CN206841565U

CN206841565U - A kind of curtain wall climbing robot

Info

Publication number: CN206841565U
Application number: CN201720777574.9U
Authority: CN
Inventors: 张新民
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-06-29
Filing date: 2017-06-29
Publication date: 2018-01-05
Anticipated expiration: 2027-06-29

Abstract

The utility model discloses a kind of curtain wall climbing robot, belong to curtain wall crawling equipment technical field, including two suckers, walking arm is provided between two suckers, walking arm includes first connecting rod, second connecting rod, third connecting rod and the fourth link being sequentially connected, first connecting rod one end is connected with a sucker, and another sucker is installed on the end of fourth link；Each sucker is fixedly installed in a support plate, and support plate includes being arranged at intervals the end of fixed disk and support ring, fixed disk connection first connecting rod or fourth link, and support ring is arranged at the periphery in sucker suction face, connecting rod is provided between support ring and fixed disk.The utility model can creep on the irregular metope of angle, and dependable performance, creep speed is fast, solve the small technical problem of existing robot supporting power, be widely used in curtain wall operation.

Description

A kind of curtain wall climbing robot

Technical field

It the utility model is related to curtain wall crawling equipment technical field, more particularly to a kind of curtain wall climbing robot.

Background technology

At present, the design of Climbing Robot enumerates the electronic technology, communication technology, sensor technology, automatic on subject Control technology, theory of mechanics, material and science etc., it is that multi-door subject crossing collects the system to be formed, due to Climbing Robot sheet Wide variety of prospect and complexity possessed by body, more states of the world all develop the Climbing Robot of oneself positive, and first Individual conceptual robot is to be born in 1966 in Japan, and after that, this field is paid high attention to by various countries, 20 After century the eighties, the various countries such as Japan, Britain, the U.S., Germany, Russia also have developed oneself and outstanding climb wall successively Robot model machine, for every field, go to replace people to carry out the tasks such as work high above the ground, detection, monitoring.

The application field of Climbing Robot mainly includes at present：Glass curtain wall cleaning, high-wall and bridge machinery, pipeline are visited Survey, anti-terrorism investigation, high risk zone is detected, metope paints, and in the high risk industries of glass curtain wall cleaning, not only cost is low, dangerous Property it is low, efficiency is also higher than artificial.In detection and detection mission, such as the Crack Detection of bridge and high-wall.In high risk zone Detect, such as the task dispatching of the High Radiation Area in nuclear industry.

In curtain wall crawling equipment field, conventional suction type Climbing Robot can be probably divided into several by suction type Kind：Vavuum pump bleeder, external connecting negative pressure source, venturi device, whirlwind simulation and centrifugal fan.Common principle is all by one kind Device produces a negative pressure, and sucker or body are pressed on metope using atmospheric pressure.Wherein vacuum pump type makes simple Reliably, cost is low, and technical requirements are low, and absorption affinity is big, but movement velocity is slower, once metope out-of-flatness or sucker gas leakage, Then cause crawling equipment can not continue to creep, also, due in vertical curtain wall surface creep active force suffered by sucker can cause Sucker deforming tops, multiple suckers are needed when easily coming off, therefore creeping while are worked to meet its supporting power, this not only makes It is slow into creep speed, and height of creeping is restricted, and can not reach curtain wall top position.

Therefore, based on drawbacks described above, in curtain wall crawling equipment technical field, still suffered from for novel curtain wall climbing robot Research and improved demand, this is also a study hotspot and emphasis in current curtain wall crawling equipment field, is even more this practicality Where the new starting point being accomplished and power.

Utility model content

For above-mentioned many defects, the present inventor is paying sufficient creation by substantial amounts of further investigation Property work after, so as to complete the utility model.

Specifically, technical problem to be solved in the utility model is：A kind of curtain wall climbing robot, Neng Gou are provided Creeped on the irregular metope of angle, dependable performance, creep speed is fast, solves the small technology of existing robot supporting power and asks Topic.

