Negative pressure adsorption hinged four-crawler wall-climbing robot

Abstract

The invention discloses a negative pressure adsorption hinged four-track wall-climbing robot, belongs to the technical field of wall-climbing robots, and aims to solve the problems that stable adsorption on complex wall surfaces of different materials and different forms is difficult, the walking efficiency is low, the obstacle crossing ability is low, and the self-adaptive control is difficult in the prior art. The front vehicle body is arranged in the front in the advancing direction, and the front vehicle body comprises a vehicle frame unit, crawling units arranged on the two sides of the vehicle frame unit and a negative pressure adsorption unit; the crawling unit is of a floating crawler type structure, and the negative pressure adsorption unit is of a controllable negative pressure sealing suction cup adsorption type structure. The rear vehicle body has the same structure as the front vehicle body and is arranged behind along the advancing direction; the steering unit is connected between the tail end of the front vehicle body and the front end of the rear vehicle body, and rotation and pitching of the rear vehicle body relative to the front vehicle body are adjusted through the steering unit; the positioning and detecting system is carried on the front vehicle body; and the control unit is carried on the rear vehicle body and is used for controlling the wall-climbing robot to act.

Description

Technical Field

[0001] The invention belongs to the technical field of wall-climbing robots, and in particular relates to a negative pressure adsorption articulated four-track wall-climbing robot. Background Art

[0002] A wall-climbing robot is a robot that can move on vertical walls and undertake certain work tasks. It can replace manual labor and work for a long time in dangerous or inaccessible environments. It can significantly reduce the probability of safety accidents, reduce the consumption of human resources, and improve work efficiency and accuracy.

[0003] In recent years, with the rapid development of science and technology, wall-climbing robots have gradually emerged in the fields of industry, military, aerospace, etc., especially in the inspection, maintenance and cleaning of vertical or inclined surfaces such as building exterior walls, bridges, oil tanks, wind turbines, etc., showing great potential.

[0004] However, most of the existing wall-climbing robots are designed for flat walls or walls of specific shapes. They cannot reliably adhere to and move stably on walls of different materials and shapes. They have problems such as low walking efficiency, low obstacle surmounting ability, and difficult adaptive control. Summary of the invention

[0005] The purpose of the present invention is to propose a negative pressure adsorption articulated four-track wall-climbing robot to solve the problems of the prior art that it is difficult to stably adsorb on complex walls of different materials and shapes, the walking efficiency is low, the obstacle surmounting ability is low, and the adaptive control is difficult; the use of four tracks and an articulated crawling unit can ensure that the robot can fit the wall well even on complex walls, and based on multi-sensor fusion technology, according to the sensor information of the positioning and detection units, through the intelligent control algorithm, the control parameters of the control motors of the crawling unit, the adsorption unit, and the steering unit are obtained, so as to realize the adaptive walking control of the wall-climbing robot on complex walls.

[0006] To achieve the above object, a negative pressure adsorption articulated four-track wall-climbing robot of the present invention comprises:

[0007] A front vehicle body arranged in front along the traveling direction, the front vehicle body comprising a frame unit, crawling units arranged on both sides of the frame unit, and a negative pressure adsorption unit; the crawling unit is a floating crawler structure, and the adsorption unit is a controllable negative pressure sealing suction cup adsorption structure;

[0008] A rear body having the same structure as the front body and arranged at the rear along the traveling direction;

[0009] A steering unit connected between the end of the front vehicle body and the front end of the rear vehicle body, through which the rotation and pitch of the rear vehicle body relative to the front vehicle body are adjusted;

[0010] A positioning and detection unit mounted on the front vehicle body, through which positioning and collection of traveling environment images are performed;

[0011] And a control unit mounted on the rear vehicle body, through which the movement of the wall-climbing robot is controlled.

