Magnetic climbing robot

Abstract

The utility model relates to the technical field of robot, propose a kind of magnetic attraction climbing robot, including torso, identification device, z-axis rotary drive, rotating frame, support wheel support, bending drive, magnetic attraction wheel, controller and action drive;Identification device is set to torso, z-axis rotary drive is respectively set to the four corners of torso downward, rotating frame is set to the output end of z-axis rotary drive, support wheel support is rotationally set to rotating frame, bending drive is fixedly set to support wheel support, and the output end of bending drive is fixedly connected with rotating frame;Magnetic attraction wheel rotationally set to support wheel support, action drive is set to the outside of support wheel support, and the output end of action drive is transmission connection with magnetic attraction wheel;The utility model robot adjusts robot posture by z-axis rotary drive and bending drive etc., can adapt to complex path such as bending, wave or spiral, smoothly pass on rugged or curved surface, greatly expand its working range.

Description

Technical Field

[0001] This utility model relates to the technical field of robots, and in particular to a magnetic climbing robot. Background Technology

[0002] In existing scenarios such as metal bridges and metal cylinders, it is necessary to inspect for damage, cracks, etc. Therefore, inspection robots are needed. Ordinary robots can only adapt to simple movement scenarios on a plane and cannot adapt to applications in complex movement scenarios.

[0003] Existing technology publication number CN120969633A proposes a deformable pipeline defect detection robot. This robot includes a double-layer chassis, a robot body, a mode switching component, and a climbing component. The mode switching component is mounted on the double-layer chassis and drives a portion of the chassis structure to deform between contracted and expanded states. The robot body, through the mode switching component, causes the chassis structure to deform, enabling the pipeline defect detection robot to switch between at least a four-wheel drive mode suitable for driving within pipelines and a climbing mode suitable for climbing ladders. When switching to climbing mode, the robot body controls the deformation of the wheel-shaped structure, forming an intermittent support structure on its outer circumference suitable for cooperating with the ladder. This invention achieves intelligent switching between two functional modes: high-speed movement within pipelines and autonomous climbing and deployment, completely avoiding the safety risks associated with personnel entering the pipeline, and significantly improving the automation level and overall efficiency of pipeline inspection operations.

[0004] However, the robot cannot handle complex movement paths such as curved or wavy shapes, which means it cannot pass through curved or wavy paths and needs to make avoidance maneuvers. If it cannot avoid these maneuvers, it cannot pass through and cannot perform inspection operations, resulting in poor adaptability. Utility Model Content

[0005] To address the aforementioned shortcomings, the purpose of this invention is to propose a magnetic climbing robot that solves the problem that existing technologies cannot handle complex movement paths such as curved or wavy shapes and have poor adaptability.

[0006] To achieve this objective, the present invention adopts the following technical solution: A magnetic climbing robot includes a torso, a recognition device, a z-axis rotation drive, a rotating frame, a support wheel bracket, a bending drive, magnetic wheels, a controller, and a motion drive. The controller is located inside the torso, and the identification device, z-axis rotation drive, bending drive, and movement drive are electrically and communicatively connected to the controller, respectively. The identification device is disposed on the torso and is used to identify road conditions. The z-axis rotation drive is respectively disposed downward at the four corners of the torso, and the rotating frame is disposed at the output end of the z-axis rotation drive. Under the drive of the z-axis rotation drive, the rotating frame rotates around the z-axis. The support wheel bracket is rotatably mounted on the rotating frame, the bending drive is fixedly mounted on the support wheel bracket, and the output end of the bending drive is fixedly connected to the rotating frame. Under the drive of the bending drive, the support wheel bracket rotates around the x-axis. The magnetic chuck is rotatably mounted on the support wheel bracket, and the motion drive component is located on the outside of the support wheel bracket. The output end of the motion drive component is connected to the magnetic chuck for transmission, and the motion drive component is used to drive the magnetic chuck to rotate and move the robot forward.

[0007] Preferably, the bottom of the torso is provided with a mounting groove, the bottom of the mounting groove is provided with an inclined surface, the inclined surface faces downward, and the identification device is disposed on the inclined surface.

[0008] Preferably, the inclined plane is set at an angle α with the robot's walking surface, and the angle α is set to 40°~50°.

[0009] Preferably, the rotating frame is U-shaped, including a fixed section and two bent sections. The two bent sections are respectively vertically arranged at both ends of the fixed section. The middle part of the fixed section is connected to the output end of the Z-axis rotation drive. The two ends of the support wheel bracket are respectively rotatably connected to the two bent sections.

