110results about How to "Ensure normal walking" patented technology

The invention discloses a backpack-type walking power assisting device which comprises a supporting frame, wherein a back plate, straps, a backpack and a size-adjustable waistband are arranged on the supporting frame; a rotatable hip joint is mounted at the lower end of the supporting frame; a pair of lower limb exoskeletons are mounted on the hip joint; each lower limb exoskeleton comprises a thigh bone supporting mechanism, a leg bone supporting mechanism and a foot fixing mechanism; the leg bone supporting mechanism is elastically connected with the foot fixing mechanism; the thigh bone supporting mechanism comprises a thigh bone fixing plate and a first gravity balance mechanism; the leg bone supporting mechanism comprises a leg fixing plate and a second gravity balance mechanism; and the thigh bone fixing plate is elastically connected with the leg fixing plate. The backpack-type walking power assisting device has the advantages that the first gravity balance mechanism and the second gravity balance mechanism are used for balancing the lower limb gravity in a moving process of a human body in real time, thereby enabling a user to walk by following a movement trajectory of a human skeleton and reducing the physical output of the user; a pure mechanical structure design is adopted; the device cannot be influenced by an external environment; and the stability and reliability are high.

The invention discloses an intelligent cable capstan device. The intelligent cable capstan device comprises a capstan winding roll, a motor, a tension sensor and a controller, wherein the capstan winding roll is used for winding or unwinding cables; the motor is provided with a motor driver and electrically connected with the capstan winding roll and controls rotation of the capstan winding roll; the tension sensor is electrically connected with the capstan winding roll and used for collecting the tension information of the cables; and the controller is connected with the motor driver and the tension sensor through a converter, and the controller sends a control command to the motor driver so as to control the motor driver to operate and sends an adjusting command to the motor driver according to signals of the tension information, collected by the tension sensor, of the cables so as to adjust and control the rotation speed of the motor driver. By the adoption of the intelligent cable capstan device, automatic winding and unwinding of the cables are achieved in the constant cable tension state, a high-precision photoelectric encoder is arranged, the advancing distance of a crawl device is motored indirectly by measuring and computing the unwinding length of the cables, and the winding action and unwinding action of the cables are adjusted automatically; and labor is saved, lag of the cables in pipelines are avoided effectively, and normal walking of the pipeline climbing device is guaranteed.

The invention provides a section-variable tunnel-crossing lining trolley which comprises a portal system, a template system, a connecting part and a walking mechanism, wherein the portal system comprises a frame part, a jacking mechanism and a bracket part; the jacking mechanism comprises multiple sets of jacking single pieces; each of the jacking single pieces comprises a multi-level jacking part; the bracket part comprises a truss girder and an adjusting support frame for a walking mechanism; the template system comprises a top template, a left template and a right template; and the connecting part comprises a support jack and a hydraulic cylinder. The section-variable tunnel-crossing lining trolley provided by the invention has the effects that the whole structure is simple; the assembling is convenient; the jacking mechanism is in a multi-level jacking mode; the trolley not only can adapt to the construction for the tunnel sections in different heights but also can achieve higher lifting volume; the trolley can meet the requirement of constructing multiple parallel tunnels by one trolley in the manner of constructing the working tunnel; due to the design of the bracket part, the lining trolley can meet the stability requirement, and meanwhile, the structure is simplified and the whole trolley can be supported.

The invention discloses an automatic deviation correction laser navigation system, which comprises a moving trolley, photosensitive batteries, a rotary laser, a bracket, a laser controller, a laser wireless communication module, a vehicle-mounted wireless communication module and a vehicle-mounted controller, wherein the vehicle-mounted controller has two working modes; and when left-right deviation of the moving trolley is small, the vehicle-mounted controller is used for controlling the moving trolley to turn leftwards, turn rightwards or stop turning according to the positions of the photosensitive batteries at the front end of the trolley. When the moving trolley deviates the central line greatly, a rotation instruction is transmitted by the vehicle-mounted controller, a laser rotation device is controlled to rotate by the laser controller according to the rotation instruction, the moving trolley target is actively searched by the rotation laser, and a left-right turning judgment is made by the vehicle-mounted controller according to the photosensitive battery signal change condition around the moving trolley. The automatic deviation correction laser navigation system has the advantages of simple control model, high extensibility, wide application range, capability of automatically returning the moving trolley to a set path without manual control in case of large deviation and the like.

