Cross-surface adhering wall-climbing robot

Abstract

Disclosed is a cross-surface adhering caterpillar wall-climbing robot, which comprises a chassis with a cavity concaved upward at the bottom, a bend at the front end of the chassis for realizing the conversion of the wall-climbing robot from a surface to another surface, a fan in the cavity driven by a first motor, and outer layers of left and right caterpillars made of dry adhesion material; the first motor drives the fan to rotate to drive the air flow in the cavity of the chassis, the air flow rate in the cavity is greater than that of the outside air to form a pressure difference, and then the pressure is applied at the upper end of the cavity. The cross-surface adhering caterpillar wall-climbing robot uses negative pressure adsorption to apply pre-pressure to the dry adhesion caterpillar, thereby improving the adhesion effect and the reliability of the robot operation.

Description

Technical Field

[0001] This invention belongs to the field of wall-climbing robot technology, and in particular to an adhesive tracked wall-climbing robot that can cross surfaces. Background Technology

[0002] Wall-climbing robots are electromechanical systems that can move and operate with multiple degrees of freedom on vertical walls, ceilings, and other surfaces, and they have promising application prospects and development needs. Existing wall-climbing robots typically adopt legged, wheeled, and tracked structures. Compared with legged and wheeled robots, tracked wall-climbing robots have the advantages of simple structure and fast climbing speed.

[0003] Adhesion technology is a key technology for wall-climbing robots. Existing tracked wall-climbing robots mainly use negative pressure adsorption, magnetic adsorption, electrostatic adsorption, and dry adhesive materials. Among these, negative pressure adsorption has sealing problems, magnetic adsorption has high limitations on the type of adhesive surface, and electrostatic adsorption has poor stability and weak adhesion. Dry adhesive materials have strong load-bearing capacity, controllable adhesion ability, and are suitable for various material surfaces. However, since dry adhesive materials can only exert a strong adhesion effect after sufficient contact with the adhesive surface, they require pre-loading in the vertical direction before adhesion.

[0004] The information disclosed in the background section is only intended to enhance the understanding of the background of the present invention, and therefore may contain information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention proposes a surface-crossing adhesive tracked wall-climbing robot. The robot utilizes negative pressure generated by a high-speed rotating fan to apply pre-pressure to the dry adhesive track, thereby achieving high adhesion capability. Simultaneously, the use of a curved structure allows the robot to switch between surfaces. This invention offers several advantages, including miniaturization, rapid movement, and surface-to-surface capability, and can be used to solve the challenge of detecting narrow walls.

[0006] The objective of this invention is achieved through the following technical solution: a surface-crossing adhesive tracked wall-climbing robot comprising,

[0007] The chassis has an upwardly recessed cavity at its bottom, and the front end of the chassis is provided with a bend for enabling the wall-climbing robot to transition from one surface to another.

[0008] The outer casing, which is removably mounted on the chassis,

[0009] A negative pressure adsorption component, comprising:

[0010] A first motor is fixedly connected to the chassis via a first motor cover and screws. The inner side of the first motor cover is provided with a silicone pad.

[0011] A fan is disposed in the cavity and is driven by the first motor; further, the fan is mounted on the drive shaft of the first motor.

[0012] Tracked running gear, comprising,

[0013] The second motor is fixedly connected to the chassis via a second motor cover and screws. The inner side of the second motor cover is provided with a silicone pad.

[0014] The first right pulley is connected to the second motor via a transmission gear. One end of the first right pulley is connected to the chassis via a first right fixed bearing, and the other end is connected to the housing via a second right fixed bearing.

[0015] The second right pulley is connected to the chassis at one end via the third right fixed bearing, and to the housing at the other end via the fourth right fixed bearing.

[0016] The right track is fixed to the first right pulley and the second right pulley.

[0017] The third motor is fixedly connected to the chassis via a second motor cover and screws. The inner side of the second motor cover is provided with a silicone pad.

[0018] The first left pulley is connected to the third motor via a geared motor. One end of the first left pulley is connected to the chassis via a first left fixed bearing, and the other end is connected to the housing via a second left fixed bearing.

[0019] The second left pulley is connected to the chassis at one end via the third left fixed bearing, and to the housing at the other end via the fourth left fixed bearing.

[0020] The left track is fixed to the first left pulley and the second left pulley, and the outer layer of the left track and the right track is made of dry adhesive material.

[0021] The first motor drives the fan to rotate, thereby causing the air inside the chassis cavity to flow. The gas velocity inside the cavity is greater than the velocity of the outside air, creating a pressure difference, which in turn applies pressure to the upper end of the cavity.

