Negative-pressure adsorption wall-climbing robot based on modular design and use method of negative-pressure adsorption wall-climbing robot

Abstract

The invention relates to a modular design-based negative pressure adsorption wall-climbing robot and a use method thereof, the modular design-based negative pressure adsorption wall-climbing robot comprises a body frame, two moving modules and a negative pressure adsorption module, the two moving modules are respectively mounted on two sides of the body frame, the negative pressure adsorption module is mounted at the bottom of the body frame, and the negative pressure adsorption module is located between the two moving modules. The negative pressure adsorption module comprises an adsorption cavity, a sealing skirt, a fan and adjusting mechanisms, the fan is installed at the top of the adsorption cavity, the sealing skirt is installed at the edge of the lower side of the adsorption cavity, the multiple sets of adjusting mechanisms are installed on the adsorption cavity and connected with the sealing skirt, and the sealing skirt adjusts the shape of the bottom adsorption face through the adjusting mechanisms. The negative pressure adsorption module of the robot can automatically adjust the shape of the sealing skirt, so that the stability and reliability of the negative pressure adsorption module are improved, and the negative pressure adsorption wall-climbing robot can vertically climb and work on an arc-shaped or curved working face.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and in particular to a negative pressure adsorption wall-climbing robot based on modular design and a use method thereof. Background Art

[0002] At present, the inspection of the back pipe of the water diversion penstock of large hydropower stations is mainly based on manual inspection. Due to the large size of the back pipe structure, the inspection personnel have high labor intensity, high risk and low inspection efficiency. Some scholars have proposed to use robot technology to carry out inspection of the concrete surface of the back pipe of the penstock. At present, the robot inspection of vertical walls mainly uses wall-climbing robots, but there are few studies on the surface inspection robot of concrete back pipes. The structure of concrete back pipes is large, the surface is relatively rough and irregular, and the structure is a curved surface. When inspecting, it is necessary to manually hold an ultrasonic probe for inspection and take photos for recording, which is labor-intensive. There is currently no automated inspection technology and equipment for this operation. The existing negative pressure adsorption wall-climbing robots can only crawl on a plane, and cannot crawl vertically on an arc-shaped or curved working surface. Therefore, combined with the actual situation on site, a negative pressure adsorption wall-climbing robot based on modular design is proposed. Summary of the invention

[0003] The purpose of the present invention is to provide a negative pressure adsorption wall-climbing robot based on modular design, which can autonomously adjust the shape of the sealing skirt according to the recognition of the curvature of the climbing wall by the visual module, so as to improve the stability and reliability of the negative pressure adsorption module, so that the negative pressure adsorption wall-climbing robot can vertically crawl on an arc-shaped or curved working surface.

[0004] To achieve the above-mentioned objectives, the present invention provides a negative pressure adsorption wall-climbing robot based on modular design, comprising a main body frame, a mobile module and a negative pressure adsorption module, the two mobile modules are respectively installed on both sides of the main body frame, the negative pressure adsorption module is installed at the bottom of the main body frame, and the negative pressure adsorption module is located between the two mobile modules; the negative pressure adsorption module comprises an adsorption cavity, a sealing skirt, a fan and an adjustment mechanism, the adsorption cavity is connected to the main body frame, the lower side of the adsorption cavity is open, a connecting port is provided at the top of the adsorption cavity, the fan is installed at the top of the adsorption cavity, the air suction port of the fan is sealed and connected with the connecting port, a flexible sealing skirt is installed on the lower edge of the adsorption cavity, a plurality of sets of the adjustment mechanisms are respectively installed on the adsorption cavity, and the adjustment mechanisms are connected to the sealing skirts, and the sealing skirt adjusts the shape of the bottom adsorption surface through the adjustment mechanism.

[0005] The bottom edge of the adsorption chamber is equipped with an annular groove, and the annular sealing skirt is installed in the annular groove. The annular groove of the adsorption chamber and limit pads are respectively arranged on both sides of the position of the adjustment mechanism; the adjustment mechanism includes a push-pull device and an adjustment spring, the push-pull device is installed on the adsorption chamber, and the two ends of the adjustment spring are respectively slidably installed on the corresponding two limit pads, the lower side of the adjustment spring is connected to the sealing skirt, the push-pull device is connected to the middle part of the adjustment spring, and the adjustment spring is pushed and pulled by the push-pull device, so as to adjust the shape of the adsorption surface at the bottom of the sealing skirt.

