Compound type four-foot wall-climbing robot based on bionic fish and lizard

Abstract

The invention discloses a composite type four-foot wall climbing robot integrating a fish suction cup adsorption mechanism and lizard crawling characteristics. The problems that a traditional wall climbing robot is poor in adsorption stability and insufficient in moving flexibility on uneven and wet wall surfaces are solved. The core structure of the robot comprises an adsorption sole assembly, a multi-degree-of-freedom leg joint, a bionic spine, a micro air pump and a sole pressure sensor, and the adsorption sole assembly controls an air bag through the air pump to generate negative pressure to adapt to various wall surfaces; multiple joints of the legs are matched with the spherical joints to achieve multi-angle attachment of the foot sole, the bionic spine can be bent and buffered, lizard diagonal gaits are adopted, the rotation angle of the joints is adjusted in combination with a sensor, self-adaptive movement on the wall with the inclination angle ranging from 0 degree to 90 degrees is achieved, and the efficiency is improved by 30% or above compared with a traditional robot. The robot breaks through the limitation of a single bionic mechanism, can be applied to complex high-altitude scenes such as building outer wall detection, and reduces the manual operation risk.

Description

Technical Field

[0002] This invention relates to the field of wall-climbing robot technology, specifically to a composite quadruped wall-climbing robot that combines the suction mechanism of a remora with the crawling characteristics of a lizard, suitable for complex high-altitude operation scenarios such as building exterior wall inspection, high-altitude rescue material transportation, and power pole maintenance. Background Technology

[0004] With the continued growth in demand for high-altitude operations, wall-climbing robots, as core equipment for replacing manual labor in high-risk and high-intensity tasks, are receiving increasing attention for their technological development and practical application. Currently, existing wall-climbing robots are mainly designed based on a single adsorption mechanism and movement method. This mainstream technological approach has significant limitations, making it difficult to adapt to complex wall environments such as uneven, damp, and non-magnetic surfaces. Specific problems include:

[0005] 1. Negative pressure adsorption wall-climbing robots: These rely on vacuum pumps or suction cups to generate negative pressure for adsorption, requiring extremely high wall flatness. On rough concrete walls or walls with tiny gaps, the suction cups struggle to create an effective sealed space, easily leading to negative pressure leakage and a significant decrease in adsorption stability. Furthermore, most employ wheeled or tracked movement structures, which are prone to jamming on uneven walls, limiting their mobility.

[0006] Magnetic adsorption wall-climbing robots: These robots achieve adsorption by magnetic suction cups onto ferromagnetic walls. However, their application scenarios are fundamentally limited. They can only operate on magnetic surfaces such as the exterior walls of steel structure factories and the hulls of ships. They cannot be adapted to non-magnetic surfaces such as tiles, glass, and concrete, and thus cannot meet the operational needs of civil buildings, glass curtain walls, and other scenarios.

[0007] 2. Dry Adhesion Wall Climbing Robot: Inspired by the micro-nano bristle structure of gecko feet, it uses van der Waals forces to achieve adsorption. It has a good adsorption effect on dry and smooth walls, but it is prone to forming a water film on damp walls (such as exterior walls after rain or walls in high humidity environments), which destroys the molecular forces at the adhesion interface, causing a sharp drop in adhesion and even the risk of falling off. In addition, its adhesion structure is easily contaminated by wall dust and impurities, resulting in high maintenance costs.

[0008] Most existing wall-climbing robots use fixed gaits (such as wheel rolling or alternating bipedal steps) and lack the ability to adapt to changes in the wall's tilt angle. When moving on walls with an inclination angle greater than 30°, the robot is prone to tilting due to a shift in the center of gravity. Furthermore, they do not consider the impact of uneven features such as protrusions and depressions on the movement. The leg mechanisms are mostly designed with single or double degrees of freedom, which cannot simulate the flexible joint linkages of living organisms, making it difficult to avoid obstacles on the wall and resulting in low movement efficiency.

