Multidirectional walking robot

Abstract

The invention relates to the technical field of industrial robots, and provides a multidirectional walking robot which comprises a body. The first driving mechanism is arranged on the body and used for driving the body to move forwards. The second driving mechanism is arranged on the body and used for driving the body to move forwards. The first driving mechanism and the second driving mechanism alternately work and drive the main body to continuously move forwards; the first adsorption assembly is arranged on the first driving mechanism, and before the first driving mechanism drives the main body to move forwards, the first driving mechanism drives the first adsorption assembly to make contact with the ground and be tightly adsorbed to the ground. The first adsorption assembly is driven by the first driving mechanism to make contact with the ground and be tightly adsorbed to the ground; and the second driving mechanism drives the second adsorption assembly to make contact with the ground and be tightly adsorbed to the ground, an additional vacuum adsorption mechanism does not need to be additionally arranged, in other words, additional energy does not need to be consumed, energy waste is reduced, and the effective time limit of endurance is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a multi-directional walking robot. Background Art

[0002] Robots are used in various fields, and are particularly widespread in industrial applications. They typically carry maintenance equipment to perform inspection and maintenance tasks. Some existing industrial robots mimic the crawling motion of animals to ensure stable walking, thereby ensuring stability during inspections and maintenance. Currently in use, walking robots include those without vacuum mechanisms and those with vacuum mechanisms, such as vacuum pumps and vacuum pumps. Walking robots without vacuum mechanisms can struggle to hold onto the ground, causing them to fall or slide on slopes. Walking robots with vacuum mechanisms require additional energy to support vacuum operations and reduce battery life. The addition of bulky vacuum mechanisms also increases the robot's energy consumption. Summary of the Invention

[0003] In view of the deficiency of the prior art that an additional vacuum adsorption mechanism is required, the object of the present invention is to provide a multi-directional walking robot that does not require an additional vacuum adsorption mechanism.

[0004] In order to solve the above problems, the present invention provides the following technical solutions: In a first aspect, an embodiment of the present application provides a multi-directional walking robot, comprising: a main body; A first driving mechanism, provided on the main body, for driving the main body to move forward; a second driving mechanism, provided on the main body, for driving the main body to move forward; The first driving mechanism and the second driving mechanism work alternately and drive the main body to move forward continuously; a first adsorption component, provided on the first driving mechanism, and before the first driving mechanism drives the main body to move forward, the first driving mechanism drives the first adsorption component to contact the ground and be tightly adsorbed to the ground; The second adsorption component is provided on the second driving mechanism. Before the second driving mechanism drives the main body to move forward, the second driving mechanism drives the second adsorption component to contact the ground and be tightly adsorbed on the ground.

[0005] In some embodiments, the robot further includes a rotating mechanism, which is rotatably installed in the main body, and is used to rotate and reverse the main body, the first driving mechanism, and the second driving mechanism relative to the ground.

[0006] In some embodiments, the rotating mechanism includes a first drive motor and a rotating member; The first driving motor is fixedly mounted on the main body, and the rotating member is horizontally arranged on the main body; The first driving motor can drive the rotating member to rotate reciprocatingly.

[0007] In some embodiments, the first drive mechanism includes a first drive assembly, a first circulation assembly, and a first displacement assembly; The first driving assembly and the first circulation assembly are installed on the rotating member; the first driving assembly is used to drive the first circulation assembly to rotate; The first displacement assembly is mounted on the first circulation assembly, and the first circulation assembly can drive the first displacement assembly to move up and down or forward and backward relative to the main body; The second driving mechanism includes a second driving assembly, a second circulation assembly and a second displacement assembly; The second driving assembly and the second circulation assembly are installed on the main body; the second driving assembly is used to drive the second circulation assembly to rotate; The second displacement component is installed on the second circulation component, and the second circulation component can drive the second displacement component to move up and down or forward and backward relative to the main body.