[0006] The push-pull device includes a first bracket, a lifting and adjusting motor, a sleeve, a cylindrical nut and a screw. The first bracket is installed on the top of the adsorption chamber, the lifting and adjusting motor is installed on the first bracket, the sleeve is located at the lower side of the first bracket, the sleeve is connected and fixed to the adsorption chamber, the cylindrical nut is slidably installed in the sleeve, the lower end of the cylindrical nut is connected to the middle part of the adjustment spring, the output shaft of the lifting and adjusting motor is installed with the screw, and the screw and the cylindrical nut are threadedly screwed.

[0007] The connection port of the adsorption chamber is equipped with a filtering device.

[0008] The mobile module comprises a mobile bracket and a mobile module group installed on the mobile bracket, and the mobile bracket is installed and connected with the main body frame.

[0009] The mobile module includes a wheel mounting plate, a driving pulley, a driving pulley transverse axis, a driven pulley, a driven pulley transverse axis, a walking synchronous belt, a pulley driving motor and a second bracket. The front and rear sides of the mobile bracket are respectively fixedly connected to two wheel mounting plates, and the front and rear wheel mounting plates are respectively rotatably connected to the driving pulley transverse axis and the driven pulley transverse axis. The driving pulley is fixedly mounted on the driving pulley transverse axis, and the driven pulley is mounted on the driven pulley transverse axis. The walking synchronous belt is mounted on the driving pulley and the driven pulley. The second bracket is mounted on the mobile bracket, and the pulley driving motor is fixedly mounted through the second bracket. The end of the driving pulley transverse axis is fixedly connected to a transmission gear, and a driving gear is mounted on the output shaft of the pulley driving motor, and the transmission gear meshes and rotates with the driving gear.

[0010] The outer circumference of the walking synchronous belt is also provided with a flexible deformation layer.

[0011] A controller and a visual module are installed on the main body frame. The visual module includes a depth camera and a camera bracket. The depth camera is installed on the top of the main body frame through the camera bracket. The depth camera is electrically connected to the controller, and the controller is electrically connected to the adjustment mechanism. The viewing angle of the depth camera points to the lower front of the vehicle body.

[0012] It also includes an operation module, which includes an operation bracket, a network camera and an ultrasonic probe. The operation bracket is installed on both sides of the main body frame by bolts, and the network camera and the ultrasonic probe are respectively installed on the front and back sides of the operation bracket.

[0013] The method for using the negative pressure adsorption wall-climbing robot based on modular design comprises the following steps: S1. Place the robot on the curved working surface; S2, the robot is powered on, the depth camera works, and the depth camera scans the structural information of the working surface; S3, the controller performs modeling analysis based on the structural information scanned by the depth camera and calculates the arc or curvature of the working surface; S4. The controller controls the movement of the adjusting mechanism to push and pull the shape of the sealing skirt according to the calculated curvature of the working surface, so that the shape of the adsorption surface at the bottom of the sealing skirt matches the working surface.

[0014] Compared with the prior art, the present invention has the following technical effects: 1. The negative pressure adsorption module of the present invention can actively adjust the shape of the sealing skirt according to the curvature or curvature of the working surface through the adjustment mechanism, so that it presents a flat, convex, concave and wavy shape, etc., so as to improve the stability and reliability of the negative pressure adsorption module, so that the negative pressure adsorption wall-climbing robot can vertically crawl on the arc-shaped or curved working surface. The negative pressure adsorption module is used to provide the robot with a clamping force on the working surface. The sealing skirt adjustment mechanism can realize a sealing skirt structure that is similar to the wall structure. The sealing skirt is adjusted with the shape of the working surface to ensure the sealing effect of the closed cavity, increase the absolute value of the negative pressure, and ensure the clamping force of the walking wheels of the mobile module.

[0015] 2. The visual module on the top of the robot of the present invention is equipped with a depth camera, which can identify the structural information of the wall at the target position before crawling to the target position, and provide basic data for the setting of the sealing skirt adjustment mechanism of the robot.

[0016] 3. The outer circumference of the walking synchronous belt of the present invention is also provided with a flexible deformation layer. By providing the deformation layer, the walking synchronous belt can be adjusted adaptively with the working surface, thereby providing stability and reliability of the robot movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the robot of the present invention.

[0019] Figure 2It is a schematic diagram of the three-dimensional structure of the robot of the present invention from the bottom perspective.

[0020] Figure 3 It is a schematic diagram of the mobile module structure of the robot of the present invention.

[0021] Figure 4 It is a schematic structural diagram of the negative pressure adsorption module of the present invention.