[0010] Preferably, the support wheel bracket is disposed between the two bending sections, one end of the support wheel bracket is rotatably connected to one of the bending sections via a rotating shaft and a bearing, and the other end of the support wheel bracket is provided with the bending drive component, the output shaft of the bending drive component being fixedly connected to the other bending section.

[0011] Preferably, the bottom ends of the support wheel bracket are detachably provided with a support arm and a drive arm, respectively. The magnetic wheel is disposed between the support arm and the drive arm, and the two ends of the magnetic wheel are rotatably connected to the support arm and the drive arm, respectively. The motion drive component is disposed on the outside of the drive arm.

[0012] Preferably, the drive arm includes a mounting plate, a connecting section, and a drive mounting base. The two ends of the connecting section are respectively connected to the mounting plate and the drive mounting base. The mounting plate is installed on the support wheel bracket by bolts. The drive mounting base is provided with a fixing groove, and the motion drive component is disposed in the fixing groove.

[0013] Preferably, a rotating shaft is provided between the support arm and the drive arm, with both ends of the rotating shaft rotatably connected to the support arm and the drive arm respectively, one end of the rotating shaft being connected to the output end of the motion drive component, and the rotating shaft being detachably connected to the magnetic wheel.

[0014] One of the above technical solutions has the following advantages or beneficial effects: 1. The robot can actively adapt to complex geometric paths that are difficult for traditional magnetic robots to pass through, such as curves, waves, cylinders, and spirals, greatly expanding its working range. It does not need to "avoid" or "detour" complex paths. The robot can achieve continuous inspection from plane to curved surface and from straight line to curve, avoiding work interruption and improving inspection efficiency and data integrity. 2. By adjusting the bending joints, it can be ensured that all magnetic wheels can maintain good contact with the wall surface at the same time on uneven or curved surfaces, maximizing the total attraction force and effectively preventing the risk of the whole falling due to individual wheels being suspended in the air. Attached Figure Description

[0015] Figure 1 This is a perspective view of one embodiment of the present invention; Figure 2 This is an exploded view of one embodiment of the present invention; Figure 3 yes Figure 2 A magnified view of a portion of the image; The components include: torso 1, mounting slot 11, identification device 2, z-axis rotation drive 3, rotating frame 4, fixed section 41, bending section 42, support wheel bracket 5, support arm 51, drive arm 52, mounting plate 521, connecting section 522, drive mounting base 523, fixed slot 524, rotating shaft 54, bending drive 6, magnetic wheel 7, and motion drive 8. Detailed Implementation

[0016] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0017] In the description of this utility model, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They 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, and therefore should not be construed as a limitation on this utility model. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish and describe features, without any order or emphasis.

[0018] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0019] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0020] The following is combined with Figures 1 to 3 A magnetic climbing robot according to an embodiment of the present invention includes a torso 1, a recognition device 2, a z-axis rotation drive 3, a rotating frame 4, a support wheel bracket 5, a bending drive 6, a magnetic wheel 7, a controller, and a motion drive 8. The controller is located inside the torso 1. The identification device 2, the z-axis rotation drive 3, the bending drive 6, and the movement drive 8 are electrically and communicatively connected to the controller, respectively. The identification device 2 is disposed on the torso 1 and is used to identify road conditions; The z-axis rotation drive 3 is respectively disposed downward at the four corners of the torso 1, and the rotating frame 4 is disposed at the output end of the z-axis rotation drive 3. Under the drive of the z-axis rotation drive 3, the rotating frame 4 rotates around the z-axis. The support wheel bracket 5 is rotatably mounted on the rotating frame 4, the bending drive 6 is fixedly mounted on the support wheel bracket 5, and the output end of the bending drive 6 is fixedly connected to the rotating frame 4. Under the drive of the bending drive 6, the support wheel bracket 5 rotates around the x-axis. The magnetic chuck 7 is rotatably mounted on the support wheel bracket 5, and the motion drive 8 is located on the outside of the support wheel bracket 5. The output end of the motion drive 8 is connected to the magnetic chuck 7 in a transmission manner, and the motion drive 8 is used to drive the magnetic chuck 7 to rotate and move the robot forward.