[0008] In some embodiments, the first drive assembly includes a second drive motor and a first drive member; The second driving motor drives the first circulation component to rotate via the first driving member; The second drive assembly includes a third drive motor and a second drive member; The third driving motor drives the second circulation component to rotate via the second driving member; The first circulation assembly includes a first rotating wheel, a first transmission member, and a first connecting member installed on the first transmission member; The first rotating wheel drives the first transmission member to transmit; The first displacement assembly is connected to the first connecting member; The second circulation assembly includes a second rotating wheel, a second transmission member, and a second connecting member installed on the second transmission member; The second rotating wheel drives the second transmission member to transmit; The second displacement assembly is connected to the second connecting member.

[0009] In some embodiments, there are four first rotating wheels, and the four first rotating wheels make the first transmission member form an upright rectangle; There are four second rotating wheels, and the four second rotating wheels make the second transmission member form an upright rectangle; There are two first circulation components and two first displacement components, and the two first circulation components and the two first displacement components are respectively located at one of the diagonals of the main body; There are two of the second circulation components and two of the second displacement components, and the two second circulation components and the two second displacement components are respectively located at the other diagonal corner of the main body.

[0010] In some embodiments, the first adsorption assembly and the second adsorption assembly each include a power component, a negative pressure component, and a negative pressure suction cup; The power member and the negative pressure member are arranged in the corresponding first displacement assembly and the second displacement assembly, and the power member can enable the negative pressure member to perform negative pressure operation; the negative pressure member is connected to the inner side of the pressure suction cup; The power member is connected to the corresponding first circulation component or the second circulation component, and the first circulation component or the second circulation component can drive the corresponding power member to move.

[0011] In some embodiments, the power assembly includes a first rack, a gear, and a second rack; The first rack, the gear, and the second rack are all mounted on one side of the corresponding first displacement assembly or the second displacement assembly; The first rack is meshed with the gear, and the gear is meshed with the second rack; The first rack is fixed to the corresponding first connecting member or the second connecting member, and the first connecting member or the second connecting member can drive the corresponding first rack to move up and down; the first rack drives the second rack to move in the opposite direction via the gear; The negative pressure member includes a negative pressure cylinder and a pressure plate. The second rack is connected to the pressure plate, and upward movement of the second rack can form negative pressure in the negative pressure cylinder.

[0012] In some embodiments, the lower ends of one of the first displacement components and one of the second displacement components are rotatably connected to the negative pressure suction cup via a universal ball; Another first displacement assembly and another second displacement assembly are fixedly connected to the negative pressure suction cup.

[0013] In some embodiments, the robot further includes a control mechanism, which controls the start and stop of the first driving mechanism, the second driving mechanism, and the rotating mechanism respectively.

[0014] The beneficial effects of the present invention are: the first adsorption component is driven by the first driving mechanism to contact the ground and be tightly adsorbed on the ground; and the second driving mechanism drives the second adsorption component to contact the ground and be tightly adsorbed on the ground. There is no need to add an additional vacuum adsorption mechanism, and there is no need to consume additional energy, which reduces energy waste and ensures the effective time limit of battery life. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a first stereogram of the present invention; Figure 2 is a second perspective view of the present invention; Figure 3 It is a three-dimensional diagram of the present invention with the upper end of the main body removed; Figure 4 is a three-dimensional diagram of the first displacement component and the first adsorption component of the present invention; Figure 5 is a three-dimensional diagram of the second displacement component and the second adsorption component of the present invention; Figure 6 This is a perspective view of the first circulation component of the present invention; Figure 7 This is a three-dimensional schematic diagram of the first circulation component of the present invention; Figure 8 is a perspective view of the second circulation component of the present invention; Figure 9 It is a three-dimensional schematic diagram of the second circulation component of the present invention.