[0022] Figure 5 It is a structural schematic diagram of the bottom of the negative pressure adsorption module of the present invention.

[0023] Figure 6 It is a structural schematic diagram of the regulating mechanism on the negative pressure adsorption module of the present invention.

[0024] Figure 7 This is a state diagram of the negative pressure adsorption module of the present invention when the sealing skirt is concave. Figure 8 This is a state diagram of the negative pressure adsorption module of the present invention when the sealing skirt is convex. Fig. 9 It is a schematic diagram of the main structure of the walking synchronous belt of the mobile module of the present invention.

[0025] Fig.10 This is a state diagram of the walking synchronous belt of the mobile module of the present invention when it is moving.

[0026] In the figure: Main body frame 100, Mobile module 200, mobile bracket 201, wheel mounting plate 202, driving pulley 203, driving pulley transverse axis 204, driven pulley 205, driven pulley transverse axis 206, walking synchronous belt 207, deformation layer 2071, pulley driving motor 208, second bracket 209, driving gear 210, transmission gear 211; Negative pressure adsorption module 300, adsorption chamber 310, annular groove 311, limiting pad 312, connecting port 313, filtering device 314, sealing skirt 320, fan 330, adjustment mechanism 340, first bracket 341, lifting and lowering adjustment motor 342, sliding sleeve 343, cylindrical nut 344, screw 345, and adjusting spring 346; Vision module 400, depth camera 401, camera support 402; Operation module 500 , operation support 501 , network camera 502 , and ultrasound probe 503 . DETAILED DESCRIPTION

[0027] Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0028] Embodiment 1: See also Figure 1-10 A negative pressure adsorption wall climbing robot based on modular design includes a main frame 100, a mobile module 200 and a negative pressure adsorption module 300, wherein the two mobile modules 200 are respectively installed on both sides of the main frame 100, the negative pressure adsorption module 300 is installed at the bottom of the main frame 100, and the negative pressure adsorption module 300 is located between the two mobile modules 200; see Figure 4-8 The negative pressure adsorption module 300 includes an adsorption chamber 310, a sealing skirt 320, a fan 330 and an adjustment mechanism 340. The adsorption chamber 310 is connected to the main body frame 100. The lower side of the adsorption chamber 310 is open. A connecting port 313 is provided at the top of the adsorption chamber 310. The fan 330 is installed at the top of the adsorption chamber 310. The air suction port of the fan 330 is sealed and connected with the connecting port 313. The flexible sealing skirt 320 is installed at the lower edge of the adsorption chamber 310. Two sets of the adjustment mechanisms 340 are respectively arranged front and back and installed on the adsorption chamber 310, and the adjustment mechanism 340 is connected to the sealing skirt 320. The sealing skirt 320 adjusts the shape of the bottom adsorption surface through the adjustment mechanism 340.

[0029] Through the adjustment mechanism 340, the shape of the sealing skirt 320 can be actively adjusted according to the curvature or curvature of the working surface, so that it can be flat, convex or concave, so as to improve the stability and reliability of the negative pressure adsorption module 300, so that the negative pressure adsorption wall-climbing robot can crawl vertically on an arc-shaped or curved working surface.

[0030] The sealing skirt 320 is made of a flexible material, such as foam, which is both flexible and has a certain strength. The sealing skirt 34 can be used to achieve sealing with an uneven concrete back-pipe working surface.

[0031] In this embodiment, see Figure 6 , 7 8. The bottom edge of the adsorption chamber 310 is provided with an annular groove 311, and the annular sealing skirt 320 is installed in the annular groove 311. The annular groove 311 of the adsorption chamber 310 and the limiting pads 312 are respectively arranged on both sides of the position of the adjustment mechanism 340. The adjustment mechanism 340 includes a push-pull device and an adjustment spring 346. The push-pull device is installed on the adsorption chamber 310. The two ends of the adjustment spring 346 are respectively slidably installed on the corresponding two limiting pads 312. The lower side of the adjustment spring 346 is connected to the sealing skirt 320. The push-pull device is connected to the middle part of the adjustment spring 346. The adjustment spring 346 is pushed and pulled by the push-pull device, thereby adjusting the shape of the bottom adsorption surface of the sealing skirt 320.

[0032] Figure 7 The state of the sealing skirt being concave is shown in FIG. Figure 8The state where the sealing skirt is convex is shown in FIG.