[0012] The crawler unit includes two sets of crawler structures symmetrically arranged on both sides of the frame unit; each set of crawler structures includes:

[0013] A crawler frame fixedly connected to one side of the frame unit;

[0014] A guide wheel arranged on the outside of the crawler frame and located in front of the traveling direction;

[0015] A driving wheel disposed outside the crawler frame and located behind the traveling direction;

[0016] A rubber track connected between the guide wheel and the drive wheel;

[0017] A crawler drive motor is arranged on the inner side of the crawler frame through a motor bracket, and an output end of the crawler drive motor is coaxially fixedly connected with the drive wheel;

[0018] An encoder installed on the crawler drive motor, the information collected by the encoder is transmitted to the control unit;

[0019] And a crawler track supporting structure is arranged on the crawler frame, and the rubber crawler track is supported by the crawler track supporting structure.

[0020] The track support structure includes two track rollers and three groups of support units arranged on the side walls of the track frame; the upper part of the rubber track is supported by the two track rollers; the three groups of support units are evenly arranged along the length direction of the track, and each group of support units has the freedom to move up and down; the two track rollers are staggered with the three groups of support units in the length direction.

[0021] Each group of support units comprises:

[0022] A corner connecting rod rotatably matched with the crawler frame at the corner, wherein the upper end of the corner connecting rod slidably matches with an arc groove provided on the crawler frame along the rotation track;

[0023] A support wheel is arranged at the other end of the corner link, and the support wheel is in contact with and supported by the lower portion of the rubber track;

[0024] And a spring, one end of the spring is connected to one end of the corner connecting rod matched with the arc groove, and the other end is connected to the crawler frame.

[0025] The adsorption unit comprises:

[0026] A negative pressure cavity fixedly arranged on the lower end surface of the frame unit;

[0027] A sealing skirt formed by connecting thick pig bristle strips and attached to the side of the negative pressure cavity close to the wall;

[0028] A fan housing is arranged on the upper end surface of the frame unit and is connected to the negative pressure cavity through a through hole on the frame unit, and the fan housing has a plurality of arc holes evenly distributed on the side surface;

[0029] A brushless DC motor is arranged outside the fan housing;

[0030] A radial flow centrifugal fan is arranged inside the fan housing and coaxially connected to the output shaft of the DC brushless motor; the DC brushless motor drives the radial flow centrifugal fan to rotate relative to the fan housing to generate negative pressure in the negative pressure cavity;

[0031] A negative pressure gauge is arranged on the frame unit, and the negative pressure parameters in the negative pressure cavity are collected by the negative pressure gauge and transmitted to the control unit;

[0032] and a power source, through which power is supplied to the structure mounted on the front vehicle body or the rear vehicle body.

[0033] The negative pressure cavity is a circular sealing structure, which is divided into two layers, an inner layer and an outer layer, and a gap is arranged between the two baffles.

[0034] The steering unit comprises:

[0035] A rear vehicle connecting member connected to the frame unit of the rear vehicle body;

[0036] A plate articulated with the rear car connection to ensure rotational freedom between the front and rear car bodies;

[0037] The front car connection piece is hinged to the plate to ensure the pitch freedom between the front car body and the rear car body;

[0038] And a thrust rod connected to one side between the rear vehicle connecting member and the plate member, wherein both ends of the thrust rod are respectively hinged to the rear vehicle connecting member and the plate member, and the extension or shortening of the thrust rod is controlled by the control unit.

[0039] The positioning and detection unit comprises:

[0040] A BDS positioning system, i.e., a Beidou satellite positioning system, is arranged on the frame unit of the front vehicle body, and the global position information of the wall-climbing robot is obtained through the BDS positioning system and transmitted to the control unit;

[0041] An IMU inertial navigation system, i.e., an autonomous inertial navigation system, arranged on the frame unit of the front vehicle body, measures the angular velocity and acceleration of the wall-climbing robot through the IMU inertial navigation system and transmits the measurements to a control unit;

[0042] And a binocular camera installed at the front end of the front vehicle body in the direction of travel, through which the image in front of the vehicle is collected and transmitted to the control unit.

