Negative pressure wall-climbing robot based on organ type plush sealing ring and variable-diameter tire structure

Abstract

The invention relates to a negative pressure wall-climbing robot based on an organ type plush sealing ring and a variable-diameter tire structure, which comprises a base, the bottom of the base is provided with an adsorption unit, and the adsorption unit is detachably connected with the base; a negative pressure unit is arranged on the base, and the negative pressure unit is fixedly arranged on the base and is communicated with the adsorption unit; a plurality of parallel driving units are arranged on the adsorption unit, telescopic rods are arranged on the driving units, variable-diameter tires are arranged on the two sides of the base and connected with the telescopic rods, and the variable-diameter tires are driven by the driving units to rotate to move; a telescopic structure is arranged on the side, close to the variable-diameter tire, of the base, a telescopic driving module is arranged on the telescopic structure, a side plate is arranged on the telescopic driving module, and the side plate is connected with a telescopic rod in a matched mode. The invention aims to solve the problems of contact adaptability and movement stability of the negative-pressure wall-climbing robot on wall surfaces with different curvatures and roughness or when the negative-pressure wall-climbing robot passes through a narrow space.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and relates to a negative pressure wall-climbing robot based on an organ type plush sealing ring and a variable-diameter tire structure. BACKGROUND

[0002] As an automatic device capable of working on a vertical or inclined wall, the negative pressure wall-climbing robot has been widely applied to fields such as building outer wall detection, storage tank maintenance and ship surface treatment. The core performance thereof depends on stable adsorption capacity and flexible movement adaptability, and a tire as a key component directly contacting the wall directly affects the working efficiency and safety of the robot in a complex environment. With the increasing requirements of industrial scenes on the complexity of wall working, the traditional fixed-size tire has been difficult to meet the adaptation requirements of diversified wall environments.

[0003] In actual work, the negative pressure wall-climbing robot often faces three typical scene challenges: firstly, different curvature walls such as cylindrical storage tanks and arc-shaped building outer facades, the fixed-size tire is difficult to fit the curved surface, resulting in insufficient contact area and reduced friction, which easily causes slipping or adsorption failure; secondly, rough walls (such as concrete walls and rusted metal surfaces), the rigid contact between the tire and the wall easily causes bumping, which destroys the negative pressure sealing environment and aggravates the tire wear; thirdly, narrow spaces (such as the inside of a pipeline and the gap between equipment), the fixed-width tire lacks flexibility and may not pass through or be limited in operation due to size matching problems. These problems directly lead to reduced working efficiency and increased failure risk of the robot, and even the robot cannot complete the specified task.

[0004] Through retrieval, the solutions in the prior art to the above problems mainly focus on the adaptability optimization of the tire, and a typical patent is patent CN202311725842.9 with the patent name of a self-adaptive curved surface wheel type negative pressure adsorption wall-climbing robot. The patent sets up a telescopic spring rod in the walking structure and cooperates with a rotating plate to enable the rubber wheel to self-adaptively adjust the deflection angle according to the curvature of the wall, and simultaneously uses a sponge gasket to increase the friction between the tire and the wall, thereby realizing the self-adaptability of the curved surface. The advantage thereof lies in simple structure and low cost, and the curved surface fitting can be improved to a certain extent; however, the disadvantage is that the tire size is fixed, the passing demand of the narrow space cannot be met, and the cushioning capacity for the rough wall is limited, which easily causes bumping to destroy the negative pressure sealing property. Other solutions such as the use of an elastic material tire such as a silica gel tire can adapt to small-range roughness changes through material deformation, but the size is not adjustable, the passing problem of the narrow space cannot be solved, and the performance is easily attenuated due to material fatigue after long-term use.

[0005] The existing schemes cannot break through the limitation of fixed tire size, and it is difficult to simultaneously meet the adaptive requirements of different curvatures, roughness wall surfaces and narrow spaces. Therefore, the variable-diameter tire structure is adopted, the width of the tire is actively adjusted through the cooperation of the driving unit and the telescopic rod, and the negative pressure sealing property is enhanced by the accordion plush sealing ring, so that the contact adaptability and movement stability of the robot in the complex wall surface environment are comprehensively improved. SUMMARY

[0006] The application provides a negative pressure wall climbing robot based on an accordion plush sealing ring and a variable-diameter tire structure, which solves the problems of contact adaptability and movement stability of the negative pressure wall climbing robot in different curvature and roughness wall surfaces or through narrow spaces.

