A touch arm type adaptive magnetic adsorption wall-climbing robot
By designing a tentacled adaptive magnetic adsorption wall-climbing robot, the problems of unstable adsorption at complex wall transitions and insufficient turning in narrow spaces of wheeled magnetic adsorption wall-climbing robots are solved, achieving stable adsorption and flexible turning on complex steel structure surfaces.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HEFEI INSTITUTE OF PHYSICAL SCIENCE CHINESE ACADEMY OF SCIENCES
- Filing Date
- 2026-06-23
- Publication Date
- 2026-07-24
Smart Images
Figure CN224546148U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robot equipment technology, and in particular to a tentacled adaptive magnetic adsorption wall-climbing robot. Background Technology
[0002] Large steel structures such as ships, petrochemical storage tanks, bridges, and box girders often require inspection. Magnetic adsorption wall-climbing robots can adhere to steel structure walls using magnetic wheels or magnetic adsorption modules and move on the wall via wheels, making them suitable for close-range inspection and patrol of these metal walls. Existing wheeled magnetic adsorption wall-climbing robots can maintain basic walking on flat walls, but when crossing walls with inner right angles, outer right angles, concave and convex surfaces, or abrupt changes in local shape, the relative angle between the magnetic wheels and the wall changes rapidly with the wall shape. The magnetic adsorption direction cannot adapt to the new wall normal in time, easily causing a decrease in magnetic adsorption force, fluctuations in vehicle posture, or partial detachment from the wall. Some robots use fixed wheel structures or simple deflection structures, and the connection between the magnetic wheel posture and the frame or wheels is relatively rigid. When encountering wall corners, they lack mechanical linkage components that can first contact the wall and drive the magnetic wheels to adjust their posture. Meanwhile, within the narrow interior space of a steel structure, traditional wheel structures typically require a large turning radius, making it difficult to complete small-radius turns or turn around on the spot, which is not conducive to continuous inspection of robots in confined spaces.
[0003] Therefore, how to ensure that magnetic adsorption wall-climbing robots maintain stable adsorption at complex wall transitions while also having the ability to turn in small spaces has become a technical challenge that urgently needs to be solved. Utility Model Content
[0004] The purpose of this invention is to provide a tentacle-type adaptive magnetic adsorption wall-climbing robot, which aims to enable the magnetic adsorption wall-climbing robot to maintain stable adsorption at complex wall transitions while also taking into account the turning ability in small spaces.
[0005] To achieve the above objectives, this utility model provides a tentacle-arm type adaptive magnetic adsorption wall-climbing robot, comprising: a frame plate; at least two sets of wheel assemblies, each set of wheel assemblies including a wheel frame, a drive motor, a wheel, and a magnetic wheel, wherein the drive motor is mounted on the wheel frame, and the output end of the drive motor is connected to the wheel to drive the wheel to rotate, and the magnetic wheel is coaxially disposed on the wheel frame with the wheel; each set of wheel assemblies is correspondingly provided with a steering structure, the steering structure including a steering motor mounted on the frame plate, and a steering rudder connected to the output end of the steering motor, the steering rudder being fixedly connected to the corresponding wheel frame, and the steering motor being used to drive the wheel through the steering rudder. The corresponding wheel frame rotates relative to the frame plate; and each wheel assembly has two contact arms, which are respectively disposed on both sides of the corresponding wheel, and each contact arm is coaxially disposed with the corresponding magnetic wheel, and is circumferentially linked to the corresponding magnetic wheel through a circumferential locking connection structure for limiting their relative circumferential rotation. The contact arm and the corresponding magnetic wheel are rotatably supported on the corresponding wheel frame by bearings to form a linkage structure with the same degree of freedom that allows the contact arm and the corresponding magnetic wheel to rotate synchronously around the same axis. When the contact arm rotates due to wall constraint, it drives the corresponding magnetic wheel to synchronously change its angle relative to the frame plate.
[0006] Preferably, there are two sets of wheel assemblies, namely a first wheel assembly and a second wheel assembly; the first wheel assembly includes a first wheel frame, and the second wheel assembly includes a second wheel frame; the first wheel assembly and the second wheel assembly are respectively disposed on the front and rear sides of the frame plate.
