Rolling suction cup robot

Abstract

The invention discloses a rolling sucker robot in the technical field of wall-climbing robots, which comprises a spherical shell, a rolling support structure is arranged in the spherical shell, the rolling support structure is connected with an eccentric driving mechanism through a connecting structure, the eccentric driving mechanism is provided with an eccentric swing mechanism in a matched manner, and the swing mechanism is provided with an adsorption mechanism in a matched manner. And the adsorption mechanism and the eccentric driving mechanism are matched with a control module. The strength of the spherical shell is increased through the rolling supporting structure, and the eccentric driving mechanism drives the eccentric swing mechanism to act, so that the gravity center of the whole system is changed, the spherical shell rolls on the ground, and autonomous movement of the robot in any direction is achieved; and meanwhile, the adsorption mechanism can enable the spherical shell to generate effective adsorption force on the corresponding position of the rolling wall surface of the spherical shell, so that stable adsorption on the wall surface is realized. The requirements of the two aspects of motion performance and site requirements can be met, and flexible motion of the spherical robot on a complex site is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of rolling suction disc robot in wall-climbing robot technical field. BACKGROUND

[0002] Spherical robot often adopts magnetic adsorption type, its movement speed is fast, steering flexibility, but requires the walking surface to be adsorbed with magnetic adsorption and planar, this makes its adaptability and obstacle-crossing ability are very weak.And tracked robot uses vacuum adsorption mode, its movement is stable, contact area is large, load is large, and obstacle-crossing ability is stronger, but its steering flexibility is poor, control and structure are relatively complex, and require walking on plane.So, these wall-climbing robots cannot be considered in two aspects of movement performance and site requirement. SUMMARY

[0003] The purpose of the present application is to provide a kind of rolling suction disc robot, can have the demand of two aspects of movement performance and site requirement, realize the flexible movement of spherical robot on complex site.

[0004] To achieve the above object, the present application provides a kind of rolling suction disc robot, including spherical shell, spherical shell is provided with rolling support structure, rolling support structure is connected with eccentric drive mechanism through connecting structure, eccentric drive mechanism is equipped with eccentric swing mechanism, swing mechanism is equipped with adsorption mechanism, adsorption mechanism and eccentric drive mechanism are equipped with control module.

[0005] Compared with prior art, the beneficial effects of the present application are that the strength of spherical shell is increased by rolling support structure, eccentric drive mechanism drives eccentric swing mechanism to act, so as to change the overall system gravity center, make spherical shell produce rolling on ground, realize the autonomous movement of robot in any direction, and at the same time, adsorption mechanism can make spherical shell produce effective adsorption force on the corresponding position of wall surface rolled by it, so as to realize the stable adhesion adsorption on the surface to be avoided.It can have the demand of two aspects of movement performance and site requirement, realize the flexible movement of spherical robot on complex site.

[0006] As a further improvement of the present application, the rolling support mechanism includes a pair of identical support rings, the support rings are concentrically arranged and connected perpendicularly to each other, and the outer surface of the support ring is fixedly connected with the inner surface of the spherical shell.

[0007] In this way, the support rings can effectively support the spherical shell after being perpendicularly crossed, increasing the structural strength of the spherical shell.

[0008] As a further improvement of the application, the eccentric driving mechanism comprises a cross-shaped mounting frame, an upper driving motor and an upper driving shaft are respectively arranged on a set of symmetrical mounting ends of the cross-shaped mounting frame, the end of the upper driving shaft and the output end of the upper driving motor are respectively fixedly connected with two ends of the upper arc-shaped guide rail, a lower driving motor and a lower driving shaft are respectively arranged on another set of symmetrical mounting ends of the cross-shaped mounting frame, the end of the lower driving shaft and the output end of the lower driving motor are respectively fixedly connected with two ends of the lower arc-shaped guide rail, a guide groove is opened in the middle part of the upper arc-shaped guide rail and the lower arc-shaped guide rail, and the bottom of the upper arc-shaped guide rail is directly above the bottom of the lower arc-shaped guide rail and a gap is left between the two.

