Walking device and drilling platform robot

Abstract

This invention relates to the technical field of oil drilling and production equipment, and provides a traveling device and a drilling platform robot, comprising: a track assembly, including a main track and a load-bearing track and an anti-tipping track located outside the main track; a trolley mechanism, including a car body and multiple traveling components rotatably connected to the bottom of the car body; the traveling components include load-bearing wheels, anti-tipping wheels, and positioning wheels; the load-bearing wheels cooperate with the load-bearing track, the anti-tipping wheels cooperate with the bottom of the anti-tipping track, and the positioning wheels make rolling contact with the side of the anti-tipping track; the track assembly is provided with a rotating guide plate laid along the turning section, the rotating guide plate being located inside the anti-tipping wheel, used to abut against the anti-tipping wheel to drive the traveling components to turn. Thus, by using the anti-tipping wheel to abut against the rotating guide plate for turning and using the positioning wheel for constraint and guidance, rolling friction turning replaces the compression turning of the traditional wheel flange structure, effectively avoiding compression wear during the turning process, and improving stability and service life.

Description

Technical Field

[0001] This invention relates to the technical field of oil drilling and production equipment, and in particular to a walking device and a drilling platform robot. Background Technology

[0002] With the growth of global energy demand, the oil and gas industry is constantly seeking ways to improve efficiency, reduce costs, and enhance operational safety. Against this backdrop, automation and robotics technologies are gradually being introduced into drilling platforms, with drilling rig robots playing an increasingly important role as a key piece of automated equipment.

[0003] A drilling platform robot is a specialized automated device designed to assist drilling operations. It is primarily used for the handling, connection, and disassembly of drill pipes. It generally consists of three main parts: a track, a pulley mechanism, and the robot arm. The robot arm is mounted on the pulley mechanism, which moves along the track to move the drill pipes. In practice, to avoid interference between the robot arm and other tools such as power catwalks, the track is typically designed in an "L" shape to provide a clearance for the robot arm. Therefore, the pulley mechanism often needs to address turning challenges during operation.

[0004] In related technologies, a flange is typically installed on the outer side of the load-bearing roller, and steering is achieved by the flange pressing against the outer edge of the track. However, this steering method leads to severe wear on the track and the load-bearing roller, and also results in insufficient steering flexibility and a tendency to jam. Summary of the Invention

[0005] This invention provides a walking device and a drilling platform robot to solve the defects in the prior art where the track and the load-bearing wheel suffer severe wear when the wheel flange squeezes the outer edge of the track for turning, and the turning flexibility is insufficient and it is easy to get stuck. It can reduce wear during the turning process and improve the stability and service life of operation.

[0006] This invention provides a walking device, comprising:

[0007] The track assembly includes a main track, a load-bearing track and an anti-tipping track located outside the main track, the anti-tipping track being located above the inner side of the load-bearing track, and the track assembly forming an arc-shaped turning section;

[0008] A trolley mechanism includes a car body and a plurality of traveling components rotatably connected to the bottom of the car body; the traveling components include load-bearing wheels, anti-tipping wheels and positioning wheels; the load-bearing wheels cooperate with the load-bearing rail, the anti-tipping wheels cooperate with the bottom of the anti-tipping rail, and the positioning wheels make rolling contact with the side of the anti-tipping rail;

[0009] The track assembly is provided with a rotating guide plate laid along the turning section. The rotating guide plate is located inside the anti-tipping wheel and is used to abut against the anti-tipping wheel to drive the traveling component to turn.

[0010] According to a walking device provided by the present invention, the edge of the anti-tipping wheel is set with rounded corners, and / or the two ends of the rotating guide plate are set as inclined surfaces that are inclined toward the inside of the turning section.

[0011] According to a walking device provided by the present invention, the walking assembly further includes a wheel frame, the load-bearing wheel and the anti-tipping wheel are rotatably connected to both sides of the wheel frame, and the positioning wheel is rotatably connected to the top of the wheel frame.