[0007] Preferably, the steering structure includes a first steering motor, a second steering motor, a first steering rudder, and a second steering rudder; the first steering motor and the second steering motor are respectively mounted on the frame plate; the first steering rudder is fixedly connected to the first wheel frame, and the output end of the first steering motor is connected to the first steering rudder; the second steering rudder is fixedly connected to the second wheel frame, and the output end of the second steering motor is connected to the second steering rudder.
[0008] Preferably, the contact arm includes a first arc-shaped arm segment and a second arc-shaped arm segment connected in sequence.
[0009] Preferably, the two contact arms disposed on both sides of the wheel of the same wheel assembly are fixedly connected by a connecting post.
[0010] Preferably, the magnetic wheel is provided with a plurality of permanent magnet blocks, which are arranged circumferentially along the magnetic wheel, and the magnetization direction of adjacent permanent magnet blocks is deflected sequentially according to the Halebeck array pattern. The Halebeck array refers to a magnetic arrangement structure in which the magnetization direction of the plurality of permanent magnet blocks is arranged in sequence at a preset angle along the circumference, so that the magnetic field is enhanced on the side of the magnetic wheel facing the wall and weakened on the side away from the wall.
[0011] Preferably, the output end of the drive motor is connected to the wheel via a transmission connector to transmit driving torque to the wheel.
[0012] Preferably, the transmission connecting component is a cross-shaped rudder arm.
[0013] Preferably, the transmission connection is a coupling.
[0014] Preferably, the linkage structure with the same degree of freedom further includes a shaft, a flange bearing, and a gasket; the bearing component includes the flange bearing, and the contact arm, the shaft, the magnetic wheel, the flange bearing, and the gasket are assembled to form the linkage structure with the same degree of freedom.
[0015] Preferably, each wheel assembly further includes a wheel cover disposed on the side of the wheel frame and covering the outer drive area of the wheel assembly.
[0016] Preferably, the top of the frame plate is provided with a lidar mounting position, and a lidar module is fixedly installed on the lidar mounting position.
[0017] The above technical solution has the following advantages: The tentacled adaptive magnetic adsorption wall-climbing robot is equipped with a frame, at least two sets of wheel assemblies, a steering structure, and tentacled arms. Each wheel assembly is driven by a motor to rotate the wheel, providing propulsion. A magnetic wheel is coaxially mounted on the wheel frame, providing adsorption force to the steel wall structure. A steering motor drives the wheel frame to rotate relative to the frame via a steering rudder, allowing the wheel's direction of travel to be changed. Each wheel assembly has two tentacled arms, positioned on either side of the corresponding wheel. Each tentacled arm is coaxially mounted with its corresponding magnetic wheel and circumferentially linked via a circumferential locking connection structure. The tentacled arms and corresponding magnetic wheels are rotatably supported on the corresponding wheel frame via bearings, forming a linkage structure with the same degree of freedom. When the robot passes through an inner right angle... When there are transitional areas such as protrusions or curved surfaces that allow the stylus arm to form contact constraints with the wall, the stylus arm can first contact the wall and rotate under the constraint of the wall. The magnetic wheel changes its angle relative to the frame plate synchronously with the stylus arm, so that the adsorption direction of the magnetic wheel is passively adjusted according to the corresponding wall shape, reducing the sudden change in adsorption force at such complex wall transitions. When the robot approaches the outer right-angle edge, the arc-shaped stylus arm in front of the wheel is in a suspended avoidance state and does not contact any wall, thereby avoiding interference between the arc-shaped stylus arm and the outer right-angle edge. The steering structure can also improve the robot's ability to change its direction of travel in narrow spaces. The entire solution relies on specific mechanical components and their assembly relationships to achieve the above effects. The structure is simple, the response is timely, and it is suitable for inspection operations on complex steel structure walls. Attached Figure Description
[0018] The present invention will now be described in detail with reference to specific embodiments and accompanying drawings, wherein: Figure 1 This is a schematic diagram of the overall structure of the touch-arm type adaptive magnetic adsorption wall-climbing robot of this utility model.
