Track-type robot

Abstract

The present invention relates to a track-type robot, wherein at least one drive wheel is driven by a driving device disposed on a body to drive a running mechanism to travel on a track, so as to drive the track-type robot forward; when the track-type robot goes uphill or downhill, the running mechanism and the body perform relative deflection motions in forward and reverse directions through a pivoting element connecting the running mechanism with the body, in the forward and reverse axial rotating directions thereof, so the running mechanism and the drive wheel keep contact with the track when the track-type robot goes uphill and downhill. When the track-type robot makes a turn, positioning wheels disposed on side edges of the track are pushed by the holding mechanisms to counteract a centrifugal offset force generated, so that the track-type robot provided by the present invention is avoided from the situation of left and right swinging; and at the same time, a braking device located on at least one side of the drive wheel interferes in traveling of the drive wheel in the operation process of the track-type robot, so as to achieve the purpose of temporary braking.

What is claimed is: 
     
         1 . A track-type robot, mainly comprising:
 a body;   at least one running mechanism, the running mechanism being used for traveling on a track, and the running mechanism being connected to the body by a pivoting element such that the body and the running mechanism perform relative deflection motions in forward and reverse directions with an axis of the pivoting element when the running mechanism travels;   a driving device, the driving device being disposed on the body, and the driving device at least comprising a power source for driving the running mechanism to travel;   a support restoring device, the support restoring device comprising at least one support device and a shaft rotating element, the support device being connected between the body and the shaft rotating element, and the support device restoring the body to an original position through the shaft rotating element when the body is deflected; and   two positioning wheels, the two positioning wheels being disposed on two opposite sides of the body or the running mechanism by holding mechanisms respectively, so that the positioning wheels clamp the track from two sides thereof by means of the holding mechanisms.   
     
     
         2 . The track-type robot of  claim 1 , wherein the driving device further comprises at least one drive wheel, the drive wheel is connected to the power source, and the drive wheel is driven by power provided by the power source to drive the running mechanism to travel on the track. 
     
     
         3 . The track-type robot of  claim 2 , further comprising a braking mechanism, the braking mechanism being disposed on at least one side of the drive wheel, and used for interfering in operation of the drive wheel. 
     
     
         4 . The track-type robot of  claim 2 , wherein the power source is connected to the drive wheel through a power transmission unit. 
     
     
         5 . The track-type robot of  claim 1 , further comprising at least one sensing device, the sensing device being disposed on the body or an external platform provided by the body, and the sensing device being an image sensing device, a temperature sensor, a humidity sensor, a light sensor, and/or a gas detector. 
     
     
         6 . The track-type robot of  claim 1 , wherein a plurality of locating elements are disposed on at least any surface of the track, and at least one locator is provided at positions, corresponding to the locating elements of the track, of the body, so as to locate the body through the locator and the locating elements. 
     
     
         7 . The track-type robot of  claim 6 , wherein the locating elements are a two-dimensional code, a Quick Response Code (QR Code), a Radio-frequency identification (RFID), a scanning code, or a sensor. 
     
     
         8 . The track-type robot of  claim 1 , wherein each of the pivoting element and the shaft rotating element is provided with at least one restoring element. 
     
     
         9 . The track-type robot of  claim 1 , wherein the support device is a support spring, an oil pressure mechanism, a hydraulic mechanism, a telescopic cylinder structure, or other telescopic structure with a supportive force.