A multi-stage compliant wall-climbing robot mechanism with curvature self-adaptability

Abstract

The present invention relates to a negative pressure adsorption wall-climbing robot mechanism for use in a complex curved surface environment, specifically a multi-stage compliant wall-climbing robot mechanism with curvature adaptability. The adsorption chamber is divided into a lower half chamber and an upper half chamber. The upper half chamber is connected to the lower half chamber via a secondary compliant mechanism. The upper half chamber is connected to an adsorption motor bracket, on which an adsorption motor is mounted. The bottom surface of the lower half chamber, where the adsorption motor contacts the curved surface, is mounted with a primary compliant sealing mechanism. A compliant movement mechanism is located within the adsorption chamber and includes a track mechanism bracket, a motor transmission device, a track, and a three-stage compliant mechanism. The track mechanism bracket is elastically connected to the upper half chamber via the three-stage compliant mechanism. The motor transmission device is mounted on the track mechanism bracket, and the track is driven by the motor transmission device to move on the curved surface. The present invention has a simple and compact structure, strong interchangeability, strong surface adaptability, a large deadweight ratio, and stable performance.

Description

Technical Field

[0001] The present invention relates to a negative pressure adsorption wall-climbing robot mechanism in a complex curved surface environment, in particular to a multi-stage compliant wall-climbing robot mechanism with curvature self-adaptation. Background Art

[0002] In industries like mining, petrochemicals, and transportation, a large number of spherical and quasi-spherical facilities have emerged. These facilities, exposed to the elements for extended periods, are subject to significant aging over time, requiring regular inspection and maintenance to eliminate potential safety hazards. However, due to the unique structure and application scenarios of these types of buildings, these operations are characterized by high operational difficulty, workload, and risk, potentially causing irreversible psychological and physical harm to operators. The necessity and advantages of robots replacing manual labor in inspection and maintenance tasks in these challenging environments are becoming increasingly prominent. To address these challenges, robots must first be able to adapt to complex spatial surfaces of varying curvature and skillfully perform a range of maneuvers, including climbing, crossing trenches, and turning corners. Furthermore, they must carry a toolkit for efficient inspection and maintenance. Summary of the Invention

[0003] In order to meet the requirements of robot inspection and maintenance of complex spatial surfaces with different curvatures, the purpose of the present invention is to provide a multi-stage flexible negative pressure adsorption wall-climbing robot mechanism that is adaptive to variable curvature and high curvature walls.

[0004] The object of the present invention is achieved through the following technical solutions:

[0005] The present invention includes an adsorption motor bracket, a flexible adsorption chamber mechanism, a flexible movement mechanism and a first-level flexible sealing mechanism, wherein the flexible adsorption chamber mechanism includes an adsorption chamber and a second-level flexible mechanism, the adsorption chamber is divided into a lower half chamber and an upper half chamber of the adsorption chamber, the upper half chamber of the adsorption chamber is elastically and telescopically connected to the lower half chamber of the adsorption chamber through the second-level flexible mechanism, the upper half chamber of the adsorption chamber is connected to the upper half chamber of the adsorption chamber, an adsorption motor is installed on the adsorption motor bracket to form an air pressure difference between the inside and outside of the adsorption chamber, the bottom surface of the lower half chamber of the adsorption chamber in contact with the curved surface is installed with a first-level flexible sealing mechanism for sealing between the adsorption chamber and the curved surface contact surface; the flexible movement mechanism is located in the adsorption chamber, the flexible movement mechanism includes a track mechanism bracket, a motor transmission device, a track and a three-level flexible mechanism, the track mechanism bracket is elastically connected to the upper half chamber of the adsorption chamber through the three-level flexible mechanism, the motor transmission device is installed on the track mechanism bracket, and the track moves on the curved surface through the drive of the motor transmission device.

[0006] Among them: one side of the adsorption motor bracket is a hollow structure, the bottom of one side of the adsorption motor bracket is installed on the upper half of the adsorption chamber, and the top is fixed to the adsorption motor, and the other side of the adsorption motor bracket is provided with an air outlet connected to the inside of the adsorption chamber, and the adsorption motor discharges the air in the adsorption chamber through the air outlet.