[0043] The control unit includes an NI embedded system, a wireless communication module, a motor drive module and a PC installed on the frame unit of the rear vehicle body; the NI embedded system receives the information transmitted to the control unit as a whole and transmits it to the PC through the wireless communication module, and the PC returns the control parameters to the NI embedded system through the wireless communication module, and the NI embedded system sends the control instructions to the motor drive module to control the overall movement. The NI embedded system is a virtual instrument embedded system, and the PC is a personal computer.

[0044] The beneficial effects of the present invention are as follows: a negative pressure adsorption articulated four-track wall-climbing robot of the present invention is divided into a front body and a rear body. For each body, the crawling units are installed on both sides of the frame unit, and a floating crawler structure is adopted; the adsorption unit is installed at the corresponding card slot at the front of the frame unit, and a controllable negative pressure sliding sealed suction cup adsorption structure is adopted; the problem of low walking efficiency and low obstacle crossing ability caused by the wall-climbing robot being limited by the body structure and difficult to stably adsorb on complex walls of different materials and shapes is improved, and the stability and passability of the wall-climbing robot on complex walls are improved; the steering unit is installed between the front and rear bodies, and can flexibly control the pitch of the front and rear bodies and steering; the present invention is based on multi-sensor fusion technology, and adopts binocular cameras, BDS positioning systems, IMU inertial navigation systems, encoders, negative pressure gauges and other sensors to obtain the position, posture, operating status and surrounding information of the wall-climbing robot in real time and accurately; with high efficiency and energy saving as the optimization goals, and the control parameters of the frame unit, crawling unit, adsorption unit and steering unit as the optimization variables, and safety, stability and reliability as the constraint conditions, the Kriging model is used to establish an approximate response surface, and the Kriging model is the Kriging model. The genetic algorithm is used to evaluate and select the optimal parameter combination to ensure that the wall-climbing robot can stably and efficiently complete the climbing and operation tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a schematic diagram of the overall structure of a negative pressure adsorption articulated four-track wall-climbing robot of the present invention;

[0046] Figure 2 This is a schematic diagram of the structure of a crawling unit of a negative pressure adsorption articulated four-track wall-climbing robot of the present invention;

[0047] Figure 3It is a side view of a crawling unit of a negative pressure adsorption articulated four-track wall-climbing robot of the present invention;

[0048] Figure 4 It is an exploded view of the adsorption unit structure of a negative pressure adsorption articulated four-track wall-climbing robot of the present invention;

[0049] Figure 5 It is a schematic diagram of the structure of the suction unit of a negative pressure suction articulated four-track wall-climbing robot viewed from above of the present invention;

[0050] Figure 6 for Figure 1 A magnified view of part I;

[0051] Figure 7 A control module diagram of a negative pressure adsorption articulated four-track wall-climbing robot according to the present invention;

[0052] Among them: 1. front body, 101. frame unit, 102. crawler unit, 103. adsorption unit, 104. track frame, 105. guide wheel, 106. drive wheel, 107. rubber track, 108. motor bracket, 109. track drive motor, 110. encoder, 111. track roller, 112. corner connecting rod, 113. support wheel, 114. spring, 115. negative pressure chamber, 116. sealing skirt, 117. fan housing, 118. DC brushless Motor, 119, radial centrifugal fan, 120, negative pressure gauge, 121, power supply, 2, rear vehicle body, 3, steering unit, 301, rear vehicle connecting part, 302, plate, 303, front vehicle connecting part, 304, thrust rod, 4, positioning and detection unit, 401, BDS positioning system, 402, IMU inertial navigation system, 403, binocular camera, 5, control unit, 501, motor drive module, 502, NI embedded system, 503, wireless communication module. DETAILED DESCRIPTION

