Magnetic adsorption walking device

Abstract

The utility model relates to a magnetic adsorption walking device which comprises a controller. The chassis comprises a first plate body, a second plate body and an angle control assembly, the first plate body and the second plate body are hinged to each other, and the angle control assembly adjusts the angle between the first plate body and the second plate body; the steering assembly comprises a steering driving part and a mounting frame, the mounting frame is located on the reverse side of the chassis, the mounting frame and the chassis are rotationally connected and matched in a limiting mode, and the steering driving part drives the mounting frame to rotate; 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, and the rear magnetic wheels are rotationally arranged on the reverse side of the second plate body; 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 obstacle crossing robot can reliably walk on a plane wall surface and a curved wall surface, has good obstacle crossing capability and is high in environmental adaptability.

Description

Technical Field

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

[0002] Magnetic adsorption walking devices (robots) can walk on vertical walls. However, when the wall is curved or circular (such as circular steel columns, steel tanks or ships, etc.), the existing magnetic adsorption walking devices are not only difficult to turn but also cannot cross (over) obstacles. The surfaces of steel-structured buildings, structures or ships are connected to steel components. The steel surfaces are not on the same vertical plane, but are connected vertically and obliquely, and vertically and horizontally alternately. Corner surfaces with yin and yang angles can be seen everywhere, which restricts the application of robots. The connecting flange on a large steel pipe is a typical example. Therefore, the development of a wall-walking robot that can be applied to complex scenarios is of great significance for the popularization of robots. Utility Model Content

[0003] The purpose of the utility model is to provide a magnetic adsorption walking device, which can not only walk reliably on flat and curved wall surfaces, but also can perform vertical exchange, can pass through stepped or similar step-like transition facades, has good obstacle crossing ability, and is highly adaptable to the environment.

[0004] In order to achieve the above object, the utility model discloses a magnetic adsorption walking device, which comprises:

[0005] The chassis comprises a first plate body, a second plate body and at least one angle control assembly, wherein the first plate body and the second plate body are hinged to each other, and the angle control assembly is used to adjust the angle between the first plate body and the second plate body; a mounting platform for mounting a working tool is provided on the front of the first plate body and / or the second plate body;

[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 is limitedly matched, and the steering drive drives the mounting frame to rotate;

[0007] 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, and the rear magnetic wheel is rotatably arranged on the reverse side of a second plate body; when the axles of the front magnetic wheel and the rear magnetic wheel are parallel to each other, a center line connecting the front magnetic wheel and the rear magnetic wheel forms an isosceles triangle or an isosceles trapezoid; when there are two front magnetic wheels, a distance between the two front magnetic wheels is smaller than a distance between the two rear magnetic wheels; among the front magnetic wheel and the rear magnetic wheel, at least the front magnetic wheel or the rear magnetic wheel is a power wheel;

[0008] A controller is connected to the angle control assembly, the steering drive and the power wheel.

[0009] Through the above arrangement, the magnetic wheel group is arranged in an isosceles triangle or isosceles trapezoid, which can ensure the stability of the walking device when walking or stopping, and greatly reduce the influence of the tangential force of the magnetic wheel on the arc (circular) surface on the orientation. The magnetic wheel is adsorbed on the arc (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, which is stable and flexible. Of course, when the walking surface is a plane, the effect is the same. The angle between the first plate body and the second plate body can be adjusted by the angle control component, which can improve the obstacle-passing and climbing capabilities of the walking device, and even the yin-yang straight corners can be passed well.

[0010] Preferably, the angle control assembly includes a control motor and a transmission assembly, the first plate body and the second plate body are hinged by a rotating shaft, and the control motor is connected to the rotating shaft through the transmission assembly; the control motor is installed on the first plate body, and the rotating shaft is fixed to the second plate body, or the control motor is installed on the second plate body, and the rotating shaft is fixed to the first plate body. The angle control assembly thus arranged is simple in structure and convenient to arrange.

[0011] Preferably, the transmission assembly includes a first gear and a second gear, the first gear meshes with the second gear, or the first gear and the second gear are connected by a chain or a sawtooth belt; the first gear is arranged on the output shaft of the control motor, and the second gear is arranged on the rotating shaft. Through the above arrangement, when the control motor has a self-locking function and is not running, the angle between the first plate body and the second plate body can be well locked, which is conducive to overcoming obstacles and climbing.