[0007] In order to solve the above problems, the technical scheme adopted by the application is: A negative pressure wall climbing robot based on an accordion plush sealing ring and a variable-diameter tire structure, comprising a base, wherein the bottom of the base is provided with an adsorption unit, the adsorption unit is detachably connected with the base; a negative pressure unit is arranged on the base and fixedly arranged on the base and communicated with the adsorption unit; a plurality of parallel driving units are arranged on the adsorption unit, a telescopic rod is arranged on the driving unit, and a variable-diameter tire is connected with the telescopic rod on both sides of the base, and the variable-diameter tire is driven to rotate and move by the driving unit; a telescopic structure is arranged on the side of the base where the variable-diameter tire is located, a telescopic driving module is arranged on the telescopic structure, a side plate is arranged on the telescopic driving module, and the side plate is connected with the telescopic rod in cooperation.

[0008] The principle and benefits of the present scheme are: By arranging a plurality of parallel driving units on the adsorption unit, the driving units are connected with the telescopic rods, and the telescopic rods are connected with the variable-diameter tires on both sides of the base, the driving units can drive the variable-diameter tires to rotate to realize the movement of the robot. At the same time, the telescopic structure is arranged near the variable-diameter tires on both sides of the base, the telescopic driving module on the telescopic structure drives the side plate, the side plate cooperates with the telescopic rod, and under the action of the telescopic driving module, the width of the variable-diameter tire can be adjusted through the telescopic rod. When facing different curvature wall surfaces, adjusting the width of the variable-diameter tire can change the contact area with the wall surface, so as to ensure sufficient contact on the curved wall surface to maintain the friction force; for rough wall surfaces, the structure of the variable-diameter tire can reduce the bump caused by rigid contact, cooperate with the adsorption unit at the bottom of the base and the negative pressure unit communicated with the adsorption unit, and cooperate with the accordion plush sealing ring that can cooperate with the variable-diameter tire, so as to enhance the negative pressure sealing property; in narrow spaces, adjusting the width of the variable-diameter tire can improve the passability and ensure the normal movement of the robot.

[0009] Compared with the prior art, the prior art adjusts the deflection angle of the rubber wheel by the cooperation of the telescopic spring rod and the rotating plate, which can improve the curved surface fitting, but the tire size is fixed and cannot cope with narrow space. The scheme of using an elastic material tire also cannot solve the problem of passing through narrow space due to the size being adjustable, and the buffer capacity for rough walls is limited. The variable-diameter tire structure of the present scheme actively adjusts the width through the cooperation of the driving unit and the telescopic rod. When coping with narrow space, such as the inside of a pipeline, the tire width can be narrowed to easily pass through, while the existing fixed-size tire may not be able to enter due to the width problem; on different curvature walls, such as cylindrical storage tanks, the tire width can be adjusted to change the contact area. For example, the curvature is adjusted to increase the contact of the tire, and the curvature is adjusted to narrow the tire. Compared with the prior art, the present scheme can better ensure the fitting and reduce the risk of slipping. For rough walls, the variable-diameter tire cooperates with the accordion plush seal ring to better buffer bumps and maintain the negative pressure sealing environment, avoiding the situation that the existing technology destroys the sealing due to bumps, and the performance does not decay due to material fatigue, prolonging the service life.

[0010] For rough surfaces, the friction is relatively large, but there are many obstacles. At this time, the telescopic drive module drives the telescopic rod to adjust, so that the variable-diameter tire becomes thinner and the radius increases. The increase in tire radius can raise the robot chassis, leaving more up-and-down floating space for the accordion suction unit, allowing the accordion structure to flexibly cross the protrusions or depressions on the rough surface by virtue of its own telescopic characteristics, avoiding damage to the negative pressure sealing environment due to obstacles. At the same time, although the thinning of the tire reduces the contact area with the wall and may result in a decrease in friction, the high friction inherent in rough surfaces can effectively compensate for this change, still maintaining sufficient grip to prevent slipping. Moreover, the accordion structure cooperates with the plush seal ring, and after the chassis is raised, the wrinkles can absorb the impact of bumps, and the plush material can also penetrate into the gaps of the rough surface, further enhancing the negative pressure sealing performance and ensuring the stable movement of the robot on the rough surface.

