A tidal robot

Abstract

The present application relates to the technical field of robots, and discloses a tidal robot, which comprises a robot shell, a sensor, a left connecting seat at the left end of the robot shell, a right connecting seat at the right end of the robot shell, a walking mechanism at the bottom of the robot shell, a lifting mechanism arranged in the robot shell, an electric control rotating assembly at the lower end of the lifting mechanism, and an electromagnetic iron assembly arranged at the two sides of the bottom of the robot shell, wherein a metal strip capable of being adsorbed by the electromagnetic iron assembly is embedded on the ground at the two sides of the sensor; when the tidal robot moves to the position of the sensor, the lifting mechanism drives the walking mechanism to ascend so that the robot shell is in contact with the ground, and then the electromagnetic iron assembly is powered on and magnetically adsorbed with the metal strip. The present application has the beneficial effects of stable positioning and good anti-collision performance.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a tidal robot. Background Technology

[0002] Tidal flow lanes refer to one or more lanes on roads within a city that change direction of traffic flow based on the difference between morning and evening traffic volume. Tidal flow lanes are usually equipped with movable guardrails to separate the lanes, and these movable guardrails are controlled by tidal flow robots to move.

[0003] Typically, sensors are installed at predetermined lane locations on the road surface, and tidal robots are equipped with sensors. The tidal robot stops when it moves to the sensor location. However, the positioning of existing tidal robots is unstable. Usually, the bottom wheels stop when the robot is positioned. When a tidal robot or a guardrail is hit, the entire guardrail will shift. When one tidal robot is hit by a vehicle, it can cause damage to other tidal robots as well. Summary of the Invention

[0004] In order to solve the above-mentioned problems in the prior art, the present invention provides a tidal robot with stable positioning, less prone to deviation from position after impact, and better stability.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A tidal robot includes a robot shell and sensors disposed within the shell for detecting and identifying sensors. The left end of the robot shell has a left connecting seat for mounting a left railing, and the right end of the robot shell has a right connecting seat for mounting a right railing. The bottom of the robot shell has a walking mechanism, and the robot shell has a lifting mechanism. The lower end of the lifting mechanism has an electrically controlled rotating component. The walking mechanism is connected to the electrically controlled rotating component and is driven to steer by the electrically controlled rotating component. Electromagnetic components are provided on both sides of the bottom of the robot shell, and metal strips that can be attracted by the electromagnetic components are pre-embedded on both sides of the sensing element on the ground. When the tidal robot moves to the position of the sensor, the lifting mechanism drives the walking mechanism to rise so that the robot shell contacts the ground. Then the electromagnet component is energized and magnetically attracted to the metal strip.

[0006] When the tidal robot moves to the position of the sensor, the lifting mechanism drives the walking mechanism to rise, and the robot shell descends to the bottom surface to contact the ground. The electromagnet attracts the metal strip through electromagnetic force, resulting in good positioning stability. Even if it is hit by a collision, it is not easy to shift. When one tidal robot is hit, other tidal robots are not easily damaged, thus preventing the entire row of tidal robots from being damaged when hit by a vehicle, resulting in better overall stability.

[0007] Preferably, the electromagnet assembly includes a bracket and two sets of electromagnets respectively disposed at both ends of the bracket. The bracket has several vertically distributed sliding rods that pass through the electromagnets to form a sliding connection. The bottom of the robot housing has a sliding hole into which the lower end of the electromagnet extends. A compression spring is provided between the upper end of the electromagnet and the electromagnet bracket. When the walking mechanism descends, causing the bottom surface of the robot housing to rise and separate from the ground, the lower end of the electromagnet extends a predetermined distance beyond the bottom surface of the robot housing under the action of the compression spring. The lower end of the electromagnet slightly protrudes from the ground, allowing it to attract small stones or other debris even if they are present at the bottom of the robot housing.

[0008] Preferably, the left connecting seat and the right connecting seat are configured in two sets. The left connecting seat is fixedly provided with a left railing, and the right connecting seat is fixedly provided with a right railing. The outer end of the left railing is provided with a left flange, and the outer end of the right railing is provided with a right flange for fixed connection with the left flange.