[0016] Reference numerals: 100, robot; 110, main body; 120, first driving mechanism; 130, second driving mechanism; 140, first adsorption component; 150, second adsorption component; 160, rotation mechanism; 170, control mechanism; 121, first drive assembly; 1211, second drive motor; 1212, first drive member; 122, first circulation assembly; 1221, first rotating wheel; 1222, first transmission member; 1223, first connecting member; 123, first displacement assembly; 124, first limiting groove; 125, first box body; 131, second drive assembly; 1311, third drive motor; 1312, second drive member; 132, second circulation assembly; 1321, second rotating wheel; 1322, second transmission member; 1323, second connecting member; 133, second displacement assembly; 134, second limiting groove; 135, second box body; 1a, power component; 1a1, first rack; 1a2, gear; 1a3, second rack; 1b, negative pressure component; 1b1, negative pressure cylinder; 1b2, pressure plate; 1c, negative pressure suction cup; 1d, universal ball; 161. First drive motor; 162. Rotating member. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0018] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0019] For the convenience of describing the first, second, and third directions in the embodiments of this application, the first direction is the left-right direction in the drawings, the second direction is the front-back direction in the drawings, and the third direction is the up-down direction in the drawings. The x-axis arrow direction is referred to as the "right" direction, the y-axis arrow direction is referred to as the "up" direction, and the z-axis arrow direction is referred to as the "back" direction in the following text. However, in the actual application of this application, this is not limiting.

[0020] like Figure 1-Figure 3 As shown, this embodiment provides a multi-directional walking robot 100, which includes a main body 110, a first driving mechanism 120, a second driving mechanism 130, a first adsorption component 140, and a second adsorption component 150. The first driving mechanism 120 is provided on the main body 110 and is used to drive the main body 110 to move forward; the second driving mechanism 130 is provided on the main body 110 and is used to drive the main body 110 to move forward; the first driving mechanism 120 and the second driving mechanism 130 work alternately and drive the main body 110 to move forward continuously; the first adsorption component 140 is provided on the first driving mechanism 120, and before the first driving mechanism 120 drives the first adsorption component 140 to contact the ground and closely adsorb to the ground; the second adsorption component 150 is provided on the second driving mechanism 130, and before the second driving mechanism 130 drives the second adsorption component 150 to contact the ground and closely adsorb to the ground. The first adsorption component 140 is driven by the first driving mechanism 120 to contact the ground and be tightly adsorbed on the ground; and the second driving mechanism 130 drives the second adsorption component 150 to contact the ground and be tightly adsorbed on the ground. No additional vacuum adsorption mechanism is required, thereby reducing waste of resources.

[0021] like Figure 3 As shown, in some embodiments, the first driving mechanism 120 includes a first driving component 121, a first circulation component 122 and a first displacement component 123; the first driving component 121 and the first circulation component 122 are installed on the rotating member 162; the first driving component 121 is used to drive the first circulation component 122 to rotate; the first displacement component 123 is installed on the first circulation component 122, and the first circulation component 122 can drive the first displacement component 123 to move up and down or forward and backward relative to the main body 110. The implementation process is as follows: the downward moving state of the first displacement component 123 is taken as the initial position. When the first driving component 121 drives the first circulation component 122 to rotate, the first circulation component 122 drives the first displacement component 123 to move downward, and the first displacement component 123 contacts the ground. After that, the first circulation component 122 continues to rotate, so that the main body 110 moves forward relative to the ground under the action of the first displacement component 123; then, the first circulation component 122 drives the first displacement component 123 to move upward, and the first displacement component 123 is separated from the ground; finally, the first displacement component 123 moves forward relative to the main body 110; until it moves to the downward moving state of the first displacement component 123; and this cycle is repeated to realize that the first displacement component 123 drives the main body 110 to move forward.

[0022] like Figure 3 As shown, in some embodiments, the second drive mechanism 130 includes a second drive component 131, a second circulation component 132 and a second displacement component 133; the second drive component 131 and the second circulation component 132 are installed on the main body 110; the second drive component 131 is used to drive the second circulation component 132 to rotate; the second displacement component 133 is installed on the second circulation component 132, and the second circulation component 132 can drive the second displacement component 133 to move up and down or forward and backward relative to the main body 110. The implementation process is as follows: the state in which the second displacement component 133 moves downward is the initial position. When the second driving component 131 drives the second circulation component 132 to rotate, the second circulation component 132 drives the second displacement component 133 to move downward, and the second displacement component 133 contacts the ground. After that, the second circulation component 132 continues to rotate, so that the main body 110 moves forward relative to the ground under the action of the second displacement component 133; then, the second circulation component 132 drives the second displacement component 133 to move upward, and the second displacement component 133 is separated from the ground; finally, the second displacement component 133 moves forward relative to the main body 110; until it moves to the state in which the second displacement component 133 moves downward; this cycle is repeated, so that the second displacement component 133 drives the main body 110 to move forward.

