CN114684284A - Rolling adsorption wall-climbing robot with curved surface adaptability - Google Patents

Abstract

The invention belongs to the field of wall-climbing robots, in particular to a rolling adsorption wall-climbing robot with curved surface adaptability, comprising a negative pressure generating device, a detecting device, a driving device, a robot base and a rolling sealing mechanism, a negative pressure generating device, a detecting The device, the driving device and the rolling sealing mechanism are respectively installed on the base of the robot. The driving device drives the wall-climbing robot to move as a whole, and the detection device detects the surrounding wall environment while the wall-climbing robot moves; the lower surface of the rolling sealing mechanism is attached to the wall surface, and the negative pressure generating device cooperates with the rolling sealing mechanism to make the rolling The inner space of the sealing mechanism generates negative pressure, which in turn makes the wall-climbing robot adsorb on the wall. The invention can replace manual climbing, inspection and maintenance of the curved wall surface, and can carry working tools instead of manual work, which not only reduces the labor intensity of the workers, improves the work efficiency, but also reduces the danger and ensures the personal safety of the workers.

Description

A Rolling Adsorption Wall Climbing Robot with Surface Adaptability

technical field

The invention belongs to the field of wall-climbing robots, in particular to a rolling-adsorption wall-climbing robot with curved surface adaptability.

Background technique

With the construction and development of cities, various engineering projects continue to increase, and the quality requirements for these buildings are also getting higher and higher. At present, in wind power generation, petrochemical testing, hydraulic construction and other related industries with curved walls, such as wind turbine towers, petrochemical towers and hydraulic construction walls, cracks and pits will occur due to long-term impact of water flow and sun and rain. These defects have certain security risks and require regular inspection and maintenance. The traditional inspection and maintenance methods mainly use telescopes to observe and record, build scaffolding, use lifts, hanging baskets, manual suspension operations, etc. The manual detection method has disadvantages such as long maintenance period, high labor intensity, high risk, high cost, and limited detection range.

SUMMARY OF THE INVENTION

In view of the above problems, the purpose of the present invention is to provide a rolling adsorption wall-climbing robot with curved surface adaptability.

The purpose of this invention is to realize through the following technical solutions:

A rolling adsorption wall-climbing robot with curved surface adaptability, comprising a robot base and a negative pressure generating device, a detection device, a driving device and a rolling sealing mechanism respectively installed on the robot base;

The driving device drives the wall-climbing robot to move as a whole, and the wall-climbing robot detects the surrounding wall environment through the detection device;

The lower surface of the rolling sealing mechanism is attached to the surrounding wall surface, the negative pressure generating device is matched with the rolling sealing mechanism, and the inner space of the rolling sealing mechanism forms a negative pressure through the negative pressure generating device, thereby making the The wall-climbing robot is adsorbed on the surrounding wall surface; while the wall-climbing robot is moving, the rolling sealing mechanism rolls relative to the surrounding wall surface and keeps the inner space in a sealed state.

The rolling seal mechanism includes a base connecting plate, a flexible air-tight fabric tube, a bottom ring frame, a spring and a rolling seal module, and the upper surface of the base connecting plate is connected to the robot base;

The upper end of the flexible air-tight fabric tube is connected to the lower surface of the base connecting plate, the lower end of the flexible air-tight fabric tube is connected to the bottom ring frame, and the space between the base connecting plate and the bottom ring frame connected by springs;

The rolling seal module includes two inner partitions, two outer frames, two supporting rollers A, two supporting rollers B, two synchronous belts A correspondingly arranged in the front and rear, and two synchronous belts B correspondingly arranged on the left and right. Both the outer peripheral surface of the synchronous belt A and the outer peripheral surface of the synchronous belt B are provided with a sponge material layer, and the sponge material layer on the upper side of the synchronous belt A and the sponge material on the upper side of the synchronous belt B are located on the upper side. The material layers are respectively in contact with the lower surface of the bottom ring frame, the sponge material layer located on the lower side of the synchronous belt A and the sponge material layer located on the lower side of the synchronous belt B are respectively in contact with the wall surface, the said The timing belt A and the adjacent timing belt B are in contact with each other;

