A robot suitable for climbing smooth and rough walls

Abstract

The present application relates to the technical field of crawling robot, in particular to a robot suitable for crawling on smooth and rough wall surface, comprising at least two air extractors fixedly installed below the fixing plate, rotatable flexible belts arranged on the adjacent sides of the first vertical plate and the second vertical plate, rotatable flexible rings arranged on the adjacent sides of the first vertical plate and the second vertical plate close to the two ends, and a plurality of sponge suction cups uniformly arranged on the periphery of the flexible belts; when the robot walks on the rough wall surface, the air extractors continuously extract the gas in the recessed cavities, so that the flexible belts and the flexible rings are pressed and attached to the wall surface, thereby providing the walking friction force for the robot; when the robot crawls on the smooth surface, the sponge suction cups can significantly increase the friction force between the robot and the wall surface when the robot walks on the smooth wall surface, thereby effectively meeting the needs of walking on the smooth wall surface and the rough wall surface.

Description

Technical Field

[0001] This invention relates to the field of crawling robot technology, and more particularly to a robot suitable for crawling on both smooth and rough walls. Background Technology

[0002] Most existing crawling robots use ferromagnetic or vacuum sliding adsorption. For example, ferromagnetic robots can only be used on magnetic walls and cannot crawl on non-magnetic walls. Vacuum sliding adsorption can only be used on glass walls. Claw-attached bionic robots are still in the experimental stage, are prone to damaging the wall, and often slip on the wall, making them difficult to apply in the market.

[0003] Due to the prevalence of both rough and smooth walls in current infrastructure, existing crawling robots are inadequate for their tasks. For example, CN114056446A discloses a wall-climbing robot comprising a first robot body, a second robot body, a connecting mechanism, and two walking mechanisms. The second robot body is spaced apart from the first robot body. The connecting mechanism includes a frame, a first rotating component, and a second rotating component. The frame includes a first link, a second link, and a connecting rod. The first and second links are parallel to each other. The first rotating component is fitted onto the first link to drive the frame to rotate around the axis of the first link, and the second rotating component is fitted onto the second link to drive the frame to rotate around the axis of the second link. The two walking mechanisms are fixed to the first and second robot bodies, respectively. Although this patent addresses obstacle crossing between wall surfaces, it still struggles to handle both rough and smooth walls, thus affecting the crawling robot's adaptability during movement. Therefore, during long-term research and testing, it was found that existing crawling robots cannot simultaneously meet the needs of walking on both smooth and rough walls. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a robot suitable for crawling on both smooth and rough walls, so as to solve the problem that crawling robots in the prior art are unable to meet the needs of walking on both smooth and rough walls.

[0005] Based on the above objectives, the present invention provides a robot suitable for crawling on both smooth and rough walls, comprising: a support plate; a first vertical plate and a second vertical plate are fixedly installed at both ends of the support plate, a fixing plate is fixedly installed at the top of the first vertical plate and the top of the second vertical plate, at least two exhaust fans are fixedly installed below the fixing plate, the air inlet of the exhaust fans penetrates through the support plate, a rotatable flexible belt is provided on the adjacent sides of the first vertical plate and the second vertical plate, a rotatable flexible collar is provided near both ends on the adjacent sides of the first vertical plate and the second vertical plate, a drive assembly is provided on the first vertical plate and the second vertical plate, the flexible belt and the flexible collar are rotated by the drive assembly, the flexible collar and the flexible belt form a recessed cavity below the support plate, the exhaust fans are activated to create negative pressure inside the recessed cavity, so that the robot crawls on the rough wall surface by means of the flexible belt and the flexible collar, and multiple sponge suction cups are evenly arranged around the flexible belt, so that the robot crawls on the smooth wall surface by means of the flexible belt and the flexible collar.

[0006] Preferably, the drive assembly includes: a drive shaft, fixedly installed on one end of the adjacent side of the first vertical plate and the second vertical plate; drive wheels are rotatably sleeved on both sides of the center of the drive shaft; a first bearing is provided between the contact surfaces of the drive wheels and the drive shaft; a first annular tooth groove and a second annular tooth groove are provided on the adjacent ends of the two drive wheels; an adjusting belt is meshed and sleeved around the first annular tooth groove; a flexible belt is meshed and sleeved around the second annular tooth groove; a through hole is respectively opened in the center of the first vertical plate and the center of the second vertical plate; a slide plate is movably installed inside the through hole; a bracket is fixedly installed on one end of the slide plate; the bracket has an L-shaped structure and is located above the support plate; a drive wheel is rotatably installed on one end of the bracket via a rotating shaft; the adjusting belt is meshed and sleeved around the drive wheel; and a power assembly is located on the other side of the slide plate; the power assembly is used to drive the drive wheel to rotate, and the power assembly drives the position of the slide plate in the through hole to adjust the tension of the adjusting belt.