[0011] For smooth walls, the friction is relatively small, and there are few obstacles. In this case, the tire is stretched to make the variable-diameter tire thicker and the radius smaller. The thickening of the tire can significantly increase the contact area with the smooth wall, directly increasing the friction and effectively preventing the robot from slipping. At the same time, the reduction in tire radius reduces the height of the wall-climbing robot chassis, reducing the floating space of the accordion seal ring. Since there are few obstacles on smooth walls, the seal ring does not need a large floating space, but can shorten the distance from the wall to reduce the volume fluctuation of the negative pressure chamber, enhancing the sealing stability. In addition, the plush seal ring is more closely fitted to the wall after the chassis is lowered, and its bottom arc structure and outer inclined structure can adapt to the slight curvature changes of the smooth surface, avoiding negative pressure leakage, and the flexible material can also reduce scratches on the smooth surface, ensuring reliable operation of the robot on the smooth wall.

[0012] This synergistic adjustment mechanism for different surface characteristics enables the robot to flexibly adjust its structure according to the wall surface conditions, ensuring stable movement while maintaining good negative pressure sealing effect, greatly improving the adaptability and operation reliability of the robot in diverse wall surface environments.

[0013] Further, the telescopic rod is fixedly connected with the driving unit, the telescopic rod is divided into a fixed part and a telescoping part, one end of the center shaft of the variable-diameter tire is fixedly connected with the fixed part, and the other end is fixedly connected with the telescoping part, this connection mode makes the adjustment action of the telescopic rod directly act on the tire center shaft, ensures that the center shaft always maintains stable force balance when the variable-diameter tire is widened or narrowed, avoids uneven contact of the tire with the wall surface due to force deviation, thereby ensuring the sealing of negative pressure adsorption; secondly, the fixed part and the telescoping part have clear division of labor, the fixed part provides basic support for the tire, ensuring that the power of the driving unit can be efficiently transmitted to the tire to maintain stable rotation, and the telescoping part realizes controllable adjustment of the tire diameter through precise telescoping, the cooperation of the two ensures the flexibility of tire adjustment and does not affect the driving performance; finally, this integrated design reduces the transmission gap, so that the size change of the tire is linked with the power output of the driving unit and the adjustment action of the telescoping structure, improving the response speed and action coordination of the robot in complex wall surface environments (such as sudden curvature change and narrow space switching), and further enhancing the stability and operation reliability of the overall structure.

[0014] Further, the end of the telescoping part away from the base is connected with the side plate, the adjustment force of the telescoping part can be directly transmitted to the wheel shaft of the variable-diameter tire through the side plate, ensuring that the power of the telescoping driving module is efficiently applied to the tire diameter change process, avoiding loss or delay due to long force transmission path, and improving the response speed and accuracy of the tire diameter adjustment; secondly, as an intermediate connecting structure, the side plate can convert the linear telescoping motion of the telescoping part into stable clamping force on the tire wheel shaft, maintaining the coaxiality of the wheel shaft and the driving unit during tire diameter change, preventing wheel shaft deviation from causing tire rotation jamming or increased wear, and ensuring the stability of power transmission of the driving unit; finally, the connection position away from the base leaves more space for the tire to change diameter, especially when the tire needs to be greatly adjusted in diameter to adapt to narrow spaces or large curvature walls, the base structure can reduce the restriction on the deformation of the tire, and at the same time the cooperation of the side plate and the telescopic rod can assist in maintaining the posture stability of the tire during diameter change, avoiding the influence of gravity center deviation on the overall adsorption balance of the robot, thereby further enhancing the operation reliability of the robot in complex wall surface environments.