[0009] Preferably, both the left and right connecting seats are configured in two sets. The left connecting seat has a left railing, and the right connecting seat has a right railing. The left railing is configured as a screw and rotatably connected to the left connecting seat. The robot housing contains a first power source for driving the left railing to rotate. The right railing is configured as a tubular structure, and the outer end of the right railing is fixed with a screw sleeve for threaded connection with the left railing. The left and right railings on two adjacent tidal robots are threadedly connected, thus connecting all tidal robots to form a tidal guardrail. By adjusting the walking direction of the walking mechanism through the steering mechanism, when the walking direction of all tidal robots is perpendicular to the direction of the left and right railings, the entire guardrail moves horizontally from one lane to another. When the sensor detects the sensor, the movement stops, and then the lifting mechanism drives the walking mechanism to rise, and the bottom of the tidal robot contacts the ground for support and positioning. When installing the tidal guardrail system, the length of the entire tidal guardrail can be automatically adjusted by rotating the left railing through the first power source, according to the actual installation position.

[0010] Preferably, the left connecting seat contains a left connecting shaft, which is rotatably connected to the left connecting seat. The outer end of the left connecting seat is detachably connected to the left railing. The right connecting seat contains a right connecting shaft, which is fixedly connected to the right connecting seat. The right railing is detachably connected to the right connecting seat. Each left connecting shaft has a drive wheel at its inner end, and a drive belt connects two drive wheels. The first power source is connected to one of the left connecting shafts and drives it to rotate. The detachable connection makes overall installation, disassembly, and maintenance more convenient.

[0011] Preferably, the outer end of the left connecting shaft is fixed with a bearing seat, and the end face of the bearing seat has several slots evenly distributed circumferentially. The end of the left railing is fixed with a connector, and the end face of the connector has a protrusion that matches the slots. The bearing seat has a threaded hole located between the slots, and the connector has a through hole corresponding to the threaded hole. The through hole is connected to the threaded hole by a bolt. The outer side of the left railing is provided with a connecting sleeve, which is threadedly connected to the left connecting seat. First, the protrusion and slots are engaged to ensure coaxiality, then the bolts are used for locking and positioning, and finally the connecting sleeve is tightened for protection. The overall connection is stable and reliable.

[0012] Preferably, a left support rod is provided between the two left railings. The upper end of the left support rod has an upper connecting sleeve, and the lower end of the left support rod has a lower connecting sleeve. The upper left railing passes through the upper connecting sleeve to form a threaded connection, and the lower left railing passes through the lower connecting sleeve to form a threaded connection. A right support rod is fixed between the outer ends of the two right railings. The outer end of the left railing extends to form a guide rod. The diameter of the guide rod is smaller than the diameter of the left railing, and the end of the guide rod has a ball head. A tapered guide hole is provided on the inner wall of the outer end of the screw sleeve. The left support rod is used to ensure that the two left railings remain parallel, and the right support rod is used to maintain the parallelism between the two right railings, thereby making the extension and retraction between the left and right railings smoother and preventing jamming.

[0013] Preferably, a base plate is fixed inside the robot housing, and the lifting mechanism includes a lower connecting plate located below the base plate, an upper connecting plate located on the upper side of the base plate, and a lead screw fixed between the upper connecting plate and the lower connecting rod; the electrically controlled rotation assembly is mounted on the lower connecting plate; a plurality of guide rods are provided between the upper connecting plate and the lower connecting plate and slide through the base plate; a lead screw seat is provided on the base plate; the lead screw passes through the lead screw seat to form a threaded connection; the lead screw seat is rotatably connected to the base plate; and a second power source is provided on the base plate to drive the lead screw seat to rotate.

[0014] Preferably, the lead screw seat is rotatably connected to the base plate via a bearing seat, a driven gear is fixedly provided on the outer side of the lead screw seat, and a driving gear meshing with the driven gear is provided on the second power unit; the electrically controlled rotation assembly is configured as an electric rotary table or an electrically controlled indexer.

[0015] Preferably, the walking mechanism includes a walking seat rotatably connected to the lower side of the lower connecting plate and a tracked walking assembly disposed on the lower side of the walking seat. The electrically controlled rotating assembly is fixedly connected to the walking seat. The bottom center of the robot housing is provided with a channel for the walking mechanism to rise and fall. When the walking mechanism descends to a preset position and contacts the ground, a gap of a preset distance is formed between the bottom surface of the robot housing and the ground. The tidal robot can move in all directions under the action of the walking mechanism. When the walking mechanism rises to a preset position, the tracked walking assembly separates from the ground, and the bottom surface of the robot housing contacts and supports the ground.

[0016] Therefore, the present invention has the beneficial effects of stable positioning and good impact resistance. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of one structure of the present invention.

[0018] Figure 2 A schematic diagram showing the installation of left and right railings on the tidal robot.