[0053] The embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0054] See also Figure 1 A negative pressure adsorption articulated four-track wall-climbing robot of the present invention comprises:

[0055] A front vehicle body 1 is arranged in front along the traveling direction, and the front vehicle body 1 includes a frame unit 101, crawling units 102 arranged on both sides of the frame unit 101, and a negative pressure suction unit 103; the crawling unit 102 is a floating crawler structure, and the suction unit 103 is a controllable negative pressure sealing suction cup suction structure;

[0056] A rear body 2 having the same structure as the front body 1 and arranged at the rear along the traveling direction;

[0057] A steering unit 3 connected between the end of the front body 1 and the front end of the rear body 2, through which the rotation and pitch of the rear body 2 relative to the front body 1 are adjusted;

[0058] A positioning and detection unit 4 mounted on the front vehicle body 1, through which positioning and collection of traveling environment images are performed;

[0059] And a control unit 5 mounted on the rear vehicle body 2, through which the movement of the wall-climbing robot is controlled.

[0060] See also Figure 2 and Figure 3 The crawler unit 102 includes two sets of crawler structures symmetrically arranged on both sides of the frame unit 101; each set of crawler structures includes:

[0061] A crawler frame 104 fixedly connected to one side of the frame unit 101;

[0062] A guide wheel 105 disposed outside the track frame 104 and located in front of the traveling direction;

[0063] A driving wheel 106 disposed outside the track frame 104 and located behind the traveling direction;

[0064] A rubber track 107 connected between the guide wheel 105 and the driving wheel 106;

[0065] A crawler drive motor 109 is provided inside the crawler frame 104 through a motor bracket 108, and an output end of the crawler drive motor 109 is coaxially fixedly connected to the drive wheel 106;

[0066] An encoder 110 installed on the crawler drive motor 109, and information collected by the encoder 110 is transmitted to the control unit 5;

[0067] And a crawler track supporting structure is arranged on the crawler frame 104, and the rubber crawler track 107 is supported by the crawler track supporting structure.

[0068] The track support structure includes two track rollers 111 and three groups of support units arranged on the side walls of the track frame 104; the upper part of the rubber track 107 is supported by the two track rollers 111; the three groups of support units are evenly arranged along the length direction of the track, and each group of support units has the freedom to move up and down; the two track rollers 111 are staggered with the three groups of support units in the length direction.

[0069] Each group of support units comprises:

[0070] A corner connecting rod 112 that is rotatably matched with the track frame 104 at the corner, and an upper end of the corner connecting rod 112 is slidably matched with an arc groove provided along the rotation track of the track frame 104;

[0071] A support wheel 113 is provided at the other end of the corner link 112, and the support wheel 113 is in contact with and supported by a portion of the rubber track 107 located below;

[0072] And a spring 114, one end of the spring 114 is connected to one end of the corner connecting rod 112 that cooperates with the arc groove, and the other end of the spring 114 is connected to the track frame 104.

[0073] Each crawling unit 102 includes two pairs of left and right tracks, each track is driven by an independent track drive motor 109; the guide wheel 105, the track support wheel 111, and the driving wheel 106 are directly connected to the track frame 104; the support wheel 113 is connected to the track frame 104 through an angle connecting rod 112, and the angle connecting rod 112 is connected to the track frame 104 in the middle, and the other end is arranged in an arc groove of the track frame 104 and connected to a spring 114; one end of the spring 114 is connected to the angle connecting rod 112, and the other end is connected to the track frame 104, so that the support wheel 113 has the freedom to adjust the upper and lower positions, and can better fit the wall in a complex environment; the track drive motor 109 is installed on the track frame 104 through a motor bracket 108, and the track drive motor 109 is directly connected to the driving wheel 106; the encoder 110 is installed behind the track drive motor 109, and can obtain the rotation speed of the track drive motor 109.