[0007] One side of the adsorption motor bracket is a hollow cylinder connected to the interior of the adsorption chamber, and the outer wall of the bottom of the hollow cylinder is evenly provided with multiple flanges A for connecting to the upper half of the adsorption chamber along the circumferential direction, and the inner wall of the top of the hollow cylinder is evenly provided with multiple flanges B for fixing the adsorption motor along the circumferential direction; the other side of the adsorption motor bracket is a hollow block, the interior of the hollow block is connected to the hollow cylinder, and the air outlet is opened on the upper surface of the hollow block.

[0008] A fan interface fixed to the adsorption motor bracket is provided in the middle position of the top surface of the upper half of the adsorption chamber, and a fixing hole for connecting the flexible moving mechanism is provided on the top surface of the upper half of the adsorption chamber outside the fan interface. A wire passing hole is also provided on the top surface of the upper half of the adsorption chamber; a slot is provided on the cavity wall of the lower half of the adsorption chamber along the height direction, and the upper half of the adsorption chamber is inserted into the slot. An installation groove is provided on the bottom surface of the lower half of the adsorption chamber, and the first-level flexible sealing mechanism is assembled in the installation groove with interference fit.

[0009] The secondary compliance mechanism includes a guide shaft, a fixed end cover A, a spring A and a fixed end cover B. The guide shaft is provided with a guide shaft shoulder. The lower end of the guide shaft passes through the mounting hole opened on the lower half of the adsorption chamber and is fixedly connected to the fixed end cover A. The guide shaft shoulder and the fixed end cover A are respectively located on the inner and outer sides of the mounting hole and respectively abut against the inner and outer surfaces of the mounting hole; the upper end of the guide shaft passes through the upper half of the adsorption chamber and is fixedly connected to the fixed end cover B. A spring A is sleeved on the guide shaft, and the two ends of the spring A respectively abut against the guide shaft shoulder and the upper half of the adsorption chamber.

[0010] The upper half of the adsorption chamber is equipped with flange end covers, the number of which is the same as that of the secondary compliance mechanisms and corresponds one to one. The upper end of the guide shaft passes through the upper half of the adsorption chamber and the flange end cover and is fixedly connected to the fixed end cover B. The fixed end cover B and the flange end cover interfere with each other, limiting the range of movement between the upper half of the adsorption chamber and the lower half of the adsorption chamber; the upper end of the spring A abuts against the flange end cover, realizing elastic telescopic deformation between the upper half of the adsorption chamber and the lower half of the adsorption chamber.

[0011] The motor transmission device includes a driving motor, a driving shaft, a driving wheel, a driven wheel and a driven shaft. The driving motor is fixed on the track mechanism bracket, and the output end is connected to the driving shaft. The driving wheel is installed on the driving shaft. The driven shaft is rotatably installed on the track mechanism bracket, and the driven shaft is connected to the driven wheel. The driving wheel and the driven wheel are connected through the track.

[0012] The track mechanism bracket is divided into a left bracket of the track mechanism and a right bracket of the track mechanism connected by bolts. The drive motor is fixed to the left bracket of the crawler mechanism. One end of the active shaft is connected to the output end of the drive motor, and the other end is rotatably connected to the right bracket of the track mechanism. The two ends of the driven shaft are respectively rotatably connected to the left bracket of the track mechanism and the right bracket of the track mechanism.

[0013] The motor transmission device also includes a transmission connecting piece. The output end of the drive motor is a D-shaped transmission shaft. The D-shaped transmission shaft passes through the D-shaped hole in the middle part of the transmission connecting piece and is inserted into the shaft hole at one end of the driving shaft; the driving wheel is fixed to the transmission connecting piece.

[0014] The compliant movement mechanism further includes a track connector, the bottom of which is fixedly connected to the track mechanism bracket, and the top of which is fixedly connected to the top surface of the upper half of the adsorption chamber through a three-stage compliant mechanism.