[0022] In the aforementioned cross-surface adhesive tracked wall-climbing robot, the outer layers of the left and right tracks are provided with spaced cuts to enhance adhesion, thereby forming multiple dry adhesion units on the outer layers.

[0023] In the aforementioned cross-surface adhesive tracked wall-climbing robot, the cuts are evenly spaced. When the adhesive material with cuts is peeled off to the cut, each dry adhesive unit produces a larger edge deformation, which increases the required peeling force Fpeel.

[0024] In the aforementioned surface-crossing adhesive tracked wall-climbing robot, both the left and right tracks have a three-layer structure. The middle layer inside the outer layer is a thin film layer, and the inner layer inside the middle layer is made of a soft material. The three layers are bonded together by plasma treatment or adhesive bonding.

[0025] In the aforementioned cross-surface adhesive tracked wall-climbing robot, the outer layer comprises PDMS dry adhesive material, the middle layer is PET film, and the inner layer is soft silicone layer.

[0026] In the aforementioned adhesive tracked wall-climbing robot capable of crossing surfaces, the inner layer is a V-belt structure to increase friction, and its inner side is provided with synchronization teeth.

[0027] In the aforementioned adhesive tracked wall-climbing robot capable of crossing surfaces, the outer layer is 3 mm thick, the middle layer is 50 μm thick, and the inner layer is 1 mm thick.

[0028] In the aforementioned surface-crossing adhesive tracked wall-climbing robot, the cavity is a cylindrical cavity.

[0029] In the aforementioned adhesive tracked wall-climbing robot capable of crossing surfaces, the center-to-center distance between the front and rear axes of the chassis is 24mm, the center-to-center distance between the cavity and the front axis is 4mm, the cavity diameter is 23mm, the depth is 11mm, the fan diameter is 21mm, the fan blade height is 10mm, the number of blades is 7, and the blade angle is 30 degrees.

[0030] In the aforementioned adhesive tracked wall-climbing robot capable of crossing surfaces, the width of the left and right tracks is 8mm.

[0031] Compared with existing technologies, this invention has the following advantages: The surface-crossing adhesive tracked wall-climbing robot of this invention utilizes negative pressure adsorption to apply pre-pressure to the dry adhesive track, greatly ensuring the reliability and sustainability of the robot's operation. By creating equally spaced cuts on the dry adhesive track, the track's resistance to peeling is improved, thus increasing the robot's load-bearing capacity. The corner structure at the robot's front end enables surface-to-surface crawling transitions, preventing the robot from being obstructed at corners and unable to achieve surface-to-surface transitions. Its miniaturized structure and compact layout make it better suited for narrow wall passages. Attached Figure Description

[0032] Various other advantages and benefits of the present invention will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. Furthermore, the same reference numerals denote the same parts throughout the drawings.

[0033] In the attached diagram:

[0034] Figure 1 This is a 3D schematic diagram of the wall-climbing robot structure;

[0035] Figure 2 A 3D diagram of the wall-climbing robot after its outer shell has been removed;

[0036] Figure 3 This is an exploded view of the wall-climbing robot structure.

[0037] Figure 4 This is a schematic diagram of the track structure of a wall-climbing robot;

[0038] Figure 5 A schematic diagram illustrating the principle of how slits enhance adhesion in the track structure of a wall-climbing robot;

[0039] Figure 6 This is a schematic diagram illustrating the negative pressure adsorption principle of a wall-climbing robot.

[0040] Figure 7 This is a force analysis diagram of a wall-climbing robot adhering to a vertical wall.

[0041] Figure 8 This is a force analysis diagram of a wall-climbing robot adhering to a ceiling.

[0042] Figure 9 A schematic diagram illustrating the surface-to-surface transformation function of a wall-climbing robot.

[0043] The present invention will be further explained below with reference to the accompanying drawings and embodiments. Detailed Implementation

[0044] Specific embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While specific embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0045] It should be noted that certain terms are used in the specification and claims to refer to specific components. Those skilled in the art will understand that different terms may be used to refer to the same component. This specification and claims do not distinguish components based on differences in terminology, but rather on differences in function. The terms "comprising" or "including" used throughout the specification and claims are open-ended and should be interpreted as "comprising but not limited to." The following descriptions are preferred embodiments for carrying out the invention; however, these descriptions are for the purpose of understanding the general principles of the specification and are not intended to limit the scope of the invention. The scope of protection of this invention is determined by the appended claims.

