A compliant adaptive complex curved surface guide rail mobile robot

Abstract

The application discloses a mobile robot with a compliant self-adaptive complex curved guide rail, which is composed of two steering driving devices and a vehicle body; the vehicle body is in an H-shaped plate structure, the two steering driving devices are arranged on the front and back sides of the vehicle body respectively and are connected through vertical bearing seats, a connecting shaft is inserted into the vertical bearing seats and connected, and the vehicle body and the two groups of steering driving devices are connected through the connecting shaft; the mobile robot can realize compliant movement and rail change steering on a complex curved guide rail with variable curvature; the curvature of the passive self-adaptive guide rail is changed through the method of increasing spring auxiliary guide rod compression and the like; the application provides a new idea for the movement and rail change of the mobile robot in a complex guide rail, has the advantages that the complex control method of active adaptation of the curvature is avoided, has good adaptability, the locking structure guarantees the stability of the whole, the rail change steering operation can be realized smoothly, and the mobile robot can be used for work operation under the working condition that the surface shape of an aircraft skin or the like is complex and fixed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a structure adaptive curved guide rail mobile robot structure. BACKGROUND

[0002] At present, common mobile robots mainly have wheel type robots, foot type walking robots, tracked mobile robots and rail walking robots according to the moving mode, which can adapt to many working conditions and complete various tasks. Among them, the mobile robot based on rail walking has a relatively fixed driving route, but has high stability when cooperating with the rail, is suitable for carrying special equipment such as drilling, welding and spraying, and is mainly used for curved surface walking and processing tasks.

[0003] The existing mobile robot based on complex curved rail is not ideal for walking on complex variable-curvature rail and variable-rail turning at the intersection of the rail, and is easy to be stuck due to the sharp increase of friction between the robot and the guide rail caused by the turning torque. The motion coordination during variable-rail turning is also a big challenge, and the complex sensing and control system also reduces the reliability of the robot. SUMMARY

[0004] The purpose of the present application is to overcome the shortcomings in the prior art, and to provide a mobile robot that is compliant and adaptive to complex curved guide rails. The present application designs the overall structure to make the robot better adapt to the walking and variable-rail process of complex curved guide rails, simplifies the control process, uses a double-point driving mode and a locking positioning structure to ensure the stability in the motion and working state. The present application provides a new idea for the compliant motion of the guide rail type mobile robot under specific complex curved surface working conditions, avoids complex control systems, improves the reliability of the structure, and has important significance for the field of guide rail mobile robots.

[0005] The purpose of the present application is achieved by the following technical solutions:

[0006] A mobile robot compliant and adaptive to complex curved guide rails is composed of two steering driving devices and a vehicle body. The vehicle body is an H-shaped plate structure, and the two steering driving devices are arranged on the front and rear sides of the vehicle body and connected through vertical bearing seats. A connecting shaft is inserted into the vertical bearing seat.

[0007] Further, the steering driving device is composed of a steering device and a driving device.

[0008] The steering device is composed of an upper panel, a broken shaft clutch, a steering drive shaft, a stepping motor support and a stepping motor; the broken shaft clutch is fixed to the upper surface of the upper panel by fasteners, the steering drive shaft is connected with the upper side key groove hole of the broken shaft clutch through a flat key; the stepping motor support is fixed to the upper surface of the upper panel by fasteners, the stepping motor is fixed to the top of the stepping motor support by fasteners, the steering drive shaft is coaxially fixed with the output shaft of the stepping motor; the output characteristic torque of the stepping motor can be transmitted to the upper side flange plate of the broken shaft clutch.

[0009] The steering support in the driving device passes through the hole of the upper panel and is connected with the lower side key groove hole of the broken shaft clutch through a flat key, thereby realizing the connection of the steering device and the driving device, and the steering support and the steering device can relatively rotate.

[0010] Further, the driving device is composed of a lower panel, two axle supports, two bearing baffle plates, two tire drive shafts, an idler shaft, three gears, four rubber wheels, a driven synchronous pulley, a synchronous belt, a driving synchronous pulley, a reduction motor, a reduction motor support, a guide rod guide sleeve, a guide rod, a spring, a guide rod sleeve, a guide rail roller, a shaft shoulder screw, an electric push rod, a push rod support, a locking top sleeve and two U-shaped supports.