[0015] The advantages and positive effects of the present invention are:

[0016] 1. The present invention has a simple and compact structure, strong interchangeability, strong surface adaptability, large self-weight ratio and stable performance.

[0017] 2. The adsorption chamber of the present invention is formed by a flexible connection between the upper half chamber and the lower half chamber of the adsorption chamber, which can undergo elastic expansion and contraction deformation; through the expansion and contraction deformation of the adsorption chamber, the relative position between the flexible moving mechanism and the curved surface can be independently adjusted so that the two maintain a state of mutual contact; the flexible adsorption chamber mechanism of the present invention can have strong adaptability to high curvature and variable curvature wall surfaces.

[0018] 3. The flexible moving mechanism of the present invention is flexibly connected to the adsorption chamber. There is a certain angle in the contact between the flexible moving mechanism and the curved surface. The three-level flexible mechanism on the flexible moving mechanism undergoes a small range of flexible deformation, which can adjust the relative posture relationship between the flexible moving mechanism and the curved surface, eliminate the angle, and achieve maximum contact between the track and the curved surface.

[0019] 4. The design of the primary compliant sealing mechanism of the present invention combines the structural characteristics of the curved wall surface, which can improve the sealing performance of the flexible sealing skirt while reducing its own stress, thereby reducing wear during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is an exploded view of the overall structure of the present invention;

[0021] Figure 2 This is a structural diagram of the adsorption motor bracket of the present invention.

[0022] Figure 3 This is an exploded diagram of the structure of the compliant adsorption chamber mechanism of the present invention;

[0023] Figure 4 Schematic diagram of the structure of the secondary compliance mechanism of the present invention;

[0024] Figure 5 It is a structural schematic diagram of the compliant movement mechanism of the present invention;

[0025] Figure 6 It is an exploded view of the structure of the motor transmission device of the present invention;

[0026] Figure 7 This is a schematic structural diagram of the first-level compliant sealing mechanism of the present invention;

[0027] Figure 8 This is one of the working state schematic diagrams of the present invention;

[0028] Figure 9 for Figure 8 A partial enlarged view of the contact area between the middle track and the curved surface;

[0029] Figure 10 This is the second working state schematic diagram of the present invention;

[0030] Among them: 1 is the adsorption motor bracket, 101 is the adsorption motor fixing hole, 102 is flange A, 103 is the air outlet, and 104 is flange B;

[0031] 2 is the flexible adsorption chamber mechanism, 201 is the lower half of the adsorption chamber, 202 is the upper half of the adsorption chamber, 203 is the secondary flexible mechanism, 2031 is the guide shaft, 2032 is the guide shaft shoulder, 2033 is the fixed end cover A, 2034 is the spring A, 2035 is the fixed end cover B, 204 is the flange end cover, 205 is the fixing hole, 206 is the wire hole, 207 is the fan interface, and 208 is the installation slot;

[0032] 3 is a flexible moving mechanism, 301 is the left bracket of the crawler mechanism; 302 is a motor transmission device, 3021 is a driving motor, 3022 is a transmission connector, 3023 is a driving shaft, 3024 is a bushing, 303 is a driving wheel, 304 is the right bracket of the crawler mechanism, 305 is a driven wheel, 306 is a driven shaft, 307 is a crawler, 308 is a crawler connector, 309 is a third-level flexible mechanism; 4 is a first-level flexible sealing mechanism, and 5 is a curved surface. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with the accompanying drawings.

