Magnetic climbing wheel structure

Abstract

The utility model discloses a kind of magnetic climbing wheel structures, including bearing plate, driving wheel component, steering wheel component, first magnetic attraction component and second magnetic attraction component, driving wheel component is fixedly installed on the both sides of the one end of bearing plate respectively through first support frame, steering wheel component is fixedly installed in the other end of bearing plate through second support frame;First magnetic attraction component is set on each first support frame, and first magnetic attraction component is close to the surface of the object to be climbed and set;Second magnetic attraction component is set on second support frame, and second magnetic attraction component is close to the surface of the object to be climbed and set.By setting first magnetic attraction component cooperation driving wheel component, setting second magnetic attraction component cooperation steering wheel component, entire climbing structure can be adsorbed on the facade of equipment, and can be freely moved and turned, realize the facade of equipment is detected and maintained quickly and conveniently, improve the safety and efficiency of construction.

Description

Technical Field

[0001] This utility model relates to the field of climbing machinery technology. Specifically, it relates to a magnetic climbing wheel structure. Background Technology

[0002] When inspecting and maintaining the facades of large equipment, such as ships, storage tanks, or towers, the facades of these devices are smooth and quite tall, making it difficult to achieve full coverage by manual labor. External lifting or suspension equipment is required, which poses certain risks and is also inefficient in actual operation. Utility Model Content

[0003] Therefore, the technical problem to be solved by this utility model is to provide a magnetic climbing wheel structure that can climb and move on the facade of large equipment.

[0004] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a magnetic climbing wheel structure, including a support plate, a drive wheel component, a steering wheel component, a first magnetic component, and a second magnetic component. The drive wheel component is fixedly installed on both sides of one end of the support plate via a first support frame, and the steering wheel component is fixedly installed in the middle of the other end of the support plate via a second support frame. Each first support frame is provided with a first magnetic component, which is positioned close to the surface of the object being climbed. The first magnetic component attracts the surface of the object being climbed. When the drive wheel component is in contact with the surface of the object being climbed, the distance between the first magnetic component and the surface of the object being climbed is greater than zero. The second magnetic component is positioned on the second support frame, close to the surface of the object being climbed. The second magnetic component attracts the surface of the object being climbed. When the steering wheel component is in contact with the surface of the object being climbed, the distance between the second magnetic component and the surface of the object being climbed is greater than zero. By setting up a first magnetic suction component and a second magnetic suction component, the entire structure can be directly attached to the vertical surface of the maintenance equipment, thereby enabling quick and convenient maintenance, painting, and other operations.

[0005] The aforementioned magnetic climbing wheel structure includes a first support frame comprising a first support plate and a second support plate, the first and second support plates being arranged in parallel. A first fixing block is provided between the first ends of the first and second support plates, and the first and second support plates are respectively fixedly connected to both sides of the first fixing block by screws. A second fixing block is provided between the second ends of the first and second support plates, and the first and second support plates are respectively fixedly connected to both sides of the second fixing block by screws. The tops of the first and second support plates are fixedly connected to the bottom of the bearing plate. The drive wheel assembly is connected to the first and second support plates.

[0006] The aforementioned magnetic climbing wheel structure includes a drive component comprising a drive motor, a reducer, a connecting cylinder, and an angle transmission box. The reducer is fixedly mounted on the end of the drive motor, and the output shaft of the drive motor is drive-connected to the reducer. The angle transmission box is fixed between the first support plate and the second support plate. One end of the connecting cylinder is fixedly connected to the end of the angle transmission box, and the other end of the connecting cylinder is fixedly connected to the end of the reducer. The power output shaft of the reducer is drive-connected to the power input shaft of the angle transmission box. The drive wheel component is mounted on the side of the angle transmission box and drive-connected to the power output shaft of the angle transmission box.

