Electromagnetic adsorption crawler belt moving device

Abstract

The utility model discloses an electromagnetic adsorption crawler belt moving device which comprises one or more moving device bodies. The moving device body comprises a framework, an electromagnetic adsorption mechanism, a crawler belt assembly, a driving mechanism, a roller assembly, an elastic buffer structure and an elastic buffer structure I; the electromagnetic adsorption mechanism comprises a plurality of electromagnetic adsorption assemblies; the electromagnetic adsorption assembly can be a contact electromagnetic adsorption assembly or an induction magnetic adsorption assembly. The electromagnetic attraction mechanism is used for providing magnetic attraction force, excitation and loss of excitation of the position on the caterpillar band assembly can be controlled according to the position of the caterpillar band assembly, the attraction force of the electromagnetic attraction caterpillar band moving device is controlled, electromagnetic force loss is avoided, the service life is prolonged, and the maintenance cost is reduced. By arranging the elastic buffer structure and the first elastic buffer structure, the electromagnetic adsorption crawler belt moving device can move on different concave and convex surfaces, the attaching stability of the electromagnetic adsorption crawler belt moving device is guaranteed, and the moving adaptability of the electromagnetic adsorption crawler belt moving device is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of wall-climbing robots, in particular to an electromagnetic adsorption crawler moving device. Background Art

[0002] A wall-climbing vehicle must have two basic functions: wall adsorption and mobile operation. The magnetic adsorption track device can make the wall-climbing vehicle reliably adsorb to the surface of the workpiece and move smoothly. It has greater adsorption force and load capacity than the wheeled magnetic adsorption device, and is more widely used in wall-climbing vehicles. The existing magnetic adsorption track device adopts a synchronous belt structure, and the permanent magnetic adsorption unit is fixed to the synchronous belt with bolts. It is found in use that this magnetic adsorption track device is not only complex in structure and inconvenient to install, but also difficult to achieve reliable connection between the flexible magnetic adsorption track and the rigid adsorption unit. Bolts often bend during walking and turning, and even magnetic blocks fall off. In addition, the magnet is easily damaged during walking, and the chain plate is also easily rubbed, resulting in a high degree of damage during use.

[0003] In response to the above problems, people invented patent number: CN201721689850.2, which discloses a magnetic adsorption crawler device for a wall-climbing vehicle, which includes: a plurality of chain plates, a magnetic adsorption unit fixed in the middle of the chain plate, anti-sliding blocks located on both sides of the magnetic adsorption unit and arranged on the chain plate, and a sliding unit installed at the bottom of the chain plate and used to support the chain plate; wherein chains are arranged on both sides of the sliding unit, and the two chain plates are connected by the chain; the sliding unit includes a stainless steel pipe and a graphite copper sleeve sleeved on the stainless steel pipe; a gap is arranged between the graphite copper sleeve and the stainless steel pipe. The utility model has a simple structure and is easy to install, and can prevent the magnet and the chain plate from being damaged during walking, thereby increasing the service life of the magnetic adsorption crawler device. However, the magnetic adsorption crawler device still has the following problems: 1. The magnetic adsorption crawler device of the wall-climbing vehicle adopts magnets to provide magnetic attraction for the magnetic adsorption crawler device of the wall-climbing vehicle, so that the magnetic adsorption crawler device of the wall-climbing vehicle can realize wall climbing action, but the magnets will be demagnetized due to long-term use or the influence of external environment, and the service life is short. Regular maintenance and replacement are required, and the cost is high; 2. The existing magnetic adsorption crawler device of the wall-climbing vehicle has no elastic function. When a bulge appears on the climbing wall, it cannot deform according to the wall surface, which may cause the magnetic adsorption crawler device of the wall-climbing vehicle to fall off due to a large contact interval with the wall, which may easily cause damage to the body of the magnetic adsorption crawler device of the wall-climbing vehicle and cause property loss; 3. The existing magnetic adsorption crawler device of the wall-climbing vehicle has no guide structure, and needs to be placed flat to achieve the fitting of the magnetic adsorption crawler device of the wall-climbing vehicle, which has low applicability. Utility Model Content

[0004] The utility model aims to solve the technical problems of short service life, small application scope and low applicability in the prior art by providing an electromagnetic adsorption crawler moving device in view of the current technical deficiencies.