[0012] Preferably, it also includes a first adjustment component, which includes two first adjustment frames and a first elastic member corresponding to the first adjustment frames one by one, the first end of the first adjustment frame is hinged to the reverse side of the second plate body, 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 second plate body, 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 opposite to the second end; the rear magnetic wheel corresponds to the first adjustment frame one by one, and the rear magnetic wheel is rotatably connected to the second end of the first adjustment frame. By setting the first adjustment component, the two rear magnetic wheels can better fit and absorb the arc-shaped or circular walking surface, and the two rear magnetic wheels are independent of each other and do not affect each other. With the turning of the walking device and other actions, the two rear magnetic wheels have good adaptive ability, ensuring that the walking device can reliably absorb and walk, which is particularly suitable for walking on curved surfaces.

[0013] Preferably, it also includes a second adjustment component, which includes two second adjustment frames and a second elastic member 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 opposite to the second end; there are two front magnetic wheels, 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. 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, which is particularly suitable for walking on curved surfaces.

[0014] 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.

[0015] 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, thereby preventing the edge magnetic wheel from running beyond the object and falling.

[0016] Preferably, the first plate and the second plate are both provided with a posture sensor, and the posture sensor is connected to the controller. By providing the posture sensor, the obstacle crossing and climbing state of the walking device can be better sensed, which is beneficial for the controller to instruct the motor to move.

[0017] 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 mounting 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 mounting platform. By providing a safety assist 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.

[0018] Preferably, it also includes a moving component for driving the working tool to move, the moving component is installed on the second plate; 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.

[0019] The utility model has the following beneficial effects:

[0020] 1. The utility model can reliably adsorb and walk on flat facades and arc (curved) facades. The walking mode can be straight walking or curved walking. It has good obstacle-crossing ability and strong environmental adaptability.

[0021] 2. The utility model can realize stepping on obstacles. When the obstacle is low, the magnetic wheel group can step on the obstacle surface to walk. When the obstacle is high, the walking device can also pass well through the cooperation of the angle control component.

[0022] 3. By setting the first adjustment component and the second adjustment component, the magnetic wheel group can better fit the walking surface, which is particularly suitable for walking on curved vertical surfaces.

[0023] 4. The utility model can convert the walking surface from vertical to horizontal, and can open up new prospects for the application of magnetic adsorption robots through step-like transition or vertical surfaces similar to step-like transition. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the use status of the first embodiment.

[0025] Figure 2 It is a schematic diagram of embodiment 1.

[0026] Figure 3 It is a schematic diagram of another viewing angle of the first embodiment.

[0027] Figure 4 Schematic diagram of the steps when crossing the step surface in Example 1 Figure 1 .

[0028] Figure 5 Schematic diagram of the steps when crossing the step surface in Example 1 Figure 2 .

[0029] Figure 6 Schematic diagram of the steps when crossing the step surface in Example 1 Figure 3 .

[0030] Figure 7 This is a schematic diagram of the use status of the second embodiment.

[0031] Figure 8 This is a schematic diagram of the second embodiment.

[0032] Fig. 9 It is a schematic diagram of another viewing angle of the second embodiment.

[0033] Fig.10 This is a schematic diagram of the usage status of Example 3.

[0034] Fig.11 This is a schematic diagram of Example 3.

[0035] Fig.12 This is a schematic diagram of the usage status of the fourth embodiment.

[0036] Main component symbols:

[0037] A first plate body 11, a second plate body 12, an angle control assembly 13, a control motor 131, a first gear 132, a second gear 133, a toothed belt 134, and a moving assembly 14;

[0038] Steering assembly 20, steering drive member 21, rotating shaft 22, mounting frame 23;

[0039] Front magnetic wheel 31, rear magnetic wheel 32;

[0040] Distance sensor 41, attitude sensor 42;

[0041] A first adjustment assembly 50, a first adjustment frame 51, and a first elastic member 52;

[0042] A second adjustment assembly 60, a second adjustment frame 61, and a second elastic member 62;

[0043] Rope climbing machine 71, rope body 72;

[0044] Walking surface 81, inner corner 82, outer corner 83. DETAILED DESCRIPTION

[0045] 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.