In order to solve the above technical problems, the technical solution of the utility model is to provide a kind of curtain wall climbing robot, including Two suckers, walking arm is provided between two suckers, first connecting rod that the walking arm includes being sequentially connected, second connect Bar, third connecting rod and fourth link, described first connecting rod one end are connected with a sucker, and the first connecting rod other end turns Dynamic to be provided with the first power transmission shaft driven by the first servomotor, first power transmission shaft is fixedly connected with second connecting rod, and described the The axis of one power transmission shaft is described perpendicular to the plane where the center line of the first connecting rod and the center line of the second connecting rod The end of second connecting rod is rotatablely equipped with the second driving shaft driven by the second servomotor, and the second driving shaft is fixedly connected Third connecting rod, the axis of the second driving shaft is consistent with the bearing of trend of the third connecting rod, the axle of the second driving shaft Line is vertical with the axis of first power transmission shaft, and the end of the third connecting rod is rotatablely equipped with by the driving of the 3rd servomotor 3rd power transmission shaft, the 3rd power transmission shaft are fixedly connected with fourth link, and the axis of the 3rd power transmission shaft is perpendicular to the described 3rd Plane where the center line of connecting rod and the center line of fourth link, another sucker are installed on the end of the fourth link Portion；Each sucker is fixedly installed in a support plate, and the support plate includes being arranged at intervals fixed disk and support ring, institute The end that fixed disk connects the first connecting rod or fourth link is stated, the support ring is arranged at the outer of the sucker suction face In week, connecting rod is provided between the support ring and fixed disk.

In curtain wall climbing robot of the present utility model, as a kind of optimal technical scheme, the first connecting rod and It is equipped with what vavuum pump corresponding with the sucker, the first connecting rod and fourth link were set using relative spacing on double leval jib Link plate structure, the vavuum pump are arranged between two relative carrier bars.

In curtain wall climbing robot of the present utility model, as a kind of optimal technical scheme, the first connecting rod and The first retaining mechanism is provided between two connecting rods, is provided with the second retaining mechanism between the second connecting rod and third connecting rod, described The 3rd retaining mechanism is provided between three connecting rods and fourth link.

In curtain wall climbing robot of the present utility model, as a kind of optimal technical scheme, first retaining mechanism Including the first mounting seat being fixedly installed on the first connecting rod, the first support is installed with first mounting seat Seat, first power transmission shaft is through first mounting seat and is rotatablely installed on first support base, and described first supports Seat is provided with first piston chamber, and the first piston intracavitary is slidably fitted with first piston, the first piston both sides it is described First piston chamber connects air pump by the first reversal valve, and the first friction is provided between the first piston and first mounting seat Piece group；The end of first power transmission shaft passes first support base and connection first servomotor.

In curtain wall climbing robot of the present utility model, as a kind of optimal technical scheme, second retaining mechanism Including the second mounting seat being fixedly installed on the second connecting rod, the second support is installed with second mounting seat Seat, the second driving shaft is through second mounting seat and is rotatablely installed on second support base, and described second supports Seat is provided with second piston chamber, and the second piston intracavitary is slidably fitted with second piston, the second piston both sides it is described Second piston chamber connects another air pump by the second reversal valve, and second is provided between the second piston and second mounting seat Friction plate group；One end of the second driving shaft is fixedly connected with the third connecting rod, the other end pass second support base and Connect second servomotor.

In curtain wall climbing robot of the present utility model, as a kind of optimal technical scheme, the periphery of the support ring Several casings are installed with, installation gap is provided between adjacent two casing, described connecting rod one end is be hinged to be installed on On fixed disk, the other end is connected in corresponding installation gap.

In curtain wall climbing robot of the present utility model, as a kind of optimal technical scheme, in each casing Provided with a regulation servomotor, the power output shaft of the regulation servomotor stretches out the casing, and the connecting rod includes hinge The head rod being connected together and the second connecting rod, the end of the head rod is be hinged to be installed on the fixed disk, The power output shaft of the regulation servomotor is fixedly connected with second connecting rod.

In curtain wall climbing robot of the present utility model, as a kind of optimal technical scheme, each casing is all provided with There is an air pump, the corresponding air pump connects first reversal valve and the second reversal valve.

Above-mentioned technical proposal is employed, the beneficial effects of the utility model are：

(1) because the periphery in sucker suction face is provided with support ring, when sucker suction is when on curtain wall, the end face of support ring It is in contact with curtain wall, when robot crawling, can produces sucker upper end by robot fuselage Gravitative Loads and stick up role The active force can be then applied on curtain wall by power, the support force of support ring, reduce the effect to sucker, be inhaled so as to increase The bearing capacity of disk, compared with the robot of existing sucker structure, the utility model dependable performance, supporting power is big.