[0012] According to a walking device provided by the present invention, at least two of the load-bearing wheels and the anti-tipping wheels are arranged at intervals along the traveling direction of the vehicle body, and the load-bearing wheels and the anti-tipping wheels are arranged in a one-to-one correspondence in the axial direction.

[0013] According to a walking device provided by the present invention, a frame is rotatably connected to the bottom of the vehicle body, and at least two frames are provided along the traveling direction of the vehicle body and span across the track assembly; the walking components are in groups of two and are respectively connected to both sides of the frame.

[0014] According to a walking device provided by the present invention, a driving component is further included for driving the trolley mechanism to travel along the track assembly, the driving component comprising:

[0015] A drive motor is fixedly connected to the vehicle body;

[0016] A rack is laid along the extension path of the track assembly;

[0017] The gear is connected to the output end of the drive motor and meshes with the rack.

[0018] According to a walking device provided by the present invention, the rack is fixedly connected to the main track.

[0019] According to the present invention, a walking device further includes a guide component for constraining the movement direction of the trolley mechanism, the guide component comprising:

[0020] A guide groove is provided on the main track and extends along the path of the main track;

[0021] The guide wheel is rotatably connected to the bottom of the vehicle body and its axis is perpendicular to the bottom surface of the guide groove. The guide wheel is embedded in the guide groove and makes rolling contact with the side wall of the guide groove.

[0022] The present invention also provides a drilling platform robot, comprising a robot body and a walking device as described in any one of the above; the robot body is fixedly connected to the vehicle body;

[0023] The track assembly includes a storage section and a working section arranged vertically in the same plane, as well as the turning section for connecting the storage section and the working section.

[0024] According to the present invention, a drilling platform robot arm is provided, wherein the track assembly is detachably connected to the drilling platform via a connecting assembly, the connecting assembly comprising:

[0025] A positioning block is fixedly connected to the drill table surface. The upper surface of the positioning block is provided with a positioning part. The track assembly is provided with a connecting part. The connecting part is provided with a fitting groove. The positioning part fits into the fitting groove.

[0026] A connecting structure for detachably connecting the positioning block and the connecting part.

[0027] According to the present invention, a drilling platform robot is provided, wherein the connection structure includes:

[0028] A sliding groove is provided in the positioning block, and the sliding groove has an end opening and an upper opening that penetrates the upper surface of the positioning part;

[0029] A pressure plate is used to press the connecting part against the upper surface of the positioning block;

[0030] The slider is slidably embedded in the groove;

[0031] One end of the bolt is fixedly connected to the slider, and the other end passes through the upper opening of the groove and the pressure plate in sequence and is locked with a nut.

[0032] The traveling device and drilling platform robot provided by this invention, when the trolley mechanism travels to a turning section, the anti-tipping wheel first contacts the rotating guide plate. Under the contact of the rotating guide plate, the traveling component is driven to swing and achieve steering. At the same time, under the positioning guidance of the positioning wheel, the trolley mechanism travels along the turning section, and finally, under the positioning guidance of the positioning wheel, it exits the turning section and travels in a straight line. Compared with related technologies, the traveling device provided by this invention uses a combination of load-bearing wheels, anti-tipping wheels, and positioning wheels for positioning. The load-bearing wheels and anti-tipping wheels are arranged laterally, thereby avoiding the side force of the track assembly, eliminating the wheel flange structure, and using the contact of the anti-tipping wheel with the rotating guide plate for steering, and using the positioning wheel for constraint and guidance, thus using rolling friction steering instead of the compression steering of the traditional wheel flange structure, effectively avoiding compression wear during the steering process, and improving the stability and service life of the trolley mechanism. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1 This is one of the structural schematic diagrams of the cooperation between the trolley mechanism and the track assembly provided in the embodiments of the present invention.

[0035] Figure 2 This is the second schematic diagram of the structure of the trolley mechanism and the track assembly provided in the embodiment of the present invention.

[0036] Figure 3 This is the third structural schematic diagram of the cooperation between the trolley mechanism and the track assembly provided in the embodiments of the present invention.

[0037] Figure 4 This is a schematic diagram of the track assembly provided in an embodiment of the present invention.