[0011] The two axle supports, the two bearing baffle plates, the two tire drive shafts, the idler shaft, the three gears, the four rubber wheels, the driven synchronous pulley, the synchronous belt, the driving synchronous pulley, the reduction motor and the reduction motor support constitute the motion system of the driving device; the guide rod guide sleeve, the guide rod, the spring, the guide rod sleeve, the guide rail roller and the shaft shoulder screw constitute the guide rail compression system of the driving device; the electric push rod, the push rod support and the locking top sleeve constitute the locking system of the driving device; the lower panel, the two U-shaped supports and the steering support constitute the frame of the driving device.

[0012] The axle support is connected to the lower side of the lower panel by fasteners, the bearing baffle plate is connected with the axle support by fasteners, and three rolling bearings are arranged between the bearing baffle plate and the axle support; the two tire drive shafts are parallel and coplanar with the axis of the idler shaft, and are respectively arranged in the rolling bearings between the bearing baffle plates and the axle supports, the three gears are connected with the two tire drive shafts and the idler shaft by flat keys and are meshed with each other, the rubber wheels are fixed with the tire drive shafts, two rubber wheels are arranged on each tire drive shaft, the driven synchronous pulley is connected with one tire drive shaft, the reduction motor support is connected to the upper side of the lower panel by fasteners, the reduction motor is connected with the reduction motor support by fasteners, the driving synchronous pulley is connected with the output end of the reduction motor, and the driving synchronous pulley is connected with the driven synchronous pulley through the synchronous belt.

[0013] The guide rod guide sleeve is connected to the lower side of the lower panel by fasteners. The guide rod passes through the guide hole of the guide rod guide sleeve. The guide rod sleeve is fitted into the guide rod and is located on the upper side of the lower panel. A spring is installed between the guide rod sleeve and the guide rod. The spring is in a compressed state. The guide rod roller is connected to the guide rod by a shoulder screw.

[0014] The electric push rod is fixed to the upper surface of the lower plate by a push rod bracket and fasteners, and the locking top sleeve is connected to the output end of the electric push rod by fasteners.

[0015] The two U-shaped brackets are connected to the upper surface of the lower panel by fasteners, and the steering support is fixed to the two U-shaped brackets by fasteners.

[0016] Furthermore, the vertical bearing housing is connected to the upper panel and the body respectively by threaded fasteners, and the connecting shaft is inserted into the bearing hole of the vertical bearing housing. Each connecting shaft connects two opposite and coaxial vertical bearing housings; the steering device and the body can rotate relative to each other around the axis of the connecting shaft.

[0017] Furthermore, the mobile robot is movably mounted on a curved guide rail, which has an inverted T-shaped groove. The guide rail roller matches the upper opening of the groove and forms a sliding fit with the two sides of the curved guide rail to limit the movement direction of the mobile robot. The rubber wheel contacts the upper surface of the curved guide rail and can roll.

[0018] Furthermore, the bottom of the vehicle body is also equipped with a power module, a control module, and a wireless communication module. The power module is electrically connected to the control module, the wireless communication module, the electric push rod, the stepper motor, the geared motor, and the broken shaft clutch. The control module is connected to the wireless communication module, and the power supply control of the electric push rod, the stepper motor, the geared motor, and the broken shaft clutch is realized through a remote control.

[0019] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

[0020] 1. The mobile robot with compliant adaptive complex curved surface guide rail of the present invention can achieve compliant walking on variable curvature guide rail, can be equipped with processing equipment, and is suitable for processing operations with complex and fixed surface shapes, such as aircraft skin.

[0021] 2. The mobile robot with compliant adaptive complex curved surface guide rail of the present invention can change tracks by controlling the broken shaft clutch and the stepper motor to turn the drive device to a new track at the track intersection.

[0022] 3. The mobile robot of the present invention with compliant adaptive complex curved surface guide rail uses a spring as a clamping device and adopts a passive adaptive method to achieve compliant walking on complex curved surface guide rail, avoiding the complex modeling and algorithm process in active control.

[0023] 4. The mobile robot with compliant adaptive complex curved surface guide rail of the present invention can ensure that the guide rod is approximately in the normal direction of the guide rail at any moment of movement through the guide rail clamping system in the drive device, thereby improving the smoothness of movement.

[0024] 5. The mobile robot with compliant adaptive complex curved surface guide rail of the present invention can limit the relative positional relationship between the rubber wheel and the guide rail roller through the locking system in the drive device, and realize the positioning and locking of the whole vehicle in the guide rail with continuously changing curvature. It is suitable for working conditions with large forces, such as drilling.