[0009] In this way, through the two sets of driving motors and driving shafts, the two sets of arc-shaped guide rails are respectively swung, so as to drive the eccentric swinging mechanism to swing in the spherical shell, and the rolling of the spherical shell is realized.

[0010] As a further improvement of the application, the eccentric swinging mechanism comprises a swinging arm, a rolling ball is arranged at the upper end of the swinging arm, the rolling ball is sleeved in a universal ring, four L-shaped fixing rods are symmetrically arranged on the outer periphery of the universal ring, the ends of the fixing rods are fixedly connected with the bottom of the cross-shaped mounting frame, and the lower end of the swinging arm passes through the guide grooves of the upper arc-shaped guide rail and the lower arc-shaped guide rail and is provided with a hammer head.

[0011] In this way, the driving motor is rotated to drive the corresponding arc-shaped guide rail to swing, since the swinging arm is clamped in the guide grooves of the two arc-shaped guide rails, the swinging arm and the hammer head are pushed by the arc-shaped guide rail to swing along the guide groove of the other arc-shaped guide rail, so as to change the center of gravity of the whole spherical robot, so that the spherical shell rolls on the wall surface; if the two driving motors are simultaneously rotated, the swinging arm and the hammer head are obliquely swung, so that the spherical shell can change the direction to move autonomously.

[0012] As a further improvement of the application, the connecting structure comprises a pair of bearings which are respectively arranged at the two joints of the supporting ring and are fixedly connected with the inner wall of the spherical shell, each bearing is matched with a shaft cylinder, one end of the shaft cylinder is inserted into the bearing, and the other end is fixedly connected with the outer side of the mounting end of the cross-shaped mounting frame, one of the shaft cylinders is sleeved on the part of the lower driving motor which is on the outer side of the mounting end of the cross-shaped mounting frame, and the other shaft cylinder is sleeved on the part of the lower driving shaft which is on the outer side of the mounting end of the cross-shaped mounting frame.

[0013] In this way, when the spherical shell rolls, the supporting ring moves synchronously with the spherical shell, so that the bearings also synchronously rotate, but the shaft cylinders do not rotate, so that the eccentric driving mechanism and the eccentric swinging mechanism always remain stationary as a whole.

[0014] As a further improvement of the present application, the adsorption mechanism comprises a plurality of vacuum suction cups uniformly distributed on the outer surface of the spherical shell, each vacuum suction cup is connected with a flexible air duct, the flexible air duct is connected to the air source module along the inner wall of the spherical shell, and the air source module is arranged at the bottom of the cross-shaped mounting frame.

[0015] In this way, when the eccentric swing mechanism controls the movement of the ball, the control module automatically determines the suction cup number closest to the contact surface according to the mapping relationship between the current hammer head angle and the vacuum suction cup coordinates, and activates the air path corresponding to the suction cup, so that the air source module evacuates the vacuum suction cup, and the vacuum suction cup is sucked to the wall surface.

[0016] As a further improvement of the present application, the control module is installed at the bottom of the cross-shaped mounting frame.

[0017] In this way, the control module is in the middle part of the spherical robot, which can better maintain the stable center of gravity of the spherical robot, and is more convenient for wiring with the motor and the air source module.

[0018] As a further improvement of the present application, the guide block is sleeved on the swing arm and is located between the upper arc-shaped guide rail and the lower arc-shaped guide rail.

[0019] In this way, the guide block is located between the two arc-shaped guide rails and has a small gap between them, which can always swing along the guide groove when the arc-shaped guide rail drives the swing arm and the hammer head to eccentric swing, ensuring the accuracy of the direction, and also enabling the swing arm to have a large displacement fluctuation in the vertical direction.

[0020] As a further improvement of the present application, the upper driving motor and the lower driving motor are provided with an absolute value encoder.

[0021] In this way, the encoder can measure the angle and direction of the eccentric swing in real time to accurately determine the eccentric position relative to the spherical shell coordinates.