[0046] Embodiment 1

[0047] like Figures 1 to 3As shown, this embodiment discloses a magnetic adsorption walking device, which includes: a chassis, a steering assembly 20, a magnetic wheel set and a controller. The chassis includes a first plate body 11, a second plate body 12 and two sets of angle control assemblies 13. A rotating shaft is fixed to the edge of the second plate body 12, and the second plate body 12 is hinged to the edge of the first plate body 11 through the rotating shaft. A mounting platform for installing working tools is provided on the front of the first plate body 11 and / or the second plate body 12. Of course, the rotating shaft can also be fixed on the front of one end of the second plate body 12, and the second plate 12 is hinged to the back of one end of the first plate 11 through the rotating shaft, and the ends of the two plates are constrained to each other and rotated 180°.

[0048] The angle control assembly 13 includes a control motor 131 and a transmission assembly, and the control motor 131 is connected to the controller. The transmission assembly includes a first gear 132 and a second gear 133, wherein the first gear 132 is sleeved on the output shaft of the control motor 131 and locked, the second gear 133 is coaxially arranged and locked with the rotating shaft, and the seat of the control motor 131 is locked on the first plate body 11. The first gear 132 is meshed with the second gear 133. As an alternative, the first gear 132 and the second gear 133 are not meshed, but connected by a chain or a sawtooth belt 134. After such a setting, the control motor 131 can drive the rotating shaft to rotate, thereby adjusting the angle between the first plate body 11 and the second plate body 12. Preferably, the control motor 131 is a motor with a self-locking function, so that when the control motor 131 is not running, the angle between the first plate body 11 and the second plate body 12 can be kept constant. Of course, the seat of the control motor 131 can also be locked on the second plate body 12, and the rotating shaft is fixed to the first plate body 11.

[0049] The steering assembly 20 includes a steering drive 21 and a mounting frame 23. A rotating shaft 22 is provided in the middle of the mounting frame 23. The upper end of the rotating shaft 22 is rotatably connected to the chassis and limitedly matched, that is, the rotating shaft 22 can rotate, but the rotating shaft 22 will not change position relative to the chassis. It is preferred that the center line of the rotating shaft 22 is perpendicular to the bottom surface of the chassis to facilitate the installation of the rotating shaft 22. The lower end of the rotating shaft 22 is connected to the mounting frame 23, which can be connected by bolt locking or welding. The rotating shaft 22 and the mounting frame 23 rotate synchronously. The mounting frame 23 is preferably symmetrically arranged about the rotating shaft 22, and the mounting frame 23 is arranged close to the reverse side (bottom surface) of the chassis. The steering drive 21 is a motor, which is arranged on the front side of the chassis. It is directly or through a gear set transmission connected to the rotating shaft 22. The operation of the motor can drive the mounting frame 23 to rotate. The steering drive 21 is connected to the controller.

[0050] The magnetic wheel group includes two rear magnetic wheels 32 and two front magnetic wheels 31, the front magnetic wheels 31 are rotatably connected to the mounting frame 23, and the two front magnetic wheels 31 are symmetrically arranged about the mounting frame 23. The two rear magnetic wheels 32 are rotatably arranged on the reverse side of the second plate body 12. When the axles of the front magnetic wheels 31 and the rear magnetic wheels 32 are parallel to each other, the center line of the front magnetic wheels 31 and the rear magnetic wheels 32 forms an isosceles trapezoid, wherein the spacing between the two front magnetic wheels 31 is smaller than the spacing between the two rear magnetic wheels 32. In this embodiment, the two rear magnetic wheels 32 are both set as power wheels, that is, the two rear magnetic wheels 32 are independently configured with drive motors. Of course, the two rear magnetic wheels 32 can also share a drive motor. The power wheel is connected to the controller, that is, the drive motor that drives the rear magnetic wheels 32 to rotate is connected to the controller. Of course, in order to overcome obstacles and increase walking power, the two front magnetic wheels 31 can also be set as power wheels, in the same way as above, which will not be repeated. In addition, only one front magnetic wheel 31 may be provided. When the front magnetic wheel 31 and the rear magnetic wheel 32 are in contact with the horizontal plane at the same time, the center line connecting the front magnetic wheel 31 and the rear magnetic wheel 32 forms an isosceles triangle. However, the adsorption force of the front magnetic wheel 31 is weaker when the front magnetic wheel 31 is provided in this way, and it is more suitable for walking on a flat surface or a curved surface with a larger curvature.

