Track type robot and track type walking device, system and flexible guide mechanism thereof

Abstract

The invention discloses a track type robot and a track type walking device, system and flexible guide mechanism thereof. The flexible guide mechanism comprises an installing base and a rocking arm hinged to the installing base. First flexible elements are connected between the two ends of the rocking arm and the installing base correspondingly. A mounting wheel is arranged at one end, away from the installing base, of the rocking arm. Telescopic arms are arranged on the portions located on the two sides of the mounting wheel. Side guide wheels are installed on the end portions of the telescopic arms. At least one pair of flexible guide mechanisms and a track walking drive assembly are arranged on a body of a track type robot, a body of the track type walking device thereof, and a body of the system thereof. The rack type robot can steer stably and rapidly under the circumstance of the small steering radius, and can pass through a small guide rail curve stably and rapidly, in the steering process, the mounting wheel can be adjusted to the needed angle automatically in real time under the effect of the flexible elements according to the curve radius, and the side guide wheels carry out real-time self-adaptive adjusting along the guide rail curved surface under the effect of the flexible elements.

Description

Technical field [0001] The invention relates to a motion guiding mechanism, in particular to an orbital robot and its orbital walking device, system and flexible guiding mechanism. Background technique [0002] Orbital walking devices or orbital inspection robots have been widely used in security, plant equipment inspection, integrated pipeline gallery inspection, cable tunnel inspection, hospital material transportation and other fields. In order to adapt to various complex environments, the robot's orbit has also shown more complex changes, especially for areas with small spaces, requiring a smaller turning radius on the orbit. Therefore, inspection robots need to be able to safely and smoothly pass smaller Turning radius. The existing orbital robot guiding mechanism in the industry is shown in the Chinese patent document with the publication number CN 107639622 A. This solution mainly uses the mounting wheel to turn the whole body and adds a flexible side guiding mechanism to...

AI Technical Summary

Problems solved by technology

The existing track-type robot guide mechanism in the industry is shown in the Chinese patent literature with the publication number CN 107639622 A. This solution mainly uses the overall steering of the mounting wheels and adds a flexible side guide mechanism to pass through smaller radius curves. The problem is that when the robot is turning, the inner and outer mounting wheels cannot turn freely, but can only turn as a whole. As a result, the robot is not in a state of free steering when passing through the curve, and there are obvious vibrations, noises, and stagnation.

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