A foldable crawler wall-climbing robot based on magnetically controlled suction cups

Abstract

The present invention relates to a foldable crawler wall-climbing robot based on a magnetically controlled suction cup. The folding structure consists of a folding frame, a folding connecting frame, a folding plate, a steering gear, a rudder arm and a steering gear connecting rod. The steering gear controls the extension and folding of the folding frame through the rudder arm and the connecting rod. The crawler transmission structure consists of a crawler track, a crawler wheel, a crawler wheel connecting frame, a magnet guide rail support frame and a magnet guide rail. The magnet guide rail is fixed by a support frame to provide a stable magnetic environment for the magnetically controlled suction cup, ensuring that the robot moves stably on the wall. The driving structure adopts a DC reduction motor with an encoder to provide power, and is installed on the folding frame through a motor fixing frame. A soft silicone cavity membrane is adhered to the edge of the suction cup in the magnetically controlled suction cup. A circular magnet, a rubber piston, a telescopic spring and a magnetic piston connector are integrated in the magnetically controlled valve. The vacuum and deflation of the rubber piston are controlled by the magnetic action of the magnet and the magnet guide rail to achieve adsorption and desorption of the suction cup. No fan or vacuum pump is required, which significantly reduces weight and improves load capacity.

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] For many years, wall-climbing robots have become a research focus in the field of robotics both domestically and internationally, and are widely used in special tasks such as infrastructure inspection and maintenance, military counter-terrorism reconnaissance, and so on. With the continuous development and application of intelligent mobile robots, intelligent wall-climbing robots capable of vertical movement on walls and in 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 the wall material 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 high energy consumption. These problems can 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 has poor applicability. The wall-climbing robot adopts a crawler structure with a magnetically controlled suction cup. Each suction cup is controlled by an independent magnetically controlled pneumatic device. It does not require equipment such as fans or vacuum pumps. It has good adsorption force and flexibility, ensuring 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-type wall-climbing robot based on a magnetically controlled suction cup comprises 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;

[0006] The folding structure includes a folding plate and a folding frame rotatably connected to both sides of the folding plate. A folding connecting frame is fixedly installed on one end of the folding frame close to the folding plate. A servo with a rudder arm is embedded in the folding plate. Both ends of the rudder arm are rotatably connected to a servo 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, crawler belts 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. 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 connected to the corresponding track wheel by transmission;

[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. The rubber piston is connected to a telescopic spring and a magnetic piston connector. The magnet guide rail is used in conjunction with the magnet to realize the conversion between adsorption and desorption of the wall-climbing robot's 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 that bends 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 of the servo connecting rods 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-type transmission structures are parallel to each other and are magnets with the same magnetic polarity.

[0013] Furthermore, the magnet guide rail support frames connected to the magnet guide rails are installed on the track wheel connecting frames on both sides of each set of tracked transmission structures and are 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. The motors are DC reduction motors with encoders.

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

[0016] Furthermore, the flexible edge of the suction cup is bonded with a soft silicone cavity membrane, 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 is compatible with its structure. The rubber piston slides through the magnetic control valve channel parallel to the suction cup. One end of the magnetic 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 piston connector on the magnetic control valve.

[0018] Furthermore, the magnetic 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-type wall-climbing robot based on a magnetically controlled suction cup disclosed in the present invention has the following advantages:

[0021] 1) Enhanced Adsorption and Stability: By utilizing magnetically controlled chuck technology, the wall-climbing robot can directly control the adsorption and desorption of the magnetically controlled chuck using magnetic force, eliminating the need for negative pressure generated by a fan or vacuum pump. This ensures stable operation on various inclined or vertical surfaces and significantly 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 wall-climbing robot's overall design is lightweight, reducing both its weight and energy requirements. This lightweight design enables the robot to carry more payload, increasing its load capacity while extending battery life, making it suitable for long, intensive tasks.

[0023] 3) Flexibility and Maneuverability: The tracked structure gives the robot excellent ground adaptability, allowing it to easily traverse small obstacles and uneven surfaces. The foldable design further enhances its flexibility and space efficiency, facilitating operation in confined spaces and rapid deployment. Furthermore, each suction cup is controlled by an independent magnetically controlled pneumatic device, enabling precise suction and release operations, improving the robot's maneuverability and responsiveness in complex environments.

[0024] 4) Low Noise and Environmentally Friendly: Compared to traditional wall-climbing robots that use fans or vacuum pumps, the magnetically controlled suction cup design produces virtually no noise during operation, significantly improving the working environment and reducing disturbance to nearby personnel. Furthermore, since no additional energy is required to generate negative pressure, the robot is also more environmentally friendly, meeting modern industrial requirements for energy conservation and emission reduction.