[0007] The aforementioned magnetic climbing wheel structure includes a drive wheel component comprising a fixed ring, a drive shaft, a drive disc, and a drive hub. The fixed ring is fixedly connected to the side walls of both the first and second support plates. The drive shaft is drively connected to both sides of the angle transmission box. The drive shaft on one side of the angle transmission box passes through the second support plate, and the drive shaft on the other side of the angle transmission box passes through the first support plate. The drive disc is coaxially fixedly connected to the end of each drive shaft. The drive hub is coaxially fixedly connected to the drive disc. A first rubber rim is fitted onto the outer circumference of the drive hub, and the thickness of the first rubber rim is equal at all points.

[0008] The aforementioned magnetic climbing wheel structure includes a first magnetic component comprising a connecting frame and a first magnet. The connecting frame is fixedly connected to the bottom of the angle transmission box. The side of the connecting frame facing the surface of the object being climbed is cylindrical, and the axis of the cylindrical surface is parallel to the axis of the drive wheel hub. The first magnet is arranged on the cylindrical surface of the connecting frame. The radial distance between the side of any one of the first magnets facing the surface of the object being climbed and the outer circumference of the first rubber wheel rim is equal. By placing the first magnet between the two drive wheel hubs, the attractive force generated by the first magnet can directly act on the drive wheel hub, making the attractive force more direct and less dispersed, thus improving stability when running on the equipment's vertical surface.

[0009] In the aforementioned magnetic climbing wheel structure, two or more first magnets are symmetrically distributed on the column surface of the connecting frame about the contact positions between the first rubber wheel rim and the surface of the object being climbed. The distribution angle of the first magnets relative to the first rubber wheel rim is greater than or equal to 75°. By setting the first magnets in an arc shape between the two drive wheel hubs, and with the distribution angle greater than or equal to 75°, when the drive wheel passes over uneven surfaces, arc surfaces, or surfaces with alternating pits, it can be ensured that a portion of the first magnets can always be in close contact with the surface of the equipment, providing sufficient attraction and further ensuring the stability of operation.

[0010] The aforementioned magnetic climbing wheel structure includes a second support frame comprising a support tube, a first fixed plate, a second fixed plate, and a U-shaped connecting plate. The first and second fixed plates are arranged parallel to each other. One end of the first and second fixed plates are respectively fixedly connected to the two sides of the U-shaped connecting plate. Through holes are provided at the other ends of both the first and second fixed plates. The support tube passes through these through holes. Two axial positioning rings are fixedly installed on the support tube by screws, and these two axial positioning rings are respectively fixedly connected to the first and second fixed plates. A circumferential positioning ring is also fixedly installed on the support tube by screws, and this circumferential positioning ring is fixedly connected to the bottom of the support plate. Second fixing blocks are fixedly connected to both ends of the support tube, and these second fixing blocks are fixedly connected to the bottom of the support plate. By using the support tube, along with the axial and circumferential positioning rings, the angle of the second support frame relative to the support plate can be adjusted, making it suitable for surfaces of different radii and shapes.

[0011] In the aforementioned magnetic climbing wheel structure, the steering motor is fixedly installed on the bottom of the U-shaped connecting plate, and a support frame is fixedly installed on the power output shaft of the steering motor; the steering wheel component includes a steering wheel hub, and the steering wheel hub is rotatably installed on both sides of the support frame via a rotating shaft, and a second rubber rim is fitted on the outer circumference of the steering wheel hub.

[0012] In the aforementioned magnetic climbing wheel structure, the second magnetic component includes a second magnet. The side of the support frame facing the surface of the object being climbed is cylindrical, and the axis of the cylindrical surface is parallel to the axis of the steering hub. Two or more second magnets are symmetrically distributed on the cylindrical surface of the support frame about the contact positions between the second rubber rim and the surface of the object being climbed. The radial distance between the side of the second magnet facing the surface of the object being climbed and the outer circumference of the second rubber rim gradually decreases from the middle second magnet to the second magnets on both sides.

[0013] In the aforementioned magnetic climbing wheel structure, the distribution angle of the second magnet relative to the second rubber wheel rim is greater than or equal to 105°; in the forward direction of the steering wheel component: the position where the steering motor output shaft is connected to the support fixing frame is located in front of the rotating shaft; an arc edge is provided between the outer circumferential surface and the side surface of the second rubber wheel rim.