[0034] like Figures 1 to 7 As shown, the present invention includes an adsorption motor bracket 1, a flexible adsorption chamber mechanism 2, a flexible moving mechanism 3 and a first-level flexible sealing mechanism 4, wherein the flexible adsorption chamber mechanism 2 includes an adsorption chamber and a second-level flexible mechanism 203, the adsorption chamber is divided into an adsorption chamber lower chamber 201 and an adsorption chamber upper chamber 202, the adsorption chamber upper chamber 202 is elastically connected to the adsorption chamber lower chamber 201 through the second-level flexible mechanism 203, so that elastic expansion and contraction deformation can occur between the adsorption chamber upper chamber 202 and the adsorption chamber lower chamber 201, so as to eliminate the gap between the flexible moving mechanism 3 and the curved surface 5; the adsorption chamber upper chamber 202 is connected to the adsorption motor bracket 1, the adsorption chamber An adsorption motor for forming an air pressure difference inside and outside the adsorption chamber is installed on the motor bracket 1. The bottom surface of the lower half chamber 201 of the adsorption chamber in contact with the curved surface 5 is installed with a first-level flexible sealing mechanism 4 for sealing the contact surface between the adsorption chamber and the curved surface 5; the flexible moving mechanism 3 is located in the adsorption chamber, and the flexible moving machine 3 includes a track mechanism bracket, a motor transmission device 302, a track 307 and a three-level flexible mechanism 309. The track mechanism bracket is elastically connected to the upper half chamber 202 of the adsorption chamber through the three-level flexible mechanism 309. The motor transmission device 30 is installed on the track mechanism bracket, and the track 307 moves on the curved surface 5 through the drive of the motor transmission device 302.

[0035] One side of the adsorption motor bracket 1 is a hollow structure. The bottom of one side of the adsorption motor bracket 1 is installed on the upper half chamber 202 of the adsorption chamber, and the adsorption motor is fixed on the top. The other side of the adsorption motor bracket 1 is provided with an air outlet 103 connected to the interior of the adsorption chamber. The adsorption motor discharges the air in the adsorption chamber through the air outlet 103. One side of the adsorption motor bracket 1 of this embodiment is a hollow cylinder connected to the interior of the adsorption chamber. The outer wall of the bottom of the hollow cylinder is evenly provided with a plurality of flanges A102 for connecting to the upper half chamber 202 of the adsorption chamber along the circumferential direction. The inner wall of the top of the hollow cylinder is evenly provided with a plurality of flanges B104 along the circumferential direction. Each flange B104 is provided with an adsorption motor fixing hole 101 for fixing the adsorption motor. The other side of the adsorption motor bracket 1 is a hollow block. The interior of the hollow block is connected to the hollow cylinder. The air outlet 103 is provided on the upper surface of the hollow block. The adsorption motor sucks out the air in the adsorption chamber, so that a pressure difference is formed between the inside and outside of the adsorption chamber. The air sucked out by the adsorption motor is then discharged through the air outlet 103.

[0036] A fan interface 207 fixed to the adsorption motor bracket 1 is provided in the middle position of the top surface of the upper half chamber 202 of the adsorption chamber, and a fixing hole 205 for connecting the flexible moving mechanism 3 is provided on the top surface of the upper half chamber 202 of the adsorption chamber outside the fan interface 207. A wire hole 206 is also provided on the top surface of the upper half chamber 202 of the adsorption chamber; a slot 209 is provided on the cavity wall of the lower half chamber 201 of the adsorption chamber in the height direction, and the upper half chamber 202 of the adsorption chamber is inserted into the slot 209, and an installation groove 208 is provided on the bottom surface of the lower half chamber 201 of the adsorption chamber, and the first-level flexible sealing mechanism 4 is assembled in the installation groove 208 with an interference fit, which is convenient for replacement when the first-level flexible sealing mechanism 4 is damaged. In this embodiment, both the upper adsorption chamber 202 and the lower adsorption chamber 201 are square in shape. Four identical secondary compliance mechanisms 203 are symmetrically positioned at the four corners of the square adsorption chamber, providing a compliant connection between the upper and lower adsorption chambers 202 and 201. This creates a moving pair between the upper and lower adsorption chambers 202 and 201, enabling elastic expansion and contraction of the compliant adsorption mechanism 2. In this embodiment, four sets of fixing holes 205 are uniformly circumferentially defined on the top surface of the upper adsorption chamber 202, surrounding the fan interface 207. Each set of fixing holes 205 comprises four threaded holes arranged in a square pattern. Any two opposing sets of fixing holes 205 are used for connection to the tertiary compliance mechanism 309. In this embodiment, two wire holes 206 are symmetrically positioned about the center of the fan interface 207. These holes are used to route the power and signal lines of the drive motor 3021 in the motor transmission device 303 out of the adsorption chamber, while ensuring overall airtightness.