The two outer frames are respectively installed symmetrically under the bottom ring frame, the two support rollers A are installed between the two outer frames in front and rear, and the two support rollers B are also installed in front and back. between the two outer frames, and the two support rollers B are respectively arranged on the front and rear sides of the two support rollers A;

The two supporting rollers B are respectively connected by two synchronous belts B, and the supporting roller A arranged on the front side is connected with the supporting roller B arranged on the front side through a synchronous belt A, which is arranged on the front side. The back-up roller A and the back-up roller B are connected by a synchronous belt A, and the two ends of each of the inner baffles are respectively mounted on the roller shafts of the two back-up rollers A. , and the inner sides of the two inner partitions are respectively in contact with the synchronous belt A, and the space enclosed by the two inner partitions, the two synchronous belts A and the two synchronous belts B is the same as the synchronous belt A. The lower end openings of the flexible air-tight fabric tubes are communicated with each other;

The flexible air-tight fabric tube, the bottom ring frame, the two inner baffles, the two timing belts A, the two timing belts B and the wall surface form a closed inner space, and the negative pressure The generating device communicates with the inner space and generates negative pressure in the inner space, so that the wall-climbing robot is adsorbed on the wall surface.

The rolling sealing mechanism further includes an air filter, which is located inside the flexible air-tight fabric tube and installed on the lower surface of the base connecting plate, and the air filter is connected to the negative pressure generating device. connected, the negative pressure generating device communicates with the inner space of the rolling seal mechanism via the air filter.

Guide rods are respectively provided at positions corresponding to the springs on the lower surface of the base connecting plate, and the guide rods penetrate into the interior of the springs.

A sealing ring is also provided on the lower surface of the bottom ring frame and outside the rolling seal module.

The negative pressure generating device includes a vacuum pump, the vacuum pump is connected to the robot base through a vacuum pump fixing seat, and the suction end of the vacuum pump is communicated with the inner space of the rolling sealing mechanism.

The detection device includes a camera support seat, a camera top frame, a frame bracket, a camera installation shell, a camera installation backplane and a servo motor;

The camera support base is mounted on the robot base, the camera top frame is mounted on the camera support base, and the servo motor and the frame bracket are respectively mounted on the camera top frame;

The camera mounting shell and the camera mounting backplane are connected together to form a camera mounting frame, a camera is mounted on the camera mounting frame, and a frame bracket ring is respectively fixed on both sides of the camera mounting shell, and the frame The bracket rings are respectively connected to the frame brackets in rotation, and the servo motor drives one of the frame bracket rings close to the servo motor to rotate.

A gear A is provided on the output shaft of the servo motor, and a gear B is provided on one of the frame support rings close to the servo motor, and the gear A meshes with the gear B; the servo motor passes through all the The gear A, the gear B, and the frame bracket ring drive the camera installation housing to rotate.

The drive device includes a drive device housing, a drive track wheel, a drive track, and a drive motor. The drive motor is installed on the drive device housing, and the left and right sides of the robot base are respectively installed with a drive device housing, so The drive crawler wheels are installed inside the drive device casing, the drive crawler wheels installed on the same drive device casing are connected by the drive crawler belt, and the drive crawler wheels are driven by the drive motor.

The driving device also includes a tensioning wheel housing with a tensioning wheel installed inside, one of the tensioning wheel housings is installed on each side of the driving device housing, and the tensioning wheels on each side correspond to The drive track on the side is tensioned.

The advantages and positive effects of the present invention are:

1. The present invention is aimed at related industries such as wind power generation, petrochemical inspection, and hydraulic construction with curved walls, which can replace manual climbing and inspection and maintenance of curved walls, and can carry operating tools instead of manual operations;

2. The present invention adopts a combined structure of a guide rod and a spring, so that the rolling seal assembly can adjust the distance to the contact surface by extending and contracting to conform to the curvature (convex or concave) of the contact surface, and the rolling seal mechanism is adapted to At the same time, it can reduce the friction between the rolling sealing mechanism and the wall surface, and prolong the service life of the wall-climbing robot;