The invention belongs to the technical field of designing and manufacturing of underground auxiliary transportation devices used under coal mines and provides a mining automatically-moving equipment train capable of stepping forward along a roadway to achieve underground transportation along roadways of the coal mines. The mining automatically-moving equipment train capable of stepping forward along the roadway comprises a front anchoring and pulling device, a rear anchoring and pulling device, a flat car and an expansion pipe cable bearing system, wherein the front anchoring and pulling device and the rear anchoring and pulling device are erected on an anchoring frame guide rail, the flat car is erected on a flat car guide rail, a forward-pushing jack is arranged at the front end of the front anchoring and pulling device, the rear end of the front anchoring and pulling device is connected with the flat car through a backward-pushing jack, the front end of the rear anchoring and pulling device is connected with the flat car through a pushing jack, and the rear end of the rear anchoring and pulling device is connected with the expansion pipe cable bearing system through a connecting pipe. The mining automatically-moving equipment train capable of stepping forward along the roadway has the advantages of being flexible, convenient to use and the like; equipment movement efficiency and safety are improved, equipment movement time is shortened, frequent rail laying and pulling transportation are avoided for workers, the labor intensity of the workers is relieved, and it can be guaranteed that the equipment train can travel on a ramp with the gradient being + / - 10 degrees.

The invention relates to a limiting device of an electric trolley of a bridge type crane. The limiting device comprises a trolley frame and wheels, wherein the left and right ends of the trolley frame are both provided with rail sweeping plates the lower ends of which are provided with notches; the center of the lower part of the trolley frame is provided with a safe ruler; running tracks are arranged under the wheels; the running tracks, close to the left and right ends, are symmetrically provided with approach switch groups comprising approach switches A close to the inner side and approach switches B close to the outer side; the frontage surfaces of the running tracks close to the outer sides of the approach switches B are provided with fixed bases; the upper sides of the fixed bases are provided with telescopic cylinders; the top ends of the telescopic cylinders are provided with brake blocks which are provided with brake grooves. The limiting device has the advantages of simple structure, limiting accuracy, good braking effect and convenience in installation and maintenance.

The invention relates to an intelligent weeding device which is composed of a walking device, a weeding device, an image collecting device, a radio frequency receiving and transmitting device, a control device and a weeding device body. The intelligent weeding device is characterized in that the radio frequency receiving and transmitting device comprises a radio frequency transmitting device and a radio frequency receiving device. The radio frequency transmitting device comprises a transmitting antenna, a radio frequency producing module, a microprocessor, a storing device and a battery. The radio frequency receiving device comprises a receiving antenna and a radio frequency signal processing device. The walking device comprises a track, a track wheel, and a line shifting moving structure. The control device receives identity data and signal amplitude provided by the radio frequency receiving device and calculates out the position of the intelligent weeding device with the three-point auxiliary positioning method according to the identity data and the signal amplitude. Thus, the control device controls the walking device to proceed or stop or shift lines. According to images captured by the image collecting device, the weed targets are identified with the weed identifying method, so that the weeding device is controlled to perform weeding.

The invention belongs to the field of train tractors and discloses an APM train tractor which comprises a loader tractor body, a guiding device, a traction device, a guide rail, travelling beams and a hydraulic system. The guiding device comprises an axle seat, a guiding frame, guiding shafts, shaft sleeves and guiding wheels. The guiding frame is a rectangular bracket which is formed through welding; the axle seat is mounted in the middle position of two long-edge bracket bodies of the guiding frame and fixed on the front axle and the rear axle of the loader tractor body through bolts; the guiding shaft are vertically mounted on the four corners of the guiding frame correspondingly; the guiding wheels are mounted at the lower ends of the guiding shafts; and a plurality of pin holes with different heights are formed in the upper ends of the guiding shafts to facilitate adjustment of the mounting heights of the guiding wheels. The APM train tractor is formed by reconstructing a loader and has the advantages of large engine power, central steering of the tractor body and the like, a mode switch valve is mounted between a steering oil cylinder and a single throttle valve of the hydraulic system, and the APM train tractor guarantees that a traction vehicle does not deviate from a track to drive and has the guiding function simultaneously.

