of the right-angle concave surface, the front of the robot is lifted by the powerful driving force of the front wheels. With the adsorption of the rear U-shaped magnet 4 and the follow-up propulsion of the two omnidirectional wheels 30, the obstacle-crossing and wall-climbing robot can turn.

[0062] Right-angle convex transition: Similarly, the front end of the obstacle-crossing and wall-climbing robot can effectively transition to right-angle sections by relying on the two front wheels. At the same time, the U-shaped magnet 4 set between the two rear wheels can ensure a certain degree of adhesion to the rear wall surface before the rear wheels completely detach from the front wall, thus ensuring the stability of the rear wheels.

[0063] Gap or obstacle crossing: By appropriately increasing the diameter of the two front wheels and the two rear wheels of the obstacle-climbing robot, it can cross gaps of a certain distance and obstacles of a certain height by relying solely on the mechanical structure without considering control.

[0064] Example 2: like Figures 10-11 As shown, the difference between this embodiment and Embodiment 1 lies in the fact that the rear follow-up steering module 3 in this embodiment can rotate left and right relative to the frame 1. Specifically: The frame 1 is equipped with a mounting bracket 10 that can rotate relative to it, and the rotation direction of the mounting bracket 10 is perpendicular to the axis of the omnidirectional wheel 30. That is, the rotatable direction of the mounting bracket 10 is the same as the rotatable direction of the first mounting seat 21 and the second mounting seat 24. The mounting bracket 10 is rotatably mounted on the frame 1 via a rotation center shaft 32. The two omnidirectional wheels 30 are mounted on the mounting bracket 10 via axle 31. The U-shaped magnet 4 is mounted on the mounting bracket 10. External force can be applied to the omnidirectional wheels 30, causing the mounting bracket 10 to undergo passive torsion. Since the two omnidirectional wheels 30 are mounted on the mounting bracket 10 via axle 31, the torsion of the two omnidirectional wheels 30 is synchronized.

[0065] Understandably, in this embodiment, the two omnidirectional wheels 30, i.e. the rear wheels, can also be passively twisted to adapt to various complex working conditions, which will not be elaborated here.

[0066] In summary, the obstacle-crossing and wall-climbing robot in this solution has at least the following technical advantages: It enhances the robot's ability to cope with complex environments: the dual large-diameter, high-magnetic front wheels concentrate magnetic force, and the combination of three-point adsorption and U-shaped magnets (4 in total) concentrates the contact surface and allows for local adjustment, increasing support for protrusions, suspensions, and right-angle transitions, directly improving its ability to "cross high obstacles" and "stabilize and turn on vertical surfaces." Its flexibility and the adaptive curvature of the permanent magnet wheels enable the obstacle-crossing and wall-climbing robot to maintain continuous contact in the transition zone from a plane to a cylindrical surface, reducing bouncing and instability, expanding its application range, and avoiding adhesion failure caused by changes in curvature.

[0067] Reduced weight and energy consumption: Replacing the traditional large chassis and heavy adsorption system with a composite wheeled, miniaturized obstacle-crossing and wall-climbing robot design can reduce the overall weight of the machine and allow the use of on-board power supply, reducing reliance on long power lines, thereby improving mobility and reducing on-site deployment costs and energy consumption.

[0068] Simplified, practical, and highly reliable: This obstacle-crossing and wall-climbing robot abandons the complex negative pressure adsorption air circuit system or multi-legged joint drive structure of traditional obstacle-crossing and wall-climbing robots. It adopts a composite wheel system layout of "large-diameter permanent magnet wheel at the front + 30mm omnidirectional wheel at the rear," requiring only the most basic motor drive to achieve complex wall movement, significantly reducing the number of transmission components and lowering the mechanical failure rate. Relying on the inherent flexibility of its mechanical structure, the obstacle-crossing and wall-climbing robot can passively adapt to curvature changes from a plane to a cylinder, achieving structural optimization of "simplicity over complexity," and significantly improving mechanical reliability and durability under harsh working conditions.

[0069] Low manufacturing and maintenance costs: The core adsorption components (i.e., the first permanent magnet adsorption wheel 23 and the second permanent magnet adsorption wheel 26) use high-performance neodymium iron boron permanent magnet materials, eliminating the need for high-energy-consuming vacuum pumps or large-capacity battery packs. Furthermore, the omnidirectional wheel 30, lead screw 130, vertical guide rail 14, motor, and other components are all standardized industrial general-purpose parts. Compared to highly customized special obstacle-crossing and wall-climbing robots, the overall bill of materials cost of this obstacle-crossing and wall-climbing robot can be reduced by more than 40%, making mass production extremely easy. The standardized and modular split-type frame 1 design makes the disassembly and maintenance of the wheel set, sensors, and drive unit extremely convenient, significantly reducing the subsequent usage threshold and maintenance costs.

[0070] This obstacle-crossing and wall-climbing robot achieves passive compliant adaptation through its own mechanical structure, adapts to a variety of scenarios, is flexible and stable in obstacle crossing and wall climbing, and has a simple structure.

