Main magnetic structure and magnetic adsorption robot

Abstract

The utility model provides a main magnetic structure and a magnetic adsorption robot, and the main magnetic structure is arranged on the magnetic adsorption robot, is used for being adsorbed on a structural member, and comprises a guide structure, a mounting seat and a main magnetic assembly arranged on the mounting seat, the mounting base is connected with the magnetic adsorption robot through a guide structure and can be vertically arranged in a lifting mode relative to the magnetic adsorption robot, the bottom of the mounting base is provided with an obstacle crossing inclined plane, and the obstacle crossing inclined plane is matched with an obstacle so as to jack up the mounting base and cross obstacles under the condition that the obstacle crossing inclined plane abuts against the obstacle. According to the scheme, vertical lifting floating of the mounting base and the main magnetic assembly relative to the magnetic adsorption robot is achieved through cooperation of the guide structure and the obstacle crossing inclined face, the situation that part of magnetic attraction force is counteracted when a floating spring is adopted for obstacle crossing is avoided, and the magnetic attraction effect of the main magnetic assembly on a structural part (adsorption base metal) can also be guaranteed in the active obstacle crossing process; and overturning and slipping of the magnetic adsorption robot are prevented.

Description

Technical Field

[0001] The utility model relates to the technical field of magnetic adsorption robots, and more specifically, to a main magnetic structure and a magnetic adsorption robot. Background Art

[0002] When a traditional magnetic adsorption robot walks by means of magnetic wheels or crawlers, it is also necessary to increase the adsorption force through a main magnetic structure to ensure the stability of the walking of the magnetic adsorption robot and prevent the robot from tipping over or slipping.

[0003] Traditional main magnetic structures usually include a fixed main magnetic structure, an adjustable main magnetic structure, and a floating main magnetic structure.

[0004] For the fixed main magnetic structure, the distance between it and the structural member (adsorption base material) is constant. If the distance is small, it is easy to cause it to be unable to cross an obstacle. If the distance is large, it will cause a large attenuation of the adsorption force.

[0005] For the adjustable main magnetic structure, it can adjust the height of the main magnetic component to make the main magnetic structure adapt to workpieces with different curvatures, but it cannot achieve active obstacle crossing.

[0006] For the floating main magnetic structure, this structure usually realizes the floating height adjustment of the main magnetic component by adding a floating spring to achieve active obstacle crossing. However, when crossing an obstacle, the elastic force of the spring will offset part of the magnetic suction force, which easily causes the main magnetic structure to be unable to achieve the effects of preventing tipping over and slipping. Summary of the Utility Model

[0007] The utility model provides a main magnetic structure and a magnetic adsorption robot to solve the problem that the existing main magnetic structure cannot simultaneously ensure active obstacle crossing and the magnetic adsorption effect during obstacle crossing.

[0008] To solve the above problems, according to one aspect of the utility model, the utility model provides a main magnetic structure which is arranged on a magnetic adsorption robot and used for adsorbing to a structural member. The main magnetic structure includes a guiding structure, a mounting seat, and a main magnetic component arranged on the mounting seat. The mounting seat is connected to the magnetic adsorption robot through the guiding structure and is arranged to be vertically liftable relative to the magnetic adsorption robot. The bottom of the mounting seat has an obstacle-crossing inclined surface, and the obstacle-crossing inclined surface cooperates with an obstacle to lift the mounting seat and cross the obstacle when the obstacle-crossing inclined surface abuts against the obstacle.

[0009] Furthermore, the guiding structure includes a limiting sliding seat and a fixed seat fixedly arranged on the magnetic adsorption robot. The fixed seat has a guide rail extending in the vertical direction. The limiting sliding seat and the guide rail are in limiting cooperation. The mounting seat is slidably connected to the fixed seat through the limiting sliding seat. The fixed seat has a lower stop surface located below the guide rail, and the limiting sliding seat and the lower stop surface are in stop cooperation.

[0010] Further, the main magnetic structure further includes a height adjustment component disposed between the mounting base and the guiding structure. The height adjustment component is configured to adjust the relative position of the main magnetic component and the guiding structure in the height direction. The guiding structure has a guide rail extending in the vertical direction and a lower stop surface located below the guide rail. The height adjustment component and the mounting base are slidable up and down along the guide rail, and the height adjustment component is in stop cooperation with the lower stop surface.

