49results about How to "Crawl stable" patented technology

The invention discloses an insulator sweeping and detecting robot for a high-voltage power transmission line. The robot comprises an annular frame and a control box; the annular frame is capable of being opened towards the two sides around a rotating shaft and comprises an upper layer bracket, a lower layer bracket and a middle layer bracket, wherein the upper layer bracket and the lower layer bracket are fixedly connected through a plurality of auxiliary brackets; the middle layer bracket is capable of moving up and down through a sweeping layer elevating mechanism; the upper layer bracket is provided with an upper clamping jaw for clamping an insulator; a detecting device is arranged on the upper clamping jaw; the middle layer bracket is provided with a sweeping device and an auxiliary clamping jaw which is used for clamping the skirt section of the insulator; a lower clamping jaw capable of moving up and down through a clamping jaw layer elevating mechanism is also arranged between the upper layer bracket and the lower layer bracket; the annular frame opposite to the rotating shaft is provided with a locking mechanism for locking the closed state of the annular frame; a power supply and a controller which is used for controlling the running and action sequence of a rotating mechanism and a servo motor are arranged inside the control box. The insulator sweeping and detecting robot disclosed by the invention is compact in structure, good in adaptablity, complete in sweeping, high in load capacity and applicable to hot-line sweeping and detection of horizontal and suspension insulator strings.

The invention discloses a pipeline creeping robot. The pipeline creeping robot comprises a box body, a control mechanism, a detection mechanism, a fixing column, multiple obstacle crossing creeping mechanisms, an extending-and-contracting connecting rod device and two detection fixing support brackets. The detection mechanism is mounted on the front end of the box body. The two detection fixing support brackets are mounted on the two sides of the box body correspondingly. The control mechanism is mounted inside the box body. The fixing column is mounted on the back end of the box body. The multiple obstacle crossing creeping mechanisms are connected with the fixing column through the extending-and-contracting connecting rod device. The detection mechanism, the obstacle crossing creeping mechanisms and the detection fixing support brackets are electrically connected with the control mechanism. The pipeline creeping robot is applicable to the size variation of the pipeline; barriers in the pipeline can be crossed; obstacle crossing ability is great; the problem that barrier obstruction is conducted in the pipeline walking process is avoided.

The invention discloses a moving chassis for an indoor service robot. The moving chassis comprises a bottom plate, a driving mechanism, a universal wheel mechanism, a sensing system and a power supply system, wherein the universal wheel mechanism comprises universal wheel bases, two groups of universal wheels arranged in the universal wheel bases, and universal wheel support plates fixedly connected with the two groups of universal wheels; the universal wheel support plates are rotationally connected to the universal wheel bases through linear bearings; the upper surfaces of the two ends of the universal wheel support plates are provided with springs respectively; spring pressing plates are fixedly arranged at the upper ends of the springs; the spring pressing plates are fixed to the universal wheel bases. By adopting the moving chassis, on one hand, the four-wheel chassis has a relatively high motion speed and a turning feature on one hand; on the other hand, a seesaw type structural design is adopted for the universal wheel mechanism, and the universal wheel mechanism has high adaptive adjustability to small steps or ditches on road surfaces, so that effective filtering is realized, and the advancing stability and reliability of driving wheels are ensured.

The invention discloses an amphibious robot with a flying and wall-climbing function. The amphibious robot with the flying and wall-climbing function comprises a track wall-climbing mechanism; and a four-rotor tilting mechanism is connected to the track wall-climbing mechanism. According to the amphibious robot with the flying and wall-climbing function, a posture of the robot is changed by usinga mode of tilting rotors; during flying, the track wall-climbing mechanism is in a horizontal posture; when the amphibious robot with the flying and wall-climbing function needs to be land the wall surface, the four-rotor tilting mechanism changes the track wall-climbing mechanism into an approximately perpendicular posture and gradually approaches the wall surface to stably land; and therefore, the gravity center of the robot sticks to the wall surface; and meanwhile, in the landing process, rotors provide stable vertical lift forces.