[0019] Figure 2 This is an exploded view of the assembly of the wheel assembly, contact arm, magnetic wheel and bearing components of this utility model.
[0020] Figure 3 This is a schematic diagram of the robot's in-situ turning motion, wherein... Figure 3 In the diagram, 'a' represents the initial travel state. Figure 3 In the diagram, 'b' represents the transition state during steering. Figure 3 The 'c' in the diagram represents the completed U-turn state.
[0021] Figure 4 This is a schematic diagram illustrating the motion state of the robot when it flips over an outer right angle, with the arc-shaped stylus arm in front of the wheel in a completely suspended, avoidance position.
[0022] Figure 5 This diagram illustrates the motion state of a robot when it crosses an inner right angle. The curved arm first contacts the vertical wall in front of it, and under the constraint of the wall, it drives the magnetic wheel to tilt upwards synchronously. Detailed Implementation
[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. It should be noted that the terms used in the embodiments of the present utility model, such as center, longitudinal, transverse, length, width, thickness, upper, lower, front, back, left, right, vertical, horizontal, top, bottom, inner, outer, clockwise, counterclockwise, axial, radial, and circumferential, indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present utility model, "multiple" means two or more, unless otherwise explicitly specified.
[0024] Example 1 This embodiment provides a tentacle-arm type adaptive magnetic adsorption wall-climbing robot, mainly used for inspection operations on the surfaces of large metal or steel structures such as ships, petrochemical storage tanks, and bridges. These working environments typically have complex wall morphologies, including features such as inner right angles, outer right angles, concave and convex surfaces, or local abrupt changes. When traditional wheeled magnetic adsorption wall-climbing robots traverse these complex walls, the relative angle between the magnetic wheels and the wall surface easily changes drastically, causing the magnetic adsorption direction to fail to adapt to the changes in the wall's normal direction in a timely manner. This can lead to a sharp drop in adsorption force, robot instability, or even the risk of falling. Furthermore, the wheel structures of traditional wall-climbing robots often use fixed or simple deflection connections, resulting in a large turning radius within the narrow interior space of steel structures, making it difficult to perform agile maneuvers such as turning around on the spot. To solve these technical problems, the wall-climbing robot of this embodiment achieves passive adaptive adjustment of the magnetic wheel attitude and small-radius or zero-radius turning through an innovative mechanical structure.
[0025] like Figure 1 and Figure 2As shown, the touch-arm type adaptive magnetic adsorption wall-climbing robot of this embodiment includes a frame plate 1 and at least two sets of wheel assemblies 2 disposed on the frame plate 1; the frame plate 1 serves as the basic support platform for the entire robot, and its top can also be provided with a laser radar mounting position for installing various environmental sensing devices, on which a laser radar module 6 is fixedly installed; the laser radar module 6 is disposed on the top of the frame plate 1, which is conducive to obtaining a wider scanning field of view and facilitating the acquisition of information about the robot's surrounding environment; the laser radar module 6 and its mounting position are used to provide the hardware foundation for environmental sensing and are fixedly connected to the frame plate 1.
[0026] To ensure smooth driving and balanced drive, this embodiment uses two sets of wheel assemblies 2, namely a first wheel assembly and a second wheel assembly. The first wheel assembly and the second wheel assembly are symmetrically arranged on the front and rear sides of the frame plate 1, respectively. In other optional layouts, the two sets of wheel assemblies can also be arranged on the left and right sides of the frame plate 1 according to the needs of the center of gravity structure. The overall structure of the machine is compact and very suitable for the aforementioned inspection applications on narrow or complex steel structure surfaces. In practical applications, each wheel assembly 2 includes a supporting core unit, namely the wheel frame 21, and a component mounted on the wheel. The frame 21 includes a drive motor 22, wheels 23, and a magnetic wheel 24. The wheel frame 21 is a metal or alloy frame with a certain structural strength, used to integrate and install the corresponding power and adsorption components. The drive motor 22 is fixedly mounted on the wheel frame 21, and the output end of the drive motor 22 is connected to the wheel 23 through a transmission connector to transmit driving torque to the wheel 23, thereby driving the wheel 23 to rotate and driving the robot to move as a whole. The transmission connector can specifically be a cross rudder arm, a coupling, or other equivalent rigid transmission components to ensure that the power output by the drive motor 22 can be reliably transmitted to the wheel 23.