[0005] The technical solution adopted by the utility model to achieve the above-mentioned purpose is:

[0006] An electromagnetic adsorption crawler moving device is arranged on an operating body, the electromagnetic adsorption crawler moving device includes one or more moving device bodies; the moving device body includes a frame, an electromagnetic adsorption mechanism, a crawler assembly, a driving mechanism and a roller assembly; the driving mechanism includes a driving wheel and a driven wheel, the driving wheel and the driven wheel are respectively arranged at the two ends of the frame, the driving wheel is connected with a driving member, the crawler assembly is sleeved on the outside of the driving wheel and the driven wheel to form a linkage connection; the roller assembly is arranged on the frame, and the roller assembly is fitted and connected to the crawler assembly; the electromagnetic adsorption mechanism is arranged between the crawler assembly and the frame, and the electromagnetic adsorption mechanism is used to provide magnetic attraction, so that the moving device body can walk and move on an outer wall that can be adsorbed and fixed.

[0007] As a further improvement, the frame is provided with one or more brackets, and the brackets are arranged between the frame and the track assembly; the brackets are provided with mounting plates; the track assemblies are composed of multiple shoes, and the shoes are hinged by mechanical structures or welded structures; one end of the frame is provided with an inclined portion, and the inclined portion is used to tilt one end of the track assembly, so that the track assembly can climb a slope or climb from a flat surface to a vertical surface; the electromagnetic adsorption mechanism includes two or more electromagnetic adsorption components, one of which is arranged on the inclined portion; the electromagnetic adsorption component can be one of a contact electromagnetic adsorption component and an induction magnetic adsorption component.

[0008] As a further improvement, the electromagnetic adsorption assembly is a contact electromagnetic adsorption assembly; the contact electromagnetic adsorption assembly includes multiple groups of conductive wheel groups and multiple groups of electromagnet groups; the multiple groups of conductive wheel groups are arranged at the bottom of the mounting plate, and the multiple groups of electromagnet groups are arranged on the track assembly, and the electromagnet groups are respectively fitted and connected to the conductive wheel groups.

[0009] As a further improvement, the multiple groups of conductive wheel groups include multiple conductive wheels, and the multiple conductive wheels are arranged at the bottom of the mounting plate; the multiple groups of electromagnet groups each include multiple electromagnets, and the multiple electromagnets are respectively arranged in the track block in a linear array; the electromagnets are each provided with a conductive plate, and the conductive plate is arranged on the inner surface of the track block, and the conductive wheel is in close contact with the conductive plate passing under the conductive wheel to form an electrical connection, so that the electromagnet can provide magnetic attraction.

[0010] As a further improvement, the electromagnetic adsorption component is an induction magnetic adsorption component; the induction magnetic adsorption component includes multiple groups of transmitting coil groups and multiple groups of induction electromagnet groups; multiple groups of transmitting coil groups are arranged at the bottom of the mounting plate, and multiple groups of induction electromagnet groups are arranged on the track assembly.

[0011] As a further improvement, multiple groups of the transmitting coil groups include multiple transmitting coils, and the multiple transmitting coils are arranged at the bottom of the mounting plate; multiple groups of the induction electromagnet groups each include multiple electromagnets 1, and the multiple electromagnets 1 are respectively arranged in the shoe in a linear array, and the electromagnets 1 are each provided with a receiving coil, and the receiving coil is arranged on the inner surface of the shoe, and the transmitting coil is fitted with the receiving coil passing under the transmitting coil to realize magnetic induction connection, thereby realizing the action of the electromagnet 1 to provide magnetic attraction.

[0012] As a further improvement, the roller assembly includes roller module one, and the roller module one is arranged on the frame; the roller module one includes multiple groups of roller groups one, and the roller group one is fitted with the track assembly; the bracket is provided with a support rod, and the support rod is provided with roller group two, and the roller group two is fitted with the track assembly; the roller group one and the roller group two each include one or two rollers arranged in mirror image with each other.

[0013] As a further improvement, the driving wheel and the driven wheel are both provided with teeth, and grooves for embedding the teeth are provided between the shoes; the frame and the bracket are both provided with mounting parts; the transmitting coil or the conductive wheel is provided with connecting wires, and the connecting wires are used to be electrically connected to the operating machine body;

[0014] An elastic buffer structure is provided between the mounting plate and the bracket, the elastic buffer structure includes a plurality of elastic components, the bracket is provided with a plurality of through holes, and the plurality of elastic components are respectively arranged in the through holes; the elastic component includes an elastic member and a connecting rod, and the elastic member is arranged between the bottom of the through hole and the mounting plate;

[0015] An elastic buffer structure 1 is provided between the frame and the roller group 1, and the elastic buffer structure 1 includes one or more elastic members.