[0037] Flange end covers 204 corresponding to the secondary compliance mechanisms 203 are installed at the four corners of the upper half of the adsorption chamber 202. The flange end covers 204 are fixed to the upper half of the adsorption chamber 202 by bolts, which is convenient for loading and unloading and is conducive to the replacement of the secondary compliance mechanisms 203. The secondary compliance mechanism 203 of this embodiment includes a guide shaft 2031, a fixed end cover A2033, a spring A2034 and a fixed end cover B2035. A guide shaft shoulder 2032 is provided on the guide shaft 2031. The lower end of the guide shaft 2031 passes through the mounting hole opened on the lower half chamber 201 of the adsorption chamber and is fixedly connected to the fixed end cover A2033. The guide shaft shoulder 2032 and the fixed end cover A2033 are respectively located on the inner and outer sides of the mounting hole. The lower surface of the guide shaft shoulder 2032 abuts against the inner surface of the mounting hole, and the upper surface of the fixed end cover A2033 abuts against the outer surface of the mounting hole, thereby realizing a fixed connection between the secondary compliance mechanism 203 and the lower half chamber 201 of the adsorption chamber. The upper end of the guide shaft 2031 passes through the upper adsorption chamber 202 and the flange end cap 204, then securely connects to the fixed end cap B2035. The fixed end cap B2035 and the flange end cap 204 interfere with each other, limiting the range of movement between the upper adsorption chamber 202 and the lower adsorption chamber 201. A spring A2034 is coaxially sleeved on the guide shaft 2031. The upper end of the spring A2034 abuts the flange end cap 204, and the lower end abuts the guide shaft shoulder 2032, enabling elastic expansion and contraction between the upper adsorption chamber 202 and the lower adsorption chamber 201. A secondary compliance unit 203 forms a moving pair between the upper adsorption chamber 202 and the lower adsorption chamber 201. The guide shaft 2031 can withstand lateral forces acting on the compliant adsorption chamber mechanism 2, preventing lateral displacement between the upper adsorption chamber 202 and the lower adsorption chamber 201.

[0038] The compliant moving mechanism 3 of this embodiment is composed of two identical structures, symmetrically arranged on the upper half chamber 202 of the adsorption chamber of the compliant adsorption chamber mechanism 2. The track mechanism bracket of this embodiment is divided into a left track mechanism bracket 301 and a right track mechanism bracket 304. The left track mechanism bracket 301 and the right track mechanism bracket 304 are connected as a whole by bolts to form a complete track mechanism bracket. The compliant moving mechanism 3 also includes a track connector 308. The bottom of the track connector 308 is respectively fixed to the left track mechanism bracket 301 and the right track mechanism bracket 304. The top of the track connector 308 is fixed to the top surface of the upper half chamber 202 of the adsorption chamber through the three-level compliant mechanism 309. The track connector 308 of this embodiment is a square frame. The four corners of the top of the track connector 308 are fixed to a group of fixing holes 205 on the top surface of the upper half chamber 202 of the adsorption chamber through the three-level compliant mechanism 309. The three-stage compliance mechanism 309 of this embodiment is a spring B. When the flexible adsorption chamber mechanism 2 undergoes elastic expansion and contraction deformation, the flexible moving mechanism 3 and the upper half chamber 202 of the adsorption chamber move up and down relative to the curved surface 5. Through the different degrees of compression deformation of the spring B in the three-stage compliance mechanism 309 on the track connector 308, the angle formed when the flexible moving mechanism 3 and the curved surface 5 are in contact can be eliminated, so that the track 307 and the curved surface 5 maintain maximum full contact, which is used for moving and turning on the curved surface 5.

