A negative pressure adsorption wall-climbing robot suitable for cylindrical surface movement

Abstract

The present application relates to the technical field of mobile robots, and particularly relates to a negative pressure adsorption wall-climbing robot suitable for moving on a cylindrical surface. The negative pressure adsorption wall-climbing robot comprises a transverse driving device, a transverse connecting device, an adsorption device and two cylindrical pulleys. The two cylindrical pulleys are arranged on the transverse two sides of the adsorption device, the axis is arranged along the longitudinal direction, and the two cylindrical pulleys can move along the axis direction. The transverse driving device and the transverse connecting device are respectively arranged on the longitudinal two sides of the adsorption device, and are connected with the two cylindrical pulleys. The transverse driving device is used for driving the two cylindrical pulleys to rotate around the axis, so as to realize the movement of the negative pressure adsorption wall-climbing robot along the transverse direction and the longitudinal direction. The cylindrical pulleys can move along the axis of the cylindrical surface and the circumferential direction of the cylindrical surface, so that the traversal of the robot on the cylindrical surface can be realized without turning the robot. The arrangement of the wheels is changed, so that the contact area of the wheels and the wall surface is not affected under the cylindrical surface with different radii.

Description

Technical Field

[0001] This invention relates to the field of mobile robot technology, and in particular to a negative pressure adsorption wall-climbing robot suitable for movement on a cylindrical surface. Background Technology

[0002] With urban construction and development, various engineering projects are increasing, and the quality requirements for these buildings are becoming increasingly stringent. Currently, in industries such as skyscrapers with cylindrical walls, bridges, petrochemical testing facilities, and hydraulic structures, defects such as cracks and pits can develop on the walls of wind turbines, petrochemical towers, and hydraulic structures due to long-term exposure to water flow and sun and rain. These defects pose certain safety hazards and require regular inspection and maintenance. Traditional inspection and maintenance methods mainly include observation and recording with telescopes, scaffolding, using lifts, suspended platforms, and manual suspended operations. Manual inspection methods have disadvantages such as long maintenance periods, high labor intensity, high risk, high cost, and limited inspection range. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide a negative pressure adsorption wall-climbing robot suitable for moving on cylindrical surfaces, thereby solving the problems of long maintenance periods, high labor intensity, high risk, high cost, and limited detection range associated with manual inspection.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] This invention provides a negative pressure adsorption wall-climbing robot suitable for cylindrical surface movement, comprising a lateral drive device, a lateral connecting device, an adsorption device, and two cylindrical pulleys. The adsorption device and the two cylindrical pulleys are both disposed between the lateral drive device and the lateral connecting device, and the two cylindrical pulleys are respectively arranged on both sides of the adsorption device. The lateral drive device is used to drive the two cylindrical pulleys to rotate as a whole around their own axis. The two cylindrical pulleys can move along their own axis, realizing the negative pressure adsorption wall-climbing robot to move laterally and longitudinally.

[0006] The cylindrical pulley includes a longitudinal drive mechanism, a short shaft, a wheel frame mounting plate, a long shaft, and a track drive mechanism. There are two parallel wheel frame mounting plates, and the longitudinal drive mechanism is installed between the two wheel frame mounting plates. The wheel frame mounting plates are circular, and multiple sets of track drive mechanisms are arranged circumferentially between the two wheel frame mounting plates, forming a cylindrical structure. Adjacent sets of track drive mechanisms are connected for transmission. Two symmetrically arranged sets of track drive mechanisms are connected to the longitudinal drive mechanism, which drives the multiple sets of track drive mechanisms to rotate synchronously along the axial direction of the cylindrical pulley.

[0007] The short shaft and the long shaft are respectively located at the center of the outer side of the two wheel frame mounting plates. The short shaft is used to connect with the lateral connecting device, and the long shaft is used to connect with the lateral driving device.

[0008] The track drive mechanism includes a track, a timing pulley frame, a cross coupling, and a timing pulley a;

[0009] Multiple synchronous pulley frames are arranged circumferentially on the outer edge of the wheel frame mounting plate. A synchronous pulley a is rotatably mounted on each synchronous pulley frame. Two adjacent synchronous pulleys a are connected by a cross coupling to form a closed loop structure.