[0027] like Figures 1 to 3 As shown, the wheel assembly is in the assembly and steering state; among them, as Figure 1As shown, the steering structure 3 includes a steering motor 31 mounted on the frame plate 1 and a steering rudder 32 fixedly connected to the output end of the steering motor 31. The steering rudder 32 is made of metal and is fixedly connected to the wheel frame 21 by bolts to transmit the steering torque output by the steering motor 31. The surface of the steering rudder 32 is fixedly connected to the top or side of the wheel frame 21 by bolts or other fasteners. When the robot needs to change its direction of travel, the frame plate 1 remains relatively stable, the steering motor 31 starts according to the control command, and its output shaft drives the steering rudder 32 to rotate, which in turn drives the entire wheel frame 21 below to rotate relative to the frame plate 1. Since the drive motor 22 and the wheel 23 are both integrated on the wheel frame 21, this rotation causes the rolling direction of the wheel 23 to change. In the structure containing two sets of wheel assemblies 2, the first wheel assembly and the second wheel assembly can be independently steering controlled by their respective steering motors 31. The front and rear sets of wheel frames 21 deflect in opposite directions. After deflection, the travel directions of the front and rear sets of wheels 23 are tangent to the same circumference. The center of this circumference is the geometric center of the robot. With the drive motors driving in the same or opposite directions, the robot can make small-radius turns or even zero-radius U-turns around its geometric center, improving the robot's maneuverability in narrow and complex spaces.
[0028] Another key improvement in this embodiment is the introduction of a tentacle-type adaptive structure. In traditional wall-climbing robots, the attitude of the magnetic wheel is often rigidly bound to the frame or wheel. In this embodiment, each wheel assembly 2 has a tentacle 4 on both sides of the wheel 23. The tentacle 4 preferably includes a first arc-shaped arm segment and a second arc-shaped arm segment connected in sequence. That is, a tentacle 4 with an arc-shaped outer edge is provided on the left and right sides of the wheel 23, respectively. The arc-shaped outer edge extends forward and / or downward relative to the outer periphery of the wheel 23. In the case of transitions such as inner right angle, protrusion, or curved surface, it is used to form a contact constraint with the wall surface before the wheel 23 reaches the adjacent wall. In the case of outer right angle transition, the arc-shaped tentacle 4 located in front of the wheel 23 is in a suspended avoidance state and does not contact any wall surface. The tentacles 4 on both sides are fixedly connected by a connecting column. The connecting column is made of copper to ensure that the tentacles 4 on both sides can maintain the overall structural stability and synchronous movement when subjected to force.
[0029] The magnetic wheel 24 and the wheel 23 are coaxially mounted on the wheel frame 21. The magnetic wheel 24 generates a magnetic attraction force on the steel structure wall at the bottom. To achieve the adaptive function, the contact arm 4 and the magnetic wheel 24 are coaxially mounted and circumferentially linked through a circumferential locking connection structure. The contact arm 4 and the magnetic wheel 24 are rotatably supported on the wheel frame 21 by bearing components to form a linkage structure with the same degree of freedom. This linkage structure with the same degree of freedom further includes a shaft 51, a flange bearing 52, and a gasket 53. The gasket 53 is specifically a cylindrical gasket used to position the gap between the various components in the axial direction. The aforementioned bearing component includes the flange bearing 52. During assembly, the contact arm 4 and the magnetic wheel 24 are fixed on the same rotational degree of freedom of the shaft 51, and are circumferentially locked by a key connection structure, pin connection structure, spline connection structure, screw clamping connection structure, irregular shaft mating structure or integral molding structure. The flange bearing 52 and the shaft 51 rotate relative to the wheel frame 21, and the gasket 53 is used for axial limiting, thereby forming a linkage structure with the same degree of freedom that can rotate freely around the same axis.
