Magnetic adsorption walking device suitable for walking on curved surface

Abstract

The utility model relates to a magnetic adsorption walking device suitable for walking on a curved surface. The magnetic adsorption walking device comprises a controller; a chassis; the steering assembly comprises a steering driving part and a mounting frame, the mounting frame is located on the reverse side of the chassis and rotationally connected with the chassis, and the steering driving part drives the mounting frame to rotate; the first adjusting assembly comprises two first adjusting frames and a first elastic part, the first ends of the first adjusting frames are hinged to the reverse side of the chassis, one end of the first elastic part is connected with the reverse side of the chassis, the other end is connected with the second ends of the first adjusting frames, and the first ends and the second ends are opposite in direction; the magnetic wheel set comprises two rear magnetic wheels and one or two front magnetic wheels, the front magnetic wheels are rotationally connected to the mounting frame, the rear magnetic wheels correspond to the first adjusting frames one to one, and the rear magnetic wheels are rotationally connected to the second ends of the first adjusting frames; and in the front magnetic wheel and the rear magnetic wheel, at least the front magnetic wheel or the rear magnetic wheel is a power wheel. The curved surface obstacle crossing robot can flexibly and reliably walk on a curved surface and has certain obstacle crossing capacity.

Description

Technical Field

[0001] The utility model relates to the technical field of walking devices, in particular to a magnetic adsorption walking device suitable for walking on curved surfaces. Background Art

[0002] For buildings or walking devices with curved steel plates (or curved steel surfaces) such as circular steel columns, steel storage tanks or ships, surface maintenance or connecting components or changing the use of the surface usually requires artificial scaffolding or the use of crane platforms or lifting vehicles for high-altitude operations, which is time-consuming and labor-intensive and easily restricted by the site. The use of robots as a replacement is the general trend. At present, existing climbing robots can go straight up and down along the facade. For steel facades, climbing robots usually use magnetic adsorption. However, it is very troublesome for existing magnetic adsorption climbing robots to turn or walk diagonally on steel facades, and the flexibility is poor. For curved steel plates, existing magnetic adsorption climbing robots are basically unable to achieve turning, diagonal walking or obstacle crossing. Utility Model Content

[0003] The utility model aims to provide a magnetic adsorption walking device suitable for walking on a curved surface, which can walk on the curved surface flexibly and reliably and has a certain obstacle-crossing capability.

[0004] In order to achieve the above-mentioned object, the utility model discloses a magnetic adsorption walking device suitable for walking on a curved surface, which comprises:

[0005] A chassis, wherein a mounting platform for mounting a working tool is provided on the front side of the chassis;

[0006] A steering assembly, comprising a steering drive and a mounting frame, wherein the mounting frame is located on the reverse side of the chassis, and the mounting frame is rotationally connected to the chassis and limitedly matched, and the steering drive drives the mounting frame to rotate;

[0007] The first adjustment assembly includes two first adjustment frames and first elastic members corresponding to the first adjustment frames one by one, wherein the first ends of the first adjustment frames are hinged to the reverse side of the chassis, and the first ends corresponding to the two first adjustment frames are arranged close to each other; one end of the first elastic member is connected to the reverse side of the chassis, and the other end of the first elastic member is connected to the second end of the first adjustment frame, and the first end is in opposite directions to the second end;

[0008] A magnetic wheel group, comprising two rear magnetic wheels and one or two front magnetic wheels, wherein the front magnetic wheels are rotatably connected to a mounting frame, the rear magnetic wheels correspond to the first adjustment frame one by one, and the rear magnetic wheels are rotatably connected to the second end of the first adjustment frame; when the axles of the front magnetic wheels and the rear magnetic wheels are parallel to each other, the center connecting line of the front magnetic wheels and the rear magnetic wheels forms an isosceles triangle or an isosceles trapezoid; when there are two front magnetic wheels, the spacing between the two front magnetic wheels is smaller than the spacing between the two rear magnetic wheels; among the front magnetic wheels and the rear magnetic wheels, at least the front magnetic wheel or the rear magnetic wheel is a power wheel;

[0009] A controller is connected to the steering drive member and the power wheel.

