CN115489245A

CN115489245A - Running gear and patrol and examine robot

Info

Publication number: CN115489245A
Application number: CN202211082007.3A
Authority: CN
Inventors: 魏巍; 王利民; 刘宝峰
Original assignee: National Energy Group Coal Coking Co Ltd
Current assignee: National Energy Group Coal Coking Co Ltd
Priority date: 2022-09-06
Filing date: 2022-09-06
Publication date: 2022-12-20

Abstract

The invention discloses a traveling mechanism and an inspection robot. According to the travelling mechanism and the inspection robot disclosed by the invention, the flexible driver mainly bears power transmission and does not bear longitudinal load any more, and the flexible transmission has a damping and buffering function, so that the abrasion degree can be effectively reduced, the occurrence of shaft breakage is avoided, and the service life is prolonged. The connecting frame and the flexible connector jointly improve the structural stability of the mounting seat and the shock absorption seat.

Description

Running gear and patrol and examine robot

Technical Field

The invention relates to the technical field of intelligent inspection robots, in particular to a walking mechanism and an inspection robot.

Background

Along with the gradual popularization of the application of oil-gas field digitization and informatization technologies, the unattended operation of gas gathering stations and treatment plants is gradually popularized. The unattended stations are arranged in a star-and-go chess manner within hundreds of square kilometers of the whole oil and gas field at a long distance, and in order to ensure the normal operation and property safety of the stations, people need to be dispatched all the year round to periodically patrol one by one, so that the labor intensity is high, the working efficiency is low, and certain personal risks exist. The inspection work of the oil and gas field station is always a major pain point. In order to reduce the harm of high-risk industries to human bodies and labor force, the explosion-proof intelligent inspection robot is produced.

In the prior art, the explosion-proof inspection robot mostly adopts a differential motion mode. The differential mode adopts a motor and wheels which are directly connected with a transmission shaft, and loads and power directly act on the transmission shaft. When the explosion-proof inspection robot runs under a load, the transmission shaft bears the load above, the power transmission and the vibration from the vehicle body. The load of transmission shaft is big, and wearing and tearing are serious, appear disconnected axle risk easily in the load use.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a walking mechanism with a stable structure and an inspection robot.

The technical scheme of the invention provides a travelling mechanism which comprises wheels, a motor, a speed reducer, a shock absorber, a mounting seat, a connecting frame, a flexible driver with a telescopic function and a flexible connector, wherein the wheels are arranged on the front end of the motor;

the inner side of the wheel is provided with a shock absorption seat, and the shock absorption seat is arranged on a wheel shaft of the wheel through a first bearing;

the connecting frame and the flexible connector are respectively hinged between the mounting seat and the shock absorption seat, the connecting frame is positioned above the flexible connector, and the shock absorber is hinged with the connecting frame;

the speed reducer is mounted on the mounting seat, the speed reducer is in transmission connection with the motor, and a speed reducer output shaft of the speed reducer extends towards the wheel side;

the flexible driver is arranged between the connecting frame and the flexible connector, one end of the flexible driver is hinged to the wheel shaft, the other end of the flexible driver is hinged to the output shaft of the speed reducer, and the output shaft of the speed reducer, the flexible driver and the wheel shaft rotate synchronously.

In an alternative solution, the flexible driver comprises a first driving member and a second driving member slidably connected to the first driving member;

the first transmission piece is connected with the output shaft of the speed reducer, and the second transmission piece is connected with the wheel shaft.

In an optional technical solution, the first transmission member includes a first transmission member main body, a first yoke connected to one end of the first transmission member main body, and a torque transmission rod connected to the other end of the first transmission member main body;

the second transmission piece comprises a second transmission piece main body and a second yoke connected to one end of the second transmission piece main body;

the first section fork is connected with the output shaft of the speed reducer, and the second section fork is connected with the wheel shaft;

one end of the second transmission piece main body facing the first transmission piece is provided with an anti-rotation sliding groove;

the torque transmission rod is inserted into the anti-rotation sliding groove and is in clearance fit with the anti-rotation sliding groove.

In one optional technical scheme, the torque transmission rod is provided with a transmission rod convex rib extending along the axial direction, and a notch of the anti-rotation sliding groove is provided with a limiting plate for stopping the transmission rod convex rib;

in the axial direction of the torque transmission rod, the groove depth of the anti-rotation sliding groove is larger than the length of the convex rib of the transmission rod.

