Walking robot

Abstract

This application relates to the technical field of mobile robots, and particularly to a mobile robot. Through the fixing effect of the first fixing device and the second fixing device, the mobile robot can be stably stopped at the expected position. The obstacle in the advancing direction of the mobile robot is detected by the detection device, and the mobile robot can cross the obstacle through the lifting device. By the alternating operation of the first fixing device and the second fixing device, the mobile robot can cross the obstacle and form a stable stop during walking. In this way, the mobile robot can stably stop or move in different terrains and scenarios.

Description

Technical Field

[0001] The present application relates to the technical field of walking robots, and in particular to a walking robot. Background Art

[0002] Robots have broad application prospects in the fields of climbing and rescue, high-altitude operations, and spacecraft extravehicular walking. Usually, robots can only move on upper planes or gentle slopes, and it is difficult to stay or move stably on steep slopes, vertical planes, or lower planes. In addition, during the walking process, robots often encounter obstacles or undulating terrain, which also hinders the walking of robots.

[0003] At present, bionic research is being conducted based on the vertical walking capabilities of insects and geckos, so that robots can stably stay or move on steep slopes, vertical planes or lower planes. Existing vertical walking robots that imitate geckos are equipped with micro-nanoscale fixed structures, but the structure is extremely easy to damage, has a low reusability rate, and is costly.

[0004] It can be seen that how to enable the robot to stay or move stably in different terrains and scenes is a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present application provides a walking robot, which aims to solve the technical problem in the prior art of how to enable the robot to stay or move stably in different terrains and scenes.

[0006] The present application provides a walking robot, comprising:

[0007] A robot body, wherein the robot body is provided with a first bracket assembly and a second bracket assembly, wherein the first bracket assembly is connected to the second bracket assembly;

[0008] A lifting device, the lifting device is used to make the robot body approach or move away from the walking surface;

[0009] A detection device, the detection device is used to detect obstacles near the robot body;

[0010] A driving device, the driving device is used to drive the first bracket assembly and the second bracket assembly to move relative to each other;

[0011] a first fixing device, the first fixing device being used to fix or release the first bracket assembly;

[0012] A second fixing device, wherein the second fixing device is used to fix or release the second bracket assembly.

[0013] Furthermore, the robot body is provided with a third fixing device, and the third fixing device is used to fix the robot body.

[0014] Furthermore, a steering device is provided between the robot body and the lifting device.

[0015] Furthermore, the detection device comprises:

[0016] a first detection component, wherein the first detection component is mounted on the first fixing device;

[0017] A second detection component is installed on the second fixing device.

[0018] Furthermore, the first fixing device is provided with a first rotating device, the first detection component is mounted on the first rotating device, and the first rotating device is used to make the first detection component move toward the moving direction of the first fixing device;

[0019] The second fixing device is provided with a second rotating device, the second detection component is installed on the second rotating device, and the second rotating device is used to make the second detection component move toward the moving direction of the second fixing device.

[0020] Furthermore, the first bracket assembly includes:

[0021] a first bracket body, wherein the first bracket body is connected to the first fixing device;

[0022] a first guide member, the first guide member being mounted on the first bracket body, and the first bracket body being connected to the second bracket assembly through the first guide member;

[0023] The second bracket assembly comprises:

[0024] a second bracket body, the second bracket body being connected to the second fixing device;

[0025] The second guide member is provided with a guide groove, and the guide groove is adapted to the first guide member.

[0026] Furthermore, the driving device comprises:

[0027] an active component, the active component being mounted on the first bracket component;

[0028] A driven component, the driven component is mounted on the second bracket component;

[0029] A power component, the power component is used to drive the active component to move, so that the active component drives the driven component to move;

[0030] The first bracket assembly and the second bracket assembly are driven to move relative to each other through the actions of the active assembly and the driven assembly.

[0031] Furthermore, the first fixing device comprises:

[0032] a first suction cup assembly, wherein the first suction cup assembly is connected to the first bracket assembly;

[0033] a first negative pressure assembly, the first negative pressure assembly being used to generate negative pressure in the first suction cup assembly;

[0034] The second fixing device comprises:

[0035] a second suction cup assembly, wherein the second suction cup assembly is connected to the second bracket assembly;

[0036] The second negative pressure component is used to make the second suction cup component generate negative pressure.

[0037] Furthermore, the first suction cup assembly comprises:

[0038] a first suction cup body, wherein the first suction cup body is connected to the first negative pressure component;

[0039] a first elastic sealing member, the first elastic sealing member being used to seal the suction side of the first suction cup body;

[0040] When the first suction cup assembly is adsorbed onto the external structure, the first elastic sealing component undergoes elastic deformation;

[0041] The second suction cup assembly includes:

[0042] a second suction cup body, wherein the second suction cup body is connected to the second negative pressure assembly;

[0043] a second elastic sealing member, the second elastic sealing member being used for sealing the suction side of the second suction cup body;

[0044] When the second suction cup assembly is adsorbed onto the external structure, the second elastic sealing component undergoes elastic deformation.

[0045] Furthermore, the first fixing device further comprises:

[0046] a third guide member connected to a side of the first suction cup body facing away from the first elastic sealing member;

[0047] a first movable connecting member, wherein the first movable connecting member is fixedly connected to the first bracket assembly, and the first movable connecting member is slidably connected to the third guide member;

[0048] a first fixed connecting member, wherein the first fixed connecting member is fixedly connected to the third guide member;

[0049] a first elastic member, the first elastic member connecting the first movable connecting member and the first fixed connecting member;

[0050] The second fixing device also includes:

[0051] a fourth guide member connected to a side of the second suction cup body facing away from the second elastic sealing member;

[0052] a second movable connecting member, wherein the second movable connecting member is fixedly connected to the second bracket assembly, and the second movable connecting member is slidably connected to the fourth guide member;

[0053] a second fixed connecting member, wherein the second fixed connecting member is fixedly connected to the fourth guide member;

[0054] A second elastic member is provided, wherein the second elastic member connects the second movable connecting member and the second fixed connecting member.

