CN219618832U

CN219618832U - Walking assembly support, walking assembly and track robot

Info

Publication number: CN219618832U
Application number: CN202320607615.5U
Authority: CN
Inventors: 徐立; 菅磊; 吴礼明; 王东辉; 智效龙
Original assignee: Beijing Nenggong Huizhi Robot Co ltd
Current assignee: Beijing Nenggong Huizhi Robot Co ltd
Priority date: 2023-03-24
Filing date: 2023-03-24
Publication date: 2023-09-01
Anticipated expiration: 2033-03-24

Abstract

The utility model provides a walking component support, a walking component and a track robot, wherein the walking component support of the track robot comprises: the two mounting vertical plates are oppositely arranged along the preset direction n, and an accommodating space for accommodating the rail is formed between the two mounting vertical plates; the connecting plate is connected with the two mounting vertical plates; the two travelling wheel mounting structures are symmetrically arranged on the two mounting vertical plates; the auxiliary piece mounting structure comprises two guide grooves symmetrically arranged on the two mounting vertical plates and a first mounting hole arranged at the bottom of each guide groove. By applying the technical scheme of the utility model, the problem of low installation efficiency of the track robot in the prior art can be effectively solved.

Description

Walking assembly support, walking assembly and track robot

Technical Field

The utility model relates to the field of robots, in particular to a walking component bracket, a walking component and a track robot.

Background

Along with the intelligent development requirement of the power plant, the inspection robot can replace workers to inspect and predict risks in advance, and the intelligent power plant inspection robot becomes a product with great development potential.

Currently, inspection robots generally include a robot body and a walking assembly, which includes a walking wheel and an auxiliary member assisting the walking.

The auxiliary part is installed for a long time, so that the installation efficiency of the inspection robot is affected.

Disclosure of Invention

The utility model mainly aims to provide a walking component bracket, a walking component and a track robot, so as to solve the problem of low installation efficiency of the track robot in the prior art.

In order to achieve the above object, according to one aspect of the present utility model, there is provided a walking assembly bracket of a track robot, comprising: the two mounting vertical plates are oppositely arranged along the preset direction n, and an accommodating space for accommodating the rail is formed between the two mounting vertical plates; the connecting plate is connected with the two mounting vertical plates; the two travelling wheel mounting structures are symmetrically arranged on the two mounting vertical plates; the auxiliary piece mounting structure comprises two guide grooves symmetrically arranged on the two mounting vertical plates and a first mounting hole arranged at the bottom of each guide groove.

In one embodiment, the auxiliary member mounting structure is two groups symmetrically arranged along the reference plane L, the normal direction of the reference plane L is a horizontal direction m perpendicular to the preset direction n, and the midpoint of the mounting riser in the horizontal direction m is located in the reference plane L.

In one embodiment, the road wheel mounting structure comprises a plurality of second mounting holes circumferentially spaced apart in a vertical plane about a point M located in the reference plane L.

In one embodiment, the mounting vertical plate is provided with an avoidance hole, the avoidance hole is located in an area surrounded by a plurality of second mounting holes, and the circle center of the avoidance hole is a point M.

In one embodiment, the installation vertical plate is provided with convex ribs which are arranged at intervals up and down, and the two convex ribs and the groove surrounded by the installation vertical plate form a guide groove.

In one embodiment, the ribs are located on the inside surface of the mounting riser.

In one embodiment, the first mounting holes are a plurality of spaced apart along the width direction of the guide groove.

In one embodiment, the connection plate is detachably connected to the two mounting risers.

According to another aspect of the present utility model, there is provided a walking assembly of a track robot, including: the mounting bracket is the walking component bracket of the track robot; the two travelling wheels are respectively connected to two mounting vertical plates of the mounting bracket through two travelling wheel mounting structures of the mounting bracket; the auxiliary parts are respectively connected to the two mounting vertical plates of the mounting bracket through auxiliary part mounting structures of the mounting bracket, wherein the auxiliary part mounting structures are a group, and the auxiliary parts are two guide assemblies for pressing webs of the rail or two pressing assemblies which are in butt joint with the lower surface of an upper wing plate of the rail; or, the auxiliary piece mounting structure is two groups, the two groups of auxiliary piece mounting structures are respectively connected with different auxiliary pieces, and the auxiliary pieces comprise two guide assemblies for pressing the web plate of the rail and two pressing assemblies which are abutted with the lower surface of the upper wing plate of the rail.