In an alternative embodiment, the rotation-preventing slot has a guide slot extending in the axial direction on a slot wall thereof, and the drive rod rib is in clearance fit in the guide slot.

In one optional technical scheme, a piston and buffer liquid are arranged in the anti-rotation sliding groove, and a through hole for the buffer liquid to flow through is formed in the piston;

and a sealing ring is arranged on a notch of the anti-rotation sliding groove, and the torque transmission rod penetrates through the sealing ring and is connected with the piston.

In one optional technical scheme, the flexible connector comprises a connector main body, a first connecting rod and a second connecting rod, wherein the first connecting rod and the second connecting rod are connected with the connector main body in a sliding mode;

the first connecting rod and the second connecting rod are arranged at two opposite ends of the connector main body, the first connecting rod is hinged with the mounting seat, and the second connecting rod is hinged with the shock absorption seat.

In one optional technical scheme, the connector body is a guide sleeve;

the first connecting rod and the second connecting rod are respectively inserted into the guide sleeve and are in clearance fit with the guide sleeve.

In one optional technical scheme, an adapter sleeve is arranged in the mounting seat, and the output shaft of the speed reducer penetrates through the adapter sleeve;

a second bearing is assembled between the two ends of the adapter sleeve and the output shaft of the speed reducer;

a lubricating oil cavity is formed between the adapter sleeve and the output shaft of the speed reducer, and an oil filling nozzle used for filling oil into the lubricating oil cavity is arranged on the mounting base.

The technical scheme of the invention also provides an inspection robot which comprises the travelling mechanism in any one of the technical schemes.

By adopting the technical scheme, the method has the following beneficial effects:

the invention provides a walking mechanism and an inspection robot, which adopt a flexible driver with a telescopic function, a flexible connector, a damping seat, a connecting frame and a mounting seat structure; the shock mount assembly is on the shaft, and the mount pad is connected with the automobile body, and the link articulates between mount pad and shock mount, bears the load by shaft, link and mount pad. The flexible driver is connected with the output shaft of the speed reducer and the wheel shaft, and the flexible driver mainly bears power transmission, so that the load of the flexible driver is reduced. The flexible driver can be stretched to adapt to the vibration of the vehicle body or the wheels, so that the buffer effect is achieved, and the service life is prolonged. The connecting frame can self-adapt to the vibration of a vehicle body or wheels through swinging, and the shock absorber above the connecting frame plays a shock absorption role. The flexible connector can be stretched to adapt to the vibration of the vehicle body or the wheels, so that the structural stability of the mounting seat and the shock absorption seat is improved together with the connecting frame.

In conclusion, the walking mechanism and the inspection robot provided by the invention have the advantages that the flexible driver mainly bears power transmission, does not bear longitudinal load any more, has a damping and buffering function, can effectively reduce the abrasion degree, avoids shaft breakage and is beneficial to prolonging the service life. The connecting frame and the flexible connector jointly improve the structural stability of the mounting seat and the shock absorption seat.

Drawings

The disclosure of the present invention will become more readily understood by reference to the drawings. It should be understood that: these drawings are for illustrative purposes only and are not intended to limit the scope of the present disclosure. In the figure:

fig. 1 is a perspective view of a traveling mechanism according to an embodiment of the present invention;

fig. 2 is a cross-sectional view of the traveling mechanism shown in fig. 1, taken along the axial direction of the wheel axle;

FIG. 3 is a cross-sectional view of a flexible actuator;

FIG. 4 is a cross-sectional view of the anti-rotation chute with a guide groove disposed therein;

FIG. 5 is a cross-sectional view of the rectangular drive link with drive link ribs;

FIG. 6 is a cross-sectional view of the anti-rotation slide groove with a buffer and a piston disposed therein, the torque transmission rod being connected to the piston;

FIG. 7 is a cross-sectional view of the mounting block, reducer output shaft, adapter sleeve and lubrication sleeve assembled together.

Detailed Description

The following further describes embodiments of the present invention with reference to the accompanying drawings. In which like parts are designated by like reference numerals. It should be noted that as used in the following description, the terms "front," "back," "left," "right," "upper" and "lower" refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

As shown in fig. 1-2, a traveling mechanism according to an embodiment of the present invention includes a wheel 1, a motor 2, a reducer 3, a damper 4, a mounting seat 5, a connecting frame 6, a flexible transmission 7 with a telescopic function, and a flexible connector 8.