The invention discloses a walking type high-voltage line pin supplementing device which comprises a walking unit and a machine head, and a swing arm unit is arranged between the machine head and the walking unit. After the walking unit walks to a vertically-arranged double-suspension clamp along an upper wire and a lower wire of a high-voltage line, the swing arm unit aligns the machine head witha pin shaft on the vertically-arranged double-suspension clamp, and then the machine head punches an R pin stored in the machine head into a hole in the end of the pin shaft. The walking unit climbs to the pin supplementing position along the overhead line, then the swing arm unit sends the machine head to the to-be-supplemented pin position for pin supplementing operation, power-off is not neededduring pin supplementing operation, and power failure loss is avoided. A plurality of R pins is stored in the machine head, so that continuous operation is facilitated. After the device is used, manual climbing and contact with an electrified part are not needed in pin supplementing operation, the operation risk is greatly reduced, the R pin can be supplemented once being lost, pin supplementingis convenient and rapid, and the efficiency is high.

The invention relates to the field of agricultural robots, in particular to a smart coconut picking robot. The smart coconut picking robot includes a creeping main body and a picking mechanism; the creeping main body is of a cuboid structure; the picking mechanism is arranged at the top of the creeping main body, a mounting cavity is formed inside the creeping main body, a controller and a storagebattery are arranged inside the mounting cavity, and two clamp devices capable of fixing the creeping main body to the trunk of a coconut tree are arranged at the two ends, in the height direction, of the creeping main body respectively; a drive mechanism is arranged at the side, in the width direction, of the creeping main body and is located between the clamp devices at the upper and lower endsof the creeping main body; the storage battery, the picking mechanism, the clamp devices and the drive mechanism are all electrically connected with the controller and are controlled by the controller, and the picking mechanism, the clamp devices and the drive mechanism are all electrically connected with the storage battery. The smart coconut picking robot creeps on the coconut tree through drive roll wheels and the clamp devices, a worker controls the whole robot to work through the controller, no manual creeping and picking are required, the labor intensity is reduced, the work efficiencyis improved, and thus the smart coconut picking robot is safe and efficient.

The invention relates to a magnetic adsorption device and a crawling robot. The magnetic adsorption device is applied to the crawling robot, and the crawling robot comprises a frame and a moving mechanism arranged on the frame. The magnetic adsorption device comprises a plurality of magnetic adsorption assemblies and a plurality of stretchable mechanisms, wherein the magnetic adsorption assembliesare arranged below the frame in an array mode, and each magnetic adsorption assembly is correspondingly provided with at least one of the stretchable mechanisms; and first ends of the stretchable mechanisms are connected to the frame, and second ends of the stretchable mechanisms are connected to the magnetic adsorption assemblies, so that a gap between the magnetic adsorption assemblies and a to-be-adsorbed surface is changed. The magnetic adsorption device can adapt to the curved surfaces of different radians so as to enable the gap between the magnetic adsorption assemblies and the to-be-adsorbed surface to be adjusted according to requirements, so that it is guaranteed that the crawling robot obtains enough suction and stably crawls.

The invention discloses a long and thin component flaw detection scanning crawl device based on flexible shaft drive. The device comprises a first assembly and a second assembly, and the first assembly and the second assembly are connected into a whole through connecting rods. The first assembly comprises two first assembly sub-components identical in structure, first rolling wheel assemblies and second rolling wheel assemblies are arranged on first semi-circular supporting thin plates, the first rolling wheel assemblies are connected with motors through couplers and flexible shafts, the two first assembly sub-components are connected through a transfer hinge, and a closing buckle is arranged on the first semi-circular supporting thin plates. The second assembly comprises two second assembly sub-components identical in structure, third rolling wheel assemblies and fourth rolling wheel assemblies are arranged on second semi-round supporting thin plates, the two second assembly sub-components are connected through a transfer hinge, and a closing buckle is arranged on the second semi-circular supporting thin plates. The device is designed based on flexible shaft drive, and has the advantages of being light, smooth in running, wide in applicability and the like, and can meet the on-line detection requirements of components of different diameters and different detection environments.