[0011] Further, the obstacle-crossing inclined surface is a spherical surface; or, the obstacle-crossing inclined surface is an upward inclined surface. In the advancing direction of the magnetic adsorption robot, the obstacle-crossing inclined surface is at least distributed on the front side of the bottom of the mounting base along the circumferential direction of the mounting base.

[0012] Further, the mounting base includes a base and a bottom shell covering the bottom of the base. The bottom of the bottom shell is inclined upward on both the front and rear sides in the advancing direction of the magnetic adsorption robot and correspondingly forms two upward inclined surfaces. Each of the two upward inclined surfaces correspondingly forms an obstacle-crossing inclined surface. The connecting surface between the upward inclined surface and the bottom surface of the bottom shell, and the connecting surface between the upward inclined surface and the end surface of the bottom shell in the advancing direction are both guiding arc surfaces.

[0013] Further, the main magnetic structure further includes a rolling part disposed at the bottom and / or side of the mounting base. The rolling part includes a rollable roller, and the bottom of the roller protrudes downward from the bottom of the mounting base.

[0014] Further, the mounting base has a receiving cavity for rotatably receiving the roller. The receiving cavity has a through hole located at the bottom of the mounting base. The rolling part further includes a bearing seat and a roller shaft. The roller is rotatably disposed in the receiving cavity through the bearing seat and the roller shaft, and the bottom of the roller protrudes from the through hole.

[0015] Further, there are a plurality of rolling parts, and the plurality of rolling parts are spaced apart along the advancing direction of the magnetic adsorption robot.

[0016] Further, the material of the mounting base is a non-magnetic conductive material.

[0017] Further, the main magnetic component includes a main magnet and a magnetic conductive plate. The mounting base has a mounting cavity for mounting the main magnet. The main magnet is disposed in the mounting cavity, and the magnetic conductive plate is fixedly disposed on the mounting base and seals the opening of the mounting cavity.

[0018] Further, there are a plurality of main magnets, and the plurality of main magnets are spaced apart along the advancing direction of the magnetic adsorption robot.

[0019] According to another aspect of the present invention, there is provided a magnetic adsorption robot, which includes a chassis, a traveling part, and the above-mentioned main magnetic structure. The traveling part includes a crawler or traveling wheels. The guiding structure of the main magnetic structure is disposed on the chassis, and the main magnetic structure is located in the area surrounded by the traveling part.

[0020] Further, the magnetic adsorption robot includes a plurality of main magnetic structures, which are spaced apart and distributed within the area surrounded by the traveling part.

[0021] Applying the technical solution of the present utility model, a main magnetic structure is provided, which is arranged on the magnetic adsorption robot and used for adsorbing to a structural member. The main magnetic structure includes a guiding structure, a mounting seat, and a main magnetic assembly arranged on the mounting seat. The mounting seat is connected to the magnetic adsorption robot through the guiding structure and is arranged to be vertically liftable relative to the magnetic adsorption robot. The bottom of the mounting seat has an obstacle-crossing inclined surface, and the obstacle-crossing inclined surface cooperates with the obstacle so that when the obstacle-crossing inclined surface abuts against the obstacle, the mounting seat is lifted and crosses the obstacle.

[0022] Adopting this solution, when the main magnetic structure encounters an obstacle during the forward movement of the magnetic adsorption robot, the obstacle-crossing inclined surface will abut against the obstacle and as the main magnetic structure advances, the mounting seat and the main magnetic assembly located inside the mounting seat will be gradually lifted by the obstacle until after the main magnetic structure crosses the obstacle, the mounting seat and the main magnetic assembly will fall back to their original positions automatically, completing the active obstacle crossing of the main magnetic structure. Compared with the situation in the traditional structure where a floating spring is set to achieve active obstacle crossing, this solution realizes the vertical lifting and floating of the mounting seat and the main magnetic assembly relative to the magnetic adsorption robot through the cooperation of the guiding structure and the obstacle-crossing inclined surface, avoiding the situation where part of the magnetic attraction force is offset when using a floating spring to cross the obstacle, and ensuring the magnetic adsorption effect of the main magnetic assembly on the structural member (adsorption base material) during the active obstacle crossing process, preventing the magnetic adsorption robot from tipping over and slipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The schematic diagrams in the specification that form a part of this application are used to provide a further understanding of the present utility model. The schematic embodiments of the present utility model and their descriptions are used to explain the present utility model and do not constitute an improper limitation to the present utility model. In the drawings:

