Foldable crawler-type wall-climbing robot based on magnetic control suction cup

Abstract

The invention relates to a foldable crawler-type wall-climbing robot based on a magnetic control suction cup. A folding structure is composed of a folding frame, a folding connecting frame, a folding plate, a steering engine, a rudder arm and a steering engine connecting rod, and the steering engine controls stretching and folding of the folding frame through the rudder arm and the connecting rod; the crawler-type transmission structure is composed of a crawler belt, crawler wheels, crawler wheel connecting frames, a magnet guide rail supporting frame and a magnet guide rail, the magnet guide rail is fixed through the supporting frame, a stable magnetic environment is provided for the magnetic control suction cup, and it is ensured that the robot stably moves on the wall face; a motor fixing frame is installed on a folding frame, a soft silica gel cavity film adheres to the edge of a magnetic control suction cup, a round magnet, a rubber piston, a telescopic spring and a magnetic suction piston connecting piece are integrated in a magnetic control valve, air exhaust and air release of the rubber piston are controlled through the magnetic force action of the magnet and a magnet guide rail, and adsorption and desorption of the suction cup are achieved; a fan or a vacuum pump is not needed, weight is obviously reduced, and load capacity is improved.

Description

Technical Field

[0001] The invention belongs to the field of wall-climbing robots and relates to a foldable crawler-type wall-climbing robot based on a magnetically controlled suction cup. Background Art

[0002] Over the years, wall-climbing robots have become a research focus in the field of robotics at home and abroad, and are widely used in special tasks such as infrastructure inspection and maintenance, military counter-terrorism reconnaissance, etc. With the continuous development and application of intelligent mobile robots, intelligent wall-climbing robots with the ability to move vertically on walls and pipes have become one of the best solutions for performing special tasks on walls. Negative pressure adsorption is a commonly used adsorption method for wall-climbing robots. It has the advantage of not being restricted by wall materials and can be adsorbed on a variety of surfaces, including non-metallic materials such as glass and tiles. However, in order to generate negative pressure, traditional systems usually need to rely on equipment such as fans or vacuum pumps, which not only increases the weight of the robot, but also consumes a lot of energy, resulting in higher energy consumption. These problems will cause wall-climbing robots to face challenges such as low load capacity, short continuous working time, and poor endurance. Summary of the invention

[0003] In view of this, the present invention provides a foldable crawler wall-climbing robot based on a magnetically controlled suction cup in order to solve the problem that the above-mentioned existing wall-climbing robots usually need to rely on equipment such as fans or vacuum pumps to generate negative pressure, which increases the robot's own weight, has high consumption, and is not very applicable. The wall-climbing robot adopts a crawler structure with a magnetically controlled suction cup, and each suction cup is controlled by an independent magnetically controlled pneumatic device. It does not require equipment such as fans or vacuum pumps, has good adsorption force and flexibility, and ensures stable climbing ability on walls of different materials. This design effectively reduces the weight of the wall-climbing robot, improves the load capacity of the wall-climbing robot, and reduces the energy consumption of the wall-climbing robot. The foldable structure of the wall-climbing robot can flexibly adapt to walls of various angles and curvatures, so that the wall-climbing robot can adapt to more diverse working environments and broaden its scope of application.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A foldable crawler wall-climbing robot based on a magnetically controlled suction cup comprises a folding structure, a crawler transmission structure connected to two free ends of the folding structure, a driving structure for driving the crawler transmission structure to rotate, and a plurality of groups of magnetically controlled suction cups uniformly arranged on the crawler transmission structure;

[0006] The folding structure comprises a folding plate and a folding frame rotatably connected to both sides of the folding plate, a folding connecting frame is fixedly installed at one end of the folding frame close to the folding plate, a steering gear with a rudder arm is embedded in the folding plate, and both ends of the rudder arm are rotatably connected to a steering gear connecting rod whose end is also rotatably connected to the corresponding folding connecting frame;

[0007] Each set of crawler transmission structure includes two crawler wheels, crawlers connected to the crawler wheels, crawler wheel connecting frames for connecting the crawler wheels, and a plurality of connecting support frames connected between the crawler wheel connecting frames, the crawler wheel connecting frames are respectively connected to the inner and outer sides of the crawler wheels, and the crawler transmission structure also includes an L-shaped magnet guide rail support frame fixedly mounted on the crawler wheel connecting frame, and a magnet guide rail is fixedly connected to the free end below the magnet guide rail support frame;