The invention relates to the field of robots, in particular to a negative pressure type cascaded underwater wall-climbing robot. The negative pressure type cascaded underwater wall-climbing robot comprises a structural body, a driving assembly, an eddy current sucker, an instrument carrying interface, an underwater control system, mooring ropes, a water surface control system and a detection instrument; the driving assembly, the eddy current sucker, the instrument carrying interface and the underwater control system are arranged on the structural body; the driving assembly, the eddy current sucker and the instrument carrying interface are correspondingly connected with the underwater control system; the structural body, the instrument carrying interface and the underwater control system are connected with the water surface control system through mooring ropes; and the instrument carrying interface is connected with the detection instrument. According to the negative pressure type cascaded underwater wall-climbing robot, the structure is stable; the negative pressure type cascaded underwater wall-climbing robot is safe and reliable; the robot can be stably adsorbed to the surface ofa building body underwater by using eddy current negative pressure and can freely move on the surface of the building body by using the driving assembly; and therefore, stable observation is realized.

The invention discloses a pipeline dredging robot, comprising a cylindrical shell, the upper end of the cylindrical shell is uniformly provided with at least three groups of scraper assemblies, and the bottom end of the cylindrical shell is fixedly mounted with an end cover; a position, close to the upper end of the cylindrical shell, on the outside surface of the cylindrical shell is uniformly provided with at least three groups of supporting assemblies; one side surface, away from the cylindrical shell, of the end cover is uniformly provided with at least three groups of crawling assemblies;a position, close to the upper end of the cylindrical shell, inside the cylindrical shell is provided with a smashing assembly, and a position, close to the smashing assembly, inside the cylindricalshell is provided with a dredging assembly. Compared with the traditional pipeline dredging equipment, the pipeline dredging robot provided by the invention has the advantages that blocking is avoided, the working is stable, the dredging is thorough, crawling along an inner wall of the pipeline is realized, and the labor intensity of workers is effectively reduced, pipeline dredging robot furtherhas the advantages that dredging can be performed on pipelines with different pipe diameters, and the applicable ability is high.

The invention discloses a climbing machine vehicle which comprises a vehicle body, wherein the vehicle body is provided with wheels; the end, facing a wall surface, of the vehicle body is connected and fixed with an adsorption mechanism; the adsorption mechanism comprises a shell; a cavity with a circular cross section is formed in the shell; the cavity is provided with a closed end surface and an open end surface; the open end surface forms an end surface for adsorbing the wall surface; the closed end surface is fixedly arranged at the end, facing the wall surface, of the vehicle body; a rotating power source is installed on the end, opposite to the wall surface, of the vehicle body; blades arranged in the cavity are connected with an output shaft of the rotating power source; the closed end surface is in an airtight state; the blades are linearly distributed along the axis of the cavity; and a soft flexible sealing structure is arranged between the outer edge of the open end surface and the wall surface. According to the invention, fluff strips are arranged between the outer edge of the adsorption mechanism and the wall surface to form flow resistance which can prevent the outside air from back flowing into the cavity of the adsorption mechanism, thereby eliminating the influence of back flow to the rotating flow in the cavity.

A tracked chassis and a travel device belong to the field of transportation means; the tracked chassis comprises a track and a plurality of magnetism generators, wherein the track has a driving face and a contact face opposite each other, the driving face defines a distribution space having at least one preset area, the magnetism generators are positioned in the distribution space and are arrangedalong the driving face at interval, each magnetism generator has magnetic state an nonmagnetic state which are selectable and which are controllably switchable, the multiple magnetism generators cangenerate magnetic attraction, and the magnetic attraction is imparted to the contact face through the driving face. The tracked chassis provided herein can form magnetic attraction surface on variouslarge metal pipes, irregular-surface magnetic materials and other structures to arrive at stable creeping, can creep on the surface of a magnetic material in any posture, can travel stably, and can finish various functions by loading different modules.