[0010] Through the above settings, the magnetic wheel group is arranged in an isosceles triangle or isosceles trapezoid, which can ensure the stability of the walking device when walking, stopping or working, and greatly reduce the influence of the tangential force of the magnetic wheel on the arc (circular) surface on the direction. The magnetic wheel is adsorbed on the curved (circular) surface for walking, and the direction of the front magnetic wheel can be controlled by the steering component, thereby controlling the walking direction of the walking device, and the rear magnetic wheel drives the walking. The rear magnetic wheel is connected to the chassis through the first adjustment component, and the wheel surface of the rear magnetic wheel can be adaptively adjusted relative to the chassis, and the two rear magnetic wheels are independent of each other. When the walking device is moving straight, obliquely, turning, or turning around on the curved surface, the rear magnetic wheel can maintain the adsorption connection relationship with the steel curved surface to the greatest extent, thereby ensuring that the walking device is stably adsorbed on the steel curved surface, and the walking is reliable, stable and flexible. When encountering a lower obstacle, the magnetic wheel can directly step on the obstacle surface to walk and pass the obstacle smoothly.

[0011] Preferably, it also includes a second adjustment component, which includes two second adjustment frames and a second elastic member corresponding to the second adjustment frame one by one, the first end of the second adjustment frame is hinged to the mounting frame, and the first ends corresponding to the two second adjustment frames are arranged close to each other; one end of the second elastic member is connected to the mounting frame, and the other end of the second elastic member is connected to the second end of the second adjustment frame, and the first end is opposite to the second end; there are two front magnetic wheels, and the front magnetic wheels correspond to the second adjustment frame one by one, and the front magnetic wheels are rotatably connected to the second end of the second adjustment frame. By setting the second adjustment component, the front magnetic wheel can also better fit and absorb the arc-shaped or circular walking surface, and the two front magnetic wheels do not affect each other. With the turning of the walking device and other actions, the two front magnetic wheels have good adaptive ability, ensuring that the walking device can reliably absorb and walk, and the stability is further improved.

[0012] Preferably, the rotation tracks of the two first adjustment frames are on the same vertical plane, and the rotation tracks of the two second adjustment frames are on the same vertical plane. This arrangement is convenient for installation and for the walking device to move.

[0013] Preferably, both the reverse side of the chassis and the bottom side of the mounting frame are provided with hinge seats, and the hinge seats are provided with shaft holes; the first adjustment frame is hinged to the shaft hole of the hinge seat arranged on the reverse side of the chassis, and each of the first adjustment frames corresponds to one hinge seat, or two of the first adjustment frames share one hinge seat; the second adjustment frame is hinged to the shaft hole of the hinge seat arranged on the bottom side of the mounting frame, and each of the second adjustment frames corresponds to one hinge seat, or two of the second adjustment frames share one hinge seat;

[0014] The distance between the center of the axial hole of the hinge seat arranged on the back of the chassis and the back of the chassis is not less than the minimum compression length of the first elastic member; the distance between the center of the axial hole of the hinge seat arranged on the bottom of the mounting frame and the bottom of the mounting frame is not less than the minimum compression length of the second elastic member. After such arrangement, the first adjustment frame and the second adjustment frame can both be rotated to a position parallel to the chassis, so as to facilitate the walking device to walk on a plane.

[0015] Preferably, it also includes a magnetic member and a mounting assembly arranged between the two rear magnetic wheels, the mounting assembly includes a mounting seat, at least one connecting rod and at least one third elastic member, one end of the connecting rod is provided with a ball, the other end of the connecting rod passes through the mounting seat and is connected to the chassis, and the end of the connecting rod provided with the ball is also provided with a limit table that cooperates with the mounting seat limit; one end of the third elastic member presses against the chassis, and the other end of the third elastic member presses against the mounting seat; the magnetic member is installed on the bottom surface of the mounting seat, and the magnetic member is provided with a through hole for the connecting rod to pass through; the ball extends out of the bottom surface of the magnetic member by 2 to 3 mm. Through the above arrangement, the magnetic member will not directly contact the walking surface to avoid interfering with the normal walking of the walking device. When encountering an obstacle, the magnetic member can retract toward the chassis to avoid the problem of getting stuck.