[0009] In summary, existing wall-climbing robots cannot simultaneously resolve the core contradiction of "stable adhesion to complex walls" and "flexible movement in multiple scenarios." They lack adaptability in complex wall environments such as uneven, damp, and non-magnetic surfaces, making it difficult to meet the needs of actual operational scenarios such as building exterior wall inspection and high-altitude rescue. There is an urgent need for a composite wall-climbing robot technology solution that integrates multiple biomimetic mechanisms and breaks through the limitations of single technologies. Summary of the Invention

[0010] The purpose of this invention is to overcome the shortcomings of existing wall-climbing robots, such as poor adsorption stability and insufficient mobility in complex wall environments, and to provide a composite quadruped wall-climbing robot based on biomimetic remora and lizard. Through the collaborative design of "adsorption structure - motion mechanism - control algorithm", it can achieve stable adsorption and flexible movement on walls in multiple scenarios.

[0011] To achieve the above objectives, the present invention adopts the following technical solution:

[0012] The composite quadrupedal wall-climbing robot of the present invention includes an adsorption foot assembly, leg joints and drive components, a bionic spine, a negative pressure generating component, and a sensing component. These components work together to achieve adsorption and movement functions, and their specific connections are as follows: The foot adsorption component is connected to the leg joint via a ball joint, allowing it to contact the wall and create negative pressure adsorption. The leg joints include the lower leg joint and the thigh joint, which connect the mechanical lower leg bone and the mechanical thigh bone, and the mechanical thigh bone and the support frame, respectively, to provide multi-degree-of-freedom motion support for the robot. The support frame is fixedly connected to the bionic spine to form the main frame of the robot, supporting the weight of the entire machine; The negative pressure generating component (micro air pump) is connected to the rubber air bladder of the foot adsorption assembly, and is used to control the expansion / contraction of the air bladder to generate negative pressure; The sensing component (foot pressure sensor) is located at the bottom of the adsorption foot assembly to collect real-time contact pressure data between the foot and the wall, providing a basis for posture adjustment.

[0013] 1. Foot-adhesive assembly The foot-adhesive assembly is an integrated structure, comprising a base (Ⅰ), a resin sealing ring (Ⅱ), and a rubber airbag (Ⅲ). Specific parameters and functions are as follows: Base (Ⅰ): The dimensions are 50-60mm in diameter and 4-6mm in thickness. It can withstand ±30° bending deformation without permanent deformation. It provides basic support for the sealing ring and airbag and can also adapt to the slight unevenness of the wall surface. Resin sealing ring (II): Inner ring diameter 40-45mm, outer ring diameter matches base (I), thickness 3-5mm; the surface is evenly distributed with particles of 0.1mm±0.02mm height and 0.08-0.12mm diameter, with a distribution density of 100-120 particles / cm². Combined with its own flexibility, it can closely fit the wall surface with different roughness to form a sealed space without leakage. Rubber airbag (Ⅲ): initial thickness 1.5-2mm, maximum thickness after expansion 5-6mm, unexpanded volume 8-10cm³, expanded volume 15-18cm³; by cooperating with a micro air pump, the volume of the sealed space is adjusted to generate negative pressure.

[0014] 2. Leg joints and drive components The leg joints and drive components provide the robot with multi-degree-of-freedom motion capabilities, including the lower leg joint, ball joint, thigh joint, mechanical lower leg bone, mechanical thigh bone, and support frame: Lower leg joint (8): It is a rotary joint driven by dual circular stepper motors, connecting the mechanical lower leg bone (2) and the mechanical thigh bone (6), and is used to finely adjust the horizontal position and contact angle of the foot. Ball joint (1): Ball head diameter 12-15mm, joint range of motion ±45°, connecting adsorption foot assembly and mechanical shinbone (2), which can make the foot fit the inclined surface with an angle <90° with the current plane, expanding the adaptability range of non-flat wall surfaces; Thigh joint (9): This is a servo-driven joint that connects the mechanical thigh bone (6) to the support frame (7) and is used to adjust the stride length and leg height. Mechanical tibia (2) and mechanical femur (6): Mechanical tibia (2) is 80-100mm long and has a cross-sectional dimension of 8mm×10mm (elliptical); Mechanical femur (6) is 100-120mm long and has a cross-sectional dimension of 10mm×12mm (rectangular), providing rigid support for leg movement; Support frame (7): Overall dimensions are 100-120mm long × 70-80mm wide × 10-15mm high. It has 4 support arms (corresponding to the four legs), each support arm is 20-30mm long, and serves as the core component of the robot's main frame, connecting the legs and the bionic spine.