[0038] Figure 5 This is one of the structural schematic diagrams of the trolley mechanism provided in the embodiments of the present invention.

[0039] Figure 6 This is the second structural schematic diagram of the trolley mechanism provided in the embodiment of the present invention.

[0040] Figure 7 This is a schematic diagram of the structure of the connection component provided in an embodiment of the present invention.

[0041] Figure label:

[0042] 10. Track assembly; 100. Main track; 101. Load-bearing track; 102. Anti-tipping track; 103. Rotating guide plate; 104. Connecting part; 11. Turning section; 12. Storage section; 13. Working section; 20. Trolley mechanism; 21. Car body; 210. Car frame; 22. Traveling assembly; 220. Load-bearing wheel; 221. Anti-tipping wheel; 222. Positioning wheel; 223. Wheel frame; 23. Drive assembly; 231. Gear; 232. Rack; 24. Guide assembly; 240. Guide wheel; 241. Guide groove; 30. Connecting assembly; 31. Positioning block; 310. Positioning part; 32. Connecting structure; 320. Slide groove; 321. Pressure plate; 322. Slider; 323. Bolt; 324. Nut. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0044] To better understand the walking device and drilling platform robot provided in the embodiments of the present invention, we will first introduce its application background. The drilling platform robot is an automated device specifically designed to assist drilling operations. It is mainly used for the handling, connection and disassembly of drill pipes. It is generally composed of three main parts: a track, a trolley mechanism and a robot. In actual work, in order to avoid interference between the robot and tools such as the power catwalk, the track is usually set to L-shape to provide a clearance area. Therefore, the trolley mechanism often needs to face the problem of turning during the movement.

[0045] In related technologies, a flange is typically installed on the outer side of the load-bearing roller, and steering is achieved by the flange pressing against the outer edge of the track. However, this turning method leads to severe wear on the track and the load-bearing roller, insufficient steering flexibility, and a tendency to jam.

[0046] To address the aforementioned technical problems, this invention provides a walking device and a drilling platform robot, which can reduce wear during the turning process and improve operational stability and service life.

[0047] The following is combined Figures 1-7 The present invention describes a walking device and a drilling platform robot.

[0048] Reference Figures 1 to 4 A traveling device includes a track assembly 10 and a trolley mechanism 20; wherein the track assembly 10 includes a main track 100 and a load-bearing track 101 and an anti-tipping track 102 disposed outside the main track 100, the anti-tipping track 102 being disposed above the inner side of the load-bearing track 101; the track assembly 10 is provided with an arc-shaped turning section 11; the trolley mechanism 20 includes a car body 21 and a plurality of traveling components 22 rotatably connected to the bottom of the car body 21; the traveling components 22 include a load-bearing track... The track assembly 10 includes a load-bearing wheel 220, an anti-tipping wheel 221, and a positioning wheel 222. The load-bearing wheel 220 engages with the load-bearing track 101, the anti-tipping wheel 221 engages with the bottom of the anti-tipping track 102, and the positioning wheel 222 makes rolling contact with the side of the anti-tipping track 102. The track assembly 10 is provided with a rotating guide plate 103 laid along the turning section 11. The rotating guide plate 103 is located inside the anti-tipping wheel 221 and is used to abut against the anti-tipping wheel 221 to drive the walking component 22 to turn.

[0049] In actual operation, the trolley mechanism 20 cooperates with the track assembly 10 and moves on the track assembly 10 to realize the transport of drill pipe. Among them, the load-bearing wheel 220 of the trolley mechanism 20 is supported on the load-bearing track 101 and mainly plays the role of supporting the load. The anti-tipping wheel 221 cooperates with the bottom of the anti-tipping track 102 to position the trolley mechanism 20 vertically and prevent the trolley mechanism 20 from tipping over. The positioning wheel 222 makes rolling contact with the side of the anti-tipping track 102 and is used to position the trolley mechanism 20 laterally and guide its movement. Under the joint action of the load-bearing wheel 220, the anti-tipping wheel 221 and the positioning wheel 222, the movement of the trolley mechanism 20 can be constrained to prevent the trolley mechanism 20 from detaching from the guide rail assembly.

