Magnetic wheel set with adjustable magnetic direction and crawling robot

Abstract

The utility model provides a kind of magnetic wheel group with adjustable magnetic direction and crawling robot, it is related to crawling robot field, including wheel hub mechanism, permanent magnetic adsorption unit, permanent magnetic drive mechanism and wheel group drive mechanism, permanent magnetic adsorption unit is rotatably connected with wheel hub mechanism, permanent magnetic drive mechanism drives permanent magnetic adsorption unit rotation adjustment, the rotation axis of permanent magnetic adsorption unit coincides with the central axis of wheel hub mechanism, wheel group drive mechanism drives wheel hub mechanism rotation, this patent is by being provided with independent permanent magnetic drive mechanism and wheel group drive mechanism, so that crawling robot can be under the condition of uninterrupted travel, according to the need of wall transition, real-time fast adjustment the direction of permanent magnetic adsorption unit, it effectively solves the huge transition resistance caused by arc magnet simultaneously producing strong adsorption to double wall in prior art, make the wall transition action of robot become smooth, labor-saving and highly reliable.

Description

Technical Field

[0001] This utility model relates to the field of crawling robots, and in particular to a magnetic wheel assembly with adjustable magnetic direction and a crawling robot. Background Technology

[0002] Boiler water-cooled walls, due to prolonged exposure to high temperatures and corrosive gases, experience thinning and corrosion. Therefore, regular wall thickness checks are essential. Furthermore, the presence of impurities such as coal ash on the surface necessitates thorough cleaning before any inspection. Currently, such inspections in China typically involve erecting scaffolding before manual cleaning and inspection, a time-consuming and high-risk method.

[0003] Compared to the nearly planar working walls with large radii of curvature found in ships and petrochemical storage tanks, water-cooled wall surfaces are significantly different. Magnetic adsorption crawling robots can only move on the outer surface of the circular tubes in water-cooled walls. Because the magnetic adsorption force of the crawling robot is extremely sensitive to the area and distance of the adsorption surface, a high magnetic adsorption force is required for the water-cooled wall crawling robot to crawl stably on the surface. Therefore, when designing the permanent magnet adsorption unit of the water-cooled wall crawling robot, it is necessary to increase the length of the permanent magnet adsorption unit to increase the contact area between the permanent magnet adsorption unit and the water-cooled wall surface, thus ensuring sufficient magnetic adsorption force. Since the boiler water-cooled wall surface has a flame deflection angle, the crawling robot used for cleaning and inspecting the water-cooled wall must have a certain wall transition capability. Currently, the main approach to wall transitions for magnetically adsorbed crawling robots is to design arc magnets. When the crawling robot needs to transition across a wall, the arc magnets generate a magnetic attraction force on the other side of the wall. However, magnetically adsorbed crawling robots with this structure need to overcome strong resistance from the robot's wheel movement surface when transitioning across walls. This resistance is mainly due to the magnetic attraction force generated by the arc magnets on the moving surface of the magnetically adsorbed crawling robot. Therefore, how to solve the above problems has become an urgent issue for those skilled in the art. Utility Model Content

[0004] The technical problem to be solved by this utility model is to overcome the shortcomings of the existing technology and provide a magnetic wheel set with adjustable magnetic direction and a crawling robot. This patent achieves complete decoupling of the robot's movement function and magnetic field direction adjustment function by setting independent permanent magnet drive mechanism and wheel set drive mechanism. This allows the crawling robot to adjust the direction of the permanent magnet adsorption unit in real time according to the needs of wall transition while moving continuously. It effectively solves the huge transition resistance caused by the strong adsorption of the arc magnet on two walls at the same time in the existing technology, making the robot's wall transition action smooth, labor-saving and highly reliable.