[0055] The beneficial effects achieved by this application are:

[0056] The present application proposes a walking robot, in the process of staying, the first bracket assembly is fixed by the first fixing device and / or the second bracket assembly is fixed by the second fixing device, so that the walking robot stays stably at the target position. During the walking process, the first bracket assembly is fixed by the first fixing device so that the first bracket assembly stays stably at the expected position. The obstacle in the forward direction of the walking robot is detected by the detection device. If the obstacle is detected, the height of the robot body is raised by the lifting device so that the walking robot can cross the obstacle. After the walking robot crosses the obstacle, the first bracket assembly and the second bracket assembly are driven to move relative to each other by the driving device so that the walking robot extends in the expected direction. The second bracket assembly is then fixed by the second fixing device so that the second bracket assembly stays stably at the extended position. After the second fixing device fixes the second bracket assembly, the first fixing device releases the fixation of the first bracket assembly so that the first bracket assembly can move relative to the second bracket assembly. The first bracket assembly and the second bracket assembly are then moved relative to each other by the driving device so that the walking robot extends in the expected direction. The first bracket assembly is then fixed by the first fixing device so that the first bracket assembly stays stably at the expected position. In this way, the walking robot can walk automatically. Through the fixing action of the first fixing device and the second fixing device, the walking robot can stably stay at the expected position, the detection device detects obstacles in the forward direction of the walking robot, and the lifting device enables the walking robot to cross the obstacles. Through the alternating operation of the first fixing device and the second fixing device, the walking robot can cross the obstacles and stay stably during the walking process. In this way, the walking robot can stably stay or move in different terrains and scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 Schematic diagram of the three-dimensional structure of the walking robot in the embodiment of the present invention Figure 1 ;

[0058] Figure 2 is a schematic diagram of the exploded structure of the walking robot in an embodiment of the present invention;

[0059] Figure 3 Schematic diagram of the three-dimensional structure of the walking robot in the embodiment of the present invention Figure 2 ;

[0060] Figure 4 is a schematic diagram of the three-dimensional structure of the walking robot after extension in an embodiment of the present invention;

[0061] Figure 5 is a schematic diagram of the three-dimensional structure of the first fixing device in an embodiment of the present invention;

[0062] Figure 6 is a schematic diagram of the three-dimensional structure of the second fixing device in an embodiment of the present invention;

[0063] Figure 7 is a cross-sectional view of a first fixing device in an embodiment of the present invention;

[0064] Figure 8 is a cross-sectional view of a second fixing device in an embodiment of the present invention.

[0065] Description of main component symbols:

[0066] 100, walking robot; 110, robot body; 10, first bracket assembly; 11, first bracket body; 12, first guide member; 20, second bracket assembly; 21, second bracket body; 22, second guide member; 23, guide groove; 30, lifting device; 40, detection device; 41, first detection assembly; 42, second detection assembly; 50, driving device; 51, active assembly; 511, screw assembly; 52, driven assembly; 521, screw nut assembly; 53, power assembly; 531, motor assembly; 60, first fixing device; 61, first suction cup assembly; 611, first suction cup body; 612, first elastic sealing member; 62, first negative pressure assembly ;621, the first vacuum pump assembly;622, the first supporting part;63, the third guide member;64, the first movable connecting member;65, the first fixed connecting member;66, the first elastic member;67, the first top screw member;68, the first rotating device;70, the second fixing device;71, the second suction cup assembly;711, the second suction cup body;712, the second elastic sealing member;72, the second negative pressure assembly;721, the second vacuum pump assembly;722, the second supporting part;73, the fourth guide member;74, the second movable connecting member;75, the second fixed connecting member;76, the second elastic member;77, the second top screw member;78, the second rotating device;80, the third fixing device;90, the steering device. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. In addition, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0068] In the description of the present invention, it is necessary to understand that the terms "length", "width", "up", "down", "left", "right", "horizontal", "top", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0069] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0070] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0071] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0072] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the examples of various specific processes and materials provided by the present invention, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0073] See also Figure 1 to Figure 2 In some embodiments of the present application, a walking robot 100 provided in the present application includes a robot body 110, a lifting device 30, a detection device 40, a driving device 50, a first fixing device 60 and a second fixing device 70.

[0074] The robot body 110 is provided with a first support assembly 10 and a second support assembly 20, and the first support assembly 10 is connected to the second support assembly 20. The lifting device 30 is used to make the robot body 110 approach or move away from the walking surface. The detection device 40 is used to detect obstacles near the robot body 110. The driving device 50 is used to drive the relative movement between the first support assembly 10 and the second support assembly 20. The first fixing device 60 is used to fix or release the first support assembly 10. The second fixing device 70 is used to fix or release the second support assembly 20.

[0075] During the stay process, the first bracket assembly 10 is fixed by the first fixing device 60 and / or the second bracket assembly 20 is fixed by the second fixing device 70, so that the walking robot 100 stays stably at the target position.

[0076] During walking, the first bracket assembly 10 is fixed by the first fixing device 60 so that the first bracket assembly 10 can be stably kept at the expected position.

[0077] The obstacle in the forward direction of the walking robot 100 is detected by the detection device 40. If an obstacle is detected, the height of the robot body 110 is raised by the lifting device 30 so that the walking robot 100 can pass over the obstacle.

[0078] After the walking robot 100 passes over the obstacle, the driving device 50 drives the first bracket assembly 10 and the second bracket assembly 20 to move relative to each other, so that the walking robot 100 extends in a desired direction.

[0079] The second bracket assembly 20 is then fixed by the second fixing device 70 so that the second bracket assembly 20 remains stably in the extended position. After the second fixing device 70 fixes the second bracket assembly 20, the first fixing device 60 releases the fixation of the first bracket assembly 10 so that the first bracket assembly 10 can move relative to the second bracket assembly 20.

[0080] The first bracket assembly 10 and the second bracket assembly 20 are then moved relative to each other by the driving device 50, so that the walking robot 100 extends in a desired direction. The first bracket assembly 10 is then fixed by the first fixing device 60, so that the first bracket assembly 10 stays stably at the desired position.

[0081] This cycle is repeated to realize the automatic walking of the walking robot 100.

[0082] Through the fixing action of the first fixing device 60 and the second fixing device 70, the walking robot 100 can stably stay in the expected position, the obstacles in the forward direction of the walking robot 100 are detected by the detection device 40, and the walking robot 100 is enabled to cross the obstacles through the lifting device 30. The first fixing device 60 and the second fixing device 70 work alternately, so that the walking robot 100 can cross the obstacles and stay stably during walking.

[0083] In this way, the walking robot 100 can stably stay or move in different terrains and scenes.

[0084] In some embodiments of the present application, the robot body 110 is provided with a third fixing device 80 , and the third fixing device 80 is used to fix the robot body 110 .

[0085] When the walking robot 100 stays at a designated position, the robot body 110 can be fixed by the third fixing device 80, so that the walking robot 100 can stay at the designated position more stably.

[0086] When the walking robot 100 passes over an obstacle, the detection device 40 detects that there is an obstacle in the forward direction of the walking robot 100, and then fixes the robot body 110 through the third fixing device 80. At this time, the first fixing device 60 can release the fixation of the first bracket assembly 10, and / or the second fixing device 70 can release the fixation of the second bracket assembly 20, so that the lifting device 30 can smoothly lift the robot body 110.