[0030] When the wall-climbing robot travels in a straight line on a flat steel wall, the wheels 23 are on the ground. The bottom arc surface of the tentacle 4 maintains a preset gap with the wall surface. The preset gap is smaller than the initial contact stroke of the tentacle 4 before the wheels 23 contact the adjacent transition wall surface. At this time, the bottom magnetic pole plane of the magnetic wheel 24 is parallel to the current wall surface, providing a positive adsorption force. When the robot travels to a transition area such as an inner right angle, a protrusion, or a sudden change in curvature that can cause the tentacle 4 to form a contact constraint with the wall surface, the arc-shaped outer edge of the tentacle 4 extends forward and / or close to the wall surface relative to the outer periphery of the wheels 23 along the robot's direction of travel, so that the tentacle 4 contacts the sudden change edge or transition wall surface before the wheels 23 cross the corresponding wall transition area. When the robot moves to the outer right angle transition area, the arc-shaped tentacle 4 suspended in front of the wheels 23 is completely suspended and does not contact any wall surface. In the outer right angle state, the arc-shaped tentacle 4 mainly plays a role in suspension and avoidance to prevent it from interfering with the outer right angle edge. As the robot continues to move forward, the wall exerts normal and tangential geometric constraints on the stent arm 4, forcing it to passively rotate around its axial center. Since the stent arm 4 and the magnetic wheel 24 form the aforementioned same-degree-of-freedom linkage structure, this passive oscillation of the stent arm 4 is converted into synchronous rotation of the magnetic wheel 24. Therefore, the magnetic wheel 24 can synchronously change its angle relative to the frame plate 1 during its rotation, causing it to prematurely or synchronously conform to the tangential of the abruptly changing wall surface. This passive adaptive attitude adjustment of a purely mechanical structure achieves adaptive adaptation of the magnetic field adsorption direction, reducing the risk of loss of adsorption force in the wall transition area and ensuring the smoothness and safety of the obstacle-crossing process.
[0031] To further enhance the adsorption efficiency per unit volume, multiple permanent magnet blocks are arranged inside the magnetic wheel 24. These permanent magnet blocks are specifically made of neodymium iron boron high-strength permanent magnet material. The multiple permanent magnet blocks are arranged circumferentially along the magnetic wheel 24, and the magnetization directions of adjacent permanent magnet blocks are sequentially deflected according to the Halebeck array pattern. The Halebeck array refers to a magnetic arrangement structure in which the magnetization directions of multiple permanent magnet blocks are sequentially rotated circumferentially at a preset angle, so that the magnetic field is strengthened on the side of the magnetic wheel 24 facing the wall and weakened on the side away from the wall. This special... The unique magnet arrangement structure causes the magnetic field lines to superimpose and converge on the side of the magnetic wheel 24 facing the wall, forming a local magnetic field that is enhanced on the side facing the wall. On the side away from the wall, the magnetic field lines cancel each other out, forming a magnetic field region that is weakened on the side away from the wall. This arrangement feature improves the utilization rate of magnetic energy and the effective magnetic adsorption stability of the magnetic wheel 24 on the steel wall, making it less likely for the robot to slip and fall off when walking on a vertical or upside down. At the same time, it also reduces the electromagnetic interference caused by the leakage magnetic field on the back side to the electronic control components and motor operation above the robot frame plate 1.
[0032] In addition, to protect the moving parts from being jammed by external debris, each wheel assembly 2 also includes a wheel cover, which is installed on the side of the wheel frame 21 and covers the outer transmission area of the wheel assembly 2, providing physical protection for the internal mating parts.