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

[0026] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following description or may be learned from practice of the present invention. The objects and other advantages of the present invention may 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 with reference to the accompanying drawings, in which:

[0028] Figure 1 This is a schematic structural diagram of a foldable crawler-type 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 magnetic control chuck, where Figure 2 (a) is the axonometric view of the magnetic chuck. Figure 2 (b) is a cross-sectional view of the magnetic chuck;

[0030] Figure 3 For the present invention Figure 1 Schematic diagram of the structure of the crawler transmission mechanism and the magnetic control chuck assembled together;

[0031] Figure 4 For the present invention Figure 1 Schematic diagram of the working principle of the magnetic control 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 magnetic chuck adsorption state;

[0032] Figure 5 This is a schematic diagram of the folding process of the foldable crawler wall-climbing robot based on the magnetically controlled suction cup of the present invention, wherein 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 folding structure with large folding;

[0033] Figure 6 for Figure 5 (c) Main view in folded state.

[0034] Figure numerals: suction cup 1, magnetic control 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 piston connector 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. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the details in this specification may be modified or altered based on different perspectives and applications without departing from the spirit of the present invention.

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

[0037] The folding structure includes a folding plate 14 and a folding frame 12 pivotally connected to either side 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 mounted on one end of the folding frame 12 near the folding plate 14. A servo 17 with a tiller arm 16 is embedded in the folding plate 14. The output shaft of the servo 17 is pivotally connected to the middle of the tiller arm 16. Each end of the tiller arm 16 is pivotally connected to a servo connecting rod 15, whose end is also pivotally connected to the corresponding folding connecting frame 13. Specifically, both the folding plate 14 and the folding frame 12 are provided with hollow holes to reduce weight. The folding connecting frame 13 is curved toward the folding plate 14, while the tiller arm 16 is olive-shaped, wide in the middle and narrow at the ends. The free end of one of the servo connecting rods 15 connecting the respective ends of the tiller arm 16 is connected to the upper portion of the corresponding folding connecting frame 13, while the free end of the other servo connecting rod is also connected to the upper portion of the corresponding folding connecting frame 13. This structural design enables flexible adjustment of the folding frame 12, enhancing 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, and the rudder arm 16 pulls the steering gear connecting rod 15, which in turn drives the folding frame 12 to fold through the folding connecting frame 13, allowing the wall-climbing robot to always cling to the wall, thus achieving adaptive fit. This design enables the wall-climbing robot to flexibly adapt to walls of various angles and curvatures.

[0039] The crawler transmission structure includes two track wheels 4, a track 3 connected to the track wheels 4, a track wheel connector 5 for connecting the track wheels 4, and several connecting supports 6 connected between the track wheel connectors 5. The track wheel connectors 5 are connected to the inner and outer sides of the track wheels 4, and the connecting supports 6 support and connect the track wheel connectors 5 in each set of the crawler transmission structure. The crawler transmission structure also includes an L-shaped magnetic guide rail support 7 fixed to the track wheel connector 5 by fixing screws 9. The lower free end of the magnetic guide rail support 7 is fixedly connected to a magnetic guide rail 8, providing the necessary magnetic environment for the system. The magnetic guide rails 8 in each set of crawler transmission structures are parallel to each other and have the same magnetic polarity. All components of the crawler transmission structure that require fixed connection are securely mounted using fixing screws 9, ensuring a stable and reliable structure. The crawler magnetic control chuck structure, which consists of a magnetic control chuck and a crawler transmission structure, is modular in nature, with the two crawler magnetic control chuck structures on both sides symmetrically arranged with respect 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 crawler transmission structures. The magnet guide rail support frame 7 is symmetrically distributed along the central cross section of the crawler transmission structure.

[0040] The drive structure includes a motor 10 corresponding to the track wheel 4 and a motor mounting bracket 11 mounted on the outside of the motor 10. The motor mounting bracket 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 via a coupling. Specifically, the motor 10 is mounted on both ends of the folding frame 12 close to the track wheel 4 through the motor mounting bracket 11. 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 achieve closed-loop control, thereby improving the stability and accuracy of the system.

