206results about How to "Change center of gravity" patented technology

The invention discloses a corrective shoe, a corrective shoe insole and a correcting method.The corrective shoe comprises a shoe sole, the corrective shoe insole and a shoe vamp, wherein the shop vamp and the corrective shoe insole are connected into a whole.The shoe sole extends forwards from the inner side position of a shoe heel to the two-third part of the big toe and then is narrowed and sharpened.The front end of the shoe heel is provided with a corrector for fixing toes.The corrective shoe insole comprises a bottom layer, a soft cushion layer, a circuit board layer, a sweat absorption layer and a shoe insole outer layer.The foot arch position of the shoe insole outer layer is provided with a protruding soft cushion.The front end of the shoe insole outer layer is provided with a detachable toe corrector corresponding to the toes of the foot of the human body.The shoe insole outer layer is further provided with a plurality of infrared massaging protrusion blocks corresponding to foot acupuncture points of the human body.A foot correction monitoring system and a gait analysis system are integrated in the circuit board layer.The corrective shoe has the functions of removing sweat and protecting an internal circuit board, monitors the static form and walking form of the foot of a user, is connected with a mobile terminal, and provides foot correction suggestions and early warning.

The invention provides a device for changing the gravity center of a vehicle, which comprises a balancing weight, a motor, a tire pressure detection module and a control module, wherein the balancing weight is connected to the vehicle by a vertically arranged rotating shaft; the motor drives the rotating shaft to rotate to drive the balancing weight to swing; the tire pressure detection module is connected with each tire of the vehicle to detect the tire pressure of each tire; the control module controls the motor to run; and the control module receives the tire pressure of each tire in real time and calculates variation of each tire pressure during time t. According to the invention, the swing direction of the balancing weight can be regulated according to the tire pressure of each tire and the gravity center of the vehicle is changed by regulating the swing direction of the balancing weight, and thus, variation of the tire pressures can be reduced or eliminated, so that sinking or uplift of a vehicle head, which is caused by acceleration and deceleration and lateral tilt of a vehicle body in the high-speed turning process are reduced or eliminated.

The invention relates to the technical field of unmanned remote measuring and provides a quick disassembling and assembling shallow diving line type unmanned ship which comprises a main hull, two shallow diving line type floating body modules, two underwater power propulsion modules, and an instrument carrying and central control module which are connected through a rotatable and slidable combined connecting device which has the function of rotation, flexibility and translation. The quick disassembling and assembling shallow diving line type unmanned ship has the advantages that the big quality water surface unmanned ship which has powerful capacity of resisting wind waves and larger bearing capacity is decentralized, the requirements of convenient transportation are met, what is more important is that the easy and accurate adjustment of the centre of gravity and buoyancy of the ship can be realized according to different water area working conditions and the changeable loading conditions, the sailing optimized posture of the hull is guaranteed, and the requirements of carrying various instruments and equipment and normal operation on the unmanned ship are met.

The invention discloses a passive positioning mechanical arm for a propelling mechanism of an endovascular intervention surgical robot. The mechanical arm is mounted on an operating table and comprises a base module, a horizontal moving module, a lifting module, a first rotating joint, a second rotating joint and a pitch angle adjusting module, wherein the base module is mounted on the operating table; the horizontal moving module is mounted on the base module; the bottom of the lifting module is mounted on the horizontal moving module; one end of the first rotating joint is mounted at the topof the lifting module, and the other end of the first rotating joint is connected with one end of the second rotating joint; the pitch angle adjusting module is mounted at the other end of the secondrotating joint; and the surgical robot is mounted on the pitch angle adjusting module. The mechanical arm can freely adjust the horizontal displacement and angle of the surgical robot, the angle of acatheter of the surgical robot entering a blood vessel and the height of the robot in the vertical direction and lock the posture of the surgical robot to prevent shaking during an operation.