The wheel 1 has a shock mount 13 on the inside, the shock mount 13 being mounted on the axle 12 of the wheel 1 by means of a first bearing 14.

The connecting frame 6 and the flexible connector 8 are respectively hinged between the mounting seat 5 and the shock absorption seat 13, the connecting frame 6 is positioned above the flexible connector 8, and the shock absorber 4 is hinged with the connecting frame 6.

The speed reducer 3 is installed on the installation seat 5, the speed reducer 3 is in transmission connection with the motor 2, and a speed reducer output shaft 31 of the speed reducer 3 extends towards the wheel 1 side.

The flexible driver 7 is arranged between the connecting frame 6 and the flexible connector 8, one end of the flexible driver 7 is hinged with the wheel shaft 12, the other end of the flexible driver 7 is hinged with the output shaft 31 of the speed reducer, and the output shaft 31 of the speed reducer, the flexible driver 7 and the wheel shaft 12 rotate synchronously.

The walking mechanism provided by the invention is used for being installed on a vehicle body of a robot to realize a walking function. The traveling mechanism comprises wheels 1, a motor 2, a speed reducer 3, a shock absorber 4, a mounting seat 5, a connecting frame 6, a flexible driver 7 and a flexible connector 8. Wherein the flexible driver 7 and the flexible connector 8 have a telescopic function respectively to realize the buffer and shock absorption functions.

The wheel 1 adopts a solid tire which is arranged on the wheel hub 11, the wheel shaft 12 passes through the wheel hub 11, the wheel shaft 12 is fixedly connected with the wheel hub 11, and the wheel shaft 12 and the wheel hub 11 can rotate integrally. The hub 11 has a damper base 13 on the inside. The shock absorbing seat 13 is sleeved on the wheel shaft 12, and a first bearing 14 is arranged between the shock absorbing seat 13 and the wheel shaft 12. The motor 2 is used for providing power and can adopt an explosion-proof motor. The speed reducer 3 is a planetary speed reducer. The speed reducer 3 and the motor 2 are both connected with the mounting base 5, a speed reducer input shaft of the speed reducer 3 is in transmission connection with a motor output shaft of the motor 2, and a speed reducer output shaft 31 of the speed reducer 3 penetrates out of the mounting base 5. The mounting seat 5 is used for being fixedly connected with a vehicle body of the robot.

The mounting 5 is located inside the wheel 1 and above the wheel 1.

One end of the connecting frame 6 is hinged with the upper end of the mounting seat 5, and the other end of the connecting frame 6 is hinged with the upper end of the shock absorption seat 13, and is specifically connected with the shock absorption seat through a rotating shaft or a hinge. The link frame 6 is arranged obliquely between the mount 5 and the damper base 13, and the link frame 6 gradually extends obliquely upward in a direction from the wheel 1 to the mount 5. The connecting frame 6 can be adjusted in a way of swinging up and down relative to the mounting seat 5 and the shock absorption seat 13 so as to adapt to the relative movement of the shock absorption seat 13 and the mounting seat 5.

The lower extreme of bumper shock absorber 4 articulates on link 6, and bumper shock absorber 4 is used for with the automobile body fixed connection of robot, plays the cushioning effect. The shock absorber 4 is mainly composed of a piston mechanism and a spring. The damper 4 is a prior art part and will not be described in detail here.

The lower extreme of one end mount pad 5 of flexible connector 8 is articulated, and the other end of flexible connector 8 is articulated with the lower extreme of cushion socket 13, specifically accessible pivot or hinged joint. The flexible connector 8 can be adjusted to swing up and down relative to the mounting base 5 and the shock absorbing base 13 so as to adapt to the relative movement of the shock absorbing base 13 and the mounting base 5. Preferably, the flexible connector 8 is parallel to the connecting frame 6, and the damper 13, the connecting frame 6, the mounting seat 5 and the flexible connector 8 form a parallelogram structure, so that the stability of the structure can be maintained while the relative movement is satisfied.

The flexible connector 8 is arranged obliquely between the mount 5 and the damper base 13, and the flexible connector 8 gradually extends obliquely upward in a direction from the wheel 1 to the mount 5. When the wheel 1 or the vehicle body vibrates up and down, the obliquely arranged flexible connector 8 can adapt to the vibration of the vehicle body or the wheel 1 through expansion and contraction.