[0033] In one of the schemes, see Figure 6 The push-pull device includes a first bracket 341, a lifting and adjusting motor 342, a sleeve 343, a cylindrical nut 344 and a screw 345. The first bracket 341 is installed on the top of the adsorption chamber 310, the lifting and adjusting motor 342 is installed on the first bracket 341, the sleeve 343 is located at the lower side of the first bracket 341, the sleeve 343 is connected and fixed to the adsorption chamber 310, the cylindrical nut 344 is slidably installed in the sleeve 343, the lower end of the cylindrical nut 344 is connected to the middle part of the adjustment spring 346, the output shaft of the lifting and adjusting motor 342 is installed with the screw 345, and the screw 345 is threadedly screwed with the cylindrical nut 344.

[0034] When in use, the lifting and adjusting motor 342 rotates, driving the screw 345 to rotate, and the cylindrical nut 344 is fixedly connected to the adjustment spring 346, and the cylindrical nut 344 does not rotate, so that the cylindrical nut 344 is driven by the screw 345 to slide up and down along the sliding sleeve 343, so that the cylindrical nut 344 pushes and pulls the adjustment spring 346, thereby adjusting the shape of the bottom adsorption surface of the sealing skirt 320.

[0035] In another embodiment, the push-pull device may be an electric push rod or an electric cylinder.

[0036] Furthermore, a filter device 314 is installed at the connection port 313 of the adsorption chamber 310 to prevent debris from entering the fan 330 and causing damage to the fan 330. Specifically, the filter device 314 can be a metal filter mesh, which is welded to the connection port 313 at the top of the adsorption chamber 310; the filter device 314 can also be a sponge, and a step is set at the connection port 313, and the sponge is plugged in the connection port 313 and limited by the step.

[0037] See also Figure 3 The mobile module 200 includes a mobile bracket 201 and a mobile module installed on the mobile bracket 201 , and the mobile bracket 201 is installed and connected to the main body frame 100 .

[0038] In one of the schemes, the mobile module includes a wheel mounting plate 202, a driving pulley 203, a driving pulley transverse axis 204, a driven pulley 205, a driven pulley transverse axis 206, a walking synchronous belt 207, a pulley driving motor 208 and a second bracket 209. The front and rear sides of the mobile bracket 201 are respectively fixedly connected to two wheel mounting plates 202, and the front and rear wheel mounting plates 202 are respectively rotatably connected to the driving pulley transverse axis 204 and the driven pulley transverse axis 206. The driving pulley transverse axis 204 is fixedly mounted with the driving pulley 203. A driven pulley 205 is installed on the driven pulley transverse axis 206, and a traveling synchronous belt 207 is installed on the driving pulley 203 and the driven pulley 205. A second bracket 209 is installed on the movable bracket 201, and the pulley driving motor 208 is fixedly installed through the second bracket 209. A transmission gear 211 is fixedly connected to the end of the driving pulley transverse axis 204, and a driving gear 210 is installed on the output shaft of the pulley driving motor 208, and the transmission gear 211 rotates in meshing with the driving gear 210.

[0039] For further information, see Fig. 9 , 10 The outer circumference of the walking synchronous belt 207 is also provided with a flexible deformation layer 2071. By providing the deformation layer 2071, the walking synchronous belt 207 can be adaptively adjusted with the working surface, providing stability and reliability of the robot movement. The deformation layer 2071 can be made of EPDM foam rubber.

[0040] See also Figure 1 , 2 , a controller and a visual module 400 are installed on the main body frame 100, and the visual module 400 includes a depth camera 401 and a camera bracket 402. The depth camera 401 is installed on the top of the main body frame 100 through the camera bracket 402, and the depth camera 401 is electrically connected to the controller, and the controller is electrically connected to the adjustment mechanism 340; the viewing angle of the depth camera 401 points to the lower front of the vehicle body. The visual module 400 on the top of the robot is equipped with a depth camera 401. Before crawling to the target position, the robot can identify the structural information of the wall at the target position and provide basic data for the adjustment mechanism 340 to adjust the sealing skirt 320. Since the surface of the back concrete of the pressure steel pipe is an irregular curved surface, when in use, the sealing skirt 320 can be adjusted in real time according to the actual curvature or curvature of the working surface.

[0041] See also Figure 2, further comprising an operation module 500, the operation module 500 comprising an operation bracket 501, a network camera 502 and an ultrasonic probe 503, the operation bracket 501 being mounted on both sides of the main body frame 100 by bolts, the network camera 502 and the ultrasonic probe 503 being mounted on the front and rear sides of the operation bracket 501 respectively. The network camera 502 is used to photograph and analyze the operation surface, and the ultrasonic probe 503 is used to detect the operation surface.