[0050] When the trolley mechanism 20 travels to the turning section 11, the anti-tipping wheel 221 first contacts the rotating guide plate 103. Under the resistance of the rotating guide plate 103, the traveling component 22 is driven to swing and achieve steering. At the same time, under the positioning guidance of the positioning wheel 222, the trolley mechanism 20 travels along the turning section 11. Finally, under the positioning guidance of the positioning wheel 222, it drives out of the turning section 11 and becomes a straight-line vehicle.

[0051] Compared to related technologies, the walking device provided in this embodiment of the invention uses a combination of load-bearing wheels 220, anti-tipping wheels 221, and positioning wheels 222 for positioning. The load-bearing wheels 220 and anti-tipping wheels 221 are arranged laterally, thereby avoiding the side force of the track assembly 10. The wheel flange structure is eliminated. The anti-tipping wheels 221 are used to abut against the rotating guide plate 103 for steering, and the positioning wheels 222 are used for constraint and guidance. Thus, rolling friction steering replaces the squeezing steering of the traditional wheel flange structure, effectively avoiding squeezing wear during the steering process and improving the stability and service life of the trolley mechanism 20.

[0052] In some alternative embodiments, the specific dimensions and specifications of the track assembly 10 and the trolley mechanism 20, as well as the specific materials of each component in the track assembly 10 and the trolley mechanism 20, can be flexibly designed according to the actual working conditions. No specific restrictions are imposed in the embodiments of the present invention.

[0053] In one embodiment of the present invention, reference is made to Figure 4 and Figure 5To ensure the smoothness and stability of the trolley mechanism 20's steering, the edge of the anti-tipping wheel 221 is rounded, and the two ends of the rotating guide plate 103 are inclined surfaces facing inward toward the turning section 11. In actual operation, when the trolley mechanism 20 travels to the turning section 11, the edge of the anti-tipping wheel 221 first contacts the end of the rotating guide plate 103. Since the edge of the anti-tipping wheel 221 is rounded and the end of the rotating guide plate 103 is inclined, the anti-tipping wheel 221 can be smoothly guided to the inside of the rotating guide plate 103, effectively reducing the collision wear between the anti-tipping wheel 221 and the rotating guide plate 103.

[0054] In some alternative embodiments, the material of the rotating guide plate 103 can be flexibly configured according to actual needs. For example, it can be made of metal or non-metal. In order to reduce the collision wear between the anti-tipping wheel 221 and the rotating guide plate 103, the rotating guide plate 103 in this embodiment is made of non-metallic material, such as plastic or composite material that meets the required strength and wear resistance.

[0055] In one embodiment of the present invention, in order to ensure the load-bearing capacity of the trolley mechanism 20, at least two load-bearing wheels 220 are arranged at intervals along the travel direction of the vehicle body 21 in each traveling component 22. Similarly, at least two anti-tipping wheels 221 are arranged at intervals along the travel direction of the vehicle body 21. Furthermore, the load-bearing wheels 220 and the anti-tipping wheels 221 are arranged in a one-to-one correspondence in the axial direction.

[0056] The specific number of load-bearing wheels 220 and anti-tipping wheels 221 can be designed according to actual load-bearing requirements. In this embodiment, each walking component 22 has two load-bearing wheels 220 and two anti-tipping wheels 221.

[0057] In one embodiment of the present invention, reference is made to Figure 5 and Figure 6 To facilitate the installation of each roller in the walking assembly 22, the walking assembly 22 also includes a wheel frame 223. The load-bearing wheel 220 and the anti-tipping wheel 221 are rotatably connected to the wheel frame 223 through a wheel axle. The load-bearing wheel 220 and the anti-tipping wheel 221 are coaxially arranged. With the main track 100 as the reference, the anti-tipping wheel 221 is located inside the load-bearing wheel 220, so that when the load-bearing wheel 220 is supported on the load-bearing track 101, the anti-tipping wheel 221 can roll in contact with the bottom of the anti-tipping track 102.