[0014] The technical solution of this utility model has achieved the following beneficial technical effects:

[0015] By incorporating a first magnetic attraction component in conjunction with a drive wheel component, and a second magnetic attraction component in conjunction with a steering wheel component, the entire climbing structure can adhere to the equipment's facade and move and turn freely. This enables rapid and convenient inspection and maintenance of the equipment's facade, improving construction safety and efficiency. Furthermore, optimization of the magnets at different locations enhances stability during operation. Attached Figure Description

[0016] Figure 1 A three-dimensional structural diagram of this utility model from a top view;

[0017] Figure 2 A three-dimensional structural diagram of the present invention from the bottom perspective;

[0018] Figure 3 An exploded structural diagram of the drive wheel component of this utility model mounted on the first support frame;

[0019] Figure 4 A cross-sectional view of the drive wheel component of this utility model mounted on the first support frame;

[0020] Figure 5 A three-dimensional structural diagram of the steering wheel component of this utility model installed on the second support frame;

[0021] Figure 6 A cross-sectional view of the steering wheel component of this utility model mounted on the second support frame.

[0022] The reference numerals in the figure are as follows: 1-Bearing plate; 2-First support frame; 201-First support plate; 202-Second support plate; 203-First fixing block; 204-Second fixing block; 205-Fixing hole; 3-Drive wheel assembly; 301-Fixing ring; 302-Drive shaft; 303-Drive disc; 304-Drive wheel hub; 305-First rubber rim; 4-Drive assembly; 401-Drive motor; 402-Reducer; 403-Connecting cylinder; 404-Angle transmission Box; 5-First magnetic attraction component; 501-Connecting frame; 502-First magnet; 6-Second support frame; 601-First fixing plate; 602-Second fixing plate; 603-U-shaped connecting plate; 604-Support tube; 605-Axial positioning ring; 606-Circumferential positioning ring; 7-Steering wheel component; 701-Steering wheel hub; 702-Second rubber wheel rim; 703-Rotating shaft; 8-Steering motor; 9-Second magnetic attraction component; 901-Support fixing frame; 902-Second magnet. Detailed Implementation

[0023] One embodiment of this invention features a magnetic climbing wheel structure, such as... Figure 1-2 As shown, the structure includes a support plate 1, a drive wheel component 3, a steering wheel component 7, a first magnetic attraction component 5, and a second magnetic attraction component 9. The drive wheel component 3 is fixedly mounted on both sides of one end of the support plate 1 via a first support frame 2, and the steering wheel component 7 is fixedly mounted on the middle of the other end of the support plate 1 via a second support frame 6. Each first support frame 2 is provided with a first magnetic attraction component 5, which is positioned close to the surface of the object being climbed. The first magnetic attraction component 5 attracts the surface of the object being climbed. When the drive wheel component 3 is in contact with the surface of the object being climbed, the distance between the first magnetic attraction component 5 and the surface of the object being climbed is greater than zero. The second magnetic attraction component 9 is mounted on the second support frame 6, positioned close to the surface of the object being climbed. The second magnetic attraction component 9 attracts the surface of the object being climbed. When the steering wheel component 7 is in contact with the surface of the object being climbed, the distance between the second magnetic attraction component 9 and the surface of the object being climbed is greater than zero.

[0024] like Figure 3As shown, the first support frame 2 includes a first support plate 201 and a second support plate 202, which are arranged in parallel. A first fixing block 203 is provided between the first ends of the first support plate 201 and the second support plate 202. The first support plate 201 and the second support plate 202 are respectively fixedly connected to both sides of the first fixing block 203 by screws. A second fixing block 204 is provided between the second ends of the first support plate 201 and the second support plate 202, which are respectively fixedly connected to both sides of the second fixing block 204 by screws. The top of the first support plate 201 and the top of the second support plate 202 are fixedly connected to the bottom of the bearing plate 1. The drive wheel component 3 is connected to the first support plate 201 and the second support plate 202.