The invention provides a mobile terminal fall protection system. when a mobile terminal is used normally, a first limiting mechanism is utilized to limit balancing weight blocks, an acceleration sensor which the mobile terminal carries is utilized to detect the accelerated speed of the mobile terminal, a control instruction is sent to a control chip only when it is detected that the accelerated speed of the mobile terminal is larger than or equal to a preset threshold value, so that the control chip controls the first limiting mechanism to be closed and the balancing weight blocks are gathered together, thus the center of gravity of the mobile terminal is changed, and the protection of the complete machine of the mobile terminal is achieved. On one hand, the control chip does not need to process accelerated speed data in real time, thus the data processing amount of the control chip is sharply lowered, and therefore, the control chip with low processing performance can be selected, and thus the manufacturing cost is lowered. On the other hand, when it is discovered that the mobile terminal falls, the center of gravity is directly changed into the solidest part of the mobile terminal, the control chip does not need to calculate the position of the center of gravity according to the accelerated speed in real time neither, and thus the achievement of a scheme is simpler.

The invention relates to the technical field of electric power overhaul, in particular to an electric power overhaul working platform and a system thereof. The electric power overhaul working platform comprises a base, a shears-fork type lifting support and a working table. A vertical driving device for driving the working table to lift vertically is connected to the base. A pedestal is arranged below the base. The base can perform reciprocating motion along a pedestal supporting guide rail of the pedestal. The base is provided with a gyroscope. A distance sensor, a three-axis gyroscope and an electronic compass are fixedly arranged on the working table. A balancing weight is further connected to the bottom of the working table and can perform reciprocating motion in the length direction of the working table. The vertical driving device is provided with a first locking device. A second locking device is arranged at a shears-fork type moving end. The electric power overhaul working system comprises the electric power overhaul working platform, a working box and an overhaul tool. The electric power overhaul working platform and the system aim at solving the technical problems of poor safety and low working efficiency existing in the prior art.

The invention discloses a tumbler with the gravity center controllable. The tumbler comprises a tumbler shell, wherein a heavy block is arranged in the tumbler shell. The tumbler is characterized in that a first rotation positioning assembly, a second rotation positioning assembly, a gravity center positioning block and a control module are arranged in the tumbler shell; the first rotation positioning assembly is arranged on the inner wall of the tumbler shell, the second rotation positioning assembly is arranged on the first rotation positioning assembly, the gravity center positioning block is arranged on the second rotation positioning assembly, the rotating direction of the first guide mechanism and the rotating direction of the second guide mechanism are staggered, and the first rotation positioning assembly and the second rotation positioning assembly are electrically connected with the control module. The tumbler has the advantages that a user can control the first rotation positioning assembly and the second rotation positioning assembly through the control module to change the gravity center of the tumbler so that the tumbler can perform corresponding actions to interact with the user, and the tumbler can be more interesting can and have a certain technological content. The invention further discloses a gravity center control method for the tumbler.

The invention discloses an automatic turnover mechanism. The automatic turnover mechanism comprises a base, an ejecting device and a device for clamping workpieces to be machined. The ejecting device is composed of a left ejecting block and a right ejecting block, wherein the left ejecting block and the right ejecting block can horizontally move. Supporting frames are fixed to the left ejecting block and the right ejecting block respectively, and shaft sleeve holes are formed in the supporting frames. The device for clamping the workpieces to be machined comprises a left clamping shaft and a right clamping shaft, one end of the left clamping shaft penetrates through the shaft sleeve hole in the corresponding supporting frame and can horizontally move along with the supporting frame, one end of the right clamping shaft penetrates through the shaft sleeve hole in the corresponding supporting frame and then is connected with a rotating air cylinder, and the right clamping shaft can rotate along with the rotating air cylinder and horizontally move along with the corresponding supporting frame. The rotating axis of the device for clamping the workpieces to be machined is fixed creatively, it is guaranteed that the gravity of the workpieces to be machined does not change after the workpieces to be machined are rotated, and therefore machining accuracy is improved. The automatic turnover mechanism can be turned over at any angle, and turnover efficiency is high. The appearance quality of the workpieces to be machined cannot be affected in the turnover process.