The invention discloses a cased well tractor crawling device used for crawling in a casing pipe. The cased well tractor crawling device comprises a gear sleeve assembly, a driving arm assembly and a brace rod assembly. The gear sleeve assembly comprises a driving bevel gear, a first driven bevel gear engaged with one side of the driving bevel gear, and a second driven bevel gear engaged with the other side of the driving bevel gear. The driving arm assembly is connected with the gear sleeve assembly and comprises a first transmission mechanism, a second transmission mechanism, a first crawling unit and a second crawling unit, the first driven bevel gear and the first crawling unit are connected through the first transmission mechanism, the second driven bevel gear and the second crawling unit are connected through the second transmission mechanism, the first crawling unit and the second crawling unit are oppositely arranged, and the first crawling unit and the second crawling unit have the same rotating speed but the opposite rotating directions and are used for grabbing or loosening the inner wall of the casing pipe. The brace rod assembly is connected with the driving arm assembly and slides in the axial direction of the casing pipe so as to drive the first crawling unit and the second crawling unit to be relatively staggered or get close.

The invention provides a porcelain bottle cleaning robot. The porcelain bottle cleaning robot comprises a control device and a main shell, wherein the main shell is of a hollow annular structure whichis formed by two butted half shells; the inner wall of the main shell is provided with a sweeping mechanism; the top surface of the main shell is provided with a climbing mechanism which can be usedfor driving the main shell to move up and down; and the sweeping mechanism and the climbing mechanism are both electrically connected with the control device. According to the porcelain bottle cleaning robot provided by the invention, the inner wall of the main shell is provided with the sweeping mechanism; when the porcelain bottle cleaning robot is in use, the two half shells sleeve a porcelainbottle and are butted; the climbing mechanism is used for fixing the main shell to the outer sidewall of the porcelain bottle; the control device is used for driving the sweeping mechanism arranged onthe inner wall of the main shell to wash the porcelain bottle and controlling the climbing mechanism to drive the main shell to move up and down relative to the porcelain bottle so that the porcelainbottle can be washed automatically in all directions, the work intensity is alleviated, and the porcelain bottle cleaning robot is convenient to operate and safe in work.

The invention relates to a structure used for cleaning an exhaust duct online by means of dry ice. The structure comprises a crawling mechanism, a spraying nozzle mechanism, an electrical equipment control box and a dry ice storage box, wherein the dry ice storage box is connected with the spraying nozzle mechanism through a dry ice conveying pipe; the electrical equipment control box is used forcontrolling the crawling mechanism to move forwards and backwards and controlling the spraying nozzle mechanism to start and stop; and the crawling mechanism is used for bearing the spraying nozzle mechanism and crawls in the exhaust duct, so that the spraying nozzle mechanism performs cleaning work on the exhaust duct conveniently. According to the structure, the crawling mechanism crawls in theexhaust duct, during crawling, the spraying nozzle mechanism sprays dry ice to the inner wall of the exhaust duct, the dry ice makes violent contact with tobacco tar on the inner wall of the exhaust duct under the normal pressure and sublimates to produce rapid freezing and rapid expanding, the tobacco tar is frozen instantly until being brittle, then under detonation, the tobacco tar falls apartand is blown away by compressed air, accordingly, the tobacco tar is stripped away from the inner wall of the exhaust duct fast and conveniently, and trouble and wasting caused when a tobacco flue-curing manufacturer replaces the exhaust duct regularly are avoided.

The invention provides an adsorption type underwater robot, and relates to the field of underwater robots. The adsorption type underwater robot comprises a machine body and a plurality of supporting legs movably installed on the machine body, a crawling driving mechanism and a water pump are installed in the machine body, and the crawling driving mechanism is in transmission connection with the supporting legs. Suction cups are arranged at the bottoms of the supporting legs, water pumping openings are formed in the suction cups, and water pumping pipelines are connected between the water pumping openings and the water pump. The machine body is further provided with a top drainage port, a top drainage pipeline is connected between the top drainage port and the water pump, and the top drainage port and the supporting legs are located on the opposite sides of the machine body respectively. According to the underwater robot, downward reverse thrust is generated on the robot body through upward drainage of the top drainage port, and the top drainage port is matched with the suction cups of the supporting legs to generate the suction effect, so that effective suction force is formed between the supporting legs and the water bottom, it is guaranteed that the whole underwater robot stably climbs or stays under the action of water flow, and the reliability of construction operation is improved.