[0087] In some embodiments of the present application, the lifting device 30 may be installed at the bottom of the robot body 110, and the third fixing device 80 may be installed at the bottom of the lifting device 30. The robot body 110 and the lifting device 30 are then fixed as a whole by the third fixing device 80.

[0088] It should be pointed out that the above-mentioned "bottom" refers to the side close to the walking surface, and "lifting" refers to making the walking robot 100 close to or away from the external structure. For example, when the walking robot 100 is walking on a vertical wall, the "bottom" is the side close to the wall, and "lifting" refers to making the walking robot 100 close to or away from the wall. When there is a protruding obstacle on the wall, the detection device 40 detects that the obstacle is located in the forward direction of the walking robot 100, fixes the robot body 110 to the wall through the third fixing device 80, and releases the first fixing device 60 from the fixation of the first bracket assembly 10, and the second fixing device 70 releases the fixation of the second bracket assembly 20, and then lifts the robot body 110 through the lifting device 30, so that the distance between the walking robot 100 and the wall is greater than the distance that the obstacle protrudes from the wall, so that the walking robot 100 can cross the obstacle. Then, the driving device 50 drives the first bracket assembly 10 and the second bracket assembly 20 to move relative to each other, so that the walking robot 100 extends in the forward direction and crosses the obstacle. In this way, the walking robot 100 can stably stay or move in different terrains and scenes.

[0089] In some embodiments of the present application, the first support assembly 10 and the second support assembly 20 constitute the upper layer and the lower layer of the robot body 110 .

[0090] If the first support assembly 10 is the lower layer of the robot body 110 , the lifting device 30 is connected to the first support assembly 10 . If the second support assembly 20 is the lower layer of the robot body 110 , the lifting device 30 is connected to the second support assembly 20 .

[0091] In some embodiments of the present application, the detection device 40 may include at least one of a visual recognition system, a distance sensor, a proximity switch, an ultrasonic sensor, a photoelectric sensor, and a radar sensor. The detection device 40 may also include other sensors or structures that can detect obstacles.

[0092] In some embodiments of the present application, the third fixing device 80 may include an electromagnet fixing device, through which the robot body 110 is fixed to the surface of the ferromagnetic material.

[0093] In some embodiments of the present application, the third fixing device 80 may include a clamping fixing device, through which the robot body 110 is fixed to a structure such as a wire mesh or a fence.

[0094] In some embodiments of the present application, the third fixing device 80 may include a vacuum adsorption fixing device, and the robot body 110 is adsorbed and fixed to the external structure by the vacuum adsorption fixing device.

[0095] In some embodiments of the present application, the lifting device 30 may include an electric screw drive mechanism, which drives the robot body 110 to be lifted and lowered.

[0096] In some embodiments of the present application, the lifting device 30 may include an electric cylinder driving mechanism, which drives the robot body 110 to be lifted and lowered.

[0097] See also Figure 1 to Figure 2 In some embodiments of the present application, a steering device 90 is provided between the robot body 110 and the lifting device 30 .

[0098] The robot body 110 is steered by the steering device 90, thereby changing the forward direction of the walking robot 100, so that the walking robot 100 can move forward in all directions. When the height of the obstacle is too high, the forward direction of the walking robot 100 is changed by the steering device 90, so that the walking robot 100 can bypass the obstacle, thereby improving the adaptability of the walking robot 100 to the terrain.

[0099] In some embodiments of the present application, the steering device 90 includes a steering motor, which is installed on the lifting device 30, and the robot body 110 is installed on the power output end of the steering motor, so that the robot body 110 is driven to rotate by the steering motor, thereby changing the forward direction of the walking robot 100.

[0100] In some embodiments of the present application, the detection device 40 includes a first detection component 41 and a second detection component 42. The first detection component 41 is installed on the first fixing device 60. The second detection component 42 is installed on the second fixing device 70.

[0101] During the walking process of the walking robot 100, the first detection component 41 is used to detect whether there is an obstacle in the moving direction of the first fixing device 60. If there is an obstacle in the moving direction of the first fixing device 60, the lifting device 30 lifts the robot body 110, thereby driving the first fixing device 60 to rise, so that the first fixing device 60 passes over the obstacle and fixes the robot body 110 on the other side of the obstacle. The second detection component 42 is used to detect whether there is an obstacle in the moving direction of the second fixing device 70. If there is an obstacle in the moving direction of the second fixing device 70, the lifting device 30 lifts the robot body 110, thereby driving the second fixing device 70 to rise, so that the second fixing device 70 passes over the obstacle and fixes the robot body 110 on the other side of the obstacle.

[0102] By installing the first detection component 41 on the first fixing device 60, the first detection component 41 can detect obstacles in time, so that the walking robot 100 can make a timely response, thereby improving the walking smoothness of the walking robot 100. By installing the second detection component 42 on the second fixing device 70, the second detection component 42 can detect obstacles in time, so that the walking robot 100 can make a timely response, thereby improving the walking smoothness of the walking robot 100.

[0103] See also Figure 1 to Figure 2 and Figures 5 and 6 In some embodiments of the present application, the first fixing device 60 is provided with a first rotating device 68, the first detection component 41 is installed on the first rotating device 68, and the first rotating device 68 is used to make the first detection component 41 face the moving direction of the first fixing device 60. The second fixing device 70 is provided with a second rotating device 78, the second detection component 42 is installed on the second rotating device 78, and the second rotating device 78 is used to make the second detection component 42 face the moving direction of the second fixing device 70.

[0104] The first detection component 41 is driven to rotate relative to the first fixing device 60 by the first rotating device 68, so that the first detection component 41 faces the moving direction of the first fixing device 60, so that the first detection device 40 can detect obstacles more timely and accurately, so that the walking robot 100 can avoid obstacles more timely, and the obstacle avoidance performance of the walking robot 100 is improved. The second detection component 42 is driven to rotate relative to the second fixing device 70 by the second rotating device 78, so that the second detection component 42 faces the moving direction of the second fixing device 70, so that the second detection device 40 can detect obstacles more timely and accurately, so that the walking robot 100 can avoid obstacles more timely, and the obstacle avoidance performance of the walking robot 100 is improved.

[0105] In some embodiments of the present application, the first rotating device 68 and the second rotating device 78 can be linked with the steering device 90. The rotation angles of the first rotating device 68 and the second rotating device 78 are referenced to the rotation angle of the steering device 90, thereby ensuring that the first detection component 41 and the second detection component 42 are always facing the forward direction of the walking robot 100.

[0106] See also Figure 3 to Figure 4 In some embodiments of the present application, a walking robot 100 proposed in the present application includes a first support assembly 10, a second support assembly 20, a driving device 50, a first fixing device 60 and a second fixing device 70.

