Rail robot with automatic obstacle avoidance function

Abstract

The invention relates to the technical field of robots, and discloses a rail robot with an automatic obstacle avoidance function, which comprises a bracket, obstacle avoidance parts are mounted on the bracket, two oppositely arranged obstacle avoidance parts form one group, four groups of obstacle avoidance parts are uniformly arranged on the bracket, a driving part is mounted at the bottom of the bracket, and a driving part is mounted on the bracket. The driving part drives the obstacle avoidance parts to work, so that the whole rail robot moves on the cable, and a fan-shaped toothed plate installed on the support is arranged in the middle of each obstacle avoidance part. The positions of the side faces of the obstacle avoidance components are limited through the springs, the automatic obstacle avoidance function can be achieved through a mechanical structure, meanwhile, the four sets of obstacle avoidance components are arranged, it can be guaranteed that at least three acting points still exist between the track robot and a track during obstacle avoidance, and the stability of the track robot can be greatly improved; and through cooperation of the opening and closing control rod, automatic opening and closing of the obstacle avoidance component can be achieved, and the automation degree of the rail robot in use is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a track-mounted robot with automatic obstacle avoidance capabilities. Background Technology

[0002] High-speed rail overhead contact lines are highly susceptible to icing in low temperatures and rainy or snowy weather. Once covered by ice, the geometry of the contact line changes, leading to uneven distribution of contact pressure between the pantograph and the contact line. This can cause power outages for trains and affect the normal operation of the railway.

[0003] Existing obstacle-avoidance track robots primarily rely on sensor control and the movement of elastic components for physical obstacle avoidance during actual operation. The former is prone to inaccurate sensing, while the latter requires some supporting components to detach from the cable when the robot encounters an obstacle. Current mechanical obstacle avoidance structures have at most two stress points between the robot and the cable during obstacle avoidance, which is insufficient to ensure the overall stability of the track robot. Once affected by external environmental factors such as strong winds, its operational stability is difficult to guarantee. Furthermore, existing track robots that rely on physical obstacle avoidance require external manual or mechanical intervention to open the corresponding obstacle avoidance structure during installation, allowing the robot to attach to the cable, which is cumbersome and slows down the robot's operation. In addition, due to the limitations of existing obstacle avoidance structures, current obstacle-avoidance track robots can only perform unidirectional operations, and their practicality is not very good. Summary of the Invention

[0004] In view of the shortcomings of existing track robots mentioned in the background art, the present invention provides a track robot with automatic obstacle avoidance function, which has the advantages of good obstacle avoidance effect, stable operation, bidirectional operation and movement, and automatic attachment and detachment from operation tracks such as cables. It solves the technical problems of unstable obstacle avoidance function, poor operation stability and complicated operation mentioned in the background art.

[0005] This invention provides the following technical solution: a track robot with automatic obstacle avoidance function, comprising a support frame, on which obstacle avoidance components are mounted. Two oppositely arranged obstacle avoidance components form a group, and four groups of obstacle avoidance components are evenly arranged on the support frame. Four sets of driving components are mounted at the bottom of the support frame, and each driving component drives the obstacle avoidance components in the same group to work, so that the track robot moves as a whole on the cable. A fan-shaped toothed plate mounted on the support frame is arranged at the middle position of each group of obstacle avoidance components. The outer side of the fan-shaped toothed plate is symmetrically arranged with arc-shaped toothed surfaces, and the other two sides are concave smooth surfaces. The toothed surfaces can mesh with the obstacle avoidance components. An external drive is arranged at the bottom of the fan-shaped toothed plate. The external drive controls the fan-shaped toothed plate to deflect and mesh with the obstacle avoidance components, and controls all obstacle avoidance components to open or close simultaneously. When the track robot is moving, the smooth surface of the fan-shaped toothed plate is opposite to the obstacle avoidance components, so that the obstacle avoidance components will not interfere with the movement of the fan-shaped toothed plate when performing obstacle avoidance actions.

[0006] Furthermore, the driving component includes a first driving assembly and a driving shaft. The output shaft of the first driving assembly is equipped with a belt drive component mounted on a bracket. The other end of the belt drive component is linked with the driving shaft. The first driving assembly drives the driving shaft to rotate. The positions of the first driving assembly correspond to the obstacle avoidance components and are provided in four sets. A corresponding battery assembly is provided on the outside of the first driving assembly.