[0074] See also Figure 4 and Figure 5 , the adsorption unit 103 comprises:

[0075] A negative pressure chamber 115 fixedly disposed on the lower end surface of the frame unit 101;

[0076] A sealing skirt 116 formed by connecting thick pig bristle strips is attached to the side of the negative pressure cavity 115 close to the wall;

[0077] A fan housing 117 is disposed on the upper end surface of the frame unit 101 and is connected to the negative pressure cavity 115 through a through hole on the frame unit 101. The fan housing 117 has a plurality of arc holes evenly distributed on the side thereof for discharging the air in the negative pressure cavity;

[0078] A brushless DC motor 118 disposed outside the fan housing 117;

[0079] A radial centrifugal fan 119 is arranged inside the fan housing 117 and is coaxially connected to the output shaft of the DC brushless motor 118; the upper end surface of the radial centrifugal fan 119 is a sealed circular plate, and the lower end surface is provided with a step and a through hole, and the step of the lower end surface forms a limit with the circular hole at the frame unit 101, and the inner space of the radial centrifugal fan is connected with the inner space of the sealed cavity through the through hole of the lower end surface; the DC brushless motor 118 drives the radial centrifugal fan 119 to rotate relative to the fan housing 117 to generate negative pressure in the negative pressure cavity 115;

[0080] A negative pressure gauge 120 disposed on the frame unit 101 , through which negative pressure parameters in the negative pressure cavity 115 are collected and transmitted to the control unit 5 ;

[0081] and a power source 121 , through which the structure mounted on the front vehicle body 1 or the rear vehicle body 2 is powered.

[0082] The negative pressure cavity 115 is a circular sealing structure, which is divided into two layers, an inner layer and an outer layer, and a gap is provided between the two baffles.

[0083] In the adsorption unit 103, a brushless DC motor 118 is installed outside the fan housing 117, and a radial centrifugal fan 119 is installed inside the fan housing 117 and connected to the brushless DC motor 118; the negative pressure cavity 115 is installed below the frame unit 101, and the sealing skirt 116 is pasted below the negative pressure cavity 115; the negative pressure cavity 115 adopts a circular sealing structure, which is divided into two layers, an inner layer and an outer layer, and a gap is provided between the two baffles, so as to improve the sealing effect of the negative pressure cavity; the negative pressure gauge 120 is installed in the negative pressure cavity 115, and the negative pressure value in the negative pressure cavity 115 is collected in real time. The control unit 5 adjusts the speed of the brushless DC motor 118 through an intelligent control algorithm to achieve real-time regulation of the negative pressure value in the negative pressure cavity 115; the power supply 121 is installed below the frame unit 101 and behind the negative pressure cavity 115. The front body 1 and the rear body 2 each have their own power supply 121, which is used to power the components of the drive motor, sensor, and control unit 5 of each part.

[0084] When the radial centrifugal fan 119 rotates driven by the DC brushless motor 118, the gas between the blades of the high-speed rotating radial centrifugal fan 119 is thrown to the outside of the radial centrifugal fan 119 due to the centrifugal force. As the air in the negative pressure cavity 115 is continuously discharged, the pressure in the negative pressure cavity 115 gradually decreases, and the external atmospheric pressure is higher than the air pressure in the negative pressure cavity 115, forming an inward pressure difference, thereby generating an adsorption force; then, under the action of the internal and external pressure difference, the external atmosphere enters the negative pressure cavity 115 through the tiny gap between the negative pressure cavity 115 and the wall surface. Due to the viscous friction dissipation effect and the dynamic and static pressure conversion effect, its static pressure gradually decreases. Finally, the low-pressure airflow in the negative pressure cavity 115 is driven by the blades of the radial centrifugal fan 119 again and discharged from the negative pressure cavity 115, thus forming a gas circulation, so that the wall-climbing robot can be stably adsorbed on the wall surface.

[0085] The frame unit 101 is an aluminum plate structure and is a carrier of each unit.