[0016] As a further improvement, the elastic member may be a spring or a buffer cylinder.

[0017] Compared with the prior art, the one or more technical solutions in the electromagnetic adsorption crawler moving device provided in the embodiment of the utility model have at least one of the following technical effects:

[0018] 1. The utility model sets an electromagnetic adsorption mechanism between the track assembly and the frame, and the electromagnetic adsorption mechanism is used to provide magnetic attraction, so that the mobile device body can walk and move on the outer wall that can be adsorbed and fixed, and when the electromagnetic adsorption mechanism moves to the bottom of the electromagnetic adsorption crawler moving device, the electromagnetic adsorption mechanism is excited and has adsorption ability; when the electromagnetic adsorption mechanism moves to the top of the end of the tail end electromagnetic adsorption crawler moving device, the magnetic end of the electromagnetic adsorption mechanism on the crawler assembly is powered off and loses magnetism, and loses adsorption ability to the metal surface, and the excitation and demagnetization of the position on the crawler assembly can be controlled according to the position of the crawler assembly, and the adsorption force of the electromagnetic adsorption crawler moving device can be controlled, thereby avoiding electromagnetic force loss, improving service life and reducing maintenance costs; the electromagnetic adsorption mechanism can be one of a plurality of contact electromagnetic adsorption components or a plurality of induction magnetic adsorption components, which can realize direct contact magnetic attraction or interval induction magnetic attraction, and improve the applicability of the electromagnetic adsorption mechanism;

[0019] 2. By providing an elastic buffer structure and an elastic buffer structure-one for allowing the crawler assembly to deform up and down, the electromagnetic adsorption crawler moving device can move on different concave and convex surfaces, and the fitting stability of the electromagnetic adsorption crawler moving device is ensured, thereby improving the mobility adaptability of the electromagnetic adsorption crawler moving device;

[0020] 3. By providing an inclined portion to tilt one end of the track assembly, the electromagnetic adsorption assembly is provided so that the track assembly can climb a slope or climb from a flat surface to a vertical surface, thereby improving the convenience and applicability of subsequent operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 It is a schematic diagram of the overall structure of the electromagnetic adsorption crawler moving device that contacts the electromagnetic adsorption component;

[0023] Figure 2 It is a schematic diagram of an exploded view of an electromagnetic adsorption crawler moving device contacting an electromagnetic adsorption component;

[0024] Figure 3 It is a front view schematic diagram of an electromagnetic adsorption crawler moving device contacting an electromagnetic adsorption component;

[0025] Figure 4 It is a schematic diagram of the overall structure of the electromagnetic adsorption crawler moving device of the induction magnetic adsorption component;

[0026] Figure 5 It is a schematic diagram of the exploded view of the electromagnetic adsorption crawler moving device of the induction magnetic adsorption component;

[0027] Figure 6 It is a front view schematic diagram of the electromagnetic adsorption crawler moving device of the induction magnetic adsorption component;

[0028] Figure 7 It is a structural schematic diagram of elastic buffer structure 1. DETAILED DESCRIPTION

[0029] The following description is only a preferred embodiment of the present invention and does not limit the protection scope of the present invention.

[0030] For example, see the attached Figure 1 to Figure 3 And attached Figure 7 , an electromagnetic adsorption crawler moving device 1 is arranged on an operating body, the electromagnetic adsorption crawler moving device 1 includes one or more moving device bodies 2; the moving device body 2 includes a frame 3, an electromagnetic adsorption mechanism 4, a crawler assembly 5, a driving mechanism 6 and a roller assembly 7; the driving mechanism 6 includes a driving wheel 60 and a driven wheel 61, the driving wheel 60 and the driven wheel 61 are respectively arranged at the two ends of the frame 3, the driving wheel 60 is connected with a driving member, the driving member is a motor, the crawler assembly 5 is sleeved on the outside of the driving wheel 60 and the driven wheel 61 and forms a linkage connection; the roller assembly 7 is arranged on the frame 3, and the roller assembly 7 is closely connected to the crawler assembly 5; the electromagnetic adsorption mechanism 4 is arranged between the crawler assembly 5 and the frame 3, and the electromagnetic adsorption mechanism 4 is used to provide magnetic attraction, so that the moving device body 2 can walk and move on the outer wall that can be adsorbed and fixed.