[0005] This utility model is achieved through the following technical solution:

[0006] A magnetic wheel assembly with adjustable magnetic direction includes a hub mechanism, a permanent magnet adsorption unit, a permanent magnet drive mechanism, and a wheel assembly drive mechanism. The permanent magnet adsorption unit, the permanent magnet drive mechanism, and the wheel assembly drive mechanism are arranged inside the hub mechanism. The permanent magnet adsorption unit is rotatably connected to the hub mechanism. The permanent magnet drive mechanism drives the permanent magnet adsorption unit to rotate and adjust. The rotation axis of the permanent magnet adsorption unit coincides with the central axis of the hub mechanism. The wheel assembly drive mechanism drives the hub mechanism to rotate.

[0007] As can be seen, in the above technical solution, this patent achieves complete decoupling of the robot's movement function and magnetic field direction adjustment function by setting up independent permanent magnet drive mechanism and wheel group drive mechanism. This enables the crawling robot to adjust the direction of the permanent magnet adsorption unit in real time and quickly according to the needs of wall transition while moving continuously. It effectively solves the huge transition resistance caused by the strong adsorption of the arc magnet on both walls at the same time in the prior art, making the robot's wall transition action smooth, labor-saving and highly reliable.

[0008] According to the above technical solution, preferably, the hub mechanism includes a hub body with its central axis coinciding with the hub body, a left end cover and a right end cover, and the left end cover and the right end cover are respectively fixedly arranged on the left and right sides of the hub body.

[0009] As can be seen, in the above technical solution, this patent adopts a structure in which the left and right end covers are combined with the hub body to form a robust and well-sealed internal space, which facilitates the integrated installation of precision components such as the permanent magnet adsorption unit, the permanent magnet drive mechanism, and the wheel set drive mechanism. This split structure facilitates processing, assembly, and maintenance, while ensuring the overall rigidity and stability of the hub mechanism, providing a structural foundation for the reliable operation of the magnetic wheel set.

[0010] According to the above technical solution, preferably, the hub mechanism further includes a rubber layer, which covers the outer cylindrical surface of the hub body.

[0011] As can be seen, in the above technical solution, the rubber layer covering the outer cylindrical surface of the hub has a buffering and shock-absorbing effect, which can reduce the rigid impact when the wheel assembly comes into contact with the water-cooled wall surface, reduce the noise and vibration generated during the movement, and extend the service life of the wheel assembly and the water-cooled wall surface. In addition, the rubber layer has a high coefficient of friction, which can increase the adhesion between the wheel assembly and the water-cooled wall, prevent the wheel assembly from slipping during crawling, and improve the stability of the robot's movement and the driving efficiency.

[0012] According to the above technical solution, preferably, the wheel drive mechanism includes a motor bracket and a wheel drive motor. The left and right ends of the motor bracket are rotatably connected to the left end cover and the right end cover through bearings. The wheel drive motor is fixedly connected to the motor bracket. The output shaft of the wheel drive motor is coaxially fixedly connected to the left end cover or the right end cover. The wheel drive motor drives the wheel hub mechanism to rotate.

[0013] As can be seen, in the above technical solution, the wheel drive mechanism is fixedly connected to the motor bracket, while the hub mechanism is rotatably connected to the motor bracket via bearings. This design allows the wheel drive motor to drive the entire hub mechanism, resulting in high output torque and direct, efficient transmission. Simultaneously, fixing the drive motor to a non-rotating motor bracket effectively solves the problem of cable entanglement between rotating and fixed components, greatly improving the reliability and continuity of the robot's operation.

[0014] According to the above technical solution, preferably, the permanent magnet drive mechanism includes a permanent magnet drive motor, a first gear and a second gear. The permanent magnet drive motor is fixedly connected to the motor bracket. The output shaft of the permanent magnet drive motor is coaxially fixedly connected to the first gear. The second gear meshes with the first gear for transmission. The second gear is coaxially rotatably connected to the motor bracket. One side of the permanent magnet adsorption unit is fixedly connected to the second gear through a right connector. The other side of the permanent magnet adsorption unit is fixedly connected to a left connector. The left connector is coaxially rotatably connected to the motor bracket.