[0010] The two corresponding synchronous pulleys a on the two wheel frame mounting plates are connected by a track drive;

[0011] The track includes multiple short tracks and two long tracks. The two long tracks are symmetrically arranged and are both connected to the longitudinal drive mechanism. The multiple short tracks are respectively arranged on both sides of the long tracks.

[0012] The longitudinal drive mechanism includes a left longitudinal drive support, a right longitudinal drive support, a reduction motor a, a large gear a, a synchronous pulley b, a small gear a, and idler gears. The reduction motor a is located between the left and right longitudinal drive supports, and the large gear a is located at the output end of the reduction motor a. The two synchronous pulleys b and the four idler gears are rotatably located between the left and right longitudinal drive supports, with the four idler gears arranged on both sides of the synchronous pulley b. The two synchronous pulleys b are coaxially mounted with two meshing small gears a, and one of the small gears a meshes with the large gear a.

[0013] The two long tracks pass through two synchronous pulleys b, and each long track is turned by two idler pulleys located on both sides of the synchronous pulley b.

[0014] The two wheel frame mounting plates are connected by multiple sets of adjustment components;

[0015] The adjustment assembly includes an adjustment screw and an adjustment nut, one end of which is connected to two wheel frame mounting plates respectively, and the other end of which is threaded. The distance between the two wheel frame mounting plates is adjusted by controlling the engagement length between the adjustment screw and the adjustment nut.

[0016] The lateral drive device includes a small gear b, a reduction motor b, a large gear b, a synchronous belt transmission mechanism, and a lateral drive frame. The lateral drive frame is connected to the adsorption device. The reduction motor b is installed at the center of the lateral drive frame and its output end is connected to the small gear b. The two large gears b are rotatably installed on the lateral drive frame and are both meshed with the small gear b.

[0017] Each large gear b is connected to a cylindrical pulley via a set of synchronous belt drive mechanisms.

[0018] The synchronous belt drive mechanism includes a synchronous pulley c, a synchronous belt, and a synchronous pulley d. The synchronous pulley c is coaxially mounted with a large gear b. The synchronous pulley d is rotatably mounted at the end of the transverse drive frame and is connected to the synchronous pulley c via the synchronous belt. The synchronous pulley d is coaxially connected with a cylindrical pulley.

[0019] The adsorption device includes an upper adsorption chamber, a negative pressure mechanism, a lower adsorption chamber, a skirt, and an elastic connecting mechanism. The upper adsorption chamber is an open structure at one end. One end of the lower adsorption chamber is slidably fitted to the open end of the upper adsorption chamber and connected by the elastic connecting mechanism. The other end of the lower adsorption chamber is provided with a skirt, which is deformed to fit the curved surface. The negative pressure mechanism is located at the top of the upper adsorption chamber and is used to provide negative pressure to the adsorption chamber formed by the upper and lower adsorption chambers.

[0020] The elastic connection mechanism includes a guide shaft support, a spring, a guide shaft bearing, a guide shaft, and a guide shaft end cap. The guide shaft support is located at the top of the upper adsorption cavity. The upper end of the guide shaft is fixedly connected to the guide shaft support, and the lower end is connected to the guide shaft end cap. The lower adsorption cavity is slidably connected to the guide shaft through the guide shaft bearing. The spring is sleeved on the guide shaft, and its two ends abut against the guide shaft bearing and the guide shaft support, respectively.

[0021] The negative pressure mechanism includes a centrifugal fan, a fan mounting bracket, and an air filter, wherein the fan mounting bracket is located at the top of the upper adsorption chamber, and the air filter and the centrifugal fan are mounted on the fan mounting bracket from bottom to top.

[0022] The advantages and positive effects of this invention are as follows:

[0023] The present invention provides a negative pressure adsorption wall-climbing robot suitable for moving on a cylindrical surface. It uses cylindrical pulleys and can move along the axis and circumference on the cylindrical surface, avoiding turning and realizing traversal inspection of the cylindrical surface.