According to still another aspect of the present utility model, there is provided a walking assembly of a track robot, including: the mounting bracket is the walking component bracket of the track robot; the two travelling wheels are respectively connected to two mounting vertical plates of the mounting bracket through two travelling wheel mounting structures of the mounting bracket; the two guide components are connected to one auxiliary component mounting structure; and the two pressing assemblies are in butt joint with the lower surface of the upper wing plate of the rail and are connected to the other group of auxiliary component mounting structures.

In one embodiment, the guide assembly includes a first guide mounting plate connected to the mounting riser through an auxiliary mounting structure, a second guide mounting plate disposed opposite to the first guide mounting plate in a preset direction n, a first connecting member connecting the first guide mounting plate and the second guide mounting plate, a first elastic member between the first guide mounting plate and the second guide mounting plate, and a guide wheel pivotably connected to the second guide mounting plate, the second guide mounting plate being movable in the preset direction n with respect to the first guide mounting plate, an axis of the guide wheel being vertically disposed so that the guide wheel contacts the web of the rail.

In one embodiment, the compaction assembly includes a first compaction mounting plate connected to the mounting riser through an auxiliary mounting structure, a second compaction mounting plate disposed opposite to the first compaction mounting plate and positioned above the first compaction mounting plate, a second connecting member connecting the first compaction mounting plate and the second compaction mounting plate, a second elastic member positioned between the first compaction mounting plate and the second compaction mounting plate, and a compaction wheel pivotally connected to the second compaction mounting plate, the second compaction mounting plate being floatable up and down with respect to the first compaction mounting plate, an axis of the compaction wheel extending in a preset direction n to enable the compaction wheel to abut against a lower surface of the upper wing plate of the rail.

According to a final aspect of the present utility model, there is provided a track robot comprising: a robot body; the walking assembly is arranged below the robot body and is the walking assembly; and the driving device is used for driving the robot body to move.

In one embodiment, the walking components are a plurality of walking components which are arranged at intervals along the horizontal direction m perpendicular to the preset direction n, the mounting bracket of each walking component is pivotably arranged on the robot body, and the driving device is in driving connection with two walking wheels in one of the walking components.

By applying the technical scheme of the utility model, when the auxiliary piece is installed, the installation plate of the auxiliary piece is stretched into the guide groove, the installation holes on the installation plate are aligned with the first installation holes, and then the installation plate is fixed on the installation vertical plate by using the fastener. And finally, connecting the robot body on the connecting plate, thus completing the installation of the track robot. The structure enables the mounting hole on the mounting plate of the auxiliary piece to be quickly centered with the first mounting hole, so that the mounting time of the auxiliary piece is shortened, and the mounting efficiency of the track robot is improved.

In addition to the objects, features and advantages described above, the present utility model has other objects, features and advantages. The present utility model will be described in further detail with reference to the drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model. In the drawings:

fig. 1 shows a schematic perspective view of an embodiment of a walking assembly stand of a track robot according to the present utility model;

fig. 2 shows a schematic perspective view of the walking assembly stand of fig. 1, wherein fig. 2 shows a reference plane O and a reference plane L;

FIG. 3 shows an enlarged partial structural schematic view of the walking assembly bracket of FIG. 1;

fig. 4 shows a schematic perspective view of an angle of a second embodiment of a walking assembly of a track robot according to the present utility model;

FIG. 5 illustrates another angular perspective view of the walking assembly of FIG. 4;

FIG. 6 shows a schematic perspective cross-sectional view of the walking assembly of FIG. 4;

FIG. 7 shows a schematic perspective view of the walking assembly of FIG. 4 mated with a track;

FIG. 8 illustrates a partially enlarged structural schematic view of the walking assembly of FIG. 7;

FIG. 9 illustrates a partial enlarged structural schematic view of the walking assembly of FIG. 5; and

fig. 10 shows a schematic perspective view of an embodiment of the orbital robot according to the utility model.

Wherein the above figures include the following reference numerals:

1. a track; 10. a robot body; 20. a mounting bracket; 21. installing a vertical plate; 213. avoidance holes; 22. a connecting plate; 30. a guide assembly; 31. a first guide mounting plate; 32. a second guide mounting plate; 33. a first connector; 34. a first elastic member; 35. a guide wheel; 40. a driving device; 50. a walking wheel; 70. a compression assembly; 71. a first compression mounting plate; 72. a second compression mounting plate; 73. a second connector; 74. a second elastic member; 75. a pinch roller; 90. a road wheel mounting structure; 100. an auxiliary member mounting structure; 101. a guide groove; 102. a first mounting hole; 103. convex ribs; 110. an auxiliary member; 120. and a walking assembly.