[0046] To facilitate understanding of the embodiments of the present invention, further explanations and descriptions will be provided below with reference to the accompanying drawings and specific embodiments. The accompanying drawings do not constitute a limitation on the embodiments of the present invention.

[0047] To better understand, such as Figures 1 to 9 As shown, the adhesive tracked wall-climbing robot capable of traversing surfaces includes:

[0048] The chassis 1 has an upwardly recessed cavity at its bottom, and the front end of the chassis 1 is provided with a bend 13 for enabling the wall-climbing robot to transition from one surface to another.

[0049] The outer casing, which is detachably mounted on the chassis 1,

[0050] A negative pressure adsorption component, comprising:

[0051] The first motor 2 is fixedly connected to the chassis 1 via a first motor cover 4 and screws. The inner side of the first motor cover 4 is provided with a silicone pad.

[0052] A fan 3 is disposed in the cavity and is driven by the first motor 2. Furthermore, the fan 3 is mounted on the drive shaft of the first motor 2.

[0053] Tracked running gear, comprising,

[0054] The second motor 5 is fixedly connected to the chassis 1 via a second motor cover 6 and screws. The inner side of the second motor cover 6 is provided with a silicone pad.

[0055] The first right pulley 10 is connected to the second motor 5 via a transmission gear 7. One end of the first right pulley 10 is connected to the chassis 1 via a first right fixed bearing, and the other end is connected to the housing via a second right fixed bearing.

[0056] The second right pulley is connected at one end to the chassis 1 via the third right fixed bearing, and at the other end to the housing via the fourth right fixed bearing.

[0057] The right track is fixed to the first right pulley 10 and the second right pulley.

[0058] The third motor is fixedly connected to the chassis 1 via the second motor cover 6 and screws. The inner side of the second motor cover 6 is provided with a silicone pad.

[0059] The first left pulley 8 is connected to the third motor via a geared motor. One end of the first left pulley 8 is connected to the chassis 1 via a first left fixed bearing, and the other end is connected to the housing via a second left fixed bearing.

[0060] The second left pulley 9 has one end connected to the chassis 1 via the third left fixed bearing, and the other end connected to the housing via the fourth left fixed bearing.

[0061] The left track is fixed to the first left pulley 8 and the second left pulley 9. The outer layer of the left track and the right track is made of dry adhesive material.

[0062] The first motor 2 drives the fan 3 to rotate, thereby causing the air inside the cavity of the chassis 1 to flow. The gas flow velocity inside the cavity is greater than the flow velocity of the outside air, creating a pressure difference, which in turn applies pressure to the upper end of the cavity.

[0063] In a preferred embodiment of the scalable adhesive tracked wall-climbing robot, the outer layers of the left and right tracks are provided with spaced cuts to enhance adhesion, thereby forming multiple dry adhesion units on the outer layers.

[0064] In a preferred embodiment of the slit-type adhesive tracked wall-climbing robot capable of traversing surfaces, the slits are evenly spaced. When the adhesive material with slits is peeled off to the slit, each dry adhesive unit produces a larger edge deformation, which increases the required peeling force Fpeel.

[0065] In a preferred embodiment of the adhesive tracked wall-climbing robot capable of crossing surfaces, both the left and right tracks have a three-layer structure. The middle layer inside the outer layer is a thin film layer, and the inner layer inside the middle layer is made of a soft material. The three layers are bonded together by plasma treatment or adhesive bonding.

[0066] In a preferred embodiment of the aforementioned surface-crossing adhesive tracked wall-climbing robot, the outer layer comprises PDMS dry adhesive material, the middle layer is a PET film, and the inner layer is a soft silicone layer.

[0067] In a preferred embodiment of the adhesive tracked wall-climbing robot capable of crossing surfaces, the inner layer is a V-belt structure to increase friction, and its inner side is provided with synchronization teeth.

[0068] In a preferred embodiment of the adhesive tracked wall-climbing robot capable of crossing surfaces, the outer layer is 3 mm thick, the middle layer is 50 μm thick, and the inner layer is 1 mm thick.

[0069] In a preferred embodiment of the adhesive tracked wall-climbing robot capable of crossing surfaces, the cavity is a cylindrical cavity.

[0070] In a preferred embodiment of the adhesive tracked wall-climbing robot capable of crossing surfaces, the center-to-center distance between the front and rear axes of the chassis 1 is 24mm, the center-to-center distance between the cavity and the front axis is 4mm, the cavity diameter is 23mm, the depth is 11mm, the diameter of the fan 3 is 21mm, the blade height of the fan 3 is 10mm, the number of blades is 7, and the blade angle is 30 degrees.