[0024] This invention changes the arrangement of the wheels, adopting a cylindrical track structure arranged along the axial direction. Stable and reliable contact can always be maintained between the wheels and the wall surface under cylindrical surfaces of different radii, providing the robot with the gripping force required during movement.

[0025] The present invention employs an adsorption cavity with a two-stage deformation structure, which can undergo passive deformation to adapt to cylindrical surfaces of different radii and ensure adsorption performance on cylindrical surfaces. Attached Figure Description

[0026] Figure 1 This is an isometric view of a negative pressure adsorption wall-climbing robot suitable for movement on a cylindrical surface according to the present invention.

[0027] Figure 2 This is an isometric view of the cylindrical pulley in this invention;

[0028] Figure 3 This is a schematic diagram of the cylindrical pulley structure in this invention with four short tracks and one synchronous pulley frame removed;

[0029] Figure 4 This is a schematic diagram of the longitudinal drive mechanism in this invention;

[0030] Figure 5 This is a schematic diagram of the longitudinal drive mechanism in this invention with the right support and gear protective cover removed.

[0031] Figure 6 This is a schematic diagram of the transverse drive device in this invention;

[0032] Figure 7 This is a schematic diagram of the adsorption device in this invention;

[0033] Figure 8 This is a schematic diagram of the cut-off portion of the adsorption device in this invention.

[0034] In the diagram: 1 is a cylindrical pulley; 101 is the longitudinal drive mechanism; 1011 is the left support for the longitudinal drive; 1012 is the right support for the longitudinal drive; 1013 is the gear protective cover; 1014 is the geared motor a; 1015 is the large gear a; 1016 is the synchronous pulley b; 1017 is the small gear a; 1018 is the idler pulley; 102 is the short shaft; 103 is the wheel frame mounting plate; 104 is the short track; 105 is the long track; 106 is the long shaft; 107 is the synchronous pulley frame; 108 is the cross coupling; 109 is the synchronous pulley a; 110 is the adjusting screw; 11... 1 is an adjusting nut; 2 is a transverse drive device; 21 is a pinion b; 22 is a geared motor b; 23 is a large gear b; 24 is a synchronous pulley c; 25 is a synchronous belt; 26 is a synchronous pulley d; 27 is a transverse drive frame; 3 is a transverse connecting device; 4 is an adsorption device; 401 is an upper adsorption chamber; 402 is a centrifugal fan; 403 is a fan mounting bracket; 404 is a lower adsorption chamber; 405 is a skirt; 406 is an air filter; 407 is a guide shaft support; 408 is a spring; 409 is a guide shaft bearing; 410 is a guide shaft; 411 is a guide shaft end cap. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] like Figure 1As shown, the present invention provides a negative pressure adsorption wall-climbing robot suitable for cylindrical surface movement, including a lateral drive device 2, a lateral connecting device 3, an adsorption device 4, and two cylindrical pulleys 1. The adsorption device 4 and the two cylindrical pulleys 1 are both disposed between the lateral drive device 2 and the lateral connecting device 3, and the two cylindrical pulleys 1 are respectively arranged on both sides of the adsorption device 4. The adsorption device 4 is used for negative pressure adsorption, and the lateral drive device 2 is used to drive the two cylindrical pulleys 1 to rotate as a whole around their own axis. The two cylindrical pulleys 1 have the function of being able to move along their own axis, thereby realizing the negative pressure adsorption wall-climbing robot to move in both the lateral and longitudinal directions.

[0037] like Figure 2-3 As shown, in an embodiment of the present invention, the cylindrical pulley 1 includes a longitudinal drive mechanism 101, a short shaft 102, a wheel frame mounting plate 103, a long shaft 106, and a track transmission mechanism. Two wheel frame mounting plates 103 are arranged in parallel, and the longitudinal drive mechanism 101 is installed between the two wheel frame mounting plates 103. The wheel frame mounting plates 103 are circular, and multiple sets of track transmission mechanisms are arranged circumferentially between the two wheel frame mounting plates 103, forming a cylindrical structure. Adjacent sets of track transmission mechanisms are connected for transmission. The two symmetrically arranged sets of track transmission mechanisms are connected to the longitudinal drive mechanism 101, which drives the multiple sets of track transmission mechanisms to rotate synchronously and in the same direction along the axial direction of the cylindrical pulley 1. The short shaft 102 and the long shaft 106 are respectively located at the outer center positions of the two wheel frame mounting plates 103. The short shaft 102 is used to connect with the lateral connecting device 3, and the long shaft 106 is used to connect with the lateral drive device 2.