Detailed Description

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.

In order that those skilled in the art will better understand the present utility model, a technical solution in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present utility model and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the utility model described herein are, for example, capable of operation in other environments. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present utility model. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

As shown in fig. 1 to 5, the traveling assembly bracket of the track robot of the present embodiment includes: two mounting risers 21, a connecting plate 22, two road wheel mounting structures 90, and at least one set of accessory mounting structures 100. Wherein the two mounting risers 21 are oppositely arranged along the preset direction n, and an accommodating space for accommodating the rail 1 is formed between the two mounting risers 21. The connection plate 22 connects the two mounting risers 21. The two road wheel mounting structures 90 are symmetrically disposed on the two mounting risers 21. The auxiliary member mounting structure 100 includes two guide grooves 101 symmetrically provided on the two mounting risers 21, and a first mounting hole 102 provided at the bottom of each guide groove 101.

With the technical solution of the present embodiment, when the auxiliary member 110 is installed, the installation plate of the auxiliary member 110 is inserted into the guide groove 101, the installation hole on the installation plate is aligned with the first installation hole 102, and then the installation plate is fixed on the installation riser 21 by using the fastener. Finally, the robot body is connected to the connecting plate 22, and the installation of the track robot is completed. The above structure enables the mounting hole on the mounting plate of the auxiliary member 110 to be rapidly centered with the first mounting hole 102, thereby shortening the mounting time of the auxiliary member 110 and improving the mounting efficiency of the rail robot.

It should be noted that, in the present embodiment, the auxiliary member mounting structures 100 are divided into two groups, wherein one group of auxiliary member mounting structures 100 is used to mount the guiding assemblies 30, and the two guiding assemblies 30 can compress the web of the track 1, thereby realizing the guiding function. The other auxiliary member mounting structure 100 is used for mounting two pressing assemblies 70, and the two pressing assemblies 70 are abutted with the lower surface of the upper wing plate of the track 1 and are used for preventing the track robot from overturning in the walking process.

The symmetry in the "two road wheel mounting structures 90 are symmetrically disposed on the two mounting risers 21" and "the auxiliary member mounting structure 100 includes two guide grooves 101 symmetrically disposed on the two mounting risers 21 and the first mounting hole 102" disposed at the bottom of each guide groove 101 means symmetry with the reference plane O in fig. 2 as a symmetry plane. The normal direction of the reference plane O is a preset direction n, and the midpoint of the connecting plate 22 in the preset direction n is located in the reference plane O.

As shown in fig. 2, in the present embodiment, the auxiliary member mounting structure 100 is provided in two groups symmetrically arranged along the reference plane L, the normal direction of the reference plane L is the horizontal direction m perpendicular to the preset direction n, and the midpoint of the mounting riser 21 in the horizontal direction m is located within the reference plane L. Since the two sets of auxiliary member mounting structures 100 are symmetrically arranged along the reference plane L, it is unnecessary to divide left and right (here, left and right refer to both sides of the rail 1 in the preset direction n) when the mounting riser 21 is manufactured, and versatility is strong, thereby reducing production costs.

As shown in fig. 2 and 3, in the present embodiment, the road wheel mounting structure 90 includes a plurality of second mounting holes arranged at intervals in the circumferential direction in the vertical plane around a point M located in the reference plane L. Since the road wheels 50 need to be symmetrically arranged on the two installation risers 21, the road wheel installation structure 90 is arranged in the middle of the installation riser 21, so that the road wheels are not required to be separated from left and right when the installation riser 21 is manufactured, the universality is strong, and the production cost is reduced.

Since the track robot may need a plurality of traveling assemblies, only one traveling assembly of the plurality of traveling assemblies is driven by the driving device 40 to realize the traveling of the track robot on the track 1. As shown in fig. 2 and 3, in this embodiment, the mounting riser 21 is provided with an avoidance hole 213, the avoidance hole 213 is located in an area surrounded by a plurality of second mounting holes, and the center of the avoidance hole 213 is a point M. The driving device 40 can be arranged on the mounting vertical plate 21 of one of the walking component brackets according to actual needs, and the driving shaft of the driving device 40 can extend to the inner side of the mounting vertical plate 21 through the avoidance hole 213 so as to be in driving connection with the walking wheel 50. The above structure makes it unnecessary to provide two kinds of installation risers 21 (i.e., an installation riser with a relief hole and an installation riser without a relief hole), thereby improving versatility and reducing production cost.