[0016] Preferably, it also includes a lifting drive member for lifting the mounting seat, the lifting drive member includes a fixed part and a movable part, the fixed part of the lifting drive member is installed on the chassis, and the movable part of the lifting drive member is connected to the mounting seat; the lifting drive member is connected to the controller; a plurality of touch sensors are provided on the periphery of the mounting seat, the sensing part of the touch sensor is flush with the magnetic element or protrudes 0.5 to 1 mm from the bottom of the magnetic element, and the touch sensor is connected to the controller. By setting the touch sensor, when encountering an obstacle, the magnetic element can be prevented from contacting the obstacle, and at the same time, the touch sensor is used to feedback the controller, thereby controlling the action of the lifting drive member, and the magnetic element is actively lifted to avoid the magnetic element from adsorbing the obstacle, thereby ensuring that the walking device can pass the obstacle smoothly.

[0017] Preferably, a posture sensor is further included, and the posture sensor is connected to the controller. By setting the posture sensor to sense the posture of the walking device, after the walking device has passed the obstacle and returned to its original state, the controller can control the action of the lifting drive member to reset the magnetic attraction member through feedback from the posture sensor.

[0018] Preferably, a distance sensor for edge detection is also included, and the distance sensor is connected to the controller. By setting the distance sensor, when the walking device reaches the edge of an object, when the distance value of the distance sensor changes beyond a predetermined value, a signal is sent to the controller, and the controller instructs the power wheel to stop rotating and the rope climbing machine to stop working, thereby preventing the edge magnetic wheel from walking beyond the object and falling.

[0019] Preferably, it also includes a safety assist component, which includes one or two sets of rope climbing machines and rope bodies corresponding to the rope climbing machines one by one, and the rope climbing machine is connected to the controller; the rope climbing machine is arranged on the installation platform, one end of the rope body is connected to the rope climbing machine, and the other end is connected to the upper end of the walking surface; or, the rope climbing machine is arranged at the upper end of the walking surface, one end of the rope body is connected to the rope climbing machine, and the other end is connected to the installation platform. By providing a safety component, it can be ensured that the walking device will not fall and be damaged, and by providing two sets of rope climbing machines and rope bodies, it can also be ensured that the walking device will not swing in the air when it leaves the walking surface. In addition, when the controller controls the speed and direction of the rope body of the rope climbing machine to be synchronized with the walking speed and direction of the walking device, the rope climbing machine plays a role in assisting the walking of the walking device.

[0020] Preferably, it also includes a moving component for driving the working tool to move, the moving component is arranged on the mounting platform; the moving component is a manipulator or an N-axis moving platform, N is a positive integer not less than 1; the moving component and the working tool are connected to a controller. By setting the moving component, the working range of the working tool can be made larger and more flexible.

[0021] The utility model has the following beneficial effects:

[0022] 1. The utility model can walk reliably on a curved steel plate surface with a larger arc or a cylindrical surface with a smaller diameter, and the walking mode can be vertical walking, horizontal walking, oblique walking, turning, turning around, and overcoming obstacles. The walking is very flexible, and the stability is good and the operability is strong.

[0023] 2. The utility model can realize stepping on obstacles. When the height of the obstacle is relatively low, the magnetic wheel group can step on the obstacle surface and walk.

[0024] 3. The operating tool of the utility model is easy to install and disassemble, and can be quickly replaced according to the operating requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of embodiment 1.

[0026] Figure 2 It is a schematic diagram of another viewing angle of the first embodiment.

[0027] Figure 3This is a schematic diagram of Embodiment 2 (moving components are hidden).

[0028] Figure 4 This is a schematic diagram of another viewing angle of the second embodiment (the moving components are hidden).

[0029] Figure 5 This is a schematic diagram of Embodiment 3 (moving components are hidden).

[0030] Figure 6 This is a schematic diagram of another viewing angle of the third embodiment (the moving components are hidden).

[0031] Figure 7 It is a cross-sectional view of embodiment 3.

[0032] Figure 8 This is a schematic diagram of Embodiment 4.

[0033] Fig. 9 This is a usage status diagram of Example 5.