The invention discloses a line inspection robot based on gravity center adjustment. The line inspection robot comprise a mobile vehicle body, a robot control box and a gravity center adjustment mechanism located between the mobile vehicle body and the robot control box, wherein the gravity center adjustment mechanism drives the mobile vehicle body and the robot control box to produce relative displacement in the running direction. The line inspection robot has a self obstacle crossing function, can change the gravity center through the gravity center adjustment mechanism, further achieve posture change and accordingly achieve the purposes of crossing spacer rods, shake-proof hammers and other obstacles and has the advantages of being simple in structure, convenient to achieve, high in reliability, good in obstacle crossing capacity, light in weight, low in cost and the like.

The invention discloses a variable-rocker barycentre inverted pendulum, a dolly slides on a slideway on a base; a driving wheel and a driven wheel are fixed on two ends of the base, respectively, a driving belt goes round the two wheels and two ends of the driving belt are fixed on two side surfaces of the dolly, respectively; the rocker seat of the dolly is installed with a rotating shaft with one end connected with an angle encoder and the other end connected rotationally with one end of the first-stage rocker, and a U-shaped seat at the other end of the first-stage rocker is installed with the other shaft with one end connected with the other angle encoder and the other end connected rotationally with one end of the second-stage rocker; the second-stage rocker is installed with a small DC electric machine connected with a screw rod, the screw rod is fixed on the other end of the second-stage rocker, and there is a variable-barycentre slide block held in the screw rod. A control system sends a signal to the electric machine to rotate the screw rod so as to drive the slide block to move up and down, and thus changes the rocker barycentre. Its barycentre can be arbitrarily changed in the working course, which changes the parameters of the whole system, thus providing a test platform for teaching and researching the robustness control theory.

The invention discloses an intelligent biomimetic multifunctional robot crocodile which comprises a head unit, a body unit, leg units and a tail unit. The head unit is connected with a waterproof digital motor to realize opening and closing of the mouth of the robot crocodile and shaking of the head thereof. The body unit is provided with a control device and a buoyancy regulating device which are used for changing the center of gravity of the robot crocodile so as to realize floating and sinking of the robot crocodile. The leg units are arranged on the left outer side and the right outer side of the body unit, consist of digital motors and U-shaped components and are used for completing moving of the robot crocodile in four directions. The tail unit comprises at least one L-shaped component, three U-shaped components, a tail-fin simulated soft rubber plate and digital motors corresponding to the U-shaped components and is used for realizing dynamic simulation of flexibility of the tail of the crocodile. The biominetic robot crocodile has high adaptability to environments, simple structure, reliable performance and flexible movement capacity, is amphibious, is integrated with functions of remote control, environment monitoring and the like, and can complete environment detection of water sources and eliminate inconvenience and risks caused in the conventional underwater operation.

The invention discloses a device and control method for improving balance and walking speed of a biped robot. Most biped robots are controlled by using a ZMP(such as ASIMO in Japan). However, the biped robots controlled by the ZMP have the disadvantages that soles are large in size and the walking speed is slow. The device and control method for improving the balance and the walking speed of the biped robot fully utilizes the advantages of the ZMP and overcomes the disadvantages as much as possible. The device for improving the balance and the walking speed of the biped robot mainly comprisesa mechanical structure and a controller. For the existing biped robots, it is only necessary to replace original feet with the device for improving the balance and the walking speed of the biped robot, and it is not necessary to modify remaining structural parts, so higher practicability is achieved in real life. The mechanical structure of the soles dynamically adjusts the center of gravity of the biped robot under the action of the controller, so that the biped robot has good balance in motion and the motion speed of the biped robot is obviously improved. The biped robot adopting the deviceand control method for improving the balance and the walking speed of the biped robot can be widely applied in the fields of industry, rescue, family, medical care and like.