[0042] Embodiment 2: When the working surface is an uneven curved surface, if the gap between the sealing skirt 320 and the working surface suddenly increases, the negative pressure in the adsorption chamber 310 will decrease, causing the robot to lose pressure and fall during vertical crawling; if the gap between the sealing skirt 320 and the working surface decreases, the sealing skirt 320 will collide with the working surface, increasing the resistance to the robot's walking.

[0043] See also Figure 4-8 The negative pressure adsorption module 300 includes an adsorption chamber 310, a sealing skirt 320, a fan 330 and an adjustment mechanism 340. The adsorption chamber 310 is connected to the main body frame 100. The lower side of the adsorption chamber 310 is open. A connecting port 313 is provided at the top of the adsorption chamber 310. The fan 330 is installed at the top of the adsorption chamber 310. The air suction port of the fan 330 is sealed and connected with the connecting port 313. The flexible sealing skirt 320 is installed at the lower edge of the adsorption chamber 310. At least eight sets of the adjustment mechanisms 340 are respectively installed on the adsorption chamber 310, and the adjustment mechanisms 340 are connected to the sealing skirt 320. The sealing skirt 320 adjusts the shape of the bottom adsorption surface through the adjustment mechanism 340.

[0044] Specifically, each side of the adsorption chamber 310 has three sets of adjustment mechanisms 340, a total of eight sets, and the eight sets of adjustment mechanisms 340 are respectively connected to the sealing skirt 320, so that the bottom adsorption surface of each side of the sealing skirt 320 can be adjusted separately. Of course, if more adjustment mechanisms 340 are added on each side, and the extension lengths of each adjustment mechanism 340 are different, the bottom adsorption surface of the sealing skirt 320 can be adjusted to a more complex structure, such as a wavy shape, and the sealing skirt 320 is deformed in real time, so that the robot can walk stably on an uneven curved surface.

[0045] Embodiment three: The method for using the negative pressure adsorption wall-climbing robot based on modular design described in Embodiment 1 or Embodiment 2 comprises the following steps: S1. Place the robot on the curved working surface.

[0046] S2, the robot is powered on, the depth camera 401 works, and the depth camera 401 scans the structural information of the working surface.

[0047] S3. The controller performs modeling analysis based on the structural information scanned by the depth camera 401 to calculate the arc or curvature of the working surface.

[0048] S4. The controller controls the adjustment mechanism 340 to move, and push and pull the shape of the sealing skirt 320 according to the calculated curvature of the working surface, so that the shape of the bottom adsorption surface of the sealing skirt 320 matches the working surface.

Claims

1. A negative pressure adsorption wall-climbing robot based on modular design. Features: The invention comprises a main body frame (100), a mobile module (200) and a negative pressure adsorption module (300), wherein the two mobile modules (200) are respectively mounted on both sides of the main body frame (100), the negative pressure adsorption module (300) is mounted on the bottom of the main body frame (100), and the negative pressure adsorption module (300) is located between the two mobile modules (200); The negative pressure adsorption module (300) comprises an adsorption chamber (310), a sealing skirt (320), a fan (330) and an adjustment mechanism (340); the adsorption chamber (310) is connected to the main body frame (100); the lower side of the adsorption chamber (310) is open; a connection port (313) is provided at the top of the adsorption chamber (310); the fan (330) is installed at the top of the adsorption chamber (310); the air suction port of the fan (330) is sealed and connected to the connection port (313); a flexible sealing skirt (320) is installed at the lower edge of the adsorption chamber (310); a plurality of adjustment mechanisms (340) are respectively installed on the adsorption chamber (310); the adjustment mechanisms (340) are connected to the sealing skirt (320); and the sealing skirt (320) adjusts the shape of the bottom adsorption surface through the adjustment mechanism (340).

2. According to claim 1, a negative pressure adsorption wall-climbing robot based on modular design, Features: The bottom edge of the adsorption chamber (310) is provided with an annular groove (311), and an annular sealing skirt (320) is installed in the annular groove (311). Limiting pads (312) are respectively arranged on both sides of the position of the adjustment mechanism (340) in the annular groove (311) of the adsorption chamber (310); The adjustment mechanism (340) comprises a push-pull device and an adjustment spring (346); the push-pull device is mounted on the adsorption chamber (310); the two ends of the adjustment spring (346) are respectively slidably mounted on two corresponding limit pads (312); the lower side of the adjustment spring (346) is connected to the sealing skirt (320); the push-pull device is connected to the middle of the adjustment spring (346); the adjustment spring (346) is pushed and pulled by the push-pull device, thereby adjusting the shape of the bottom adsorption surface of the sealing skirt (320).