[0007] Preferably, the power assembly includes: a servo motor, fixedly installed in the middle of one side of the slide plate, the power output end of the servo motor passing through the slide plate and fixedly connected to the drive wheel; and a cylinder, fixedly installed on the adjacent sides of the first vertical plate and the second vertical plate, the power output end of the cylinder being fixedly connected to the slide plate.

[0008] Preferably, the first vertical plate and the second vertical plate are provided with sliding grooves near the top and bottom of the middle, the sliding grooves are arranged in parallel, and the top and bottom of the slide plate are fixedly installed with sliders, the sliders slide inside the sliding grooves.

[0009] Preferably, the drive assembly further includes: a driven shaft, detachably mounted on the other end of the adjacent side of the first vertical plate and the second vertical plate, with driven wheels rotatably sleeved on both sides of the center of the driven shaft's periphery, a second bearing provided between the contact surfaces of the driven wheels and the driven shaft, and a third annular toothed groove provided at the adjacent ends of the periphery of the two driven wheels, with the flexible belt meshing and sleeved around the periphery of the third annular toothed groove; and a positioning assembly, disposed between the driven shaft and the first and second vertical plates, the positioning assembly being used to limit the position of the driven shaft on the first and second vertical plates to limit the tension of the flexible belt.

[0010] Preferably, the positioning component includes: a notch, which is respectively opened at the ends of the first vertical plate and the second vertical plate; the driven shaft is engaged in the notch; positioning blocks are fixedly installed at both ends of the driven shaft through the notch; a lead screw is rotatably inserted into one end of the positioning block; a fixing block is threaded around the lead screw; and one side of the fixing block is fixedly installed on the first vertical plate and the second vertical plate.

[0011] Preferably, a sleeve is provided through the middle of the pallet, the air inlet of the exhaust fan is inserted into the sleeve and is interference-fitted with the sleeve, a sealing layer is coated around the sleeve and between the sleeve and the pallet, and baffles are fixedly installed on both sides of the lower middle part of the pallet, the two baffles are arranged in parallel and are attached to one side of the flexible belt, and both ends of the baffles extend to the flexible collar.

[0012] Preferably, the first vertical plate and the second vertical plate are arranged symmetrically and in parallel, the flexible belt and the adjacent sides of the flexible collar are fitted together, and the adjacent sides of the two flexible collars are fitted together.

[0013] The beneficial effects of this invention are as follows: The robot uses a fan to extract air from the recessed cavity, creating negative pressure within it. This allows the robot to adhere to the wall surface. A drive assembly rotates the flexible belt and flexible collar, enabling the robot to crawl on inclined or even vertical walls. When crawling on rough walls, the flexible belt and flexible collar around the robot engage with small particles on the wall, providing attachment points. The flexible belt and flexible collar serve as both the robot's walking mechanism and the skirt of the recessed cavity. As the robot moves on rough walls, the fan continuously extracts air from the recessed cavity, pressing the flexible belt and flexible collar against the wall, providing friction for the robot. When crawling on smooth surfaces, a perimeter of sponge suction cups around the flexible belt significantly increases friction, effectively accommodating the need to move on both smooth and rough walls, further improving the robot's crawling performance on different surfaces. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the three-dimensional side view structure of the present invention; Figure 2 This is a schematic diagram showing the positional structure of the first and second vertical plates of the present invention; Figure 3 This is a schematic diagram of the baffle position structure of the present invention; Figure 4 This is a schematic diagram of the three-dimensional bottom view structure of the present invention; Figure 5 This is a schematic diagram of the positional structure of the driving wheel and the driven wheel in this invention; Figure 6 This is a schematic diagram of the cylinder mounting position structure of the present invention; Figure 7 This is a schematic diagram of the position structure of the positioning component of the present invention.