[0023] During the forward movement of the main body 110 , the first displacement assembly 123 and the second displacement assembly 133 are alternately brought into contact with the ground, so that the main body 110 is driven forward by the first displacement assembly 123 and the second displacement assembly 133 .

[0024] like Figure 3 as well as Figure 6-Figure 7 As shown, in some embodiments, the first drive assembly 121 includes a second drive motor 1211 and a first drive member 1212; the second drive motor 1211 drives the first circulation assembly 122 to rotate via the first drive member 1212. The first circulation assembly 122 can be circulated back and forth simply by the second drive motor 1211 driving the first drive member 1212 to rotate, which is simple to operate and convenient to use.

[0025] The first circulation assembly 122 includes a first rotating wheel 1221, a first transmission member 1222, and a first connecting member 1223 mounted on the first transmission member 1222. The first rotating wheel 1221 drives the first transmission member 1222, and the first displacement assembly 123 is fixedly connected to the first connecting member 1223. The first driving member 1212 drives the first rotating wheel 1221, which in turn drives the first displacement assembly 123 via the first connecting member 1223, achieving reciprocating movement of the first displacement assembly 123 and ensuring stable forward movement of the main body 110.

[0026] The first circulation assembly 122 further includes a first housing 125, a first rotating wheel 1221 and a first transmission member 1222 disposed within the first housing 125. A rectangular first limiting slot 124 is defined on the first housing 125, wherein the width of the four corners of the first limiting slot 124 is greater than the width of the vertical or horizontal position. A first connecting member 1223 is disposed within the first limiting slot 124. The cross-section of the portion of the first connecting member 1223 located within the first limiting slot 124 is rectangular, and the first connecting member 1223 is rotationally connected to the first transmission member 1222. When the first connecting member 1223 drives the first displacement assembly 123, the first displacement assembly 123 does not easily rotate under the action of its own weight. Furthermore, due to the rectangular cross-section of the portion of the first connecting member 1223 located within the first limiting slot 124, the first connecting member 1223 remains in the vertical or horizontal position within the first limiting slot 124 and does not rotate, thereby ensuring stable forward movement of the main body 110.

[0027] There are four first rotating wheels 1221, which form an upright rectangle with the first transmission member 1222. The four first rotating wheels 1221, along with the first transmission member 1222, move the first connecting member 1223 within the first limiting slot 124. One of the first rotating wheels 1221 is connected to the first driving member 1212, which drives the first rotating wheel 1221 to rotate.

[0028] like Figure 3 as well as Figure 8-Figure 9As shown, in some embodiments, the second drive component 131 includes a third drive motor 1311 and a second drive member 1312; the third drive motor 1311 drives the second circulation component 132 to rotate via the second drive member 1312; the second circulation component 132 can be circulated back and forth simply by driving the second drive member 1312 to rotate through the third drive motor 1311, which is simple to operate and convenient to use.

[0029] The second circulation assembly 132 includes a second rotating wheel 1321, a second transmission member 1322, and a second connecting member 1323 mounted on the second transmission member 1322. The second rotating wheel 1321 drives the second transmission member 1322, and the second displacement assembly 133 is fixedly connected to the second connecting member 1323. The second driving member 1312 drives the second rotating wheel 1321, which in turn drives the second displacement assembly 133 via the second connecting member 1323, achieving reciprocating movement of the second displacement assembly 133 and ensuring stable forward movement of the main body 110.