[0015] As can be seen, in the above technical solution, gear transmission can accurately transmit the rotational motion of the permanent magnet drive motor to the permanent magnet adsorption unit, thereby achieving precise control of the rotation angle of the permanent magnet adsorption unit.

[0016] According to the above technical solution, preferably, the diameter of the second gear is larger than the diameter of the first gear.

[0017] As can be seen, in the above technical solution, the second gear, acting as the driven gear, has a larger diameter than the first gear, creating a reduction transmission ratio. This amplifies the small torque output by the permanent magnet drive motor into the large torque required to drive the permanent magnet adsorption unit to rotate. This design reduces the output load requirements of the permanent magnet drive motor, avoiding motor stalling or failure due to insufficient torque. Simultaneously, the reduction transmission improves transmission accuracy, ensuring the accuracy of the permanent magnet adsorption unit's rotation angle and further enhancing the wheel set's adaptability to different wall curvatures.

[0018] According to the above technical solution, preferably, the second gear is provided with a spaced-out limiting unit, and the motor bracket is provided with two sets of spaced-out proximity switch units, the proximity switch units being used to detect the rotation angle of the permanent magnet adsorption unit.

[0019] According to the above technical solution, preferably, the permanent magnet adsorption unit includes a fan-shaped yoke, a main magnet and a secondary magnet. The size of the main magnet is larger than that of the secondary magnet. Both the main magnet and the secondary magnet are fixedly connected to the yoke. The central axis of the yoke, the main magnet and the secondary magnet coincides with the central axis of the hub mechanism.

[0020] It can be seen that the above technical solution adopts a differentiated design in which the size of the main magnet is much larger than that of the secondary magnet. This is an optimization of the standard Halbach array and further optimizes the magnetic field distribution. This design enables the generation of a greater magnetic adsorption force than the traditional Halbach array or ordinary magnet with the same volume of permanent magnet material. In other words, it improves the utilization rate of the magnetic energy product of the permanent magnet material and meets the stringent requirements of the water-cooled wall inspection crawling robot for high adsorption force.

[0021] This patent also provides a magnetically adjustable crawling robot, including the aforementioned magnetically adjustable magnetic wheel set, and a robot frame. The robot frame includes a fixedly connected chassis, a left frame plate, and a right frame plate, and the wheel set drive mechanism is connected to the left frame plate and the right frame plate.

[0022] The beneficial effects of this utility model are as follows: By setting up an independent permanent magnet drive mechanism and a wheel drive mechanism, this patent achieves complete decoupling of the robot's movement function and magnetic field direction adjustment function. This enables the crawling robot to adjust the direction of the permanent magnet adsorption unit in real time and quickly according to the needs of wall transition while moving continuously. It effectively solves the huge transition resistance caused by the strong adsorption of the arc magnet on both walls at the same time in the prior art, making the robot's wall transition action smooth, labor-saving and highly reliable. Attached Figure Description

[0023] Figure 1 A schematic diagram of an isometric structure according to an embodiment of the present invention is shown;

[0024] Figure 2 A front view structural schematic diagram according to an embodiment of the present invention is shown;

[0025] Figure 3 A top view of the structure according to an embodiment of the present invention is shown;

[0026] Figure 4 It shows Figure 3 Schematic diagram of the cross-sectional structure along the middle AA direction;

[0027] Figure 5 A schematic diagram of the equiaxed side structure after removing the rubber layer according to an embodiment of the present invention is shown;

[0028] Figure 6A front view of the structure after removing the rubber layer according to an embodiment of the present invention is shown;

[0029] Figures 7a to 7e A schematic diagram illustrating the operation of an embodiment of the present invention is shown;

[0030] Figure 8 This diagram illustrates the operation of a circular arc magnet during wall transition in the prior art.