[0051] By arranging the magnetic wheel group in an isosceles trapezoid or an isosceles triangle, the stability of the walking device when walking or stopping and the working platform when operating can be ensured, and the influence of the tangential force of the magnetic wheel on the arc (circular) surface on the orientation can be greatly reduced. The magnetic wheel is adsorbed on the arc (circular) surface, and the direction of the front magnetic wheel 31 can be controlled by the steering assembly 20, thereby controlling the walking direction of the walking device, and the power magnetic wheel drives the walking. When the walking device walks obliquely, turns, or turns around on the arc (circular) surface, the magnetic wheel group arranged in an isosceles trapezoid or an isosceles triangle can ensure that at least two magnetic wheels (at least one front magnetic wheel 31 and at least one rear magnetic wheel 32) adsorb the walking surface 81, and the walking device can walk stably and flexibly on the curved surface, let alone walking on a flat surface.

[0052] In order to prevent the walking device from falling or getting stuck when it is near an edge (close to the edge of the walking surface 81), a plurality of distance sensors 41 for edge detection are also arranged on the back of the chassis, and the distance sensors 41 are connected to the controller. The distance sensors 41 can be arranged on the outside of the rear magnetic wheel 32 and in front of the front magnetic wheel 31. When the walking device walks beyond the edge of the object and the distance value of the distance sensor 41 changes beyond the predetermined value, a signal is sent to the controller, and the controller instructs the power wheel to stop rotating, thereby preventing the walking device from continuing to walk and falling. In addition, the distance sensor 41 can also be used to detect the positive angle 83, thereby controlling the angle adjustment of the first plate body 11 and the second plate body 12 to change the walking direction.

[0053] In addition, in order to assist the angle control assembly 13 in operating when passing obstacles, a posture sensor 42 is provided on both the first plate 11 and the second plate 12. The posture sensor 42 is connected to the controller, and the posture sensor 42 is preferably an angle sensor.

[0054] When encountering a lower obstacle, the first plate 11 and the second plate 12 remain parallel, and the magnetic wheel can directly step on the obstacle surface to walk and pass the obstacle smoothly. When the obstacle is higher or is a yin-yang corner, the angle between the first plate 11 and the second plate 12 can be adjusted by the angle control component 13 to ensure that the walking device can pass and cross the obstacle. When the angle between the first plate 11 and the second plate 12 changes, the adsorption point of the magnetic wheel will change, which will facilitate the magnetic wheel to pass the obstacle. Taking the walking device walking and climbing the facade with a step-like transition as an example (first passing the yin corner 82 and then the yang corner 83), the obstacle passing steps are as follows:

[0055] 1. When the walking device moves on the walking surface 81 to the inner corner 82, the front magnetic wheel 31 will be attached to the inverted horizontal surface of the inner corner 82. Under the driving action of the power wheel, the front magnetic wheel 31 moves outward along the inverted horizontal surface of the inner corner 82, and the rear magnetic wheel 32 continues to move upward. Figure 4 As shown, until the entire walking device is sucked on the inverted horizontal plane of the inner corner 82. In this process, the first plate 11 and the second plate 12 are on the same plane. Of course, in this process, the first plate 11 and the second plate 12 can also be a constant large angle, such as 178°, as long as the first plate 11 and the second plate 12 remain stationary and do not interfere with the walking of the magnetic wheel, that is, in this process, the angle control component 13 maintains the original vertical walking state, and the same applies when the walking device transitions to walking on another vertical surface.

[0056] 2. The walking device continues to move outward along the inverted horizontal plane of the inner corner 82. When the front magnetic wheel 31 moves to the outer corner 83, the distance sensor 41 feedbacks that the front magnetic wheel 31 is close to the edge. The controller instructs the motor 131 to move, the first plate 11 swings upward, the front magnetic wheel 31 slows down, and slowly transitions to the vertical plane of the outer corner 83. Figure 5 shown.