(2) because each connecting rod can be individually movable, it can be locked between two adjacent connecting rods, reduce servomotor Stress, realize walking arm spacial multi-angle shift transformation, can be creeped on the irregular metope of angle, flexibility ratio is high.

(3) due to being provided with retaining mechanism between each connecting rod so that robot is in locking shape at work, between each connecting rod State, flexible state is then in when creeping, so as to improve performance of the present utility model.

(4) because connecting rod includes hinged head rod and the second connecting rod, it is necessary to when, use wherein two Individual regulation servomotor rotates, and drives corresponding second connecting rod to rotate, change between the position support ring and fixed disk away from From so as to change the angle between support ring and fixed disk so that support ring end face and curtain wall surface profiles.

Brief description of the drawings

Fig. 1 is the structural representation of the utility model embodiment one；

Fig. 2 is the structural representation of the first retaining mechanism in the utility model embodiment one；

Fig. 3 is the structural representation of the second retaining mechanism in the utility model embodiment one；

Fig. 4 is the scheme of installation of connecting rod in the utility model embodiment two；

Fig. 5 is the structural representation of the middle case of the utility model embodiment two；

Wherein, in Fig. 1 into Fig. 5, each number designation refers to following concrete meaning, element and/or part respectively.

In figure：1st, sucker, 2, quill shaft, 3, support plate, 301, fixed disk, 302, support ring, 303, connecting rod, 3031, Head rod, the 3032, second connecting rod, 4, first connecting rod, 5, second connecting rod, 6, third connecting rod, 7, fourth link, 8, first Retaining mechanism, the 801, first mounting seat, 802, first piston, 803, first piston chamber, the 804, first power transmission shaft, 805, first watches Take motor, the 806, first support base, 807, spacer, the 808, first friction plate group, the 9, second retaining mechanism, the 901, second installation Seat, 902, second piston, 903, second piston chamber, 904, second driving shaft, the 905, second servomotor, the 906, second support Seat, the 907, second friction plate group, the 10, the 3rd retaining mechanism, 11, vavuum pump, 12, casing, 13, regulation servomotor, 14, gas Pump, 15, air bag.

Embodiment

Below in conjunction with the accompanying drawings, the utility model is described in detail by specific embodiment, but these particularizations The purposes and purpose of embodiment are only used for enumerating the utility model, and not real protection scope of the present utility model is formed and appointed Any restriction of what form, it is more non-that the scope of protection of the utility model is confined to this.

Embodiment one：

As shown in figure 1, the utility model discloses a kind of curtain wall climbing robot, including two suckers 1, two suckers 1 Between be provided with walking arm, walking arm includes first connecting rod 4, second connecting rod 5, third connecting rod 6 and the fourth link 7 being sequentially connected, The one end of first connecting rod 4 is connected with a sucker 1, and the other end of first connecting rod 4 is rotatablely equipped with what is driven by the first servomotor 805 First power transmission shaft 804, the first power transmission shaft 804 are fixedly connected with second connecting rod 5, and the first servomotor 805 drives 5 turns of second connecting rod Dynamic, the axis of the first power transmission shaft 804 is perpendicular to the plane where the center line of first connecting rod 4 and the center line of second connecting rod 5, and the The end of two connecting rods 5 is rotatablely equipped with the second driving shaft 904 driven by the second servomotor 905, and second driving shaft 904 is fixed Third connecting rod 6 is connected, the second servomotor 905 drives third connecting rod 6 to rotate, axis and the third connecting rod 6 of second driving shaft 904 Bearing of trend it is consistent, the axis of second driving shaft 904 is vertical with the axis of the first power transmission shaft 804, and the end of third connecting rod 6 turns Dynamic to be provided with the 3rd power transmission shaft driven by the 3rd servomotor, the 3rd power transmission shaft is fixedly connected with fourth link 7, the 3rd servo electricity Machine drives fourth link 7 to rotate, and the axis of the 3rd power transmission shaft is perpendicular to the center line of third connecting rod 6 and the center of fourth link 7 Plane where line, another sucker 1 are installed on the end of fourth link 7；The is provided between first connecting rod 4 and second connecting rod 5 One retaining mechanism 8, is provided with the second retaining mechanism 9 between second connecting rod 5 and third connecting rod 6, third connecting rod 6 and fourth link 7 it Between be provided with the 3rd retaining mechanism 10, each connecting rod can be individually movable, can be locked between two adjacent connecting rods, reduce and watch The stress of motor is taken, realizes walking arm spacial multi-angle shift transformation, can be creeped on the irregular metope of angle；Each Sucker 1 is fixedly installed in a support plate 3, and support plate 3 includes being arranged at intervals fixed disk 301 and support ring 302, sucker 1 are remote One end from adsorption plane connects a quill shaft 2, and quill shaft 2 connects vavuum pump 11, quill shaft 2 and fixed disk by solenoid directional control valve 301 are fixedly installed togather, and adsorption plane one end of sucker 1 then passes through support ring 302, and fixed disk 301 connects first connecting rod 4 or the The end of double leval jib 7, that is to say, that the end of first connecting rod 4 connects one of fixed disk 301, and the end of fourth link 7 connects Another fixed disk 301 is connect, support ring 302 is arranged at the periphery of the adsorption plane of sucker 1, set between support ring 302 and fixed disk 301 There is connecting rod 303 so that support ring 302 forms a fixed connection with fixed disk 301, when sucker 1 is adsorbed when on curtain wall, support ring 302 end face is in contact with curtain wall, when robot crawling, can produce the upper end of sucker 1 by robot fuselage Gravitative Loads The active force can be then applied on curtain wall by the active force of tilting, the support force of support ring 302, reduce the work to sucker 1 With so as to increase the bearing capacity of sucker 1, compared with the robot of existing sucker structure, the utility model dependable performance, holding Weight is big.