[0025] like Figure 3-4 As shown, the driving component 4 includes a drive motor 401, a reducer 402, a connecting cylinder 403, and an angle transmission box 404. The reducer 402 is fixedly installed on the end of the drive motor 401, and the output shaft of the drive motor 401 is drivenly connected to the reducer 402. The angle transmission box 404 is fixed between the first support plate 201 and the second support plate 202. One end of the connecting cylinder 403 is fixedly connected to the end of the angle transmission box 404, and the other end of the connecting cylinder 403 is fixedly connected to the end of the reducer 402. The power output shaft of the reducer 402 is drivenly connected to the power input shaft of the angle transmission box 404. The drive wheel component 3 is installed on the side of the angle transmission box 404 and is drivenly connected to the power output shaft of the angle transmission box 404.

[0026] like Figure 3 As shown, the drive wheel component 3 includes a fixing ring 301, a drive shaft 302, a drive disc 303, and a drive hub 304. The fixing ring 301 is fixedly connected to the side wall of the first support plate 201 and the side wall of the second support plate 202. The drive shaft 302 is drivenly connected to both sides of the angle transmission box 404. The drive shaft 302 on one side of the angle transmission box 404 passes through the second support plate 202, and the drive shaft 302 on the other side of the angle transmission box 404 passes through the first support plate 201. The drive disc 303 is coaxially fixedly connected to the end of the drive shaft 302. The drive hub 304 is coaxially fixedly connected to the drive disc 303. A first rubber rim 305 is fitted on the outer circumferential surface of the drive hub 304.

[0027] like Figure 5As shown, the second support frame 6 includes a support tube 604, a first fixing plate 601, a second fixing plate 602, and a U-shaped connecting plate 603. The first fixing plate 601 and the second fixing plate 602 are arranged in parallel. One end of the first fixing plate 601 and one end of the second fixing plate 602 are respectively fixedly connected to both sides of the U-shaped connecting plate 603. Through holes are provided on the other ends of the first fixing plate 601 and the second fixing plate 602. The support tube 604 passes through the first fixing plate 601 and the second fixing plate 602. The through holes on the two fixing plates 602 are used to fasten two axial positioning rings 605 to the support tube 604 by screws. The two axial positioning rings 605 are fixedly connected to the first fixing plate 601 and the second fixing plate 602 respectively. The support tube 604 is also fixedly connected to the support tube 604 by screws, and the circumferential positioning ring 606 is fixedly connected to the bottom of the bearing plate 1. The two ends of the support tube 604 are fixedly connected to the second fixing blocks 204, and the second fixing blocks 204 are fixedly connected to the bottom of the bearing plate 1.

[0028] like Figure 5-6 As shown, the steering motor 8 is fixedly installed on the bottom of the U-shaped connecting plate 603, and a support bracket 901 is fixedly installed on the power output shaft of the steering motor 8; the steering wheel component 7 includes a steering wheel hub 701, and the steering wheel hub 701 is rotatably installed on both sides of the support bracket 901 through a rotating shaft 703, and a second rubber wheel rim 702 is fitted on the outer circumference of the steering wheel hub 701.

[0029] like Figure 4 As shown, the first magnetic attraction component 5 includes a connecting frame 501 and a first magnet 502. The connecting frame 501 is fixedly connected to the bottom of the angle transmission box 404. The side of the connecting frame 501 facing the surface of the object being climbed is cylindrical, and the axis of the cylindrical surface is parallel to the axis of the drive hub 304. The first magnet 502 is arranged on the cylindrical surface of the connecting frame 501. Two or more first magnets 502 are symmetrically distributed on the cylindrical surface of the connecting frame 501 about the contact position between the first rubber rim 305 and the surface of the object being climbed. Figure 4 As shown, the radial distance between the side of any one of the first magnets 502 facing the surface of the object being climbed and the outer circumference of the first rubber wheel rim 305 is equal.