[0007] Furthermore, the drive shaft is installed at the bottom of the bracket, and bevel gears are connected to both ends of the drive shaft. The drive shaft is located below each group of obstacle avoidance components, and both ends of the drive shaft are connected to the bottom of the same group of obstacle avoidance components. When the first drive assembly is working, it drives the drive shaft to rotate through the belt drive component.

[0008] Furthermore, the obstacle avoidance component is movably mounted on the support. The external part of the obstacle avoidance component can rotate forward or backward around its internal connecting axis. The obstacle avoidance component is divided into upper and lower parts. Its lower part is mounted on the support and is perpendicular to the support, while its upper part is parallel to the horizontal plane. The outer end of the upper part of the obstacle avoidance component is provided with a moving wheel. When the track robot is moving, the movement of each set of obstacle avoidance components is adjacent and overlapping. A bevel gear rod is installed at the bottom of the obstacle avoidance component. Its bevel gear meshes with the drive shaft. When the first drive component is working, it drives the moving wheel to rotate through the transmission of the bevel gear and other accessories. The outer side of the moving wheel is made of wear-resistant rubber.

[0009] Furthermore, a limiting block is installed on the inner side of the obstacle avoidance component below the moving wheel. The outer side of the limiting block is made of elastic rubber. One end of the limiting block is connected to the obstacle avoidance component through a rod that can elastically extend and retract. The side of the limiting block near the cable has a semi-circular arc structure. When the track robot is hung on the cable, both the moving wheel and the limiting block are in contact with the cable.

[0010] Furthermore, an arc-shaped toothed block is fixedly connected to the inner side of the bottom of the obstacle avoidance component. The outer side of the arc-shaped toothed block is the tooth surface, and the arc-shaped toothed block can mesh with the outer tooth surface of the fan-shaped toothed plate.

[0011] Furthermore, the external drive of the sector toothed plate consists of an opening and closing control rod, a reset wheel, and a second drive assembly. The opening and closing control rod is movably mounted on the bottom of the bracket and can rotate at the bottom of the bracket. Several bevel gears are provided on the outside of the opening and closing control rod. The sector toothed plate is movably mounted on the bracket via a shaft at the bottom of the bracket. A bevel gear that meshes with the opening and closing control rod is connected to the shaft of the sector toothed plate located below the bracket. The second drive assembly is installed below the bracket and is equipped with a corresponding battery. The output shaft of the second drive assembly is linked to the opening and closing control rod via the bevel gear. The operation of the second drive assembly drives the opening and closing control rod to rotate. The rotation of the opening and closing control rod causes the sector toothed plate to deflect as well. The sector toothed plate deflects to the position where the arc-shaped toothed block meshes and drives the entire obstacle avoidance component to deflect to the open state. The central shaft of the reset wheel is movably mounted below the bracket, and one end of the reset wheel meshes with the outside of the opening and closing control rod via a bevel gear. The outside of the reset wheel is movably connected to the bracket via a spring. A wheel disk that is easy for people to operate is provided on the outside of the reset wheel. Rotating the reset wheel can control the opening and closing of the entire obstacle avoidance component.

[0012] Furthermore, two sets of limiting springs are symmetrically arranged on both sides of the bottom of the obstacle avoidance component. In its natural state, the limiting springs keep the obstacle avoidance component in a closed state. When the obstacle avoidance component is opened by being deflected forward or backward by an external force, the elastic force of the limiting springs themselves can cause the obstacle avoidance component to return to a closed state after the external force disappears.

[0013] The present invention has the following beneficial effects: 1. This invention utilizes springs to limit the position of the obstacle avoidance components on the side, enabling automatic obstacle avoidance through mechanical structure. Simultaneously, by setting four sets of obstacle avoidance components, it ensures that the track robot maintains at least three points of contact with the track during obstacle avoidance, significantly improving the robot's stability. Furthermore, by setting fan-shaped toothed plates and cooperating with opening and closing control rods, the obstacle avoidance components can be automatically opened and closed, enhancing the automation level of the track robot during use.

[0014] 2. By setting a limiting component with elastic connection on the obstacle avoidance component, the present invention can improve the stability of the track robot when working along the cable without affecting its normal movement, thereby improving the working efficiency of the track robot.