[0031] Explanation of reference numerals in the attached figures:

[0032] 1. Hub mechanism; 2. Permanent magnet adsorption unit; 3. Permanent magnet drive mechanism; 4. Wheel set drive mechanism; 5. Hub body; 6. Left end cover; 7. Right end cover; 8. Motor bracket; 9. Wheel set drive motor; 10. Permanent magnet drive motor; 11. First gear; 12. Second gear; 13. Left connector; 14. Robot frame; 15. Right connector; 16. Rubber layer; 17. Limiting unit; 18. Proximity switch unit; 19. Yoke; 20. Main magnet; 21. Secondary magnet; 22. Chassis; 23. Left frame plate; 24. Right frame plate; 25. Horizontal water-cooled wall surface; 26. Transition surface; 27. Arc magnet. Detailed Implementation

[0033] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and preferred embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0034] In the description of the utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the 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 utility model.

[0035] like Figure 1-8 As shown, this utility model provides a magnetic wheel assembly with adjustable magnetic direction, including a hub mechanism 1, a permanent magnet adsorption unit 2, a permanent magnet drive mechanism 3, and a wheel assembly drive mechanism 4. The permanent magnet adsorption unit 2, the permanent magnet drive mechanism 3, and the wheel assembly drive mechanism 4 are arranged inside the hub mechanism 1. The permanent magnet adsorption unit 2 is rotatably connected to the hub mechanism 1. The permanent magnet drive mechanism 3 drives the permanent magnet adsorption unit 2 to rotate and adjust. The rotation axis of the permanent magnet adsorption unit 2 coincides with the central axis of the hub mechanism 1. The wheel assembly drive mechanism 4 drives the hub mechanism 1 to rotate.

[0036] The hub mechanism 1 includes a hub body 5 with its central axis coinciding, a left end cover 6, and a right end cover 7. The left end cover 6 and the right end cover 7 are respectively fixedly arranged on the left and right sides of the hub body 5. This patent adopts a structure in which the left end cover 6 and the right end cover 7 are combined with the hub body 5 to form a robust and well-sealed internal space, which facilitates the integration and installation of precision components such as the permanent magnet adsorption unit 2, the permanent magnet drive mechanism 3, and the wheel set drive mechanism 4. This split structure is easy to process, assemble, and maintain, while ensuring the overall rigidity and stability of the hub mechanism 1, providing a structural basis for the reliable operation of the magnetic wheel set.

[0037] The wheel drive mechanism 4 includes a motor bracket 8 and a wheel drive motor 9. Both ends of the motor bracket 8 are rotatably connected to the left end cover 6 and the right end cover 7 via bearings. The wheel drive motor 9 is fixedly connected to the motor bracket 8. The output shaft of the wheel drive motor 9 is coaxially fixedly connected to either the left end cover 6 or the right end cover 7. The wheel drive motor 9 drives the wheel hub mechanism 1 to rotate. The wheel hub mechanism 1 is rotatably connected to the motor bracket 8 via bearings. This design allows the wheel drive motor 9 to drive the entire wheel hub mechanism 1, resulting in high output torque and direct and efficient transmission. At the same time, fixing the drive motor on the non-rotating motor bracket 8 effectively solves the problem of cable entanglement between rotating and fixed parts, greatly improving the reliability and continuity of robot operation.

[0038] In addition, the permanent magnet drive mechanism 3 includes a permanent magnet drive motor 10, a first gear 11 and a second gear 12. The permanent magnet drive motor 10 is fixedly connected to the motor bracket 8. The output shaft of the permanent magnet drive motor 10 is coaxially fixedly connected to the first gear 11. The second gear 12 meshes with the first gear 11 for transmission. The second gear 12 is coaxially rotatably connected to the motor bracket 8. One side of the permanent magnet adsorption unit 2 is fixedly connected to the second gear 12 through the right connector 15. The other side of the permanent magnet adsorption unit 2 is fixedly connected to the left connector 13. The left connector 13 is coaxially rotatably connected to the motor bracket 8. The gear transmission here can accurately transmit the rotational motion of the permanent magnet drive motor 10 to the permanent magnet adsorption unit 2, so as to achieve precise control of the rotation angle of the permanent magnet adsorption unit 2.