Vavuum pump 11 corresponding with sucker 1, first connecting rod 4 and fourth link are equipped with first connecting rod 4 and fourth link 7 7 link plate structures set using relative spacing, vavuum pump 11 are arranged between two relative carrier bars, on the one hand alleviate the first company The weight of bar 4 and fourth link 7, on the other hand it is not take up additionally mounted space so that structure is compacter, reduces robot Volume, the vavuum pump 11 on first connecting rod 4 connects the sucker 1 being connected with first connecting rod 4, the vavuum pump 11 in fourth link 7 The sucker 1 being connected with fourth link 7 is connected, realization connects nearby, avoids the long influence robot ambulation of pipeline, vavuum pump 11 By solenoid directional control valve connecting sucker 1, robot can be caused to enable to the quick adsorption of sucker 1 and fast in crawling process Speed is unclamped, and improves creep speed.

As shown in Fig. 2 the first retaining mechanism 8 includes being fixedly installed in the first mounting seat 801 on first connecting rod 4, first Be installed with the first support base 806 in mounting seat 801, the first power transmission shaft 804 through the first mounting seat 801 and be rotatablely installed in On first support base 806, the first support base 806 is provided with first piston chamber 803, and is slidably fitted with first piston chamber 803 One piston 802, the first piston chambers 803 of the both sides of first piston 802 connect air pump by the first reversal valve, first piston 802 with The first friction plate group 808 is provided between first mounting seat 801, the first friction plate group 808 is fixedly mounted on a spacer 807, every Set 807 is fixedly mounted on the first power transmission shaft 804, it is necessary to when locking, away from the first friction plate group 808 in first piston chamber 803 Side inflation so that first piston 802 holds out against the first friction plate group 808 so that the first friction plate group 808 and the first mounting seat 801 are pressed together, the rotation of the first power transmission shaft of locking 804, so as to which the position of second connecting rod 5 be locked；First power transmission shaft 804 End pass the first support base 806 and the first servomotor 805 of connection, change the by the rotation of the first servomotor 805 The angle of one power transmission shaft 804, so as to change the angle position of second connecting rod 5.