[0058] The positioning wheel 222 is rotatably connected to the top of the wheel frame 223 via a wheel axle. Furthermore, the axis of the positioning wheel 222 is perpendicular to the axis of the load-bearing wheel 220 and the anti-tipping wheel 221, so that the positioning wheel 222 can roll into contact with the side of the anti-tipping track 102 during the movement of the trolley mechanism 20 on the track assembly 10.

[0059] In one embodiment of the present invention, a frame 210 is rotatably connected to the bottom of the vehicle body 21. At least two frames 210 are provided along the travel direction of the vehicle body 21. The frame 210 spans across the track assembly 10. The traveling components 22 are grouped in pairs and respectively connected to both sides of the frame 210, thereby realizing the rotatable connection of the traveling components 22 at the bottom of the vehicle body 21.

[0060] Specifically, two frames 210 are spaced apart along the travel direction of the vehicle body 21. The frames 210 and the vehicle body 21 can be rotatably connected by bearings or by a rotating guide frame to improve the smoothness and stability of the frame 210's rotation. The wheel frame 223 can be connected to the frame 210 by a pin or other connecting components; no specific limitations are imposed in this embodiment of the invention.

[0061] To facilitate driving the trolley mechanism 20, in one embodiment of the present invention, the traveling device further includes a driving component 23 for driving the trolley mechanism 20 to travel along the track assembly 10.

[0062] The specific structure or form of the drive assembly 23 can be flexibly designed according to actual needs. In one embodiment of the present invention, the drive assembly 23 includes a drive motor, a gear 231, and a rack 232; wherein, the drive motor is fixedly connected to the vehicle body 21; the rack 232 is fixedly connected to the track assembly 10 and extends along the length direction of the track assembly 10; the gear 231 is connected to the output shaft of the drive motor and meshes with the rack 232. In actual operation, the drive motor drives the gear 231 to rotate, and during the rotation of the gear 231, it drives the vehicle body 21 to move along the length direction of the rack 232, thereby realizing the drive of the trolley mechanism 20.

[0063] In one embodiment of the present invention, the drive motor and the vehicle body 21 can be connected by a flange, and the axis of the output shaft of the drive motor is perpendicular to the axis of the load-bearing wheel 220 and the anti-tipping wheel 221; the gear 231 is coaxially fixedly connected to the output shaft of the drive motor.

[0064] In one embodiment of the present invention, the rack 232 is fixedly connected to the main track 100.

[0065] In order to improve the smoothness and stability of the movement of the vehicle body 21, in one embodiment of the present invention, the walking device further includes a guide component 24 for constraining the movement direction of the trolley mechanism 20.

[0066] Specifically, the guide assembly 24 includes a guide wheel 240 and a guide groove 241. The guide groove 241 is disposed on the main track 100 and extends along the path of the main track 100. The guide wheel 240 is rotatably connected to the bottom of the vehicle body 21 with its axis perpendicular to the bottom surface of the guide groove 241. The guide wheel 240 is located on the centerline of the vehicle body 21 along its width direction and is embedded in the guide groove 241, making rolling contact with the side wall of the guide groove 241. With this configuration, during the movement of the trolley mechanism 20 on the track assembly 10, the guide wheel 240 can roll in the guide groove 241, thereby constraining and guiding the movement direction of the vehicle body 21, improving the smoothness and stability of the movement of the trolley mechanism 20.

[0067] In one embodiment of the present invention, in order to ensure the structural strength of the track assembly 10, the main track 100, the load-bearing track 101 and the anti-overturning track 102 are integrally formed.

[0068] The drilling platform robot provided by the present invention is described below. The drilling platform robot described below can be referred to in correspondence with the walking device described above.

[0069] Reference Figure 1 A drilling platform robot includes a robot body and a walking device provided in any of the above embodiments. The robot body is fixedly connected to a vehicle body 21. The track assembly 10 includes a storage section 12 and a working section 13 arranged vertically in the same plane, and a turning section 11 connecting the storage section 12 and the working section 13. During operation, the walking device drives the robot body to move in the working section 13. When it is necessary to avoid tools such as powered catwalks, the walking device drives the robot body to move to the storage section 12 to avoid them.