[0030] like Figure 6As shown, the second magnetic attraction component 9 includes a second magnet 902. The support frame 901 has a cylindrical surface facing the surface of the object being climbed. The axis of the cylindrical surface is parallel to the axis of the steering hub 701. Two or more second magnets 902 are symmetrically distributed on the cylindrical surface of the support frame 901 about the contact positions between the second rubber rim 702 and the surface of the object being climbed. The first magnet 502 and the second magnet 902 can be electromagnetic adhesives or permanent magnets; in this embodiment, a high-strength permanent magnet is used. Figure 6 As shown, the radial distance between the side of the second magnet 902 facing the surface of the object being climbed and the outer circumference of the second rubber wheel rim 702 gradually decreases from the middle second magnet 902 to the second magnets 902 on both sides. Since the driving power is located at the rear, the steering wheel is essentially pushed forward. When passing through obstacles or uneven surfaces, the steering wheel may bounce due to the elasticity of the second rubber wheel rim 702 itself and the pushing action from the rear, resulting in instability. By setting the second magnets 902 at different distances, when passing through protruding obstacles, the second magnet 902 on the front side of the steering wheel is closer to the obstacle, which can generate a stronger attraction force, thereby suppressing the bouncing of the steering wheel and improving stability. The same principle applies when passing through slopes or steps.

[0031] By setting up two sets of drive wheel components 3 in conjunction with two sets of first magnetic attraction components 5, and a set of steering wheel components 7 and a second magnetic attraction component 9, each wheel is equipped with a magnetic attraction wheel, which can firmly adhere to the surface of the equipment and allow for free movement and flexible steering, meeting the maintenance and repair needs of the equipment surface. Existing magnetic wall-climbing equipment typically uses magnetic blocks installed on the base plate to provide attraction for the entire device. However, this type of equipment is only suitable for movement on a flat surface. When the flatness of the working surface is insufficient, the distance between the magnetic blocks and the equipment surface may become too large or too small, causing the equipment to malfunction or even fall off. In some cases, the magnetic attraction needs to be adjusted manually to ensure the magnetic attraction effect. In others, the magnetic blocks are directly integrated into the rollers, and the magnetic blocks move with the rollers. However, the attraction force applied by this structure during the movement is uneven. Due to the different attraction forces at different points on the magnetic blocks, the magnetic force will change periodically during the alternation of magnetic blocks at different positions in the rollers. This results in insufficient stability of operation, high energy consumption, and the influence of magnetic force. Some impurities such as iron filings and slag that can be attracted will be directly attracted to the surface of the rollers. During the rolling process of the rollers, this will further affect the stability of operation, and will also cause a decrease in the friction of the rollers and cause excessive wear. In this invention, the first magnet 502 is integrated between the two drive hubs 304 and is at a certain distance from the surface of the equipment being climbed. The first magnet 502 does not rotate synchronously with the drive hubs 304, and can provide sufficient and stable magnetic attraction force, so that the magnetic attraction force acting on the drive hubs 304 is always stable, improving the stability and smoothness of the equipment operation. The first magnet 502 and the drive hubs 304 are independent of each other, and impurities such as iron slag will be attracted to the first magnet 502, which has a cleaning effect and prevents iron slag from adhering to the first rubber wheel rim 305, ensuring that the first rubber wheel rim 305 has sufficient friction with the surface of the equipment being climbed, and ensuring that the first rubber wheel rim 305 is not excessively worn.

[0032] The distribution angle of the second magnet 902 relative to the second rubber rim 702 is greater than or equal to 105°, and the distribution angle of the first magnet 502 relative to the first rubber rim 305 is greater than or equal to 75°. The first magnet 502 and the second magnet 902 are arranged in an arc shape. When passing over any shape and any undulation surface, as long as the wheel can contact the surface to be climbed, it can provide an adsorption effect, improve obstacle crossing ability and applicable range. The distribution angle of the second magnet 902 on the steering wheel is larger. Since the steering wheel will contact obstacles first, the larger distribution angle of the second magnet 902 is conducive to maintaining the magnetic attraction effect. This utility model reduces the number of magnetic blocks without reducing the magnetic attraction effect, can reduce the total weight of the equipment, is conducive to wall climbing operations, reduces energy consumption, and increases endurance.