[0071] In a preferred embodiment of the adhesive tracked wall-climbing robot capable of traversing surfaces, the width of the left and right tracks is 8 mm.

[0072] In one embodiment, the first motor 2 is an 8520 coreless motor, and the second motor 5 or the third motor is a 610 coreless planetary geared motor. The wires of the first motor 2, the second motor 5, and the third motor are connected to the outside world through holes in the chassis 1 and the first motor cover 4.

[0073] The outer layer of the left and right tracks is made of Dow Corning 184 PDMS (30:1) with a thickness of 3mm; the middle layer is made of 50μm PET film; and the inner layer is made of Ecoflex 00-50 with a thickness of 1mm. The outer layer has 5mm-spaced slits to enhance adhesion and improve the track's resistance to peeling.

[0074] Synchronous teeth are machined on all pulleys, and a baffle is extended on both sides of the pulley to prevent the track from slipping off.

[0075] In one embodiment, the surface-crossing adhesive tracked wall-climbing robot includes a chassis, a negative pressure adsorption assembly, a tracked walking assembly, and cornering mechanisms. The negative pressure adsorption assembly includes a first motor 2, a fan, and a first motor cover 4. The first motor 2 is fixed to the chassis 1 by the first motor cover 4 and two screws. A silicone pad is adhered to the inside of the first motor cover 4 to enhance the reliability of the first motor 2's fixation. A fan 3 is mounted on the lower shaft of the first motor 2.

[0076] The tracked walking assembly includes a second motor 5, a third motor, a second motor cover 6, a transmission gear, pulleys, dry-adhesive tracks, and bearings. The second motor 5 is fixed to the chassis 1 via the second motor cover 6 and two screws 14. Similarly, a silicone pad is adhered to the inside of the second motor cover 6 to enhance the reliability of the first motor's fixation. The upper part of the second motor 5 is connected to the transmission gear, which transmits power to the first right pulley 10. The lower part of the third motor is connected to the first left pulley 8, transmitting power to it. The wires of the first motor 2 and the second motor 5 are connected to the outside through holes in the chassis 1 and the first motor cover 4.

[0077] The left track 11 is fixed on the first left pulley 8 and the second left pulley 9. One end of the first left pulley 8 is connected to the third motor, and the other end is fixed with a bearing 12 and connected to the housing 15. One end of the second left pulley 9 is fixed with a bearing 12 and connected to the front axle on the chassis 1, and the other end is fixed with a bearing 12 and connected to the housing 15.

[0078] The right track is fixed to the second right pulley and the first right pulley 10. One end of the second right pulley is connected to the front axle on the chassis 1 by a fixed bearing 12, and the other end is connected to the outer shell 15. One end of the first right pulley 10 is connected to the front axle on the chassis 1 by a fixed bearing 12 and meshes with the transmission gear 7, while the other end is connected to the outer shell 15. Synchronous teeth are machined on the first left pulley 8, the second left pulley 9, the first right pulley 10, and the second right pulley, and a baffle is extended on both sides of the pulleys to prevent the track from slipping.

[0079] At the front end of the chassis 1, two bends 13 are connected by screws to enable the wall-climbing robot to transition from one surface to another. The outer shell 15 is connected to the outside of the four pulleys by four screws to prevent the pulleys and tracks from falling off and to prevent excessive dust from contaminating the surface of the dry-adhesive tracks.

[0080] like Figure 4 The track adopts a three-layer structure. The outer layer (11.1) is made of dry adhesive materials such as PDMS, and evenly spaced slits are made on the outer layer to enhance adhesion. Figure 5 As shown, compared to adhesive tape without serrations, serrated adhesive tape exhibits greater edge deformation per dry adhesive unit when peeled to the serration, thus absorbing more energy and increasing the peeling force (Fpeel) required to peel the track, thereby enhancing the adhesive tape's resistance to peeling. The middle layer 11.2 is made of an extremely thin PET film or similar thin film; the inner layer 11.3 is made of soft silicone such as Ecoflex, with synchronizing teeth formed on the inner side of the inner layer 11.3, which is also designed with a V-belt structure to increase friction. The three layers are bonded together using plasma treatment or adhesive bonding techniques.