[0022] As a further improvement of the present application, the counterweight is arranged on the inner wall of the shaft cylinder of the upper driving shaft and the lower driving shaft.

[0023] In this way, the weight distribution of the four mounting ends of the mounting frame can be balanced, the stability of the center of gravity of the spherical robot is improved, and the stability of the spherical robot during rolling is improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0025] Figure 2 It is a schematic diagram of the internal structure of the present application.

[0026] Figure 3 It is a schematic diagram of the eccentric driving mechanism and the eccentric swing mechanism of the present application.

[0027] Figure 4 Schematic diagram of the eccentric drive mechanism without the shaft cylinder Figure 1 .

[0028] Figure 5 Schematic diagram of the eccentric drive mechanism without the shaft cylinder Figure 2 .

[0029] The components include: 1. Spherical shell; 2. Vacuum suction cup; 3. Bearing; 4. Support ring; 5. Shaft cylinder; 6. Cross-shaped mounting bracket; 7. Hammer head; 8. Lower arc-shaped guide rail; 9. Upper arc-shaped guide rail; 10. L-shaped fixing rod; 11. Upper drive shaft; 12. Lower drive shaft; 13. Lower drive motor; 14. Guide groove; 15. Swing arm; 16. Upper drive motor; 17. Rolling ball; 18. Air source module; 19. Control module; 20. Universal ring. Detailed Implementation

[0030] The present invention will be further described below with reference to the accompanying drawings: like Figures 1-5 The illustrated rolling suction cup robot includes a spherical shell 1, within which a rolling support structure is disposed. The rolling support structure is connected to an eccentric drive mechanism via a connecting structure. The eccentric drive mechanism is equipped with an eccentric swing mechanism, and the swing mechanism is equipped with an adsorption mechanism. The adsorption mechanism and the eccentric drive mechanism are equipped with a control module 19. The rolling support mechanism includes a pair of identical support rings 4, which are concentrically arranged and perpendicularly connected to each other. The outer surface of the support rings 4 is fixedly connected to the inner surface of the spherical shell 1.

[0031] The eccentric drive mechanism includes a cross-shaped mounting bracket 6. An upper drive motor 16 and an upper drive shaft 11 are respectively installed on a set of symmetrical mounting ends of the cross-shaped mounting bracket 6. The end of the upper drive shaft 11 and the output end of the upper drive motor 16 are respectively fixedly connected to the two ends of the upper arc-shaped guide rail 9. A lower drive motor 13 and a lower drive shaft 12 are respectively installed on another set of symmetrical mounting ends of the cross-shaped mounting bracket 6. The end of the lower drive shaft 12 and the output end of the lower drive motor 13 are respectively fixedly connected to the two ends of the lower arc-shaped guide rail 8. A guide groove 14 is opened in the middle part of the upper arc-shaped guide rail 9 and the lower arc-shaped guide rail 8. The bottom of the upper arc-shaped guide rail 9 is directly above the bottom of the lower arc-shaped guide rail 8 and there is a gap between them.

[0032] The eccentric swing mechanism includes a swing arm 15, with a ball bearing 17 at the upper end of the swing arm 15. The ball bearing 17 is fitted in a universal ring 20. Four L-shaped fixing rods 10 are symmetrically arranged on the outer periphery of the universal ring 20. The ends of the fixing rods are fixedly connected to the bottom of the cross-shaped mounting bracket 6. The lower end of the swing arm 15 passes through the guide grooves 14 of the upper arc-shaped guide rail 9 and the lower arc-shaped guide rail 8 and is provided with a hammer head 7.

[0033] The connecting structure comprises a pair of bearings 3 arranged at two junctions of the supporting annular rings 4 and fixedly connected with the inner wall of the spherical shell 1, each bearing 3 is matched with a shaft cylinder 5, one end of the shaft cylinder 5 is inserted into the bearing 3, and the other end is fixedly connected with the outer side of the mounting end of the cross-shaped mounting frame 6, one of the shaft cylinders 5 is sleeved on the part of the lower driving motor 13 at the outer side of the mounting end of the cross-shaped mounting frame 6, and the other shaft cylinder 5 is sleeved on the part of the lower driving shaft 12 at the outer side of the mounting end of the cross-shaped mounting frame 6.