[0034] Main component symbols:

[0035] Chassis 10, mounting platform 11, moving assembly 12;

[0036] Steering drive member 21, mounting frame 22, rotating shaft 23;

[0037] A first adjustment frame 31, a first elastic member 32, a hinge seat 33, and an axis hole 34;

[0038] Front magnetic wheel 41, rear magnetic wheel 42;

[0039] Distance measuring sensor 50;

[0040] A second adjustment frame 61, a second elastic member 62;

[0041] Magnetic member 71, mounting seat 72, connecting rod 73, third elastic member 74, limiting platform 75, ball bearing 76, lifting driving member 77, posture sensor 78, touch sensor 79;

[0042] Rope climbing machine 81, rope body 82;

[0043] Walking surface 90. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0045] Embodiment 1

[0046] like Figures 1-2As shown, this embodiment discloses a magnetic adsorption walking device suitable for curved surface walking, which includes: a chassis 10, a steering assembly, a first adjustment assembly, a magnetic wheel set and a controller. A mounting platform 11 for mounting a working tool is provided on the front (top) surface of the chassis 10.

[0047] The steering assembly includes a steering drive 21 and a mounting frame 22. A rotating shaft 23 is provided in the middle of the mounting frame 22. The upper end of the rotating shaft 23 is rotatably connected to the chassis 10 and limitedly matched, that is, the rotating shaft 23 can rotate, but the rotating shaft 23 will not change position relative to the chassis 10. It is preferred that the center line of the rotating shaft 23 and the bottom surface of the chassis 10 are perpendicular to each other to facilitate the installation of the rotating shaft 23. The lower end of the rotating shaft 23 is connected to the mounting frame 22, which can be connected by bolt locking or welding. The rotating shaft 23 and the mounting frame 22 rotate synchronously. The mounting frame 22 is preferably symmetrically arranged about the rotating shaft 23. The mounting frame 22 is arranged close to the reverse side (bottom surface) of the chassis 10 and is parallel to the chassis 10. The steering drive 21 is a motor, which is arranged on the front side of the chassis 10. It is directly connected to the rotating shaft 23 or connected to the rotating shaft 23 through a gear set. The motor runs and can drive the mounting frame 22 to rotate. The steering drive 21 is connected to the controller.

[0048] The first adjustment assembly includes two first adjustment frames 31 and first elastic members 32 corresponding to the first adjustment frames 31 one by one. The first elastic members 32 are springs. A hinge seat 33 is provided on the reverse side of the chassis 10. An axial hole 34 is provided on the hinge seat 33. The first end of the first adjustment frame 31 is hinged to the axial hole 34 of the hinge seat 33. Each first adjustment frame 31 corresponds to one hinge seat 33, or two first adjustment frames 31 share one hinge seat 33. In this embodiment, the former is selected. The rotation trajectories of the two first adjustment frames 31 are on the same vertical plane to facilitate installation and walking of the walking device. The corresponding first ends of the two first adjustment frames 31 are arranged close to each other. One end of the first elastic member 32 is connected to the reverse side of the chassis 10, and the other end of the first elastic member 32 is connected to the second end of the first adjustment frame 31. The first end is opposite to the second end. The distance L1 between the center of the axial hole 34 of the hinge seat 33 and the back side of the chassis 10 is not less than the minimum compression length of the first elastic member 32 (referring to the length when the first elastic member 32 is compressed to the limit). This arrangement can make the first adjustment frame 31 parallel to the back side of the chassis 10. When the rear magnetic wheel 42 is installed at the second end of the first adjustment frame 31, if the walking device walks on a plane, the wheel surface of the rear magnetic wheel 42 can fit the adsorption plane well to ensure that the walking device can walk reliably. That is, this arrangement can make the walking device better adapt to walking on flat and curved surfaces and have stronger environmental adaptability.