[0107] The first bracket assembly 10 is connected to the second bracket assembly 20. The driving device 50 is used to drive the relative movement between the first bracket assembly 10 and the second bracket assembly 20. The first fixing device 60 is used to fix or release the first bracket assembly 10. The second fixing device 70 is used to fix or release the second bracket assembly 20.

[0108] During the stay process, the first bracket assembly 10 is fixed by the first fixing device 60 and / or the second bracket assembly 20 is fixed by the second fixing device 70, so that the walking robot 100 stays stably at the target position.

[0109] During walking, the first bracket assembly 10 is fixed by the first fixing device 60 so that the first bracket assembly 10 can be stably kept at the expected position. Then, the first bracket assembly 10 and the second bracket assembly 20 are driven to move relative to each other by the driving device 50 so that the walking robot 100 extends in the expected direction. Then, the second bracket assembly 20 is fixed by the second fixing device 70 so that the second bracket assembly 20 can be stably kept at the extended position. After the second fixing device 70 fixes the second bracket assembly 20, the first fixing device 60 releases the fixation of the first bracket assembly 10 so that the first bracket assembly 10 can move relative to the second bracket assembly 20. Then, the first bracket assembly 10 and the second bracket assembly 20 are moved relative to each other by the driving device 50 so that the walking robot 100 extends in the expected direction. Then, the first bracket assembly 10 is fixed by the first fixing device 60 so that the first bracket assembly 10 can be stably kept at the expected position.

[0110] This cycle is repeated to realize the automatic walking of the walking robot 100.

[0111] Through the fixing action of the first fixing device 60 and the second fixing device 70, the walking robot 100 can stably stay at the expected position, and through the alternating operation of the first fixing device 60 and the second fixing device 70, the walking robot 100 can stably stay during the walking process.

[0112] In this way, the walking robot 100 can stay or move stably on a steep slope, a vertical plane or a low plane.

[0113] In some embodiments of the present application, the first fixing device 60 includes a first electromagnet assembly connected to the first bracket assembly 10 . The second fixing device 70 includes a second electromagnet assembly connected to the second bracket assembly 20 .

[0114] When the walking robot 100 walks on ferromagnetic materials (such as the wall of a sheet metal house, a stainless steel curtain wall, or a ship hull), at least one of the first electromagnet assembly and the second electromagnet assembly is energized so that the walking robot 100 can stably stay at the expected position.

[0115] The first electromagnet assembly is energized to fix the first bracket assembly 10 so that the first bracket assembly 10 stays stably at the expected position. The driving device 50 then drives the first bracket assembly 10 and the second bracket assembly 20 to move relative to each other so that the walking robot 100 extends in the expected direction.

[0116] The second electromagnet assembly is energized to fix the second bracket assembly 20 so that the second bracket assembly 20 stays stably in the extended position.

[0117] After the second fixing device 70 fixes the second bracket assembly 20, the first electromagnet assembly loses power to release the fixation of the first bracket assembly 10, thereby allowing the first bracket assembly 10 to move relative to the second bracket assembly 20. The first bracket assembly 10 and the second bracket assembly 20 are then moved relative to each other by the driving device 50, so that the walking robot 100 extends in the expected direction. Since the second electromagnet assembly is still powered at this time, the walking robot 100 can still stay stably at the expected position.

[0118] The first electromagnet assembly is energized again, thereby fixing the first bracket assembly 10 again, so that the first bracket assembly 10 stays stably at the expected position. The driving device 50 drives the first bracket assembly 10 and the second bracket assembly 20 to move relative to each other again, so that the walking robot 100 extends in the expected direction again.

[0119] This cycle is repeated to realize the automatic walking of the walking robot 100.

[0120] Through the fixing effect of the first electromagnet assembly and the second electromagnet assembly, the walking robot 100 can stably stay at the expected position, and through the alternating operation of the first electromagnet assembly and the second electromagnet assembly, the walking robot 100 can stably stay during the walking process.

[0121] In this way, the walking robot 100 can stay or move stably on a steep slope, a vertical plane or a low plane.

[0122] In some embodiments of the present application, the first fixing device 60 includes a first clamping assembly connected to the first bracket assembly 10 . The second fixing device 70 includes a second clamping assembly connected to the second bracket assembly 20 .

[0123] When the walking robot 100 is walking on a structure such as a wire mesh, a fence, etc., at least one of the first clamping assembly and the second clamping assembly achieves a stable stop of the walking robot 100 through a clamping action.

[0124] During walking, the first clamping assembly clamps the external structure to stabilize the first bracket assembly 10, thereby stably staying at the expected position. The driving device 50 then drives the first bracket assembly 10 and the second bracket assembly 20 to move relative to each other, so that the walking robot 100 extends in the expected direction.

[0125] The second bracket assembly 20 is then stably fixed by clamping the external structure through the second clamping assembly, thereby allowing the second bracket assembly 20 to stably stay in the extended position.

[0126] After the second clamping assembly fixes the second bracket assembly 20 , the first clamping assembly releases the clamping of the external structure to release the fixation of the first bracket assembly 10 , thereby allowing the first bracket assembly 10 to move relative to the second bracket assembly 20 .

[0127] The first support assembly 10 and the second support assembly 20 are then moved relative to each other through the driving device 50 so that the walking robot 100 extends in a desired direction.

[0128] The first clamping assembly clamps the external structure to stably fix the first bracket assembly 10, thereby making the first bracket assembly 10 stably stay at the expected position.

[0129] This cycle is repeated to realize the automatic walking of the walking robot 100.

[0130] Through the fixing effect of the first clamping assembly and the second clamping assembly, the walking robot 100 can stably stay at the expected position, and through the alternating operation of the first clamping assembly and the second clamping assembly, the walking robot 100 can stably stay during the walking process.

[0131] In this way, the walking robot 100 can stay or move stably on a steep slope, a vertical plane or a low plane.

[0132] In some embodiments of the present application, the first fixing device 60 includes a first suction cup assembly 61 and a first negative pressure assembly 62. The first suction cup assembly 61 is connected to the first bracket assembly 10. The first negative pressure assembly 62 is used to make the first suction cup assembly 61 generate negative pressure. The second fixing device 70 includes a second suction cup assembly 71 and a second negative pressure assembly 72. The second suction cup assembly 71 is connected to the second bracket assembly 20. The second negative pressure assembly 72 is used to make the second suction cup assembly 71 generate negative pressure.

[0133] During the stay process, the first bracket assembly 10 is fixed by the first fixing device 60 and / or the second bracket assembly 20 is fixed by the second fixing device 70, so that the walking robot 100 stays stably at the target position.