The invention relates to the technical field of robots, in particular to a multi-mode bionic wall-climbing robot simulating a long-horned grasshopper motion form, which comprises a trunk main body, a plurality of foot driving mechanisms are arranged at the lower part of the trunk main body, foot end collaborative attachment mechanisms in contact with a wall surface are arranged on the foot driving mechanisms, a wireless receiver is arranged on the trunk main body. A wireless receiver is used for receiving signals and controlling a plurality of foot driving mechanisms on the trunk main body to be mutually linked, and meanwhile, a foot end collaborative attachment mechanism is controlled to be in contact with or separated from a wall surface, so that climbing or jumping of the robot is realized, and an active regulation and control grabbing attachment-attachment structure and a connecting rod mechanism are innovatively combined; crawling and jumping on various complex wall faces can be achieved.

The invention comprises a magnetically positioning and crawling type welding machine for steel structures. The magnetically positioning and crawling type welding machine comprises a welding gun frame and frame driving wheels. The magnetically crawling type welding machine is characterized in that an axle connecting a left driven wheel with a right driven wheel of the frame is of a connecting structure of an inner threaded tube and an outer threaded tube; one end of the inner threaded tube is connected with the left driven wheel, and one end of the outer threaded tube is connected with the right driven wheel; a through hole is arranged at the center of the left driven wheel; the other end of the outer threaded tube penetrates the through hole of the left driven wheel; the outer threaded tube is fixed in the inner threaded tube through a locking nut.

The invention discloses a wheel type omnidirectional claw wall-climbing robot and a moving method thereof, and belongs to the technical field of robot application. The wheel type omnidirectional clawwall-climbing robot comprises a rack (6), a rotating wheel (3), a longitudinal soft claw (2) for providing grabbing force during longitudinal movement, transverse claws for providing grabbing force during transverse movement, a boss base body (4) and an extrusion rod (5), and is characterized in that the longitudinal soft claw is adhered to a middle plate of the rotating wheel (3) and consists ofa strip-shaped flexible base body and a metal sharp hook; each transverse claw (1) is composed of a resin base body and an end metal sharp hook and penetrates through rectangular through holes in thetwo sides of the rotating wheel (3), and every time the rotating wheel rotates by a circle, the two transverse claws (1) connected through a rubber band make contact with the boss base body twice to form attachment and detachment; the boss base body (4) is independent of the rotating wheel and fixed to the lower end of the rack (1), the lower end of the boss base body is connected with the extrusion rod (5), and the extrusion rod mechanically extrudes the front ends of the three transverse claws; and three mounting holes are formed in the front ends of the transverse claws, and the metal sharphook used for generating grabbing force is mounted in the mounting holes. The robot can form different machine structures by changing the number of the omnidirectional wheel type claw modules.

The invention relates to a crawler-type underwater catching robot. The catching robot comprises a robot body, a support, a crawler assembly, a buoyancy layer, brushes, a fish suction pump, a fish suction pipe and a fishing cabin. The robot body is mounted on the support; the crawler assembly and the fishing cabin are installed at the bottom of the support, the crawler assembly is used for driving the catching robot to crawl on the seabed, and the fishing cabin is arranged between the crawler assembly and the support and used for loading catches; the buoyancy layer is mounted above the robot body through a support and is used for adjusting the buoyancy of the catching robot; the two brushes are symmetrically arranged in front of the catching robot and driven by underwater motors to rotate so as to sweep catches on the seabed. The fish suction pump is arranged on the support, the front end of the fish suction pipe is provided with a transverse opening part, and the fish suction pump sucks fish catches into the fish catch cabin through the fish suction pipe. The catching robot can travel according to a preset track in an autonomous balance posture, can stably crawl underwater, and is matched with the fish reef body and the central control platform to realize intelligent culture and fishing.