[0034] The adsorbing mechanism comprises a plurality of vacuum adsorbers 2 uniformly distributed on the outer surface of the spherical shell 1, each vacuum adsorber 2 is connected with a flexible air guide pipe, the flexible air guide pipe is connected to the air source module 18 along the inner wall of the spherical shell 1, and the air source module 18 is arranged at the bottom of the cross-shaped mounting frame 6.

[0035] The control module 19 is mounted at the bottom of the cross-shaped mounting frame 6. The swing arm 15 is sleeved with a guide block between the upper arc-shaped guide rail 9 and the lower arc-shaped guide rail 8. The upper driving motor 16 and the lower driving motor 13 are matched with absolute value encoders. The inner wall of the shaft cylinder 5 matched with the bearing 3 of the upper driving shaft 11 and the lower driving shaft 12 is provided with a counterweight.

[0036] In the application, the cross-shaped mounting frame 6 is located at the center position in the spherical shell 1, the upper driving motor 16 and the upper driving shaft 11 are respectively mounted on a group of symmetrical mounting ends of the cross-shaped mounting frame 6, the lower driving motor 13 and the lower driving shaft 12 are respectively mounted on a group of symmetrical mounting ends of the cross-shaped mounting frame 6, and the end of the upper driving shaft 11 and the output end of the upper driving motor 16 are respectively fixedly connected with two ends of the upper arc-shaped guide rail 9, and the end of the lower driving shaft 12 and the output end of the lower driving motor 13 are respectively fixedly connected with two ends of the lower arc-shaped guide rail 8.

[0037] The swing arm 15 and the hammer head 7 constitute a pendulum, the top of the swing arm is provided with a rolling ball 17, the rolling ball 17 is sleeved in a universal ring 20, four L-shaped fixing rods 10 are symmetrically arranged on the outer periphery of the universal ring 20, the ends of the fixing rods are fixedly connected with the bottom of the cross-shaped mounting frame 6, the lower end of the swing arm 15 penetrates through the guide groove 14 of the upper arc-shaped guide rail 9 and the lower arc-shaped guide rail 8, and the guide block is sleeved on the swing arm 15 at the position between the upper arc-shaped guide rail 9 and the lower arc-shaped guide rail 8.

[0038] A pair of supporting annular rings 4 with the same size are arranged on the inner wall of the spherical shell 1, the supporting annular rings 4 are concentrically arranged and perpendicularly intersected with each other, and one bearing 3 is arranged at each junction of the supporting annular rings 4 and matched with the shaft cylinder 5, when the spherical shell 1 rolls along the wall surface, the supporting annular rings 4 roll synchronously with the bearings 3, and the shaft cylinders 5 remain unchanged.

[0039] One shaft cylinder 5 encloses the main body of the lower drive motor 13 (or the upper drive motor 16) and is fixedly connected to the outer side of the corresponding mounting end of the cross-shaped mounting bracket 6. The other shaft cylinder 5 encloses the main body of the lower drive shaft 12 (or the upper drive shaft 11) and is fixedly connected to the outer side of the corresponding mounting end of the cross-shaped mounting bracket 6.

[0040] Multiple vacuum suction cups 2 are evenly distributed on the outer surface of the spherical shell 1. Each suction cup is connected to the gas source module 18, which is a multi-channel micro-solenoid valve array. The distribution of the vacuum suction cups 2 covers multiple directions on the spherical surface, thereby achieving omnidirectional adhesion capability. The gas source module 18 and the control module 19 are both mounted on the bottom of the cross-shaped mounting bracket 6.

