A double negative pressure adsorption wall-climbing robot

Abstract

The present invention relates to the technical field of detection robots, and proposes a dual-negative-pressure adsorption wall-climbing robot, comprising a frame and two negative-pressure mechanisms, wherein the upper end of the frame is provided with two holes, the two negative-pressure mechanisms are fixedly mounted on the upper end of the frame and are respectively located at the upper ends of the two holes to cover the two holes, and an air compression device is provided above the negative-pressure mechanism, and the air compression device is connected to the frame for lifting. A first adjustable bracket that can be moved is movably mounted on a ring track, and the compressed air generated in the air compression device is blown along the bonding seam by a first air blowing observation mechanism, and the bonding quality of the lap joint of the waterproof material is accurately detected in conjunction with real-time observation by a camera, and the angle and relative distance between the first air blowing observation mechanism and the wall detection position are adjusted by a first electric push rod and a second electric push rod, and the ground operator remotely controls and confirms the adjustment of the blowing angle and the on-off of the air path by observing the image transmission.

Description

Technical Field

[0001] The present invention relates to the technical field of detection robots, and in particular to a double negative pressure adsorption wall-climbing robot. Background Art

[0002] In engineering construction, the quality inspection of the outer surface of the bonded waterproof material is of vital importance. Currently, there is a lack of efficient and accurate inspection equipment. Manual inspection has problems such as low efficiency, high risk and limited inspection accuracy. In order to improve the quality and efficiency of inspection and ensure the waterproof effect of underground pipelines, a negative pressure wall-climbing robot has been specially developed that can crawl on the outer surface of the pipeline corridor and inspect the bonding quality of the lap joints of waterproof materials.

[0003] Secondly, most of the existing wall-climbing robots are designed for flat walls or walls of specific shapes. However, since the outer surface of the pipe corridor is often uneven, usually with grooves, protrusions and dust, it is easy to create gaps between the lip of the adsorption chamber and the wall, resulting in air leakage and desorption, causing the robot to fall off, which greatly affects the use of the robot.

[0004] Therefore, we made improvements to this problem and proposed a double negative pressure adsorption wall-climbing robot. Summary of the Invention

[0005] The purpose of the present invention is to provide a double negative pressure adsorption wall-climbing robot to solve the problems raised in the above background technology.

[0006] In order to achieve the above-mentioned purpose of the invention, the present invention provides a dual-negative pressure adsorption wall-climbing robot, including a frame and two negative pressure mechanisms, the upper end of the frame is provided with two holes, the two negative pressure mechanisms are fixedly installed on the upper end of the frame and are respectively located at the upper ends of the two holes to cover the two holes, an air compression device is provided above the negative pressure mechanism, the air compression device is connected to the frame for lifting, and a "sun"-shaped adsorption chamber is provided around the lower end of the bottom of the frame, a ring rail is fixedly installed on the upper end of the frame, and a first adjustable bracket and a second adjustable bracket are movably installed in the middle of the ring rail, a first air blowing observation mechanism is installed on the first adjustable bracket, and a second air blowing observation mechanism is installed on the second adjustable bracket, and one end of the first air blowing observation mechanism and the second air blowing observation mechanism are both fixedly connected to the air compression device.

[0007] As a further solution of the present invention, the adsorption chamber includes a sealing gasket, the edge of the sealing gasket is a wrinkled side edge, and a plurality of springs are provided in the middle of the sealing gasket along the contour of the sealing gasket.

[0008] As a further solution of the present invention, the annular rail includes a boss with an L-shaped cross-section, and a rotation groove is formed on the outer side surface of the boss.

[0009] As a further solution of the present invention, the first adjustable bracket includes a movable base, the movable base moves in a rotating groove, a mounting tube is provided on one side of the movable base, the upper end of the mounting tube is fixedly connected to a connecting shaft, and rotating shafts are fixedly installed on both sides of the middle part of the mounting tube, and the rotating shaft is sleeved and installed on the pointed end of the movable base, and a fixed frame and a stabilizing frame are fixedly installed on the upper end of the movable base, and the fixed frame and the connecting shaft are simultaneously connected to the first electric push rod, and the two sides of the connecting shaft are also slidably sleeved in the waist-shaped holes of the stabilizing frame, and the upper end of the stabilizing frame is fixedly connected to a pipe support.