[0086] See also Figure 6 , the steering unit 3 comprises:

[0087] A rear vehicle connecting member 301 connected to the frame unit 101 of the rear vehicle body 2;

[0088] The plate 302 hinged to the rear vehicle connecting member 301 ensures the rotational freedom between the front vehicle body 1 and the rear vehicle body 2;

[0089] The front vehicle connecting member 303 is hinged to the plate member 302 to ensure the pitching freedom between the front vehicle body 1 and the rear vehicle body 2;

[0090] And a thrust rod 304 connected to one side between the rear vehicle connecting member 301 and the plate member 302, the two ends of the thrust rod 304 are respectively hinged with the rear vehicle connecting member 301 and the plate member 302, and the control unit 5 controls the extension or shortening of the thrust rod 304 to control the steering of the wall-climbing robot. The driving motor of the thrust rod 304 is a steering unit motor.

[0091] The positioning and detection unit 4 comprises:

[0092] A BDS positioning system 401 disposed on the frame unit 101 of the front vehicle body 1, through which the global position information of the wall-climbing robot is acquired and transmitted to the control unit 5;

[0093] An IMU inertial navigation system 402 disposed on the frame unit 101 of the front vehicle body 1 , through which the angular velocity and acceleration of the wall-climbing robot are measured and transmitted to the control unit 5 ;

[0094] And a binocular camera 403 installed at the front end of the front vehicle body 1 in the traveling direction, through which the image in front of the vehicle is collected and transmitted to the control unit 5.

[0095] See also Figure 7 The BDS positioning system 401 is installed at the right rear of the frame unit 101 of the front vehicle body 1, and can obtain the global position information of the wall-climbing robot. However, due to the complexity of the walls of high-rise buildings, the signal of the BDS positioning system 401 may be blocked; the IMU inertial navigation system 402 is installed at the left rear of the frame unit 101 of the front vehicle body 1, and can measure the angular velocity and acceleration of the wall-climbing robot, and obtain the posture and position by combining the algorithm, but there is a problem of error accumulation; both the BDS positioning system 401 and the IMU inertial navigation system 402 have certain limitations when used alone, but due to their complementary performance, they are adopted The integrated positioning method of the BDS positioning system 401 and the IMU inertial navigation system 402 has high accuracy and reliability; the binocular camera 403 is installed in front of the frame unit 101 of the front vehicle body 1, and can collect pictures in front of the vehicle for detecting obstacle information on the path; the encoder 110 is installed behind the track drive motor 109, and can collect the real-time rotation speed of the track drive motor 109; the negative pressure gauge 120 is installed in the negative pressure cavity 115, and can collect the negative pressure value in the negative pressure cavity 115; through various sensors, the operating status and surrounding environment information of the robot can be obtained in real time and transmitted to the control unit 5.

[0096] The control unit 5 includes an NI embedded system 502, a wireless communication module 503, a motor drive module 501 and a PC installed on the frame unit 101 of the rear body 2; the NI embedded system 502 receives the information transmitted to the control unit 5 as a whole and transmits it to the PC through the wireless communication module 503, and the PC returns the control parameters to the NI embedded system 502 through the wireless communication module 503, and the NI embedded system 502 sends the control instructions to the motor drive module 501 to control the overall movement.

[0097] The NI embedded system 502 is installed at the rear of the frame unit 101 of the rear body 2; the wireless communication module 503 is installed at the left side of the NI embedded system 502; the motor drive module 501 is installed at the right side of the NI embedded system 502; the NI embedded system 502 can receive information from the positioning and detection unit 4 and perform preliminary data processing; then the processed information is sent to the PC through the wireless communication module 503, and the PC establishes an approximate response surface based on the Kriging model for the received data to reflect the approximate relationship between each control parameter and the performance index, and then optimizes through a genetic algorithm to obtain an optimal set of control parameters; the PC returns the control parameters to the NI embedded system 502 through the wireless communication module 503, and the NI embedded system 502 sends the control instructions to the motor drive module 501; the motor drive module 501 is composed of each track motor driver, an adsorption unit motor driver, and a steering unit motor driver.