The invention provides a vacuum chuck type travelling device for a vertical crawling robot. The vacuum chuck type travelling device comprises a base frame, a first travelling mechanism and a second travelling mechanism, wherein the first travelling mechanism comprises two first travelling components which are symmetrically arranged, and each first travelling component comprises a first linear sliding rail, a first chuck part and a first driving part; and the second travelling mechanism comprises two second travelling components which are symmetrically arranged, the two second travelling components are located on the two opposite sides of the first travelling mechanism correspondingly, and each second travelling component comprises a second linear sliding rail, a second chuck part and a second driving part. According to the vacuum chuck type travelling device for the vertical crawling robot, stable climbing of the robot is realized through alternate actions of the two vacuum chuck travelling mechanisms, and the robot is prevented from falling from a vertical surface.

The invention discloses a magnetic attraction type cylindrical surface gas environment monitoring robot. The magnetic attraction type cylindrical surface gas environment monitoring robot comprises two groups of wall climbing assemblies which are symmetrically arranged, wherein each wall climbing assembly comprises a bottom plate, a motor, a drive wheel, a front driven wheel, a rear driven wheel and a permanent magnet unit; the inner sides of the bottom plates of the two groups of the wall climbing assemblies are rotatably connected; the motors are fixed at the front ends of the upper surfaces of the bottom plates, the drive wheels are positioned at the front ends of the outer sides of the bottom plates, the motors drive the drive wheels to rotate; the front driven wheels are arranged on the lower surfaces of the bottom plates, and are positioned at the inner sides of the front ends of the bottom plates; the rear driven wheels are arranged on the lower surfaces of the bottom plates, and are positioned at the inner sides of the rear ends of the bottom plates; the permanent magnet units are fixed on the lower surfaces of the bottom plates, and are positioned on positions, between the drive wheels and the front driven wheels, at the front ends of the bottom plates; the permanent magnet units adsorb the robot on a cylindrical surface, and the motors separately drive the drive wheels to rotate to drive the robot to move on the cylindrical surface; and the two bottom plates define an adaptive angle according to bending degree of the cylindrical surface on the which the bottom plates are located. The magnetic attraction type cylindrical surface gas environment monitoring robot can realize self-adaptive climbing of the cylindrical surface with a relatively great curvature.

The invention relates to the field of engineering cleaning equipment. The invention relates to a walking device and a using method thereof. The walking device is used for cleaning equipment for high-rise building cleaning. The cleaning equipment comprises a safety mechanism, a base, a cleaning mechanism and a water spraying device. A protective shell is mounted above the base; a mounting panel isalso arranged in the protective shell; a power supply and a control chip are both mounted on the mounting panel; the walking device is installed below the base. The walking device is connected with the control chip; the walking device comprises a walking structure and an adsorption structure; and the walking device comprises a plurality of groups of walking structures. According to the walking device, use is safe, operation is easy, the walking device is adsorbed to the surface of a wall and climbs steadily, and the wall-climbing robot cannot fall off from the wall surface once a sudden powerfailure occurs in the climbing process and can be safely retained on the wall surface.

The invention discloses a horizontal insulator walking mechanism. The mechanism comprises a plurality of arc-shaped frames; the arc-shaped frames are connected end to end to form an open-loop structure; one frame motor is arranged between every two arc-shaped frames so as to achieve rotating connection between the corresponding two arc-shaped frames; and a walking wheel and a driving motor for driving the walking wheel to rotate are arranged at the inner side of each arc-shaped frame. According to the horizontal insulator walking mechanism provided by the invention, the multiple arc-shaped frames and the frame motors are adopted, so that the multiple walking wheels are reliably pressed on the surface of an insulator string; even if the sizes of insulators are different, the pressing and walking of the walking wheels on the insulators are not affected; and the driving motors drive the walking wheels to rotate to provide traction forces for walking. The horizontal insulator walking mechanism has the advantages of high crawling speed, good adaptability and stable crawling process.