[0024] Figure 1 shows the schematic structural diagram of the main magnetic structure provided by the embodiment of the present utility model;

[0025] Figure 2 shows Figure 1 the front view of the main magnetic structure;

[0026] Figure 3 shows Figure 2 the cross-sectional view of the main magnetic structure;

[0027] Figure 4 shows Figure 1 the partial schematic structural diagram of the main magnetic structure;

[0028] Figure 5 shows Figure 4 the schematic structural diagram from another perspective;

[0029] Figure 6 shows the structural schematic diagram of the roller in the main magnetic structure of Figure 1 ;

[0030] Figure 7 shows the side view of the main magnetic structure provided by the second embodiment of the present invention;

[0031] Figure 8 shows the front view of the main magnetic structure provided by the third embodiment of the present invention;

[0032] Figure 9 shows the side view of the main magnetic structure provided by the third embodiment of the present invention;

[0033] Figure 10 shows the layout schematic diagram of the magnetic adsorption robot provided by another embodiment of the present invention.

[0034] Among them, the above-mentioned drawings include the following reference numerals:

[0035] 1, main magnetic structure;

[0036] 10, guiding structure; 11, limiting sliding seat; 12, fixing seat; 121, guide rail; 122, lower stop surface;

[0037] 20, mounting seat; 201, obstacle-crossing inclined surface; 21, base; 22, bottom shell;

[0038] 30, height adjustment component; 31, nut fixing sleeve; 311, first docking sleeve; 312, second docking sleeve; 313, connecting seat; 32, adjusting screw; 321, matching section; 322, threaded section; 33, adjusting nut; 34, adapter;

[0039] 40, rolling part; 41, roller; 411, middle section; 412, taper section; 42, bearing seat; 43, roller shaft;

[0040] 50, main magnetic component; 51, main magnet; 52, magnetic conduction plate;

[0041] 2, walking part. Specific embodiments

[0042] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way restrictive of the present invention and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0043] As shown Figures 1 to 10 in the figure, an embodiment of the present utility model provides a main magnetic structure 1, which is arranged on a magnetic adsorption robot and used for adsorbing to a structural member. The main magnetic structure 1 includes a guiding structure 10, a mounting seat 20, and a main magnetic assembly 50 arranged on the mounting seat 20. The mounting seat 20 is connected to the magnetic adsorption robot through the guiding structure 10 and is arranged to be vertically liftable relative to the magnetic adsorption robot. The bottom of the mounting seat 20 has an obstacle-crossing inclined surface 201, and the obstacle-crossing inclined surface 201 cooperates with the obstacle, so that when the obstacle-crossing inclined surface 201 abuts against the obstacle, the mounting seat 20 is lifted and crosses the obstacle.

[0044] In this embodiment, when the main magnetic structure 1 encounters an obstacle during the forward movement of the magnetic adsorption robot, the obstacle-crossing inclined surface 201 will abut against the obstacle, and as the main magnetic structure 1 moves forward, the mounting seat 20 and the main magnetic assembly 50 located in the mounting seat 20 will be gradually lifted by the obstacle until the mounting seat 20 and the main magnetic assembly 50 will fall back to their original positions automatically after the main magnetic structure 1 crosses the obstacle, completing the active obstacle crossing of the main magnetic structure 1. Compared with the traditional structure that needs to set a floating spring to achieve active obstacle crossing, this solution realizes the vertical lifting and floating of the mounting seat 20 and the main magnetic assembly 50 relative to the magnetic adsorption robot through the cooperation of the guiding structure 10 and the obstacle-crossing inclined surface 201, avoiding the situation that part of the magnetic attraction will be offset when using a floating spring to cross the obstacle, and can also ensure the magnetic adsorption effect of the main magnetic assembly 50 on the structural member (adsorption base material) during the active obstacle crossing process, preventing the magnetic adsorption robot from tipping over and slipping.