[0015] 3. Bionic Spine The biomimetic spine (3) includes spinal joints and elastic cylindrical rods, used to simulate the flexion and extension movements of a lizard and to cushion the impact of the wall: Spinal joints: 6-8 in number, each joint is 20-25mm in diameter and 10-12mm thick, with a joint gap of 0.5-1mm to ensure flexibility of bending; Elastic cylindrical rod: 3-4mm in diameter, with a connection length of 30-35mm between each spinal joint. It can form a "C" shape with the spinal joint without permanent deformation. On the one hand, it provides auxiliary power for overall movement, and on the other hand, it reduces the shaking of the machine body.

[0016] 4. Negative pressure generation and sensing components Miniature air pump (4): A miniature diaphragm air pump is used to control the expansion / contraction of the rubber airbag to generate negative pressure; Foot pressure sensor: Employs a thin-film pressure sensor to collect real-time foot contact pressure data, providing a basis for adaptive posture adjustment.

[0017] The robot of this invention achieves stable movement on complex walls through a collaborative mechanism of "adsorption-motion-attitude adjustment," specifically comprising three parts: adsorption principle, motion principle, and attitude adaptive adjustment principle. 1. Adsorption principle The adsorption process of the foot-adhesive component consists of four stages: "forming a sealed space - generating negative pressure - maintaining adsorption - releasing adsorption". Forming a sealed space: When the foot is attached to the wall, the resin sealing ring (II) adheres tightly to the uneven structure of the wall through the surface particles and its own flexibility, and together with the base (I) and the rubber airbag (III), forms an initial sealed space. Generating negative pressure: The micro air pump (4) is started and inflates the rubber airbag (Ⅲ). The inflated airbag lifts up the sealed space, increases the volume of the space, and makes the air pressure in the sealed space lower than the external atmospheric pressure, forming a negative pressure difference and realizing wall adsorption. Maintaining adsorption: The granular structure and flexible material of the resin sealing ring (II) continuously ensure airtightness, and can maintain negative pressure for ≥30 minutes without leakage even on rough or slightly damp walls, ensuring stable adsorption; De-adsorption: When it is necessary to move the foot, the micro air pump (4) draws air to make the rubber air bag (Ⅲ) contract, the volume of the sealed space decreases, the air pressure returns to atmospheric pressure, the negative pressure disappears, and the adsorption is released.

[0018] 2. Principles of Motion The robot uses the lizard's crawling locomotion mechanism as its core, achieving flexible movement through multi-joint linkage and "diagonal gait" control. (1) Multi-joint linkage mechanism Thigh joint exercises: Swing back and forth along the body direction to adjust the stride length (adapt to different movement speeds), and swing up and down vertically to adjust the height of the legs (avoid wall protrusions). Calf joint exercises: Swing left and right to fine-tune the horizontal position of the foot (to ensure precise contact with the suction point), and rotate and swing to adapt to the wall angle (to ensure the optimal contact angle of the foot). Ball joint movement: Based on other joints, further adjust the angle of the foot so that the foot can fit against an inclined plane with an angle of <90° with the current plane; Bionic spinal movement: An elastic cylindrical rod pulls the spinal joints to form a "C"-shaped bend, mimicking the flexion and extension of a lizard's body, helping to improve movement efficiency, while also cushioning the impact from uneven walls.

[0019] (2) Diagonal gait control Using two legs diagonally opposite each other as a group (left front leg - right back leg, right front leg - left back leg), the two groups of legs alternately complete the cycle of "touching the ground - supporting - pushing off - lifting off," as follows: During the ground contact phase: The thigh and calf joints swing in coordination to send the foot to the target adhesion point. The ball joints adjust the angle of the foot to make it fit the wall. The foot pressure sensor detects the contact pressure to ensure a tight fit. Support phase: A miniature air pump controls the expansion of a rubber airbag to generate negative pressure. This leg acts as a support leg, bearing part of the weight of the fuselage and providing stable support for the movement of the opposite leg. During the push-off phase: The thigh and calf joints of the supporting leg exert force to push back, generating horizontal traction to move the body forward, with the bionic spine assisting the movement by bending. Lifting phase: The micro air pump controls the rubber airbag to contract and release the suction, and the leg lifts up to prepare for the next cycle. At the same time, the other set of diagonal legs switches to support legs to ensure the continuity of movement and the stability of the machine.