[0031] The frame 3 is provided with one or more brackets 30, and the brackets 30 are arranged between the frame 3 and the track assembly 5; the brackets 30 are provided with mounting plates 31; the track assembly 5 is composed of a plurality of tracks 50, and the tracks 50 are mechanically hinged or welded, and the outer surfaces of the tracks are provided with friction textures; one end of the frame 3 is provided with an inclined portion 33, and the inclined portion 33 is used to tilt one end of the track assembly 5, so that the track assembly 5 can climb a slope or climb from a plane to a vertical plane, and the inclined portion 33 is provided with a bracket 1; the electromagnetic adsorption mechanism 4 includes two or more electromagnetic adsorption components 40, one of which is arranged on the inclined portion, and the electromagnetic adsorption component 40 can be one of a contact electromagnetic adsorption component and an induction magnetic adsorption component.

[0032] The electromagnetic adsorption assembly 40 is a contact electromagnetic adsorption assembly; the contact electromagnetic adsorption assembly includes multiple sets of conductive wheel groups 41 and multiple sets of electromagnet groups 42; multiple sets of conductive wheel groups 40 are arranged at the bottom of the mounting plate 31, and multiple sets of electromagnet groups 42 are arranged on the track assembly 5, and the electromagnet groups 42 are respectively fitted and connected with the conductive wheel groups 41.

[0033] The multiple sets of conductive wheel groups 41 include multiple conductive wheels 410, and the conductive wheels 410 include metal connecting rods and metal guide wheels. The multiple conductive wheels 410 are arranged at the bottom of the mounting plate 31, wherein the conductive wheels 410 of the electromagnetic adsorption assembly 40 arranged on the inclined portion 33 are arranged at the bottom of the bracket one; the multiple sets of electromagnet groups 42 each include multiple electromagnets 420, and the multiple electromagnets 420 are respectively arranged in the track block 50 in a linear array; the electromagnets 420 are each provided with a conductive plate 421, and the conductive plate 421 is arranged on the inner surface of the track block 50, and the conductive wheel 410 is in close contact with the conductive plate 421 passing under the conductive wheel 410 to form an electrical connection, so that the electromagnet 420 can operate to provide magnetic attraction.

[0034] See attached Figures 4 to 7 The electromagnetic adsorption component 40 is an induction magnetic adsorption component; the induction magnetic adsorption component includes multiple groups of transmitting coil groups 43 and multiple groups of induction electromagnet groups 44; multiple groups of transmitting coil groups 43 are arranged at the bottom of the mounting plate 31, and multiple groups of induction electromagnet groups 44 are arranged on the track component 5.

[0035] The multiple groups of transmitting coil groups 43 include multiple transmitting coils 430, and the multiple transmitting coils 430 are arranged at the bottom of the mounting plate 31, wherein the transmitting coil 430 of the electromagnetic adsorption assembly 40 arranged on the inclined portion 33 is arranged at the bottom of the bracket one; the multiple groups of induction electromagnet groups 44 each include multiple electromagnets 440, and the multiple electromagnets 440 are respectively arranged in the shoe 50 in a linear array manner, and the electromagnets 440 are each provided with a receiving coil 441, and the receiving coil 441 is arranged on the inner surface of the shoe 50, and the receiving coil 441 can be fitted with the transmitting coil 430 for induction or interval induction; the transmitting coil 430 is fitted with the receiving coil 441 passing under the transmitting coil 430 to realize magnetic induction connection, thereby realizing the action of the electromagnet 440 to provide magnetic attraction.

[0036] The roller assembly 7 includes a roller module 1 70, and the roller module 1 70 is arranged on the frame 3; the roller module 1 70 includes multiple groups of roller groups 1, and the roller group 1 is in contact with the track assembly 5; the bracket 30 is provided with a support rod 300, and the support rod 300 is provided with a roller group 2 301, and the roller group 2 is in contact with the track assembly 5; the roller group 1 and the roller group 2 301 each include one or two rollers arranged in mirror image to each other, and the roller assembly 7 and the roller group 2 are used to ensure the moving stability of the electromagnetic adsorption track moving device 1.