As shown in fig. 2 and 3, in the present embodiment, the mounting riser 21 is provided with ribs 103 arranged at intervals up and down, and the guide groove 101 is formed by the two ribs 103 and a groove surrounded by the mounting riser 21. The above structure is simple to process without affecting the strength of the mounting riser 21. Of course, in other embodiments not shown in the figures, the guide grooves may also be made directly on the inner side of the mounting riser.

As shown in fig. 2 and 3, in the present embodiment, the first mounting holes 102 are a plurality of spaced apart along the width direction of the guide groove 101. The above structure can increase the reliability and stability of the connection of the auxiliary member 110 with the mounting riser 21.

As shown in fig. 2, in the present embodiment, the bead 103 is located on the inner side surface of the mounting riser 21. The structure of the outer side face of the walking component bracket is simpler.

As shown in fig. 1 and 2, in the present embodiment, the connection plate 22 is detachably connected to two mounting risers 21. The structure is convenient for the disassembly and assembly of the walking component bracket, and is also convenient for the maintenance and the repair of the walking component in the later period.

The utility model also provides a walking assembly of the track robot, and a first embodiment of the walking assembly of the track robot comprises: a mounting bracket 20, two road wheels 50 and an auxiliary member 110. Wherein the mounting bracket 20 is the walking assembly bracket described above; the two traveling wheels 50 are respectively connected to the two mounting risers 21 of the mounting bracket 20 through the two traveling wheel mounting structures 90 of the mounting bracket 20. The auxiliary parts 110 are respectively connected to the two mounting vertical plates 21 of the mounting bracket 20 through the auxiliary part mounting structures 100 of the mounting bracket 20, the two groups of auxiliary part mounting structures 100 are respectively connected with different auxiliary parts 110, and the auxiliary parts 110 comprise two guide assemblies 30 for pressing the web of the track 1 and two pressing assemblies 70 abutting against the lower surfaces of the upper wing plates of the track 1. The walking component bracket of the track robot has the advantage of improving the installation efficiency of the track robot, so the walking component with the walking component bracket also has the advantage.

Of course, in other embodiments, the auxiliary member mounting structure 100 may be a set, and the auxiliary member 110 may be two guide assemblies 30 for pressing the web of the rail 1 or two pressing assemblies 70 abutting the lower surface of the upper wing plate of the rail 1.

In the first embodiment, the guide assembly 30 includes a first guide mounting plate 31 connected to the mounting riser 21 through the auxiliary member mounting structure 100, a second guide mounting plate 32 disposed opposite to the inside of the first guide mounting plate 31 in the preset direction n, a first connecting member 33 connecting the first guide mounting plate 31 and the second guide mounting plate 32, a first elastic member 34 located between the first guide mounting plate 31 and the second guide mounting plate 32, and a guide wheel 35 pivotably connected to the second guide mounting plate 32, the second guide mounting plate 32 being movable in the preset direction n with respect to the first guide mounting plate 31, an axis of the guide wheel 35 being vertically disposed so that the guide wheel 35 contacts with the web of the rail 1.

By applying the technical scheme of the embodiment, the first elastic pieces 34 on two sides of the track robot can transmit elastic force to the two guide wheels 35 through the corresponding second guide mounting plates 32, so that the two guide wheels clamp the web of the track 1. When the track robot moves to the curved section, the guide wheels located at the inner side of the curve follow the shape of the track, so that the corresponding first elastic members 34 are compressed, and at the same time, the elastic force of the corresponding first guide mounting plates 31 away from the track 1 increases. Since the two first guide mounting plates 31 are connected to the mounting bracket 20, the first guide mounting plate 31 located at the inner side of the bent rail transmits the elastic force to the second guide mounting plate 32 located at the outer side of the bent rail through the mounting bracket 20, so that the second guide mounting plate 32 located at the outer side of the bent rail starts to move towards the rail 1 and presses the corresponding elastic piece, and the guide wheel 35 located at the outer side of the bent rail can be abutted with the outer side of the web plate of the bent rail under the action of the elastic force. Therefore, the rail robot can stably move in the straight rail portion and the bent rail portion under the action of the guide assembly 30, and the reliability of movement of the rail robot is ensured. In addition, the guide assembly 30 has a simple structure and few parts, so that the assembly efficiency can be effectively improved.