[0016] The following are labeled in the diagram: 1. Support plate; 2. First vertical plate; 3. Second vertical plate; 4. Fixing plate; 5. Exhaust fan; 6. Sleeve; 7. Baffle; 8. Flexible collar; 9. Flexible belt; 10. Sponge suction cup; 11. Drive shaft; 111. First bearing; 112. Drive wheel; 113. First annular groove; 114. Second annular groove; 115. Adjusting belt; 116. Through hole; 117. Slide plate; 118. Bracket; 119. Drive wheel; 12. Servo motor; 121. Cylinder; 122. Slide groove; 123. Slider; 13. Driven shaft; 131. Second bearing; 132. Driven wheel; 133. Third annular groove; 14. Notch; 141. Positioning block; 142. Lead screw; 143. Fixing block. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments. Example

[0018] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, a robot suitable for crawling on both smooth and rough walls includes: a support plate 1; a first vertical plate 2 and a second vertical plate 3 are respectively fixed to both ends of the support plate 1 by bolts, the first vertical plate 2 and the second vertical plate 3 are arranged symmetrically and parallelly, a fixing plate 4 is fixed to the top of the first vertical plate 2 and the top of the second vertical plate 3 by bolts, at least two exhaust fans 5 are fixed to the bottom of the fixing plate 4 by bolts, the air inlet of the exhaust fans 5 penetrates through the support plate 1, and rotatable flexible belts 9 are provided on the adjacent sides of the first vertical plate 2 and the second vertical plate 3, and rotatable flexible belts are provided near both ends on the adjacent sides of the first vertical plate 2 and the second vertical plate 3. The flexible belt 9 and the flexible collar 8 are attached to each other on adjacent sides. Two flexible collars 8 are attached to each other on adjacent sides. The first vertical plate 2 and the second vertical plate 3 are provided with driving components. The flexible belt 9 and the flexible collar 8 are rotated by the driving components. The flexible collar 8 and the flexible belt 9 form a recessed cavity under the support plate 1. The exhaust fan 5 is started to form a negative pressure inside the recessed cavity, so that the robot can crawl on the rough wall surface by using the flexible belt 9 and the flexible collar 8. Multiple sponge suction cups 10 are evenly arranged around the flexible belt 9, so that the robot can crawl on the smooth wall surface by using the flexible belt 9 and the flexible collar 8.

[0019] The robot's skeleton is formed by the fixing plates 4 on the support plate 1, which are provided with the first vertical plate 2 and the second vertical plate 3. This allows the exhaust fan 5 to be installed, leaving space above the fixing plates 4 for the installation of electrical equipment to meet the robot's drive control requirements. The provided drive components provide power for the rotation of the flexible belt 9 and the flexible collar 8. When the robot uses the exhaust fan 5 to extract air from the recessed cavity, a negative pressure is created inside the cavity. This allows the robot to move freely on the wall surface while being attracted by the negative pressure, simultaneously using the flexible belt 9 and the flexible collar 8. This effectively improves the robot's transfer performance on inclined and even vertical walls. Furthermore, when the robot walks on a rough wall surface, the flexible belt 9 and the flexible collar 8 around the robot interact with small particles on the wall surface. The interlocking mechanism allows the particles on the wall surface to provide attachment points for the flexible belt 9 and flexible collar 8. The flexible belt 9 and flexible collar 8 can serve as both the robot's walking mechanism and the skirt of the recessed cavity. When the robot walks on the rough wall surface, the exhaust fan 5 continuously extracts the gas from the recessed cavity, causing the flexible belt 9 and flexible collar 8 to adhere to the wall surface, thereby providing the robot with walking friction. Furthermore, when the robot walks on a smooth surface, by setting a ring of sponge suction cups 10 around the flexible belt 9, which can be compressed and retracted into the flexible belt 9, the friction between the robot and the wall surface can be significantly increased when the robot walks on a smooth wall surface. This effectively takes into account the need to walk on both smooth and rough walls, further improving the robot's crawling effect on different walls.