The flexible transmission 7 is used to output the torque of the reducer output shaft 31 to the axle 12. In the vertical direction, the flexible actuator 7 is between the connecting frame 6 and the flexible connector 8. One end of the flexible driver 7 is hinged with the wheel shaft 12, and the flexible driver 7 and the wheel shaft 12 synchronously rotate and can be adjusted in an up-and-down swinging mode relative to the wheel shaft 12. The other end of the flexible transmission 7 is hinged with the output shaft 31 of the speed reducer, and the flexible transmission 7 and the output shaft 31 of the speed reducer synchronously rotate and can be adjusted in a vertically swinging mode relative to the output shaft 31 of the speed reducer. In particular, the connection can be made via a shaft, a hinge, a yoke, etc.

The flexible transmission 7 is obliquely arranged between the mount 5 and the damper base 13, and the flexible transmission 7 gradually extends obliquely upward in a direction from the wheel 1 to the mount 5. When the wheel 1 or the vehicle body vibrates up and down, the obliquely arranged flexible transmission 7 can adapt to the vibration of the vehicle body or the wheel 1 through extension and retraction.

The traveling mechanism provided by the invention is loaded by the wheel shaft 12, the connecting frame 6 and the mounting seat 5. The flexible driver 7 mainly bears power transmission, and the load of the flexible driver 7 is reduced. The flexible driver 7 and the flexible connector 8 can be respectively telescopic to be self-adaptive to the vibration of the vehicle body or the wheel 1, so that the buffer effect is achieved, and the service life is prolonged.

In conclusion, the walking mechanism and the inspection robot provided by the invention have the advantages that the flexible driver 7 mainly bears power transmission and does not bear longitudinal load any more, and the walking mechanism and the inspection robot have the functions of damping and buffering, can effectively reduce the abrasion degree, avoid shaft breakage and are beneficial to prolonging the service life.

In one embodiment, as shown in fig. 2, the flexible transmission 7 comprises a first transmission member 71 and a second transmission member 72 slidably connected to the first transmission member 71.

The first transmission 71 is connected to the reducer output shaft 31, and the second transmission 72 is connected to the wheel shaft 12.

In the present embodiment, the flexible transmission 7 includes a first transmission member 71 and a second transmission member 72. The first transmission member 71 and the second transmission member 72 may be a rod, a column, a block, or the like. The second transmission member 72 is slidably connected to the first transmission member 71, and the two members may be connected by a guide rail or the like. The first transmission member 71 is hinged to the reducer output shaft 31 and is vertically swingably adjustable relative to the reducer output shaft 31. The second transmission member 72 is hinged to the wheel shaft 12 and can be adjusted to swing up and down relative to the wheel shaft 12.

In one embodiment, as shown in fig. 3, the first transmission member 71 includes a first transmission body 711, a first yoke 712 connected to one end of the first transmission body 711, and a torque transmission rod 713 connected to the other end of the first transmission body 711.

The second transmission member 72 includes a second transmission member main body 721 and a second yoke 722 connected to one end of the second transmission member main body 721.

The first yoke 712 is connected to the reducer output shaft 31, and the second yoke 722 is connected to the wheel shaft 12.

One end of the second transmission member main body 721 facing the first transmission member 71 has an anti-rotation sliding groove 7211.

The torque transmission rod 713 is inserted into the rotation preventing slide groove 7211, and the torque transmission rod 713 is clearance-fitted with the rotation preventing slide groove 7211.

In this embodiment, the reducer output shaft 31 has an output shaft yoke, and the wheel shaft 12 has a wheel shaft yoke.

The first transmission 71 includes a first transmission body 711, a first yoke 712, and a torque transmission rod 713. The first yoke 712 and the torque transmission rod 713 are coupled to the first transmission body 711, respectively, and the first yoke 712 and the torque transmission rod 713 are disposed at opposite ends of the first transmission body 711. The first yoke 712 is hinged with the output shaft yoke of the reducer output shaft 31, and the first yoke and the output shaft yoke can transmit torque and can swing up and down for adjustment.

The second transmission member 72 includes a second transmission member main body 721 and a second yoke 722. The second yoke 722 is connected to the axle yoke of the axle 12, and both can transmit torque and can be adjusted to swing up and down.