The invention comprises a magnetically positioning and crawling type welding machine for steel structures. The magnetically positioning and crawling type welding machine comprises a welding gun frame and frame driving wheels. The magnetically crawling type welding machine is characterized in that an axle connecting a left driven wheel with a right driven wheel of the frame is of a connecting structure of an inner threaded tube and an outer threaded tube; one end of the inner threaded tube is connected with the left driven wheel, and one end of the outer threaded tube is connected with the right driven wheel; a through hole is arranged at the center of the left driven wheel; the other end of the outer threaded tube penetrates the through hole of the left driven wheel; the outer threaded tube is fixed in the inner threaded tube through a locking nut.

The invention relates to the field of robots, and particularly relates to a computer-controlled crawling robot. The computer-controlled crawling robot comprises a main frame, crawling wheels, supporting wheels, a walking motor and a power source, and further comprises a rotating crank arm, a clamping crank arm, a telescopic auxiliary wheel frame, a telescopic locking device, a crank arm angle adjusting mechanism, a tensioning mechanism and an adjusting motor, wherein the main frame comprises a crawling wheel seat, a main plate, a crank arm seat, a mounting plate, a hook frame I, a motor mounting plate and a limiting frame; the crawling wheels comprise walking wheels, belt wheels and rotating shafts; the rotating crank arm comprises a crank arm I, a supporting shaft, an adjusting linkage seat, a hook plate I, a tension spring and a connecting seat; the clamping crank arm comprises a crank arm II, a clamping rotating shaft, a hook plate II, a sliding groove and a locking groove; the telescopic auxiliary wheel frame comprises an auxiliary wheel, a telescopic arm, a clamping plate and a T-shaped sliding groove; and the telescopic locking device comprises a locking plate, a pressing plate, a sliding column and a pressure spring. The computer-controlled crawling robot can adapt to pipelines with different outer diameters in a large range and is high in practicability.

The invention discloses a shape memory spring bionic robot based on a gradient Miura origami elastic curved beam. The shape memory spring bionic robot comprises a Miura origami base body in a curved beam form, a shape memory spring, a left foot and a right foot. The two ends of the shape memory spring are fixed to the two ends of the paper folding base body respectively, the left foot and the right foot are connected to the left end and the right end of the paper folding base body respectively, rack structures are arranged at the bottoms of the left foot and the right foot respectively, and the rack structures provide a one-way friction mechanism so that the bionic robot can only move in the set direction. The characteristic that the gradient Miura origami can store elastic energy is utilized, the gradient Miura origami is matched with the power element shape memory spring, the robot capable of providing two-way motion is manufactured, and the Miura origami base body has the advantages of being not prone to fatigue, light in weight and the like.

The invention discloses high-altitude wall surface cleaning equipment. The equipment comprises a body and a walking mechanism, the walking mechanism comprises walking mechanical arms and an adsorption mechanism, the body is connected with the multiple walking mechanical arms, the adsorption mechanism comprises a turbofan, a vacuum box and a suction cup, the vacuum box is arranged on the body, the turbofan is connected with the vacuum box, and the walking mechanical arms are elastically and rotationally connected with the suction cup; and the vacuum box is connected with the suction cup. The equipment can be suitable for working on uneven wall surfaces, the application range is widened, and multi-environment working is achieved.

The invention relates to the technical field of insulator detection, in particular to an ultrahigh-voltage power transmission line insulator detection robot, comprising a control box body, a self-adaptive guide module, encircling guide execution mechanisms, an encircling guide driving mechanism, a moving mechanism, detection clamping jaw mechanisms, an insulator resistance detector and a power supply, wherein the self-adaptive guide module and the moving mechanism are arranged at the top of the control box body; the two groups of encircling guide execution mechanisms are symmetrically arranged on the two sides of the control box body; the encircling guide driving mechanism is arranged at the end part of the control box body and is used for driving the encircling guide execution mechanisms to open or close; the insulator resistance detector and the power supply are arranged on the encircling guide execution mechanisms; and the number of the detection clamping jaw mechanisms is two, one detection clamping jaw mechanism is fixed to the top of the control box body, the other detection clamping jaw mechanism is arranged on the moving mechanism, and the two detection clamping jaw mechanisms are used for crawling and insulator string resistance detection. The robot is simple in structure, continuous in walking, stable in crawling, high in detection efficiency, safe and reliable and capable of moving along an insulator string.