[0057] 3. As the power wheel runs, the control motor 131 continues to work. The controller controls the rotation speed direction of the assembly and the walking speed of the front and rear magnetic wheels by controlling the angle to complete the replacement of the vertical surface. During the walking process, the angle between the first plate 11 and the second plate 12 changes slowly. The front magnetic wheel 31 moves upward, and the rear magnetic wheel 32 moves to the right. The walking device slowly passes through the positive angle 83. Figure 6As shown. When the rear magnetic wheel 32 is adjacent to the edge, the angle between the first plate 11 and the second plate 12 changes in the opposite direction (the angle becomes larger), the rear magnetic wheel 32 does not move, and the front magnetic wheel 31 moves upward. When the first plate 11 and the second plate 12 return to their original state (the two are on the same plane, or the two are at a fixed large angle, etc.), the adsorption point of the rear magnetic wheel 32 will transition to the vertical plane of the positive angle 83, realizing the replacement of different facades. When the two facades are not parallel to each other or the transition between the two facades is not a horizontal plane or the vertical angle is not a right angle, the walking process is similar and will not be repeated.

[0058] In order to facilitate the angle control of the angle control component 13, it is preferred to set the installation platform only on the front side of the second plate body 12. In addition, a moving component 14 for driving the working tool to move is set on the installation platform, and the moving component 14 is a manipulator or an N-axis moving platform, where N is a positive integer not less than 1. The moving component 14 and the working tool are connected to a controller. By setting the moving component 14, the operating range of the working tool can be made larger and more flexible. The working tool can be a laser rust remover, a paint spraying walking device, a camera, a touch-operated walking device, a clamping walking device, etc. When the working tool is a small walking device such as a camera, it can also be installed on the front side of the first plate body 11.

[0059] Embodiment 2

[0060] like Figures 7 to 9 As shown, the difference between this embodiment and the first embodiment is that a first adjustment assembly 50 is further provided, and the first adjustment assembly 50 includes two first adjustment frames 51 and a first elastic member 52 corresponding to the first adjustment frames 51 one by one, and the first elastic member 52 is a spring. The first end of the first adjustment frame 51 is hinged to the back surface of the second plate body 12, and the first end of the first adjustment frame 51 is spaced from the back surface of the second plate body 12 to facilitate the arrangement of the first elastic member 52, so that the first adjustment frame 51 can be rotated to a position parallel to the back surface of the second plate body 12. The first ends corresponding to the two first adjustment frames 51 are arranged close to each other, and the rotation track of the first adjustment frame 51 is on the same vertical plane, so as to facilitate installation and the walking device to walk. One end of the first elastic member 52 is connected to the back surface of the second plate body 12, and the other end of the first elastic member 52 is connected to the second end of the first adjustment frame 51. The rear magnetic wheel 32 corresponds to the first adjustment frame 51 one by one, and the rear magnetic wheel 32 is rotatably connected to the second end of the first adjustment frame 51.

[0061] By providing the first adjustment component 50, the two rear magnetic wheels 32 can better fit and absorb the arc-shaped or circular walking surface 81, and along with the turning of the walking device, the two rear magnetic wheels 32 have good self-adaptation ability, ensuring that the walking device can reliably absorb and walk.

[0062] Embodiment 3

[0063] like Figures 10-11As shown, the difference between this embodiment and the second embodiment is that a second adjustment component 60 is also provided, and the second adjustment component 60 includes two second adjustment frames 61 and a second elastic member 62 corresponding to the second adjustment frames 61 one by one, and the second elastic member 62 is a spring. The first end of the second adjustment frame 61 is hinged to the mounting frame 23, and the hinge point between the second adjustment frame 61 and the mounting frame 23 is at a certain distance from the bottom surface of the mounting frame 23, so as to facilitate the setting of the second elastic member 62, so that the second adjustment frame 61 can be rotated to a position parallel to the reverse surface of the first plate body 11. The first ends corresponding to the two second adjustment frames 61 are arranged close to each other, and the rotation tracks of the two second adjustment frames 61 are on the same vertical plane, so as to facilitate installation and the walking device. One end of the second elastic member 62 is connected to the mounting frame 23, and the other end of the second elastic member 62 is connected to the second end of the second adjustment frame 61. In this embodiment, two front magnetic wheels 31 are provided, and correspond to the second adjustment frames 61 one by one, and the front magnetic wheel 31 is rotatably connected to the second end of the second adjustment frame 61.