[0019] Figure 3 This is a schematic diagram of the internal structure of the tidal robot.

[0020] Figure 4 This is a schematic diagram of the lifting mechanism.

[0021] Figure 5 for Figure 4 Sectional view at point AA.

[0022] Figure 6 This is an explosion diagram of the electromagnet assembly and the robot's shell.

[0023] Figure 7 This is a second implementation of the left and right railings.

[0024] Figure 8 This is a schematic diagram showing the connection between the left and right railings and the robot's housing.

[0025] Figure 9 for Figure 8 Sectional view at point BB.

[0026] Figure 10 This is a partial exploded view of the connection between the left railing and the robot's shell.

[0027] Figure 11 for Figure 9 A magnified view of a portion of point C in the middle.

[0028] Figure 12 for Figure 10 A magnified view of a portion of point D in the middle.

[0029] Figure 13 A cross-sectional view showing the connection between two tidal robots.

[0030] Figure 14 A schematic diagram showing the connected and used state of multiple tidal robots.

[0031] Figure 15 for Figure 14 A schematic diagram of the state changes.

[0032] In the diagram: Tidal robot 10, robot shell 100, left connecting seat 101, channel 103, sliding hole 104, partition 105, right connecting seat 106, left railing 11, connecting sleeve 117, joint 110, protrusion 111, through hole 112, bolt 113, left support rod 114, upper connecting sleeve 115, lower connecting sleeve 116, guide rod 118, left flange 119, first power 12, right railing 13, screw sleeve 130, right support rod 131, right flange 132, tapered guide hole 1300, left connecting shaft 14, shaft seat 140, slot 141, threaded hole 142, transmission wheel 15, transmission belt 16, right connecting shaft 17, connector 18, base plate 19; Walking mechanism 20, walking seat 200, track walking assembly 201; Lifting mechanism 30, lower connecting plate 300, upper connecting plate 301, lead screw 302, guide rod 303, lead screw seat 304, bearing seat 305, second power 31, driven gear 306, driving gear 307; Electrically controlled rotating assembly 40, electromagnet assembly 50, bracket 500, electromagnet 501, slide bar 502, compression spring 503, metal strip 60, battery 70, solar photovoltaic panel 80, auxiliary railing 90. Detailed Implementation

[0033] To make the technical problems to be solved, the technical solutions, and the beneficial technical effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of protection of this invention.

[0034] It should be understood that the terms "first," "second," etc., used herein are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated. Features specified as "first" or "second" may expressly or implicitly indicate that at least one of those features is included.

[0035] like Figures 1-6The illustrated tidal protection robot 10 includes a robot housing 100 and sensors for detection and identification within the housing. The left end of the robot housing 100 has a left connecting seat 101 for mounting a left railing, and the right end of the robot housing has a right connecting seat 106 for mounting a right railing. A walking mechanism 20 is located at the bottom of the robot housing 100. A lifting mechanism 30 is located inside the robot housing, and an electrically controlled rotating assembly 40 is located at the lower end of the lifting mechanism 30. The walking mechanism 20 is connected to the electrically controlled rotating assembly 40 and is driven to steer by the electrically controlled rotating assembly. The sensors and detection elements are common positioning devices used in existing tidal robots and will not be described in detail in this application.

[0036] Electromagnetic components 50 are provided on both sides of the bottom of the robot shell 100. Metal strips 60 that can be attracted by the electromagnetic components are pre-embedded on both sides of the positioning sensor on the ground. When the tidal robot moves to the preset position, the walking mechanism rises so that the robot shell contacts the ground. Then the electromagnetic components are energized and magnetically attracted to the metal strips for positioning.

[0037] The electromagnet assembly 50 includes a bracket 500 and two sets of electromagnets 501. The bracket has several vertically distributed sliding rods 502, which slide through the electromagnets to form a sliding connection. The bottom of the robot housing 100 has a sliding hole 104, into which the lower end of the electromagnet extends. A compression spring 503 is provided between the upper end of the electromagnet and the electromagnet bracket. When the walking mechanism descends, causing the bottom surface of the robot housing to rise and separate from the ground, the lower end of the electromagnet extends a predetermined distance beyond the bottom surface of the robot housing under the action of the compression spring. Even if there are small stones on the bottom surface of the robot housing, it ensures that the electromagnet can attract metal strips. In some embodiments, brushes are installed on the front and rear sides of the lower end of the robot housing, which can brush away small stones and other objects on the ground during translation, improving overall stability.