[0098] The crawling principle of the present invention is that the crawler drive motor 109 configured for each set of crawlers drives the driving wheel 106 to rotate, and the driving wheel 106 drives the rubber crawler 107 to achieve crawling. The significance of leaving the pitch direction degree of freedom between the two bodies is mainly to overcome obstacles, that is, when there is a small step or obstacle on the wall, the rear body 2 is first used to ensure adsorption, and the front body 1 overcomes the obstacle. After the front body 1 passes the obstacle, the front body 1 ensures adsorption, and the rear body 2 overcomes the obstacle. Through the cooperation of the front body 1 and the rear body 2, the obstacle-overcoming function of the four-track wall-climbing robot is realized.

Claims

1. A negative pressure adsorption articulated four-track wall-climbing robot, characterized in that: include: A front vehicle body (1) is arranged in front along the direction of travel, the front vehicle body (1) comprising a vehicle frame unit (101), crawling units (102) arranged on both sides of the vehicle frame unit (101), and a negative pressure suction unit (103); the crawling unit (102) is a floating crawler structure, and the suction unit (103) is a controllable negative pressure sealing suction cup suction structure; A rear vehicle body (2) having the same structure as the front vehicle body (1) and arranged at the rear along the direction of travel; A steering unit (3) connected between the end of the front vehicle body (1) and the front end of the rear vehicle body (2), wherein the rotation and pitch of the rear vehicle body (2) relative to the front vehicle body (1) are adjusted by the steering unit (3); A positioning and detection unit (4) mounted on the front vehicle body (1), for positioning and collecting images of the traveling environment through the positioning and detection unit (4); And a control unit (5) mounted on the rear vehicle body (2), the movement of the wall-climbing robot is controlled by the control unit (5).

2. The negative pressure adsorption articulated four-track wall-climbing robot according to claim 1, characterized in that: The crawler unit (102) comprises two sets of crawler structures symmetrically arranged on both sides of the frame unit (101); each set of crawler structures comprises: A crawler frame (104) fixedly connected to one side of the vehicle frame unit (101); A guide wheel (105) arranged outside the crawler frame (104) and located in front of the traveling direction; A driving wheel (106) arranged outside the crawler frame (104) and located rearward in the direction of travel; a rubber track (107) connected between the guide wheel (105) and the drive wheel (106); A crawler drive motor (109) is arranged inside the crawler frame (104) via a motor bracket (108), and an output end of the crawler drive motor (109) is coaxially fixedly connected to the drive wheel (106); An encoder (110) mounted on the crawler drive motor (109), wherein information collected by the encoder (110) is transmitted to a control unit (5); And a crawler track supporting structure is arranged on the crawler frame (104), and the rubber crawler track (107) is supported by the crawler track supporting structure.

3. The negative pressure adsorption articulated four-track wall-climbing robot according to claim 2, characterized in that: The crawler track support structure comprises two track supporting wheels (111) and three groups of support units arranged on the side walls of the crawler frame (104); the upper portion of the rubber crawler track (107) is supported by the two track supporting wheels (111); the three groups of support units are evenly arranged along the length direction of the crawler track, and each group of support units has a degree of freedom to move up and down; the two track supporting wheels (111) are staggered with the three groups of support units in the length direction.

4. The negative pressure adsorption articulated four-track wall-climbing robot according to claim 3, characterized in that: Each group of support units comprises: A corner connecting rod (112) rotatably matched with the crawler frame (104) at the corner, wherein the upper end of the corner connecting rod (112) slidably matches with an arc groove provided along a rotation track on the crawler frame (104); A support wheel (113) is arranged at the other end of the corner link (112), the support wheel (113) being in contact with and supported by a portion of the rubber crawler track (107) located below; And a spring (114), one end of the spring (114) is connected to one end of the corner connecting rod (112) that cooperates with the arc groove, and the other end of the spring (114) is connected to the track frame (104).