As shown in figure 3, the second retaining mechanism 9 includes being fixedly installed in the second mounting seat 901 on second connecting rod 5, second Be installed with the second support base 906 in mounting seat 901, second driving shaft 904 through the second mounting seat 901 and be rotatablely installed in On second support base 906, the second support base 906 is provided with second piston chamber 903, and is slidably fitted with second piston chamber 903 Two pistons 902, the second piston chamber 903 of the both sides of second piston 902 connect another air pump, second piston by the second reversal valve 902 and second are provided with the second friction plate group 907 between mounting seat 901, equally, the second friction plate group 907 be also fixedly mounted on every Put, spacer is fixedly mounted on second driving shaft 904；One end of second driving shaft 904 is fixedly connected with third connecting rod 6, another End passes the second support base 906 and the second servomotor 905 of connection, and the second servomotor 905, which rotates, drives second driving shaft 904 Rotate, so as to drive third connecting rod 6 to rotate, and change the absorption position of another sucker 1, it is necessary to when locking, second piston chamber The side away from the second friction plate group 907 is inflated in 903 so that second piston 902 holds out against the second friction plate group 907 so that the Two friction plate groups 907 are pressed together with the second mounting seat 901, the rotation of locking second driving shaft 904, so as to by third connecting rod 6 position locking, avoiding robot, connecting rod rocks in the course of the work.

3rd retaining mechanism 10 is identical with the structure of the first retaining mechanism 8, and those skilled in the art can be according to the first lock Tight mechanism 8 implements the 3rd retaining mechanism 10, will not be repeated here.

Embodiment two：

The utility model discloses a kind of curtain wall climbing robot, its structure is essentially identical with implementing one, and its difference is, As shown in figure 4, the periphery of support ring 302 is installed with several casings 12, these usual casings 12 are in the outer of support ring 302 Arranged by center of circle annular array of the centre of gyration of support ring 302 in week, installation gap, connecting rod are provided between adjacent two tanks 12 303 one end are be hinged to be installed on fixed disk 301, the other end be connected to corresponding in installation gap, be connected with casing 12 or with Support ring 302 connects.

With reference to figure 5, a regulation servomotor 13 is equipped with each casing 12, adjusts the power output shaft of servomotor 13 Casing 12 is stretched out, connecting rod 303 includes the hinged connecting rod 3032 of head rod 3031 and second, head rod 3031 end is be hinged to be installed on fixed disk 301, and power output shaft and the second connecting rod 3032 for adjusting servomotor 13 are solid Fixed connection, when curtain wall plane is the plane at angle of inclination, after sucker 1 adsorbs, support ring 302 can be caused simultaneously to contact, and it is another It is simultaneously hanging, at this time, it may be necessary to be rotated using two of which regulation servomotor 13, drive corresponding 3032 turns of second connecting rod It is dynamic, change the distance between the position support ring 302 and fixed disk 301, so as to change between support ring 302 and fixed disk 301 Angle so that the end face of support ring 302 and curtain wall surface profiles.

Each casing 12 is equipped with an air pump 14, and corresponding air pump 14 connects the first reversal valve and the second reversal valve, with Fast aeration and the deflation of first piston chamber 803 and second piston chamber 903 are realized, ensures the locking of each connecting rod and flexibly fortune Make.

During robot crawling, the situation of curtain wall surface irregularity is further encountered, although sucker 1 can adsorb, It is that support ring 302 is difficult to adjust to curtain wall surface profiles, the problem to perplex those skilled in the art always, inventor is by wound Journal of Sex Research and many experiments are made, makes further improvement, to solve influence of the curtain wall surface irregularity to support ring 302.Such as Fig. 5 Shown, the bottom surface of casing 12 begins with through hole, and air bag 15 is provided with casing 12, and the generally use elastomeric material of air bag 15 is made, The position of air bag 15 is corresponding with lead to the hole site, and air pump 14 passes through solenoid directional control valve communicated air bags 15, when curtain wall surface irregularity, gas Pump 14 bloats toward inflation in air bag 15, air bag 15 from through hole, with curtain wall surface profiles, so as to give the powerful support of support ring 302, divides Active force of the Dan Liao robots body weight to sucker 1.

The utility model when in use, due to support of the support ring 302 to sucker 1 so that robot can carry more Weight, and when creeping, a sucker 1 can undertake the weight completely, and another sucker 1 departs from curtain wall, passes through first The change of connecting rod 4, second connecting rod 5, third connecting rod 6 and the position of fourth link 7 and angle is moved to another position, so anti- Multiple, realization is creeped.

Although for the purpose illustrated and described, and describe and tied shown in above-mentioned embodiment of the present utility model and accompanying drawing Structure and processing procedure.But it is to describe in detail that these, which are not, the scope of the utility model can not be confined into this.To this area For technical staff, numerous modifications and variations can be made to above-mentioned embodiment of the present utility model, and these all modifications And/or change is included in as within claim limited range of the present utility model, without departing from such as claim institute The scope of the utility model and spirit of restriction.