[0041] The eccentric pendulum driving principle of this invention is as follows: The lower end of the pendulum arm 15 passes through two perpendicularly intersecting arc-shaped guide rails and fixes the hammer head 7. The two arc-shaped guide rails respectively control the center of gravity shift of the spherical shell 1 in the front-back direction and the left-right direction. This structure allows the pendulum to achieve a two-dimensional spherical trajectory shift inside the spherical shell 1.

[0042] Two independent motors (upper drive motor 16 and lower drive motor 13) are connected to corresponding arc-shaped guide rails (upper arc-shaped guide rail 9 and lower arc-shaped guide rail 8). The rotation of the motors causes the corresponding arc-shaped rails to swing, and the swing arm 15 is located in the guide groove 14 of the two arc-shaped guide rails, thus being controlled by the arc-shaped guide rails to perform a two-dimensional oscillating motion within the spherical shell 1. This motion changes the center of gravity of the overall spherical robot, causing the spherical shell 1 to roll on the wall surface, realizing the robot's autonomous movement in any direction.

[0043] Pose awareness: The drive motor is equipped with an absolute encoder to measure the pendulum's yaw angle and direction in real time, so as to accurately determine its eccentric position relative to the spherical shell in coordinate 1.

[0044] Control logic for vacuum adsorption: When the eccentric pendulum controls the movement of the spherical shell 1, the control module 19 automatically determines the number of the suction cup closest to the contact surface based on the mapping relationship between the current pendulum angle and the coordinates of the suction cups on the spherical shell 1, and activates the air path corresponding to that vacuum suction cup 2.

[0045] Control method: The control module 19 sends a drive signal to the air source module 18 (multi-channel micro electromagnetic valve array and micro vacuum pump) to control the opening of the air path of the corresponding vacuum suction cup 2. After the negative pressure is formed, an effective adsorption force is generated at the corresponding position, so as to realize the stable attachment of the spherical robot on the wall surface.

[0046] When the eccentric pendulum drives the spherical shell 1 to move, the control module 19 relies on the installed IMU inertial sensor (installed at the bottom of the cross-shaped mounting bracket 6) to collect the overall motion posture of the robot in real time, and obtains the pendulum angle signal through the encoder. On this basis, the control module 19 converts the current pendulum angle into the prediction result of the contact position of the spherical shell and the environment by using the pre-established pendulum angle-spherical shell outer surface suction cup coordinate mapping model. When the controller detects that the pendulum arm 15 axis is perpendicular to the bottom of the suction surface of the ball wheel, the corresponding IO point is triggered, the related excitation coil of the multi-channel micro electromagnetic valve array is energized, and then the vacuum suction cup 2 corresponding to the position is activated, and precise suction is realized.

[0047] The working process of the spherical robot will be described in detail below: Only when the upper driving motor 16 works and the lower driving motor 13 does not work, the upper driving motor 16 rotates an angle θ, so that the upper arc-shaped guide rail 9 swings in one direction along the track of the lower arc-shaped guide rail 8, so that the pendulum arm 15 is also driven by the upper arc-shaped guide rail 9 to swing along the guide groove 14 of the lower arc-shaped guide rail 8, so that the hammer head 7 swings to the required angle, so that the whole robot center of gravity is offset, thereby driving the robot to roll on the wall surface. The vacuum suction cup 2 on the part of the spherical shell 1 of the robot in contact with the wall surface will be perpendicular to the axis of the pendulum arm 15 of the pendulum, and the control module 19 will open the related excitation coil of the multi-channel micro electromagnetic valve array corresponding to the vacuum suction cup 2, and then activate the vacuum suction cup 2, so that the robot can be adsorbed on the wall surface. In the rolling process, as long as the vacuum suction cup 2 on the part perpendicular to the axis of the pendulum arm 15 of the pendulum is activated by the control module 19 once it is predicted to avoid contact, the robot can continue to be adsorbed on the wall surface during the rolling process. When it is necessary to stop, the upper driving motor 16 reverses the same angle, drives the pendulum to return to the original position, and the vacuum suction cup 2 opposite to the pendulum is activated, so that the robot can continue to be adsorbed on the wall surface when it is stopped and will not fall off.