[0033] like Figure 6As shown, in the forward direction of the steering wheel component 7: the connection between the output shaft of the steering motor 8 and the support bracket 901 is located in front of the rotating shaft 703. After steering, this allows the steering wheel to automatically return to center, improving straight-line performance. The first rubber rim 305 has a uniform thickness throughout, while the second rubber rim 702 has an arc-shaped edge between its outer circumferential surface and side profile. The first rubber rim 305 is a flat rim, i.e., a cylindrical shape with uniform thickness, which is beneficial for improving load-bearing capacity and wear resistance. The second rubber rim 702 has an arc-shaped outer circumferential surface, which reduces steering resistance and improves steering flexibility.

[0034] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of the claims of this patent application.

Claims

1. A magnetic climbing wheel structure, characterized in that, The system includes a support plate (1), a drive wheel assembly (3), a steering wheel assembly (7), a first magnetic component (5), and a second magnetic component (9). The drive wheel assembly (3) is fixedly mounted on both sides of one end of the support plate (1) via a first support frame (2), and the steering wheel assembly (7) is fixedly mounted on the middle of the other end of the support plate (1) via a second support frame (6). Each first support frame (2) is equipped with a first magnetic component (5), which is positioned close to the surface of the object being climbed. 5) When the drive wheel component (3) is in contact with the surface of the object being climbed, the distance between the first magnetic component (5) and the surface of the object being climbed is greater than zero; the second magnetic component (9) is disposed on the second support frame (6), the second magnetic component (9) is disposed close to the surface of the object being climbed, the second magnetic component (9) is in contact with the surface of the object being climbed, and the steering wheel component (7) is in contact with the surface of the object being climbed, the distance between the second magnetic component (9) and the surface of the object being climbed is greater than zero.

2. The magnetic climbing wheel structure according to claim 1, characterized in that, The first support frame (2) includes a first support plate (201) and a second support plate (202). The first support plate (201) and the second support plate (202) are arranged in parallel. A first fixing block (203) is provided between the first ends of the first support plate (201) and the second support plate (202). The first support plate (201) and the second support plate (202) are respectively fixedly connected to both sides of the first fixing block (203) by screws. A second fixing block is provided between the second ends of the first support plate (201) and the second support plate (202). The first support plate (201) and the second support plate (202) are fixed to the two sides of the second fixed block (204) by screws; the top of the first support plate (201) and the top of the second support plate (202) are fixedly connected to the bottom of the bearing plate (1); the drive wheel component (3) is connected to the first support plate (201) and the second support plate (202), and a drive component (4) that is driven and connected to the drive wheel component (3) is installed between the first support plate (201) and the second support plate (202).

3. The magnetic climbing wheel structure according to claim 2, characterized in that, The driving component (4) includes a drive motor (401), a reducer (402), a connecting cylinder (403), and an angle transmission box (404). The reducer (402) is fixedly installed on the end of the drive motor (401), and the output shaft of the drive motor (401) is drivenly connected to the reducer (402). The angle transmission box (404) is fixed between the first support plate (201) and the second support plate (202). One end of the connecting cylinder (403) is fixedly connected to the end of the angle transmission box (404), and the other end of the connecting cylinder (403) is fixedly connected to the end of the reducer (402). The power output shaft of the reducer (402) is drivenly connected to the power input shaft of the angle transmission box (404). The drive wheel component (3) is installed on the side of the angle transmission box (404) and is drivenly connected to the power output shaft of the angle transmission box (404).

4. The magnetic climbing wheel structure according to claim 3, characterized in that, The drive wheel component (3) includes a retaining ring (301), a drive shaft (302), a drive disc (303), and a drive wheel hub (304). The retaining ring (301) is fixedly connected to the side wall of the first support plate (201) and the side wall of the second support plate (202). The drive shaft (302) is drivenly connected to both sides of the angle transmission box (404). The drive shaft (302) on one side of the angle transmission box (404) passes through the second drive wheel hub (304). The support plate (202) has a drive shaft (302) on the other side of the angle transmission box (404) passing through the first support plate (201). The drive shaft (302) is coaxially fixedly connected to the end of the drive shaft (302). The drive wheel hub (304) is coaxially fixedly connected to the drive wheel hub (303). The outer circumference of the drive wheel hub (304) is fitted with a first rubber wheel rim (305), and the thickness of the first rubber wheel rim (305) is equal at all points.