[0041] Six sets of magnetic control chucks are fixedly mounted on the crawler 3 in each crawler transmission structure. The six magnetic control chucks are embedded in the crawler 3 in parallel and evenly. The magnetic control chucks include a magnetic control valve 2 and a chuck 1 embedded in the magnetic control valve 2. The magnetic control chuck structure is as follows: 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 interior of 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 channel of the magnetic control valve 2 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, which is convenient for embedding in the magnetic control valve 2 channel; the other end is rectangular, which is convenient for firmly fixing 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 always remains in its transverse cavity, ensuring the sealing of the suction cup 1 cavity. As shown Figure 3 As shown, the magnetic piston connector 18 and the magnet guide rail 8 are parallel to each other. The magnet piston connectors 18 of all magnetically controlled chucks are embedded in the same direction, ensuring that each magnetically controlled chuck can perform periodic and repetitive motion. 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 chuck works in conjunction with the magnet guides 8 on either side. The magnet guides 8 are mounted on either side of the tracked transmission structure near the wall, and the interior of the magnetically controlled chuck remains sealed. When the magnetically controlled chuck, mounted on the track 3, moves with the tracked transmission structure into the range of action of the magnet guides, the magnet guides 8 on either side attract and repel the circular magnet 20 in the magnetically controlled valve 2, thereby compressing the telescopic spring 19 and driving the rubber piston 21 to draw air from the chuck cavity, reducing the pressure within the cavity and causing the soft silicone cavity membrane 22 adhered to the flexible edge of the chuck 1 to contract, thereby achieving wall adhesion of the chuck. When the magnetically controlled chuck moves with the tracked transmission structure out of the range of action of the magnet guides 8, the circular magnet 20 in the magnetically controlled valve 2 loses its magnetic force, the telescopic spring 19 resets, and air is deflated. This increases the pressure within the cavity, causing the soft silicone cavity membrane 22 to expand, and thus causing the chuck to detach from the wall. The magnetically controlled suction cup cooperates with the magnetic guide rails 8 on both sides, and along with the cyclic movement of the crawler transmission structure, the air pumping and degassing process is completed, thereby realizing the conversion between adsorption and desorption of the wall-climbing robot.

[0044] The wall-climbing robot's magnetically controlled suction cup consists of a suction cup 1 and a magnetically controlled valve 2. A soft silicone cavity membrane 22 is adhered to the edge of the suction cup 1 to enhance sealing and adaptability during suction. The magnetically controlled valve 2 integrates a circular magnet 20, a rubber piston 21, a telescopic spring 19, and a magnetic piston connector 18. The magnetic interaction between the magnet 20 and the magnetic guide rail 8 controls the suction and release of the rubber piston 21, achieving suction and desorption of the suction cup 1. This eliminates the need for a fan or vacuum pump, significantly reducing weight and improving load capacity and energy efficiency. The tracked transmission structure consists of a track 3, track wheels 4, a track wheel connecting frame 5, a connecting support frame 6, a magnetic guide rail support frame 7, and a magnetic guide rail 8. The magnetic guide rail 8 is secured by the magnetic guide rail support frame 7, providing a stable magnetic environment for the magnetically controlled suction cup and ensuring stable movement of the robot on the wall. The drive structure is powered by a DC reduction motor with an encoder, mounted on a folding frame 12 via a motor mounting frame 11.

[0045] like Figure 5 middle Figure 5 (a) Figure 5 (b) Figure 5 (c) and Figure 6 As shown, the folding structure consists of a folding frame 12, a folding connecting frame 13, a folding plate 14, a servo 17, a rudder arm 16 and a servo connecting rod 15. The servo 17 controls the extension and folding of the folding frame 12 through the rudder arm 16 and the servo 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 solutions of the present invention and are not limiting. 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 solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all 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 evenly 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 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 a plurality of 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 crawler transmission structure also includes 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 includes 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, and the motor (10) is transmission-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 realize the conversion between adsorption and desorption of the wall-climbing robot suction cup (1).

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), 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 steering gear connecting rod (15) is connected to the upper part of the folding connecting frame (13) on the corresponding 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 corresponding other side.

4. The foldable crawler wall-climbing robot according to claim 1, wherein: 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 frame (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, wherein: The motors (10) are installed at both ends of the folding frame (12) close to the track wheels (4) through motor fixing frames (11). The motors (10) provide driving force for the track wheels (4) in the crawler 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 positions of the magnetically controlled suction cups in the two groups of crawler-type transmission structures are corresponding and parallel to each other, and the magnetically controlled suction cups in each group 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 arranged in 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 in the channel of the magnetic control valve (2); the other end is rectangular, so that the magnetic piston connector (18) is easy to firmly fix on the magnetic control valve (2).

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

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