[0038] In this embodiment of the invention, the track drive mechanism includes a track, a timing pulley frame 107, a cross coupling 108, and timing pulleys a109. Multiple timing pulley frames 107 are circumferentially arranged at the outer edge of the wheel frame mounting plate 103. A timing pulley a109 is rotatably mounted on each timing pulley frame 107. Adjacent timing pulleys a109 are connected by a cross coupling 108 to form a closed-loop structure. Corresponding timing pulleys a109 on two wheel frame mounting plates 103 are connected by a track drive. In this embodiment, the track includes multiple short tracks 104 and two long tracks 105. The two long tracks 105 are symmetrically arranged and both are connected to the longitudinal drive mechanism 101. The multiple short tracks 104 are respectively arranged on both sides of the long tracks 105.

[0039] In an embodiment of the present invention, the two wheel frame mounting plates 103 are connected by multiple sets of adjustment components; the adjustment components include an adjustment screw 110 and an adjustment nut 111, wherein one end of the adjustment screw 110 and the adjustment nut 111 are respectively connected to the two wheel frame mounting plates 103, and the other end of the adjustment screw 110 and the adjustment nut 111 are threadedly connected, and the distance between the two wheel frame mounting plates 103 is adjusted by controlling the engagement length between the adjustment screw 110 and the adjustment nut 111.

[0040] like Figure 4-5 As shown, in an embodiment of the present invention, the longitudinal drive mechanism 101 includes a longitudinal drive left support 1011, a longitudinal drive right support 1012, a gear protective cover 1013, a reduction motor a1014, a large gear a1015, a synchronous pulley b1016, a small gear a1017, and idler gears 1018. The reduction motor a1014 is disposed between the longitudinal drive left support 1011 and the longitudinal drive right support 1012, and the large gear a1015 is disposed at the output end of the reduction motor a1014. The two synchronous pulleys b1016 and the four idler gears 1018 are rotatably disposed between the longitudinal drive left support 1011 and the longitudinal drive right support 1012, and the four idler gears 1018 are arranged on both sides of the synchronous pulley b1016. The synchronous pulleys b1016 and the idler gears 1018 can rotate between the longitudinal drive left support 1011 and the longitudinal drive right support 1012. Two synchronous pulleys b1016 are coaxially mounted with two meshing pinions a1017, one of which meshes with a large gear a1015. Two long tracks 105 pass through the two synchronous pulleys b1016, and each long track 105 is deflected by two idler pulleys 1018 located on both sides of the synchronous pulleys b1016. Furthermore, the large gear a1015 and the pinion a1017 are located between the longitudinal drive right-side support 1012 and the gear protective cover 1013. During operation, the geared motor a1014 drives the large gear a1015 to rotate, which in turn drives the two small gears a1017 to rotate in the opposite direction. At the same time, the two synchronous pulleys b1016 also rotate in the opposite direction, which in turn drives the two long tracks 105 to rotate synchronously in the same direction. Since the synchronous pulleys a109 are connected by a cross coupling 108, the multiple short tracks 104 and the two long tracks 105 rotate synchronously in the same direction, realizing the movement of the cylindrical pulley 1 along the axial direction.

[0041] like Figure 3 As shown, in an embodiment of the present invention, the longitudinal drive mechanism 101 is mounted on a wheel frame mounting plate 103 and connected to another wheel frame mounting plate 103 via a support assembly. Specifically, the support assembly includes multiple sets of support bolt rods arranged circumferentially.