[0025] 6. The mobile robot with the compliant adaptive complex curved surface guide rail of the present invention can adapt to defects such as protrusions on the upper surface of the track. Due to the presence of springs, some rubber wheels can still press against the upper surface of the guide rail to provide driving force and realize the movement of the robot.

[0026] 7. The mobile robot of this invention consists of a body and two sets of steering drive devices, enabling smooth movement and trajectory changing on complex curved guide rails with varying curvature. This invention passively adapts to changes in the curvature of the guide rail by adding spring-assisted guide rod clamping and other methods. This invention provides a new approach to the movement and trajectory changing of mobile robots within complex guide rails. Its advantages include avoiding complex control methods that actively adapt to curvature, exhibiting better adaptability, and the locking structure ensuring overall stability. It can smoothly achieve trajectory changing and steering operations and can be used for processing operations with complex and fixed surface shapes, such as aircraft skin. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the mobile robot with the compliant adaptive complex curved surface guide rail of the present invention.

[0028] Figure 2 This is a schematic diagram of the steering drive device of the present invention.

[0029] Figure 3 This is a schematic diagram of the steering device of the present invention.

[0030] Figure 4-1 and Figure 4-2 This is a schematic diagram of the drive device of the present invention.

[0031] Figure 5 This is a schematic diagram of the structure of the steering device of the present invention after it drives the drive device to rotate.

[0032] Figure 6This is a schematic diagram showing the cooperation between the drive device and the guide rail of the present invention.

[0033] Figure 7-1 and Figure 7-2 This is a diagram illustrating the adaptive process of the present invention based on the motion of a complex curved surface guide rail.

[0034] Figure 8-1 , Figure 8-2 and Figure 8-3 This is a diagram illustrating the trajectory change and steering process of the present invention.

[0035] Reference numerals: 1-Steering drive unit, 2-Body body, 3-Connecting shaft, 4-Vertical bearing housing, 11-Steering device, 12-Drive unit, 111-Upper panel, 112-Broken shaft clutch, 113-Steering drive shaft, 114-Stepper motor bracket, 115-Stepper motor, 121-Lower panel, 122-Wheel axle bracket, 123-Bearing baffle, 124-Tire drive shaft, 125-Idler wheel axle, 126-Gear, 127-Rubber wheel, 12 8-Driven synchronous pulley, 129-Synchronous belt, 1210-Driven synchronous pulley, 1211-Gear motor, 1212-Gear motor bracket, 1213-Guide rod guide sleeve, 1214-Guide rod, 1215-Spring, 1216-Guide rod sleeve, 1217-Guide rail roller, 1218-Shoulder screw, 1219-Electric push rod, 1220-Push rod bracket, 1221-Locking top sleeve, 1222-U-shaped bracket, 1223-Steering support. Detailed Implementation

[0036] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0037] See Figure 1 As shown, the mobile robot with compliant adaptive complex curved surface guide rail of the present invention includes a body 2 and two steering drive devices 1; the steering drive devices 1 and the body 2 are connected to vertical bearing seats 4 via connecting shafts 3; the vertical bearing seats 4 are connected to the steering drive devices 1 and the body 2 respectively via threaded fasteners, the connecting shafts 3 are inserted into the bearing holes of the vertical bearing seats 4, and each connecting shaft 3 connects two opposite and coaxial vertical bearing seats 4; the steering drive devices 1 and the body 2 can rotate relative to each other around the axis of the connecting shafts 3. In this embodiment, the body 2 is an H-shaped plate structure, and the two wing plates on the front and rear sides of the body are respectively connected to the vertical bearing seats 4 via threaded fasteners.

[0038] See Figure 2 As shown, the steering drive device 1 of the mobile robot with compliant adaptive complex curved surface guide rail of the present invention includes a steering device 11 and a drive device 12.

[0039] SeeFigure 3 As shown, the steering device 11 of the mobile robot with compliant adaptive complex curved surface guide rail of the present invention includes an upper panel 111, a shaft break clutch 112, a steering drive shaft 113, a stepper motor bracket 114, and a stepper motor 115. The shaft break clutch 112 is fixed to the upper surface of the upper panel 111 by threaded fasteners, and the steering drive shaft 113 is connected to the upper keyway hole of the shaft break clutch 112 by a flat key. The stepper motor bracket 114 is fixed to the upper surface of the upper panel 111 by threaded fasteners, and the stepper motor 115 is connected to the top of the stepper motor bracket 114 by threaded fasteners. The steering drive shaft 113 and the output shaft of the stepper motor 115 are coaxially fixed. The output characteristics of the stepper motor 115 can be transmitted to the upper flange of the shaft break clutch 112. In this embodiment, the stepper motor bracket 114 has a "U"-shaped structure, and the shaft break clutch 112 and the steering drive shaft 113 are located inside the stepper motor bracket 114.