[0020] 3. Principle of Attitude Adaptive Adjustment The robot adapts to changes in the wall environment in real time through the linkage of plantar pressure sensors and joint adjustments. Pressure feedback adjustment: The plantar pressure sensor collects pressure data in real time. If uneven pressure distribution is detected (such as excessive pressure in some areas due to wall protrusions or insufficient pressure due to depressions), the control system automatically adjusts the hip, knee, and ankle joint rotation angles (adjustment range 0°-90°) to correct the foot position and contact angle, so that the pressure is redistributed evenly. Tilt angle adaptation adjustment: When moving on inclined walls (such as roof slopes, exterior wall corners), the joints dynamically adjust the swing amplitude and rotation angle. When moving on steep slopes, the thigh push-off amplitude is increased to enhance traction, the lower leg rotation angle is adjusted to make the soles of the feet fit the slope more closely, and the bionic spine slightly bends to maintain the balance of the machine and prevent slippage.

[0021] Beneficial effects

[0022] The composite quadrupedal wall-climbing robot of this invention, by integrating the biomimetic design of remora's adhesion and lizard's locomotion, breaks through the limitations of traditional technology and has the following significant advantages: 1. Significantly improved adsorption performance: Adsorption stability is 42% higher than that of a single suction cup. It can maintain stable adsorption in various scenarios such as concrete (rough), glass (smooth), and damp walls, without negative pressure leakage or sudden drop in adhesion. Its adaptability is far superior to traditional negative pressure, magnetic adsorption or dry adhesion robots. 2. Significantly enhanced mobility: Through multi-degree-of-freedom joints (hip 2 + knee 2 + ball joints) and "diagonal gait" control, it can adaptively move on walls with an inclination angle of 0°-90°, avoiding jamming or slipping, and improving the movement efficiency by more than 30% compared with traditional wall-climbing robots; 3. Expanded application scope: Breaking through the limitations of traditional robots on wall materials, flatness, and humidity, it can be directly applied to complex high-altitude scenarios such as building exterior wall defect detection, high-altitude rescue material transportation, and power pole maintenance, effectively reducing the risks of manual operation and possessing extremely high practical value. Attached Figure Description

[0024] Figure 1 shows the side view and top view of the composite quadruped wall-climbing robot of the present invention; Figure 2 is a schematic diagram of the structure of the foot adsorption component of the present invention; Figure 3 shows a detailed view of the spinal joints of the biomimetic spine of the present invention.

[0025] The markings in the diagram are as follows: 1- Spherical joint; 2- Mechanical shinbone; 3- Bionic spine; 4- Miniature air pump; 5- Adhesive foot; 6- Mechanical thighbone; 7- Support frame; 8- Shinbone joint; 9- Thigh joint; Ⅰ- Base; Ⅱ- Resin sealing ring; Ⅲ- Rubber airbag. Detailed Implementation

[0027] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0028] Example 1: Inspection of Concrete Surface of Building Exterior Wall Work environment Wall type: concrete wall (roughness Ra=30-40μm), wall inclination angle 60°, with slight dampness in some areas (1 hour after rain).

[0029] (2) Robot debugging and operation Adsorption parameter settings: Adjust the negative pressure of the micro air pump to -0.05MPa to ensure that the resin sealing ring (II) forms an effective sealed space when it adheres to the concrete wall surface; Gait parameter settings: The single-leg cycle time for "diagonal gait" is set to 1.5s (0.3s for ground contact, 0.5s for support, 0.4s for push-off, and 0.3s for lift-off), and the movement speed is controlled at 5cm / s; Posture adjustment threshold setting: The pressure uniformity threshold of the plantar pressure sensor is set to ±5N. When the detected pressure difference exceeds the threshold, joint adjustment is automatically triggered. Operation process: After the robot starts, the left front leg-right hind leg group first completes "ground contact-support", and the right front leg-left hind leg group completes "push-lift", alternating in a cycle; in humid areas, the granular structure of the resin sealing ring (II) blocks the water film from seeping in, maintaining airtightness; when encountering a wall protrusion (5mm high), the thigh joint swings vertically to lift the leg by 5mm to avoid the protrusion, and the lower leg joint slightly adjusts the position of the foot to ensure stable adsorption; the bionic spine forms a "C" shaped bend to buffer the impact of uneven wall surfaces, and the body tilt is controlled within ±3°.

[0030] (3) Work results After running continuously for 2 hours, the robot did not experience any adsorption failure or slippage, successfully completing the inspection of a 10m×5m wall. Its movement efficiency was stable, meeting the requirements for concrete wall inspection.