3. The synchronous belt structure used in the present invention has a large grounding area, and the surface of the synchronous belt is provided with a foam material layer with good resilience, so that the wall-climbing robot can move stably on the wall surface and has good adaptability to uneven walls;

4. By adopting the setting of the rolling sealing mechanism, the present invention can ensure that the rolling sealing mechanism and the negative pressure generating device cooperate to form a negative pressure, so that the rolling sealing module maintains the sealing of the internal space while moving, due to the negative pressure generated by the internal space. pressure to generate a stable adsorption force, so that the wall-climbing robot can be stably adsorbed on the wall;

5. The present invention can easily tension the crawler belt through the setting of the tensioning wheel, the structure is compact, and the transmission system of the driving device is stable, safe and reliable;

6. The present invention can carry working tools instead of manual work, which not only reduces the labor intensity of the operators, improves the work efficiency, but also reduces the danger and guarantees the personal safety of the operators.

Description of drawings

Fig. 1 is the exploded schematic diagram of the overall structure of the present invention;

Fig. 2 is the structural representation of the negative pressure generating device of the present invention;

3 is a schematic structural diagram of the detection device of the present invention;

4 is a schematic structural diagram of a driving device of the present invention;

5 is a schematic structural diagram of the rolling seal mechanism of the present invention;

6 is a schematic structural diagram of a rolling seal module of the present invention;

FIG. 7 is a schematic diagram of the arrangement structure of the base connecting plate and the air filter of the present invention.

In the picture: 1-negative pressure generating device, 101-vacuum pump, 102-vacuum pump fixing seat, 2-detection device, 201-camera support seat, 202-camera top frame, 203-frame bracket, 204-camera mounting shell, 205- Camera Mounting Back Plate, 206-Servo Motor, 207-Frame Bracket Ring, 208-Gear A, 209-Gear B, 3-Drive, 301-Drive Housing, 302-Drive Track Wheel, 303-Drive Track, 304- Drive motor, 305-tensioner, 306-tensioner housing, 4-robot base, 5-rolling sealing mechanism, 501-base connecting plate, 502-flexible airtight fabric tube, 503-bottom ring frame, 504-spring , 505-Rolling Seal Module, 5051-Inner Baffle, 5052-External Frame, 5053-Backup Roller A, 5054-Backup Roller B, 5055-Timing Belt A, 5056-Timing Belt B, 506-Air Filter, 507- Guide rod, 508-seal ring.

Detailed ways

The present invention will be described in further detail below in conjunction with accompanying drawings 1-7.

A rolling adsorption wall-climbing robot with curved surface adaptability includes a robot base 4 and a negative pressure generating device 1 , a detection device 2 , a driving device 3 and a rolling sealing mechanism 5 respectively installed on the robot base 4 . It can also carry other operating tools according to the needs of the operation;

The driving device 3 drives the wall-climbing robot to move as a whole, and the wall-climbing robot detects the surrounding wall environment through the detection device 2;

The lower surface of the rolling sealing mechanism 5 is attached to the surrounding wall surface, the negative pressure generating device 1 cooperates with the rolling sealing mechanism 5, and the inner space of the rolling sealing mechanism 5 forms a negative pressure through the negative pressure generating device 1, so that the wall-climbing robot is adsorbed on. On the surrounding wall surface; while the wall-climbing robot is moving, the rolling sealing mechanism 5 rolls relative to the surrounding wall surface and keeps the inner space sealed.

Specifically, as shown in FIGS. 5 and 6 , the rolling seal mechanism 5 includes a base connecting plate 501, a flexible air-tight fabric tube 502, a bottom ring frame 503, a spring 504 and a rolling seal module 505, and the base connecting plate 501 and the robot base 4 connection, the connection method between the upper surface of the base connecting plate 501 and the robot base 4 adopts the prior art;

The upper end of the flexible air-tight fabric tube 502 is connected with the lower surface of the base connecting plate 501, the lower end of the flexible air-tight fabric tube 502 is connected with the bottom ring frame 503, and the base connecting plate 501 and the bottom ring frame 503 are connected by a spring 504; In the embodiment, the flexible air-tight fabric tube 502 is a commercially available product, and its connection method adopts the prior art;