[0008] The driving structure includes a motor corresponding to the track wheel and a motor fixing frame sleeved outside the motor, the motor fixing frame is fixedly mounted on the folding frame of the folding structure, and the motor is drivingly connected to the corresponding track wheel;

[0009] Each set of magnetically controlled suction cups includes a magnetically controlled valve and a suction cup embedded in the magnetically controlled valve. A rubber piston with a magnet is movably provided inside the magnetically controlled valve. A telescopic spring and a magnetic suction piston connector are connected to the rubber piston. The magnet guide rail is used in conjunction with the magnet to realize the conversion of adsorption and desorption of the wall-climbing robot suction cup.

[0010] Furthermore, the folding plate and the folding frame are connected via a rotating shaft, and both the folding plate and the folding frame are provided with hollow holes for reducing weight.

[0011] Furthermore, the folding connecting frame is in an arc shape bending toward one side of the folding plate, and the rudder arm is in an olive shape that is wide in the middle and narrow at both ends. The free end of one servo connecting rod is connected to the upper part of the corresponding folding connecting frame, and the free end of the other servo connecting rod is also connected to the upper part of the corresponding folding connecting frame.

[0012] Furthermore, the magnet guide rails in each set of crawler transmission structures are parallel to each other and are magnets with the same magnetic polarity.

[0013] Furthermore, the magnet guide rail support frame connected to the magnet guide rail is installed on the track wheel connecting frames on both sides of each set of tracked transmission structure, and is symmetrically distributed on the central cross section of the tracked transmission structure.

[0014] Furthermore, motors are installed at both ends of the folding frame close to the track wheels through motor fixing frames. The motors provide driving force for the track wheels in the crawler transmission structure, and the motors are DC reduction motors with encoders.

[0015] Furthermore, the positions of the magnetically controlled suction cups in the two groups of track-type transmission structures are corresponding and parallel to each other, and the magnetically controlled suction cups in each group of track-type transmission structures are evenly embedded on the track.

[0016] Furthermore, a soft silicone cavity film is bonded to the flexible edge of the suction cup, and no bonding is performed inside the suction cup cavity, thereby ensuring the sealing of the suction cup cavity.

[0017] Furthermore, the magnetic control valve is L-shaped and has an L-shaped channel inside that matches its structure. The rubber piston slides through the magnetic control valve channel parallel to the suction cup. One end of the magnetic suction piston connector is circular, and its diameter matches the diameter of the magnetic control valve channel, which is convenient for embedding in the magnetic control valve channel; the other end is rectangular, which is convenient for firmly fixing the magnetic suction piston connector on the magnetic control valve.

[0018] Furthermore, the magnetic suction piston connector and the magnet guide rail are parallel to each other, and the embedding directions of the magnet piston connectors of all magnetically controlled chucks are consistent.

[0019] The beneficial effects of the present invention are:

[0020] The foldable crawler wall-climbing robot based on magnetically controlled suction cups disclosed in the present invention has the following advantages:

[0021] 1) Enhanced adsorption and stability: By adopting magnetically controlled suction cup technology, the wall-climbing robot can directly use magnetic force to control the adsorption and desorption of the magnetically controlled suction cup, without relying on the negative pressure generated by the fan or vacuum pump. This ensures the stable operation of the wall-climbing robot on various inclined or vertical walls, and greatly improves its adaptability and safety in complex environments.

[0022] 2) Lightweight and high efficiency: By eliminating heavy equipment such as fans and vacuum pumps, the overall design of the wall-climbing robot is lightweight, which not only reduces the robot's own weight, but also reduces energy consumption. The lightweight design enables the robot to carry more payload, improves its load capacity, and prolongs battery life, making it suitable for long-term, high-intensity tasks.

[0023] 3) Flexibility and maneuverability: The tracked structure gives the robot good ground adaptability and can easily cross small obstacles or uneven areas on the wall. The foldable design further improves its flexibility and space utilization efficiency, making it easy to operate in a small space or for rapid deployment. In addition, each suction cup is controlled by an independent magnetically controlled pneumatic device, which can achieve precise adsorption and release operations, improving the robot's maneuverability and reaction speed in complex environments.