[0039] The motor transmission device 302 of this embodiment includes a driving motor 3021, a transmission connecting member 3022, a driving shaft 3023, a driving wheel 303, a driven wheel 305 and a driven shaft 306. The driving motor 3021 is fixedly connected to the left side bracket 301 of the crawler mechanism. One end of the driving shaft 3023 is connected to the output end of the driving motor 3021, and the other end is rotatably connected to the bearing seat on the right side bracket 304 of the crawler mechanism, which is used to provide power for the flexible moving mechanism 3. The driving wheel 303 is installed on the driving shaft 3023; the output end of the driving motor 3021 is a D-type transmission shaft, which passes through the D-type hole in the middle part of the transmission connecting member 3022 and is inserted into the shaft hole 3024 at one end of the driving shaft 3023 to ensure the coaxiality between the D-type transmission shaft and the driving shaft 3023. The transmission connector 3022 of this embodiment is cross-shaped with a D-shaped hole in the middle. The driving wheel 303 is fixed to the transmission connector 3022 by bolts, completing the power transmission between the drive motor 3021 and the driving shaft 303. The two ends of the driven shaft 306 are respectively rotatably connected to the bearing seat on the left bracket 301 of the crawler mechanism and the bearing seat on the right bracket 304 of the crawler mechanism. The driven wheel 305 is connected to the driven shaft 306. The driving wheel 303 and the driven wheel 305 are connected by the crawler track 307, which is used to transmit power between the driving wheel 303 and the driven wheel 305.

[0040] like Figure 7As shown, the design of the first-level flexible sealing mechanism 4 of this embodiment combines the structural characteristics of the spherical surface, can fit the spherical surface well, and is used to achieve airtightness between the first-level flexible sealing mechanism 4 and the contact surface of the curved surface 5, which can effectively reduce wear during use.

[0041] The working principle of the present invention is:

[0042] The multi-stage compliant wall-climbing robot mechanism of the present invention can produce good self-adaptation to spherical surfaces with variable curvature and high curvature. Figure 8 、 Figure 9 As shown, when in working state, the first-level flexible sealing mechanism 4 first contacts with the spherical curved surface 5. Through the elastic deformation of the first-level flexible sealing mechanism 4 itself, it can adapt to the surface characteristics of the curved surface 5, realize tight sealing between the contact surfaces, and effectively prevent the leakage of negative pressure in the adsorption chamber of the flexible adsorption chamber mechanism 2. At this time, there is a gap h between the flexible moving mechanism 3 and the curvature wall surface, and the size of the gap h is related to the curvature of the curved surface 5. As the pressure difference between the inside and outside of the adsorption chamber in the flexible adsorption chamber mechanism 2 increases, the spring A2034 in the secondary flexible mechanism 203 is compressed, so that the flexible moving mechanism 3 fixedly connected to the upper half chamber 202 of the adsorption chamber moves toward the curved surface 5 together with the upper half chamber 202 of the adsorption chamber, until the track 307 in the flexible moving mechanism 3 contacts the curved surface 5. Since the curved surface 5 has a certain curvature, the track 307 forms an angle α with the curved surface 5, resulting in uneven force on the inner and outer sides of the four third-level flexible mechanisms 309 placed on the track connector 308. Under the action of the adsorption force, the inner third-level flexible mechanism 309 is forced to be compressed and deformed, changing the relative posture of the flexible moving mechanism 3 relative to the curved surface 5, eliminating the angle α between the track 307 and the curved surface 5, and maximizing the contact between the track 307 and the curved surface 5, thereby increasing the friction between the track 307 and the curved surface 5.

[0043] like Figure 10As shown, the passive compliant deformation of the primary compliant sealing mechanism 4 can actively adapt to changes in the surface characteristics of the curved surface 5, achieving sealing between the contact surfaces. The passive compliant expansion and contraction of the compliant adsorption chamber mechanism 2 can eliminate the gap h between the compliant moving mechanism 3 and the curved surface 5, actively adapting to spherical surfaces of varying curvature and high curvature. Furthermore, the guide shaft 2031 in the secondary compliant mechanism 203 can withstand the lateral forces acting on the compliant adsorption chamber mechanism 2, preventing lateral displacement between the upper half 202 and lower half 201 of the adsorption chamber. The tertiary compliant mechanism 309 in the compliant moving mechanism 3 can also compliantly deform slightly, eliminating the angle α between the track 307 and the curved surface 5, increasing the contact area between the track 307 and the curved surface 5 and thereby increasing the friction between the track 307 and the curved surface 5. Through the synergistic action of these various compliant mechanisms, the multi-stage compliant wall-climbing robot mechanism of the present invention is capable of strong adaptation to spherical or quasi-spherical surfaces of varying curvature, high curvature, or both. The multi-stage compliant wall-climbing robot mechanism of the present invention has the characteristics of strong adaptability to variable curvature, high curvature spherical or spherical-like surfaces, large deadweight ratio, strong interchangeability, stable movement, etc.