[0037] The driving wheel 60 and the driven wheel 61 are both provided with teeth, and grooves for embedding the teeth are provided between the shoes 50; the frame 3 and the bracket 30 are also provided with mounting parts; the transmitting coil or the conductive wheel is provided with a connecting wire, and the connecting wire is used to be electrically connected to the operating body, so that the electromagnetic adsorption crawler moving device 1 has a magnetic attraction, so that the electromagnetic adsorption crawler moving device 1 can move on the iron wall.

[0038] An elastic buffer structure 8 is provided between the mounting plate 31 and the bracket 30, and the elastic buffer structure 8 includes a plurality of elastic components. The bracket 30 is provided with a plurality of through holes, and the plurality of elastic components are respectively arranged in the through holes; the elastic component includes an elastic member and a connecting rod, and the elastic member is arranged between the lower part of the through hole and the mounting plate 31; an elastic buffer structure 9 is provided between the frame 3 and the roller group 1, and the elastic buffer structure 1 includes one or more elastic members. The elastic member can be a spring or a buffer cylinder. The elastic buffer structure 8 and the elastic buffer structure 9 are used to allow the track assembly 5 to deform up and down, so that the electromagnetic adsorption track moving device 1 can move on different concave and convex surfaces, thereby improving the mobility adaptability of the moving surface.

[0039] The utility model arranges an electromagnetic adsorption mechanism between the track assembly and the frame, and the electromagnetic adsorption mechanism is used to provide magnetic attraction, so that the mobile device body can walk and move on the outer wall that can be adsorbed and fixed, and when the electromagnetic adsorption mechanism moves to the bottom of the electromagnetic adsorption crawler moving device, the electromagnetic adsorption mechanism is excited and has adsorption ability; when the electromagnetic adsorption mechanism moves to above the end of the tail end electromagnetic adsorption crawler moving device, the magnetic end of the electromagnetic adsorption mechanism on the track assembly is powered off and loses magnetism, and loses its adsorption ability to the metal surface, and the excitation and demagnetization of the position on the track assembly can be controlled according to the position of the track assembly, so as to control the adsorption force of the electromagnetic adsorption crawler moving device, avoid electromagnetic force loss, improve service life and reduce Low maintenance cost; the electromagnetic adsorption mechanism can be one of multiple contact electromagnetic adsorption components or multiple induction magnetic adsorption components, which can realize direct contact magnetic attraction or interval induction magnetic attraction, thereby improving the applicability of the electromagnetic adsorption mechanism; by setting an elastic buffer structure and an elastic buffer structure one, the track assembly can be deformed up and down, so that the electromagnetic adsorption track moving device can move on different concave and convex surfaces, and the fitting stability of the electromagnetic adsorption track moving device is ensured, thereby improving the mobility adaptability of the electromagnetic adsorption track moving device; by setting an inclined portion to tilt one end of the track assembly, the electromagnetic adsorption assembly is provided so that the track assembly can climb a slope or climb from a flat surface to a vertical surface, thereby improving the convenience and applicability of subsequent operations.

[0040] The present invention is not limited to the above-mentioned embodiments. Other electromagnetic adsorption crawler moving devices obtained by using the same or similar structures or devices as the above-mentioned embodiments of the present invention are all within the protection scope of the present invention.

Claims

1. An electromagnetic adsorption crawler moving device, which is arranged on an operating body, characterized in that: The electromagnetic adsorption crawler moving device includes one or more moving device bodies; the moving device body includes a frame, an electromagnetic adsorption mechanism, a track assembly, a driving mechanism and a roller assembly; the driving mechanism includes a driving wheel and a driven wheel, the driving wheel and the driven wheel are respectively arranged at the two ends of the frame, the driving wheel is connected with a driving member, the track assembly is sleeved on the outside of the driving wheel and the driven wheel to form a linkage connection; the roller assembly is arranged on the frame, and the roller assembly is fitted and connected to the track assembly; the electromagnetic adsorption mechanism is arranged between the track assembly and the frame, and the electromagnetic adsorption mechanism is used to provide magnetic attraction, so that the moving device body can walk and move on the outer wall that can be adsorbed and fixed.