[0049] The magnetic wheel group includes two rear magnetic wheels 42 and two front magnetic wheels 41, the front magnetic wheels 41 are rotatably connected to the mounting frame 22, and the front magnetic wheels 41 are preferably symmetrically arranged on the mounting frame 22. The rear magnetic wheel 42 corresponds to the first adjustment frame 31 one by one, and the rear magnetic wheel 42 is rotatably connected to the second end of the first adjustment frame 31. When the axles of the front magnetic wheel 41 and the rear magnetic wheel 42 are parallel to each other (ignoring the influence of the first elastic member 32 on the rear magnetic wheel 42), the center line of the front magnetic wheel 41 and the rear magnetic wheel 42 forms an isosceles trapezoid, and the spacing between the two front magnetic wheels 41 is smaller than the spacing between the two rear magnetic wheels 42, and the spacing between the two front magnetic wheels 41 is preferably 20-60 mm. In this embodiment, the rear magnetic wheel 42 is a power wheel, that is, a drive motor independently configured for the two rear magnetic wheels 42. Of course, the two rear magnetic wheels 42 can also share a drive motor. The seat of the drive motor can be installed on the first adjustment frame 31. The power wheel is connected to the controller, that is, the drive motor that drives the rear magnetic wheel 42 to rotate is connected to the controller. Of course, in order to overcome obstacles and increase walking power, the two front magnetic wheels 41 can also be set as power wheels, the method is the same as above, and no further description is given. In addition, only one front magnetic wheel 41 can be set, so that the center line of the front magnetic wheel 41 and the rear magnetic wheel 42 forms an isosceles triangle, but the adsorption force of the front magnetic wheel 41 is weaker in this way, which is more suitable for walking on a flat surface or a curved surface with a small curvature.

[0050] By arranging the magnetic wheel group in an isosceles triangle or an isosceles trapezoid, the stability of the walking device when walking, stopping or working can be ensured, and the influence of the tangential force of the magnetic wheel on the arc (circular) surface on the direction can be greatly reduced. The magnetic wheel is adsorbed on the arc (circular) surface for walking, and the direction of the front magnetic wheel 41 can be controlled by the steering component, thereby controlling the walking direction of the walking device, and the rear magnetic wheel 42 drives the walking. The rear magnetic wheel 42 is connected to the chassis 10 through the first adjustment component, and the wheel surface of the rear magnetic wheel 42 can be adaptively adjusted relative to the chassis 10, and the two rear magnetic wheels 42 are independent of each other. When the walking device is moving straight, obliquely, turning, or turning around on the curved surface, the rear magnetic wheel 42 can maintain the adsorption connection relationship with the steel curved surface to the greatest extent, thereby ensuring that the walking device is stably adsorbed on the steel curved surface, and the walking is reliable, stable and flexible. When encountering a lower obstacle, the magnetic wheel can directly step on the obstacle surface to walk and pass the obstacle smoothly.

[0051] In addition, a distance sensor 50 is provided for stopping at the edge, preferably a photoelectric distance sensor, and the distance sensor 50 is connected to the controller. The detection part of the distance sensor 50 is located on the bottom surface of the chassis 10, and can be set at a position 10 mm outside the front side of the front magnetic wheel 41 and 10 mm outside the outer side of the two rear magnetic wheels 42. The specific position can be adaptively adjusted according to the shape and size of the chassis 10 and the position of the magnetic wheels. When the walking device walks on the edge of the working surface, the distance value of the distance sensor 50 exceeds the predetermined value and sends a signal to the controller. The controller sends a stop work instruction to the power wheel and the rope climbing machine 81 (if any), and the adsorption walking device stops walking. The rope climbing machine 81 (if any) stops the rope body 82 from being retracted and released to prevent the walking device from falling off the walking surface 90.

[0052] In order to facilitate the operation and make the operation range of the working tool larger and more flexible, a moving component 12 for driving the working tool to move can be set on the installation platform 11. The moving component 12 can be a manipulator or an N-axis moving platform, where N is a positive integer not less than 1. The moving component 12 is configured according to the actual application and customer needs. The moving component 12 and the working tool are connected to the controller. The working tool can be contact type or non-contact type, such as a rust removal device, a paint spraying device, a cleaning device, a welding device, a flaw detector, a camera, etc.