[0044] The above description is only an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the scope of protection of the present invention.

Claims

1. A multi-stage compliant wall-climbing robot mechanism with curvature adaptability, characterized by: The invention comprises an adsorption motor support (1), a flexible adsorption chamber mechanism (2), a flexible movement mechanism (3) and a first-level flexible sealing mechanism (4), wherein the flexible adsorption chamber mechanism (2) comprises an adsorption chamber and a second-level flexible mechanism (203), the adsorption chamber is divided into a lower half chamber (201) and an upper half chamber (202), the upper half chamber (202) is connected to the lower half chamber (201) via the second-level flexible mechanism (203) in an elastically telescopically deformable manner, the upper half chamber (202) is connected to the adsorption chamber, and an adsorption motor support (1) is installed on the adsorption motor support (1) for forming an air pressure difference between the inside and outside of the adsorption chamber. A first-level compliant sealing mechanism (4) for sealing the contact surface between the adsorption chamber and the curved surface (5) is installed on the bottom surface of the lower half chamber (201) of the chamber in contact with the curved surface (5); the compliant moving mechanism (3) is located in the adsorption chamber, and the compliant moving mechanism (3) includes a crawler mechanism bracket, a motor transmission device (302), a crawler (307) and a three-level compliant mechanism (309); the crawler mechanism bracket is elastically connected to the upper half chamber (202) of the adsorption chamber through the three-level compliant mechanism (309); the motor transmission device (302) is installed on the crawler mechanism bracket, and the crawler (307) moves on the curved surface (5) through the drive of the motor transmission device (302); One side of the adsorption motor bracket (1) is a hollow structure, the bottom of one side of the adsorption motor bracket (1) is mounted on the upper half of the adsorption chamber (202), and the top is fixed with the adsorption motor, and the other side of the adsorption motor bracket (1) is provided with an air outlet (103) connected to the interior of the adsorption chamber, and the adsorption motor discharges the air in the adsorption chamber through the air outlet (103); The secondary compliance mechanism (203) comprises a guide shaft (2031), a fixed end cover A (2033), a spring A (2034) and a fixed end cover B (2035). The guide shaft (2031) is provided with a guide shaft shoulder (2032). The lower end of the guide shaft (2031) passes through a mounting hole provided on the lower half of the adsorption chamber (201) and is fixedly connected to the fixed end cover A (2033). The guide shaft shoulder (2032) and the fixed end cover B (2035) are provided with a guide shaft shoulder (2032). The end caps A (2033) are respectively located on the inner and outer sides of the mounting hole and respectively abut against the inner and outer surfaces of the mounting hole; the upper end of the guide shaft (2031) passes through the upper half of the adsorption chamber (202) and is fixedly connected to the fixed end cap B (2035); a spring A (2034) is sleeved on the guide shaft (2031), and the two ends of the spring A (2034) respectively abut against the guide shaft shoulder (2032) and the upper half of the adsorption chamber (202); The upper half chamber (202) of the adsorption chamber is provided with flange end covers (204) having the same number as the secondary compliance mechanisms (203) and corresponding to each other. The upper end of the guide shaft (2031) passes through the upper half chamber (202) of the adsorption chamber and the flange end cover (204) and is fixedly connected to the fixed end cover B (2035). The fixed end cover B (2035) and the flange end cover (204) interfere with each other, thereby limiting the range of movement between the upper half chamber (202) of the adsorption chamber and the lower half chamber (201) of the adsorption chamber. The upper end of the spring A (2034) abuts against the flange end cover (204), thereby realizing elastic expansion and contraction deformation between the upper half chamber (202) of the adsorption chamber and the lower half chamber (201) of the adsorption chamber.