[0015] Further, the variable-diameter tire is made of flexible material that can better adapt to the extension and contraction of the variable-diameter wheel shaft. When the length of the wheel shaft changes, the outer rubber tread and the inner rubber particle liner can synchronously deform plastically to ensure smooth adjustment of the tire thickness and radius, avoiding the problem of variable-diameter jamming caused by the deformation limitation of rigid materials. Flexible material has better adhesion when in contact with the wall. On a smooth wall, it can increase the actual contact area through micro-deformation to improve friction to prevent slipping. On a rough wall, it can adapt to the protrusions or depressions of the wall by deforming itself, reducing the impact of bumps on the sealing performance of the negative pressure suction module. Finally, the cushioning properties of flexible material can reduce the rigid collision between the tire and the wall, reducing damage to the wall and reducing wear and tear on the tire itself, prolonging its service life. At the same time, in combination with the sealing effect of the organ-style plush sealing ring, the moving stability and work safety of the robot in complex wall environments are further improved.

[0016] Further, the variable-diameter tire is made of flexible material that can better adapt to the extension and contraction of the variable-diameter wheel shaft. When the length of the wheel shaft changes, the outer rubber tread and the inner rubber particle liner can synchronously deform plastically to ensure smooth adjustment of the tire thickness and radius, avoiding the problem of variable-diameter jamming caused by the deformation limitation of rigid materials. Flexible material has better adhesion when in contact with the wall. On a smooth wall, it can increase the actual contact area through micro-deformation to improve friction to prevent slipping. On a rough wall, it can adapt to the protrusions or depressions of the wall by deforming itself, reducing the impact of bumps on the sealing performance of the negative pressure suction module. Finally, the cushioning properties of flexible material can reduce the rigid collision between the tire and the wall, reducing damage to the wall and reducing wear and tear on the tire itself, prolonging its service life. At the same time, in combination with the sealing effect of the organ-style plush sealing ring, the moving stability and work safety of the robot in complex wall environments are further improved.

[0017] Further, the telescopic drive module is arranged on both sides of the negative pressure adsorption module inside the wall-climbing robot. The telescopic drive module is driven by the motor inside the telescopic drive module to extend or shorten the connecting rod. The symmetrical adjustment torque of the connecting rod to the robot is formed by the layout on both sides, which ensures the overall force balance of the robot when driving the variable-diameter tire to change diameter, avoids the gravity center deviation caused by unilateral force, and ensures the stability of the negative pressure adsorption module and the wall surface. Secondly, the driving mode of the motor transmission can realize accurate control of the telescopic amount of the connecting rod. The thickness and radius of the tire are accurately adjusted through the preset program, so that the tire can quickly match the optimal contact state according to the roughness, curvature and other parameters of the wall surface, and the response accuracy of different wall surfaces is improved. Finally, the driving structure is built-in and close to the negative pressure adsorption module, which can shorten the power transmission path to reduce energy loss, and can use the structure frame of the negative pressure module to provide stable support for the telescopic drive module, while avoiding the interference of the external environment to the driving components. In combination with the linkage of the connecting rod, the side plate and the tire, the reliability and adjustment flexibility of the robot in complex wall surface operation are enhanced.

[0018] Further, the adsorption unit and the base are connected through the connecting module. The connecting module as an independent connection structure can realize quick disassembly and assembly of the adsorption unit and the base. When the accordion type plush sealing ring of the adsorption unit is worn or needs to be replaced with a sealing ring type suitable for different wall surfaces, the overall structure of the base does not need to be adjusted, which greatly improves the maintenance convenience and efficiency. Secondly, the connecting module can provide a stable installation reference for the adsorption unit, ensure the accurate butt joint of the communication interface of the adsorption unit and the negative pressure unit, avoid the negative pressure leakage problem caused by assembly deviation, and ensure the sealing and stability of the negative pressure adsorption. Finally, this modular connection mode can flexibly replace adsorption units of different specifications according to the operation requirements, such as replacing a larger size sealing ring for a special curvature wall surface, or replacing a thickened plush structure for a rough wall surface, so that the robot can adapt to more diverse operation scenarios without changing the core structure of the base.