The side of the second transmission member main body 721 facing the first transmission member 71 has an anti-rotation sliding groove 7211. The rotation-preventing slide groove 7211 is a non-circular groove or a special-shaped groove, and a rectangular groove is preferably used. The torque transmission rod 713 has a non-circular or contoured end, preferably a square end. The torque transmission rod 713 is inserted into the rotation preventing slide groove 7211, and the torque transmission rod 713 is clearance-fitted into the rotation preventing slide groove 7211. The torque transmission rod 713 is coupled to the anti-rotation slot 7211 to enable torque transmission, and the torque transmission rod 713 is extendable relative to the anti-rotation slot 7211.

In one embodiment, as shown in fig. 3, torque transmission rod 713 has a drive rod rib 7131 extending in an axial direction, and the slot of anti-rotation runner 7211 has a retainer plate 7212 for stopping drive rod rib 7131.

The anti-rotation groove 7211 has a groove depth greater than the length of the drive link rib 7131 in the axial direction of the torque drive link 713.

In this embodiment, the stopper plate 7212 is disposed in the notch of the detent groove 7211 to limit the transmission rod rib 7131, thereby preventing the torque transmission rod 713 from being disengaged from the detent groove 7211.

Specifically, the stopper plate 7212 is integrally formed with the second transmission member main body 721. The anti-rotation sliding groove 7211 can be a half-and-half structure, and after the end of the torque transmission rod 713 with the transmission rod rib 7131 is placed, the two half-and-half structures are connected through bolts to form the complete anti-rotation sliding groove 7211.

In one embodiment, as shown in fig. 4-5, the anti-rotation slot 7211 has an axially extending guide groove 7213 in the wall thereof, and a drive rod rib 7131 is clearance fit in the guide groove 7213 to provide guidance for the linear movement of the torque drive rod 713 and also to facilitate torque transmission.

In one embodiment, as shown in fig. 6, the anti-rotation chute 7211 has a piston 723 and a buffer 724 therein, and the piston 723 is provided with a through hole 7231 for passing the buffer 724 therethrough.

A sealing ring 725 is provided on a notch of the rotation preventing chute 7211, and the torque transmission rod 713 passes through the sealing ring 725 and is connected to the piston 723.

In this embodiment, a piston 723 and a buffer 724 are disposed in the rotation preventing groove 7211, thereby performing a buffering and shock-absorbing function. When the torque transmission rod 713 moves toward the bottom side of the anti-rotation groove 7211, pressure is applied to the damping fluid 724, and the damping fluid 724 flows into the cavity between the piston 723 and the notch through the through hole 7231. When the torque transmission rod 713 moves toward the notch side of the rotation preventing chute 7211, the damping fluid 724 in the cavity between the piston 723 and the notch is pressed to flow into the cavity between the piston 723 and the bottom of the groove through the through hole 7231. The through-hole 7231 is thin, and a plurality of through-holes 7231 may be arranged on the piston 723 as necessary. The number and diameter of the through holes 7231 may be set as desired.

When piston 723 moves, buffer 724 dampens the movement of piston 723, improving the shock resistance of flexible actuator 7.

In one embodiment, as shown in fig. 2, the flexible connector 8 includes a connector body 81, a first link 82 and a second link 83 slidably connected to the connector body 81.

The first link 82 and the second link 83 are disposed at opposite ends of the connector body 81, the first link 82 is hinged to the mount 5, and the second link 83 is hinged to the damper base 13.

In the present embodiment, the flexible connector 8 includes a connector main body 81, a first link 82, and a second link 83. The first link 82 and the second link 83 are slidably connected to the connector body 81, respectively. The connector body 81, the first link 82, and the second link 83 may be a rod, a post, a block, or the like. Sliding mechanisms such as a guide rail and a slide groove can be provided between the first link 82 and the connector body 81 and between the second link 83 and the connector body 81, respectively.

The first link 82 is hinged to the lower end of the mounting base 5 and can be adjusted to swing up and down relative to the mounting base 5. Specifically, the first link 82 and the lower end of the mount 5 are respectively provided with a yoke, and are connected by the yoke. The second link 83 is hinged to the lower end of the damper base 13 and can swing up and down relative to the damper base 13. Specifically, the second link 83 and the lower end of the damper base 13 are respectively provided with a yoke, and are connected by the yoke.

In one embodiment, as shown in FIG. 2, the connector body 81 is a guide sleeve 811.

The first link 82 and the second link 83 are inserted into the guide housing 811, respectively, and are in clearance fit with the guide housing 811.