[0045] It can be understood that when the main magnetic structure 1 crosses the obstacle, the main magnetic assembly 50 will be lifted, and the distance between it and the structural member (adsorption base material) will become larger, which will have a certain impact on the magnetic attraction, but the impact degree is smaller than that of the existing technology using a floating spring to cross the obstacle (when using a floating spring to cross the obstacle, it will be compressed, resulting in part of the magnetic attraction being offset by the elastic force), and this impact will not affect the anti-overturning and anti-slipping of the magnetic adsorption robot. Further, the obstacle-crossing inclined surface 201 can also disperse the force in the forward direction, and can turn the component force of the force received when abutting against the obstacle to the vertical direction to reduce the force in the forward direction, thereby reducing the impact on the mounting seat 20 and the magnetic adsorption robot during separation when crossing the obstacle and improving the walking stability.

[0046] As shown Figures 1 to 6In the first embodiment shown, the guiding structure 10 includes a limiting sliding seat 11 and a fixed seat 12 fixedly arranged on the magnetic adsorption robot. The fixed seat 12 has a guide rail 121 extending in the vertical direction. The limiting sliding seat 11 and the guide rail 121 are in limiting cooperation. The mounting seat 20 is slidably connected to the fixed seat 12 through the limiting sliding seat 11. The fixed seat 12 has a lower stop surface 122 located below the guide rail 121. The limiting sliding seat 11 and the lower stop surface 122 are in stop cooperation.

[0047] With such a setting, through the limiting cooperation between the guide rail 121 and the limiting sliding seat 11, the guiding of the floating lifting of the mounting seat 20 and the main magnetic assembly 50 is realized. Through the stop cooperation between the lower stop surface 122 and the limiting sliding seat 11, the downward sliding of the mounting seat 20 is restricted to prevent it from slipping off from below the fixed seat 12.

[0048] As Figure 1 and Figure 3 shown, the main magnetic structure 1 further includes a height adjusting assembly 30 arranged between the mounting seat 20 and the guiding structure 10. The height adjusting assembly 30 is used to adjust the relative position of the main magnetic assembly 50 and the guiding structure 10 in the height direction. The guiding structure 10 has a guide rail 121 extending in the vertical direction and a lower stop surface 122 located below the guide rail 121. The height adjusting assembly 30 and the mounting seat 20 can be lifted and lowered slidably along the guide rail 121 and the height adjusting assembly 30 is in stop cooperation with the lower stop surface 122.

[0049] With such a setting, the position of the main magnetic assembly 50 in the vertical direction is adjusted through the height adjusting assembly 30, and further the relative distance between the main magnetic assembly 50 and the structural member (adsorption base material) is adjusted to adapt to adsorption base materials with different curvatures. Among them, in this embodiment, the height adjusting assembly 30 is fixedly arranged on the limiting sliding seat 11 and can be lifted and lowered along with the limiting sliding seat 11 on the guide rail 121. The height adjusting assembly 30 is in stop cooperation with the lower stop surface 122 to limit the downward sliding of the height adjusting assembly 30 and the mounting seat 20.

[0050] It can be understood that the height adjusting assembly 30 is used to adjust the relative distance between the main magnetic assembly 50 of the main magnetic structure 1 and the structural member (adsorption base material) during the normal operation of the magnetic adsorption robot to ensure the enhanced magnetic attraction effect of the main magnetic structure 1 on the magnetic adsorption robot.

[0051] Preferably, the height adjustment assembly 30 includes a nut fixing sleeve 31, an adjusting screw 32, an adjusting nut 33 and an adapter 34. The nut fixing sleeve 31 is arranged on the limiting slide 11 of the guide structure 10. One end of the adjusting screw 32 is fixedly connected to the top of the mounting seat 20 through the adapter 34. The other end of the adjusting screw 32 passes through the nut fixing sleeve 31. The adjusting nut 33 is rotatably arranged on the top of the nut fixing sleeve 31 and is threadedly connected to the adjusting nut 33 to drive the adjusting screw 32 to rise and fall in the nut fixing sleeve 31. In this way, the operator can realize the lifting and falling adjustment of the adjusting screw 32 in the nut fixing sleeve 31 by rotating the adjusting nut 33, thereby realizing the lifting and falling adjustment of the mounting seat 20 and the main magnetic assembly 50, which is convenient for adjusting the relative distance between the main magnetic assembly 50 and the structural member (adsorption matrix).