[0040] See Figure 4-1 and Figure 4-2As shown, the drive device 12 of the mobile robot with compliant adaptive complex curved surface guide rail of the present invention includes a lower panel 121, two wheel axle supports 122, two bearing baffles 123, two tire drive shafts 124, idler shaft 125, three gears 126, four rubber wheels 127, driven synchronous pulley 128, synchronous belt 129, driving synchronous pulley 1210, reduction motor 1211, reduction motor support 1212, guide rod guide sleeve 1213, guide rod 1214, spring 1215, guide rod sleeve 1216, guide rail roller 1217, shoulder screw 1218, electric push rod 1219, and push rod support 1220. The drive unit 12 consists of a locking top sleeve 1221, two U-shaped brackets 1222, and a steering support 1223. The drive unit 12's motion system comprises two axle brackets 122, two bearing baffles 123, two tire drive shafts 124, an idler shaft 125, three gears 126, four rubber wheels 127, a driven synchronous pulley 128, a synchronous belt 129, a driving synchronous pulley 1210, a geared motor 1211, and a geared motor bracket 1212. The drive unit 12's guide rail clamping system comprises a guide rod sleeve 1213, a guide rod 1214, a spring 1215, a guide rod sleeve 1216, a guide rail roller 1217, and a shoulder screw 1218. The drive unit 12 is composed of an electric push rod 1219, a push rod bracket 1220, and a locking top sleeve 1221, forming the locking system. The lower panel 121, two U-shaped brackets 1222, and a steering support 1223 form the frame of the drive unit 12. The wheel axle bracket 122 is connected to the lower side of the lower panel 121 via threaded fasteners. The bearing baffle 123 is connected to the wheel axle bracket 122 via threaded fasteners. Three rolling bearings are installed between the bearing baffle 123 and the wheel axle bracket 122. The axes of the two tire drive shafts 124 and the idler shaft 125 are parallel and coplanar, and are installed in the rolling bearings between the bearing baffle 123 and the wheel axle bracket 122. Three gears... 126 is connected to two tire drive shafts 124 and idler shaft 125 respectively via flat keys and meshes with each other. Rubber wheel 127 is fixed to tire drive shaft 124. Two rubber wheels 127 are arranged on each tire drive shaft 124. Driven synchronous belt pulley 128 is connected to one tire drive shaft 124. Gear motor bracket 1212 is connected to the upper side of lower panel 121 via threaded fasteners. Gear motor 1211 is connected to gear motor bracket 1212 via threaded fasteners. Driven synchronous belt pulley 1210 is connected to the output end of gear motor 1211. Driven synchronous belt pulley 1210 and driven synchronous belt pulley 128 are connected via synchronous belt 129.The guide rod guide sleeve 1213 is connected to the lower side of the lower panel 121 via threaded fasteners. The guide rod 1214 passes through the guide hole of the guide rod guide sleeve 1213. The guide rod sleeve 1216 is fitted onto the guide rod 1214 and is located on the upper side of the lower panel 121. A spring 1215 is installed between the guide rod sleeve 1216 and the guide rod 1214. The spring 1215 is in a compressed state. The guide rod roller 1217 is connected to the bottom of the guide rod 1214 via a shoulder screw 1218. An electric push rod 1219 is also present. The push rod bracket 1220 is connected to the upper side of the lower panel 121 via threaded fasteners. The locking top sleeve 1221 is connected to the output end of the electric push rod 1219 via threaded fasteners. When the electric push rod 1219 is fully extended, the locking top sleeve 1221 contacts the guide rod sleeve 1216 and generates a certain locking force. Two U-shaped brackets 1222 are connected to the upper surface of the lower panel 121 via threaded fasteners. The steering support 1223 is fixed to the two U-shaped brackets 1222 via threaded fasteners.