[0053] Embodiment 2

[0054] like Figures 3-4 As shown, the difference between this embodiment and the first embodiment is that it also includes a second adjustment component, which is similar to the first adjustment component. The second adjustment component includes two second adjustment frames 61 and second elastic members 62 corresponding to the second adjustment frames 61 one by one, and the second elastic members 62 are springs. A hinge seat 33 is locked on the bottom surface of the mounting frame 22, and an axial hole 34 is provided on the hinge seat 33. The first ends of the two second adjustment frames 61 are hinged to the axial hole 34 at the same time. One end of the second elastic member 62 is connected to the mounting frame 22, and the other end of the second elastic member 62 is connected to the second end of the second adjustment frame 61, and the first end is opposite to the second end. Similarly, the distance L2 between the center of the axial hole 34 of the hinge seat 33 set on the bottom surface of the mounting frame 22 and the bottom surface of the mounting frame 22 is not less than the minimum compression length of the second elastic member 62, so that the second adjustment frame 61 can be rotated to a position parallel to the bottom surface of the mounting frame 22, so as to facilitate the walking device to walk on the plane.

[0055] In this embodiment, the number of front magnetic wheels 41 is limited to two, and the front magnetic wheels 41 correspond to the second adjustment frame 61 one by one, and the front magnetic wheels 41 are rotatably connected to the second end of the second adjustment frame 61. By setting the second adjustment component, the front magnetic wheels 41 can also better fit and adsorb the arc-shaped or circular walking surface 90, and the two front magnetic wheels 41 do not affect each other. With the turning of the walking device, the two front magnetic wheels 41 have good adaptive ability, ensuring that the walking device can adsorb and walk reliably, and the stability is further improved. The rotation tracks of the two second adjustment frames 61 are on the same vertical plane.

[0056] Embodiment 3

[0057] like Figures 5 to 7 As shown, the difference between this embodiment and the first embodiment is that it also includes a magnetic member 71, a mounting assembly, a lifting drive member 77, a posture sensor 78 and a plurality of touch sensors 79. The magnetic member 71 is arranged between the two rear magnetic wheels 42. The mounting assembly includes a mounting seat 72, two connecting rods 73 and two third elastic members 74, and the third elastic member 74 is a spring. The lower end of the connecting rod 73 is provided with a limit table 75 that cooperates with the mounting seat 72 or the magnetic member 71, and a ball 76 is embedded on the limit table 75. The upper end of the connecting rod 73 passes through the mounting seat 72 and is connected to the chassis 10. The third elastic member 74 is sleeved on the connecting rod 73, and one end of the third elastic member 74 presses against the chassis 10, and the other end of the third elastic member 74 presses against the mounting seat 72. The magnetic member 71 is mounted on the bottom surface of the mounting seat 72, and a through hole is provided on the magnetic member 71 for the connecting rod 73 to pass through. The ball 76 extends 2 to 3 mm from the bottom surface of the magnetic member 71, and the ball 76 shall not interfere with the movement of the rear magnetic wheel 42. By setting the ball 76 for isolation, the magnetic member 71 will not absorb the walking surface 90, and the magnetic member 71 is very close to the walking surface 90, and there is still a large adsorption force between the magnetic member 71 and the walking surface 90, thereby enhancing the adsorption capacity of the walking device. When encountering an obstacle, the magnetic member 71 can retract toward the chassis 10 to avoid the problem of getting stuck.

[0058] In order to realize the active obstacle avoidance of the magnetic member 71 and prevent the magnetic member 71 from being adsorbed on the obstacle, the following design is made: the lifting drive member 77 includes a fixed part and a movable part, the fixed part of the lifting drive member 77 is installed on the chassis 10, the movable part of the lifting drive member 77 is connected to the mounting seat 72, and the lifting drive member 77 is connected to the controller. The lifting drive member 77 is preferably an electric push rod. When the lifting drive member 77 moves, the magnetic member 71 can be lifted. The touch sensor 79 is arranged on the periphery of the mounting seat 72, the sensing part of the touch sensor 79 is arranged flush with the bottom of the magnetic member 71 or protrudes from the bottom of the magnetic member 71 by 0.5 to 1 mm, and the touch sensor 79 is connected to the controller. By setting the touch sensor 79, when encountering an obstacle, the magnetic member 71 can be prevented from contacting the obstacle, and at the same time, the touch sensor 79 is used to feedback the controller, thereby controlling the lifting drive member 77 to move, and the magnetic member 71 is actively lifted to prevent the magnetic member 71 from adsorbing the obstacle, so as to ensure that the walking device can pass the obstacle smoothly. The posture sensor 78 is arranged on the chassis 10 and connected to the controller. By setting the posture sensor 78 to sense the posture of the walking device, after the walking device has completed the obstacle and returned to its original state, the controller can control the action of the lifting drive member 77 through the feedback of the posture sensor 78 to reset the magnetic attraction member 71.