[0081] In this embodiment, when the first motor drives the fan to rotate, it causes air to flow within the cylindrical cavity on the chassis 1, such as... Figure 6 As shown, according to Bernoulli's principle, the gas velocity inside the cavity is greater than the velocity of the outside air, thus creating a pressure difference and applying pressure to the upper end of the cylindrical cavity. By increasing the power input to the first motor, the gas velocity inside the cavity can be increased, thereby applying greater pressure to the upper end of the cavity.

[0082] In this embodiment, the second motor drives the pulleys on both rear sides to rotate, thereby causing the robot's tracks to rotate forward. By adjusting the input power of the second motor, the climbing speed of the wall-climbing robot can be adjusted.

[0083] As the robot moves forward, the pressure from the fan's rotation is transmitted through the chassis 1 to the four pulleys, which in turn act on the tracks, ensuring more thorough contact between the outer layer 11.1 of the tracks and the adhesive surface. As the robot's tracks rotate forward, the area of ​​the dry-adhesive track that has already been pre-loaded by the front pulley remains unchanged. The front pulley moves forward to pre-load the next area of ​​the dry-adhesive track. This ensures that as the wall-climbing robot moves forward, all contact points between the dry-adhesive track and the adhesive surface maintain sufficient contact, guaranteeing the reliability of the adhesion.

[0084] like Figure 7 As shown, when the wall-climbing robot climbs on a vertical wall, the reaction force of the wall on the robot can be decomposed into support reaction forces. , and tangential adhesion force ,in and The direction of the force is directed towards the contact point between the track and the wall at the pulley, and is perpendicular to the wall and outwards. The direction is upward. When the wall-climbing robot is stationary on a vertical wall, the tangential adhesion force... Equal to the robot's gravity ; Tangential adhesion force as the robot climbs upwards Greater than the robot's gravity .

[0085] like Figure 8 As shown, when the wall-climbing robot is climbing on the ceiling, if the mass of the tracks is ignored, the reaction force of the wall on the robot can be decomposed into support reaction forces. , , and The direction of the force is directed at the contact point between the track and the wall at the pulley. The non-uniform load is caused by negative pressure. The distance between the center points of the front and rear pulleys. The center of gravity of the wall-climbing robot is located at... Distance from point A on the axis The distance from point A to the axis C of negative pressure adsorption. The radius of the negative pressure cavity.

[0086] The force balance equations for the wall-climbing robot at this point are:

[0087]

[0088] The torque balance of the wall-climbing robot at point A is:

[0089]

[0090] The torque balance of the wall-climbing robot at point B is as follows:

[0091]

[0092] The torque balance of the wall-climbing robot at point C is:

[0093]

[0094] Considering that it would enable the wall-climbing robot to climb forward on the ceiling, The direction must be downward and greater than the required minimum preload. But for The requirement is that the peeling force must not exceed the force applied downwards or upwards. As shown in formula (4), placing the fan's axis at the front of the center of gravity allows for better application of preload to point A. Therefore, to ensure the reliability of robot adhesion, Should meet The distance from the axis C of negative pressure adsorption to point A satisfy:

[0095]

[0096] At the same time, to avoid excessive negative pressure requiring excessively large fan blades and wasted power. satisfy ≤0 means there is no peeling at point B. At this point, the distance from the axis C of the negative pressure adsorption to point A is... It should meet the following requirements:

[0097]

[0098] Experimental measurements Approximately 0.8N, Approximately 0.35N, It is approximately 12mm, therefore 4mm is acceptable.

[0099] Non-uniformly distributed load Its form of action is pressure Acting on a radius of On the circular surface, then:

[0100]

[0101] when At that time, if it is necessary to satisfy and Then pressure Should meet :

[0102]

[0103] when When the diameter is 11.5 mm, the pressure is... The minimum value is approximately 252.7 Pa.

[0104] when , When the robot is stationary on the ceiling, the load it can withstand at its center of mass is (at which point the peeling force is reached at point B). ):

[0105]

[0106] Experimental measurements Approximately 0.64N, Taking 25mm as an example, the load that the robot can still withstand at its center of mass when stationary on the ceiling is approximately 1.3N, or 130g.

[0107] In this example, the two bends at the front end of chassis 1 facilitate the wall-climbing robot's surface-to-surface crawling transition. For example... Figure 9 The diagram illustrates a wall-climbing robot moving from a horizontal plane to a vertical wall. First, the corner of the robot contacts the wall. Because the contact between the corner and the wall is line contact, the friction is low, allowing the robot's rear wheels to propel it upwards. Then, the front wheels contact the wall. At this point, the robot receives an upward driving force at the front wheels and a forward driving force at the rear wheels, enabling it to climb more effectively until the rear wheels contact the vertical wall. Finally, the robot's tracks perfectly conform to the vertical wall.