The invention provides an electric manned luggage box utilizing an advanced technique that a steering motor is matched with a turbine worm to achieve electronic steering. The electric manned luggage box is characterized in that a base is arranged on a conventional luggage box, an electric walking mechanism and an electric steering mechanism are arranged in the base, and direct-current motor wheels serve as driving wheels of the luggage box; when the electric manned luggage box serves as the conventional luggage box, a pull rod is dragged to start an electric device to electrically move forwards, and when the electric manned luggage box is used normally, a passenger can sit on the surface of the luggage box and operates the luggage box to move forwards or steer by touching keys through fingers; the passenger can change the state of the electric manned luggage box at any time to carry the electric manned luggage box or sit on the electric manned luggage box to move forwards, so that a big problem that the passenger cannot timely sit to take a rest when tired during walking is overcome, and the passenger can carry the electric manned luggage box and sit on the electric manned luggage box to move forwards during shopping, touring and vehicle waiting at security halls of airports, superstores, tour and sightseeing places and busy streets such as commercial pedestrian streets. The electric manned luggage box is reasonable in overall layout structure, is convenient to carry and comfort, safe and reliable to sit and has a wide market application prospect.

The invention discloses a robot with an early warning function and an early warning system thereof. The robot comprises a bottom plate, wherein four corners of the bottom of the bottom plate are movably connected with supporting rods; the bottoms of the supporting rods are movably connected with universal wheels; the top of the bottom plate is fixedly connected with a box body; a vertical rod penetrates through the bottom of the box body, the top of the vertical rod penetrates through the box body and the bottom plate in sequence and extends to the bottom of the bottom plate; a movable mechanism is arranged at the bottom of the vertical rod; a camera is arranged at the top of the vertical rod; and an electric cabinet is fixedly connected to the left side of the top of the box body. The robot has the advantages that the temperature, the humidity and whether the smoke exists or not in the environment can be detected, so that whether a fire lamp emergency occurs or not can be judged, andthe alarm can be given in time; and the problems that a traditional monitoring robot can only check the environment only through image collection and cannot judge emergencies and give an alarm in time, and the use of the robot is limited can be solved.

The invention provides an improved track cleaning structure of a mobile shelf, which can ensure the walking of a guide wheel and can stop the guide wheel from proceeding in time when sundries can not be moved away from a track so as to prevent the guide wheel from running off the track. The improved track cleaning structure comprises a bottom plate upright, a bottom plate beam, a guide wheel with a rib and a concave track, wherein a support of the guide wheel with a rib is fastened on the bottom plate upright; the guide wheel with a rib is supported on the concave track; the structure is characterized in that: a cleaning fork plate is mounted on the outer side of the bottom plate beam at the front end of the guide wheel with a rib; the lower part of the cleaning fork plate extends into the concave track; the end part of the cleaning fork plate is fastened with the bottom plate beam through a hinge; a spring is arranged between the middle part of the cleaning fork plate and the bottom plate beam; the spring is sleeved on a pressure rod; the pressure rod passes through the bottom plate beam; a sensor is fastened on the inner side of the bottom plate beam; the pressure rod faces to a control switch of the sensor; and a lead of the sensor is connected with a motor.

The invention relates to an intelligent pig house excrement cleaning robot and a control system. The intelligent pig house excrement cleaning robot comprises a shell, a traveling mechanism, a pushingand shoveling mechanism, a pressurizing mechanism, a driving control module, a communication module, a transmission module, a sensor group and a battery pack, wherein the traveling mechanism is used for driving the robot to move towards a specific direction; the pushing and shoveling mechanism is used for pushing pig house excrement in front of the robot; when the excrement is excessive, the pressurizing mechanism is started to increase the friction between the robot and the ground so as to push the excrement; the sensor group can help the robot recognize whether pigs or the excrement stops the way and select to move forwards or make way, so that the robot can clean the excrement according to a given route. The intelligent pig house excrement cleaning robot is capable of planning routes and keeping the robot moving and cleaning the excrement within a fence range.

The invention discloses an amphibious inspection device for a transformer substation, and an inspection method thereof. The amphibious inspection device comprises an unmanned aerial vehicle, and a control system, a flight mechanism, a walking mechanism and a camera which are arranged on the unmanned aerial vehicle, and the flight mechanism, the walking mechanism and the camera are connected with the control system of the unmanned aerial vehicle, the control system can detect the distance of the unmanned aerial vehicle relative to other objects through the laser radar sensor, and the camera can shoot image and / or video information of an inspection target to obtain inspection data. Through the flight mechanism and the walking mechanism, the unmanned aerial vehicle can be controlled to inspect in a flight mode or a walking mode; and the device has air flying capability and land walking capability, can select to perform flying inspection in the air or walking inspection on the land according to the environment of the transformer substation, so that the unmanned aerial vehicle inspection operation management of the power transmission line is more scientific and effective, and the inspection efficiency and the inspection accuracy of the transformer substation can be effectively improved; and the device and the method are suitable for routing inspection in a complicated environment such as a transformer substation.