Claims

1. An obstacle-crossing and wall-climbing robot, characterized in that, include: Frame; A front drive module, mounted on the vehicle frame, includes a first mounting base, a first motor, a first permanent magnet adsorption wheel, a second mounting base, a second motor, and a second permanent magnet adsorption wheel. The first and second mounting bases are rotatably mounted on the vehicle frame, and their rotation directions are perpendicular to the axial directions of the first and second permanent magnet adsorption wheels. The first and second motors are respectively mounted on the first and second mounting bases and are used to drive the first and second permanent magnet adsorption wheels to rotate. The first and second permanent magnet adsorption wheels are respectively located at the output ends of the first and second motors. A rear-mounted steering module, mounted on the vehicle frame, includes two omnidirectional wheels; A U-shaped magnet is disposed between the two omnidirectional wheels and has a front adsorption arm and a rear adsorption arm. The obstacle-crossing and wall-climbing robot is configured to pass through at least a right-angled convex surface and a right-angled concave surface, both of which have horizontal and vertical walls. When passing through the right-angled convex surface, the first permanent magnet adsorption wheel and the second permanent magnet adsorption wheel adsorb the horizontal wall surface of the right-angled convex surface, and the front adsorption arm adsorbs the vertical wall surface of the right-angled convex surface, forming a three-point adsorption. When passing through a right-angled concave surface, the first permanent magnet adsorption wheel and the second permanent magnet adsorption wheel adsorb the vertical wall of the right-angled concave surface, and the rear adsorption arm adsorbs the horizontal wall of the right-angled concave surface, forming a three-point adsorption.

2. The obstacle-crossing and wall-climbing robot according to claim 1, characterized in that, The obstacle-crossing and wall-climbing robot uses a right-angled convex or right-angled concave surface, and when the obstacle-crossing and wall-climbing robot raises its head to cross obstacles, the U-shaped magnet always provides a reverse anti-overturning torque.

3. The obstacle-crossing and wall-climbing robot according to claim 1, characterized in that, The obstacle-crossing and wall-climbing robot is configured to traverse planes, cylindrical surfaces, and access from planes to cylindrical surfaces. When passing through a plane, the U-shaped magnet maintains a gap with the plane; When moving from the plane to the cylindrical surface, both the first permanent magnet adsorption wheel and the second permanent magnet adsorption wheel adsorb onto the cylindrical surface, causing the first mounting base and the second mounting base to be passively twisted, and both the first permanent magnet adsorption wheel and the second permanent magnet adsorption wheel adhere to the cylindrical surface; when the two omnidirectional wheels just come into contact with the cylindrical surface, the U-shaped magnet simultaneously adsorbs the cylindrical surface and the plane.

4. The obstacle-crossing and wall-climbing robot according to claim 3, characterized in that, The front and rear adsorption arms are respectively suspended from the vehicle frame by bolts, and floating springs are provided between the front adsorption arm and the vehicle frame and between the rear adsorption arm and the vehicle frame. When the obstacle-crossing and wall-climbing robot overcomes an obstacle, the U-shaped magnet can move upwards to avoid the obstacle and compress the floating spring.

5. The obstacle-crossing and wall-climbing robot according to claim 4, characterized in that, Multiple shims are sequentially placed between the frame and the bolt. By increasing the number of shims, the height of the U-shaped magnet can be adjusted.

6. The obstacle-crossing and wall-climbing robot according to claim 3, characterized in that, When passing through a plane, the gap between the U-shaped magnet and the plane is maintained between 2 and 5 millimeters; The U-shaped magnet is coated with a Teflon anti-friction layer.

7. The obstacle-crossing and wall-climbing robot according to claim 1, characterized in that, The diameter of both the first permanent magnet adsorption wheel and the second permanent magnet adsorption wheel is greater than or equal to 120 mm, and both of them integrate multiple fan-shaped neodymium iron boron magnets. The multiple fan-shaped neodymium iron boron magnets are arranged in a ring in the first permanent magnet adsorption wheel and the second permanent magnet adsorption wheel to form a closed magnetic circuit. The diameters of the two omnidirectional wheels are smaller than the diameters of the first permanent magnet adsorption wheel and the second permanent magnet adsorption wheel, and each omnidirectional wheel is provided with double rows of rollers, the axial direction of the rollers being perpendicular to the axial direction of the omnidirectional wheel.

8. The obstacle-crossing and wall-climbing robot according to claim 1, characterized in that, The frame is provided with a first arc-shaped groove and a second arc-shaped groove, the center of the first arc-shaped groove coincides with the rotation center of the first mounting base, and the center of the second arc-shaped groove coincides with the rotation center of the second mounting base; The first mounting base is provided with a first limiting bolt, which passes through the first arc-shaped groove to limit the rotation angle of the first mounting base; The second mounting base is provided with a second limiting bolt, which passes through the second arc-shaped groove to limit the rotation angle of the second mounting base.

9. The obstacle-crossing and wall-climbing robot according to claim 1, characterized in that, The frame is equipped with a mounting bracket that can rotate relative to it, and the rotation direction of the mounting bracket is perpendicular to the axis of the omnidirectional wheel; The two omnidirectional wheels are mounted on the mounting bracket via axles, and the U-shaped magnet is mounted on the mounting bracket. External forces can be applied to the omnidirectional wheels, causing the mounting bracket to undergo passive torsion.

10. The obstacle-crossing and wall-climbing robot according to claim 1, characterized in that, It also includes a vision module, which is disposed on the vehicle frame and configured such that its field of view can cover the contact points of the first permanent magnet adsorption wheel and the second permanent magnet adsorption wheel as well as the working area; The frame is equipped with a servo motor and a vertical guide rail perpendicular to the frame in the middle, and the output end of the servo motor is equipped with a lead screw; The vertical guide rail is provided with a probe mounting base that can be raised and lowered relative to the vertical guide rail. The probe mounting base has a nut structure, and the nut structure is sleeved on the lead screw and threadedly connected to the lead screw. The probe mounting base is provided with a buffer spring, which can be compressed when the probe installed in the probe mounting base presses against the detection wall surface.

Images