[0064] By providing the second adjustment component 60, the front magnetic wheels 31 can better fit and absorb the arc-shaped or circular walking surface 81, and along with the turning of the walking device, the two front magnetic wheels 31 have good self-adaptation ability, ensuring that the walking device can reliably absorb and walk.

[0065] Embodiment 4

[0066] 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 71 and rope bodies 72 corresponding to the rope climbing machines 71 one by one, and the rope climbing machines 71 are connected to a controller. There are two ways to install the safety assist component. One is to set the rope climbing machine 71 on the installation platform, one end of the rope body 72 is connected to the rope climbing machine 71, and the other end of the rope body 72 is connected to the upper end of the walking surface 81; the other is to set the rope climbing machine 71 at the upper end of the walking surface 81, one end of the rope body 72 is connected to the rope climbing machine 71, and the other end of the rope body 72 is connected to the installation platform. Whether the rope climbing machine 71 or the rope body 72 is specifically connected to the first plate body 11 or the second plate body 12 is adjusted according to actual conditions. Fig.12 As shown, two sets of rope climbing machines 71 and two rope bodies 72 are provided, and the rope climbing machine 71 is provided at the upper end of the walking surface 81. This arrangement can ensure that the walking device will not swing in the air when it leaves the walking surface 81, and avoid the walking device from swinging and colliding. In addition, when the controller controls the speed and direction of the rope body 72 of the rope climbing machine 71 to be synchronized with the walking speed and direction of the walking device, the rope climbing machine 71 can also assist the walking of the walking device.

[0067] 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, characterized in that: include: The chassis comprises a first plate body, a second plate body and at least one angle control assembly, wherein the first plate body and the second plate body are hinged to each other, and the angle control assembly is used to adjust the angle between the first plate body and the second plate body; a mounting platform for mounting a working tool is provided on the front of the first plate body and / or the second plate body; 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 is limitedly matched, and the steering drive drives the mounting frame to rotate; 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, and the rear magnetic wheel is rotatably arranged on the reverse side of a second plate body; when the axles of the front magnetic wheel and the rear magnetic wheel are parallel to each other, a center line connecting the front magnetic wheel and the rear magnetic wheel forms an isosceles triangle or an isosceles trapezoid; when there are two front magnetic wheels, a distance between the two front magnetic wheels is smaller than a distance between the two rear magnetic wheels; among the front magnetic wheel and the rear magnetic wheel, at least the front magnetic wheel or the rear magnetic wheel is a power wheel; A controller is connected to the angle control assembly, the steering drive and the power wheel.

2. The magnetic adsorption walking device according to claim 1, characterized in that: The angle control assembly includes a control motor and a transmission assembly. The first plate body and the second plate body are hinged by a rotating shaft, and the control motor is connected to the rotating shaft through the transmission assembly; the control motor is installed on the first plate body, and the rotating shaft is fixed to the second plate body, or the control motor is installed on the second plate body, and the rotating shaft is fixed to the first plate body.

3. The magnetic adsorption walking device according to claim 2, characterized in that: The transmission assembly includes a first gear and a second gear, the first gear is meshed with the second gear, or the first gear and the second gear are connected by a chain or a toothed belt; the first gear is arranged on the output shaft of the control motor, and the second gear is arranged on the rotating shaft.

4. The magnetic adsorption walking device according to claim 1, characterized in that: It also includes a first adjustment component, which includes two first adjustment frames and first elastic members corresponding to the first adjustment frames one by one, the first end of the first adjustment frame is hinged to the back side of the second plate body, 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 back side of the second plate body, 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; the rear magnetic wheel corresponds to the first adjustment frame one by one, and the rear magnetic wheel is rotatably connected to the second end of the first adjustment frame.

5. The magnetic adsorption walking device according to claim 4, 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.

6. The magnetic adsorption walking device according to claim 5, 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.

7. The magnetic adsorption walking device 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.

8. The magnetic adsorption walking device according to claim 1, characterized in that: The first plate body and the second plate body are both provided with a posture sensor, and the posture sensor is connected to a controller.

9. The magnetic adsorption walking device 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 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 installed on the second plate; 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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