[0031] Example 2: Glass Curtain Wall Maintenance Operation (1) Working environment Wall type: glass curtain wall (smooth surface, Ra≤0.5μm), wall angle 90° (perpendicular to the wall), no obvious obstructions.

[0032] (2) Robot debugging and operation Adsorption parameter settings: The negative pressure of the micro air pump is adjusted to -0.03MPa, and the flexibility of the resin sealing ring (II) is used to adhere to the smooth glass surface to avoid damage to the glass due to excessive negative pressure; Gait parameter settings: Single leg cycle time is set to 1.2s, and movement speed is increased to 8cm / s; Posture adjustment threshold setting: The pressure uniformity threshold is set to ±3N, because the glass surface is flat and the joint adjustment frequency is reduced. Operation process: The ball joint fully utilizes its angle adjustment function to ensure that the soles of the feet are always in complete contact with the vertical glass wall; the forward and backward swing range of the thigh joint is increased to 30°, improving the movement speed; the bionic spine bends slightly to maintain the vertical posture of the body and avoid tilting due to the shift of the center of gravity.

[0033] (3) Work results The cleaning and maintenance of an 8m×6m glass curtain wall can be completed within 1 hour. The adsorption is stable (negative pressure maintained for ≥40 minutes without leakage), the movement is smooth and there is no jamming, which meets the requirements of high efficiency and safety in glass curtain wall maintenance.

[0034] The above embodiments demonstrate that the composite quadrupedal wall-climbing robot of the present invention can operate stably in different types of complex wall environments, possesses excellent adsorption performance and mobility, and can effectively meet the actual needs of high-altitude operation scenarios.

Claims

1. A quadrupedal wall-climbing robot based on a composite of a bionic garpike and a lizard, characterized in that, The application relates to a bionic leg joint and driving component, a bionic spine, a negative pressure generating component and a sensing component; the bionic leg joint and driving component is connected with the bionic spine through a supporting frame, the negative pressure generating component is communicated with the bionic leg joint and driving component, and the sensing component is arranged at the bottom of the bionic leg joint and driving component; the bionic leg joint and driving component comprises a base (I), a resin sealing ring (II) and a rubber air bag (III) which are integrally formed; the base (I) is made of TPU flexible plastic, has a diameter of 50-60 mm and a thickness of 4-6 mm, can bear a bending deformation of plus or minus 30 degrees and has no permanent deformation; the resin sealing ring (II) is made of epoxy resin, has an inner ring diameter of 40-45 mm, an outer ring diameter matched with the base (I), a thickness of 3-5 mm, a surface distributed with particles with a height of 0.1 mm plus or minus 0.02 mm and a diameter of 0.08-0.12 mm, and a distribution density of 100-120 pieces per square centimeter; the rubber air bag (III) is made of butadiene-acrylonitrile rubber, has an initial thickness of 1.5-2 mm, a maximum thickness of 5-6 mm after expansion, an unexpanded volume of 8-10 cubic centimeters and an expanded volume of 15-18 cubic centimeters.

2. The composite four-legged wall-climbing robot according to claim 1, characterized in that, The bionic leg joint and driving component comprises a lower leg joint (8), a spherical joint (1), a thigh joint (9), a mechanical lower leg bone (2), a mechanical thigh bone (6) and a supporting frame (7); the lower leg joint (8) is a double-circular stepping motor driven rotary joint, is connected with the mechanical lower leg bone (2) and the mechanical thigh bone (6); the spherical joint (1) has a spherical head diameter of 12-15 mm, an articulation angle range of plus or minus 45 degrees, and is connected with the bionic leg joint and driving component and the mechanical lower leg bone (2); the thigh joint (9) is a rudder driven joint, is connected with the mechanical thigh bone (6) and the supporting frame (7); the mechanical lower leg bone (2) has a length of 80-100 mm and a cross-sectional dimension of 8 mm*10 mm (ellipse); the mechanical thigh bone (6) has a length of 100-120 mm and a cross-sectional dimension of 10 mm*12 mm (rectangle); the supporting frame (7) has an overall dimension of 100-120 mm*70-80 mm*10-15 mm, and four supporting arms (corresponding to four legs) are arranged on the supporting frame (7), and each supporting arm has a length of 20-30 mm.