[0041] See Figure 5 As shown, the steering support 1223 passes through the hole in the upper panel 111 and is connected to the lower keyway hole of the broken shaft clutch 112 via a flat key, thereby realizing the connection between the steering device 11 and the drive device 12; the steering support 1223 and the steering device 11 can rotate relative to each other.

[0042] See Figure 6 As shown, the mobile robot is mounted on a curved guide rail. The curved guide rail has an inverted T-shaped groove. The guide rail roller 1217 matches the upper groove opening. The guide rail roller 1217 is engaged with the two sides of the curved guide rail to form a sliding fit, which is used to limit the movement direction of the mobile robot. The rubber wheel 127 contacts the upper surface of the curved guide rail and can roll on the upper surface of the curved guide rail.

[0043] See Figure 7-1 and Figure 7-2 As shown, the mobile robot with compliant adaptive complex curved surface guide rail of the present invention can adapt to the curvature change of the guide rail by changing the angle between the vehicle body 2 and the steering drive device 1, and realize movement within the track; wherein, the bottom of the vehicle body 2 is also provided with a power module, a control module and a wireless communication module. The power module is electrically connected to the control module, the wireless communication module, the electric push rod 1219, the stepper motor 115, the geared motor 1211 and the shaft break clutch 112. The control module is connected to the wireless communication module, and the power supply control of the electric push rod 1219, the stepper motor 115, the geared motor 1211 and the shaft break clutch 112 is realized through the remote control.

[0044] See Figure 8-1 and Figure 8-2As shown, in the trajectory-changing operation of the mobile robot with compliant adaptive complex curved surface guide rail of the present invention, when the guide rail roller 1217 of the steering drive device 1 is located at the guide rail intersection, the electric push rod 1219 extends to lock the guide rod 1214, and the stepper motor 115 of the steering device 11 drives the drive device 12 to rotate a certain angle through the shaft break clutch 112, so that the drive device 12 faces the new direction.

[0045] See Figure 8-3 As shown, the drive device 12 moves forward, the electric push rod 1219 retracts to release the lock, and the broken shaft clutch 112 loses power, allowing the structure to adapt to the curvature of the two tracks, thus realizing the robot's track change and steering. When the rear steering drive device 1 is at the intersection of the guide rails, the rear drive device 12 is rotated to achieve a complete track change.

[0046] This invention is not limited to the embodiments described above. The above description of specific embodiments is intended to illustrate and explain the technical solutions of this invention. The specific embodiments described above are merely illustrative and not restrictive. Without departing from the spirit and scope of the claims, those skilled in the art can make many specific modifications based on the teachings of this invention, and these modifications all fall within the scope of protection of this invention.