[0039] This patent achieves complete decoupling of the robot's movement function and magnetic field direction adjustment function by setting up an independent permanent magnet drive mechanism 3 and a wheel drive mechanism 4. This allows the crawling robot to adjust the direction of the permanent magnet adsorption unit 2 in real time and quickly according to the needs of wall transition while moving continuously. It effectively solves the huge transition resistance caused by the strong adsorption of the arc magnet 27 on both walls at the same time in the prior art, making the robot's wall transition action smooth, effortless and highly reliable.

[0040] Optionally, in one possible implementation, the hub mechanism 1 further includes a rubber layer 16, which covers the outer cylindrical surface of the hub body 5. The rubber layer 16 covering the outer cylindrical surface of the hub has a buffering and shock-absorbing effect, which can reduce the rigid impact when the wheel assembly contacts the water-cooled wall surface, reduce the noise and vibration generated during movement, and extend the service life of the wheel assembly and the water-cooled wall surface. In addition, the rubber layer 16 has a high coefficient of friction, which can increase the adhesion between the wheel assembly and the water-cooled wall, prevent the wheel assembly from slipping during crawling, and improve the stability and driving efficiency of the robot's movement.

[0041] Optionally, in one possible implementation, the diameter of the second gear 12 is larger than the diameter of the first gear 11. The design of the second gear 12 as the driven gear, with a larger diameter than the first gear 11, forms a reduction gear ratio. This can amplify the small torque output by the permanent magnet drive motor 10 into the large torque required to drive the permanent magnet adsorption unit 2 to rotate. This can reduce the output load requirements of the permanent magnet drive motor 10 and avoid motor stalling or failure due to insufficient torque. At the same time, the reduction gear ratio can improve the transmission accuracy, ensure the accuracy of the rotation angle of the permanent magnet adsorption unit 2, and further improve the adaptability of the wheel set to different wall curvatures.

[0042] Optionally, in one possible implementation, the second gear 12 is provided with spaced-apart limiting units 17, and the motor bracket 8 is provided with two sets of spaced-apart proximity switch units 18, which are used to detect the rotation angle of the permanent magnet adsorption unit 2.

[0043] Optionally, in one possible implementation, the permanent magnet adsorption unit 2 includes a fan-shaped yoke 19, a main magnet 20, and a secondary magnet 21. The main magnet 20 is larger than the secondary magnet 21. Both the main magnet 20 and the secondary magnet 21 are fixedly connected to the yoke 19. The central axis of the yoke 19, the main magnet 20, and the secondary magnet 21 coincides with the central axis of the hub mechanism 1. The differentiated design of the main magnet 20 being much larger than the secondary magnet 21 is an optimization of the standard Halbach array, further optimizing the magnetic field distribution. This design enables the generation of a greater magnetic adsorption force than a traditional Halbach array or ordinary magnet with the same volume of permanent magnet material, thereby improving the utilization rate of the magnetic energy product of the permanent magnet material and meeting the stringent requirements of the water-cooled wall inspection crawling robot for high adsorption force.

[0044] Example 2

[0045] This patent also provides a crawling robot with adjustable magnetic direction, including the magnetic wheel set with adjustable magnetic direction of Embodiment 1 above, and also includes a robot frame 14. The robot frame 14 includes a chassis 22, a left frame plate 23 and a right frame plate 24 that are fixedly connected, and the wheel set drive mechanism 4 is connected to the left frame plate 23 and the right frame plate 24.