[0134] During walking, negative pressure is formed on the first suction cup assembly 61 through the first negative pressure assembly 62, so that the first suction cup assembly 61 is adsorbed on the external structure, thereby fixing the first bracket assembly 10, so that the first bracket assembly 10 stays stably at the expected position.

[0135] The driving device 50 then drives the first bracket assembly 10 and the second bracket assembly 20 to move relative to each other, so that the walking robot 100 extends in a desired direction.

[0136] The second suction cup assembly 71 is then subjected to negative pressure by the second negative pressure assembly 72 , so that the second suction cup assembly 71 is adsorbed onto the external structure, thereby fixing the second bracket assembly 20 , so that the second bracket assembly 20 remains stably at the extended position.

[0137] After the second fixing device 70 fixes the second bracket assembly 20, the first negative pressure assembly 62 stops operating, thereby increasing the air pressure of the first suction cup assembly 61, causing the first suction cup assembly 61 to fall off from the external structure to release the fixation of the first bracket assembly 10, thereby allowing the first bracket assembly 10 to move relative to the second bracket assembly 20.

[0138] The first support assembly 10 and the second support assembly 20 are then moved relative to each other through the driving device 50 so that the walking robot 100 extends in a desired direction.

[0139] The first suction cup assembly 61 is then subjected to negative pressure by the first negative pressure assembly 62 , so that the first suction cup assembly 61 is adsorbed onto the external structure, thereby fixing the first bracket assembly 10 , so that the first bracket assembly 10 can be stably placed at the desired position.

[0140] This cycle is repeated to realize the automatic walking of the walking robot 100.

[0141] Through the fixing action of the first fixing device 60 and the second fixing device 70, the walking robot 100 can stably stay at the expected position, and through the alternating operation of the first fixing device 60 and the second fixing device 70, the walking robot 100 can stably stay during the walking process.

[0142] In this way, the walking robot 100 can stay or move stably on a steep slope, a vertical plane or a low plane.

[0143] In some embodiments of the present application, the first negative pressure assembly 62 includes a first vacuum pump assembly 621 . The second negative pressure assembly 72 includes a second vacuum pump assembly 721 .

[0144] The first suction cup assembly 61 is evacuated by the first vacuum pump assembly 621, so that the gas in the first suction cup assembly 61 flows outward. When the first suction cup assembly 61 is attached to the external structure, a seal is formed between the first suction cup assembly 61 and the external structure. Under the evacuation action of the first vacuum pump assembly 621, the gas between the first suction cup assembly 61 and the external structure is reduced, thereby reducing the air pressure between the first suction cup assembly 61 and the external structure, so that the first suction cup assembly 61 is adsorbed on the external structure through the atmospheric pressure, and the first bracket assembly 10 is fixed by the first suction cup assembly 61.

[0145] The second suction cup assembly 71 is evacuated by the second vacuum pump assembly 721, so that the gas in the second suction cup assembly 71 flows outward. When the second suction cup assembly 71 is attached to the external structure, a seal is formed between the second suction cup assembly 71 and the external structure. Under the evacuation action of the second vacuum pump assembly 721, the gas between the second suction cup assembly 71 and the external structure is reduced, thereby reducing the air pressure between the second suction cup assembly 71 and the external structure, so that the second suction cup assembly 71 is adsorbed on the external structure through the atmospheric pressure, and the second bracket assembly 20 is fixed by the second suction cup assembly 71.

[0146] In some embodiments of the present application, the first suction cup assembly 61 includes a first suction cup body 611 and a first elastic seal 612. The first suction cup body 611 is connected to the first negative pressure assembly 62. The first elastic seal 612 is used to seal the adsorption side of the first suction cup body 611. When the first suction cup assembly 61 is adsorbed on an external structure, the first elastic seal 612 undergoes elastic deformation. The second suction cup assembly 71 includes a second suction cup body 711 and a second elastic seal 712. The second suction cup body 711 is connected to the second negative pressure assembly 72. The second elastic seal 712 is used to seal the adsorption side of the second suction cup body 711. When the second suction cup assembly 71 is adsorbed on an external structure, the second elastic seal 712 undergoes elastic deformation.

[0147] When the first suction cup assembly 61 is adsorbed on the external structure, the adsorption side of the first suction cup body 611 faces the external structure, and an effective seal is formed between the first suction cup body 611 and the external structure through the first elastic seal 612. A negative pressure is formed between the first suction cup body 611 and the external structure assembly through the first negative pressure assembly 62, and then the first suction cup assembly 61 is adsorbed on the external structure through the atmospheric pressure, and then the first bracket assembly 10 is fixed through the first suction cup assembly 61.

[0148] In the process of the first elastic seal 612 forming a seal between the first suction cup body 611 and the external structure, the first suction cup body 611 tends to approach the external structure under the action of atmospheric pressure, thereby squeezing the first elastic seal 612 and causing the first elastic seal 612 to produce elastic deformation. When the external structure is relatively rough, the first elastic seal 612 can be embedded in the rough surface of the external structure to avoid reducing the sealing between the first suction cup body 611 and the external structure due to the rough surface of the external structure. Since the first elastic seal 612 can be embedded in the rough surface of the external structure, the first elastic seal 612 can improve the bonding force between the first suction cup assembly 61 and the external structure, thereby improving the reliability and stability of the walking robot 100's stay.

[0149] In some embodiments of the present application, the first elastic sealing member 612 may be one or more of foam, foam, sponge, rubber and plastic. The first elastic sealing member 612 may also be other materials or structures that can undergo elastic deformation and have sealing properties.

[0150] When the second suction cup assembly 71 is adsorbed on the external structure, the adsorption side of the second suction cup body 711 faces the external structure, and an effective seal is formed between the second suction cup body 711 and the external structure through the second elastic seal 712. The second suction cup body 711 and the external structure assembly form a negative pressure through the second negative pressure assembly 72, and then the second suction cup assembly 71 is adsorbed on the external structure through the atmospheric pressure, and then the second bracket assembly 20 is fixed through the second suction cup assembly 71.

[0151] In the process of the second elastic seal 712 forming a seal between the second suction cup body 711 and the external structure, the second suction cup body 711 tends to approach the external structure under the action of atmospheric pressure, thereby squeezing the second elastic seal 712, causing the second elastic seal 712 to produce elastic deformation. When the external structure is relatively rough, the second elastic seal 712 can be embedded in the rough surface of the external structure to avoid reducing the sealing between the second suction cup body 711 and the external structure due to the rough surface of the external structure. Since the second elastic seal 712 can be embedded in the rough surface of the external structure, the second elastic seal 712 can improve the bonding force between the second suction cup assembly 71 and the external structure, thereby improving the reliability and stability of the walking robot 100's stay.