5. The negative pressure adsorption articulated four-track wall-climbing robot according to claim 1, characterized in that: The adsorption unit (103) comprises: A negative pressure cavity (115) fixedly arranged on the lower end surface of the frame unit (101); A sealing skirt (116) formed by connecting thick pig bristle strips and attached to the negative pressure cavity (115) on one side close to the wall; A fan housing (117) is arranged on the upper end surface of the frame unit (101) and is connected to the negative pressure cavity (115) through a through hole on the frame unit (101), and the fan housing (117) has a plurality of arc-shaped holes evenly distributed on the side surface; A brushless DC motor (118) disposed outside the fan housing (117); A radial flow centrifugal fan (119) is arranged inside the fan housing (117) and is coaxially connected to the output shaft of the DC brushless motor (118); the DC brushless motor (118) drives the radial flow centrifugal fan (119) to rotate relative to the fan housing (117) to generate negative pressure in the negative pressure cavity (115); A negative pressure gauge (120) disposed on the frame unit (101), which collects negative pressure parameters in the negative pressure cavity (115) and transmits the negative pressure parameters to the control unit (5); and a power source (121), through which the power source (121) supplies power to a structure mounted on the front vehicle body (1) or the rear vehicle body (2).

6. The negative pressure adsorption articulated four-track wall-climbing robot according to claim 5, characterized in that: The negative pressure cavity (115) is a circular sealing structure, divided into two layers, an inner layer and an outer layer, with a gap provided between the two baffles.

7. The negative pressure adsorption articulated four-track wall-climbing robot according to claim 1, characterized in that: The steering unit (3) comprises: A rear vehicle connecting piece (301) connected to the frame unit (101) of the rear vehicle body (2); A plate member (302) hingedly connected to the rear vehicle connecting member (301) ensures the rotational freedom between the front vehicle body (1) and the rear vehicle body (2); A front vehicle connecting member (303) articulated to the plate member (302) ensures the pitching freedom between the front vehicle body (1) and the rear vehicle body (2); and a thrust rod (304) connected to one side between the rear vehicle connecting piece (301) and the plate piece (302); the two ends of the thrust rod (304) are respectively hinged to the rear vehicle connecting piece (301) and the plate piece (302); and the control unit (5) is used to control the thrust rod (304) to extend or shorten.

8. The negative pressure adsorption articulated four-track wall-climbing robot according to claim 1, characterized in that: The positioning and detection unit (4) comprises: A BDS positioning system (401) disposed on the frame unit (101) of the front vehicle body (1), which acquires global position information of the wall-climbing robot through the BDS positioning system (401) and transmits the global position information to the control unit (5); An IMU inertial navigation system (402) is arranged on the frame unit (101) of the front vehicle body (1), and the angular velocity and acceleration of the wall-climbing robot are measured by the IMU inertial navigation system (402) and transmitted to the control unit (5); and a binocular camera (403) installed at the front end of the front vehicle body (1) in the direction of travel, wherein the binocular camera (403) collects images in front of the vehicle and transmits the images to the control unit (5).

9. The negative pressure adsorption articulated four-track wall-climbing robot according to claim 1, characterized in that: The control unit (5) comprises an NI embedded system (502) installed on a frame unit (101) of the rear vehicle body (2), a wireless communication module (503), a motor drive module (501), and a PC; the NI embedded system (502) receives information transmitted to the control unit (5) as a whole and transmits it to the PC via the wireless communication module (503); the PC returns control parameters to the NI embedded system (502) via the wireless communication module (503), and the NI embedded system (502) sends control instructions to the motor drive module (501) to control the overall movement.

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