The rolling seal module 505 includes two inner partitions 5051, two outer frames 5052, two supporting rollers A 5053, two supporting rollers B 5054, two synchronous belts A 5055 correspondingly arranged in the front and rear, and two synchronous belts correspondingly arranged in the left and right sides. Belt B5056, in this embodiment, the timing belt A 5055 and timing belt B 5056 use commercially available thick crawler belts with good sealing performance. The outer peripheral surface of the timing belt A5055 and the outer peripheral surface of the timing belt B 5056 are provided with sponge material layers. The sponge material layer located on the upper side of the synchronous belt A 5055 and the sponge material layer located on the upper side of the synchronous belt B 5056 are respectively in contact with the lower surface of the bottom ring frame 503, and the sponge material layer located on the lower side of the synchronous belt A 5055 and The sponge material layer on the lower side of the synchronous belt B 5056 is in contact with the wall respectively, and the surface of the synchronous belt A 5055 and the synchronous belt B 5056 is provided with a foam material layer with good resilience, so that the wall-climbing robot can move stably on the wall surface, and it can be used against uneven surfaces. The adaptability of the wall surface is good, and at the same time, the air tightness between the wall surface and the bottom ring frame 503 is ensured. The timing belt A 5055 and the adjacent timing belt B 5056 are in contact with each other, so as to ensure that the timing belt A 5055 and the timing belt B5056 are in contact with each other. The synchronous belt A 5055 and the synchronous belt B 5056 roll along the wall while the driving device 3 drives the wall-climbing robot to move as a whole, which can conform to the contact surface as much as possible, and seal the module 505 by eliminating the curved surface and rolling. The gap to produce a perfect seal, can generate enough negative pressure;

The two outer frames 5052 are respectively installed symmetrically under the bottom ring frame 503, the two support rollers A 5053 are installed between the two outer frames 5052 in front and rear, and the two support rollers B 5054 are also installed in the two outer frames 5052 in front and back. between, and the two support rollers B 5054 are respectively arranged on the front and rear sides of the two support rollers A 5053;

The two support rollers B 5054 are respectively connected by two synchronous belts B 5056, and the two support rollers B 5054 play a supporting role for the two synchronous belts B 5056 respectively. The supporting roller B5054 on the side is connected by a synchronous belt A 5055 and supports the synchronous belt A 5055 on the front side. A 5055 is connected and supports the synchronous belt A 5055 on the rear side. The side faces are respectively abutted on the timing belt A 5055, and the space enclosed by the two inner partitions 5051, the two timing belts A5055 and the two timing belts B 5056 is communicated with the lower end opening of the flexible airtight fabric tube 502; in this embodiment The outer frame 5052 can completely block the side gap of the timing belt B 5056, further ensuring the sealing performance inside the rolling seal module 505;

The flexible air-tight fabric tube 502, the bottom ring frame 503, the two inner partitions 5051, the two timing belts A 5055, the two timing belts B 5056 and the wall form a closed inner space, and the negative pressure generating device 1 and the inner space Connect and generate negative pressure in the inner space, so that the wall-climbing robot is adsorbed on the wall;

The rolling sealing mechanism 5 also includes an air filter 506. As shown in FIG. 7, the air filter 506 is located inside the flexible air-tight fabric tube 502 and installed on the lower surface of the base connecting plate 501. The air filter 506 is connected to the negative pressure generating device. 1 is connected, the negative pressure generating device 1 is communicated with the inner space of the rolling seal mechanism 5 via the air filter 506; the setting of the air filter 506 can prevent the negative pressure generating device 1 from inhaling dust and debris, etc. from damage;

Guide rods 507 are respectively provided on the lower surface of the base connecting plate 501 at the positions corresponding to the springs 504, and the guide rods 507 penetrate into the interior of the spring 504; The combined structure of the guide rod 507 and the spring 504 enables the rolling seal mechanism 5 to adjust the distance to the contact surface by extending and contracting to conform to the curvature (convex or concave) of the contact surface, and makes the rolling seal mechanism 5 adapt to the curved surface. At the same time, the friction between the rolling seal mechanism 5 and the wall can be reduced, and the service life of the wall-climbing robot can be prolonged;

A sealing ring 508 is also provided at the connection between the rolling sealing module 505 and the bottom ring frame 503 , which further enhances the sealing performance of the rolling sealing mechanism 5 .