[0020] Furthermore, to improve the sealing between the recessed cavity and the wall, a sleeve 6 is installed through the middle of the support plate 1. The air inlet of the exhaust fan 5 is inserted into the sleeve 6 and is interference-fitted with the sleeve 6. A sealing layer is coated between the sleeve 6 and the support plate 1. Baffles 7 are fixedly installed on both sides of the lower middle part of the support plate 1 by bolts. The two baffles 7 are arranged in parallel and are attached to one side of the flexible belt 9. Both ends of the baffles 7 extend to the flexible collar 8, thereby further improving the negative pressure effect in the recessed cavity and improving the effect of the robot adhering to the wall surface by means of negative pressure. Example

[0021] The difference from the previous embodiment is that the drive assembly includes: a drive shaft 11, which is fixedly installed on one end of the adjacent side of the first vertical plate 2 and the second vertical plate 3 by bolts; drive wheels 112 are rotatably sleeved on both sides of the center of the drive shaft 11; a first bearing 111 is provided between the contact surface of the drive wheel 112 and the drive shaft 11, which can further improve the rotation efficiency of the drive wheel 112 on the drive shaft 11; a first annular tooth groove 113 and a second annular tooth groove 114 are provided on the adjacent ends of the two drive wheels 112; an adjusting belt 115 is meshed around the first annular tooth groove 113; the inner side of the adjusting belt 115 is provided with a protrusion adapted to the first annular tooth groove 113, thereby improving the transmission efficiency; a flexible belt 9 is meshed around the second annular tooth groove 114; and through holes 116 are respectively opened in the center of the first vertical plate 2 and the second vertical plate 3. In the middle of the two vertical plates 3, a sliding plate 117 is movably disposed inside the through hole 116. A bracket 118 is fixedly installed on one side of the sliding plate 117 by bolts. The bracket 118 has an L-shaped structure and is located above the support plate 1. A drive wheel 119 is rotatably mounted on one end of the bracket 118 via a rotating shaft. An adjusting belt 115 is engaged and sleeved around the drive wheel 119. A power component is disposed on the other side of the sliding plate 117. The power component is used to drive the drive wheel 119 to rotate and drive the sliding plate 117 to adjust the tension of the adjusting belt 115 within the through hole 116. Slide grooves 122 are provided near the top and bottom of the middle of the first vertical plate 2 and the second vertical plate 3. The slide grooves 122 are arranged in parallel. A slider 123 is fixedly installed at the top and bottom of the sliding plate 117 by bolts. The slider 123 slides inside the slide groove 122.

[0022] The drive component provides driving force to the drive wheel 119, enabling the drive wheel 119 to rotate the drive wheel 112 by adjusting the belt 115. This allows the flexible belt 9 to rotate through the second annular tooth groove 114, thereby driving the robot attached to the wall to crawl. The drive component can also adjust the tension of the belt 115 to adjust the transmission efficiency. By controlling the drive component, the robot can move forward, backward, turn left, and turn right. The slide groove 122 on the first vertical plate 2 and the second vertical plate 3 allows the slide plate 117 to move within the through hole 116, further improving stability and structural strength of the robot in practical applications.

[0023] Furthermore, the power assembly includes: a servo motor 12, which is fixedly installed on the middle of one side of the slide plate 117 by bolts, and the power output end of the servo motor 12 passes through the slide plate 117 and is fixedly connected to the drive wheel 119 by bolts; and a cylinder 121, which is fixedly installed on the adjacent side of the first vertical plate 2 and the second vertical plate 3 by bolts, and the power output end of the cylinder 121 is fixedly connected to the slide plate 117 by bolts.

[0024] The servo motor 12 provides rotational power to the drive wheel 112, while the extension and retraction of the cylinder 121 changes the position of the slide plate 117 within the through hole 116, thereby achieving the effect of adjusting the transmission efficiency of the belt 115 while the drive wheel 112 rotates. Example

[0025] The difference from the second embodiment is that the drive assembly further includes: a driven shaft 13, detachably mounted on the adjacent end of the first vertical plate 2 and the second vertical plate 3, with driven wheels 132 rotatably sleeved on both sides of the center of the outer periphery of the driven shaft 13, a second bearing 131 provided between the contact surfaces of the driven wheels 132 and the driven shaft 13, and a third annular tooth groove 133 opened at the adjacent ends of the outer periphery of the two driven wheels 132, with the flexible belt 9 meshing and sleeved around the outer periphery of the third annular tooth groove 133; and a positioning assembly, disposed between the driven shaft 13 and the first vertical plate 2 and the second vertical plate 3, the positioning assembly being used to limit the position of the driven shaft 13 on the first vertical plate 2 and the second vertical plate 3 to limit the tension of the flexible belt 9.