[0059] Embodiment 4

[0060] like Figure 8 As shown, the difference between this embodiment and the second embodiment is that this embodiment further provides a magnetic member 71, a mounting assembly, a lifting drive member 77, a posture sensor 78 and a plurality of touch sensors 79. The connection and matching relationship between the magnetic member 71, the mounting assembly, the lifting drive member 77, the posture sensor 78 and the plurality of touch sensors 79 is as described in the third embodiment and will not be described in detail.

[0061] Embodiment 5

[0062] In addition to any of the above embodiments, this embodiment further includes a safety assist component, which includes one or two sets of rope climbing machines 81 and rope bodies 82 corresponding to the rope climbing machines 81, and the rope climbing machines 81 are connected to a controller. There are two ways to install the safety assist component. One is to place the rope climbing machine 81 on the installation platform 11, one end of the rope body 82 is connected to the rope climbing machine 81, and the other end of the rope body 82 is connected to the upper end of the walking surface 90; the other is to place the rope climbing machine 81 at the upper end of the walking surface 90, one end of the rope body 82 is connected to the rope climbing machine 81, and the other end of the rope body 82 is connected to the installation platform 11. Fig. 9As shown, two sets of rope climbing machines 81 and two rope bodies 82 are provided, and the rope climbing machine 81 is provided at the upper end of the walking surface 90. Such a setting can ensure that the walking device will not swing in the air when it leaves the walking surface 90, and avoid the walking device from swinging and colliding. In addition, when the controller controls the speed and direction of the rope body 82 of the rope climbing machine 81 to be synchronized with the walking speed and direction of the walking device, the rope climbing machine 81 can also assist the walking of the walking device.

[0063] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention.

Claims

1. A magnetic adsorption walking device suitable for walking on curved surfaces, characterized in that: include: A chassis, wherein a mounting platform for mounting a working tool is provided on the front side of the chassis; A steering assembly, comprising a steering drive and a mounting frame, wherein the mounting frame is located on the reverse side of the chassis, and the mounting frame is rotationally connected to the chassis and limitedly matched, and the steering drive drives the mounting frame to rotate; The first adjustment assembly includes two first adjustment frames and first elastic members corresponding to the first adjustment frames one by one, wherein the first ends of the first adjustment frames are hinged to the reverse side of the chassis, and the first ends corresponding to the two first adjustment frames are arranged close to each other; one end of the first elastic member is connected to the reverse side of the chassis, and the other end of the first elastic member is connected to the second end of the first adjustment frame, and the first end is in opposite directions to the second end; A magnetic wheel group, comprising two rear magnetic wheels and one or two front magnetic wheels, wherein the front magnetic wheels are rotatably connected to a mounting frame, the rear magnetic wheels correspond to the first adjustment frame one by one, and the rear magnetic wheels are rotatably connected to the second end of the first adjustment frame; when the axles of the front magnetic wheels and the rear magnetic wheels are parallel to each other, the center connecting line of the front magnetic wheels and the rear magnetic wheels forms an isosceles triangle or an isosceles trapezoid; when there are two front magnetic wheels, the spacing between the two front magnetic wheels is smaller than the spacing between the two rear magnetic wheels; among the front magnetic wheels and the rear magnetic wheels, at least the front magnetic wheel or the rear magnetic wheel is a power wheel; A controller is connected to the steering drive member and the power wheel.

2. The magnetic adsorption walking device suitable for walking on curved surfaces according to claim 1, characterized in that: It also includes a second adjustment component, which includes two second adjustment frames and second elastic members corresponding to the second adjustment frames one by one, the first end of the second adjustment frame is hinged to the mounting frame, and the first ends corresponding to the two second adjustment frames are arranged close to each other; one end of the second elastic member is connected to the mounting frame, and the other end of the second elastic member is connected to the second end of the second adjustment frame, and the first end is in opposite directions to the second end; two front magnetic wheels are provided, and the front magnetic wheels correspond to the second adjustment frames one by one, and the front magnetic wheels are rotatably connected to the second end of the second adjustment frame.