[0021] Specifically, traditional magnetic robots cannot flexibly adjust their posture on complex paths such as bends (e.g., pipe bends), wavy surfaces (e.g., ship hull curves), or cylindrical spirals (e.g., spiral staircase supports). They cannot pass through or must avoid such paths. When encountering these paths, due to rigid structures or insufficient degrees of freedom, the robot either gets stuck and cannot pass through or can only detour, making it impossible to complete continuous inspection operations. The recognition device 2, acting as the robot's "eyes," can be a camera, lidar, or proximity sensor. It is responsible for scanning the movement path and road conditions ahead, as well as features that need to be inspected, such as metal cracks, and identifying information such as the degree of curvature, slope, diameter, and metal cracks in the path. The controller, acting as the robot's "brain," receives data from the recognition device 2 and performs calculations based on preset algorithms, such as different patterns for bend paths and cylindrical paths. It then issues control commands to each drive component to adjust the robot's posture. The z-axis rotation drive 3 is usually a servo motor. Each z-axis rotation drive 3 at each corner can drive the rotating frame 4 to rotate in the horizontal plane independently or in concert. This is equivalent to equipping each wheel with an independent "steering gear". For example, on a planar curved path, it can achieve a steering similar to that of a car, smoothly cornering. On a cylindrical spiral path, the four wheels can adjust their direction simultaneously to be consistent with the tangent direction of the spiral, thereby generating an upward climbing force.

[0022] The bending drive component 6, such as a servo motor or servo drive, pushes or pulls the support wheel bracket 5, causing it to swing up and down around the x-axis relative to the rotating frame 4. This constitutes the robot's bending joint. For example, on a wavy path, the robot can bend its body like a feline, ensuring that all magnetic wheels 7 can be tightly attached to the surface, preventing the adhesion force from failing due to individual wheels being suspended. On cylinders of different diameters, the bending joint can change the distance between the robot body and the cylinder surface, adjusting the degree of "clutching" of the robot to adapt to changes in diameter.

[0023] The motion drive component 8, typically a servo motor, drives the magnetic chuck 7 to rotate, providing forward and backward propulsion. The magnetic chuck 7 integrates permanent magnets or electromagnets, generating a strong magnetic attraction force that allows the robot to firmly adhere to steel surfaces, such as ship hulls, storage tanks, steel structures, or steel pipes, overcoming gravity.

[0024] The robot can actively adapt to complex geometric paths that traditional magnetic robots cannot pass through, such as curves, waves, cylinders, and spirals, greatly expanding its working range. It does not need to "avoid" or "detour" complex paths. The robot can perform continuous inspections from planes to curved surfaces and from straight lines to curves, avoiding work interruptions and improving inspection efficiency and data integrity. By adjusting the bending joints, it can ensure that all magnetic wheels 7 can maintain good contact with the wall surface at the same time on uneven or curved surfaces, maximizing the total adsorption force and effectively preventing the risk of the whole robot falling due to individual wheels being suspended in the air.

[0025] Furthermore, the bottom of the torso 1 is provided with a mounting groove 11, the bottom of the mounting groove 11 is provided with an inclined surface, the inclined surface faces downward, and the identification device 2 is disposed on the inclined surface.

[0026] Specifically, the ramp is designed to "face downwards," meaning it slopes towards the outside of the device and the ground. The fundamental purpose of this design is to provide the identification device 2 with an unobstructed and better forward-looking view. The mounting slot 11 itself forms a physical protective structure that can enclose the identification device 2 inside, preventing it from directly scratching or colliding with the wall during climbing, thus improving the durability of the device.

[0027] Furthermore, the inclined plane is set at an angle α to the robot's walking surface, and the angle α is set to 40°~50°.

[0028] Specifically, angle 'a' is preferably set to 45°. Smaller angles (e.g., <40°) result in a more horizontal field of view, allowing for a longer distance, but neglecting details of the path immediately before the robot's approach, potentially leading to insufficient reaction time to small obstacles or sudden cracks. Larger angles (e.g., >50°) result in a more downward-biased field of view, clearly showing subtle road conditions in front of the wheels, but significantly shortening the look-ahead distance, leaving the robot insufficient time to anticipate and adjust to curves or changes in slope ahead. The optimal balance is around 45°: this angle perfectly balances both. It provides a sufficiently long look-ahead distance, allowing the controller time to plan the path and adjust its posture; simultaneously, it effectively covers the mid-to-near field, ensuring the robot can clearly identify the specific details of the path segment it is about to enter. Furthermore, software developers can write and optimize image recognition and path planning algorithms for this fixed, optimal 45° perspective, eliminating the need for adaptation to various random angles, greatly improving software efficiency and reliability.

[0029] Further, the rotating frame 4 is in a "冂" shape, comprising a fixed section 41 and two bending sections 42, the two bending sections 42 are respectively vertically arranged at two ends of the fixed section 41, the middle part of the fixed section 41 is connected with the output end of the Z-axis rotation driving member 3, and two ends of the supporting wheel bracket 5 are respectively rotatably connected with the two bending sections 42.