Claims

1. a kind of curtain wall climbing robot, including two suckers, walking arm is provided between two suckers, it is characterised in that The walking arm includes first connecting rod, second connecting rod, third connecting rod and the fourth link being sequentially connected, described first connecting rod one end It is connected with a sucker, the first connecting rod other end is rotatablely equipped with the first transmission by the driving of the first servomotor Axle, first power transmission shaft are fixedly connected with second connecting rod, and the axis of first power transmission shaft is in the first connecting rod Plane where the center line of heart line and the second connecting rod, the end of the second connecting rod are rotatablely equipped with by the second servo electricity The second driving shaft of machine driving, the second driving shaft are fixedly connected with third connecting rod, the axis of the second driving shaft with it is described The bearing of trend of third connecting rod is consistent, and the axis of the second driving shaft is vertical with the axis of first power transmission shaft, and described The end of three connecting rods is rotatablely equipped with the 3rd power transmission shaft driven by the 3rd servomotor, and the 3rd power transmission shaft is fixedly connected with the Double leval jib, the axis of the 3rd power transmission shaft is where the center line of the third connecting rod and the center line of fourth link Plane, another sucker are installed on the end of the fourth link；Each sucker is fixedly installed in a support plate On, the support plate includes being arranged at intervals fixed disk and support ring, and the fixed disk connects the first connecting rod or fourth link End, the support ring is arranged at the periphery in the sucker suction face, connecting rod is provided between the support ring and fixed disk.

2. curtain wall climbing robot as claimed in claim 1, it is characterised in that be all provided with the first connecting rod and fourth link There is vavuum pump corresponding with the sucker, the first connecting rod and fourth link use the link plate structure that relative spacing is set, institute Vavuum pump is stated to be arranged between two relative carrier bars.

3. curtain wall climbing robot as claimed in claim 1, it is characterised in that set between the first connecting rod and second connecting rod There is the first retaining mechanism, the second retaining mechanism, the third connecting rod and the 4th are provided between the second connecting rod and third connecting rod The 3rd retaining mechanism is provided between connecting rod.

4. curtain wall climbing robot as claimed in claim 3, it is characterised in that first retaining mechanism includes being fixedly mounted In being installed with the first support base in the first mounting seat on the first connecting rod, first mounting seat, described first passes Moving axis is through first mounting seat and is rotatablely installed on first support base, and first support base is provided with first and lived Chamber is filled in, the first piston intracavitary is slidably fitted with first piston, and the first piston chamber of the first piston both sides passes through First reversal valve connects air pump, and the first friction plate group is provided between the first piston and first mounting seat；Described first The end of power transmission shaft passes first support base and connection first servomotor.

5. curtain wall climbing robot as claimed in claim 4, it is characterised in that second retaining mechanism includes being fixedly mounted In being installed with the second support base in the second mounting seat on the second connecting rod, second mounting seat, described second passes Moving axis is through second mounting seat and is rotatablely installed on second support base, and second support base is provided with second and lived Chamber is filled in, the second piston intracavitary is slidably fitted with second piston, and the second piston chamber of the second piston both sides passes through Second reversal valve connects another air pump, and the second friction plate group is provided between the second piston and second mounting seat；It is described One end of second driving shaft is fixedly connected with the third connecting rod, and the other end passes second support base and connection described second is watched Take motor.

6. curtain wall climbing robot as claimed in claim 5, it is characterised in that if the periphery of the support ring is installed with A casing is done, installation gap is provided between adjacent two casing, described connecting rod one end is be hinged to be installed on fixed disk, another Installed corresponding to being connected in gap at end.

7. curtain wall climbing robot as claimed in claim 6, it is characterised in that be equipped with a regulation in each casing and watch Take motor, the power output shaft of the regulation servomotor stretches out the casing, and the connecting rod includes hinged the One connecting rod and the second connecting rod, the end of the head rod is be hinged to be installed on the fixed disk, the regulation servo The power output shaft of motor is fixedly connected with second connecting rod.

8. curtain wall climbing robot as claimed in claim 7, it is characterised in that each casing is equipped with an air pump, phase The corresponding air pump connects first reversal valve and the second reversal valve.