[0015] 3. By setting symmetrical connecting springs on both sides of the obstacle avoidance component, the present invention enables the obstacle avoidance component to achieve bidirectional deflection, which enables the track robot to have automatic obstacle avoidance function when moving forward and backward, greatly improving its practicality and making it adaptable to more application scenarios. Attached Figure Description

[0016] Figure 1 A schematic diagram of the overall structure of the invention; Figure 2 This is a schematic diagram of the structure of the present invention viewed from below; Figure 3 This is a schematic diagram of the rear structure of the present invention; Figure 4 For the present invention Figure 3 Enlarged structural diagram at point A; Figure 5 This is a schematic diagram of the structure from one side of the present invention; Figure 6 This is a top view of the structure of the present invention; Figure 7 For the present invention Figure 6 Enlarged structural diagram at point B; Figure 8 This is a schematic diagram of the front structure of the present invention; Figure 9 This is a partial structural diagram of the obstacle avoidance component of the present invention.

[0017] In the diagram: 1. Bracket; 2. Obstacle avoidance component; 21. Limiting block; 22. Moving wheel; 23. Arc-shaped toothed block; 24. Limiting spring; 3. Sector-shaped toothed plate; 4. Drive shaft; 5. Opening and closing control lever; 6. Reset wheel; 7. First drive assembly; 71. Belt drive component; 8. Second drive assembly. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1 A track-mounted robot with automatic obstacle avoidance function includes a support frame 1, on which a battery for the robot's operation is mounted. Obstacle avoidance components 2 are mounted on the support frame 1. Two opposing and staggered obstacle avoidance components 2 form a group. The head of the obstacle avoidance component 2 is horizontal, and a moving wheel 22 is mounted at the overlapping position of the heads of the obstacle avoidance components 2 in the same group. Four groups are evenly distributed longitudinally on the support frame 1. (See reference...) Figure 3-5The bottom of the support 1 is equipped with four sets of first drive components 7. The output shaft of the first drive component 7 is connected to a belt drive component 71. The other end of the belt drive component 71 is connected to the drive shaft 4 mounted on the support 1. When the first drive component 7 is working, it can drive the drive shaft 4 to rotate. Both ends of the drive shaft 4 are provided with bevel gears. At the same time, the bottom of the obstacle avoidance component 2 is also provided with bevel gears. The bevel gears at both ends of the drive shaft 4 mesh with the two bevel gears at the bottom of the obstacle avoidance component 2. This allows the first drive component 7 to drive the two moving wheels 22 in the obstacle avoidance component 2 to rotate in the same direction and at a uniform speed. Each obstacle avoidance component 2 is equipped with a first drive component 7 below it. Through program settings, the moving wheels 22 on the four sets of obstacle avoidance components 2 can be controlled to rotate simultaneously and in the same direction. The cable is located below the moving wheel 22. The outside of the moving wheel 22 is covered with a rubber layer to ensure the friction between the moving wheel 22 and the cable. This allows the track robot to move forward or backward on the cable and other positions by rotating the moving wheel 22.