In this embodiment, the connector body 81 is provided with a guide sleeve 811 for facilitating the assembly with the first link 82 and the second link 83. If necessary, a limiting structure, such as a limiting pin or a limiting plate, may be disposed at the opening of the guide sleeve 811 and on the first and second connecting rods 82 and 83.

In one embodiment, as shown in fig. 1-2 and 7, the mount 5 has an adapter sleeve 51 therein, and the reducer output shaft 31 passes through the adapter sleeve 51.

A second bearing 52 is fitted between both ends of the adapter sleeve 51 and the reducer output shaft 31.

A lubricating oil chamber 53 is formed between the adapter sleeve 51 and the reducer output shaft 31, and an oil nozzle 55 for injecting oil into the lubricating oil chamber 53 is provided on the mounting base 5.

In this embodiment, an adapter sleeve 51 is installed in the central hole of the mounting base 5, and the reducer output shaft 31 passes through the adapter sleeve 51. A second bearing 52 is assembled between two ends of the adapter sleeve 51 and the reducer output shaft 31, a lubricating oil cavity 53 is formed between the adapter sleeve 51 and the reducer output shaft 31, and an oil nozzle 55 is arranged on the mounting base 5 and used for injecting oil into the lubricating oil cavity 53 so as to lubricate the reducer output shaft 31, the second bearing 52, the adapter sleeve 51 and the like and reduce abrasion.

As shown in fig. 7, a lubricating sleeve 54 is also fitted between the adapter sleeve 51 and the reducer output shaft 31. The lubricating sleeve 54 is fitted over the reducer output shaft 31 and rotates integrally therewith. The lubricating sleeve 54 is arranged between the reducer output shaft 31 and the adapter sleeve 51, reduces the clearance between the adapter sleeve 51 and the reducer output shaft 31, and is also used for avoiding the friction between the reducer output shaft 31 and the adapter sleeve 51.

The inspection robot provided by one embodiment of the invention comprises the travelling mechanism in any one of the embodiments.

According to the inspection robot provided by the embodiment of the invention, the two pairs of the travelling mechanisms are arranged on the robot body, and each set of the travelling mechanism is independently controlled, so that advancing, retreating, turning and the like can be realized.

Specifically, when the rotation speed of the wheel 1 on one side is lower than that on the other side, the inspection robot turns toward the side where the rotation speed is low.

According to the needs, the above technical schemes can be combined to achieve the best technical effect.

The foregoing is considered as illustrative only of the principles and preferred embodiments of the invention. It should be noted that, for those skilled in the art, several other modifications can be made on the basis of the principle of the present invention, and the protection scope of the present invention should be regarded.

Claims

1. A traveling mechanism is characterized by comprising wheels, a motor, a speed reducer, a shock absorber, a mounting seat, a connecting frame, a flexible driver with a telescopic function and a flexible connector;

the speed reducer is arranged on the mounting seat, the speed reducer is in transmission connection with the motor, and a speed reducer output shaft of the speed reducer extends towards the wheel side;

2. The travel mechanism as claimed in claim 1, wherein the flexible drive comprises a first drive member and a second drive member slidably coupled to the first drive member;

3. The travel mechanism as claimed in claim 2, wherein the first transmission includes a first transmission body, a first yoke coupled to one end of the first transmission body, and a torque transmission rod coupled to the other end of the first transmission body;

4. The running mechanism as claimed in claim 3, wherein the torque transmission rod is provided with a transmission rod rib extending along the axial direction, and the notch of the anti-rotation chute is provided with a limiting plate for stopping the transmission rod rib;

5. The running mechanism according to claim 4, wherein the rotation-preventing grooves have guide grooves extending in the axial direction on the groove walls thereof, and the drive rod ribs are fitted with clearance in the guide grooves.

6. The running mechanism according to claim 3, wherein the anti-rotation sliding groove is provided with a piston and a buffer solution, and the piston is provided with a through hole for the buffer solution to flow through;

7. The travel mechanism of claim 1, wherein the flexible connector comprises a connector body, a first link and a second link slidably connected to the connector body;

the first connecting rod and the second connecting rod are arranged at two opposite ends of the connector main body, the first connecting rod is hinged to the mounting seat, and the second connecting rod is hinged to the shock absorption seat.

8. The running mechanism of claim 7, wherein the connector body is a guide sleeve;

9. The running mechanism of claim 1, wherein the mounting seat has an adapter sleeve therein through which the reducer output shaft passes;

10. An inspection robot comprising a walking mechanism according to any one of claims 1 to 9.