The invention discloses a crawler-type robot with an underwater posture changing function, and belongs to the field of underwater robots. The crawler-type robot solves the problem that an existing underwater robot can flexibly operate in a complex underwater environment due to the fact that a propeller changes the working posture energy consumption and is unstable. The crawler-type robot comprisesa shell, a monitoring mechanism, a vertical propeller, a horizontal propeller, two sets of posture changing mechanisms and two sets of crawler walking mechanisms, wherein the monitoring mechanism isarranged at the front end of the shell and is used for underwater monitoring, the vertical propeller is arranged in through holes in the two sides of the upper part of the shell and is used for floating and transverse inclination of the underwater robot, and a horizontal propeller is arranged at the rear end of the shell and is used for advancing and retreating and turning of the underwater robot,each crawler walking mechanism is arranged on the side walls of the two sides of the shell and used for climbing the underwater robot, and the two sets of posture changing mechanisms are arranged onthe two sides inside the shell, and are used for changing the posture of the underwater robot. The crawler-type robot is used for underwater operation.

The invention relates to a particulate matter bagging and weighing device. The device comprises a body, a bag mouth opening device and a scraper bucket. An electronic scale is amounted on a base of the body. According to the particulate matter bagging and weighing device, a bag mouth of a nylon bag is opened through the bag mouth opening device and clamped between an upper clamp ring and a lower clamp ring, accumulated particulate matter is scooped up by means of the scraper bucket, then the scraper bucket is lifted up, and the particulate matter in the scraper bucket is poured into the nylonbag; and the position of a mounting plate is adjusted by means of a motor of a gravity center adjusting device, accordingly, the gravity center of the scraper bucket is changed, the scraper bucket isconvenient to raise and fall by means of the lever principle, and therefore, a labor-saving effect is achieved.

The invention relates to an infant swing with recline and swivel function. Said infant swing has a base member supported by hanger members for reciprocal movement. A seat carrier with a plurality of use can be mounted and fixed on the base member, the base member is formed with a swiveling device that the seat carrier can be positioned in pre-post swing method or side swing method selectively. When the seat carrier is re-positioned, the swiveling device makes the seat carrier barycenter lateral movement by using an ellipse positioner coordination with a triangle guider. The base member has a reclining device actuated by one hand. The reclining actuating device uses a groove clamping a pushing rod with a protrusion for latching the seat carrier in selected reclining position, the pusing rod can be operated transversely to make the protrusion deviating from the groove, accordingly, the seat carrier can select a new reclining position.

The invention discloses a mountain orchard conveying machine and a self-balancing object carrying table thereof. The mountain orchard conveying machine comprises a travelling chassis and the object carrying table, wherein the object carrying table is the self-balancing object carrying table and is installed on the travelling chassis of the mountain orchard conveying machine. The object carrying table comprises a supporting base, an object carrying table body, a balance electric cylinder and an object carrying table control system, wherein the supporting base is arranged the travelling chassis,the object carrying table body is arranged on the supporting base, the two ends of the balance electric cylinder are correspondingly connected with the object carrying table body and the supporting base through an object carrying table universal joint and a supporting base universal joint, the object carrying table universal joint and the supporting base universal joint provide a flexible swinging joint for the balance electric cylinder so as to ensure that mechanism intervention does not occur when the balance electric cylinder stretches and retracts, and the object carrying table control system is arranged on the mountain orchard conveying machine and is correspondingly connected with the object carrying table body and the balance electric cylinder so as to monitor the posture of the object carrying table body in real time and realize leveling control on the object carrying table body by adjusting the extending length of the balance electric cylinder. According to the mountain orchard conveying machine and the self-balancing object carrying table thereof, the anti-rollover performance and the safety coefficient during transportation are improved, and the working efficiency is improved.

The invention discloses a tumbler with controllable center of gravity; the tumbler comprises a tumbler housing with the semispherical bottom; the bottom of the tumbler housing is provided with a balancing weight block; the features are that a rotating disk positioning assembly, a swing positioning assembly, a center of gravity locating piece and a control module are arranged in the tumbler housing; the rotating disk positioning assembly is arranged on the weight block; the swing positioning assembly is arranged on the rotating disk positioning assembly; the center of gravity locating piece is arranged on the swing positioning assembly; the control module is respectively electrically connected with the rotating disk positioning assembly and the swing positioning assembly; the control module is used for controlling the rotating disk positioning assembly to rotate and the swing positioning assembly to swing; the advantages are that a user can use the control module to respectively control the rotating disk positioning assembly and the swing positioning assembly, thus positioning the center of gravity locating piece into a needed space position; the tumbler makes corresponding motions so as to greatly increase tumbler interest and interactivity; the invention also discloses a method controlling the center of gravity of the tumbler.