[0030] The specific posture changes include: Z-axis rotation: when the Z-axis rotation driving member 3 operates, it drives the entire rotating frame 4 to horizontally rotate around the Z axis. Since the supporting wheel bracket 5 is suspended on the rotating frame 4, the horizontal orientation of the wheel changes accordingly.

[0031] X-axis bending: when the bending driving member 6 operates, it pushes the supporting wheel bracket 5 to perform pitching motion around the axis connected with the two bending sections 42, that is, the X axis.

[0032] By arranging the driving connection point at the middle part of the fixed section 41 and suspending the supporting wheel bracket 5 on the two symmetrical bending sections 42, a perfect symmetrical design is realized. When rotating around the Z axis, the driving force acts on the center without eccentric moment, so the rotation is stable and efficient, and the load on the driving member is minimized. When bearing adsorption force and gravity, the load is evenly shared through the two bending sections 42, which avoids the situation of excessive unilateral stress, and greatly improves the reliability and service life of the structure.

[0033] Further, the supporting wheel bracket 5 is arranged between the two bending sections 42, one end of the supporting wheel bracket 5 is rotatably connected to one of the bending sections 42 through a rotating shaft and a bearing, the other end of the supporting wheel bracket 5 is provided with the bending driving member 6, and the output shaft of the bending driving member 6 is fixedly connected to the other bending section 42.

[0034] Specifically, when the bending driving member 6 is driven under the control of a controller, a relative rotation trend is generated between the outer shell and the output shaft of the bending driving member 6. Since the outer shell is fixed to the supporting wheel bracket 5 and the output shaft is fixed to the rotating frame 4, when the output shaft is fixed, the reaction force drives the outer shell, that is, the entire supporting wheel bracket 5, to rotate around the hinged end on the opposite side, thereby realizing the pitching bending motion around the X axis. The bending driving member 6 itself becomes a part of the structure of the supporting wheel bracket 5, and is skillfully embedded between one supporting leg of the rotating frame 4 and the supporting wheel bracket 5, so the structure is more compact. The output of the bending driving member 6 directly acts on the moving part, and there are no complex transmission links such as gears and connecting rods in the middle, so the bending driving device has high response speed and high rigidity, avoids the inherent backlash problem in gear transmission, so the posture control is very accurate and stable, and the robot can stably maintain a specific bending angle.

[0035] Furthermore, the bottom ends of the support wheel bracket 5 are detachably provided with support arm 51 and drive arm 52, respectively. The magnetic wheel 7 is disposed between the support arm 51 and drive arm 52. The two ends of the magnetic wheel 7 are rotatably connected to the support arm 51 and drive arm 52, respectively. The motion drive component 8 is disposed on the outside of the drive arm 52.

[0036] Specifically, the support arm 51 functions purely to provide mechanical support, bearing the force and torque transmitted from the magnetic wheel 7 to ensure stable wheel rotation. The drive arm 52, located at the other end, not only provides mechanical support but also integrates the power system, i.e., it houses the motion drive component 8. This embodiment achieves modular functionality and convenient maintenance. If the motion drive component 8 is damaged or requires an upgrade, there is no need to replace the entire support wheel bracket 5 or the other support arm 51; only the components need to be disassembled and the drive arm 52 module replaced, significantly reducing maintenance time.

[0037] Furthermore, the drive arm 52 includes a mounting plate 521, a connecting section 522, and a drive mounting base 523. The two ends of the connecting section 522 are respectively connected to the mounting plate 521 and the drive mounting base 523. The mounting plate 521 is installed on the support wheel bracket 5 by bolts. The drive mounting base 523 is provided with a fixing groove 524, and the motion drive component 8 is disposed in the fixing groove 524.

[0038] Specifically, the mounting plate 521 is the connecting piece between the drive arm 52 and the support wheel bracket 5, and it is rigidly and detachably fixed by bolts. The drive mounting base 523 is the base of the motion drive component 8, and it is specially designed with a fixing groove 524 to accommodate and lock the motor. The connecting section 522 is the bridge connecting the mounting plate 521 and the drive mounting base 523. The motor is firmly locked in the fixing groove 524, minimizing vibration and displacement during operation, which is crucial for ensuring transmission efficiency, reducing noise, and extending motor life.

[0039] Furthermore, a rotating shaft 54 ​​is provided between the support arm 51 and the drive arm 52. The two ends of the rotating shaft 54 ​​are rotatably connected to the support arm 51 and the drive arm 52, respectively. One end of the rotating shaft 54 ​​is connected to the output end of the motion drive component 8. The rotating shaft 54 ​​is detachably connected to the magnetic wheel 7.