[0030] The second circulation assembly 132 further includes a second housing 135, a second rotating wheel 1321 and a second transmission member 1322 disposed within the second housing 135. A rectangular second limiting slot 134 is defined in the second housing 135. The width of the four corners of the second limiting slot 134 is greater than the width in the vertical or horizontal position. A second connecting member 1323 is disposed within the second limiting slot 134. The cross-section of the portion of the second connecting member 1323 located in the second limiting slot 134 is rectangular. The second connecting member 1323 is rotationally connected to the second transmission member 1322. When the second connecting member 1323 drives the second displacement assembly 133, the second displacement assembly 133 does not easily rotate under the action of its own weight. Furthermore, due to the rectangular cross-section of the portion of the second connecting member 1323 located in the second limiting slot 134, the second connecting member 1323 remains in the vertical or horizontal position in the second limiting slot 134 and does not rotate, thereby ensuring the stable advancement of the main body 110.

[0031] There are four second rotating wheels 1321, which form an upright rectangle with the second transmission member 1322. The four second rotating wheels 1321, along with the second transmission member 1322, move the second connecting member 1323 within the second limiting slot 134. One of the second rotating wheels 1321 is connected to the second driving member 1312, which drives the second rotating wheel 1321 to rotate.

[0032] Preferably, the first transmission wheel and the second transmission wheel are pulleys, and the first driving member and the second driving member are transmission belts.

[0033] Preferably, the first transmission wheel and the second transmission wheel are sprockets, and the first driving member and the second driving member are chains.

[0034] like Figure 1-Figure 3 As shown, in some embodiments, there are two first circulation assemblies 122 and two first displacement assemblies 123, and the two first circulation assemblies 122 and the two first displacement assemblies 123 are respectively located at one diagonal corner of the main body 110; and there are two second circulation assemblies 132 and two second displacement assemblies 133, and the two second circulation assemblies 132 and the two second displacement assemblies 133 are respectively located at the other diagonal corner of the main body 110. The diagonal arrangement ensures the stability of the main body 110 when the two first displacement assemblies 123 or the two second displacement assemblies 133 move, preventing the main body 110 from tilting and causing the forward path to deviate.

[0035] Optionally, the second drive motor 1211 and the third drive motor 1311 are stepper motors; the first drive member 1212 and the second drive member 1312 both include a drive wheel, a rotating shaft, and a universal joint coupling; the stepper motor drives the rotating shaft to rotate via the drive wheel, and the rotating shaft drives the corresponding first rotating wheel 1221 and second rotating wheel 1321 to rotate via the universal joint coupling.

[0036] like Figure 1-Figure 3 As shown, in some embodiments, the multi-directional walking robot 100 further includes a rotation mechanism 160, which is rotatably mounted on the main body 110. The rotation mechanism 160 is used to rotate and reverse the main body 110, the first drive mechanism 120, and the second drive mechanism 130 relative to the ground. Using the rotation mechanism 160 for direction reversal ensures that the robot 100 can move forward and turn, making it more practical and convenient.

[0037] The rotating mechanism 160 includes a first drive motor 161 and a rotating member 162. The first drive motor 161 is fixedly mounted to the main body 110, and the rotating member 162 is disposed on the main body 110. The first drive motor 161 drives the rotating member 162 to rotate back and forth. The first drive motor 161 drives the rotating member 162 to rotate, releasing the first suction assembly 140 from the ground. The rotating member 162 then drives the first drive motor 161 to rotate relative to the main body 110, causing the first suction assembly 140 to contact the ground. The rotating member 162 then drives the main body 110 to rotate around the first drive motor 161, thereby reversing the main body 110's forward direction.

[0038] Optionally, the first drive motor 161 is a three-phase asynchronous motor. The first drive motor 161 is fixed to the main body 110 , and a drive shaft of the first drive motor 161 is fixed to the rotating member 162 .