The invention relates to a motor vehicle gravity balancing device. The device comprises a positioning beam, a motor, a threaded rod and a gravity center adjusting block, wherein the positioning beam is arranged inside a motor vehicle and is of a strip-shaped structure, a long sliding hole is formed in the positioning beam and extends in the positioning beam extending direction, the motor is arranged at one end of the long sliding hole, the threaded rod is arranged on the motor, the motor can drive the threaded rod to rotate, the gravity center adjusting block is arranged in the long sliding hole in a sliding mode, a threaded hole is formed in the gravity center adjusting block, the threaded rod is matched with the threaded hole to form a threaded pair, the threaded rod rotates to drive the gravity center adjusting block to slide in the long sliding hole, and the motor drives the threaded rod to rotate to further make the gravity center adjusting block slide in the long sliding hole. The invention further provides a motor vehicle using the motor vehicle gravity balancing device.

The invention discloses an access control gate allowing vehicles to pass quickly and a control method of the access control gate. The access control gate comprises a base, a barrier rod and a buffer base. The barrier rod is lift up after vehicle information is recognized by the gate, and rotating of the barrier rod from a horizontal state to a vertical state requires some time, so that quick passing of the vehicles is not benefited. Therefore, the barrier rod comprises two sections including a balance rod and a pre-starting rod, the balance rod is connected with the base, and the pre-startingrod and the balance rod are in hinged connection through a steering engine. When the barrier rod is lift up, the balance rod and the pre-starting rod rotate simultaneously to enable the barrier rod tobe quickly lift up to shorten vehicle waiting time.

The invention discloses an unmanned-plane-based composite insulator hydrophobicity detector, which comprises an unmanned plane main body, a suspension frame arranged at the bottom part of the unmanned plane main body, and a spraying insulation rod suspended at the top part of the inside of the suspending frame; a first end of the spraying insulation rod is provided with a spraying head, and a second end of the spraying insulation rod is provided with a balance module; the bottom part of the suspending frame is provided with a balance assistant module, the balance module and the balance assistant module are in electric signal connection with a fly control system on the unmanned plane main body; the balance assistant module comprises a servo motor arranged on the suspending frame and connected with the fly control system through the electric signal; the output shaft of the servo motor extends out of the bottom part of the suspending frame, and the lower end part of the output shaft of the servo motor is provided with a balance rod; the end part of the balance rod is provided with a balancing weight. By using the fly control system of the unmanned plane itself, the flight gesture of the unmanned plane is sensed, thus the horizontal state of the spraying insulation rod is controlled through the common effect of the balance module and the balance assistant module, so as to achieve the purpose of eliminating the inclination inertia.

Disclosed are a portable device that allows a user to conveniently and accurately control display and a control method thereof. The portable device includes a tilt sensor unit configured to obtain an amount of tilt of the portable device; a curved display unit configured to sense a touch input and to display an image; a movable mass having a predetermined mass value configured to move within the portable device and to change a center of gravity of the portable device; and a processor configured to control the tilt sensor unit, the curved display unit, and the movable mass, wherein the processor is further configured to: when providing a first screen mode with regard to an application being currently executed, switch from the first screen mode to a second screen mode when the tilt of the portable device is detected without a first touch input which is a predetermined touch input and the amount of the tilt exceeds a first threshold, and switch from the first screen mode to the second screen mode when the tilt of the portable device is detected along with the first touch input and the amount of the tilt exceeds a second threshold, wherein the second threshold is less than the first threshold.