[0046] Work process:

[0047] The core of the working process of this magnetic wheel assembly and crawling robot is to independently control the wheel assembly drive motor 9 and the permanent magnet drive motor 10, dynamically adjusting the direction of the permanent magnet adsorption unit 2 during movement to adapt to different wall surfaces, thereby achieving efficient and low-resistance wall transitions. The entire process can be divided into the following stages:

[0048] 1. Initial state and planar driving phase;

[0049] like Figure 7a As shown, in the initial state, the crawling robot is located on the horizontal water-cooled wall surface 25. At this time, under the control of the permanent magnet drive motor 10, the magnetic pole direction of all permanent magnet adsorption units 2 in the magnetic wheel group is adjusted to be perpendicular to the current adsorption wall surface. This posture can generate the maximum magnetic adsorption force, providing a stable adsorption guarantee for the robot.

[0050] The wheel drive motor 9 starts, driving the wheel hub mechanism 1 to rotate around the fixed motor bracket 8 via the output shaft. The wheel hub, covered with a rubber layer 16, generates friction with the wall surface, thereby driving the robot to walk smoothly on the water-cooled wall surface to perform inspection or cleaning tasks.

[0051] 2. Exploration and Transition Preparation Phase

[0052] like Figure 7b As shown, when the robot moves forward to the flame deflection angle area and the magnetic wheel assembly in front contacts the water-cooled wall transition surface 26, the tilt sensor on the robot will detect the change in the robot's posture and transmit the signal to the control system.

[0053] The control system responds immediately. It commands the permanent magnet drive motor 10 of the front wheel assembly to operate. The permanent magnet drive motor 10 drives the permanent magnet adsorption unit 2 to start rotating around the axis of the motor bracket 8 through the meshing of the first gear 11 and the second gear 12 on its output shaft.

[0054] The permanent magnet adsorption unit 2 begins to deflect (e.g., rotate 90°) from a position perpendicular to the horizontal water-cooled wall surface 25, and the direction of its strong magnetic field also changes accordingly. The magnetic pole direction gradually changes from the state of optimal adsorption on the horizontal water-cooled wall surface 25 to the state of optimal adsorption on the transition surface 26.

[0055] During this process, the proximity switch unit 18 detects the limit unit 17 on the second gear 12 and provides real-time feedback on the rotation angle of the permanent magnet adsorption unit 2 to achieve precise closed-loop control and ensure that it stops after rotating to the predetermined position.

[0056] 3. Transition Implementation Phase

[0057] like Figure 7cAs shown, after the permanent magnet adsorption unit 2 of the front wheel group completes the orientation adjustment, its adsorption force on the horizontal water-cooled wall surface 25 has been greatly weakened, while its adsorption force on the transition surface 26 has been significantly enhanced.

[0058] At this time, the wheel drive motor 9 continues to provide forward power. Since the front wheel is in contact with the transition surface 26 and the magnetic field has been pre-adapted, it can smoothly grab the transition surface 26 and roll upward, and the robot body begins to lift.

[0059] The key advantage is evident here: the magnets of traditional robots generate huge resistance due to the strong attraction to two surfaces at the same time; however, because the attraction to the moving surface is weakened in advance, the magnetic resistance that the front wheel set needs to overcome during the transition is minimal, the load on the wheel set drive motor 9 does not increase significantly, and the transition action is smooth and effortless.

[0060] During the entire process of the robot body flipping over the flame angle, the direction of the permanent magnet adsorption unit 2 of the rear wheel group remains unchanged temporarily to ensure that the rear of the robot still has a stable adsorption force and prevents it from slipping.

[0061] 4. Transition Completion and Posture Recovery Phase

[0062] like Figure 7d ,and Figure 7e As shown, when the robot body has completely passed the deflection angle and the rear wheel set is about to leave the surface 25 of the horizontal water-cooled wall, the control system commands the permanent magnet drive motor 10 of the rear wheel set to operate.