[0010] As a further solution of the present invention, the mobile base includes a support base, which is in the shape of '┌', and a block is fixedly installed on one side of the bottom end of the support base, a roller is installed on the block, a gear is fixedly installed in the middle of the roller, a motor is meshed and installed on one side of the gear, the motor is fixedly installed in the middle of the block, and a limiting column is installed on one side of the block.

[0011] As a further solution of the present invention, the first air blowing observation mechanism includes an air blowing device, which is slidably installed in the mounting tube, and a second electric push rod is fixedly connected between the air blowing device and the upper end of the mounting tube, and a duckbill air blowing nozzle is fixedly connected to the bottom end of the air blowing device, and a plurality of air nozzles are arranged at the end of the duckbill air blowing nozzle, and a hose is fixedly connected in the middle of the air blowing device, and the hose is connected to the first adjustable bracket and the upper end of the air compression device, and a solenoid valve is fixedly installed in the middle of the hose.

[0012] As a further solution of the present invention, the sealing gasket is in the shape of a double ring in parallel front and back, the surface of the sealing gasket is a cloth-based tape, and the inside is a sponge.

[0013] As a further solution of the present invention, both ends of the hose are partially configured as corrugated hoses.

[0014] As a further solution of the present invention, the air compression device includes a cover shell, an air compressor is fixedly installed inside the cover shell, two air inlets are opened on the bottom surface of the cover shell, the two air inlets are respectively aligned above the two negative pressure mechanisms, the diameter of the air inlet is slightly smaller than the upper opening diameter of the negative pressure mechanism, a third electric push rod is centrally installed at the bottom of the cover shell, the bottom of the third electric push rod is fixedly installed on the frame, the upper end of the cover shell is connected to a rotating connector, the rotating connector is a two-section spherical connector that can rotate 360 ​​degrees, and the spherical connectors are sealed by bearings.

[0015] The double negative pressure adsorption wall-climbing robot provided by the present invention has the following beneficial effects:

[0016] 1. An annular rail is installed on the upper end of the frame, and a first adjustable bracket is movably installed on the annular rail. A first air blowing observation mechanism is set on one side of the device using the first adjustable bracket, so that the device can crawl on the side where the waterproof material is bonded. The compressed air generated in the air compression device is blown along the bonding seam through the first air blowing observation mechanism. In conjunction with the real-time observation method of the camera, the bonding quality of the lap joint of the waterproof material is accurately detected. The angle and relative distance between the first air blowing observation mechanism and the wall detection position are adjusted by the first electric push rod and the second electric push rod. A group of observation mechanisms can also be installed on one side of the first adjustable bracket to facilitate the transmission of the adjustable blowing angle, air path on / off, and observation image to the ground for control and confirmation by the operator.

[0017] 2. By setting a double-ring sealing gasket, and setting two negative pressure mechanisms above the double rings of the sealing gasket respectively, and setting multiple springs in the middle of the sealing gasket, the springs are used to supplement the elasticity of the sealing gasket, so that when the sealing gasket is adsorbed on the surface of the building and moves, the obstacles passing through the groove can adapt to the surface protrusions through the deformation of the sponge inside the sealing gasket, wrap the obstacles, or press into the groove under the elasticity of the spring, thereby avoiding the decompression of the adsorption chamber. If one of the chambers of the sealing gasket loses pressure, the other chamber can still be in the adsorption state, ensuring that the overall negative pressure of the device is maintained within the working negative pressure safety value range, thereby avoiding crashes or desorption.

[0018] 3. A second adjustable bracket is movably installed on the annular track. When the second adjustable bracket moves to the rear end of the device, the compressed air ejected by the second air blowing observation mechanism pushes the device forward steadily to offset the movement resistance caused by the negative pressure between the adsorption chamber and the wall surface. When the second adjustable bracket moves to the front end of the device, the compressed air ejected by the second air blowing observation mechanism is used to clean the surface of the building in front of the device by adjusting the angle of the second air blowing observation mechanism, so as to prevent dust and impurities on the surface of the building from affecting the negative pressure adsorption of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A schematic diagram of the structure of a double negative pressure adsorption wall-climbing robot provided in this application;

[0021] Figure 2 A bottom view of the structure of a double negative pressure adsorption wall-climbing robot provided in this application;

[0022] Figure 3 A schematic diagram of the circular track structure of a double negative pressure adsorption wall-climbing robot provided in this application;

[0023] Figure 4 A schematic diagram of the adsorption chamber of a double negative pressure adsorption wall-climbing robot provided in this application;