3. According to claim 2, a negative pressure adsorption wall-climbing robot based on modular design, Features: The push-pull device comprises a first bracket (341), a lifting and adjusting motor (342), a sleeve (343), a cylindrical nut (344) and a screw (345); the first bracket (341) is mounted on the top of the adsorption chamber (310); the lifting and adjusting motor (342) is mounted on the first bracket (341); the sleeve (343) is located at the lower side of the first bracket (341); the sleeve (343) is connected and fixed to the adsorption chamber (310); the cylindrical nut (344) is slidably mounted in the sleeve (343); the lower end of the cylindrical nut (344) is connected to the middle part of the adjustment spring (346); the screw (345) is mounted on the output shaft of the lifting and adjusting motor (342); and the screw (345) and the cylindrical nut (344) are threadedly screwed.

4. According to claim 1, a negative pressure adsorption wall-climbing robot based on modular design, Features: The connection port (313) of the adsorption chamber (310) is installed with a filtering device (314).

5. According to claim 1, a negative pressure adsorption wall-climbing robot based on modular design, Features: The mobile module (200) comprises a mobile bracket (201) and a mobile module group mounted on the mobile bracket (201); the mobile bracket (201) is mounted and connected to the main body frame (100).

6. According to claim 5, a negative pressure adsorption wall-climbing robot based on modular design, Features: The mobile module comprises a wheel mounting plate (202), a driving pulley (203), a driving pulley transverse axis (204), a driven pulley (205), a driven pulley transverse axis (206), a walking synchronous belt (207), a pulley driving motor (208) and a second bracket (209); the front and rear sides of the mobile bracket (201) are respectively fixedly connected to two wheel mounting plates (202); the front and rear wheel mounting plates (202) are respectively rotatably connected to the driving pulley transverse axis (204) and the driven pulley transverse axis (206); the driving pulley transverse axis (204) is fixedly mounted with the driving pulley (203); A driven pulley (205) is mounted on the driven pulley transverse axis (206); a travel synchronous belt (207) is mounted on the driving pulley (203) and the driven pulley (205); a second bracket (209) is mounted on the movable bracket (201); a pulley driving motor (208) is fixedly mounted via the second bracket (209); a transmission gear (211) is fixedly connected to the end of the driving pulley transverse axis (204); a driving gear (210) is mounted on the output shaft of the pulley driving motor (208); and the transmission gear (211) rotates in meshing engagement with the driving gear (210).

7. According to claim 6, a negative pressure adsorption wall-climbing robot based on modular design, Features: The outer circumference of the traveling synchronous belt (207) is also provided with a flexible deformation layer (2071).

8. According to claim 1, a negative pressure adsorption wall-climbing robot based on modular design, Features: A controller and a visual module (400) are mounted on the main body frame (100); the visual module (400) comprises a depth camera (401) and a camera bracket (402); the depth camera (401) is mounted on the top of the main body frame (100) via the camera bracket (402); the depth camera (401) is electrically connected to the controller; and the controller is electrically connected to the adjustment mechanism (340); the viewing angle of the depth camera (401) is directed to the lower front of the vehicle body.

9. According to claim 1, a negative pressure adsorption wall-climbing robot based on modular design, Features: The device also includes an operation module (500), wherein the operation module (500) includes an operation bracket (501), a network camera (502), and an ultrasonic probe (503). The operation bracket (501) is mounted on both sides of the main body frame (100) by means of bolts, and the network camera (502) and the ultrasonic probe (503) are mounted on the front and rear sides of the operation bracket (501), respectively.

10. A method for using a negative pressure adsorption wall-climbing robot based on modular design as claimed in claim 8, It is characterized in that The following steps are involved: S1. Place the robot on the curved working surface; S2, the robot is powered on, the depth camera (401) works, and the depth camera (401) scans the structural information of the working surface; S3, the controller performs modeling analysis based on the structural information scanned by the depth camera (401) to calculate the arc or curvature of the working surface; S4. The controller controls the adjustment mechanism (340) to move, and pushes and pulls the shape of the sealing skirt (320) according to the calculated curvature of the working surface, so that the shape of the bottom adsorption surface of the sealing skirt (320) matches the working surface.

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