The invention discloses a crane, relates to the field of engineering machinery, and is used for improving the lifting performance of the crane simply and conveniently. The crane comprises a suspended balance weight and a pushing device; the suspended balance weight is suspended; the pushing device is connected with the suspended balance weight; and the pushing device can drive to suspended balance weight to change the amplitude. According to the crane provided by the above technical scheme, the suspended balance weight and the pushing device which drives the suspended balance weight to change the amplitude are provided. When the lifting performance of the crane needs to be improved, the lifting performance of the circular track crane can be greatly improved by changing the amplitude of the suspended balance weight and increasing a balance weight moment; the utilization rate of the whole crane is improved; and greater economic benefit can be brought to users. Besides, the realization mode of changing the amplitude of the suspended balance weight and increasing the balance weight moment is simple; the operability is high; and balance weights do not need to be additionally increased during the whole adjustment process, so that resources are saved.

The invention relates to the technical field of cranes, in particular to a counterweight shifting device and a crane. The counterweight shifting device comprises a counterweight frame, connecting assemblies, transmission assemblies and driving parts; the counterweight frame is used for being connected with a rotating table, and the connecting assemblies are used for being connected with counterweights; the connecting assemblies are rotatably connected with the counterweight frame, the driving parts are fixed to the counterweight frame, and are connected with the connecting assemblies through the transmission assemblies to drive the connecting assemblies to rotate, so as to adjust the set reference distance between the connecting assemblies and the counterweight frame. According to the counterweight shifting device, the position of the counterweights relative to the rotating table can be changed under the condition that the counterweight amount is unchanged, that is, the position of a counterweight working point, thus the gravity center of the crane is changed, then the counterweight performance of the crane is enhanced, and whole moving of the crane is avoided, so that the stability performance of the crane is improved.

The invention relates to a wheelchair, in particular to a two-wheeled wheelchair with a gravity center adjusting function. The invention adopts the technical scheme that the two-wheeled wheelchair with the multi-degree-of-freedom gravity center adjusting function comprises a chair mechanism (1), wheels (2), a self-balancing mechanism and balance weight mechanism (17) mounted below the chair mechanism (1), wherein the balance weight mechanism (17) comprises a plurality of electric push rods (18) and balance weights (19); the electric push rods (18) are arranged equidistantly and circumferentially; the tail ends of the electric push rods (18) extend outwards and radially and are connected with the balance weights (19); when the two-wheeled wheelchair is in an initial state, the electric push rods (18) are in a contraction state; in the moving process of two-wheeled wheelchair, the electric push rods (18) are controlled to move balance weights (19) to change the gravity center of the two-wheeled wheelchair. The moving and turning convenience of the two-wheeled wheelchair is increased by adopting the method of increasing the degree of freedom.

The invention discloses a control method for an automobile to quickly pass through an entrance guard barrier gate system. A barrier gate composed of a base, a gate rod and a buffer base is applied. Inthe related art, after the barrier gate recognizes vehicle information, a gate rod is lifted up, and a certain time is needed after the gate rod rotates from a horizontal state to a vertical state, so that rapid passing of vehicles is not facilitated. Therefore, the gate rod is provided with two sections, namely a balance bar and a pre-starting bar. The balance rod is connected with the base, andthe pre-starting rod and the balance rod are hinged through a steering engine. During lifting, the balance rod and the pre-starting rod are rotated at the same time, so that the brake bar can be quickly lifted to shorten waiting time of the automobile.

The invention discloses a system for adjusting torque required by a robot driving device, belongs to the technical field of mobile robots, and solves the problems that the main body of the conventional mobile robot is fixed in structure, unadjustable in gravity center and too large in rotational inertia. The system comprises a counterweight, a counterweight supporting component and a counterweight moving component, wherein the counterweight is connected with the counterweight moving component through the counterweight supporting component; the counterweight can change position in a robot structure. Compared with the conventional system with a fixed structure, the system provided by the invention has the advantages as follows: the control performance is significantly improved; on one hand, the gravity center of a robot system can be controllably changed, the rotational inertia of the overall system can be adjusted, the torque can be reduced, and the working intensity of the driver is reduced; on the other hand, the posture of a robot can be controlled more precisely so as to improve the operating performance of the robot.