[0063] The permanent magnet adsorption unit 2 in the rear wheel assembly also rotates 90°, so that the direction of its magnetic field changes from perpendicular to the horizontal water-cooled wall surface 25 to perpendicular to the transition surface 26.

[0064] At this point, the magnetic pole orientation of all the robot's wheelsets has been uniformly adjusted to the optimal adsorption transition surface 26. The robot has completed a complete wall transition and continues to travel stably on the new wall.

[0065] 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 protection scope of this invention.

Claims

1. A magnetic wheel assembly with adjustable magnetic direction, characterized in that, The device includes a hub mechanism, a permanent magnet adsorption unit, a permanent magnet drive mechanism, and a wheel set drive mechanism. The permanent magnet adsorption unit, the permanent magnet drive mechanism, and the wheel set drive mechanism are arranged inside the hub mechanism. The permanent magnet adsorption unit is rotatably connected to the hub mechanism. The permanent magnet drive mechanism drives the permanent magnet adsorption unit to rotate and adjust. The rotation axis of the permanent magnet adsorption unit coincides with the central axis of the hub mechanism. The wheel set drive mechanism drives the hub mechanism to rotate.

2. The magnetic wheel assembly with adjustable magnetic direction according to claim 1, characterized in that, The hub mechanism includes a hub body with its central axis coinciding with the hub body, a left end cap, and a right end cap, which are fixedly arranged on the left and right sides of the hub body, respectively.

3. The magnetic wheel assembly with adjustable magnetic direction according to claim 2, characterized in that, The hub mechanism also includes a rubber layer that covers the outer cylindrical surface of the hub body.

4. A magnetic wheel assembly with adjustable magnetic direction according to claim 2, characterized in that, The wheel drive mechanism includes a motor bracket and a wheel drive motor. The left and right ends of the motor bracket are rotatably connected to the left end cover and the right end cover through bearings. The wheel drive motor is fixedly connected to the motor bracket. The output shaft of the wheel drive motor is coaxially fixedly connected to the left end cover or the right end cover. The wheel drive motor drives the wheel hub mechanism to rotate.

5. A magnetic wheel assembly with adjustable magnetic direction according to claim 4, characterized in that, The permanent magnet drive mechanism includes a permanent magnet drive motor, a first gear, and a second gear. The permanent magnet drive motor is fixedly connected to a motor bracket. The output shaft of the permanent magnet drive motor is coaxially fixedly connected to the first gear. The second gear meshes with the first gear for transmission. The second gear is coaxially rotatably connected to the motor bracket. One side of the permanent magnet adsorption unit is fixedly connected to the second gear via a right connector. The other side of the permanent magnet adsorption unit is fixedly connected to a left connector, which is coaxially rotatably connected to the motor bracket.

6. A magnetic wheel assembly with adjustable magnetic direction according to claim 5, characterized in that, The diameter of the second gear is larger than the diameter of the first gear.

7. A magnetic wheel assembly with adjustable magnetic direction according to claim 6, characterized in that, The second gear is provided with a spaced-out limiting unit, and the motor bracket is provided with two sets of spaced-out proximity switch units. The proximity switch units are used to detect the rotation angle of the permanent magnet adsorption unit.

8. A magnetic wheel assembly with adjustable magnetic direction according to claim 1, characterized in that, The permanent magnet adsorption unit includes a fan-shaped yoke, a main magnet, and a secondary magnet. The main magnet is larger than the secondary magnet. Both the main magnet and the secondary magnet are fixedly connected to the yoke. The central axes of the yoke, the main magnet, and the secondary magnet coincide with the central axis of the hub mechanism.

9. A crawling robot with adjustable magnetic orientation, characterized in that, The system includes the magnetically adjustable magnetic wheel set as described in any one of claims 1-8, and also includes a robot frame, the robot frame including a fixedly connected chassis, a left frame plate and a right frame plate, and the wheel set drive mechanism being connected to the left frame plate and the right frame plate.

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