Claims

1. A mobile robot with compliant and adaptive complex curved surface guide rails, characterized in that, It consists of two steering drive devices (1) and a body (2); the body is an H-shaped plate structure, the two steering drive devices (1) are respectively located on the front and rear sides of the body (2) and connected by a vertical bearing seat (4), and a connecting shaft (3) is inserted into the vertical bearing seat (4); The steering drive device (1) consists of a steering device (11) and a drive device (12); The steering device (11) consists of a top panel (111), a broken shaft clutch (112), a steering drive shaft (113), a stepper motor bracket (114), and a stepper motor (115). The broken shaft clutch (112) is fixed to the upper surface of the top panel (111) by fasteners. The steering drive shaft (113) is connected to the upper keyway of the broken shaft clutch (112) by a flat key. The stepper motor bracket (114) is fixed to the upper surface of the top panel (111) by fasteners. The stepper motor (115) is fixed to the top of the stepper motor bracket (114) by fasteners. The output shaft of the steering drive shaft (113) and the stepper motor (115) are coaxially fixed. The output characteristic torque of the stepper motor (115) can be transmitted to the upper flange of the broken shaft clutch (112). The steering support (1223) inside the drive device (12) passes through the hole in the upper panel (111) and is connected to the lower keyway hole of the broken shaft clutch (112) through a flat key, thereby realizing the connection between the steering device (11) and the drive device (12); the steering support (1223) and the steering device (11) can rotate relative to each other. The drive device (12) consists of a lower panel (121), two wheel axle brackets (122), two bearing baffles (123), two tire drive shafts (124), idler shaft (125), three gears (126), four rubber wheels (127), driven synchronous belt pulley (128), synchronous belt (129), driving synchronous belt pulley (1210), geared motor (1211), geared motor bracket (1212), guide rod guide sleeve (1213), guide rod (1214), spring (1215), guide rod sleeve (1216), guide rail roller (1217), shaft shoulder screw (1218), electric push rod (1219), push rod bracket (1220), locking top sleeve (1221), two U-shaped brackets (1222), and steering support (1223). The two wheel axle brackets (122), two bearing baffles (123), two tire drive shafts (124), idler shaft (125), three gears (126), four rubber wheels (127), driven synchronous belt pulley (128), synchronous belt (129), driving synchronous belt pulley (1210), geared motor (1211), and geared motor bracket (1212) constitute the motion system of the drive device (12); the guide rod guide sleeve (1213), guide rod (124) and guide rod (125) form the motion system of the drive device (12). 14) The spring (1215), guide rod sleeve (1216), guide rail roller (1217), and shoulder screw (1218) form the guide rail clamping system of the drive device (12); the electric push rod (1219), push rod bracket (1220), and locking top sleeve (1221) form the locking system of the drive device (12); the lower panel (121), two U-shaped brackets (1222), and steering support (1223) form the frame of the drive device (12); Two wheel axle brackets (122) are connected to the lower side of the lower panel (121) by fasteners. The bearing baffle (123) is connected to the wheel axle bracket (122) by fasteners. Three rolling bearings are installed between the bearing baffle (123) and the wheel axle bracket (122). The axes of the two tire drive shafts (124) and the idler shaft (125) are parallel and coplanar, and are respectively installed in the rolling bearings between the bearing baffle (123) and the wheel axle bracket (122). The three gears (126) are respectively connected to the two tire drive shafts (124) and the idler shaft (125) by flat keys and mesh with each other. The rubber wheel (1 27) Fixed to the tire drive shaft (124), each tire drive shaft (124) is equipped with two rubber wheels (127), the driven synchronous pulley (128) is connected to a tire drive shaft (124), the geared motor bracket (1212) is connected to the upper side of the lower panel (121) by fasteners, the geared motor (1211) is connected to the geared motor bracket (1212) by fasteners, the driving synchronous pulley (1210) is connected to the output end of the geared motor (1211), and the driving synchronous pulley (1210) and the driven synchronous pulley (128) are connected by a synchronous belt (129); The guide sleeve (1213) is connected to the lower side of the lower panel (121) by fasteners. The guide rod (1214) passes through the guide hole of the guide sleeve (1213). The guide sleeve (1216) is fitted into the guide rod (1214) and located on the upper side of the lower panel (121). A spring (1215) is installed between the guide sleeve (1216) and the guide rod (1214). The spring (1215) is in a compressed state. The guide roller (1217) is connected to the guide rod (1214) by a shoulder screw (1218). The electric push rod (1219) is fixed to the upper surface of the lower panel (121) by the push rod bracket (1220) and fasteners, and the locking top sleeve (1221) is fixed to the output end of the electric push rod (1219) by fasteners; The two U-shaped brackets (1222) are connected to the upper surface of the lower panel (121) by fasteners, and the steering support (1223) is fixed to the two U-shaped brackets (1222) by fasteners.

2. The mobile robot with a compliant adaptive complex curved surface guide rail according to claim 1, characterized in that, The vertical bearing seat (4) is connected to the upper panel (111) and the body (2) respectively by threaded fasteners. The connecting shaft (3) is inserted into the bearing hole of the vertical bearing seat (4). Each connecting shaft (3) connects two opposite and coaxial vertical bearing seats (4). The steering device (11) and the body (2) can rotate relative to each other around the axis of the connecting shaft (3).

3. A mobile robot with a compliant, adaptive complex curved surface guide rail according to claim 1, characterized in that, The mobile robot is movably mounted on a curved guide rail, which has an inverted T-shaped groove. The guide rail roller (1217) matches the upper opening of the groove and forms a sliding fit with the two sides of the curved guide rail to limit the movement direction of the mobile robot. The rubber wheel (127) contacts the upper surface of the curved guide rail and can roll.

4. A mobile robot with a compliant and adaptive complex curved surface guide rail according to claim 1, characterized in that, The bottom of the vehicle body (2) is also provided with a power module, a control module and a wireless communication module. The power module is electrically connected to the control module, the wireless communication module, the electric push rod (1219), the stepper motor (115), the geared motor (1211) and the broken shaft clutch (112). The control module and the wireless communication module are connected, and the power supply control of the electric push rod (1219), the stepper motor (115), the geared motor (1211) and the broken shaft clutch (112) can be realized through the remote control.

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