The invention discloses a rock wool board on-line dimension measurement device, which comprises a belt conveyor, a set of positioning clamping plates and three laser range finders A, B and C. The positioning clamping plates are arranged at the two sides of the belt conveyor; and distance between clamps is adjusted through a screw rod to ensure a rock wool board to walk in a line and prevent the rock wool board to shift to the two sides. The laser range finders A and B are arranged at the two sides of the belt conveyor, and the distance between the laser range finders and the end surfaces of the rock wool board is recorded through laser scanning; and the laser range finder C is arranged on the top portion of the belt conveyor, and the distance between the laser range finder and the upper surface of the rock wool board is recorded through laser scanning to realize real-time detection of the product dimension. The rock wool board on-line dimension measurement device is simple in structure and reasonable in design; the device does not need manual operation, thereby saving manpower; and automatic on-line detection can be realized, thereby improving work efficiency and reducing product reject ratio.

A device for guiding blind person to walk on right direction consists of electronic compass connected in sequence from input to output, comparator, alarm unit and assigned walk direction storage connected to another end of comparator for guiding blind person to walk along right direction. Its guiding method is also disclosed.

The invention discloses a device and method for polishing and coating arch ribs of a concrete-filled steel tube arch bridge, and relates to the technical field of bridge construction equipment. The device comprises a clamping and fixing assembly, a driving assembly, a walking assembly, two derusting and polishing assemblies and two anti-corrosion coating assemblies, wherein the clamping and fixingassembly comprises at least two pairs of clamps and connecting rods; each connecting rod is connected with the adjacent clamper; the driving assembly is connected with the two clampers in the same pair and is used for driving one of the clampers to rotate around the other clamper; the walking assembly is used for driving the clamping and fixing assembly to move along the arch ribs; the two derusting and polishing assemblies are arranged on the two clampers on different sides respectively and comprise a plurality of crawler-type polishing devices; the crawler-type polishing devices are used for polishing the arch ribs; and the two anti-corrosion coating assemblies are arranged on the two clampers and are used for coating the arch ribs. By means of the device and the method, the arch ribs can be derusted and coated, and potential safety hazard existing in manual operation is avoided.

The invention discloses a method for controlling a tracked vehicle to go straight and to turn, a steering device and a stepless steering system. The tracked vehicle is controlled to go straight and to turn by changing the transmission connection relation among a power input shaft, a left output shaft and a right output shaft. The method comprises the following steps that 1) when the tracked vehicle is controlled to turn, a left meshing gear on the left output shaft is meshed with a right meshing gear on the right output shaft to enable the two output shafts to be in transmission connection, and the power input shaft is selectively made to be in meshing transmission connection with one of the two output shafts through a gear according to the turning direction of the tracked vehicle; 2) when the tracked vehicle is controlled to go straight, the left meshing gear on the left output shaft is separated from the right meshing gear on the right output shaft, and the power input shaft is made to be respectively in meshing transmission connection with the two output shafts though gears. After a straight running mechanism breaks down or a steering brake mechanism breaks down, the tracked vehicle can be controlled to go straight through the steering device, and the tracked vehicle is guaranteed to walk normally.

The invention provides a multifunctional soil treatment and remediation facility. The multifunctional soil treatment and remediation facility comprises a handle, a rotating rod, a trolley frame, a water spraying switch, a selective switch, a graduated scale, a perforating machine, a flatness measuring rod structure, a mud scraping plate structure, an anti-skid wheel, a wheel axle, a soil remediation pump, a soil remediation wheel structure, a wheel base, a driving belt pulley, a driving motor and a V belt. The handle is connected to the upper right end of the rotating rod in a threaded mode, and the left lower end of the rotating rod is connected to the right side of the interior of the trolley frame in a coupling mode. The right side of the water spraying switch and the right side of theselective switch are embedded into the upper right portion of the obverse surface of the rotating rod from top to bottom. According to the multifunctional soil treatment and remediation facility, theincluded angle between every two adjacent soil remediation poking rods is set to range from thirty-five degrees to forty-five degrees, each soil remediation poking rod specifically adopts a stainlesssteel rod with a folded head at one end and external threads at the other end, and the length of each soil remediation poking rod is set to range from ten centimeters to fifteen centimeters; and a plurality of soil remediation poking rods are arranged, hard soil lumps in the soil can be rapidly remediated and flattened, and the remediation effect is guaranteed.