[0070] To facilitate the installation of the track assembly 10 on the drilling platform, in one embodiment of the present invention, referring to... Figure 7 The track assembly 10 is detachably connected to the drill platform surface via the connecting assembly 30.

[0071] Specifically, the connecting component 30 includes a positioning block 31 and a connecting structure 32. The positioning block 31 is fixedly connected to the drill table surface, and a positioning part 310 protrudes from the upper surface of the positioning block 31. The track assembly 10 is provided with a connecting part 104, and a fitting groove is provided on the connecting part 104. The positioning part 310 fits into the fitting groove. The connecting structure 32 is used to detachably connect the positioning block 31 and the connecting part 104. With this configuration, during relocation and disassembly, positioning and installation can be completed simply by fitting the positioning part 310 on the upper surface of the positioning block 31 into the fitting groove on the track assembly 10, without the need for realignment, thus improving the convenience of positioning and installation of the track assembly 10.

[0072] Specifically, the connecting structure 32 includes a slide groove 320, a pressure plate 321, a slider 322, and a bolt 323; wherein, the slide groove 320 is formed on the positioning block 31, and the slide groove 320 has an end opening and an upper opening that penetrates the upper surface of the positioning part 310; the pressure plate 321 is used to cooperate with the upper surface of the positioning block 31 to press the connecting part 104; the slider 322 is slidably embedded in the slide groove 320; one end of the bolt 323 is fixedly connected to the slider 322, and the other end passes through the upper opening of the slide groove 320 and the pressure plate 321 in sequence and is locked by a nut 324.

[0073] In practical applications, when installing the track assembly 10, firstly, the positioning part 310 on the upper surface of the positioning block 31 engages with the fitting groove on the track assembly 10 to achieve positioning. Then, the slider 322 with bolt 323 is inserted into the slide groove 320 from the end opening of the slide groove 320, and the bolt 323 protrudes from the upper opening of the slide groove 320. Next, the pressure plate 321 is installed, with the bolt 323 passing through both the upper and lower surfaces of the pressure plate 321. The pressure plate 321, in conjunction with the upper surface of the positioning block 31, presses the connecting part 104 tightly. Finally, the nut 324 is screwed onto the bolt 323 to complete the connection of the track assembly 10. When disassembling the track assembly 10, simply unscrew the nut 324 from the bolt 323, remove the pressure plate 321, and then remove the slider 322 with bolt 323 from the end opening of the slide groove 320. This improves the ease of installation and disassembly of the track assembly 10.

[0074] In one embodiment of the present invention, in order to improve structural strength, the slider 322 and the bolt 323 are integrally formed.

[0075] In one embodiment of the present invention, depending on different requirements, the track assembly 10 can be arranged in a sunken manner or on a platform. When arranged in a sunken manner, the upper plane of the track assembly 10 is flush with the drilling platform surface.

[0076] It is understood that, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples.

[0077] The walking device and drilling platform manipulator provided in this embodiment of the invention use a combination of load-bearing wheels 220, anti-tipping wheels 221 and positioning wheels 222 for positioning. The load-bearing wheels 220 and anti-tipping wheels 221 are arranged laterally, thereby avoiding the side force of the track assembly 10 and eliminating the wheel flange structure. The anti-tipping wheels 221 are used to abut against the rotating guide plate 103 for steering, and the positioning wheels 222 are used for constraint and guidance. Thus, rolling friction steering replaces the squeezing steering of the traditional wheel flange structure, effectively avoiding squeezing wear during the steering process and improving the stability and service life of the trolley mechanism 20.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions 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 invention.