[0038] like Figures 3-5 As shown, a base plate 19 is fixed inside the robot housing 100. The lifting mechanism 30 includes a lower connecting plate 300 located under the base plate, an upper connecting plate 301 located on the upper side of the base plate, and a lead screw 302 fixed between the upper connecting plate and the lower connecting plate. Several guide rods 303 are provided between the upper connecting plate and the lower connecting plate, sliding through the base plate. The electrically controlled rotating assembly 40 is installed on the lower connecting plate. A lead screw seat 304 is provided on the base plate 19. The lead screw passes through the lead screw seat to form a threaded connection. The lead screw seat 304 is rotatably connected to the base plate. A second power 31 for driving the lead screw seat to rotate is provided on the base plate. The second power is configured as a motor. The electrically controlled rotating assembly 40 is configured as an electric rotary table or an electrically controlled indexer. In this embodiment, an electrically controlled indexer is used. The electrically controlled indexer consists of a cam indexer and a motor. It is an existing standard part and can be directly purchased.

[0039] The lead screw seat 304 is rotatably connected to the base plate via the bearing seat 305. A driven gear 306 is fixed on the outer side of the lead screw seat, and a driving gear 307 that meshes with the driven gear is provided on the second power 31. The lower connecting plate is raised and lowered by the drive gear and the driven gear driven by the motor and the driving gear.

[0040] The walking mechanism 20 includes a walking seat 200 rotatably connected to the lower side of the lower connecting plate, a track walking assembly 201 disposed on the lower side of the walking seat, and an electrically controlled rotating assembly fixedly connected to the walking seat; the track walking assembly 201 is an existing standard part and is directly purchased.

[0041] The robot housing 100 has a channel 103 at the center of its bottom surface for raising and lowering the walking mechanism. When the walking mechanism descends to a preset position and contacts the ground, a gap of a preset distance is formed between the bottom surface of the robot housing and the ground. The tidal robot can move in all directions under the action of the walking mechanism. When the walking mechanism rises to a preset position, the tracked walking component separates from the ground, and the bottom surface of the robot housing contacts and supports the ground.

[0042] like Figure 3 and Figure 8 As shown, a partition 105 is fixed inside the robot housing 100 above the lifting mechanism. A battery 70 is mounted on the partition 105. Solar photovoltaic panels 80, which are powered by the battery, are obliquely distributed on the front and rear sides of the robot housing 100. The solar photovoltaic panels 80 power the battery, which in turn powers the entire tidal robot, thus maintaining a long-term stable operating range.

[0043] like Figure 2 The first embodiment of the left and right railings is shown. Specifically, the left connecting seat 101 and the right connecting seat 106 are configured as two sets. The left connecting seat 101 is fixedly provided with the left railing 11, and the right connecting seat is fixedly provided with the right railing 13. The outer end of the left railing is provided with a left flange 119, and the outer end of the right railing 13 is provided with a right flange 132 for fixed connection with the left flange.

[0044] like Figures 7-12 The diagram shows a second embodiment of the left and right railings. Specifically, the left connecting seat 101 and the right connecting seat 106 are each configured in two sets. A left railing 11 is mounted on the left connecting seat, and a right railing 13 is fixedly mounted on the right connecting seat. The left railing 11 is configured as a screw, with the two left railings 11 arranged parallel to each other vertically and rotatably connected to the left connecting seat 101. The two right railings are fixedly connected to the right connecting seat. A first power source 12 for driving the left railings to rotate is provided inside the robot housing 100. The right railing 13 is configured as a tubular structure, with a screw sleeve 130 fixedly mounted at its outer end for threaded connection with the left railing. Figure 13As shown, the left railing 11 and right railing 13 on two adjacent tidal robots 10 are threaded together, so that all tidal robots are connected to form a tidal guardrail.

[0045] The left connecting seat 101 is provided with a left connecting shaft 14, which is rotatably connected to the left connecting seat 101. The outer end of the left connecting seat 101 is detachably connected to the left railing, and the right railing 13 is detachably connected to the robot housing 100. The inner end of each left connecting shaft 14 is provided with a transmission wheel 15, and a transmission belt 16 is provided between two transmission wheels 15. The first power is connected to one of the left connecting shafts and drives the left connecting shaft to rotate. The first power is configured as a motor, the transmission wheel is configured as a sprocket, and the transmission belt is configured as a chain. A bearing seat 140 is fixed to the outer end of the left connecting shaft 14. The end face of the bearing seat 140 is provided with a plurality of slots 141 evenly distributed along the circumference. A connector 110 is fixed to the end of the left railing 11. The end face of the connector is provided with a protrusion 111 that matches the slot. A threaded hole 142 is provided on the bearing seat 140 at a position between the slots. A through hole 112 is provided on the connector 110 at a position corresponding to the threaded hole. The through hole is connected to the threaded hole by a bolt 113. A connecting sleeve 117 is provided on the outer side of the left railing 11. The connecting sleeve 117 is threadedly connected to the left connecting seat 101.