2. The electromagnetic adsorption crawler moving device according to claim 1, characterized in that: The frame is provided with one or more brackets, and the brackets are arranged between the frame and the track assembly; the brackets are provided with mounting plates; the track assemblies are composed of multiple shoes, and the shoes are hinged by mechanical structures or welded structures; one end of the frame is provided with an inclined portion, and the inclined portion is used to tilt one end of the track assembly, so that the track assembly can climb a slope or climb from a flat surface to a vertical surface; the electromagnetic adsorption mechanism includes two or more electromagnetic adsorption components, one of which is arranged on the inclined portion; the electromagnetic adsorption component can be one of a contact electromagnetic adsorption component and an induction magnetic adsorption component.

3. The electromagnetic adsorption crawler moving device according to claim 2 is characterized in that: The electromagnetic adsorption component is a contact electromagnetic adsorption component; the contact electromagnetic adsorption component includes multiple sets of conductive wheel groups and multiple sets of electromagnet groups; the multiple sets of conductive wheel groups are arranged at the bottom of the mounting plate, and the multiple sets of electromagnet groups are arranged on the track assembly, and the electromagnet groups are respectively fitted and connected with the conductive wheel groups.

4. The electromagnetic adsorption crawler moving device according to claim 3 is characterized in that: The multiple sets of conductive wheel groups include multiple conductive wheels, and the multiple conductive wheels are arranged at the bottom of the mounting plate; the multiple sets of electromagnet groups each include multiple electromagnets, and the multiple electromagnets are respectively arranged in the track block in a linear array; the electromagnets are each provided with a conductive plate, and the conductive plate is arranged on the inner surface of the track block, and the conductive wheel is in close contact with the conductive plate passing under the conductive wheel to form an electrical connection, so that the electromagnet can provide magnetic attraction.

5. The electromagnetic adsorption crawler moving device according to claim 2, characterized in that: The electromagnetic adsorption component is an induction magnetic adsorption component; the induction magnetic adsorption component includes multiple groups of transmitting coil groups and multiple groups of induction electromagnet groups; multiple groups of transmitting coil groups are arranged at the bottom of the mounting plate, and multiple groups of induction electromagnet groups are arranged on the track assembly.

6. The electromagnetic adsorption crawler moving device according to claim 5, characterized in that: The multiple groups of transmitting coil groups include multiple transmitting coils, and the multiple transmitting coils are arranged at the bottom of the mounting plate; the multiple groups of induction electromagnet groups each include multiple electromagnets 1, and the multiple electromagnets 1 are respectively arranged in the shoe in a linear array manner, and the electromagnets 1 are each provided with a receiving coil, and the receiving coil is arranged on the inner surface of the shoe, and the transmitting coil is fitted with the receiving coil passing under the transmitting coil to realize magnetic induction connection, thereby realizing the action of the electromagnet 1 to provide magnetic attraction.

7. The electromagnetic adsorption crawler moving device according to any one of claims 4 or 6, characterized in that: The roller assembly includes roller module 1, and the roller module 1 is arranged on the frame; the roller module 1 includes multiple groups of roller groups 1, and the roller group 1 is fitted with the track assembly; the brackets are all provided with support rods, and the support rods are provided with roller group 2, and the roller group 2 is fitted with the track assembly; the roller group 1 and the roller group 2 each include one or two rollers arranged in mirror image.

8. The electromagnetic adsorption crawler moving device according to claim 6, characterized in that: The driving wheel and the driven wheel are both provided with teeth, and grooves for embedding the teeth are provided between the shoes; the frame and the bracket are also provided with mounting parts; the transmitting coil or the conductive wheel is provided with connecting wires, and the connecting wires are used to electrically connect with the operating body.

9. The electromagnetic adsorption crawler moving device according to claim 7, characterized in that: An elastic buffer structure is provided between the mounting plate and the bracket, the elastic buffer structure includes a plurality of elastic components, the bracket is provided with a plurality of through holes, and the plurality of elastic components are respectively arranged in the through holes; the elastic component includes an elastic member and a connecting rod, and the elastic member is arranged between the bottom of the through hole and the mounting plate; An elastic buffer structure 1 is provided between the frame and the roller group 1, and the elastic buffer structure 1 includes one or more elastic members.

10. The electromagnetic adsorption crawler moving device according to claim 9, characterized in that: The elastic member may be a spring or a buffer cylinder.

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