[0039] like Figure 4-Figure 5As shown, in some embodiments, the first adsorption component 140 and the second adsorption component 150 both include a power part 1a, a negative pressure part 1b and a negative pressure suction cup 1c; the power part 1a and the negative pressure part 1b are arranged in the corresponding first displacement component 123 and the second displacement component 133, and the power part 1a can enable the negative pressure part 1b to perform negative pressure operation; the negative pressure part 1b is connected to the inner side of the negative pressure suction cup 1c; the power part 1a is connected to the corresponding first circulation component 122 or the second circulation component 132, and the first circulation component 122 or the second circulation component 132 can drive the corresponding power part 1a to move. The first circulation component 122 or the second circulation component 132 is used to drive the corresponding power part 1a to move, and the power part 1a can make the negative pressure suction cup 1c perform negative pressure operation through the negative pressure component 1b; that is, it is only necessary to make the first driving mechanism 120 and the second driving mechanism 130 work, and the corresponding first circulation component 122 or the second circulation component 132 can directly drive the corresponding first adsorption component 140 and the second adsorption component 150 to perform negative pressure operation, without the need for additional vacuum adsorption mechanism, and without the need to increase additional energy consumption.

[0040] like Figure 4-Figure 5 As shown, in some embodiments, the power assembly includes a first rack 1a1, a gear 1a2, and a second rack 1a3; the first rack 1a1, the gear 1a2, and the second rack 1a3 are all installed on one side of the corresponding first displacement assembly 123 or the second displacement assembly 133; the first rack 1a1 is meshed with the gear 1a2, and the gear 1a2 is meshed with the second rack 1a3; the first rack 1a1 is fixed to the corresponding first connecting member 1223 or the second connecting member 1323, respectively, and the first connecting member 1223 or the second connecting member 1323 can drive the corresponding first rack 1a1 to move up and down; the first rack 1a1 drives the second rack 1a3 to move in the opposite direction via the gear 1a2; the negative pressure member 1b includes a negative pressure cylinder 1b1 and a pressure plate 1b2, the second rack 1a3 is connected to the pressure plate 1b2, and the upward movement of the second rack 1a3 can form a negative pressure in the negative pressure cylinder 1b1. When the corresponding first rack 1a1 is driven downward by the first connecting member 1223 or the second connecting member 1323 , negative pressure is formed in the negative pressure suction cup 1c in contact with the ground, thereby ensuring the stable forward movement of the main body 110 .

[0041] Optionally, the negative pressure suction cup 1c is made of non-elastic material.

[0042] Optionally, the negative pressure suction cup 1c is made of metal or non-metal material.

[0043] Preferably, the metal material is stainless steel.

[0044] Preferably, the non-metallic material is hard plastic such as PVC.

[0045] like Figure 4-Figure 5As shown, in some embodiments, an elastic layer is provided on the side of the negative pressure suction cup 1c close to the ground. Through the arrangement of the elastic layer, the negative pressure suction cup 1c can be in good contact with the ground, ensuring the stability of the negative pressure suction cup 1c adsorbing the ground.

[0046] Preferably, the elastic layer is a rubber layer.

[0047] like Figure 4-Figure 5 As shown, in some embodiments, the lower ends of one first displacement assembly 123 and one second displacement assembly 133 are rotatably connected to the negative pressure suction cup 1c via a universal ball 1d; another first displacement assembly 123 and another second displacement assembly 133 are fixedly connected to the negative pressure suction cup 1c. By fixing the negative pressure suction cup 1c to the corresponding first displacement assembly 123 and second displacement assembly 133 or connecting them with the universal ball 1d, the forward stability of the main body 110 is ensured, and the negative pressure suction cup 1c can still maintain a close contact with the ground during movement from a flat surface to a slope, preventing the negative pressure suction cup 1c from having a loose grip.

[0048] The robot 100 further includes a control mechanism 170 that controls the start and stop of the first drive mechanism 120, the second drive mechanism 130, and the rotation mechanism 160. Specifically, the control mechanism 170 controls the rotation of the first drive motor 161, the second drive motor 1211, and the third drive motor 1311.

[0049] When the robot 100 needs to move forward, the first drive motor 161 stops operating, the second drive motor 1211 and the third drive motor 1311 operate simultaneously, and when the first connecting member 1223 is located in the horizontal position below the first limiting slot 124, the second connecting member 1323 is located in the horizontal position above the second limiting slot 134; similarly, when the first connecting member 1223 is located in the horizontal position above the first limiting slot 124, the second connecting member 1323 is located in the horizontal position below the second limiting slot 134; similarly, when the first connecting member 1223 is located in the vertical position of the first limiting slot 124 moving downward, the second connecting member 1323 is located in the vertical position of the second limiting slot 134 moving upward; similarly, when the first connecting member 1223 is located in the vertical position of the first limiting slot 124 moving upward, the second connecting member 1323 is located in the vertical position of the second limiting slot 134 moving downward, and this reciprocating cycle alternately completes the movement of the robot 100 forward.