[0024] 4) Low noise and environmental protection: Compared with traditional wall-climbing robots that use fans or vacuum pumps, the design based on magnetically controlled suction cups produces almost no noise during operation, greatly improving the working environment and reducing interference to surrounding personnel. At the same time, since no additional energy consumption is required to generate negative pressure, the robot is also more environmentally friendly and meets the requirements of modern industry for energy conservation and emission reduction.

[0025] 5) Easy maintenance and repair: The structure of the magnetic chuck and pneumatic device is relatively simple, and each component is relatively independent, which is convenient for troubleshooting and maintenance. This not only reduces maintenance costs, but also improves the reliability and service life of the robot.

[0026] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0028] Figure 1 It is a structural schematic diagram of a foldable crawler wall-climbing robot based on a magnetically controlled suction cup according to the present invention;

[0029] Figure 2 For the present invention Figure 1 Schematic diagram of the structure of the magnetically controlled chuck, where Figure 2 (a) is the axonometric view of the magnetically controlled chuck. Figure 2 (b) is a cross-sectional view of the magnetically controlled chuck;

[0030] Figure 3 For the present invention Figure 1 A schematic diagram of the structure of the middle crawler transmission mechanism and the magnetically controlled suction cup assembled together;

[0031] Figure 4 For the present invention Figure 1 Schematic diagram of the working principle of the magnetically controlled chuck device, where Figure 4 (a) is a schematic diagram of the principle of the desorption state of the magnetically controlled chuck. Figure 4 (b) Schematic diagram of the principle of the adsorption state of the magnetically controlled chuck;

[0032] Figure 5 The schematic diagram of the folding process of the foldable crawler wall-climbing robot based on the magnetically controlled suction cup of the present invention is shown in FIG. Figure 5 (a) is the state diagram of the folding structure before folding. Figure 5 (b) is the state diagram of the micro-folding of the folding structure. Figure 5 (c) is the state diagram of the large folding of the folding structure;

[0033] Figure 6 for Figure 5 (c) Front view of the folded state.

[0034] Figure numerals: suction cup 1, magnetically controlled valve 2, track 3, track wheel 4, track wheel connecting frame 5, connecting support frame 6, magnet guide rail support frame 7, magnet guide rail 8, fixing screw 9, motor 10, motor fixing frame 11, folding frame 12, folding connecting frame 13, folding plate 14, servo connecting rod 15, rudder arm 16, servo 17, magnetic suction piston connecting piece 18, telescopic spring 19, magnet 20, rubber piston 21, soft silicone cavity membrane 22. DETAILED DESCRIPTION

[0035] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0036] like Figure 1 The foldable crawler wall-climbing robot based on a magnetically controlled suction cup shown includes a folding structure, a crawler transmission structure connected to two free ends of the folding structure, a driving structure for driving the crawler transmission structure to rotate, and a plurality of magnetically controlled suction cups arranged on the crawler transmission structure.

[0037] The folding structure includes a folding plate 14 and a folding frame 12 rotatably connected to both sides of the folding plate 14. The folding frame 12 and the folding plate 14 are connected by a rotating shaft. A folding connecting frame 13 is fixedly installed at one end of the folding frame 12 close to the folding plate 14. A steering engine 17 with a rudder arm 16 is embedded in the folding plate 14. The output shaft of the steering engine 17 is rotatably connected to the middle of the rudder arm 16. Both ends of the rudder arm 16 are rotatably connected to a steering engine connecting rod 15 whose ends are also rotatably connected to the corresponding folding connecting frame 13. Specifically, hollow holes are provided on the folding plate 14 and the folding frame 12 to facilitate weight reduction. The folding connecting frame 13 is in an arc shape that bends toward one side of the folding plate 14, and the rudder arm 16 is in an olive shape that is wide in the middle and narrow at both ends. The free end of one of the steering engine connecting rods 15 connected to the two ends of the rudder arm 16 is connected to the upper part of the corresponding folding connecting frame 13, and the free end of the other is also connected to the upper part of the corresponding folding connecting frame 13. This structural design realizes the flexible adjustment of the folding frame 12 and enhances the robot's ability to adapt to different angles and complex wall surfaces.