Specifically, as shown in FIG. 2 , the negative pressure generating device 1 includes a vacuum pump 101. The vacuum pump 101 is connected to the robot base 4 through the vacuum pump fixing seat 102, and the suction end of the vacuum pump 101 is communicated with the internal space of the rolling sealing mechanism 5; this embodiment The medium vacuum pump 101 is a commercially available product.

Specifically, as shown in FIG. 3 , the detection device 2 includes a camera support base 201 , a camera top frame 202 , a frame bracket 203 , a camera mounting shell 204 , a camera mounting backplane 205 and a servo motor 206 ;

The camera support base 201 is mounted on the robot base 4, the camera top frame 202 is mounted on the camera support base 201, and the servo motor 206 and the frame bracket 203 are respectively mounted on the camera top frame 201;

The camera mounting shell 204 and the camera mounting backplane 205 are connected together to form a camera mounting frame, a camera is mounted on the camera mounting frame, and two sides of the camera mounting shell 204 are respectively fixed with a frame bracket ring 207, and the frame bracket ring 207 is respectively connected with the frame. The support 203 is rotatably connected, and the servo motor 206 drives a frame support ring 207 close to the servo motor 206 to rotate; in this embodiment, the servo motor 206 and the camera are both commercially available products, and are respectively connected with an external controller, and the camera is used to obtain the surrounding wall surface In environmental conditions, a gear A 208 is provided on the output shaft of the servo motor 206, a gear B 209 is provided on a frame bracket ring 207 close to the servo motor 206, and the gear A 208 is meshed with the gear B 209; the servo motor 206 passes through the gear A in turn 208. The gear B 209 and the frame bracket ring 207 drive the camera mounting shell 204 to rotate, so that the camera on the camera mounting frame can adjust the camera angle.

Specifically, as shown in FIG. 4 , the driving device 3 includes a driving device housing 301, a driving track wheel 302, a driving track 303 and a driving motor 304, and the driving motor 304 is installed on the driving device housing 301 (FIG. The drive motor 304 is connected to one side of the drive device housing 301 and exposes the internal structure of the drive device housing 301). In this embodiment, the drive motor 304 is a commercially available product, which is controlled by an external controller; the left and right sides of the robot base 4 A driving device housing 301 is respectively installed, and the driving track wheels 302 are installed inside the driving device housing 301. The driving track wheels 302 installed on the same driving device housing 301 are connected by a driving track 303, and the driving track wheels 302 are driven by a driving motor 304. Drive; the drive motor 304 drives the drive crawler wheel 302 to rotate, so that the drive crawler wheel 302 rotates as a whole, so as to prevent the wall-climbing robot from moving as a whole; the setting of the drive device casing 301 protects the internal drive crawler wheel 302 and the drive crawler. The role of 303.

The driving device 3 also includes a tensioning wheel housing 306 with a tensioning wheel 305 installed inside, one tensioning wheel housing 306 is installed on the driving device housing 301 on each side, and the tensioning wheel 305 on each side is respectively opposite to the corresponding side. The driving crawler 303 is tensioned to ensure that the driving crawler 303 transmits power stably and enables the wall-climbing robot to move stably.

working principle:

The flexible air-tight fabric tube 502, the bottom ring frame 503, the two inner partitions 5051, the two timing belts A 5055, the two timing belts B 5056 and the wall form a closed inner space, and the negative pressure generating device 1 and the inner space Connect and make the inner space generate negative pressure, so that the wall-climbing robot is adsorbed on the wall surface; the synchronous belt A 5055 and the synchronous belt B 5056 roll along the wall surface while the driving device 3 drives the wall-climbing robot to move as a whole, so that the It may conform to the contact surface, and can generate a perfect seal by eliminating the gap between the curved surface and the rolling seal module 505, which can generate enough negative pressure; The wall-climbing robot moves stably on the wall, and has good adaptability to uneven walls, while ensuring the air tightness between the wall and the bottom ring frame 503; the combined structure of the guide rod 507 and the spring 504 is used to make the rolling sealing mechanism 5 The distance to the contact surface can be adjusted by extending and shrinking to conform to the curvature of the contact surface (convex or concave), and while making the rolling seal mechanism 5 adapt to the curved surface, the friction between the rolling seal mechanism 5 and the wall can be reduced, extending the The service life of the wall-climbing robot; the setting of the guide rod 507 plays a role in limiting and guiding the spring 504; the driving motor 304 drives the driving crawler wheel 302 to rotate, so that the driving crawler wheel 302 rotates as a whole, thereby making the whole wall-climbing robot rotate Move along the wall, while the rolling sealing mechanism 5 always maintains the state of being adsorbed with the wall; the detection device 2 detects the surrounding wall environment during the operation of the wall-climbing robot.

Claims (10)