[0020] Please see Figure 9 The bottom of the obstacle avoidance component 2 is movably connected to the support 1, allowing the obstacle avoidance component 2 to deflect around its central drive shaft. The outer side of the obstacle avoidance component 2 is movably connected to the support 1 via limiting springs 24. Two sets of limiting springs 24 are symmetrically arranged on the outer side of the obstacle avoidance component 2. In their natural state, the limiting springs 24 cause the obstacle avoidance component 2 to overlap as shown in the figure. At this time, the track robot can be supported on components such as cables. An arc-shaped toothed block 23 is fixedly connected to the base of the obstacle avoidance component 2. At the same time, a fan-shaped toothed plate 3 is installed in the middle of the support 1 below the obstacle avoidance component 2. The two ends of the fan-shaped toothed plate 3 are fan-shaped structures, and the outer fan-shaped part of the fan-shaped toothed plate 3 is a tooth surface. This tooth surface can mesh with the arc-shaped toothed blocks 23 on both sides. The middle part of the fan-shaped toothed plate 3 is movably connected to the support 1 and can deflect around its central connecting shaft. When the fan-shaped toothed plate 3 deflects, the arc-shaped toothed block 23 will also deflect accordingly, thereby causing the obstacle avoidance component 2 to deflect as well. See reference. Figure 2An opening / closing control rod 5 is installed at the center of the bottom of the bracket 1. Several evenly distributed bevel gears are fitted around the outside of the opening / closing control rod 5. These bevel gears correspond one-to-one with the positions of the sector-shaped gear plates 3. A bevel gear is also provided at one end of the connecting shaft of the sector-shaped gear plates 3 extending below the bracket 1, allowing the bottom of the sector-shaped gear plates 3 to mesh with the opening / closing control rod 5. Simultaneously, a second drive assembly 8 is installed below the bracket 1. The output shaft of the second drive assembly 8 is connected to the opening / closing control rod 5. When the second drive assembly 8 operates, it drives the opening / closing control rod 5 to rotate as a whole, causing the opening / closing control rod 5 to drive the sector-shaped gear plates 3 to deflect. The deflection of the sector-shaped gear plates 3 causes the obstacle avoidance component 2 to deflect outwards. After being staggered, the track robot can be easily placed at work locations such as cables, and it can also be easily disassembled. Through the cooperation of the opening and closing control rod 5, the fan-shaped toothed plate 3 and the arc-shaped toothed block 23, the track robot can be automatically attached at locations such as cables without the need for manual assistance to open the track robot's support structure, which can greatly reduce the amount of manual labor and improve the working efficiency of the track robot. Moreover, after the second drive component 8 drives the fan-shaped toothed plate 3 to control the obstacle avoidance component 2 to complete the installation or removal of the track robot at locations such as cables, the second drive component 8 will drive the fan-shaped toothed plate 3 to control it to move away from the arc-shaped toothed block 23, so as to avoid the fan-shaped toothed plate 3 interfering with the subsequent obstacle avoidance work of the obstacle avoidance component 2.

[0021] Please see Figure 6-7 When the track robot travels along cables and performs operations, if it encounters obstacles such as overhead wires, the obstacle avoidance component 2 will deflect along its central axis installed at the bottom under external pressure until it passes the obstacle. After the obstacle is removed, the external pressure on the obstacle avoidance component 2 is released, and the obstacle avoidance component 2 returns to its original position under the action of the limit spring 24. Therefore, when the track robot passes through obstacles, there are always three other sets of obstacle avoidance components 2 to support the track robot on the cable, which can ensure the stability of the track robot's movement. Moreover, the limit springs 24 are symmetrically arranged on the left and right sides of the obstacle avoidance component 2, which allows the obstacle avoidance component 2 to deflect and reset in both forward and backward directions. This enables the track robot to achieve automatic obstacle avoidance when moving forward and backward. Compared with existing automatic obstacle avoidance track robots, the automatic obstacle avoidance function is achieved through physical structure, which is more stable than obstacle avoidance methods such as lasers and is not affected by circuit, signal, or sensor errors. At the same time, the physical structure is also more convenient for later maintenance and repair operations, which can greatly improve the adaptability and practicality of the track robot's operation.

[0022] Please see Figure 9A limiting block 21 is provided on one side of the obstacle avoidance component 2 at the contact position with the cable. The limiting block 21 is installed and connected to the obstacle avoidance component 2 through a structure that can elastically extend and retract. The limiting blocks 21 on the two obstacle avoidance components 2 are arranged opposite to each other, which can work together to achieve a relative squeezing effect on the cable, so as to ensure the stability of the track robot when it operates on the cable and other positions. Moreover, the outer side of the limiting block 21 is a semi-circular arc structure, which can facilitate its positioning on the cable and other tracks when the obstacle avoidance component 2 deflects and resets.

[0023] Please see Figure 2 The bottom of the bracket 1 is equipped with a reset wheel 6. One end of the reset wheel 6 meshes with a bevel gear on the opening and closing control rod 5. The reset wheel 6 is movably mounted on the bottom of the bracket 1, allowing it to rotate freely. The outside of the reset wheel 6 is connected to the bracket 1 via a spring. In its natural state, the reset wheel 6 is in a balanced state. When the track robot is out of power or malfunctions, rotating the reset wheel 6 can control the obstacle avoidance component 2 to open, thereby detaching the track robot from the cable and providing a safety function.