[0038] When the angle or curvature of the wall changes, the steering gear 17 rotates, the rudder arm 16 pulls the steering gear connecting rod 15, and then drives the folding frame 12 to fold through the folding connecting frame 13, so that the wall-climbing robot can always cling to the wall, thereby achieving adaptive fitting. This design enables the wall-climbing robot to flexibly adapt to walls of various angles and curvatures.

[0039] The crawler transmission structure includes two crawler wheels 4, crawler belts 3 connected to the crawler wheels 4, crawler wheel connecting frames 5 for connecting the crawler wheels 4, and several connecting support frames 6 connected between the crawler wheel connecting frames 5. The crawler wheel connecting frames 5 are respectively connected to the inner and outer sides of the crawler wheels 4, and the connecting support frames 6 play the role of supporting and connecting the crawler wheel connecting frames 5 in each set of crawler transmission structures. The crawler transmission structure also includes an L-shaped magnet guide rail support frame 7 fixedly mounted on the crawler wheel connecting frame 5 by fixing screws 9, and a magnet guide rail 8 is fixedly connected to the free end below the magnet guide rail support frame 7 to provide the necessary magnetic environment for the system. The magnet guide rails 8 in each set of crawler transmission structures are parallel to each other and are magnets with the same magnetic polarity. All parts that need to be fixedly connected in the crawler transmission structure are firmly installed by fixing screws 9 to ensure that the structure is stable and reliable. The crawler magnetic control sucker structure composed of a magnetic control sucker and a crawler transmission structure has a modular characteristic, and the crawler magnetic control sucker structures on both sides are symmetrically distributed relative to the central cross section of the folding structure. The magnet guide rail support frame 7 connected to the magnet guide rail 8 is installed on the track wheel connecting frame 5 on both sides of each group of tracked transmission structures, and the magnet guide rail support frame 7 is symmetrically distributed along the central cross section of the tracked transmission structure.

[0040] The driving structure includes a motor 10 corresponding to the track wheel 4 and a motor fixing frame 11 mounted outside the motor 10. The motor fixing frame 11 is fixedly mounted on a folding frame 12 of the folding structure. The output shaft of the motor 10 is fixedly connected to the input shaft of the corresponding track wheel 4 through a coupling. Specifically, the motor 10 is installed through the motor fixing frame 11 at both ends of the folding frame 12 close to the track wheel 4. The motor 10 provides driving force for the track wheel 4 in the crawler transmission structure. The motor 10 uses a DC reduction motor with an encoder, which can achieve precise speed and position control. The reduction motor reduces the speed and increases the torque through gear transmission, making it suitable for heavy-load applications. The integration of the encoder enables the control system to monitor the motor status in real time and realize closed-loop control, thereby improving the stability and accuracy of the system.

[0041] Six sets of magnetically controlled suction cups are fixedly mounted on the tracks 3 in each set of crawler-type transmission structures. The six magnetically controlled suction cups are embedded in the tracks 3 in parallel and evenly. The magnetically controlled suction cups include magnetically controlled valves 2 and suction cups 1 embedded in the magnetically controlled valves 2. The structure of the magnetically controlled suction cups is shown in FIG. Figure 2 , Figure 2 (a) Figure 2As shown in (b), the flexible edge of the suction cup 1 is bonded with a soft silicone cavity membrane 22, while the suction cup cavity is not bonded, ensuring the sealing and adaptability of the suction cup cavity. The magnetic control valve 2 is L-shaped and has an L-shaped channel adapted to its structure. The magnetic control valve 2 channel parallel to the suction cup 1 is provided with a rubber piston 21 similar to a syringe and a telescopic spring 19 and a magnetic piston connector 18 connected to the rubber piston 21. A circular magnet 20 is embedded in the rubber piston 21. One end of the magnetic piston connector 18 is circular, and its diameter matches the diameter of the magnetic control valve 2 channel, so it is easy to embed it in the magnetic control valve 2 channel; the other end is rectangular, so it is easy to firmly fix the magnetic piston connector 18 on the magnetic control valve 2. Under the action of the telescopic spring 19, the rubber piston 21 in the magnetic control valve 2 is always kept in its transverse cavity, ensuring the sealing of the suction cup 1 cavity. As shown Figure 3 As shown, the magnetic piston connector 18 is parallel to the magnet guide rail 8. The magnet piston connectors 18 of all magnetically controlled chucks are embedded in the same direction to ensure that each magnetically controlled chuck can perform periodic repeated movements. The magnet guide rails 8 on both sides are parallel to the magnetically controlled valve 2 and close to the magnet piston connector 18 in the magnetically controlled valve.