3. The composite four-legged wall-climbing robot according to claim 1, characterized in that, The bionic spine (3) comprises spine joints and an elastic cylindrical rod; the spine joints are 6-8 in number, each joint has a diameter of 20-25 mm and a thickness of 10-12 mm, and the intervals between the joints are 0.5-1 mm; the elastic cylindrical rod has a diameter of 3-4 mm, and the connection length between each set of spine joints is 30-35 mm, and the elastic cylindrical rod can form a "C" type bending without permanent deformation along with the spine joints.

4. The composite four-legged wall-climbing robot according to claim 1, characterized in that, The negative pressure generating component is a micro diaphragm air pump (4), and the sensing component is a thin film pressure sensor.

5. The composite four-legged wall-climbing robot according to any one of claims 1-4, characterized in that, The working principle of the adsorbing foot sole assembly is as follows: when the adsorbing foot sole is attached to a wall surface, the resin sealing ring (II) forms a closed space through surface particles and its own flexibility; the miniature diaphragm air pump (4) controls the expansion of the rubber air bag (III), lifts the closed space and increases the volume, forms negative pressure with the outside world to realize adsorption; when the adsorption is released, the miniature diaphragm air pump (4) controls the contraction of the rubber air bag (III), and the negative pressure is eliminated.

6. The composite four-legged wall-climbing robot according to any one of claims 1-4, characterized in that, The robot adopts a lizard bionic multi-joint motion mechanism, each leg part realizes multi-degree-of-freedom motion through the thigh joint (9), the shank joint (8) and the spherical joint (1); the thigh joint (9) swings forward and backward along the body direction to adjust the stride amplitude, swings up and down perpendicular to the body direction to adjust the leg height; the shank joint (8) swings left and right to fine-tune the horizontal position of the foot sole, rotates to adapt to the inclination angle of the wall surface; the spherical joint (1) enables the foot sole to be attached to an inclined surface with an included angle of <90° with the current plane; the bionic spine (3) forms a "C" type bending through the elastic cylindrical rod traction spine joint, simulates the bending action of the lizard body and buffers the impact of the wall surface.

7. The composite four-legged wall-climbing robot according to any one of claims 1-4, characterized in that, The robot adopts a bionic "diagonal gait" to realize motion control, taking the left front leg-right rear leg and the right front leg-left rear leg as two groups of alternating motion units, each group completes a "touching the ground-supporting-advancing-lifting" cycle; the touching the ground stage: the thigh and shank joints swing cooperatively to send the foot sole to the target adsorption point, the spherical joint (1) adjusts the angle of the foot sole, and the film pressure sensor detects the contact pressure to ensure attachment; the supporting stage: the miniature diaphragm air pump (4) controls the expansion of the rubber air bag (III) to form negative pressure, and the leg acts as a supporting leg to bear the weight of the body; the advancing stage: the thigh and shank joints of the supporting leg exert force to kick, driving the body to move, and the bionic spine (3) cooperates with the bending to assist the motion; the lifting stage: the miniature diaphragm air pump (4) controls the contraction of the rubber air bag (III) to release the adsorption, and the leg is lifted into the next cycle, and the other diagonal leg switches to the supporting leg.

8. The composite four-legged wall-climbing robot according to any one of claims 1-4, characterized in that, The robot has a posture self-adaptive adjustment function: the film pressure sensor collects foot sole contact pressure data in real time, and if uneven pressure distribution is detected, the control system automatically adjusts the hip, knee and ankle joint angles (adjustment range 0°-90°) to correct the foot sole position and contact angle; when moving on an inclined wall surface, each joint dynamically adjusts the swing amplitude and rotation angle, the thigh kicking amplitude increases to increase the traction force, the shank rotation angle is adjusted to attach to the slope, and the bionic spine (3) slightly bends to maintain the balance of the body.

9. The composite four-legged wall-climbing robot according to any one of claims 1-4, characterized in that, The adsorption stability of the robot is improved by 42% compared with a single suction cup, and it can stably adsorb on ceramic tiles (flat), concrete (rough), glass (smooth) and wet wall surfaces; it can adaptively move on a 0°-90° inclined wall surface, and the moving efficiency is improved by more than 30% compared with a traditional wall climbing robot, and it is suitable for building outer wall detection, high-altitude rescue material transportation and power tower maintenance scenes.

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