[0026] By fitting the flexible belt 9 around the third annular toothed groove 133 and engaging it, the power of the drive wheel 112 can be transmitted to the driven wheel 132, enabling the robot to achieve four-wheel drive during crawling. This further improves the robot's power performance during crawling and allows the flexible belt 9 to effectively adhere to the wall surface, increasing the contact area between the flexible belt 9 and the wall surface. This further enhances the robot's crawling performance on both rough and smooth walls. The positioning components ensure that the driven wheel 132 can effectively adapt to flexible belts 9 of different sizes during installation, thereby improving the convenience of assembling and disassembling the flexible belt 9.

[0027] Furthermore, the positioning component includes: a notch 14, which is respectively opened at the ends of the first vertical plate 2 and the second vertical plate 3; the driven shaft 13 is engaged in the notch 14; the two ends of the driven shaft 13 pass through the notch 14 and are fixedly installed with positioning blocks 141 by bolts; one end of the positioning block 141 is rotatably inserted with a lead screw 142; a fixing block 143 is threaded around the lead screw 142; and one side of the fixing block 143 is fixedly installed on the first vertical plate 2 and the second vertical plate 3 by bolts.

[0028] By placing the driven shaft 13 within the notch 14, the lead screw 142 can rotate within the fixed block 143, simultaneously driving the positioning block 141 to move, thereby changing the position of the driven shaft 13 within the notch 14. By adjusting the distance between the driven wheel 132 and the driving wheel 112, the tension of the flexible belt 9 can be effectively adjusted, thereby adjusting the contact area between the flexible belt 9 and the wall surface, further improving the robot's crawling effect on rough or smooth walls.

[0029] Working principle: During use, the robot uses a fan 5 to extract air from the recessed cavity, creating a negative pressure. This negative pressure allows the robot to adhere to the wall surface while simultaneously moving freely using the flexible belt 9 and flexible collar 8. This effectively improves the robot's transfer efficiency on inclined and even vertical walls. Specifically, the power component provides driving force to the drive wheel 119, which in turn drives the drive wheel 112 to rotate via the belt 115. This, in turn, allows the flexible belt 9 to rotate through the second annular toothed groove 114, thus driving the robot adhered to the wall surface. The robot can move forward, backward, turn left, and turn right by controlling the drive components. The servo motor 12 provides rotational power to the drive wheel 112. By fitting the flexible belt 9 around the third annular toothed groove 133 and engaging it, the power of the drive wheel 112 can be transmitted to the driven wheel 132, enabling the robot to achieve four-wheel drive during crawling. This further improves the robot's power effect during crawling and allows the flexible belt 9 to effectively adhere to the wall surface, increasing the contact area between the flexible belt 9 and the wall surface, thus further improving the robot's crawling effect on both rough and smooth walls.

Claims

1. A robot suitable for crawling on both smooth and rough walls, comprising: A pallet (1); characterized in that a first vertical plate (2) and a second vertical plate (3) are fixedly installed at both ends of the pallet (1), a fixing plate (4) is fixedly installed at the top of the first vertical plate (2) and the top of the second vertical plate (3), at least two exhaust fans (5) are fixedly installed below the fixing plate (4), the air inlet end of the exhaust fan (5) passes through the pallet (1), a rotatable flexible belt (9) is provided on the adjacent sides of the first vertical plate (2) and the second vertical plate (3), and a rotatable flexible collar (8) is provided on the adjacent sides of the first vertical plate (2) and the second vertical plate (3) near both ends. A drive assembly is provided, in which a flexible belt (9) and a flexible collar (8) rotate. The flexible collar (8) and the flexible belt (9) form a recessed cavity below the support plate (1). When the exhaust fan (5) is activated, a negative pressure is created inside the recessed cavity, allowing the robot to crawl on a rough wall surface via the flexible belt (9) and the flexible collar (8). Multiple sponge suction cups (10) are evenly arranged around the flexible belt (9), allowing the robot to crawl on a smooth wall surface via the flexible belt (9) and the flexible collar (8). The drive assembly includes: an active shaft (11), which is fixedly installed on the first vertical plate (2) and the second vertical plate (3). On one side near one end, drive wheels (112) are rotatably sleeved on both sides of the outer center of the drive shaft (11). A first bearing (111) is provided between the contact surface of the drive wheel (112) and the drive shaft (11). A first annular tooth groove (113) and a second annular tooth groove (114) are provided on the adjacent ends of the two drive wheels (112). An adjusting belt (115) is meshed and sleeved on the outer side of the first annular tooth groove (113). A flexible belt (9) is meshed and sleeved on the outer side of the second annular tooth groove (114). Through holes (116) are respectively opened in the middle of the first vertical plate (2) and the middle of the second vertical plate (3). The slide plate (117) is movably mounted inside the slide plate (1). A bracket (118) is fixedly mounted on one end of the slide plate (117). The bracket (118) has an L-shaped structure and is located above the support plate (1). A drive wheel (119) is rotatably mounted on one end of the bracket (118) via a rotating shaft. An adjusting belt (115) is engaged and sleeved around the drive wheel (119). A power component is located on the other side of the slide plate (117). The power component is used to drive the drive wheel (119) to rotate and drive the slide plate (117) to adjust the tension of the adjusting belt (115) within the through hole (116).