[0024] Figure 5 This is a schematic diagram showing the connection between the first adjustable bracket and the first air blowing observation mechanism of a double negative pressure adsorption wall-climbing robot provided in this application;

[0025] Figure 6 A schematic diagram of the first adjustable bracket structure of a double negative pressure adsorption wall-climbing robot provided in this application;

[0026] Figure 7 A schematic diagram of the mobile base structure of a double negative pressure adsorption wall-climbing robot provided in this application;

[0027] Figure 8 This is a schematic diagram of the structure of the first air blowing observation mechanism of a double negative pressure adsorption wall-climbing robot provided in this application;

[0028] Figure 9 for Figure 8 Schematic diagram of the structure at junction A;

[0029] Figure 10 This is a schematic structural diagram of the air compression device of a double negative pressure adsorption wall-climbing robot provided in this application.

[0030] In the figure: 1, frame; 2, negative pressure mechanism; 3, adsorption chamber; 31, sealing gasket; 32, spring; 4, annular rail; 41, convex seat; 42, rotating groove; 5, first adjustable bracket; 51, movable base; 511, supporting base; 512, block; 513, limiting column; 514, roller; 515, gear; 516, motor; 52, rotating shaft; 53, mounting tube; 54, fixing frame; 55, stabilizing frame; 56, first An electric push rod; 57, a pipe support; 58, a connecting shaft; 6, a first air blowing observation mechanism; 61, an air blowing device; 62, a second electric push rod; 63, a duckbill air blowing nozzle; 64, an air nozzle; 65, a solenoid valve; 66, a hose; 7, an air compression device; 71, a cover; 72, an air inlet; 73, a third electric push rod; 74, a rotating connector; 75, an air compressor; 8, a second adjustable bracket; 9, a second air blowing observation mechanism. DETAILED DESCRIPTION

[0031] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention.

[0032] like Figures 1-10As shown, this embodiment proposes a dual negative pressure adsorption wall-climbing robot, including a frame 1 and two negative pressure mechanisms 2. Two holes are provided at the upper end of the frame 1. The two negative pressure mechanisms 2 are fixedly installed on the upper end of the frame 1 and are respectively located at the upper ends of the two holes to cover the two holes. An air compression device 7 is provided above the negative pressure mechanism 2. The air compression device 7 is connected to the frame 1 for lifting and lowering. A "sun"-shaped adsorption chamber 3 is provided around the lower end of the bottom of the frame 1. A ring rail 4 is fixedly installed around the upper end of the frame 1. A first adjustable bracket 5 and a second adjustable bracket 8 are movably installed in the middle of the ring rail 4. A first air blowing observation mechanism 6 is installed on the first adjustable bracket 5, and a second air blowing observation mechanism 9 is installed on the second adjustable bracket 8. One end of the first air blowing observation mechanism 6 and the second air blowing observation mechanism 9 are both fixedly connected to the air compression device 7.

[0033] The adsorption chamber 3 includes a sealing gasket 31, the edge of which is a wrinkled side, and a plurality of springs 32 are arranged in the middle of the sealing gasket 31 along the outline of the sealing gasket 31. The spring 32 supplements the elasticity of the sealing gasket 31, so that when the sealing gasket 31 is adsorbed on the surface of the building and moves, obstacles passing through the groove can adapt to the surface protrusions through the deformation of the sponge inside the sealing gasket 31, wrapping the obstacles, or being pressed into the groove under the elasticity of the spring 32, thereby avoiding the decompression state of the adsorption chamber 3, and if one of the chambers of the sealing gasket 31 loses pressure, the other chamber can still be in the adsorption state, ensuring that the overall negative pressure of the device is maintained within the working negative pressure safety value range, thereby avoiding crashes or desorption.

[0034] The annular rail 4 includes a boss 41 with an L-shaped cross-section, and a rotation groove 42 is provided on the outer side of the boss 41. The setting of the annular rail 4 facilitates the installation of the first adjustable bracket 5 and the second adjustable bracket 8, so that the first adjustable bracket 5 and the second adjustable bracket 8 can be moved on the annular rail 4 and flexibly adjusted in the front, back, left and right directions of the device.