The invention relates to the field of intelligent machines, and discloses a movable type chassis, a robot and a vending machine. The movable type chassis includes a chassis body (1), drive wheels (2)and driven wheels, the two drive wheels (2) are separately installed at the left and right sides of the chassis body (1), the driven wheels include two omni wheels (3) which are separately installed at the front and rear sides of the chassis body (1), and axes (31) of the omni wheels are parallel with axes (21) of the drive wheels. The driven wheels adopt the omni wheels which cannot rotate alongthe mounting axes of the omni wheels, so that the radius of the omni wheels can be enlarged to the greatest extent through the movable type chassis compared with an existing differential steering typechassis, and the larger the radius of the omni wheels, the better the function of obstacle-overstepping is.

A conveying system allowing multiple trolleys to run on each station at the same time and high frequency is composed of the running track, multiple trolleys running along said running track, multiple movable track units on said running track, which can be separated from the running track and move in oblique direction, the connecting track unit for connecting multiple separated movable track units, and replacing track unit for replacing the separated movable track units to connect running track.

The invention discloses a pelvic traction approximator, which comprises a left connection rod, a right connection rod, an adjustor component, two traction approximator arm components and two pressurizing bone plate components. The two pressurizing bone plate components are connected to top positions of the left connection rod and the right connection rod respectively. Two ends of the adjustor component are connected to middles of the left connection rod and the right connection rod respectively. The two traction approximator arm components are connected to bottom positions of the left connection rod and the right connection rod respectively. An adjustor is used for adjusting a distance of an inner screw rod screwed into the inner wall of a sleeve. The pelvic traction approximator has advantages that by inner and outer fixing devices, pelvic traction is performed according to a distraction osteogenesis technique without osteotomy, occlusion of separated pubic symphysis of patients suffering from ectopocystis is realized, surgical risks are reduced, postsurgical effects similar to those of an osteotomy mode are achieved, and the treatment effective rate is increased; in addition, postsurgical abnormal gaits of patients are prevented, and approximately normal walking and urination of the patients after surgeries can be realized.

The invention discloses the technical field of automatic welding equipment, and particularly discloses an automatic welding trolley, automatic welding device and a control method of the automatic welding device. The automatic welding trolley comprises a travelling component and a steering component; the steering component comprises a linear module provided with a movable sliding block and a powersource for driving the movable sliding block; the movable sliding block is connected with an in-situ steering mechanism through a connecting rod mechanism, the automatic welding device comprises the automatic welding trolley, the trolley is provided with a weld joint detection component and a welding component, the welding component comprises a welding controller, the welding controller is in communication connection with the weld joint detection component, the steering component and the travelling component are controlled through received weld joint information, so that the automatic weldingtrolley walks and tracks along a weld joint, and the automatic welding is completed. According to the scheme, the welding device can conduct long-distance welding on the weld joint, is not affected bythe stroke of a tracking device, and has the advantages of flexibility, convenience, high adaptability and high control precision.

The invention discloses a liftable multi-layer shuttle vehicle. The liftable multi-layer shuttle vehicle comprises a walking mechanism, a vehicle body, a lifting table arranged on the vehicle body, apallet fork arranged on the lifting table and a stand column vertically penetrating through the vehicle body, the stand column is fixedly connected with the vehicle body, a sliding rail is arranged onthe side, close to the lifting table, of the stand column, a sliding block is arranged at the position, corresponding to the sliding rail, of the lifting table, and a lifting motor is arranged on thevehicle body. According to the liftable multi-layer shuttle vehicle, the shuttle vehicle can move on the rail, the pallet fork can move in the vertical direction through the stand column, materials of different heights in the same layer of a goods shelf can be carried, investment of lifting equipment is greatly reduced, and high efficiency of material carrying is achieved.

The invention discloses a ditch sludge cleaning device. The device comprises a limiting outer frame, a driving shaft rod is rotatably connected to the middle position of the inner side of the limitingouter frame, water diversion driving mechanisms are evenly and fixedly connected to the peripheries of the two ends of the outer portion of the driving shaft rod, and a stable floating plate is fixedly connected to the middle position of the outer portion of the driving shaft rod; pressurization removing mechanisms are evenly and fixedly connected to the position, between the water diversion driving mechanisms, of the outer surface of the driving shaft rod, scraping mechanisms are fixedly connected to the top output ends of the pressurization removing mechanisms, and a limiting adjusting rodis fixedly connected to the middle position of the back face of the limiting outer frame; and a water blocking pressing plate is fixedly connected to the end, away from the limiting outer frame, of the limiting adjusting rod, and a guiding arc plate is fixedly connected to the bottom end of the water blocking pressing plate. The invention relates to the technical field of ditches. According to theditch sludge cleaning device, the water flow speed and the water pressure are converted into walking kinetic energy of the cleaning device, and the cleaning device stably flows in a ditch.