The invention discloses a photovoltaic energy storage louvre. The photovoltaic energy storage louvre comprises a louvre blade and a photovoltaic panel, wherein the photovoltaic panel is installed on the upper end of the louvre blade, the photovoltaic panel is coupled with a storage battery, a glass cover plate covers the upper end of the photovoltaic panel, a first sliding cavity is formed in thelouvre blade and is located below the axis of the louvre blade, and a control mechanism which is used for controlling the angle of inclination of the louvre blade is installed in the first sliding cavity. According to the photovoltaic energy storage louvre, the control mechanism, a cooling mechanism and a backflow mechanism are arranged, so that when the louvre is illuminated by sunlight and the temperature of the louvre rises, the louvre is automatically inclined at a certain angle, the higher the temperature is, the larger the angle of inclination is, the effects of shading from the sun, increasing the illuminating area of the photovoltaic panel and improving the energy storage efficiency of the photovoltaic panel are effectively achieved, when the louvre is inclined, cleaning liquid canbe sprayed so as to remove dust from the glass cover plate, so that the hot spot effect of the photovoltaic panel due to dust is prevented, the generating efficiency and the service life of the photovoltaic panel are guaranteed, and the cleaning liquid can be recycled, so that resources are saved.

An automatic stepping tree climbing monitoring and detecting robot comprises a mechanical leg system, sensors, a monitoring and detecting system and a rack rod assembly. When a mechanical leg driving motor conducts driving alone, complex tree climbing and holding movement can be achieved, and driving is simple. An inclined angle is formed between each mechanical leg and a tree trunk, locking can be achieved through the reaction force of the driving force, and the tree climbing and holding work is safe and reliable. In the robot tree climbing process, the holding angle can be changed by switching the freedom degree, and the robot flexibly adapts to trees with different diameters. The body structure of animals is simulated, so that the tree climbing monitoring and detecting robot flexibly adapts to trees in different shapes. The multi-freedom-degree monitoring and detecting system and the tree climbing robot are combined, the movement performance is good, the working range is wide, and the field monitoring and detecting work can be flexibly and conveniently completed. The multiple sensors feed parameters back to a controller, and the automatic tree climbing monitoring and detecting work can be achieved through programming control.

The invention discloses a lithium ion battery pack capable of adjusting the shift gravity center. The lithium ion battery pack comprises a shell and a left and right shift screw rod mechanism, wherein the left and right shift screw rod mechanism is arranged on a base plate in an inner cavity of the shell, and comprises a gear module, a screw rod and a fixed support; the center of the gear module penetrates through and is screwed on the screw rod; the rear surface of the fixed support is connected with the screw rod; a lithium ion battery pack body is fixed on the top surface of the fixed support, and is positioned in the shell; when the gear module is adjusted, the gear module drives the screw rod to rotate; the screw rod drives the fixed support and the lithium ion battery pack body to move left and right. When the lithium ion battery pack provided by the embodiment is applied to an automobile model, the shift gravity center of the lithium ion battery pack can be regulated according to requirements of users, so that application of users is facilitated.

The invention discloses a circular-butterfly-shaped underwater glider, and relates to the field of underwater gliders. The underwater glider comprises a non-airtight circular-butterfly-shaped shell with the hydrodynamic performance, a spherical pressure-resistant shell with the certain pressure resistance and a connecting bracket of the pressure-resistant shell and the circular-butterfly-shaped shell. A mass center adjusting device and a buoyancy adjusting device which are required by gliding motion of the circular-butterfly-shaped underwater glider are carried in the spherical pressure-resistant shell. On the basis of the symmetrical structure of the glider main body, the same hydrodynamic performance is achieved in all directions during underwater gliding, the gravity center of the glider is changed by changing the position of the heavy block through the mass center adjusting device, the buoyancy of the glider is adjusted through the buoyancy adjusting device, upward floating and sinking of the glider are achieved, and gliding motion of the glider is achieved through linkage of the two adjusting systems. The underwater glider can achieve omnidirectional movement underwater, is small in underwater turning radius, has high loading and expanding capacity, and can meet different underwater tasks.