5. The magnetic climbing wheel structure according to claim 4, characterized in that, The first magnetic attraction component (5) includes a connecting frame (501) and a first magnet (502). The connecting frame (501) is fixedly connected to the bottom of the angle transmission box (404). The side of the connecting frame (501) facing the surface of the object being climbed is cylindrical. The axis of the cylindrical surface is parallel to the axis of the drive hub (304). The first magnet (502) is arranged on the cylindrical surface of the connecting frame (501). The radial distance between the side of any one of the first magnets (502) facing the surface of the object being climbed and the outer circumference of the first rubber wheel rim (305) is equal.

6. The magnetic climbing wheel structure according to claim 5, characterized in that, Two or more of the first magnets (502) are symmetrically distributed on the cylindrical surface of the connecting frame (501) with respect to the contact positions between the first rubber wheel (305) and the surface of the object being climbed; the distribution angle of the first magnets (502) relative to the first rubber wheel (305) is greater than or equal to 75°.

7. The magnetic climbing wheel structure according to claim 1, characterized in that, The second support frame (6) includes a support tube (604), a first fixing plate (601), a second fixing plate (602), and a U-shaped connecting plate (603). The first fixing plate (601) and the second fixing plate (602) are arranged in parallel. One end of the first fixing plate (601) and one end of the second fixing plate (602) are respectively fixedly connected to both sides of the U-shaped connecting plate (603). Through holes are provided on the other ends of the first fixing plate (601) and the second fixing plate (602). The support tube (604) passes through the first fixing plate (601) and the second fixing plate (602). The through hole on the fixing plate (602) is used to install two axial positioning rings (605) on the support tube (604) by screws. The two axial positioning rings (605) are fixedly connected to the first fixing plate (601) and the second fixing plate (602) respectively. The circumferential positioning ring (606) is fixedly installed on the support tube (604) by screws. The circumferential positioning ring (606) is fixedly connected to the bottom of the bearing plate (1). The two ends of the support tube (604) are fixedly connected to the second fixing block (204), and the second fixing block (204) is fixedly connected to the bottom of the bearing plate (1).

8. The magnetic climbing wheel structure according to claim 7, characterized in that, The steering motor (8) is fixedly installed on the bottom of the U-shaped connecting plate (603), and a support bracket (901) is fixedly installed on the power output shaft of the steering motor (8); the steering wheel component (7) includes a steering wheel hub (701), and the steering wheel hub (701) is rotatably installed on both sides of the support bracket (901) through a rotating shaft (703), and a second rubber wheel rim (702) is fitted on the outer circumference of the steering wheel hub (701).

9. The magnetic climbing wheel structure according to claim 8, characterized in that, The second magnetic attraction component (9) includes a second magnet (902) and a support frame (901). The side of the support frame (901) facing the surface of the object being climbed is cylindrical. The axis of the cylindrical surface is parallel to the axis of the steering hub (701). Two or more second magnets (902) are symmetrically distributed on the cylindrical surface of the support frame (901) about the contact position between the second rubber rim (702) and the surface of the object being climbed. The radial distance between the side of the second magnet (902) facing the surface of the object being climbed and the outer circumference of the second rubber rim (702) gradually decreases from the middle second magnet (902) to the second magnets (902) on both sides.

10. A magnetic climbing wheel structure according to claim 9, characterized in that, The distribution angle of the second magnet (902) relative to the second rubber rim (702) is greater than or equal to 105°; in the forward direction of the steering wheel component (7): the position where the output shaft of the steering motor (8) is connected to the support bracket (901) is located in front of the rotating shaft (703); an arc edge is provided between the outer circumferential surface and the side surface of the second rubber rim (702).

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