[0035] The first adjustable bracket 5 includes a movable base 51, which moves in the rotating groove 42. A mounting tube 53 is provided on one side of the movable base 51. The upper end of the mounting tube 53 is fixedly connected to a connecting shaft 58. Rotating shafts 52 are fixedly installed on both sides of the middle of the mounting tube 53. The rotating shafts 52 are sleeved and installed on one end of the pointed corner of the movable base 51. A fixing frame 54 and a stabilizing frame 55 are fixedly installed on the upper end of the movable base 51. The fixing frame 54 and the connecting shaft 58 are connected to a first electric push rod 56 at the same time. Both sides of the connecting shaft 58 are also slidably sleeved on the stabilizing frame In the waist-shaped hole 55, the upper end of the stabilizing frame 55 is fixedly connected with a pipe support 57, and the mounting tube 53 is used to install the first air blowing observation mechanism 6, so that the first air blowing observation mechanism 6 can swing along the rotating shaft 52 under the extension and contraction of the first electric push rod 56, and the angle of the first air blowing observation mechanism 6 can be adjusted. At the same time, the setting of the pipe support 57 facilitates the installation of the hose 66, avoiding the sagging of the middle part of the hose 66 and the air compression device 7 and the entanglement with other mechanisms of the device, so that the first adjustable bracket 5 and the first air blowing observation mechanism 6 can drive the action more smoothly.

[0036] The movable base 51 includes a support base 511, which is in the shape of '┌'. A block 512 is fixedly installed on one side of the bottom end of the support base 511, and a roller 514 is installed on the block 512. A gear 515 is fixedly installed in the middle of the roller 514, and a motor 516 is meshed and installed on one side of the gear 515. The motor 516 is fixedly installed in the middle of the block 512, and a limiting column 513 is installed on one side of the block 512. The motor 516 drives the gear 515 to rotate, so that the roller 514 moves along the rotating groove 42, driving the movable base 51 and the other components installed on the movable base 51 and the first air blowing observation mechanism 6 to move as a whole on the annular rail 4, so as to adjust the blowing position of the first air blowing observation mechanism 6.

[0037] The first air blowing observation mechanism 6 includes an air blowing device 61, which is slidably installed in the mounting tube 53. A second electric push rod 62 is fixedly connected between the air blowing device 61 and the upper end of the mounting tube 53. A duckbill air blowing nozzle 63 is fixedly connected to the bottom end of the air blowing device 61. A plurality of air nozzles 64 are provided at the end of the duckbill air blowing nozzle 63. A hose 66 is fixedly connected in the middle of the air blowing device 61. The hose 66 is connected to the first adjustable bracket 5 and the upper end of the air compression device 7. A solenoid valve 65 is fixedly installed in the middle of the hose 66. The solenoid valve 65 is connected to the controller for signal connection. The controller sends a signal to realize the air path opening and closing. The air nozzle 64 blows compressed air along the bonding seam of the waterproof layer, and cooperates with the camera for real-time observation to accurately detect the bonding quality of the lap joints of the waterproof material.

[0038] The sealing gasket 31 is a double ring juxtaposed front to back. The surface of the sealing gasket 31 is cloth-based tape and the interior is sponge. When working, the internal sponge can deform to adapt to the surface protrusions. At the same time, the cloth-based tape on the surface has good wear resistance.

[0039] Both ends of the hose 66 are partially configured as corrugated hoses. The configuration of the hose 66 facilitates the adjustment of the angle and height of the first blowing observation mechanism 6, as well as the adaptive adjustment of the length of the first adjustable bracket 5 and the first blowing observation mechanism 6 during the rotation process on the annular rail 4.

[0040] The air compression device 7 includes a cover shell 71, and an air compressor 75 is fixedly installed inside the cover shell 71. Two air inlets 72 are provided on the bottom surface of the cover shell 71. The two air inlets 72 are respectively aligned above the two negative pressure mechanisms 2. The diameter of the air inlet 72 is slightly smaller than the upper opening diameter of the negative pressure mechanism 2. A third electric push rod 73 is centrally installed at the bottom of the cover shell 71. The bottom of the third electric push rod 73 is fixedly installed on the frame 1. The upper end of the cover shell 71 is connected to a rotating connector 74. The rotating connector 74 is a two-section spherical connector that can rotate 360 ​​degrees. The spherical connectors are sealed and connected by bearings. The gas enters the cover shell 71 from the air inlet 72, and after being compressed inside the air compressor 75, it is passed into the first blowing observation mechanism 6 through the rotating connector 74. The height of the cover shell 71 can be adjusted up and down.