[0048] Only when the lower driving motor 13 works and the upper driving motor 16 does not work, the lower driving motor 13 rotates an angle θ, so that the lower arc-shaped guide rail 8 swings along the track of the upper arc-shaped guide rail 9 in a direction, so that the swing arm 15 is also swung along the guide groove 14 of the upper arc-shaped guide rail 9 by the lower arc-shaped guide rail 8, so that the hammer head 7 swings to the required angle, so that the whole robot center of gravity is offset, thereby driving the robot to roll on the wall surface, the vacuum suction cup 2 on the part of the spherical shell 1 of the robot in contact with the wall surface intersects the axis of the swing arm 15 of the pendulum perpendicularly, and the control module 19 opens the relevant excitation coil of the multi-channel micro electromagnetic valve array corresponding to the vacuum suction cup 2, thereby activating the vacuum suction cup 2, so that the robot can be adsorbed on the wall surface, and in the rolling process, as long as the vacuum suction cup 2 on the part intersecting the axis of the swing arm 15 of the pendulum perpendicularly is activated by the control module 19 when it is predicted to avoid contact, thereby ensuring that the robot can continuously be in the adsorbed state with the wall surface in the rolling process. When it is needed to stop, the lower driving motor 13 reversely rotates the same angle, drives the pendulum to return to the original position, and at this time, the vacuum suction cup 2 opposite to the pendulum is activated, so that the robot can also be adsorbed on the wall surface when it stops and will not fall off.

[0049] When the upper driving motor 16 and the lower driving motor 13 work simultaneously, the lower driving motor 13 rotates an angle θ1 while the upper driving motor 16 also deflects an angle θ2, so that the lower arc-shaped guide rail 8 swings along the track of the upper arc-shaped guide rail 9 in a direction while the upper arc-shaped guide rail 9 swings along the track of the lower arc-shaped guide rail 8 in a direction, so that the swing arm 15 is also swung along the guide groove 14 of the upper arc-shaped guide rail 9 and the lower arc-shaped guide rail 8 by the lower arc-shaped guide rail 8 and the upper arc-shaped guide rail 9, so that the hammer head 7 swings to the required angle, so that the whole robot center of gravity is offset, thereby driving the robot to roll on the wall surface, the vacuum suction cup 2 on the part of the spherical shell 1 of the robot in contact with the wall surface intersects the axis of the swing arm 15 of the pendulum perpendicularly, and the control module 19 opens the relevant excitation coil of the multi-channel micro electromagnetic valve array corresponding to the vacuum suction cup 2, thereby activating the vacuum suction cup 2, so that the robot can be adsorbed on the wall surface, and in the rolling process, as long as the vacuum suction cup 2 on the part intersecting the axis of the swing arm 15 of the pendulum perpendicularly is activated by the control module 19 when it is predicted to avoid contact, thereby ensuring that the robot can continuously be in the adsorbed state with the wall surface in the rolling process. When it is needed to stop, the lower driving motor 13 and the upper driving motor 16 reversely rotate θ1 and θ2 respectively, drive the pendulum to return to the original position, and at this time, the vacuum suction cup 2 opposite to the pendulum is activated, so that the robot can also be adsorbed on the wall surface when it stops and will not fall off.

[0050] The above three control modes can realize the movement of the robot in any direction.

[0051] The present application generates offset motion by motor driving a pendulum, realizes spherical robot driving, and realizes negative pressure adsorption adhesion by vacuum chuck 2. Two arc-shaped guide rails coupled motion generates spherical motion to drive pendulum motion, the motion of the pendulum generates gravity center offset to drive spherical motion. The position of the pendulum can be obtained by the installed encoder. By judging the position of the vacuum chuck 2 corresponding to the pendulum, the vacuum chuck 2 is vacuumized to be adsorbed on the wall surface. It can meet the needs of both motion performance and site requirements, and realize flexible motion of the spherical robot on the complex site.