2. The multi-stage compliant wall-climbing robot mechanism with curvature adaptability according to claim 1, characterized in that: One side of the adsorption motor bracket (1) is a hollow cylinder connected to the interior of the adsorption chamber, and the outer wall of the bottom of the hollow cylinder is evenly provided with a plurality of flanges A (102) for connecting to the upper half of the adsorption chamber (202) along the circumferential direction, and the inner wall of the top of the hollow cylinder is evenly provided with a plurality of flanges B (104) for fixing the adsorption motor along the circumferential direction; the other side of the adsorption motor bracket (1) is a hollow block, the interior of the hollow block is connected to the hollow cylinder, and the air outlet (103) is opened on the upper surface of the hollow block.

3. The multi-stage compliant wall-climbing robot mechanism with curvature adaptability according to claim 1, characterized in that: A fan interface (207) fixedly connected to the adsorption motor bracket (1) is provided at the middle position of the top surface of the upper half chamber (202) of the adsorption chamber, and a fixing hole (205) for connecting the flexible moving mechanism (3) is provided on the top surface of the upper half chamber (202) of the adsorption chamber outside the fan interface (207). A wire hole (206) is also provided on the top surface of the upper half chamber (202) of the adsorption chamber; a slot (209) is provided on the cavity wall of the lower half chamber (201) of the adsorption chamber along the height direction, the upper half chamber (202) of the adsorption chamber is inserted into the slot (209), and a mounting groove (208) is provided on the bottom surface of the lower half chamber (201) of the adsorption chamber, and the first-level flexible sealing mechanism (4) is assembled in the mounting groove (208) by interference fit.

4. The multi-stage compliant wall-climbing robot mechanism with curvature adaptability according to claim 1, characterized in that: The motor transmission device (302) comprises a driving motor (3021), a driving shaft (3023), a driving wheel (303), a driven wheel (305) and a driven shaft (306); the driving motor (3021) is fixed on a track mechanism bracket, and an output end is connected to the driving shaft (3023); the driving wheel (303) is mounted on the driving shaft (3023); the driven shaft (306) is rotatably mounted on the track mechanism bracket, the driven shaft (306) is connected to the driven wheel (305); and the driving wheel (303) and the driven wheel (305) are connected via a track (307).

5. The multi-stage compliant wall-climbing robot mechanism with curvature adaptability according to claim 4, characterized in that: The crawler mechanism bracket is divided into a crawler mechanism left bracket (301) and a crawler mechanism right bracket (304) connected by bolts. The drive motor (3021) is fixed to the crawler mechanism left bracket (301). One end of the driving shaft (3023) is connected to the output end of the drive motor (3021), and the other end is rotatably connected to the crawler mechanism right bracket (304). The two ends of the driven shaft (306) are respectively rotatably connected to the crawler mechanism left bracket (301) and the crawler mechanism right bracket (304).

6. The multi-stage compliant wall-climbing robot mechanism with curvature adaptability according to claim 4, characterized in that: The motor transmission device (302) further comprises a transmission connecting member (3022); the output end of the drive motor (3021) is a D-shaped transmission shaft, the D-shaped transmission shaft passes through a D-shaped hole in the middle portion of the transmission connecting member (3022) and is inserted into a shaft hole (3024) at one end of the driving shaft (3023); the driving wheel (303) is fixedly connected to the transmission connecting member (3022).

7. The multi-stage compliant wall-climbing robot mechanism with curvature adaptability according to claim 1, characterized in that: The compliant moving mechanism (3) further comprises a track connector (308), the bottom of the track connector (308) being fixedly connected to the track mechanism bracket, and the top of the track connector (308) being fixedly connected to the top surface of the upper half chamber (202) of the adsorption chamber via a three-stage compliant mechanism (309).

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