[0041] Specifically, when the dual negative pressure adsorption wall-climbing robot is in use: the device works on the outer surface of the underground pipe gallery to which the waterproof material has been bonded, wherein the detection operation range is a vertical or inclined wall within a horizontal distance of 50 meters and a height of 20 meters. When working, the negative pressure mechanism 2 is started to evacuate the adsorption chamber 3 to achieve negative pressure adsorption between the adsorption chamber 3 and the wall of the building, and the device is adsorbed on the surface of the building. A drive unit is provided on both sides of the frame 1. The drive unit adopts a DC motor with a reducer, and the motor speed and direction are controlled by the motor driver to drive the machine to walk along the lap joints and bonding seams of the waterproof material. During the walking process, the third electric push rod 73 pulls the cover 71 downward, buckles the air inlet 72 above the negative pressure mechanism 2, and makes the machine move. The air discharged from the top of the negative pressure mechanism 2 flows into the rotating connector 74 and is compressed by the air compressor 75 inside the cover 71. The compressed gas is sent to the duckbill air nozzle 63 through the rotating connector 74 and the hose 66. The remote switch controls the opening and closing of the solenoid valve 65 to blow the compressed gas out from the air nozzle 64 to test the bonding quality of the lap joints of the waterproof material. During the testing process, the first electric push rod 56 and the second electric push rod 62 can adjust the blowing angle of the first air blowing observation mechanism 6 and the distance to the building.

[0042] The robot is connected to the mains or generator via a cable. The AC to DC converter converts 220V AC to 48V DC to power the robot's electrical components. A small emergency power supply uses a lithium battery with fast charging and high energy density. It automatically switches to a battery when the mains is interrupted, ensuring that key systems such as the drive and control systems operate for a certain period of time, allowing the robot to return safely.

[0043] A high-definition camera is installed at the bottom of the first adjustable bracket 5, so that the first air blowing observation mechanism 6 can transmit the blowing angle, blowing height and observation images of the waterproof material under the compressed gas to the ground for operator control and confirmation. The high-definition camera is connected to the controller through a wireless module to realize the inspection of the bonding quality of the lap joint of the waterproof material;

[0044] Negative pressure mechanism 2 uses a DC fan with adjustable speed, which uses PWM speed regulation to achieve remote negative pressure adjustment. The controller adjusts the PWM duty cycle according to ground commands, changing the fan speed and thus adjusting the negative pressure.

[0045] A double-ring sealing pad 31 is provided, and a plurality of springs 32 are provided in the middle of the sealing pad 31. The springs 32 are used to supplement the elasticity of the sealing pad 31, so that when the sealing pad 31 is adsorbed on the surface of the building and moves, obstacles passing through the groove can adapt to the surface protrusions through the deformation of the sponge inside the sealing pad 31, thereby wrapping the obstacles, or pressing them into the groove under the elasticity of the springs 32, thereby avoiding the adsorption chamber 3 from being in a depressurized state. Moreover, if one of the chambers of the sealing pad 31 loses pressure, the other chamber can still be in an adsorption state, thereby ensuring that the overall negative pressure of the device is maintained within the working negative pressure safety value range, thereby avoiding crashes or desorption. The annular rail 4 also A second adjustable bracket 8 is movably installed. When the second adjustable bracket 8 moves to the rear end of the device, the compressed air ejected by the second air blowing observation mechanism 9 pushes the device forward steadily, offsetting the movement resistance caused by the negative pressure between the adsorption chamber 3 and the wall surface. When the second adjustable bracket 8 moves to the front end of the device, the compressed air ejected by the second air blowing observation mechanism 9 is used to clean the surface of the building in front of the device after adjusting the angle of the second air blowing observation mechanism 9, so as to avoid the dust and impurities on the surface of the building affecting the negative pressure adsorption of the device. The contents not described in detail in this description belong to the existing technology known to professional and technical personnel in this field.

[0046] The above embodiments are intended to illustrate the present invention only and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications, or equivalent substitutions of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention and should be encompassed by the scope of the claims of the present invention.