[0052] The present application is not limited to the above-mentioned embodiments, on the basis of the technical solutions of the present disclosure, those skilled in the art can make some substitutions and deformations to some technical features according to the disclosed technical content without creative labor, and these substitutions and deformations are all within the protection scope of the present application.

Claims

1. A rolling suction cup robot, comprising a spherical shell, characterized in that: The spherical shell contains a rolling support structure, which is connected to the eccentric drive mechanism via a connecting structure. The eccentric drive mechanism is equipped with an eccentric swing mechanism, which is equipped with an adsorption mechanism. The adsorption mechanism and the eccentric drive mechanism are equipped with a control module.

2. The rolling suction cup robot according to claim 1, characterized in that: The rolling support mechanism includes a pair of support rings of the same size, which are concentrically arranged and perpendicularly connected to each other. The outer surface of the support rings is fixedly connected to the inner surface of the spherical shell.

3. A rolling suction cup robot according to claim 2, characterized in that: The eccentric drive mechanism includes a cross-shaped mounting bracket. An upper drive motor and an upper drive shaft are respectively installed on a set of symmetrical mounting ends of the cross-shaped mounting bracket. The end of the upper drive shaft and the output end of the upper drive motor are respectively fixedly connected to the two ends of the upper arc-shaped guide rail. A lower drive motor and a lower drive shaft are respectively installed on the other set of symmetrical mounting ends of the cross-shaped mounting bracket. The end of the lower drive shaft and the output end of the lower drive motor are respectively fixedly connected to the two ends of the lower arc-shaped guide rail. A guide groove is opened in the middle part of the upper arc-shaped guide rail and the lower arc-shaped guide rail. The bottom of the upper arc-shaped guide rail is directly above the bottom of the lower arc-shaped guide rail and there is a gap between the two.

4. A rolling suction cup robot according to claim 3, characterized in that: The eccentric swing mechanism includes a swing arm, with a ball at the upper end of the swing arm. The ball is fitted in a universal ring. Four L-shaped fixing rods are symmetrically arranged on the outer periphery of the universal ring. The ends of the fixing rods are fixedly connected to the bottom of the cross-shaped mounting bracket. The lower end of the swing arm passes through the guide grooves of the upper and lower arc-shaped guide rails and is equipped with a hammer.

5. A rolling suction cup robot according to claim 4, characterized in that: The connecting structure includes a pair of bearings, which are respectively set at the two junctions of the supporting ring and fixedly connected to the inner wall of the spherical shell. Each bearing is equipped with a shaft sleeve, one end of which is inserted into the bearing and the other end is fixedly connected to the outer side of the mounting end of the cross-shaped mounting bracket. One shaft sleeve is fitted on the part of the lower drive motor located on the outer side of the mounting end of the cross-shaped mounting bracket, and the other shaft sleeve is fitted on the part of the lower drive shaft located on the outer side of the mounting end of the cross-shaped mounting bracket.

6. A rolling suction cup robot according to claim 5, characterized in that: The adsorption mechanism includes several vacuum suction cups evenly distributed on the outer surface of the spherical shell. Each vacuum suction cup is connected to a flexible air guide tube, which is connected to the air source module along the inner wall of the spherical shell. The air source module is located at the bottom of the cross-shaped mounting bracket.

7. A rolling suction cup robot according to claim 6, characterized in that: The control module is installed at the bottom of the cross-shaped mounting bracket.

8. A rolling suction cup robot according to claim 7, characterized in that: A guide block is fitted onto the swing arm, and the guide block is located between the upper arc-shaped guide rail and the lower arc-shaped guide rail.

9. A rolling suction cup robot according to claim 8, characterized in that: Both the upper and lower drive motors are equipped with absolute encoders.

10. A rolling suction cup robot according to claim 9, characterized in that: A counterweight is provided on the inner wall of the cylinder that is mounted with the upper drive shaft and the lower drive bearing.

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