[0046] The right connecting seat is equipped with a right connecting shaft 17. The connection method between the right connecting shaft and the right railing is the same as the connection method between the left connecting shaft and the left railing. The inner ends of the two right connecting shafts are connected together by a connector 18, so that neither of the two right connecting shafts can rotate.

[0047] A left support rod 114 is provided between the left railings 11. The upper end of the left support rod is provided with an upper connecting sleeve 115, and the lower end of the left support rod is provided with a lower connecting sleeve 116. The upper left connecting rod passes through the upper connecting sleeve to form a threaded connection, and the lower left connecting rod passes through the lower connecting sleeve to form a threaded connection. A right support rod 131 is fixed between the outer ends of the two right railings 13. The two ends of the right support rod 131 are fixedly connected to the right railings respectively. The outer end of the left railing 11 extends to form a guide rod 118. The diameter of the guide rod is smaller than the diameter of the left railing, and the end of the guide rod is provided with a ball head. A tapered guide hole 1300 is provided on the inner wall of the outer end of the screw sleeve 130.

[0048] like Figure 13 The diagram shows the connection between two tidal robots. The left railing of the right tidal robot is inserted into the right railing of the left tidal robot. The screws at the ends of the left and right railings are threaded together. When the two left railings rotate synchronously via a primary power source, the distance between the two tidal robots can be adjusted. Figure 14 The diagram shows multiple tidal robots connected in series via the left and right railings.

[0049] Under the action of the first force, the left railing can be rotated. Since the left and right railings are connected by a 130mm threaded screw, the length and state of the tidal barrier can be automatically adjusted when the left railing rotates inside the right railing. Figure 15 As shown, this diagram illustrates three states of a tidal barrier composed of multiple tidal robots. The top tidal barrier is shown in its installed state, capable of shifting and positioning between lanes to meet the isolation requirements of tidal lanes. The middle tidal barrier is shown extended to the right, adapting to different barrier lengths, making it easy to install and highly versatile. The bottom tidal barrier is shown as a diagram of two separate tidal barriers (the total length can be changed or not after separation), forming a passage between the two barriers for vehicle turning or pedestrian passage to meet various scenario requirements.

[0050] In the description of this invention, it should be understood that the directions or positional relationships indicated by up, down, left, right, inner end, outer end, one end, and the other end are based on the orientation or positional relationships shown in the accompanying drawings. They are only for the purpose of more clearly describing the technical solutions of this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting this invention.

[0051] Although specific embodiments of the invention have been described in detail herein, they are given for illustrative purposes only and should not be construed as limiting the scope of the invention. Various substitutions, alterations, and modifications can be conceived without departing from the spirit and scope of the invention.

Claims

1. A tidal robot, comprising a robot housing, sensors disposed within the housing for detection and identification, wherein the left end of the robot housing is provided with a left connecting seat for mounting a left railing, and the right end of the robot housing is provided with a right connecting seat for mounting a right railing, characterized in that, The robot housing has a walking mechanism at the bottom and a lifting mechanism inside. The lower end of the lifting mechanism has an electrically controlled rotating component. The walking mechanism is connected to the electrically controlled rotating component and is driven to turn by the electrically controlled rotating component. Electromagnetic components are provided on both sides of the bottom of the robot shell, and metal strips that can be attracted by the electromagnetic components are pre-embedded on both sides of the sensing element on the ground. When the tidal robot moves to the position of the sensor, the lifting mechanism drives the walking mechanism to rise so that the robot shell contacts the ground. Then the electromagnet component is energized and magnetically attracted to the metal strip. The electromagnet assembly includes a bracket and two sets of electromagnets respectively located at both ends of the bracket. The bracket is provided with several vertically distributed sliding rods, which pass through the electromagnets to form a sliding connection. The bottom of the robot shell is provided with a sliding hole, and the lower end of the electromagnet extends into the sliding hole. A compression spring is provided between the upper end of the electromagnet and the electromagnet bracket. When the walking mechanism descends, causing the bottom surface of the robot shell to rise and separate from the ground, under the action of the compression spring, the lower end of the electromagnet extends out of the bottom surface of the robot shell by a predetermined distance.