[0033] Example 2 Combination Figure 1 , Figure 2 , Figure 4 and Figure 5 The assembly structure of the contact arm 4 and the magnetic wheel 24 shown in this embodiment, based on Embodiment 1, further expands the explanation of the specific mechanical coordination process of the contact arm-type adaptive magnetic adsorption wall-climbing robot in its external right-angle suspension avoidance state and internal right-angle obstacle crossing action; in actual inspection operations on steel structure surfaces, the robot often needs to cross, for example, 90° external or internal right-angle walls; in this embodiment, the contact arm 4 specifically includes a first arc-shaped arm segment and a second arc-shaped arm segment connected in sequence, and the two contact arms 4 located on both sides of the wheel 23 of the same wheel assembly 2 are fixedly connected by a connecting column, which is made of copper to enhance the overall structural rigidity; when the robot moves to the external right-angle transition area, such as Figure 4 As shown, the arc-shaped contact arm 4 suspended in front of wheel 23 is in a completely suspended avoidance state. The arc-shaped contact arm 4 does not contact the original wall surface, the turning wall surface, or other walls. Therefore, the turning wall surface will not exert a pushing force on the arc-shaped contact arm 4, and the contact arm 4 will not flip upwards due to wall constraints. In this state, the contact arm 4 is mainly used to avoid outer right-angled edges, preventing mechanical interference with them. When encountering an inner right-angled wall surface, such as... Figure 5As shown, the front arc surface of the arc-shaped arm 4 will first press against the vertical wall in front, and under the action of continuous forward driving force, it will passively flip backward, and drive the magnetic wheel 24, which forms a linkage structure with the same degree of freedom, to tilt backward in sync, so that the magnetic wheel 24 faces or fits against the front wall with the inner right angle in advance. This passive attitude adjustment mechanism based on the linkage structure with the same degree of freedom does not rely on complex electronic sensor feedback and closed-loop algorithm, and can improve the obstacle crossing fault tolerance and safety redundancy of the robot in the case of contact constraint wall transition such as inner right angle.
[0034] Example 3 This embodiment further explains the confined space maneuverability and drive transmission details of the tentacled adaptive magnetic adsorption wall-climbing robot. In the internal spaces of ship cabins or bridge box girders, inspection robots often lack sufficient turning radius for traditional Ackerman steering (wheels deflecting according to steering geometry) or differential steering. Therefore, the robot in this embodiment achieves zero-radius on-the-spot turning through the coordination of at least two sets of wheel assemblies and an independent steering structure. Specifically, the first and second wheel assemblies are respectively arranged on the front and rear sides of the frame plate 1. Regarding drive transmission, the output end of the drive motor 22 is connected to the main shaft of the wheel 23 via a cross-shaped steering arm. The cross-shaped steering arm provides reliable torque transmission, directly outputting the motor's power to the wheel 23. Figure 3 a to Figure 3 As shown in c (the lidar module is not shown), when a U-turn is required, the control system sends commands to the first and second steering motors mounted on the chassis plate 1. The first steering motor drives the first wheel frame to deflect to the first direction of travel via the first steering rudder, and the second steering motor drives the second wheel frame to deflect to the second direction of travel via the second steering rudder. Both the first and second directions of travel are tangent to the same circle centered on the robot's geometric center. Subsequently, the drive motors 22 in the front and rear wheel assemblies 2 drive the corresponding wheels 23 to rotate, allowing the robot to complete a U-turn within a space smaller than the traditional turning radius requirement. In addition, a lidar mounting position is provided on the top of the chassis plate 1 for installing environmental perception components. This mounting position avoids the deflection interference zone of the front and rear wheel assemblies 2 in terms of spatial layout and is located at the highest point of the vehicle. The lidar module 6 is fixedly mounted on the lidar mounting position, which not only provides a three-dimensional point cloud scanning field of view with reduced obstruction from the chassis plate and wheel assemblies, but also its relatively independent mounting structure does not affect the same degree of freedom linkage function between the chassis magnetic wheel 24 and the contact arm 4.