[0152] In some embodiments of the present application, the second elastic sealing member 712 may be two or more of foam, foam, sponge, rubber and plastic. The second elastic sealing member 712 may also be other materials or structures that can undergo elastic deformation and have sealing properties.

[0153] See also Figures 2 to 4In some embodiments of the present application, the first bracket assembly 10 includes a first bracket body 11 and a first guide member 12. The first bracket body 11 is connected to the first fixing device 60. The first guide member 12 is installed on the first bracket body 11, and the first bracket body 11 is connected to the second bracket assembly 20 through the first guide member 12. The second bracket assembly 20 includes a second bracket body 21 and a second guide member 22. The second bracket body 21 is connected to the second fixing device 70. The second guide member 22 is provided with a guide groove 23, and the guide groove 23 is adapted to the first guide member 12.

[0154] When the driving device 50 drives the first fixed component to move relative to the second fixed component, the first bracket body 11 is fixed by the first fixing device 60, and then the second bracket body 21 is driven by the driving device 50 to slide relative to the first bracket body 11 under the cooperation of the first guide member 12 and the second guide member 22, so that the walking robot 100 extends in the expected direction. During the relative sliding process between the first bracket body 11 and the second bracket body 21, the first guide member 12 slides in the guide groove 23, and then the first guide member 12 is guided by the second guide member 22, so that the relative sliding between the first bracket assembly 10 and the second bracket assembly 20 is smoother.

[0155] When the driving device 50 drives the second fixing assembly to move relative to the first fixing assembly, the second bracket body 21 is fixed by the second fixing device 70, and then the driving device 50 drives the first bracket body 11 to slide relative to the second bracket body 21 under the cooperation of the first guide member 12 and the second guide member 22, so that the walking robot 100 extends in the expected direction. During the relative sliding process between the first bracket body 11 and the second bracket body 21, the first guide member 12 slides in the guide groove 23, and then the second guide member 22 guides the first guide member 12, so that the relative sliding between the first bracket assembly 10 and the second bracket assembly 20 is smoother.

[0156] In some embodiments of the present application, the guide groove 23 can also be set on the first guide member 12, and the second guide member 22 is adapted to the guide groove 23. The second guide member 22 slides in the guide groove 23, and then the second guide member 22 is guided by the first guide member 12, so that the relative sliding between the first bracket assembly 10 and the second bracket assembly 20 is smoother.

[0157] In some embodiments of the present application, the first guide member 12 and the second guide member 22 may form a linear guide assembly together. One of the first guide member 12 and the second guide member 22 is a linear guide of the linear guide assembly, and the other of the first guide member 12 and the second guide member 22 may be a slider of the linear guide assembly. The first bracket body 11 and the second bracket body 21 are connected through the linear guide assembly, and a guiding function is performed during the relative sliding process between the first bracket body 11 and the second bracket body 21.

[0158] In some embodiments of the present application, the first bracket body 11 and the second bracket body 21 can both be plate-like members, thereby reducing the structural size of the walking robot 100, making the structure of the walking robot 100 more compact, and improving the stability and reliability of the structure of the walking robot 100.

[0159] See also Figure 3 to Figure 4 In some embodiments of the present application, the driving device 50 includes an active component 51, a driven component 52 and a power component 53. The active component 51 is installed on the first bracket component 10. The driven component 52 is installed on the second bracket component 20. The power component 53 is used to drive the active component 51 to move, so that the active component 51 drives the driven component 52 to move. The first bracket component 10 and the second bracket component 20 are driven to move relative to each other through the actions of the active component 51 and the driven component 52.

[0160] In the process of the driving device 50 driving the first bracket assembly 10 and the second bracket assembly 20 to move relative to each other, the power assembly 53 operates, thereby driving the active assembly 51 to move, and then driving the driven assembly 52 to move through the active assembly 51. Since the active assembly 51 is installed on the first bracket assembly 10 and the driven assembly 52 is installed on the second bracket assembly 20, when the active assembly 51 and the driven assembly 52 are respectively moved, the first bracket assembly 10 and the second bracket assembly 20 are driven to move relative to each other.

[0161] In some embodiments of the present application, the active component 51 includes a screw assembly 511, which is mounted on the first bracket assembly 10. The driven component 52 includes a screw nut assembly 521, which is adapted to the screw assembly 511 and is mounted on the second bracket assembly 20. The power component 53 includes a motor assembly 531, which drives the screw assembly 511 to rotate, so that the screw assembly 511 drives the screw nut assembly 521 to move.

[0162] In the process of the driving device 50 driving the first bracket assembly 10 and the second bracket assembly 20 to move relative to each other, the motor assembly 531 operates, thereby driving the screw assembly 511 to move actively. In the process of the screw assembly 511 rotating, under the interaction between the thread of the screw assembly 511 and the thread of the screw nut assembly 521, the screw assembly 511 drives the screw nut assembly 521 to move along the central axis direction of the screw assembly 511. Since the screw assembly 511 is installed on the first bracket assembly 10 and the screw nut assembly 521 is installed on the second bracket assembly 20, the screw nut assembly 521 drives the first bracket assembly 10 and the second bracket assembly 20 to move relative to each other in the process of moving along the central axis direction of the screw assembly 511. The control is simple, the structure is reliable, and the walking robot 100 can walk effectively.

[0163] In some embodiments of the present application, the first fixing device 60 further includes: a third guide member 63, a first movable connecting member 64, a first fixed connecting member 65 and a first elastic member 66. The third guide member 63 is connected to the side of the first suction cup body 611 away from the first elastic sealing member 612. The first movable connecting member 64 is fixedly connected to the first bracket assembly 10, and the first movable connecting member 64 is slidably connected to the third guide member 63. The first fixed connecting member 65 is fixedly connected to the third guide member 63. The first elastic member 66 connects the first movable connecting member 64 and the first fixed connecting member 65.

[0164] During the operation of the first fixing device 60, the suction side of the first suction cup body 611 faces the external structure, and an effective seal is formed between the first suction cup body 611 and the external structure through the first elastic seal 612. A negative pressure is formed between the first suction cup body 611 and the external structure component through the first negative pressure component 62, and then the first suction cup component 61 is adsorbed on the external structure through the atmospheric pressure, and then the first bracket component 10 is fixed through the first suction cup component 61.