2. The robot suitable for crawling on smooth and rough walls according to claim 1, characterized in that, The power assembly includes: a servo motor (12), which is fixedly installed on the middle of one side of the slide plate (117), and the power output end of the servo motor (12) passes through the slide plate (117) and is fixedly connected to the drive wheel (119); and a cylinder (121), which is fixedly installed on the adjacent sides of the first vertical plate (2) and the second vertical plate (3), and the power output end of the cylinder (121) is fixedly connected to the slide plate (117).

3. A robot suitable for crawling on smooth and rough walls according to claim 2, characterized in that, The first vertical plate (2) and the second vertical plate (3) are provided with sliding grooves (122) near the top and bottom of the middle. The sliding grooves (122) are arranged in parallel. The top and bottom of the sliding plate (117) are fixedly installed with sliders (123), and the sliders (123) slide inside the sliding grooves (122).

4. A robot suitable for crawling on smooth and rough walls according to claim 1, characterized in that, The drive assembly further includes: a driven shaft (13), which is detachably installed on the other end of the adjacent side of the first vertical plate (2) and the second vertical plate (3), and driven wheels (132) are rotatably sleeved on both sides of the outer center of the driven shaft (13). A second bearing (131) is provided between the contact surface of the driven wheel (132) and the driven shaft (13). A third annular tooth groove (133) is opened on the adjacent ends of the outer periphery of the two driven wheels (132), and the flexible belt (9) is meshed and sleeved on the outer periphery of the third annular tooth groove (133); a positioning assembly, which is disposed between the driven shaft (13) and the first vertical plate (2) and the second vertical plate (3). The positioning assembly is used to limit the position of the driven shaft (13) on the first vertical plate (2) and the second vertical plate (3) to limit the tension of the flexible belt (9).

5. A robot suitable for crawling on smooth and rough walls according to claim 4, characterized in that, The positioning component includes: a notch (14) respectively opened at the ends of the first vertical plate (2) and the second vertical plate (3), the driven shaft (13) is engaged in the notch (14), the two ends of the driven shaft (13) pass through the notch (14) and are fixedly installed with positioning blocks (141), one end of the positioning block (141) is rotatably inserted with a lead screw (142), the lead screw (142) is threaded with a fixing block (143) on its periphery, and one side of the fixing block (143) is fixedly installed on the first vertical plate (2) and the second vertical plate (3).

6. A robot suitable for crawling on smooth and rough walls according to claim 1, characterized in that, A sleeve (6) is provided through the middle of the pallet (1). The air inlet of the exhaust fan (5) is inserted into the sleeve (6) and is in an interference fit with the sleeve (6). A sealing layer is coated between the sleeve (6) and the pallet (1). Baffles (7) are fixedly installed on both sides of the lower middle part of the pallet (1). The two baffles (7) are arranged in parallel and are attached to one side of the flexible belt (9). Both ends of the baffles (7) extend to the flexible collar (8).

7. A robot suitable for crawling on smooth and rough walls according to claim 1, characterized in that, The first vertical plate (2) and the second vertical plate (3) are arranged symmetrically and in parallel. The flexible belt (9) and the flexible collar (8) are attached to each other on adjacent sides. The two flexible collars (8) are attached to each other on adjacent sides.

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