[0040] Specifically, since the magnetic wheel 7 and the rotating shaft 54 ​​are detachable, when the magnetic wheel 7 is worn out, its magnetism weakens, it gets stuck by foreign objects, or a different type of wheel needs to be replaced, only the magnetic wheel 7 itself can be disassembled and replaced. Maintenance costs are low, eliminating the need to replace the entire drive arm 52, support arm 51, or expensive motor assembly, significantly reducing spare parts costs and maintenance expenses. Replacing a wheel is much faster than disassembling the entire drive system, greatly improving the robot's uptime and operational efficiency. The two ends of the rotating shaft 54 ​​are supported by bearings on the support arm 51 and drive arm 52, forming a rigid shaft system with span support, resulting in smoother operation. The magnetic wheel 7, mounted on this rigid, well-aligned shaft, can rotate smoothly, minimizing vibration and jumping.

[0041] Other components and operations of the magnetic climbing robot according to the embodiments of this utility model are known to those skilled in the art and will not be described in detail here.

[0042] In this specification, the terms "embodiment," "example," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0043] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A magnetic climbing robot, characterized in that: It includes a torso, identification device, z-axis rotation drive, rotating frame, support wheel bracket, bending drive, magnetic wheel, controller, and motion drive; The controller is located inside the torso, and the identification device, z-axis rotation drive, bending drive, and movement drive are electrically and communicatively connected to the controller, respectively. The identification device is disposed on the torso and is used to identify road conditions. The z-axis rotation drive is respectively disposed downward at the four corners of the torso, and the rotating frame is disposed at the output end of the z-axis rotation drive. Under the drive of the z-axis rotation drive, the rotating frame rotates around the z-axis. The support wheel bracket is rotatably mounted on the rotating frame, the bending drive is fixedly mounted on the support wheel bracket, and the output end of the bending drive is fixedly connected to the rotating frame. Under the drive of the bending drive, the support wheel bracket rotates around the x-axis. The magnetic chuck is rotatably mounted on the support wheel bracket, and the motion drive component is located on the outside of the support wheel bracket. The output end of the motion drive component is connected to the magnetic chuck for transmission, and the motion drive component is used to drive the magnetic chuck to rotate and move the robot forward.

2. The magnetic climbing robot according to claim 1, characterized in that: The bottom of the torso is provided with a mounting groove, the bottom of the mounting groove is provided with an inclined surface, the inclined surface faces downward, and the identification device is disposed on the inclined surface.

3. The magnetic climbing robot according to claim 2, characterized in that: The inclined plane is set at an angle α with the robot's walking surface, and the angle α is set to 40°~50°.

4. The magnetic climbing robot according to claim 1, characterized in that: The rotating frame is "U" shaped and includes a fixed section and two bent sections. The two bent sections are respectively vertically arranged at both ends of the fixed section. The middle part of the fixed section is connected to the output end of the z-axis rotation drive. The two ends of the support wheel bracket are respectively rotatably connected to the two bent sections.

5. A magnetic climbing robot according to claim 4, characterized in that: The support wheel bracket is disposed between the two bending sections. One end of the support wheel bracket is rotatably connected to one of the bending sections via a rotating shaft and a bearing. The other end of the support wheel bracket is provided with the bending drive component, and the output shaft of the bending drive component is fixedly connected to the other bending section.

6. A magnetic climbing robot according to claim 1, characterized in that: The bottom ends of the support wheel bracket are detachably provided with a support arm and a drive arm, respectively. The magnetic wheel is disposed between the support arm and the drive arm, and the two ends of the magnetic wheel are rotatably connected to the support arm and the drive arm, respectively. The motion drive component is disposed on the outside of the drive arm.

7. A magnetic climbing robot according to claim 6, characterized in that: The drive arm includes a mounting plate, a connecting section, and a drive mounting base. The two ends of the connecting section are respectively connected to the mounting plate and the drive mounting base. The mounting plate is installed on the support wheel bracket by bolts. The drive mounting base is provided with a fixing groove, and the motion drive component is disposed in the fixing groove.

8. A magnetic climbing robot according to claim 7, characterized in that: A rotating shaft is provided between the support arm and the drive arm. The two ends of the rotating shaft are rotatably connected to the support arm and the drive arm, respectively. One end of the rotating shaft is connected to the output end of the motion drive component. The rotating shaft is detachably connected to the magnetic wheel.

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