Claims
1. A tentacle-arm type adaptive magnetic adsorption wall-climbing robot, characterized in that, include: A frame plate; at least two sets of wheel assemblies, each set of wheel assemblies including a wheel frame, a drive motor, a wheel, and a magnetic wheel, wherein the drive motor is mounted on the wheel frame and its output is connected to the wheel to drive the wheel to rotate, and the magnetic wheel is coaxially disposed on the wheel frame with the wheel; each set of wheel assemblies is provided with a corresponding steering structure, the steering structure including a steering motor mounted on the frame plate and a steering rudder connected to the output of the steering motor, the steering rudder being fixedly connected to the corresponding wheel frame, and the steering motor being used to drive the corresponding wheel frame to rotate relative to the frame plate through the steering rudder. ; and, each of the wheel assemblies is provided with two contact arms, the two contact arms are respectively disposed on both sides of the corresponding wheel, and each contact arm is coaxially disposed with the corresponding magnetic wheel, and is circumferentially linked to the corresponding magnetic wheel through a circumferential locking connection structure for limiting the relative circumferential rotation of the two, the contact arm and the corresponding magnetic wheel are rotatably supported on the corresponding wheel frame through bearing components, so as to form a linkage structure with the same degree of freedom in which the contact arm and the corresponding magnetic wheel can rotate synchronously around the same axis, and when the contact arm rotates due to the constraint of the wall surface, it drives the corresponding magnetic wheel to synchronously change the angle relative to the frame plate.
2. The tentacled adaptive magnetic adsorption wall-climbing robot according to claim 1, characterized in that, The number of wheel assemblies is two sets, namely a first wheel assembly and a second wheel assembly; the first wheel assembly includes a first wheel frame, and the second wheel assembly includes a second wheel frame; the first wheel assembly and the second wheel assembly are respectively disposed on the front and rear sides of the frame plate.
3. The arm-type adaptive magnetic adsorption wall-climbing robot according to claim 2, characterized in that, The steering structure includes a first steering motor, a second steering motor, a first steering rudder, and a second steering rudder; the first steering motor and the second steering motor are respectively mounted on the frame plate; the first steering rudder is fixedly connected to the first wheel frame, and the output end of the first steering motor is connected to the first steering rudder; the second steering rudder is fixedly connected to the second wheel frame, and the output end of the second steering motor is connected to the second steering rudder.
4. The tentacled adaptive magnetic adsorption wall-climbing robot according to claim 1, characterized in that, The contact arm includes a first arc-shaped arm segment and a second arc-shaped arm segment connected in sequence.
5. The tentacled adaptive magnetic adsorption wall-climbing robot according to claim 4, characterized in that, The two contact arms, located on both sides of the wheel of the same wheel assembly, are fixedly connected by a connecting post.
6. The tentacled adaptive magnetic adsorption wall-climbing robot according to claim 1, characterized in that, The magnetic wheel contains multiple permanent magnet blocks arranged circumferentially along the magnetic wheel. The magnetization directions of adjacent permanent magnet blocks are sequentially deflected according to the Halebeck array pattern. The Halebeck array refers to a magnetic arrangement structure in which the magnetization directions of multiple permanent magnet blocks are sequentially rotated circumferentially at a preset angle, so that the magnetic field is enhanced on the side of the magnetic wheel facing the wall and weakened on the side away from the wall.
7. The tentacled adaptive magnetic adsorption wall-climbing robot according to claim 1, characterized in that, The output end of the drive motor is connected to the wheel via a transmission connector to transmit driving torque to the wheel.
8. The arm-type adaptive magnetic adsorption wall-climbing robot according to claim 7, characterized in that, The transmission connector is a cross-shaped rudder arm.
9. The arm-type adaptive magnetic adsorption wall-climbing robot according to claim 7, characterized in that, The transmission connection is a coupling.
10. The tentacled adaptive magnetic adsorption wall-climbing robot according to claim 1, characterized in that, The same degree of freedom linkage structure also includes a shaft, a flange bearing, and a gasket; the bearing component includes the flange bearing, and the contact arm, the shaft, the magnetic wheel, the flange bearing, and the gasket are assembled to form the same degree of freedom linkage structure.
11. The tentacled adaptive magnetic adsorption wall-climbing robot according to claim 1, characterized in that, Each wheel assembly also includes a wheel cover disposed on the side of the wheel frame and covering the outer drive area of the wheel assembly.
12. The tentacled adaptive magnetic adsorption wall-climbing robot according to claim 1, characterized in that, The top of the frame plate is provided with a lidar mounting position, and a lidar module is fixedly installed on the lidar mounting position.