[0050] During the forward movement of the robot 100, when the first connecting member 1223 moves downward along the first limiting groove 124, the first connecting member 1223 first drives the first displacement assembly 123 to move downward via the first rack 1a1. When the negative pressure suction cup 1c contacts the ground, the first displacement assembly 123 stops moving downward. Thereafter, the first connecting member 1223 continues to move downward along the first limiting groove 124. Under the action of the weight of the main body 110, the first rack 1a1 is pushed to move downward relative to the first displacement assembly 123. The first rack 1a1 drives the pressure plate 1b2 to move upward via the gear 1a2 and the second rack 1a3, so that negative pressure is formed in the negative pressure cylinder 1b1, and then negative pressure is formed in the negative pressure suction cup 1c. While the first connecting member 1223 moves downward along the first limiting groove 124, the second connecting member 1323 moves upward along the second limiting groove 134. Under the deadweight of the second displacement assembly 133 and the negative pressure of the corresponding negative pressure suction cup 1c, the second connecting member 1323 first drives the first rack 1a1 to move upward relative to the second displacement assembly 133. The first rack 1a1 drives the corresponding pressure plate 1b2 downward through the gear 1a2 and the second rack 1a3, so that the negative pressure state of the corresponding negative pressure suction cup 1c is released. After the first rack 1a1 stops moving relative to the second displacement assembly 133, the first rack 1a1 drives the second displacement assembly 133 to move upward, so that the corresponding negative pressure suction cup 1c is separated from the ground.

[0051] Similarly, when the second connecting member 1323 moves downward, the corresponding negative pressure suction cup 1c forms a negative pressure with the ground. At the same time, the first connecting member 1223 moves upward, and the corresponding negative pressure suction cup 1c is separated from the ground.

[0052] When the robot 100 stops moving, to ensure the robot's stability, the control mechanism 170 controls the first and second connectors 1223 and 1323 to move downward, respectively, and causes the corresponding negative pressure suction cups 1c to be tightly attached to the ground. When the robot 100 is to be moved again, it only needs to return to the forward state.

[0053] When the robot 100 needs to perform industrial inspection and maintenance, the equipment for inspection or maintenance can be installed on the mounting frame on the main body 110 and fixed with fixing bolts to perform inspection and maintenance operations.

[0054] The mounting frame on the main body 110 can also fix the box body, so that industrial equipment can be transported to reduce the burden on workers.

[0055] In summary, the present invention provides a multi-directional walking robot, which drives the first adsorption component to contact the ground and be tightly adsorbed on the ground through the first driving mechanism; and the second driving mechanism drives the second adsorption component to contact the ground and be tightly adsorbed on the ground. There is no need to add an additional vacuum adsorption mechanism, and there is no need to consume additional energy, which reduces energy waste and ensures the effective time limit of battery life.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-directional walking robot, characterized in that: include: main body; A first driving mechanism, provided on the main body, for driving the main body to move forward; a second driving mechanism, provided on the main body, for driving the main body to move forward; The first driving mechanism and the second driving mechanism work alternately and drive the main body to move forward continuously; a first adsorption component, provided on the first driving mechanism, and before the first driving mechanism drives the main body to move forward, the first driving mechanism drives the first adsorption component to contact the ground and be tightly adsorbed to the ground; The second adsorption component is provided on the second driving mechanism. Before the second driving mechanism drives the main body to move forward, the second driving mechanism drives the second adsorption component to contact the ground and be tightly adsorbed on the ground.

2. A multi-directional walking robot according to claim 1, characterized in that: The robot further comprises a rotating mechanism, which is rotatably mounted in the main body and is used to cause the main body, the first driving mechanism and the second driving mechanism to rotate and reverse relative to the ground.