[0165] In the process of the first elastic seal 612 forming a seal between the first suction cup body 611 and the external structure, the first suction cup body 611 tends to approach the external structure under the action of atmospheric pressure, thereby squeezing the first elastic seal 612, causing the first elastic seal 612 to produce elastic deformation. The first suction cup body 611 approaches the external structure under the action of atmospheric pressure, and the third guide member 63 is installed on the first suction cup body 611, and the first fixed connection member 65 is fixedly connected to the third guide member 63. Therefore, in the process of the first suction cup body 611 approaching the external structure, the first suction cup body 611 drives the third guide member 63 and the first fixed connection member 65 to move synchronously. At this time, the second bracket assembly 20 is fixed by the second fixing device 70, so the distance between the walking robot 100 and the external structure remains stable, and the first fixed connector 65 is fixedly connected to the first bracket assembly 10. Therefore, in the process of the first suction cup assembly 61 driving the third guide member 63 and the first fixed connector 65 to move synchronously, the first bracket assembly 10 and the first fixed connector 65 remain in a fixed state, that is, at this time, the first fixed connector 65 and the first movable connector 64 move relative to each other, and the distance between the first fixed connector 65 and the first movable connector 64 changes, so that the first elastic member 66 is elastically deformed. In this way, the first suction cup assembly 61 drives the third guide member 63 and the first fixed connector 65 to move relative to the first bracket assembly 10 synchronously, so that the first fixing device 60 can be reliably adsorbed on the external structure, and the distance between the walking robot 100 and the external structure remains stable, so that the posture of the walking robot 100 remains stable, which is conducive to the stable operation of the additional structure carried by the walking robot 100.

[0166] See also Figure 7 In some embodiments of the present application, the third guide member 63 is cylindrical, and the first negative pressure assembly 62 is installed inside the third guide member 63. The first negative pressure assembly 62 is provided with a first supporting portion 622, and the first fixed connection member 65 is fixedly connected to the third guide member 63 through a first top screw member 67, and the first top screw member 67 abuts against the first top screw member 622.

[0167] The first negative pressure assembly 62 is installed inside the third guide member 63, so that the first negative pressure assembly 62 does not occupy additional space, making the structure of the walking robot 100 more compact. The third guide member 63 protects the first negative pressure assembly 62, reducing the risk of damage to the first negative pressure assembly 62.

[0168] The first top screw 67 allows the first fixed connection member 65 to maintain a stable relative fixed relationship with the point guide member, thereby improving the stability of the structure of the walking robot 100. At the same time, the first top screw 67 is in contact with the first supporting portion 622, so that the first negative pressure component 62 can stay inside the third guide member 63 more stably, reducing the shaking of the first negative pressure component 62, thereby reducing the risk of air leakage of the first fixing device 60, and improving the reliability of the walking robot 100 staying.

[0169] In some embodiments of the present application, the number of the first supporting portions 622 is at least three, the number of the first top screws 67 is at least equal to the number of the first supporting portions 622, and each first supporting portion 622 abuts against at least one first top screw 67. The first supporting portions 622 are dispersedly arranged.

[0170] By using multiple first top screws 67 to support the first supporting portion 622 from different directions, the first negative pressure component 62 is fixed in multiple directions, further reducing the risk of shaking of the first negative pressure component 62 and further improving the reliability of the walking robot 100 staying.

[0171] In some embodiments of the present application, the first elastic member 66 includes a retractable spring.

[0172] The second fixing device 70 further includes: a fourth guide member 73, a second movable connecting member 74, a second fixed connecting member 75 and a second elastic member 76. The fourth guide member 73 is connected to the side of the second suction cup body 711 away from the second elastic sealing member 712. The second movable connecting member 74 is fixedly connected to the second bracket assembly 20, and the second movable connecting member 74 is slidably connected to the fourth guide member 73. The second fixed connecting member 75 is fixedly connected to the fourth guide member 73. The second elastic member 76 connects the second movable connecting member 74 and the second fixed connecting member 75.

[0173] During the operation of the second fixing device 70, the adsorption side of the second suction cup body 711 faces the external structure, and an effective seal is formed between the second suction cup body 711 and the external structure through the second elastic seal 712. The second suction cup body 711 and the external structure component form a negative pressure through the second negative pressure component 72, and then the second suction cup component 71 is adsorbed on the external structure through the atmospheric pressure, and then the second bracket component 20 is fixed through the second suction cup component 71.

[0174] In the process of the second elastic seal 712 forming a seal between the second suction cup body 711 and the external structure, the second suction cup body 711 tends to approach the external structure under the action of atmospheric pressure, thereby squeezing the second elastic seal 712, causing the second elastic seal 712 to produce elastic deformation. The second suction cup body 711 approaches the external structure under the action of atmospheric pressure, and the fourth guide member 73 is installed on the second suction cup body 711, and the second fixed connection member 75 is fixedly connected to the fourth guide member 73. Therefore, in the process of the second suction cup body 711 approaching the external structure, the second suction cup body 711 drives the fourth guide member 73 and the second fixed connection member 75 to move synchronously. At this time, the first bracket assembly 10 is fixed by the first fixing device 60, so the distance between the walking robot 100 and the external structure remains stable, and the second fixed connector 75 is fixedly connected to the second bracket assembly 20. Therefore, in the process of the second suction cup assembly 71 driving the fourth guide member 73 and the second fixed connector 75 to move synchronously, the second bracket assembly 20 and the second fixed connector 75 remain in a fixed state, that is, at this time, the second fixed connector 75 and the second movable connector 74 move relative to each other, and the distance between the second fixed connector 75 and the second movable connector 74 changes, so that the second elastic member 76 is elastically deformed. In this way, the fourth guide member 73 and the second fixed connector 75 are driven by the second suction cup assembly 71 to move relative to the second bracket assembly 20 synchronously, so that the second fixing device 70 can be reliably adsorbed on the external structure, and the distance between the walking robot 100 and the external structure remains stable, so that the posture of the walking robot 100 remains stable, so that the additional structure carried by the walking robot 100 can work stably.

[0175] See also Figure 8 In some embodiments of the present application, the fourth guide member 73 is cylindrical, and the second negative pressure assembly 72 is installed inside the fourth guide member 73. The second negative pressure assembly 72 is provided with a second supporting portion 722, and the second fixed connection member 75 is fixedly connected to the fourth guide member 73 through a second top screw member 77, and the second top screw member 77 abuts against the second top supporting portion 722.

[0176] The second negative pressure assembly 72 is installed inside the fourth guide member 73, so that the second negative pressure assembly 72 does not occupy additional space, making the structure of the walking robot 100 more compact. The fourth guide member 73 protects the second negative pressure assembly 72, reducing the risk of damage to the second negative pressure assembly 72.

[0177] The second top screw 77 allows the second fixed connection member 75 to maintain a stable relative fixed relationship with the point guide member, thereby improving the stability of the structure of the walking robot 100. At the same time, the second top screw 77 is in contact with the second supporting portion 722, so that the second negative pressure component 72 can stay inside the fourth guide member 73 more stably, reducing the shaking of the second negative pressure component 72, thereby reducing the risk of air leakage of the second fixing device 70, and improving the reliability of the walking robot 100 staying.