1. A rolling adsorption wall-climbing robot with curved surface adaptability is characterized in that: comprising a robot base (4) and a negative pressure generating device (1), a detection device (2) respectively installed on the robot base (4) , a driving device (3) and a rolling sealing mechanism (5); The driving device (3) drives the wall-climbing robot to move as a whole, and the wall-climbing robot detects the surrounding wall environment through the detection device (2); The lower surface of the rolling sealing mechanism (5) is attached to the surrounding wall surface, the negative pressure generating device (1) is matched with the rolling sealing mechanism (5), and the inner space of the rolling sealing mechanism (5) passes through The negative pressure generating device (1) forms a negative pressure, thereby causing the wall-climbing robot to be adsorbed on the surrounding wall surface; while the wall-climbing robot is moving, the rolling sealing mechanism (5) rolls relative to the surrounding wall surface, and Keep the interior space sealed. 2. The rolling adsorption wall-climbing robot with curved surface adaptability according to claim 1, wherein the rolling sealing mechanism (5) comprises a base connecting plate (501), a flexible airtight fabric tube (502), a bottom a ring frame (503), a spring (504) and a rolling seal module (505), and the upper surface of the base connecting plate (501) is connected to the robot base (4); The upper end of the flexible air-tight fabric tube (502) is connected to the lower surface of the base connecting plate (501), and the lower end of the flexible air-tight fabric tube (502) is connected to the bottom ring frame (503), so The base connecting plate (501) and the bottom ring frame (503) are connected by a spring (504); The rolling seal module (505) includes two inner partitions (5051), two outer frames (5052), two support rollers A (5053), two support rollers B (5054), two front and rear correspondingly arranged A timing belt A (5055) and two timing belts B (5056) corresponding to the left and right are provided, and sponge materials are provided on the outer peripheral surface of the timing belt A (5055) and the outer peripheral surface of the timing belt B (5056). layer, the sponge material layer on the upper side of the timing belt A (5055) and the sponge material layer on the upper side of the timing belt B (5056) are respectively in contact with the lower surface of the bottom ring frame (503) , the sponge material layer on the lower side of the synchronous belt A (5055) and the sponge material layer on the lower side of the synchronous belt B (5056) are in contact with the wall respectively, and the synchronous belt A (5055) is adjacent to the The synchronous belt B (5056) of the abutting against each other; The two outer frames (5052) are respectively installed symmetrically below the bottom ring frame (503), and the two support rollers A (5053) are respectively installed between the two outer frames (5052) front and rear, respectively, The two support rollers B (5054) are also installed between the two outer frames (5052) in front and back, and the two support rollers B (5054) are respectively arranged on the two support rollers A (5053) ) on the front and rear sides; The two support rollers B (5054) are respectively connected by two synchronous belts B (5056), the support roller A (5053) arranged on the front side and the support roller B arranged on the front side (5054) is connected by a timing belt A (5055), the back-up roller A (5053) arranged on the rear side is connected with the back-up roller B (5054) arranged on the rear side by a timing belt A (5055), Both ends of each of the inner baffles (5051) are respectively mounted on the roller shafts of the two support rollers A (5053), and the inner sides of the two inner baffles (5051) are respectively abutted against the The timing belt A (5055), the space enclosed by the two inner partitions (5051), the two timing belts A (5055) and the two timing belts B (5056) is airtight with the flexible The lower end opening of the fabric tube (502) is communicated; The flexible air-tight fabric tube (502), the bottom ring frame (503), the two inner partitions (5051), the two timing belts A (5055), the two timing belts B ( 5056) and the wall surface to form a closed internal space, the negative pressure generating device (1) communicates with the internal space and generates negative pressure in the internal space, so that the wall-climbing robot is adsorbed on the wall surface. 3. The rolling adsorption wall-climbing robot with curved surface adaptability according to claim 2, characterized in that: the rolling sealing mechanism (5) further comprises an air filter (506), and the air filter (506) is located in the Inside the flexible air-tight fabric tube (502) and mounted on the lower surface of the base connecting plate (501), the air filter (506) is connected to the negative pressure generating device (1), the negative pressure The pressure generating device (1) communicates with the inner space of the rolling seal mechanism (5) via the air filter (506). 4. The rolling adsorption wall-climbing robot with curved surface adaptability according to claim 2, wherein a guide rod is respectively provided on the position corresponding to the lower surface of the base connecting plate (501) and the spring (504) (507), and the guide rod (507) penetrates into the interior of the spring (504). 5. The rolling adsorption wall-climbing robot with curved surface adaptability according to claim 2, characterized in that: a lower surface of the bottom ring frame (503) and an outer side of the rolling seal module (505) are further provided There is a sealing ring (508). 6. The rolling adsorption wall-climbing robot with curved surface adaptability according to claim 1, characterized in that: the negative pressure generating device (1) comprises a vacuum pump (101), and the vacuum pump (101) passes through a vacuum pump holder ( 102) is connected to the robot base (4), and the suction end of the vacuum pump (101) is communicated with the inner space of the rolling sealing mechanism (5). 7. The rolling adsorption wall-climbing robot with curved surface adaptability according to claim 1, wherein the detection device (2) comprises a camera support seat (201), a camera top frame (202), a frame bracket (203) ), a camera mounting shell (204), a camera mounting backplane (205) and a servo motor (206); The camera support seat (201) is mounted on the robot base (4), the camera top frame (202) is mounted on the camera support seat (201), the servo motor (206) is connected to the frame The brackets (203) are respectively mounted on the camera top frame (201); The camera mounting shell (204) and the camera mounting backplane (205) are connected together to form a camera mounting frame, a camera is mounted on the camera mounting frame, and two sides of the camera mounting shell (204) are respectively fixedly connected There is a frame support ring (207), the frame support ring (207) is respectively rotatably connected with the frame support (203), and the servo motor (206) drives one of the frames close to the servo motor (206) The bracket ring (207) rotates. 8 . The rolling adsorption wall-climbing robot with curved surface adaptability according to claim 7 , wherein the output shaft of the servo motor ( 206 ) is provided with a gear A ( 208 ), which is close to the servo motor ( 206 ). A gear B (209) is provided on one of the frame support rings (207) of ), and the gear A (208) is meshed with the gear B (209); A (208), the gear B (209), and the frame support ring (207) drive the camera installation housing (204) to rotate. 9 . The rolling adsorption wall-climbing robot with curved surface adaptability according to claim 1 , wherein the driving device ( 3 ) comprises a driving device casing ( 301 ), a driving track wheel ( 302 ), and a driving track ( 303 ). 10 . ) and a drive motor (304), the drive motor (304) is mounted on the drive device housing (301), and a drive device housing (301) is installed on the left and right sides of the robot base (4), respectively, The drive crawler wheels (302) are installed inside the drive device casing (301), and the drive crawler belts (302) pass between the drive crawler wheels (302) installed on the same drive device casing (301). 303) is connected, and the driving crawler wheel (302) is driven by the driving motor (304). 10. The rolling adsorption wall-climbing robot with curved surface adaptability according to claim 9, wherein the driving device (3) further comprises a tensioning wheel housing (306) with a tensioning wheel (305) installed therein , the drive device housing (301) on each side is provided with a tensioning wheel housing (306), and the tensioning wheel (305) on each side is respectively aligned with the driving track (303) on the corresponding side ) for tensioning.

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