[0052] Furthermore, the adjusting screw 32 includes a mating section 321 and a threaded section 322 that are connected to each other, the cross-sectional shape of the mating section 321 is D-shaped, the nut fixing sleeve 31 includes a first docking sleeve 311, a second docking sleeve 312 and a connecting seat 313 for connecting the first docking sleeve 311 and the second docking sleeve 312, the first docking sleeve 311 and the second docking sleeve 312 are docked to form a through hole for passing the adjusting screw 32, the cross-sectional shape of the through hole is adapted to the mating section 321, the mating section 321 is passed through the through hole and is limitedly engaged with the inner wall of the through hole, the adjusting nut 33 is rotatably arranged on the first docking sleeve 311 and the second docking sleeve 312 through the connecting seat 313 and is threadedly connected to one end of the threaded section 322 protruding from the through hole.

[0053] In this embodiment, the cross-sectional shapes of the mating section 321 and the through hole are limited to ensure that the mating section 321 will not rotate in the through hole, thereby ensuring the reliability of the lifting and lowering drive of the adjusting screw 32 by the adjusting nut 33; the connecting seat 313 has a limiting groove, one end of the adjusting nut 33 is pressed into the limiting groove and is rotatably arranged, and the first docking sleeve 311 and the second docking sleeve 312 are connected through the connecting seat 313, and at the same time, the movement of the adjusting nut 33 is restricted so that it can only rotate, which is conducive to ensuring the convenience and reliability of adjustment.

[0054] Among them, the top side of the threaded section 322 is provided with a scale groove, which is convenient for the operator to control the lifting height of the adjustment screw rod 32 according to the scale groove, thereby improving the accuracy of the adjustment.

[0055] like Figures 1 to 5In the first embodiment shown, the obstacle-crossing inclined surface 201 in this embodiment is an upward-inclined surface. In the advancing direction of the magnetic adsorption robot, the obstacle-crossing inclined surface 201 is at least distributed on the front side of the bottom of the mounting base 20 along the circumferential direction of the mounting base 20, so as to ensure the active obstacle-crossing function of the main magnetic structure 1 in the advancing direction through the front obstacle-crossing inclined surface 201. Specifically, the mounting base 20 includes a base 21 and a bottom shell 22 covering the bottom of the base 21. The bottom of the bottom shell 22 is upwardly inclined on both the front and rear sides in the advancing direction of the magnetic adsorption robot and correspondingly forms two upward-inclined surfaces. Each of the two upward-inclined surfaces correspondingly forms an obstacle-crossing inclined surface 201. The connecting surface between the upward-inclined surface and the bottom surface of the bottom shell 22, as well as the connecting surface between the upward-inclined surface and the end surface of the bottom shell 22 in the advancing direction, are both guiding arc surfaces.

[0056] With such a setting, it is convenient for the processing of the obstacle-crossing inclined surface 201 and the protection of the bottom of the base 21. At the same time, through the limitation of the connecting surfaces between the obstacle-crossing inclined surface 201 and the bottom surface of the bottom shell 22 and the end surface of the bottom shell 22 in the advancing direction, the connecting surface can also play a guiding role during obstacle crossing, further ensuring the reliability of obstacle crossing. Preferably, the connecting surface between any two adjacent surfaces among the bottom surface and the multiple side surfaces in the circumferential direction of the base 21 is a guiding arc surface.

[0057] Among them, the base 21 in this embodiment is a rectangular structure and is upwardly inclined at the bottoms of both the front and rear sides in the advancing direction of the magnetic adsorption robot. The shape of the bottom shell 22 is adapted to the shape of the bottom of the base 21 and forms obstacle-crossing inclined surfaces 201 on both the front and rear sides, which is convenient for improving the reliability of the bottom shell 22 to accommodate and protect the base 21 and the formation of the obstacle-crossing inclined surface 201.

[0058] It can be understood that the upward inclination angles of the bottoms of both the front and rear sides of the base 21 in the advancing direction of the magnetic adsorption robot, as well as the upward inclination angles, extension conditions, etc. of the bottoms of both the front and rear sides of the bottom shell 22 in the advancing direction of the magnetic adsorption robot, can be designed according to actual situations to ensure that it can cross obstacles.

[0059] On the other hand, the design of the obstacle-crossing inclined surface 201 is not limited to the first embodiment. For example, Figure 7 A main magnetic structure 1 provided in the second embodiment shown is different from the first embodiment in that the bottoms of both the left and right sides in the advancing direction of the main magnetic structure 1 are also upwardly inclined and form two upward-inclined surfaces. Each of the two upward-inclined surfaces correspondingly forms an obstacle-crossing inclined surface 201, that is, there is an obstacle-crossing inclined surface 201 on any side in the circumferential direction of the bottom of the main magnetic structure 1 provided in the second embodiment. With such a setting, it can realize the cooperation between the base 21 and obstacles from the front and the left and right sides to ensure the reliability and stability of obstacle crossing.