Claims

1. A double negative pressure adsorption wall climbing robot, comprising a frame (1) and two negative pressure mechanisms (2), characterized in that: The upper end of the frame (1) is provided with two holes. Two of the negative pressure mechanisms (2) are fixedly installed at the upper end of the frame (1) and are respectively located above the two holes to cover the two holes. An air compression device (7) is arranged above the negative pressure mechanism (2). The air compression device (7) is connected to the frame (1) in a lifting manner. An adsorption cavity (3) in the shape of a Chinese character 'Ri' is provided around the bottom end of the frame (1). A circular rail (4) is fixedly installed around the upper end of the frame (1). A first adjustable bracket (5) and a second adjustable bracket (8) are movably installed in the middle of the circular rail (4). A first air blowing and observing mechanism (6) is installed on the first adjustable bracket (5). A second air blowing and observing mechanism (9) is installed on the second adjustable bracket (8). One ends of the first air blowing and observing mechanism (6) and the second air blowing and observing mechanism (9) are fixedly connected to the air compression device (7).

2. The double negative pressure adsorption wall-climbing robot according to claim 1, characterized in that: The adsorption cavity (3) includes a sealing gasket (31). The edge of the sealing gasket (31) is a wrinkled side edge, and a plurality of springs (32) are arranged along the contour of the sealing gasket (31) in the middle of the sealing gasket (31).

3. The double negative pressure adsorption wall-climbing robot according to claim 1, characterized in that: The circular rail (4) includes a convex seat (41) with an L-shaped cross-section. A rotating groove (42) is formed on the outer side surface of the convex seat (41).

4. The double negative pressure adsorption wall-climbing robot according to claim 3, characterized in that: The first adjustable bracket (5) includes a moving base (51). The moving base (51) travels in the rotating groove (42). One side of the moving base (51) is provided with an installation pipe (53). The upper end of the installation pipe (53) is fixedly connected with a connecting shaft (58). The middle of both sides of the installation pipe (53) is fixedly installed with a rotating shaft (52). The rotating shaft (52) is sleeved at the pointed end of the moving base (51). A fixing frame (54) and a stabilizing frame (55) are fixedly installed at the upper end of the moving base (51). The fixing frame (54) and the connecting shaft (58) are simultaneously connected with a first electric push rod (56). The two sides of the connecting shaft (58) are also slidably sleeved in the waist-shaped holes of the stabilizing frame (55). The upper end of the stabilizing frame (55) is fixedly connected with a pipe support (57).

5. The double negative pressure adsorption wall-climbing robot according to claim 4, characterized in that: The moving base (51) includes a support seat (511). The support seat (511) is in the shape of '┌'. One side of the bottom end of the support seat (511) is fixedly installed with a clamping block (512). A roller (514) is installed on the clamping block (512). A gear (515) is fixedly installed in the middle of the roller (514). A motor (516) is meshed and installed on one side of the gear (515). The motor (516) is fixedly installed in the middle of the clamping block (512). A limiting column (513) is installed on one side of the clamping block (512).

6. The double negative pressure adsorption wall-climbing robot according to claim 1, characterized in that: The first air blowing observation mechanism (6) includes an air blowing device (61), the air blowing device (61) is slidably installed in the mounting tube (53), a second electric push rod (62) is fixedly connected between the air blowing device (61) and the upper end of the mounting tube (53), a duckbill air blowing nozzle (63) is fixedly connected to the bottom end of the air blowing device (61), a plurality of air nozzles (64) are provided at the end of the duckbill air blowing nozzle (63), a hose (66) is fixedly connected in the middle of the air blowing device (61), the hose (66) is connected to the first adjustable bracket (5) and the upper end of the air compression device (7), and a solenoid valve (65) is fixedly installed in the middle of the hose (66).

7. The double negative pressure adsorption wall-climbing robot according to claim 2, characterized in that: The sealing gasket (31) is in the form of a double ring juxtaposed front and back. The surface of the sealing gasket (31) is a cloth-based tape, and the interior is a sponge.

8. The double negative pressure adsorption wall-climbing robot according to claim 6, characterized in that: Both ends of the hose (66) are partially configured as corrugated hoses.

9. The double negative pressure adsorption wall-climbing robot according to claim 1, characterized in that: The air compression device (7) includes a housing (71), an air compressor (75) is fixedly installed inside the housing (71), two air inlets (72) are provided on the bottom surface of the housing (71), the two air inlets (72) are respectively aligned above the two negative pressure mechanisms (2), the diameter of the air inlets (72) is slightly smaller than the diameter of the upper opening of the negative pressure mechanism (2), a third electric push rod (73) is centrally installed at the bottom of the housing (71), the bottom of the third electric push rod (73) is fixedly installed on the vehicle frame (1), the upper end of the housing (71) is connected to a rotating connector (74), the rotating connector (74) is a two-section spherical connector that can rotate 360 ​​degrees, and the spherical connectors are sealed by bearings.

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