3. A multi-directional walking robot according to claim 2, characterized in that: The rotating mechanism includes a first driving motor and a rotating member; The first driving motor is fixedly mounted on the main body, and the rotating member is horizontally arranged on the main body; The first driving motor can drive the rotating member to rotate reciprocatingly.

4. A multi-directional walking robot according to claim 3, characterized in that: The first driving mechanism includes a first driving assembly, a first circulation assembly and a first displacement assembly; The first driving assembly and the first circulation assembly are mounted on the rotating member; the first driving assembly is used to drive the first circulation assembly to rotate; The first displacement assembly is mounted on the first circulation assembly, and the first circulation assembly can drive the first displacement assembly to move up and down or forward and backward relative to the main body; The second driving mechanism includes a second driving assembly, a second circulation assembly and a second displacement assembly; The second driving assembly and the second circulation assembly are mounted on the main body; The second driving assembly is used to drive the second circulation assembly to rotate; The second displacement assembly is installed on the second circulation assembly, and the second circulation assembly can drive the second displacement assembly to move up and down or forward and backward relative to the main body.

5. The multi-directional walking robot according to claim 4, characterized in that: The first drive assembly includes a second drive motor and a first drive member; The second driving motor drives the first circulation component to rotate via the first driving member; The second drive assembly includes a third drive motor and a second drive member; The third driving motor drives the second circulation component to rotate via the second driving member; The first circulation assembly includes a first rotating wheel, a first transmission member, and a first connecting member installed on the first transmission member; The first rotating wheel drives the first transmission member to transmit; The first displacement assembly is connected to the first connecting member; The second circulation assembly includes a second rotating wheel, a second transmission member, and a second connecting member installed on the second transmission member; The second rotating wheel drives the second transmission member to transmit; The second displacement assembly is connected to the second connecting member.

6. The multi-directional walking robot according to claim 5, characterized in that: There are four first rotating wheels, and the four first rotating wheels make the first transmission member form an upright rectangle; There are four second rotating wheels, and the four second rotating wheels make the second transmission member form an upright rectangle; There are two first circulation components and two first displacement components, and the two first circulation components and the two first displacement components are respectively located at one of the diagonals of the main body; There are two of the second circulation components and two of the second displacement components, and the two second circulation components and the two second displacement components are respectively located at the other diagonal corner of the main body.

7. The multi-directional walking robot according to claim 4, characterized in that: The first adsorption component and the second adsorption component both include a power component, a negative pressure component and a negative pressure suction cup; The power member and the negative pressure member are provided in the corresponding first displacement assembly and the second displacement assembly, and the power member can enable the negative pressure member to perform negative pressure operation; The negative pressure member is in communication with the inner side of the pressure suction cup; The power member is connected to the corresponding first circulation component or the second circulation component, and the first circulation component or the second circulation component can drive the corresponding power member to move.

8. The multi-directional walking robot according to claim 7, characterized in that: The power assembly includes a first rack, a gear, and a second rack; The first rack, the gear, and the second rack are all mounted on one side of the corresponding first displacement assembly or the second displacement assembly; The first rack is meshed with the gear, and the gear is meshed with the second rack; The first rack is fixed to the corresponding first connecting member or the second connecting member, and the first connecting member or the second connecting member can drive the corresponding first rack to move up and down; the first rack drives the second rack to move in the opposite direction via the gear; The negative pressure member includes a negative pressure cylinder and a pressure plate. The second rack is connected to the pressure plate, and upward movement of the second rack can form negative pressure in the negative pressure cylinder.

9. The multi-directional walking robot according to claim 7, characterized in that: The lower ends of one of the first displacement components and one of the second displacement components are rotatably connected to the negative pressure suction cup via a universal ball; Another first displacement assembly and another second displacement assembly are fixedly connected to the negative pressure suction cup.

10. The multi-directional walking robot according to claim 2, characterized in that: The robot further includes a control mechanism, which controls the start and stop of the first driving mechanism, the second driving mechanism and the rotating mechanism respectively.

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