[0019] Further, the adsorption unit is provided with an accordion structure, which can flexibly adapt to the distance change between the robot and the wall through its own telescopic characteristics. When the variable diameter tire adjustment causes the robot chassis height to change, the accordion structure can be stretched or contracted synchronously to maintain close contact with the wall at all times, avoiding the destruction of the negative pressure sealing environment due to fluctuation in the distance. Secondly, the pleat design of the accordion structure provides good buffering capacity. When the robot is slightly jolted due to the roughness of the wall, the pleats can absorb the vibration through deformation, reducing the impact on the sealing performance of the negative pressure chamber and ensuring the stability of the adsorption force. Finally, when this structure is used with a plush sealing ring, the space between the pleats can enhance the close fit of the plush and the wall. The plush material reduces frictional resistance to improve mobility, and the rigid support of the accordion structure ensures the stability of the sealing range, thereby continuously maintaining reliable negative pressure adsorption effect during robot movement and attitude adjustment, adapting to the sealing needs of different wall environments.

[0020] Further, the adsorption unit is provided with a telescopic structure, and a sealing ring is arranged at the end of the adsorption unit away from the base. The telescopic structure can flexibly adjust the length according to the distance change between the robot and the wall. When the variable diameter tire adjustment changes the chassis height, the adsorption unit can be stretched or contracted synchronously to ensure that the sealing ring always closely fits the wall, avoiding negative pressure leakage due to distance change and ensuring adsorption stability. Secondly, the sealing ring is directly arranged at the end of the adsorption unit, forming the first line of defense for sealing with the wall. In combination with the self-adaptive ability of the telescopic structure, it can reduce the contact pressure by contraction to reduce the moving resistance on smooth walls, and can better wrap the protrusions and fill the depressions by stretching on rough walls, enhancing the sealing effect. Finally, this design links the telescopic function of the adsorption unit and the sealing function of the sealing ring. When the robot moves or adjusts its attitude, the telescopic adsorption unit can compensate for the error caused by the unevenness of the wall, continuously maintaining the sealing performance of the negative pressure chamber, while reducing the rigid friction between the sealing ring and the wall, prolonging its service life. In combination with the adjustment function of the variable diameter tire, it further improves the adaptability of the robot to different wall environments.

[0021] Furthermore, one end of the bottom of the sealing ring is arranged in an arc-shaped structure, and the outer edge of the sealing ring is arranged in an inclined structure. The arc-shaped structure at the bottom can better adapt to walls of different curvatures. When the robot operates on the facade of a curved building or the surface of a cylindrical tank, the arc-shaped surface can form a more fitting surface contact with the wall through its own shape, reducing the gap caused by the curvature of the wall and enhancing the sealing of the negative pressure adsorption module; secondly, the inclined structure of the outer edge can reduce the friction resistance between the sealing ring and the wall when the robot moves, especially when moving on a rough wall, the inclined outer edge can guide the sealing ring to move more smoothly It can smoothly cross tiny bumps or depressions, avoiding wear of the sealing structure caused by rigid collision, and reducing interference with the stability of the negative pressure chamber; finally, the combination of the two structures forms a synergy with the accordion-like telescopic characteristics. The curved bottom ensures the sealing reliability under different curvatures, and the inclined outer edge improves the passability during movement. It can not only cooperate with the change of chassis height brought by the adjustment of the variable-diameter tire, always maintain close contact with the wall, but also reduce energy loss during the movement of the robot, further optimizing the adsorption stability and operation efficiency of the wall-climbing robot in complex wall environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of the present invention; Figure 3 It is a structural schematic diagram of the present invention; Figure 4 It is a structural schematic diagram of the present invention. DETAILED DESCRIPTION

[0023] The reference numerals in the drawings of the specification include: base 1, variable diameter tire 2, telescopic structure 3, side plate 4, detection rod 5, dustproof net 6, negative pressure unit 7, adsorption unit 8, drive unit 9, telescopic motor 10, fixing part 11, telescopic part 12, telescopic rod 13, connecting module 14, sealing ring 15, connecting rod 16, bearing 17, filler 18 Example 1, as Figures 1-4 As shown, a negative pressure wall-climbing robot based on an accordion-type plush sealing ring and a variable-diameter tire structure, the bottom of the base 1 is detachably connected to the adsorption unit 8 through a connecting module 14. The connecting module 14 adopts a combination of clips and bolts, which is convenient for quick disassembly and assembly and can ensure the stability of the connection.