[0060] On the other hand, for example, Figures 8 to 9Embodiment 3 provides a main magnetic structure 1. The difference between it and Embodiment 1 is that the obstacle-crossing inclined surface 201 in this embodiment is spherical. With such a setting, it is possible to achieve the cooperation between the base 21 and obstacles from the front, slightly to the left and right sides, so as to ensure the reliability and stability of obstacle crossing.

[0061] Specifically, the main magnetic structure 1 further includes a rolling part 40 arranged at the bottom and / or side of the mounting seat 20. The rolling part 40 includes a rollable roller 41, and the bottom of the roller 41 protrudes downward from the bottom of the mounting seat 20. With such a setting, it is beneficial to reduce the friction force on the main magnetic structure 1 during the obstacle-crossing process through the rolling of the rolling part 40 on the obstacle.

[0062] Furthermore, as Figures 1 to 6 shown in Embodiment 1, the mounting seat 20 has a receiving cavity for rotatably accommodating the roller 41. The receiving cavity has a through hole located at the bottom of the mounting seat 20. The rolling part 40 further includes a bearing seat 42 and a roller shaft 43. The roller 41 is rotatably arranged in the receiving cavity of the mounting seat 20 through the bearing seat 42 and the roller shaft 43, and the bottom of the roller 41 protrudes from the through hole. With such a setting, it is beneficial to ensure the reliability of the limit installation of the rolling part 40 and the stability of application. At the same time, it is beneficial to reduce the overall volume and occupied area of the main magnetic structure 1 and improve the aesthetics. Specifically, the receiving cavity is formed at the bottom of the base 21, and multiple openings in different directions of the receiving cavity are covered and blocked by the bottom shell 22, and a through hole is reserved correspondingly at the bottom of the bottom shell 22.

[0063] In Embodiment 1 as Figures 1 to 6 shown, the roller 41 includes an intermediate section 411 and tapered sections 412 arranged on both sides of the intermediate section 411. The intermediate section 411 and the two tapered sections 412 are coaxial, and the radial dimension of the tapered section 412 gradually decreases in the direction from the intermediate section 411 towards the tapered section 412. With such a setting, it is convenient for the rolling installation of the roller 41. In this embodiment, the connection between the wheel surface of the roller 41 and the side wall is rounded to facilitate turning.

[0064] Among them, there are multiple rolling parts 40, and the multiple rolling parts 40 are spaced apart along the advancing direction of the magnetic adsorption robot. In Embodiment 1 as Figures 1 to 6 shown, there are 3 rolling parts 40, and the 3 rolling parts 40 are spaced apart along the advancing direction and arranged at the front bottom, middle bottom and rear bottom of the mounting seat 20 to ensure the reliability and stability of reducing the friction force during obstacle crossing. It can be understood that the number and arrangement method of the rolling parts 40 can be adjusted according to the actual situation, not limited to the three in this embodiment.

[0065] Preferably, the setting position of the rolling part 40 and the type of the selected roller 41 can be adjusted adaptively according to the actual situation. For example, in another embodiment not shown in the figure, the rolling part 40 can be arranged on both sides outside the mounting seat 20. Such an arrangement facilitates the replacement and real-time adjustment of the position of the roller 41, which is beneficial to improving the applicability. For another example, in still another embodiment not shown in the figure, the roller 41 can be a universal wheel, which is convenient for steering and the selection of the roller 41.

[0066] Specifically, the material of the mounting seat 20 is a non-magnetic material to ensure the magnetic adsorption effect of the main magnetic assembly 50 on the structural member (adsorption base material). Preferably, the material of the mounting seat 20 is aluminum alloy, titanium alloy, stainless steel, etc.

[0067] As Figures 1 to 9 shown, in this embodiment, the main magnetic assembly 50 includes a main magnet 51 and a magnetic conduction plate 52. The mounting seat 20 has a mounting cavity for mounting the main magnet 51. The main magnet 51 is arranged in the mounting cavity, and the magnetic conduction plate 52 is fixedly arranged on the mounting seat 20 to block the opening of the mounting cavity. Such an arrangement facilitates the mounting of the main magnet 51. Among them, the base 21 has a mounting hole for passing through the main magnet 51. The side wall of the mounting cavity is the side wall of the mounting hole, and the bottom wall of the mounting cavity is the cavity bottom wall of the bottom shell 22.