Claims

1. A walking device, characterized in that, include: The track assembly (10) includes a main track (100) and a load-bearing track (101) and an anti-overturning track (102) located outside the main track (100). The anti-overturning track (102) is located above the inner side of the load-bearing track (101). The track assembly (10) forms an arc-shaped turning section (11). The trolley mechanism (20) includes a car body (21) and a plurality of traveling components (22) rotatably connected to the bottom of the car body (21); the traveling components (22) include load-bearing wheels (220), anti-tipping wheels (221) and positioning wheels (222); the load-bearing wheels (220) cooperate with the load-bearing rail (101), the anti-tipping wheels (221) cooperate with the bottom of the anti-tipping rail (102), and the positioning wheels (222) make rolling contact with the side of the anti-tipping rail (102); The track assembly (10) is provided with a rotating guide plate (103) laid along the turning section (11). The rotating guide plate (103) is located inside the anti-overturning wheel (221) and is used to abut against the anti-overturning wheel (221) to drive the walking component (22) to turn. It also includes a drive assembly (23) for driving the trolley mechanism (20) along the track assembly (10), the drive assembly (23) comprising: The drive motor is fixedly connected to the vehicle body (21); The rack (232) is laid along the extension path of the track assembly (10); The gear (231) is connected to the output end of the drive motor and meshes with the rack (232); It also includes a guide assembly (24) for constraining the direction of motion of the trolley mechanism (20), the guide assembly (24) comprising: A guide groove (241) is provided on the main track (100) and extends along the path of the main track (100); The guide wheel (240) is rotatably connected to the bottom of the vehicle body (21) and its axis is perpendicular to the bottom surface of the guide groove (241). The guide wheel (240) is embedded in the guide groove (241) and rolls in contact with the side wall of the guide groove (241).

2. The walking device according to claim 1, characterized in that, The edge of the anti-tipping wheel (221) is rounded, and / or the two ends of the rotating guide plate (103) are inclined surfaces that slope toward the inside of the turning section (11).

3. The walking device according to claim 1, characterized in that, The walking assembly (22) also includes a wheel frame (223), the load-bearing wheel (220) and the anti-tipping wheel (221) are rotatably connected to both sides of the wheel frame (223), and the positioning wheel (222) is rotatably connected to the top of the wheel frame (223).

4. The walking device according to claim 3, characterized in that, The load-bearing wheels (220) and the anti-overturning wheels (221) are arranged at least two at intervals along the travel direction of the vehicle body (21), and the load-bearing wheels (220) and the anti-overturning wheels (221) are arranged in a one-to-one correspondence in the axial direction.

5. The walking device according to claim 3, characterized in that, The bottom of the vehicle body (21) is rotatably connected to a frame (210), and at least two frames (210) are provided along the travel direction of the vehicle body (21) and span across the track assembly (10); the walking components (22) are in groups of two and are respectively connected to both sides of the frame (210).

6. A drilling platform robot, characterized in that, It includes a robotic arm body and a walking device as described in any one of claims 1-5; the robotic arm body is fixedly connected to the vehicle body (21); The track assembly (10) includes a storage section (12) and a working section (13) arranged vertically in the same plane, and a turning section (11) for connecting the storage section (12) and the working section (13).

7. The drilling platform robot according to claim 6, characterized in that, The track assembly (10) is detachably connected to the drill platform surface via a connecting assembly (30), the connecting assembly (30) comprising: A positioning block (31) is fixedly connected to the drilling platform. A positioning part (310) is protruding from the upper surface of the positioning block (31). A connecting part (104) is provided on the track assembly (10). A fitting groove is provided on the connecting part (104). The positioning part (310) fits into the fitting groove. A connecting structure (32) is provided for detachably connecting the positioning block (31) and the connecting part (104).

8. The drilling platform robot according to claim 7, characterized in that, The connection structure (32) includes: A slide groove (320) is provided in the positioning block (31). The slide groove (320) has an end opening and an upper opening that penetrates the upper surface of the positioning part (310). A pressure plate (321) is used to press the connecting part (104) against the upper surface of the positioning block (31); The slider (322) is slidably embedded in the groove (320); A bolt (323) is fixedly connected at one end to the slider (322), and the other end passes through the upper opening and the pressure plate (321) in sequence and is locked by a nut (324).

Images