[0108] Although embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the specific embodiments and application fields described above. The specific embodiments described above are merely illustrative and instructive, and not restrictive. Those skilled in the art can make many other forms based on the guidance of this specification and without departing from the scope of protection of the claims of the present invention, and all of these are within the scope of protection of the present invention.

Claims

1. A surface-crossing adhesive tracked wall-climbing robot, characterized in that, It includes, The chassis has an upwardly recessed cavity at its bottom, and the front end of the chassis is provided with a bend for enabling the wall-climbing robot to transition from one surface to another. The outer casing, which is removably mounted on the chassis, A negative pressure adsorption component, comprising: A first motor is fixedly connected to the chassis via a first motor cover and screws. The inner side of the first motor cover is provided with a silicone pad. A fan is disposed in the cavity and is driven by the first motor; further, the fan is mounted on the drive shaft of the first motor. Tracked running gear, comprising, The second motor is fixedly connected to the chassis via a second motor cover and screws. The inner side of the second motor cover is provided with a silicone pad. The first right pulley is connected to the second motor via a transmission gear. One end of the first right pulley is connected to the chassis via a first right fixed bearing, and the other end is connected to the housing via a second right fixed bearing. The second right pulley is connected to the chassis at one end via the third right fixed bearing, and to the housing at the other end via the fourth right fixed bearing. The right track is fixed to the first right pulley and the second right pulley. The third motor is fixedly connected to the chassis via a second motor cover and screws. The inner side of the second motor cover is provided with a silicone pad. The first left pulley is connected to the third motor via a geared motor. One end of the first left pulley is connected to the chassis via a first left fixed bearing, and the other end is connected to the housing via a second left fixed bearing. The second left pulley is connected to the chassis at one end via the third left fixed bearing, and to the housing at the other end via the fourth left fixed bearing. The left track is fixed to the first left pulley and the second left pulley, and the outer layer of the left track and the right track is made of dry adhesive material. The first motor drives the fan to rotate, thereby causing the air inside the chassis cavity to flow. The gas velocity inside the cavity is greater than the air velocity outside, creating a pressure difference, which in turn applies pressure to the upper end of the cavity. The fan's axis is located at the front of the wall-climbing robot's center of gravity.

2. The adhesive tracked wall-climbing robot capable of traversing surfaces according to claim 1, characterized in that, The outer layers of the left and right tracks are provided with spaced cuts to enhance adhesion, thereby forming multiple dry adhesion units on the outer layers.

3. The adhesive tracked wall-climbing robot capable of traversing surfaces according to claim 2, characterized in that, The cuts are evenly spaced. When the adhesive material with cuts is peeled off to the cut, each dry adhesive unit produces a larger edge deformation, which increases the required peeling force Fpeel.

4. The adhesive tracked wall-climbing robot capable of traversing surfaces according to claim 1, characterized in that, Both the left and right tracks have a three-layer structure. The middle layer inside the outer layer is a thin film layer, and the inner layer inside the middle layer is made of a soft material. The three layers are bonded together by plasma treatment or adhesive bonding.

5. The adhesive tracked wall-climbing robot capable of traversing surfaces according to claim 4, characterized in that, The outer layer consists of PDMS dry adhesive material, the middle layer is a PET film, and the inner layer is a soft silicone layer.

6. The adhesive tracked wall-climbing robot capable of traversing surfaces according to claim 4, characterized in that, The inner layer is a V-belt structure to increase friction, and its inner side is provided with synchronous teeth.

7. The adhesive tracked wall-climbing robot capable of traversing surfaces according to claim 4, characterized in that, The outer layer is 3 mm thick, the middle layer is 50 μm thick, and the inner layer is 1 mm thick.

8. The adhesive tracked wall-climbing robot capable of traversing surfaces according to claim 1, characterized in that, The cavity is a cylindrical cavity.

9. The adhesive tracked wall-climbing robot capable of traversing surfaces according to claim 1, characterized in that, The center distance between the front and rear axles of the chassis is 24mm, the distance between the center of the cavity axle and the center of the front axle is 4mm, the cavity diameter is 23mm, the depth is 11mm, the fan diameter is 21mm, the fan blade height is 10mm, the number of blades is 7, and the blade angle is 30 degrees.

10. The surface-crossing adhesive tracked wall-climbing robot according to claim 1, characterized in that... The width of the left and right tracks is 8mm.

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