[0042] Components such as batteries and control boards can be installed on the folding plate 14 to provide power for the driving mechanism and realize remote control.

[0043] like Figure 3 , Figure 4 , Figure 4 (a) Figure 4 As shown in (b), the magnetically controlled sucker works in coordination with the magnet guide rails 8 on both sides. The magnet guide rails 8 are installed on both sides of the crawler-type transmission structure close to the wall, and the inside of the magnetically controlled sucker remains sealed. When the magnetically controlled sucker installed on the crawler 3 moves to the action range of the magnet guide rails along with the crawler-type transmission structure, the magnet guide rails 8 on both sides respectively attract and repel the circular magnet 20 in the magnetically controlled valve 2, thereby compressing the telescopic spring 19, driving the rubber piston 21 to suck the air in the sucker cavity, reducing the pressure in the magnetically controlled sucker cavity, and causing the soft silicone cavity membrane 22 adhered to the flexible edge of the sucker 1 to shrink, thereby achieving wall adsorption of the sucker. When the magnetically controlled sucker moves out of the action range of the magnet guide rails 8 along with the crawler-type transmission structure, the circular magnet 20 in the magnetically controlled valve 2 loses its magnetic force, the telescopic spring 19 resets, resulting in deflation, increasing the pressure in the cavity, and expanding the soft silicone cavity membrane 22, thereby causing the sucker to detach from the wall. The magnetically controlled suction cup cooperates with the magnet guide rails 8 on both sides, and along with the cyclic movement of the crawler transmission structure, the air extraction and degassing process is completed, thereby realizing the conversion between adsorption and desorption of the wall-climbing robot.

[0044] The magnetically controlled sucker of the wall-climbing robot is composed of a sucker 1 and a magnetically controlled valve 2. A soft silicone cavity film 22 is adhered to the edge of the sucker 1 to enhance the sealing and adaptability during adsorption. The magnetically controlled valve 2 integrates a circular magnet 20, a rubber piston 21, a telescopic spring 19 and a magnetic suction piston connector 18. Through the magnetic force of the magnet 20 and the magnet guide rail 8, the rubber piston 21 is controlled to evacuate and deflate, so as to achieve the adsorption and desorption of the sucker 1. No fan or vacuum pump is required, which significantly reduces the weight and improves the load capacity and energy efficiency. The crawler transmission structure is composed of a crawler 3, a crawler wheel 4, a crawler wheel connecting frame 5, a connecting support frame 6, a magnet guide rail support frame 7, and a magnet guide rail 8. The magnet guide rail 8 is fixed by the magnet guide rail support frame 7 to provide a stable magnetic environment for the magnetically controlled sucker and ensure the stable movement of the robot on the wall. The driving structure is powered by a DC reduction motor with an encoder, which is installed on the folding frame 12 through a motor fixing frame 11.