[0178] In some embodiments of the present application, the number of the second supporting portions 722 is at least three, the number of the second top screws 77 is at least equal to the number of the second supporting portions 722, and each second supporting portion 722 abuts against at least one second top screw 77. The second supporting portions 722 are dispersedly arranged.

[0179] By using multiple second top screws 77 to support the second supporting portion 722 from different directions, the second negative pressure assembly 72 is fixed in multiple directions, further reducing the risk of shaking of the second negative pressure assembly 72 and further improving the reliability of the walking robot 100 staying.

[0180] In some embodiments of the present application, the second elastic member 76 includes a retractable spring.

[0181] In some embodiments of the present application, there are at least two first fixing devices 60 and at least two second fixing devices 70. All first fixing devices 60 and second fixing devices 70 are dispersedly arranged, and the first fixing devices 60 and second fixing devices 70 are alternately arranged.

[0182] The first bracket assembly 10 is fixed by a plurality of first fixing devices 60, thereby improving the reliability and stability of the fixing structure of the first bracket assembly 10. The second bracket assembly 20 is fixed by a plurality of second fixing devices 70, thereby improving the reliability and stability of the fixing structure of the second bracket assembly 20. By arranging the first fixing devices 60 and the second fixing devices 70 alternately, the force of the walking robot 100 is made more uniform, thereby improving the stability of the structure of the walking robot 100.

[0183] In some embodiments of the present application, there are two first fixing devices 60 and two second fixing devices 70. The connecting line between the first fixing devices 60 and the connecting line between the second fixing devices 70 intersect each other.

[0184] The first bracket assembly 10 is fixed on the diagonal line by the first fixing device 60, so that the force on the first bracket assembly 10 is more uniform, the reliability of the walking robot 100 staying is improved, and the walking robot 100 is prevented from falling due to uneven force. The second bracket assembly 20 is fixed on the diagonal line by the second fixing device 70, so that the force on the second bracket assembly 20 is more uniform, the reliability of the walking robot 100 staying is improved, and the walking robot 100 is prevented from falling due to uneven force.

[0185] In the description of this specification, the description with reference to the terms "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0186] In addition, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A walking robot, characterized in that: include: A robot body, wherein the robot body is provided with a first bracket assembly and a second bracket assembly, wherein the first bracket assembly is connected to the second bracket assembly; A lifting device, the lifting device is used to make the robot body approach or move away from the walking surface; A detection device, the detection device is used to detect obstacles near the robot body; A driving device, the driving device is used to drive the first bracket assembly and the second bracket assembly to move relative to each other; a first fixing device, the first fixing device being used to fix or release the first bracket assembly; a second fixing device, the second fixing device being used to fix or release the second bracket assembly; The robot body is provided with a third fixing device, and the third fixing device is used to fix the robot body; A steering device is provided between the robot body and the lifting device; The number of the first fixing devices and the number of the second fixing devices are both two, and the connection line between the first fixing devices and the connection line between the second fixing devices intersect each other; The first fixing device comprises: a first suction cup assembly, the first suction cup assembly is connected to the first bracket assembly; a first negative pressure assembly, the first negative pressure assembly is used to make the first suction cup assembly generate negative pressure; the second fixing device comprises: a second suction cup assembly, the second suction cup assembly is connected to the second bracket assembly; a second negative pressure assembly, the second negative pressure assembly is used to make the second suction cup assembly generate negative pressure; The first suction cup assembly includes: a first suction cup body, the first suction cup body is connected to the first negative pressure assembly; a first elastic seal, the first elastic seal is used to seal the adsorption side of the first suction cup body; when the first suction cup assembly is adsorbed on an external structure, the first elastic seal is elastically deformed; the second suction cup assembly includes: a second suction cup body, the second suction cup body is connected to the second negative pressure assembly; a second elastic seal, the second elastic seal is used to seal the adsorption side of the second suction cup body; when the second suction cup assembly is adsorbed on an external structure, the second elastic seal is elastically deformed; The first fixing device also includes: a third guide member, the third guide member is connected to a side of the first suction cup body away from the first elastic seal; a first movable connection member, the first movable connection member is fixedly connected to the first bracket assembly, and the first movable connection member is slidably connected to the third guide member; a first fixed connection member, the first fixed connection member is fixedly connected to the third guide; a first elastic member, the first elastic member connects the first movable connection member and the first fixed connection member; the second fixing device also includes: a fourth guide member, the fourth guide member is connected to a side of the second suction cup body away from the second elastic seal; a second movable connection member, the second movable connection member is fixedly connected to the second bracket assembly, and the second movable connection member is slidably connected to the fourth guide; a second fixed connection member, the second fixed connection member is fixedly connected to the fourth guide; a second elastic member, the second elastic member connects the second movable connection member and the second fixed connection member; The third guide member is cylindrical, the first negative pressure component is installed inside the third guide member, the first negative pressure component is provided with a first supporting portion, the first fixed connecting member is fixedly connected to the third guide member through a first top screw member, and the first top screw member abuts against the first supporting portion; the fourth guide member is cylindrical, the second negative pressure component is installed inside the fourth guide member, the second negative pressure component is provided with a second supporting portion, the second fixed connecting member is fixedly connected to the fourth guide member through a second top screw member, and the second top screw member abuts against the second supporting portion.

2. The walking robot according to claim 1, characterized in that: The detection device comprises: a first detection component, wherein the first detection component is mounted on the first fixing device; A second detection component is installed on the second fixing device.

3. The walking robot according to claim 2, characterized in that: The first fixing device is provided with a first rotating device, the first detection component is installed on the first rotating device, and the first rotating device is used to make the first detection component move toward the moving direction of the first fixing device; The second fixing device is provided with a second rotating device, the second detection component is installed on the second rotating device, and the second rotating device is used to make the second detection component move toward the moving direction of the second fixing device.

4. The walking robot according to claim 1, characterized in that: The first bracket assembly comprises: a first bracket body, wherein the first bracket body is connected to the first fixing device; a first guide member, the first guide member being mounted on the first bracket body, and the first bracket body being connected to the second bracket assembly through the first guide member; The second bracket assembly comprises: a second bracket body, the second bracket body being connected to the second fixing device; The second guide member is provided with a guide groove, and the guide groove is adapted to the first guide member.

5. The walking robot according to claim 4, characterized in that: The driving device comprises: an active component, the active component being mounted on the first bracket component; A driven component, the driven component is mounted on the second bracket component; A power component, the power component is used to drive the active component to move, so that the active component drives the driven component to move; The first bracket assembly and the second bracket assembly are driven to move relative to each other through the actions of the active assembly and the driven assembly.

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