[0068] Among them, the number of the main magnets 51 can be set according to the actual situation. For example, Figure 3 and Figure 5 shown, there are two main magnets 51 in the first embodiment. The two main magnets 51 are spaced along the advancing direction of the magnetic adsorption robot to meet the requirement of enhancing the auxiliary magnetic suction force on the magnetic adsorption robot. For another example, Figures 8 to 9 shown in the second embodiment, only one main magnet 51 can be provided to minimize the volume of the main magnetic structure 1 while ensuring the requirement of enhancing the auxiliary magnetic suction force of the main magnet 51 on the magnetic adsorption robot.

[0069] As Figure 10As shown in the figure, another embodiment of the present utility model provides a magnetic adsorption robot. The magnetic adsorption robot includes a chassis, a traveling part 2, and the above-mentioned main magnetic structure 1. The traveling part 2 includes crawler belts or traveling wheels. The guiding structure of the main magnetic structure 1 is arranged on the chassis, and the main magnetic structure 1 is located in the area surrounded by the traveling part 2. In this embodiment, the fixing seat 12 of the main magnetic structure 1 is fixedly penetrated under the chassis, and the main magnetic structure 1 provides auxiliary magnetic suction force for the magnetic adsorption robot to improve the gripping effect of the magnetic adsorption robot and avoid the situation of slipping or overturning of the magnetic adsorption robot. At the same time, the main magnetic structure 1 adopted in this embodiment is a floating structure. Compared with the situation in the traditional structure where a floating spring needs to be set to achieve active obstacle crossing, this solution realizes the vertical lifting and floating of the mounting seat 20 and the main magnetic assembly 50 relative to the magnetic adsorption robot through the cooperation of the guiding structure 10 and the obstacle-crossing inclined surface 201, avoiding the situation where part of the magnetic suction force will be offset when using a floating spring for obstacle crossing, and also ensuring the magnetic adsorption effect of the main magnetic assembly 50 on the structural member (adsorption base material) during the active obstacle-crossing process. It can be understood that the setting position of the main magnetic structure 1 can be adjusted adaptively according to the actual situation, and no examples are given here one by one.

[0070] Furthermore, the magnetic adsorption robot may include a plurality of main magnetic structures 1, and the plurality of main magnetic structures 1 are distributed at intervals in the area surrounded by the traveling part 2. Such a setting is convenient for adjusting the number of the main magnetic structures 1 according to actual needs to ensure the reliability and stability of the walking of the magnetic adsorption robot. As Figure 7 shown in the embodiment, it includes 4 main magnetic structures 1, and the 4 main magnetic structures 1 are distributed in a rectangle.

[0071] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0072] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present utility model. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationship. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the description. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0073] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by orientation terms such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom", etc. is usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description. Without contrary explanation, these orientation terms do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as limiting the protection scope of the present utility model; the orientation terms "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0074] For the convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "above" can be used here to describe the spatial positional relationship between a device or feature shown in the drawings and other devices or features. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation described in the drawings for the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both the orientations of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations should be made for the spatial relative descriptions used here.

[0075] In addition, it should be noted that the use of terms such as "first", "second", etc. to limit components is only for the convenience of distinguishing the corresponding components. Without additional statement, the above terms have no special meaning. Therefore, it should not be construed as limiting the protection scope of the present utility model.

[0076] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, the present utility model may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A main magnetic structure, which is arranged on a magnetic adsorption robot and is used to adsorb on a structural part, characterized in that: The main magnetic structure comprises a guide structure (10), a mounting seat (20) and a main magnetic assembly (50) arranged on the mounting seat (20); the mounting seat (20) is connected to the magnetic adsorption robot through the guide structure (10) and is arranged to be vertically raised and lowered relative to the magnetic adsorption robot; the bottom of the mounting seat (20) has an obstacle-crossing inclined surface (201); the obstacle-crossing inclined surface (201) cooperates with an obstacle, so that when the obstacle-crossing inclined surface (201) abuts against the obstacle, the mounting seat (20) is lifted up and crosses the obstacle.