[0042] In this embodiment, ten sets of track drive mechanisms are provided between the two wheel frame mounting plates 103 of the cylindrical pulley 1. That is, each end of the cylindrical pulley 1 is provided with ten synchronous pulley frames 107, ten cross couplings 108, and ten synchronous pulleys a109. The synchronous pulleys a109 can rotate on the synchronous pulley frames 107. The cross couplings 108 connect two adjacent synchronous pulleys a109 and keep the two synchronous pulleys a109 rotating at the same speed. The ten cross couplings 108 on the same side are alternately arranged with the ten synchronous pulleys a109 and connected to each other, eventually forming a loop. When one synchronous pulley a109 rotates, the remaining synchronous pulleys a109 will rotate together. Eight short tracks 104 are directly connected to the corresponding synchronous pulleys a109 on the left and right sides. In addition to being connected to the corresponding synchronous pulleys a109 on the left and right sides, the two long tracks 105 are also connected to the longitudinal drive mechanism 101.

[0043] like Figure 6 As shown in the embodiment of the present invention, the lateral drive device 2 includes a pinion b21, a reduction motor b22, a large gear b23, a synchronous belt drive mechanism, and a lateral drive frame 27. The lateral drive frame 27 is connected to the adsorption device 4. The reduction motor b22 is installed at the center of the lateral drive frame 27, and its output end is connected to the pinion b21. Two large gears b23 are rotatably mounted on the lateral drive frame 27 and mesh with the pinion b21. Each large gear b23 is connected to a cylindrical pulley 1 through a set of synchronous belt drive mechanisms. During operation, the reduction motor b22 drives the pinion b21 to rotate, thereby driving the two large gears b23 to rotate, which in turn drives the two cylindrical pulleys 1 to move forward or backward laterally through the two sets of synchronous belt drive mechanisms.

[0044] In an embodiment of the present invention, the synchronous belt drive mechanism includes a synchronous pulley c24, a synchronous belt 25, and a synchronous pulley d26. The synchronous pulley c24 is coaxially mounted with a large gear b23. The synchronous pulley d26 is rotatably mounted at the end of the transverse drive frame 27 and is connected to the synchronous pulley c24 via the synchronous belt 25. The synchronous pulley d26 is fixedly connected to the long shaft 106 of a cylindrical pulley 1, so that the cylindrical pulley 1 and the synchronous pulley d26 rotate synchronously.

[0045] like Figure 7-8As shown, in an embodiment of the present invention, the adsorption device 4 includes an upper adsorption cavity 401, a negative pressure mechanism, a lower adsorption cavity 404, a skirt 405, and an elastic connection mechanism. The upper adsorption cavity 401 has an open end structure. One end of the lower adsorption cavity 404 is slidably engaged with the open end of the upper adsorption cavity 401 and is connected by the elastic connection mechanism. The other end of the lower adsorption cavity 404 is provided with a skirt 405, which is deformed to fit the curved surface. The negative pressure mechanism is disposed on the top of the upper adsorption cavity 401 and is used to provide negative pressure to the adsorption cavity formed by the upper adsorption cavity 401 and the lower adsorption cavity 404.

[0046] In an embodiment of the present invention, the elastic connection mechanism includes a guide shaft support 407, a spring 408, a guide shaft bearing 409, a guide shaft 410, and a guide shaft end cap 411. The guide shaft support 407 is disposed on the top of the upper adsorption cavity 401. The upper end of the guide shaft 410 is fixedly connected to the guide shaft support 407, and the lower end is connected to the guide shaft end cap 411. The lower adsorption cavity 404 is slidably connected to the guide shaft 410 via the guide shaft bearing 409. The spring 408 is sleeved on the guide shaft 410, and its two ends abut against the guide shaft bearing 409 and the guide shaft support 407, respectively. Under the action of the guide shaft 410, the upper adsorption cavity 401 and the lower adsorption cavity 404 can move relative to each other. The spring 408 can generate a force that pushes the upper adsorption cavity 401 and the lower adsorption cavity 404 away from each other. The skirt 405 can deform to better conform to the shape of the curved surface. The present invention employs an adsorption cavity with a two-stage deformation structure, which can ensure adsorption performance on a cylindrical surface.