[0024] The working principle of this invention is as follows: The corresponding ice-breaking hammer and other operating accessories are fixedly installed on the front side of the bracket 1. The program controls the second drive assembly 8 to work. The output shaft of the second drive assembly 8 drives the opening and closing control rod 5 to rotate, causing the sector toothed plate 3 to deflect. After the sector toothed plate 3 deflects, it is transmitted through the arc-shaped toothed block 23, causing the obstacle avoidance component 2 to open. A corresponding lifting device is used to raise the track robot to a position such as a railway cable, so that the railway cable is located in the middle of the obstacle avoidance component 2. The second drive assembly 8 controls the obstacle avoidance component 2 to return to its original position. During the deflection process, the limiting block 21 gradually contacts the cable. Simultaneously, the limiting block 21 adapts its position according to the cable diameter, meaning the mounting accessories of the limiting block 21 extend and retract accordingly. This allows the limiting block 21 to apply a certain pressure to the cable. At this point, the track robot can be stabilized on the cable through the contact support between the obstacle avoidance component 2 and the cable. Furthermore, the fan-shaped toothed plate 3, with the cooperation of the second drive assembly 8 and the opening / closing control rod 5, completely separates from the arc-shaped toothed block 23. The corresponding lifting device can then be controlled to detach from the cable. The track robot's operation is then set through the control program. As the robot travels along the cable, the four sets of first drive components 7 operate simultaneously. The output of the belt drive 71 drives the drive shaft 4 to rotate. The rotation of the drive shaft 4 is transmitted through the bevel gear, causing the moving wheel 22 to rotate at a constant speed and in the same direction. Simultaneously, the friction between the moving wheel 22 and the cable enables the track robot to move along the cable. When encountering obstacles such as overhead wires on the cable, the obstacle avoidance component 2 is deflected backward by the pressure of the obstacle. At the same time, the limiting springs 24 on both sides of the obstacle avoidance component 2 retract and extend accordingly. After the obstacle avoidance component 2 passes the obstacle, the limiting springs 24... This allows the obstacle avoidance component 2 to return to its original position, and subsequent obstacle avoidance components 2 will pass through obstacles in the same manner as described above. During this process, the track robot always has three sets of obstacle avoidance components 2 in contact with the cable. At the same time, the track robot can also be controlled to move in the opposite direction, which can be achieved by changing the reverse rotation of the first drive component 7. After the track robot has finished working, it can be removed by the corresponding lifting device and charged for maintenance operations. If the track robot is out of power or malfunctions and cannot detach from the cable, the obstacle avoidance component 2 can be opened by rotating the reset wheel 6 to control the opening and closing control lever 5 and the fan-shaped toothed plate 3.

[0025] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0026] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A track robot with automatic obstacle avoidance function, comprising a support (1), characterized in that: The support (1) is provided with barrier avoidance components (2), two opposite barrier avoidance components (2) form a group, four groups of barrier avoidance components (2) are evenly arranged on the support (1), the bottom of the support (1) is provided with four groups of driving components, each driving component drives the same group of barrier avoidance components (2) to work, so that the whole track robot moves on the cable, the middle part of each group of barrier avoidance components (2) is provided with a sector tooth plate (3) mounted on the support (1), the outer side of the sector tooth plate (3) is provided with an arc tooth surface, the other two surfaces are recessed smooth surfaces, the tooth surface can engage with the barrier avoidance component (2), the bottom of the sector tooth plate (3) is provided with an external drive, the external drive controls the sector tooth plate (3) to deflect and engage with the barrier avoidance component (2), and controls all barrier avoidance components (2) to open or close at the same time; when the track robot performs the marching operation, the smooth surface of the sector tooth plate (3) is opposite to the barrier avoidance component (2), so that the barrier avoidance component (2) does not interfere with the sector tooth plate (3) when performing the barrier avoidance action. 2.The track robot with automatic obstacle avoidance function according to claim 1, characterized in that: The driving component comprises a first driving assembly (7) and a driving shaft (4), the output shaft of the first driving assembly (7) is provided with a belt driving part (71) mounted on the support (1), the other end of the belt driving part (71) is connected with the driving shaft (4), the first driving assembly (7) drives the driving shaft (4) to rotate, and the first driving assembly (7) is provided with four groups corresponding to the barrier avoidance components (2), and the outer side of the first driving assembly (7) is provided with a corresponding battery assembly. 3.The track robot with automatic obstacle avoidance function according to claim 2, characterized in that: The driving shaft (4) is mounted at the bottom of the support (1), the two ends of the driving shaft (4) are respectively connected with bevel gears, the driving shaft (4) is located below each group of barrier avoidance components (2), and the two ends of the driving shaft (4) are connected with the bottom ends of the same group of barrier avoidance components (2), and the first driving assembly (7) drives the driving shaft (4) to rotate through the belt driving part (71) when working.