[0045] like Figure 5 middle Figure 5 (a) Figure 5 (b) Figure 5 (c) and Figure 6 As shown, the folding structure is composed of a folding frame 12, a folding connecting frame 13, a folding plate 14, a steering gear 17, a rudder arm 16 and a steering gear connecting rod 15. The steering gear 17 controls the extension and folding of the folding frame 12 through the rudder arm 16 and the steering gear connecting rod 15, so that the robot can flexibly adapt to walls of different angles and curvatures.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A foldable crawler wall-climbing robot based on a magnetically controlled suction cup, characterized in that: It includes a folding structure, a crawler-type transmission structure connected to two free ends of the folding structure, a driving structure for driving the crawler-type transmission structure to rotate, and a plurality of groups of magnetically controlled suction cups uniformly arranged on the crawler-type transmission structure; The folding structure comprises a folding plate (14) and a folding frame (12) rotatably connected to both sides of the folding plate (14); a folding connecting frame (13) is fixedly mounted on one end of the folding frame (12) close to the folding plate (14); a steering engine (17) with a rudder arm (16) is embedded in the folding plate (14); both ends of the rudder arm (16) are rotatably connected to a steering engine connecting rod (15) whose end is also rotatably connected to the corresponding folding connecting frame (13); Each set of crawler transmission structures comprises two crawler wheels (4), crawler belts (3) drivingly connected to the crawler wheels (4), crawler wheel connecting frames (5) for connecting the crawler wheels (4), and a plurality of connecting support frames (6) connected between the crawler wheel connecting frames (5), the crawler wheel connecting frames (5) being connected to the inner and outer sides of the crawler wheels (4), respectively, and the crawler transmission structure further comprises an L-shaped magnet guide rail support frame (7) fixedly mounted on the crawler wheel connecting frame (5), and a magnet guide rail (8) is fixedly connected to the free end below the magnet guide rail support frame (7); The driving structure comprises a motor (10) corresponding to the track wheel (4) and a motor fixing frame (11) sleeved outside the motor (10); the motor fixing frame (11) is fixedly mounted on a folding frame (12) of the folding structure; the motor (10) is drivingly connected to the corresponding track wheel (4); Each set of magnetically controlled suction cups comprises a magnetically controlled valve (2) and a suction cup (1) embedded in the magnetically controlled valve (2); a rubber piston (21) with a magnet (20) is movably provided inside the magnetically controlled valve (2); a telescopic spring (19) and a magnetic suction piston connector (18) are connected to the rubber piston (21); a magnet guide rail (8) is parallel to the magnetically controlled valve (2) and is used in conjunction with the magnet (20) to achieve conversion between adsorption and desorption of the suction cup (1) of the wall-climbing robot.

2. The foldable crawler wall-climbing robot according to claim 1, characterized in that: The folding plate (14) and the folding frame (12) are connected via a rotating shaft, and both the folding plate (14) and the folding frame (12) are provided with hollow holes for reducing weight.

3. The foldable crawler wall-climbing robot according to claim 1, characterized in that: The folding connecting frame (13) is in an arc shape that bends toward one side of the folding plate (14); the rudder arm (16) is in an olive shape that is wide in the middle and narrow at both ends; the free end of one steering gear connecting rod (15) is connected to the upper part of the folding connecting frame (13) on one side, and the free end of the other steering gear connecting rod (15) is also connected to the upper part of the folding connecting frame (13) on the other side.

4. The foldable crawler wall-climbing robot according to claim 1, characterized in that: The magnet guide rails (8) in each set of crawler-type transmission structures are parallel to each other and are magnets with the same magnetic polarity.

5. The foldable crawler wall-climbing robot according to claim 4, characterized in that: The magnet guide rail support frame (7) connected to the magnet guide rail (8) is installed on the crawler wheel connecting frames (5) on both sides of each set of crawler transmission structure, and the magnet guide rail support frame (7) is symmetrically distributed on the central cross section of the crawler transmission structure.

6. The foldable crawler wall-climbing robot according to claim 1, characterized in that: The motors (10) are installed at both ends of the folding frame (12) close to the track wheels (4) via motor fixing frames (11); the motors (10) provide driving force for the track wheels (4) in the track-type transmission structure; the motors (10) are DC reduction motors with encoders.

7. The foldable crawler wall-climbing robot according to claim 1, characterized in that: The magnetically controlled suction cups in the two sets of crawler-type transmission structures are located in corresponding positions and are parallel to each other. The magnetically controlled suction cups in each set of crawler-type transmission structures are evenly embedded on the crawler (3).

8. The foldable crawler wall-climbing robot according to claim 7, characterized in that: The flexible edge of the suction cup (1) is bonded with a soft silicone cavity membrane (22), and no bonding is performed inside the suction cup cavity, thereby ensuring the sealing of the suction cup (1) cavity.

9. The foldable crawler wall-climbing robot according to claim 8, characterized in that: The magnetic control valve (2) is L-shaped and has an L-shaped channel adapted to its structure. The rubber piston (21) is slidably inserted into the channel of the magnetic control valve (2) parallel to the suction cup (1). One end of the magnetic piston connector (18) is circular, and its diameter matches the diameter of the channel of the magnetic control valve (2), so that it is easy to embed into the channel of the magnetic control valve (2); the other end is rectangular, so that the magnetic piston connector (18) is easily fixed to the magnetic control valve (2).

10. The foldable crawler wall-climbing robot according to claim 9, characterized in that: The magnetic suction piston connector (18) and the magnet guide rail (8) are parallel to and close to each other, and the magnet piston connectors (18) of all magnetically controlled suction cups are embedded in the same direction.

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