[0047] In embodiments of the present invention, the negative pressure mechanism includes a centrifugal fan 402, a fan mounting bracket 403, and an air filter 406. The fan mounting bracket 403 is disposed on the top of the upper adsorption chamber 401, and the air filter 406 and the centrifugal fan 402 are mounted on the fan mounting bracket 403 from bottom to top. During operation, the centrifugal fan 402 is activated to evacuate the adsorption chamber, thereby achieving negative pressure adsorption in the adsorption chamber.

[0048] This invention provides a negative pressure adsorption wall-climbing robot suitable for moving on a cylindrical surface. It can move along the axis and circumferential direction of the cylindrical surface without the need for robot turning, thus enabling the robot to traverse and inspect the cylindrical surface.

[0049] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A negative pressure adsorption wall-climbing robot suitable for movement on a cylindrical surface, characterized in that, The device includes a lateral drive device (2), a lateral connection device (3), an adsorption device (4), and two cylindrical pulleys (1). The adsorption device (4) and the two cylindrical pulleys (1) are both located between the lateral drive device (2) and the lateral connection device (3). The two cylindrical pulleys (1) are respectively arranged on both sides of the adsorption device (4). The lateral drive device (2) is used to drive the two cylindrical pulleys (1) to rotate around their own axis. The two cylindrical pulleys (1) can move along their own axis, so as to realize the negative pressure adsorption wall climbing robot moving in the lateral and longitudinal directions. The cylindrical pulley (1) includes a longitudinal drive mechanism (101), a short shaft (102), a wheel frame mounting plate (103), a long shaft (106), and a track transmission mechanism. There are two wheel frame mounting plates (103) arranged in parallel. The longitudinal drive mechanism (101) is installed between the two wheel frame mounting plates (103). The wheel frame mounting plate (103) has a circular structure, and multiple sets of track transmission mechanisms are arranged circumferentially between the two wheel frame mounting plates (103) to form a cylindrical structure. The two adjacent sets of track transmission mechanisms are connected for transmission. The two symmetrically arranged sets of track transmission mechanisms are connected to the longitudinal drive mechanism (101), and the longitudinal drive mechanism (101) drives the multiple sets of track transmission mechanisms to rotate synchronously along the axial direction of the cylindrical pulley (1). The short shaft (102) and the long shaft (106) are respectively located at the outer center of the two wheel frame mounting plates (103). The short shaft (102) is used to connect with the lateral connecting device (3), and the long shaft (106) is used to connect with the lateral driving device (2).

2. The negative pressure adsorption wall-climbing robot suitable for cylindrical surface movement according to claim 1, characterized in that, The track drive mechanism includes a track, a synchronous pulley frame (107), a cross coupling (108), and a synchronous pulley a (109). Multiple synchronous pulley frames (107) are arranged circumferentially on the outer edge of the wheel frame mounting plate (103). A synchronous pulley a (109) is rotatably mounted on each synchronous pulley frame (107). Two adjacent synchronous pulleys a (109) are connected by a cross coupling (108) to form a closed loop structure. Two corresponding synchronous pulleys a (109) on the two wheel frame mounting plates (103) are connected by a track drive; The track includes multiple short tracks (104) and two long tracks (105). The two long tracks (105) are symmetrically arranged and are both connected to the longitudinal drive mechanism (101). The multiple short tracks (104) are respectively arranged on both sides of the long tracks (105).

3. The negative pressure adsorption wall-climbing robot suitable for cylindrical surface movement according to claim 2, characterized in that, The longitudinal drive mechanism (101) includes a longitudinal drive left support (1011), a longitudinal drive right support (1012), a reduction motor a (1014), a large gear a (1015), a synchronous pulley b (1016), a small gear a (1017), and an idler gear (1018). The reduction motor a (1014) is positioned between the longitudinal drive left support (1011) and the longitudinal drive right support (1012), and the large gear a (1015) is positioned between the reduction motor a (1014) and the longitudinal drive right support (1012). The output end of 014); two synchronous pulleys b (1016) and four idler pulleys (1018) are rotatably disposed between the longitudinal drive left support (1011) and the longitudinal drive right support (1012), and the four idler pulleys (1018) are arranged on both sides of the synchronous pulley b (1016); the two synchronous pulleys b (1016) are coaxially mounted with two meshing pinions a (1017), and one of the pinions a (1017) meshes with the large gear a (1015); The two long tracks (105) pass through two synchronous pulleys b (1016) respectively, and each of the long tracks (105) is turned by two idler pulleys (1018) located on both sides of the synchronous pulleys b (1016).