4. The track robot with automatic obstacle avoidance function according to claim 1, characterized in that: The barrier avoidance component (2) is movably mounted on the support (1), the whole outer part of the barrier avoidance component (2) can deflect forward or backward around the connecting shaft in the inner part, the barrier avoidance component (2) is divided into upper and lower parts, the lower part is mounted on the support (1) and perpendicular to the support (1), and the upper part is parallel to the horizontal plane, the outer end of the upper part of the barrier avoidance component (2) is provided with a moving wheel (22), the moving wheels (22) of each group of barrier avoidance components (2) are adjacent and overlapped in the working state of the track robot marching; the position of the barrier avoidance component (2) at the bottom of the support (1) is provided with a bevel gear rod, the bevel gear of the bevel gear rod engages with the driving shaft (4), and the moving wheel (22) is driven to rotate through the transmission of the bevel gear and other accessories when the first driving assembly (7) works, and the outer side of the moving wheel (22) is made of wear-resistant rubber material.

5. The track robot with automatic obstacle avoidance function according to claim 4, characterized in that: The lower part of the mobile wheel (22) is provided with a limiting block (21) mounted on the inner side of the obstacle avoidance component (2), the outer side of the limiting block (21) is made of rubber material with elasticity, one end of the limiting block (21) is connected to the obstacle avoidance component (2) through a rod body capable of elastic expansion, and the side close to the cable of the limiting block (21) is a semicircular arc structure. When the track robot is hung on the cable, the mobile wheel (22) and the limiting block (21) are in contact with the cable. 6.The track robot with automatic obstacle avoidance function of claim 1, wherein: The inner side of the bottom of the obstacle avoidance component (2) is fixedly connected with an arc-shaped tooth block (23), the outer side of the arc-shaped tooth block (23) is a tooth surface, and the arc-shaped tooth block (23) can be engaged with the outer tooth surface of the sector tooth plate (3). 7.The track robot with automatic obstacle avoidance function of claim 6, wherein: The outer part of the sector tooth plate (3) is driven by an opening and closing control rod (5), a reset wheel (6) and a second driving assembly (8). The opening and closing control rod (5) is movably installed at the bottom of the support (1) and can rotate at the bottom of the support (1). A plurality of conical gears are arranged on the outer part of the opening and closing control rod (5). The sector tooth plate (3) is movably installed on the support (1) through the shaft at the bottom of the support (1). The shaft body below the support (1) is connected with the conical gears engaged with the opening and closing control rod (5). The second driving assembly (8) is installed below the support (1) and is provided with a corresponding battery. The output shaft of the second driving assembly (8) is connected with the opening and closing control rod (5) through the conical gears. The second driving assembly (8) drives the opening and closing control rod (5) to rotate. The rotation of the opening and closing control rod (5) causes the sector tooth plate (3) to deflect. The sector tooth plate (3) is deflected to the position engaged with the arc-shaped tooth block (23) and drives the obstacle avoidance component (2) to deflect to the open state. The central shaft of the reset wheel (6) is movably installed below the support (1). One end of the reset wheel (6) is engaged with the outer part of the opening and closing control rod (5) through the conical gears. The outer part of the reset wheel (6) is movably connected with the support (1) through the spring. The position of the reset wheel (6) outside the support (1) is provided with a wheel disc for easy operation. Rotating the reset wheel (6) can control the opening and closing of the obstacle avoidance component (2). 8.The track robot with automatic obstacle avoidance function of claim 1, wherein: Two groups of limiting springs (24) are symmetrically arranged on both sides of the bottom of the obstacle avoidance component (2). In the natural state, the limiting springs (24) make the obstacle avoidance component (2) in the closed state. After the obstacle avoidance component (2) is deflected forward or backward by external force to open, the elastic force of the limiting springs (24) can make the obstacle avoidance component (2) return to the closed state after the external force disappears.

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