3. The magnetic adsorption walking device suitable for walking on curved surfaces according to claim 2, characterized in that: The rotation tracks of the two first adjustment frames are on the same vertical plane, and the rotation tracks of the two second adjustment frames are on the same vertical plane.

4. The magnetic adsorption walking device suitable for walking on curved surfaces according to claim 2, characterized in that: The back side of the chassis and the bottom side of the mounting frame are both provided with hinge seats, and the hinge seats are provided with shaft holes; the first adjustment frame is hinged to the shaft hole of the hinge seat arranged on the back side of the chassis, and each of the first adjustment frames corresponds to one hinge seat, or two of the first adjustment frames share one hinge seat; the second adjustment frame is hinged to the shaft hole of the hinge seat arranged on the bottom side of the mounting frame, and each of the second adjustment frames corresponds to one hinge seat, or two of the second adjustment frames share one hinge seat; The distance between the center of the axial hole of the hinge seat arranged on the back side of the chassis and the back side of the chassis is not less than the minimum compression length of the first elastic member; the distance between the center of the axial hole of the hinge seat arranged on the bottom side of the mounting frame and the bottom side of the mounting frame is not less than the minimum compression length of the second elastic member.

5. The magnetic adsorption walking device suitable for walking on curved surfaces according to claim 1, characterized in that: It also includes a magnetic attraction part and a mounting assembly arranged between the two rear magnetic wheels, the mounting assembly includes a mounting seat, at least one connecting rod and at least one third elastic member, one end of the connecting rod is provided with a ball, the other end of the connecting rod is connected to the chassis after passing through the mounting seat, and the end of the connecting rod provided with the ball is also provided with a limit platform that cooperates with the mounting seat; one end of the third elastic member presses against the chassis, and the other end of the third elastic member presses against the mounting seat; the magnetic attraction part is installed on the bottom surface of the mounting seat, and the magnetic attraction part is provided with a through hole for the connecting rod to pass through; the ball extends out of the bottom surface of the magnetic attraction part by 2 to 3 mm.

6. The magnetic adsorption walking device suitable for walking on curved surfaces according to claim 5, characterized in that: It also includes a lifting drive component for lifting the mounting seat, the lifting drive component includes a fixed part and a movable part, the fixed part of the lifting drive component is installed on the chassis, and the movable part of the lifting drive component is connected to the mounting seat; the lifting drive component is connected to the controller; a plurality of touch sensors are arranged on the periphery of the mounting seat, the sensing part of the touch sensor is flush with the magnetic suction part or protrudes from the bottom of the magnetic suction part by 0.5 to 1 mm, and the touch sensor is connected to the controller.

7. The magnetic adsorption walking device suitable for walking on curved surfaces according to claim 6, characterized in that: It also includes a posture sensor, which is connected to the controller.

8. The magnetic adsorption walking device suitable for walking on curved surfaces according to claim 1, characterized in that: The device also includes a distance measuring sensor for edge detection, wherein the distance measuring sensor is connected to the controller.

9. The magnetic adsorption walking device suitable for walking on curved surfaces according to claim 1, characterized in that: It also includes a safety assisting component, which includes one or two sets of rope climbing machines and rope bodies corresponding to the rope climbing machines one by one, and the rope climbing machine is connected to a controller; the rope climbing machine is arranged on an installation platform, one end of the rope body is connected to the rope climbing machine, and the other end is connected to the upper end of the walking surface; or, the rope climbing machine is arranged at the upper end of the walking surface, one end of the rope body is connected to the rope climbing machine, and the other end is connected to the installation platform.

10. The magnetic adsorption walking device suitable for walking on curved surfaces according to claim 1, characterized in that: It also includes a moving component for driving the working tool to move, and the moving component is arranged on the mounting platform; the moving component is a manipulator or an N-axis moving platform, N is a positive integer not less than 1; the moving component and the working tool are connected to a controller.

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