4. The negative pressure adsorption wall-climbing robot suitable for cylindrical surface movement according to claim 1, characterized in that, The two wheel frame mounting plates (103) are connected by multiple sets of adjustment components; The adjustment assembly includes an adjustment screw (110) and an adjustment nut (111), one end of which is connected to two wheel frame mounting plates (103) respectively, and the other end of which is threadedly connected. The distance between the two wheel frame mounting plates (103) is adjusted by controlling the engagement length between the adjustment screw (110) and the adjustment nut (111).

5. The negative pressure adsorption wall-climbing robot suitable for cylindrical surface movement according to claim 1, characterized in that, The transverse drive device (2) includes a small gear b (21), a reduction motor b (22), a large gear b (23), a synchronous belt drive mechanism, and a transverse drive frame (27). The transverse drive frame (27) is connected to the adsorption device (4). The reduction motor b (22) is installed at the center of the transverse drive frame (27) and its output end is connected to the small gear b (21). The two large gears b (23) are rotatably installed on the transverse drive frame (27) and are meshed with the small gear b (21). Each large gear b (23) is connected to a cylindrical pulley (1) via a set of synchronous belt drive mechanisms.

6. The negative pressure adsorption wall-climbing robot suitable for cylindrical surface movement according to claim 5, characterized in that, The synchronous belt drive mechanism includes a synchronous pulley c (24), a synchronous belt (25), and a synchronous pulley d (26). The synchronous pulley c (24) is coaxially mounted with a large gear b (23). The synchronous pulley d (26) is rotatably mounted at the end of the transverse drive frame (27) and is connected to the synchronous pulley c (24) via the synchronous belt (25). The synchronous pulley d (26) is coaxially connected with a cylindrical pulley (1).

7. The negative pressure adsorption wall-climbing robot suitable for cylindrical surface movement according to claim 1, characterized in that, The adsorption device (4) includes an upper adsorption cavity (401), a negative pressure mechanism, a lower adsorption cavity (404), a skirt (405), and an elastic connection mechanism. The upper adsorption cavity (401) is an open structure at one end. One end of the lower adsorption cavity (404) is slidably fitted with the open end of the upper adsorption cavity (401) and connected by the elastic connection mechanism. The other end of the lower adsorption cavity (404) is provided with a skirt (405), which is deformed to fit the curved surface. The negative pressure mechanism is set on the top of the upper adsorption cavity (401) and is used to provide negative pressure to the adsorption cavity formed by the upper adsorption cavity (401) and the lower adsorption cavity (404).

8. The negative pressure adsorption wall-climbing robot suitable for cylindrical surface movement according to claim 7, characterized in that, The elastic connection mechanism includes a guide shaft support (407), a spring (408), a guide shaft bearing (409), a guide shaft (410), and a guide shaft end cap (411). The guide shaft support (407) is located at the top of the upper adsorption cavity (401). The upper end of the guide shaft (410) is fixedly connected to the guide shaft support (407), and the lower end is connected to the guide shaft end cap (411). The lower adsorption cavity (404) is slidably connected to the guide shaft (410) through the guide shaft bearing (409). The spring (408) is sleeved on the guide shaft (410), and its two ends abut against the guide shaft bearing (409) and the guide shaft support (407), respectively.

9. The negative pressure adsorption wall-climbing robot suitable for cylindrical surface movement according to claim 7, characterized in that, The negative pressure mechanism includes a centrifugal fan (402), a fan mounting bracket (403), and an air filter (406), wherein the fan mounting bracket (403) is located on the top of the upper adsorption chamber (401), and the air filter (406) and the centrifugal fan (402) are mounted on the fan mounting bracket (403) from bottom to top.

Images