The invention relates to an amphibious robot. The amphibious robot comprises a flying mechanism and a walking mechanism. The flying mechanism comprises a mounting plate, two groups of rotors, a linkage part and a steering engine, the two groups of rotors are rotationally mounted at the head part and the tail part of the mounting plate respectively, each rotor comprises a rotating arm, a propeller and a rotor motor, one end of each rotating arm is rotationally mounted on the mounting plate, the rotor motor is mounted at the other end of each rotating arm, each propeller is mounted on an output shaft of the corresponding rotor motor, the steering engine is installed below the mounting plate, an output shaft of the steering engine is in linkage with the rotating arms through linkage parts, the rotating arms of the rotors located on the head portion and the tail portion of the mounting plate are not coplanar, and the mounting plate is borne on the walking mechanism. The amphibious robot can fly in the air and walk on the ground, mainly walk on the ground, can fly and pass when large obstacles on the ground are difficult to pass, and can contract the rotors when the space is narrow, so that the motion space is reduced, it is guaranteed that the robot walks and passes, and the amphibious robot can adapt to the complex environment.

The invention relates to the technical field of aluminum plastic door and window sawing equipment, in particular to sectional material sawing equipment. The sectional material sawing equipment comprises an automatic feeding mechanism, a machine head mechanism and an automatic discharging mechanism, wherein the automatic feeding mechanism, the machine head mechanism and the automatic discharging mechanism are sequentially designed according to the feeding direction of a sectional material; the automatic feeding mechanism comprises a feeding machine frame, a feeding power mechanism on the feeding machine frame is used for controlling a feeding pneumatic claw, one side of the feeding pneumatic claw is provided with a positioning backup plate, an automatic input frame is arranged above the positioning backup plate, a plurality of material supporting and pressing mechanisms are arranged on the automatic input frame, and an initial positioning mechanism is arranged at the tail end of the automatic input frame; the machine head mechanism comprises a machine head frame, a middle working table is arranged on the machine head frame, a left machine head and a right machine head are arranged on the middle working table, a middle horizontal pressing block is arranged between the left machine head and the right machine head, a right machine head receding mechanism is arranged on one side ofthe right machine head, and a working table receding mechanism is arranged on the machine head frame on one side of the middle working table. The sawing equipment has the beneficial effects that the cutting precision is improved, and left and right shaking of the sectional material is avoided.

The invention discloses a bionic rat moving structure for a memory training system for animals, and the bionic rat moving structure is used for solving the problem that the existing bionic rat can not move flexibly on the rotating sieve of a labyrinth device. The bionic rat moving structure comprises a movable car body, a wheel driven system and a leg swing driven system. In the invention, according to the demands of the memory training system on the motor function of bionic rats, through combining with the existing robot technology, a new movable platform is designed, and a wheel-leg compounded driven mode is adopted, therefore, the bionic rat moving structure disclosed by the invention has the advantages of flexible moving, compact and lightweight structure, strong interchangeability, and the like. The bionic rat moving structure is especially suitable for closed rotary labyrinth devices.

The invention discloses picking equipment which comprises a picking robot, wherein the picking robot comprises a machine frame, first crawler walking devices, a picking device, an identification positioning device, a fruit omission prevention device and a controller, wherein the first crawler walking devices are arranged under the machine frame; the picking device comprises a flexible mechanical arm and a mechanical hand; the first end of the flexible mechanical arm is fixed to the machine frame; the second end of the flexible mechanical arm is a free end; the mechanical arm is fixed to the free end of the flexible mechanical arm; the identification positioning device is arranged at the free end of the machine frame or the flexible mechanical arm; and the fruit omission prevention device is arranged on the machine frame or the flexible mechanical arm. The picking equipment relates to the field of agricultural equipment, and has the beneficial effects that the picking operation efficiency is high; fruit omission is prevented; the damage to fruits in the picking and transferring processes is prevented, and the integrity of the fruits is ensured; and through the arrangement of the first crawler belt walking devices, the picking robot is enabled to be capable of walking in various operation environments, so that the application range of the picking equipment is expanded.