In the first embodiment, the pressing assembly 70 includes a first pressing mounting plate 71 connected to the mounting riser 21 through an auxiliary mounting structure 100, a second pressing mounting plate 72 disposed opposite to the first pressing mounting plate 71 and located above the first pressing mounting plate 71, a second connecting member 73 connecting the first pressing mounting plate 71 and the second pressing mounting plate 72, a second elastic member 74 located between the first pressing mounting plate 71 and the second pressing mounting plate 72, and a pressing wheel 75 pivotally connected to the second pressing mounting plate 72, the second pressing mounting plate 72 being floatable up and down with respect to the first pressing mounting plate 71, an axis of the pressing wheel 75 extending in a preset direction n to bring the pressing wheel 75 into abutment with a lower surface of the upper wing plate of the rail 1.

With the technical solution of the present embodiment, when the rail robot has a tendency to tilt toward one side of the rail 1, the first pressing mounting plate 71 of the pressing assembly 70 located at the other side of the rail has a tendency to tilt upward. Since the pinch roller 75 abuts against the upper wing plate of the rail 1, the second elastic member 74 is compressed once the first pinch mounting plate 71 is tilted upward, thereby increasing the downward pressure applied to the first pinch mounting plate 71, and further preventing the rail robot from continuing to roll sideways. The structure can avoid the overturning of the track robot in the moving process (especially in the overbending process), thereby improving the moving reliability and stability of the track robot. In addition, the compressing assembly 70 has a simple structure, fewer parts, convenient assembly and improved assembly efficiency.

As shown in fig. 4 to 9, the traveling assembly of the second embodiment is different from the traveling assembly of the first embodiment in that the auxiliary member mounting structure 100 of the traveling assembly bracket of the second embodiment is two groups symmetrically arranged along the reference plane L.

As shown in fig. 10, the present utility model also provides a rail robot, and an embodiment of the rail robot according to the present utility model includes: robot body 10, traveling unit 120, and driving device 40. The walking assembly 120 is disposed below the robot body 10, and the walking assembly 120 is the walking assembly described above; the driving device 40 drives the robot body 10 to move. The track robot with the walking assembly has the advantages of improving the installation efficiency of the track robot.

As shown in fig. 10, in the present embodiment, the plurality of walking assemblies 120 are arranged at intervals along the horizontal direction m perpendicular to the preset direction n, and the mounting brackets 20 of the walking assemblies 120 are pivotally arranged on the robot body 10, so that the track robot turns, and the driving device 40 is in driving connection with two walking wheels 50 in one of the walking assemblies 120, so that the number of the driving devices 40 is reduced, and the production cost is reduced.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present utility model unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In the description of the present utility model, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present utility model; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. A walking assembly support of a track robot, comprising:

the two mounting vertical plates (21) are oppositely arranged along the preset direction n, and an accommodating space for accommodating the rail (1) is formed between the two mounting vertical plates (21);

a connecting plate (22) connecting the two mounting risers (21);

the two travelling wheel mounting structures (90) are symmetrically arranged on the two mounting vertical plates (21);

at least one auxiliary member mounting structure (100), wherein the auxiliary member mounting structure (100) comprises two guide grooves (101) symmetrically arranged on two mounting vertical plates (21) and a first mounting hole (102) arranged at the bottom of each guide groove (101).

2. The track robot walking assembly bracket according to claim 1, characterized in that the auxiliary member mounting structure (100) is two groups symmetrically arranged along a reference plane L, the normal direction of the reference plane L is a horizontal direction m perpendicular to the preset direction n, and the midpoint of the mounting riser (21) in the horizontal direction m is located in the reference plane L.

3. The track robot walking assembly bracket according to claim 2, characterized in that the walking wheel mounting structure (90) comprises a plurality of second mounting holes arranged at intervals in the circumferential direction in a vertical plane with a point M as a center, the point M being located in the reference plane L.

4. A walking assembly support of a track robot according to claim 3, wherein the installation vertical plate (21) is provided with an avoidance hole (213), the avoidance hole (213) is located in an area surrounded by a plurality of second installation holes, and the circle center of the avoidance hole (213) is the point M.

5. The walking assembly bracket of the orbital robot according to any one of claims 1 to 4, wherein the installation vertical plate (21) is provided with ribs (103) which are arranged at intervals up and down, and the guide groove (101) is formed by two grooves surrounded by the ribs (103) and the installation vertical plate (21).