2. The main magnetic structure according to claim 1, characterized in that: The guide structure (10) comprises a limit slide (11) and a fixed seat (12) fixedly arranged on the magnetic adsorption robot, the fixed seat (12) having a guide rail (121) extending in a vertical direction, the limit slide (11) and the guide rail (121) being in limit cooperation, the mounting seat (20) being slidably connected to the fixed seat (12) via the limit slide (11), the fixed seat (12) also having a lower stop surface (122) located below the guide rail (121), the limit slide (11) and the lower stop surface (122) being in stop cooperation.

3. The main magnetic structure according to claim 1, characterized in that: The main magnetic structure further comprises a height adjustment component (30) arranged between the mounting seat (20) and the guide structure (10), the height adjustment component (30) being used to adjust the relative position of the main magnetic component (50) and the guide structure (10) in the height direction, the guide structure (10) comprising a guide rail (121) extending in a vertical direction and a lower stop surface (122) located below the guide rail (121), the height adjustment component (30) and the mounting seat (20) being able to rise and fall and slide along the guide rail (121), and the height adjustment component (30) being in stop engagement with the lower stop surface (122).

4. The main magnetic structure according to claim 1, characterized in that: The obstacle-crossing inclined surface (201) is a spherical surface; or, the obstacle-crossing inclined surface (201) is an upward inclined surface, and in the advancing direction of the magnetic adsorption robot, the obstacle-crossing inclined surface (201) is distributed at least on the front side of the bottom of the mounting seat (20) along the circumference of the mounting seat (20).

5. The main magnetic structure according to claim 4, characterized in that: The mounting seat (20) comprises a base (21) and a bottom shell (22) covering the bottom of the base (21); the bottoms of the bottom shell (22) at both the front and rear sides in the forward direction of the magnetic adsorption robot are inclined upward and form two upward inclined surfaces respectively; the two upward inclined surfaces respectively form an obstacle-crossing inclined surface (201); the connecting surface between the upward inclined surface and the bottom surface of the bottom shell (22), and the connecting surface between the upward inclined surface and the end surface of the bottom shell (22) in the forward direction are both guide arc surfaces.

6. The main magnetic structure according to claim 1, characterized in that: The main magnetic structure further comprises a rolling portion (40) arranged at the bottom and / or side of the mounting seat (20), the rolling portion (40) comprising a rollable roller (41), the bottom of the roller (41) protruding downward from the bottom of the mounting seat (20).

7. The main magnetic structure according to claim 6, characterized in that: The mounting seat (20) has an accommodating cavity for rotatably accommodating the roller (41), the accommodating cavity having a through-hole located at the bottom of the mounting seat (20), the rolling portion (40) further comprising a bearing seat (42) and a roller (43), the roller (41) being rotatably arranged in the accommodating cavity via the bearing seat (42) and the roller (43), the bottom of the roller (41) protruding from the through-hole.

8. The main magnetic structure according to claim 6, characterized in that: There are a plurality of rolling parts (40), and the plurality of rolling parts (40) are distributed at intervals along the advancing direction of the magnetic adsorption robot.

9. The main magnetic structure according to claim 1, characterized in that: The material of the mounting seat (20) is a non-magnetic material.

10. The main magnetic structure according to claim 1, characterized in that: The main magnetic assembly (50) comprises a main magnet (51) and a magnetic conductive plate (52); the mounting seat (20) has a mounting cavity for mounting the main magnet (51); the main magnet (51) is arranged in the mounting cavity; and the magnetic conductive plate (52) is fixedly arranged on the mounting seat (20) and blocks an opening of the mounting cavity.

11. The main magnetic structure according to claim 10, characterized in that: There are a plurality of main magnets (51), and the plurality of main magnets (51) are distributed at intervals along the advancing direction of the magnetic adsorption robot.

12. A magnetic adsorption robot, characterized in that: The magnetic adsorption robot comprises a chassis, a walking part (2) and a main magnetic structure according to any one of claims 1 to 11, the walking part (2) comprises tracks or walking wheels, the guide structure (10) of the main magnetic structure is arranged on the chassis, and the main magnetic structure is located in the area surrounded by the walking part (2).

13. The magnetic adsorption robot according to claim 12, characterized in that: The magnetic adsorption robot comprises a plurality of main magnetic structures, and the plurality of main magnetic structures are distributed at intervals in the area surrounded by the walking part (2).

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