[0024] The adsorption unit 8 is provided in an accordion type retractable structure, and a sealing ring 15 is installed at the end away from the base 1. The bottom of the sealing ring 15 is arc-shaped, the outer edge is inclined, the sealing ring 15 is made of wear-resistant plush material, and elastic fibers are embedded in the inside to enhance the sealing performance and service life. A cavity is formed in the adsorption unit 8, which is connected to the negative pressure unit 7 fixedly arranged on the base 1. The negative pressure unit 7 is a small vacuum pump connected to the cavity of the adsorption unit 8 through a pipeline. When working, the negative pressure unit 7 can quickly extract the air in the cavity to form negative pressure, so that the robot is adsorbed on the wall surface.

[0025] Two drive units 9 are arranged in parallel on the adsorption unit 8 along the moving direction of the robot. The drive unit 9 is a servo motor, the output shaft of the servo motor is fixedly connected to the fixed part 11 of the telescopic rod 13, and the telescopic part 12 is fixedly connected to one end of the central shaft of the variable diameter tire 2 away from the fixed part 11. The telescopic rod 13 fixed on the output shaft can rotate with the output shaft. The variable diameter tire 2 is sleeved on the telescopic rod 13, and the side close to the base 1 is fixedly connected to the fixed part 11. The telescopic part 12 is fixedly connected to the telescopic part 12 after passing through the connecting hole 19 of the variable diameter tire 2. The variable diameter tire 2 is made of flexible rubber and filled with filler 18, which is rubber particles. The filler can not only support but also quickly fill the tire when the diameter of the tire changes. When the telescopic part 12 of the telescopic rod 13 is stretched, the variable diameter tire 2 is stretched, the width of the variable diameter tire increases, and the diameter of the variable diameter tire decreases. When the telescopic part 12 is shortened, the variable diameter tire 2 is contracted, the width of the variable diameter tire decreases, and the diameter of the variable diameter tire increases.

[0026] On both sides of the base 1, near the variable diameter tire 2, a telescopic structure 3 is arranged. The telescopic structure 3 is a metal support, and a telescopic drive module 10 is installed on the upper end of the telescopic structure 3. The telescopic drive module 10 is a linear motor, which drives the connecting rod 16 to stretch and contract through the telescopic drive module. The other end of the connecting rod 16 is fixedly connected to the side plate 4, and the two ends of the side plate 4 are fixedly connected to the telescopic part 12 through bearings 17. The telescopic part 12 is adjusted by the telescopic drive module 10, so as to change the width of the variable diameter tire 2.

[0027] When the robot works on the wall surface with different curvatures, for example, on the wall surface of a cylindrical storage tank, by controlling the telescopic drive module 12 to drive the telescopic link 16 to telescope, and then by the side plate 4 pushing the telescopic part 12 of the telescopic rod 13 to move, the width and diameter of the variable-diameter tire 2 are adjusted. For the parts with larger curvature, the variable-diameter tire 2 is adjusted to be wider to increase the contact area with the wall surface, so as to ensure sufficient friction and adsorption force. The greater the curvature, the flatter it is, and the lower the requirement for passability is. The diameter can be reduced to reduce the height of the vehicle body, so that the stability is better and the adsorption force is higher. For the parts with smaller curvature, the variable-diameter tire 2 is appropriately adjusted to be narrower to adapt to the change of the wall surface. For the more curved surface, the passability needs to be increased, so the diameter of the tire is increased to increase the height of the vehicle body.

[0028] On the rough wall surface, the filler 18 inside the variable-diameter tire 2 can absorb the bumps caused by the unevenness of the wall surface through mutual extrusion and displacement, cooperate with the telescopic characteristics of the accordion adsorption unit 8, so that the sealing ring 15 is always tightly attached to the wall surface, and the negative pressure sealing environment is maintained. In a narrow space, by shortening the telescopic part 12 of the telescopic rod 13, the width of the variable-diameter tire 2 is reduced, so that the robot can smoothly pass through.