6. The walking assembly bracket of the orbital robot according to claim 5, characterized in that the ribs (103) are located on the inner side surface of the mounting riser (21).

7. The track robot walking assembly bracket according to claim 1, characterized in that the first mounting holes (102) are a plurality of spaced apart along the width direction of the guide groove (101).

8. The walking assembly bracket of a rail robot according to claim 1, characterized in that the connection plate (22) is detachably connected with two of the mounting risers (21).

9. A walking assembly of a track robot, comprising:

-a mounting bracket (20), characterized in that the mounting bracket (20) is a walking assembly bracket of the rail robot of claim 1;

the two travelling wheels (50) are respectively connected to two mounting vertical plates (21) of the mounting bracket (20) through two travelling wheel mounting structures (90) of the mounting bracket (20);

auxiliary parts (110) which are respectively connected to two mounting vertical plates (21) of the mounting bracket (20) through auxiliary part mounting structures (100) of the mounting bracket (20),

the auxiliary piece mounting structure (100) is a group, and the auxiliary piece (110) is two guide assemblies (30) for pressing the web plate of the track (1) or two pressing assemblies (70) which are abutted with the lower surface of the upper wing plate of the track (1); or,

the auxiliary piece mounting structure (100) is two groups, the two groups of auxiliary piece mounting structures (100) are respectively connected with different auxiliary pieces (110), and each auxiliary piece (110) comprises two guide assemblies (30) for pressing the web plate of the track (1) and two pressing assemblies (70) which are in butt joint with the lower surface of the upper wing plate of the track (1).

10. A walking assembly of a track robot, comprising:

-a mounting bracket (20), characterized in that the mounting bracket (20) is a walking assembly bracket of a rail robot according to any one of claims 2 to 8;

two guide assemblies (30) pressing against the web of the rail (1), the two guide assemblies (30) being connected to one of the sets of accessory mounting structures (100);

and the two pressing assemblies (70) are abutted with the lower surface of the upper wing plate of the track (1), and the two pressing assemblies (70) are connected to the other group of auxiliary piece mounting structures (100).

11. The track robot walking assembly according to claim 10, characterized in that the guiding assembly (30) comprises a first guiding mounting plate (31) connected to the mounting riser (21) by the aid mounting structure (100), a second guiding mounting plate (32) arranged inside the first guiding mounting plate (31) in the preset direction n, a first connecting piece (33) connecting the first guiding mounting plate (31) and the second guiding mounting plate (32), a first elastic piece (34) between the first guiding mounting plate (31) and the second guiding mounting plate (32) and a guiding wheel (35) pivotably connected to the second guiding mounting plate (32), the second guiding mounting plate (32) being movable relative to the first guiding mounting plate (31) in the preset direction n, the axis of the guiding wheel (35) being arranged vertically such that the guiding wheel (35) is in contact with the web of the track (1).

12. The track robot walking assembly according to claim 10, characterized in that the compacting assembly (70) comprises a first compacting mounting plate (71) connected to the mounting riser (21) by the aid mounting structure (100), a second compacting mounting plate (72) arranged opposite to the first compacting mounting plate (71) and above the first compacting mounting plate (71), a second connecting piece (73) connecting the first compacting mounting plate (71) and the second compacting mounting plate (72), a second elastic piece (74) between the first compacting mounting plate (71) and the second compacting mounting plate (72), and a compacting wheel (75) pivotably connected to the second compacting mounting plate (72), the second compacting mounting plate (72) being floatable up and down relative to the first compacting mounting plate (71), the axis of the compacting wheel (75) extending in the preset direction n to bring the compacting wheel (75) into abutment with the lower surface of the upper wing plate of the track (1).

13. A track robot comprising:

a robot body (10);

-a walking assembly (120) arranged below the robot body (10), characterized in that the walking assembly (120) is a walking assembly according to any one of claims 9 to 12;

and a driving device (40) for driving the robot body (10) to move.

14. The orbital robot according to claim 13, wherein the traveling assembly (120) is a plurality of traveling assemblies (120) arranged at intervals in a horizontal direction m perpendicular to a preset direction n, a mounting bracket (20) of the traveling assembly (120) is pivotably provided on the robot body (10), and the driving device (40) is in driving connection with two traveling wheels (50) in one of the traveling assemblies (120).