2. The tidal robot according to claim 1, characterized in that, The left and right connecting seats are each configured in two sets. A left railing is fixed on the left connecting seat, and a right railing is fixed on the right connecting seat. A left flange is provided at the outer end of the left railing, and a right flange is provided at the outer end of the right railing for fixed connection with the left flange.

3. The tidal robot according to claim 1, characterized in that, The left connecting seat and the right connecting seat are each configured in two sets. The left connecting seat is provided with a left railing, and the right connecting seat is fixedly provided with a right railing. The left railing is configured as a screw and rotatably connected to the left connecting seat. The robot housing is provided with a first power source for driving the left railing to rotate. The right railing is configured as a tubular structure, and the outer end of the right railing is fixed with a screw sleeve for threaded connection with the left railing. The left and right railings on two adjacent tidal robots are threaded together, thus connecting all the tidal robots to form a tidal guardrail.

4. A tidal robot according to claim 3, characterized in that, The left connecting seat contains a left connecting shaft, which is rotatably connected to the left connecting seat. The outer end of the left connecting seat is detachably connected to the left railing. The right connecting seat contains a right connecting shaft, which is fixedly connected to the right connecting seat. The right railing is detachably connected to the right connecting seat. Each left connecting shaft has a drive wheel at its inner end, and a drive belt is provided between the two drive wheels. The first power is connected to one of the left connecting shafts and drives the left connecting shaft to rotate.

5. A tidal robot according to claim 4, characterized in that, The outer end of the left connecting shaft is fixed with a bearing seat, and the end face of the bearing seat is provided with a plurality of slots evenly distributed along the circumference. The end of the left railing is fixed with a connector, and the end face of the connector is provided with a protrusion that matches the slots. The bearing seat is provided with a threaded hole located between the slots, and the connector is provided with a through hole corresponding to the threaded hole. The through hole is connected to the threaded hole by a bolt. The left railing is provided with a connecting sleeve on its outer side, and the connecting sleeve is threadedly connected to the left connecting seat.

6. A tidal robot according to claim 3, 4, or 5, characterized in that, A left support rod is provided between the two left railings. The upper end of the left support rod is provided with an upper connecting sleeve, and the lower end of the left support rod is provided with a lower connecting sleeve. The upper left railing passes through the upper connecting sleeve to form a threaded connection, and the lower left railing passes through the lower connecting sleeve to form a threaded connection. A right support rod is fixed between the outer ends of the two right railings. The outer end of the left railing extends to form a guide rod, the diameter of which is smaller than that of the left railing, and the end of the guide rod is provided with a ball head; a tapered guide hole is provided on the inner wall of the outer end of the screw sleeve.

7. A tidal robot according to claim 1 or 3, characterized in that, The robot housing has a base plate fixed inside. The lifting mechanism includes a lower connecting plate located under the base plate, an upper connecting plate located on the upper side of the base plate, and a lead screw fixed between the upper connecting plate and the lower connecting plate. The electrically controlled rotation assembly is mounted on the lower connecting plate. A plurality of guide rods are provided between the upper connecting plate and the lower connecting plate, which slide through the base plate. A lead screw seat is provided on the base plate, and the lead screw passes through the lead screw seat to form a threaded connection. The lead screw seat is rotatably connected to the base plate, and a second power source is provided on the base plate to drive the lead screw seat to rotate.

8. A tidal robot according to claim 7, characterized in that, The lead screw seat is rotatably connected to the base plate via a bearing seat. A driven gear is fixed on the outer side of the lead screw seat, and a driving gear meshing with the driven gear is provided on the second power unit. The electrically controlled rotary assembly is configured as an electric rotary table or an electrically controlled indexer.

9. A tidal robot according to claim 7, characterized in that, The walking mechanism includes a walking seat rotatably connected to the lower side of the lower connecting plate and a track walking assembly disposed on the lower side of the walking seat. The electrically controlled rotating assembly is fixedly connected to the walking seat. The robot housing has a channel at the center of its bottom surface for the lifting and lowering of the walking mechanism. When the walking mechanism descends to a preset position and contacts the ground, a gap of a preset distance is formed between the bottom surface of the robot housing and the ground. The tidal robot can move in all directions under the action of the walking mechanism. When the walking mechanism rises to a preset position, the tracked walking component separates from the ground, and the bottom surface of the robot housing contacts and supports the ground.

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