[0029] In addition, the robot can also replace the adsorption unit 8 and the sealing ring 15 of different specifications through the connecting module according to the actual operation requirements, so as to adapt to different wall surface environments. For example, for a particularly rough wall surface, a sealing ring 15 with longer and more elastic fur can be replaced; for a smooth wall surface, a sealing ring with a smoother surface can be replaced.

[0030] The robot can effectively solve the contact adaptability and movement stability problems in the wall surface with different curvatures and roughness and in the narrow space through the adjustment of the variable-diameter tire 2, the telescoping of the accordion adsorption unit 8 and the adjustment of the sealing ring 15, greatly improving the operation range and reliability of the robot.

[0031] The above is only an embodiment of the present application, and the common knowledge of specific structures and characteristics in the scheme is not described in detail here. The ordinary skilled person in the art knows all the ordinary technical knowledge in the field of the present application before the application date or the priority date, can know all the prior art in the field, and has the ability to apply conventional experimental means before that date. The ordinary skilled person in the art can perfect and implement the present scheme based on the disclosure given in the present application, and their own ability. Some typical known structures or known methods should not be an obstacle for the ordinary skilled person in the art to implement the present application. It should be noted that for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, and these will not affect the effect and practicality of the patent. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode in the specification can be used to explain the content of the claims.

Claims

1. A negative pressure wall-climbing robot based on an accordion-type plush sealing ring and a variable-diameter tire structure, characterized by: It includes a base, the bottom of which is provided with an adsorption unit, which is detachably connected to the base; a negative pressure unit is provided on the base, which is fixed on the base and connected to the adsorption unit; a plurality of parallel driving units are provided on the adsorption unit, and a telescopic rod is provided on the driving unit. Variable-diameter tires are provided on both sides of the base and are connected to the telescopic rod, and the variable-diameter tires are driven to rotate and move by the driving unit; a telescopic structure is provided on the side of the base where the variable-diameter tire is located, and a telescopic driving module is provided on the telescopic structure. A side panel is provided on the telescopic driving module, and the side panel is cooperatively connected to the telescopic rod.

2. The negative pressure wall-climbing robot based on an accordion-type plush sealing ring and a variable-diameter tire structure according to claim 1, characterized in that: The telescopic rod is fixedly connected to the driving unit. The telescopic structure is divided into a fixed part and a telescopic part. One end of the central axis of the variable diameter tire is fixedly connected to the fixed part, and the other end is fixedly connected to the telescopic part.

3. The negative pressure wall-climbing robot based on an accordion-type plush sealing ring and a variable-diameter tire structure according to claim 1, characterized in that: One end of the telescopic portion away from the base is cooperatively connected to the side plate.

4. The negative pressure wall-climbing robot based on an accordion-type plush sealing ring and a variable-diameter tire structure according to claim 1, characterized in that: The variable diameter tire is made of a flexible material.

5. The negative pressure wall-climbing robot based on an accordion-type plush sealing ring and a variable-diameter tire structure according to claim 1, characterized in that: Filling material is provided inside the variable diameter tire, and the filling material is rubber particles.

6. The negative pressure wall-climbing robot based on an accordion-type plush sealing ring and a variable-diameter tire structure according to claim 1, characterized in that: The telescopic drive module is placed on both sides of the negative pressure adsorption module inside the wall-climbing robot, and drives the connecting rod to extend or shorten through the internal motor transmission of the telescopic drive module.

7. The negative pressure wall-climbing robot based on an accordion-type plush sealing ring and a variable-diameter tire structure according to claim 1, characterized in that: The adsorption unit is connected to the base via a connection module.

8. The negative pressure wall-climbing robot based on an accordion-type plush sealing ring and a variable-diameter tire structure according to claim 1, characterized in that: The adsorption unit is arranged in an accordion structure.

9. The negative pressure wall-climbing robot based on an accordion-type plush sealing ring and a variable-diameter tire structure according to claim 1, characterized in that: The adsorption unit is a retractable structure, and a sealing ring is provided on one end of the adsorption unit away from the base.

10. The negative pressure wall-climbing robot based on an accordion-type plush sealing ring and a variable-diameter tire structure according to claim 1, characterized in that: One end of the bottom of the sealing ring is arranged in an arc-shaped structure, and the outer edge of the sealing ring is arranged in an inclined structure.

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