185results about How to "Flexible walking" patented technology

The invention discloses an explosion-proof and fire fighting reconnaissance robot. The robot comprises two parts including a fire fighting robot body and a remote control box, wherein the fire fighting robot body is composed of a box body assembly, an independent suspension shock absorption system, a fire fighting water cannon, a data acquisition multimedia assembly and an auxiliary part; the box body assembly adopts an explosion-proof design and is provided with a sensor, a camera and the fire fighting water cannon, so that the robot can replace fire fighters to enter inflammable and explosive environments and environments with toxic gas to detect and reconnoiter and can also enter accident scenes with rick smoke, fire disasters and the like to carry out fire fighting; the explosion-proof and fire fighting reconnaissance robot has the characteristics of small size, flexibility of walking, far communication distance, long working time and convenience for operation.

The invention discloses a high-rise curtain wall cleaning robot and a high-rise curtain wall cleaning method and belongs to the field of wall-climbing robots. The high-rise curtain wall cleaning robot and the high-rise curtain wall cleaning method have the advantages that horizontal and longitudinal movement of the entire cleaning robot is realized by the aid of alternative adsorption of an external adsorption walking mechanism and an internal adsorption walking mechanism on a curtain wall, the curtain wall cleaning robot can rotate freely through rotational movement of the internal adsorption walking mechanism, 360-degree omnidirectional movement is realized, and non-dead angle cleaning of specially-shaped curtain walls can be realized; meanwhile, sucking disks in the external adsorption walking mechanism and the internal adsorption walking mechanism are telescopic, a good barrier function of the curtain wall cleaning robot is achieved, and the curtain wall cleaning robot is applicable to cleaning of medium and high-level frameless glass curtain walls and framed glass curtain walls; a cleaning mechanism can be lifted or depressed to be better attached to the surface of the curtain walls, the optimum cleaning effect is achieved, and after the cleaning mechanism is uplifted, the curtain wall cleaning robot can walk and cross obstacles on the curtain walls flexibly.

The invention relates to a method for detecting and positioning the leakage of an oil-gas pipeline by utilizing an autonomous navigation robot. The method comprises a robot pipeline line-tracking detection method and a terminal computer detection positioning method; marking lines and correcting nodes are painted on the road surface near the pipeline along the axial direction of the pipeline; the robot navigation system adopts the photoelectric coding and correcting node identification method for navigation and line-tracking detection; a data acquisition combiner is formed by an ultrasonic sensor and a smell sensor to acquire a signal of the oil-gas pipeline, the signal passes an amplifying-filtering circuit and a control module, undergoes analog / digital conversion, modulated by a wireless communication module and sent to the computer; analytic software of the system adopts an algorithm combining the adaptive fuzzy noise detection smoothing algorithm and the multi-scale Gaussian filter algorithm to process data of ultrasonic strength and gas strength; and when the two signals are received at the same time and both higher than the threshold values, the leakage of the pipeline can be determined, and the alarm rings and the leakage can be positioned. The method is applicable for the line-tracking detection and leakage positioning of the oil-gas pipeline in an underground comprehensive pipe ditch.

The invention discloses a sweeping and smashing integrated machine for fallen leaves. The sweeping and smashing integrated machine for the fallen leaves comprises a sweeping device, a dust smashing collecting device, four castors, a case, an outer casing, a control handrail, a storage battery and a control system; the cleaning device is installed on the front portion of the case; the dust smashing collecting device is installed on the middle rear portion of the case; the four castors are symmetrically installed at the bottom end of the case; the outer casing is installed at the top of the case; the control handle is connected to the rear portion of the case; the storage battery which is installed in the middle of the case is used for providing electric energy for the sweeping device, the dust smashing collecting device and the control system; the control system which is arranged inside an interior component of the case is used for controlling the sweeping device and the dust smashing collecting device. The sweeping and smashing integrated machine for the fallen leaves is mainly used for sweeping operation of fallen leaves in urban street green belt, a park and a campus lawn greenbelt, the fallen leaves form into leaf fragments after sweeping, collecting and smashing, the space utilization rate of a collection box is improved, and convenience is provided for follow-up processing.

The invention relates to a wall-climbing device for magnetic leakage detection on wall defects of a storage tank and a measurement method. The device and the method are used for magnetic leakage detection on defects of a metal container and overcome the shortcomings that an existing detector can not complete detection on a stepped variable-section tank wall. According to the technical scheme, a vehicle frame is formed by connecting four supporting columns to an upper supporting pate and lower supporting plates through threads; four driving wheels are locked to output shafts of four driving motors respectively, and the driving motors are fixed to the lower supporting plate; an attraction mechanism comprises an armature, aluminum fixing shells and neodymium iron boron permanent magnets; a lead screw is connected with the armature through a hole and a lead screw nut; sliding rails are installed between the armature and the upper supporting plate; a probe box of a detection probe is connected with screws, and compression springs are installed on step shafts of the screws; a lifting drive is fixed to the upper supporting plate; a signal detection and analysis device is installed on the upper supporting plate. The wall-climbing device walks on the inner wall of the storage tank perpendicularly to complete detection, so that dangerous manual operation is avoided. The wall-climbing device is small in size, simple in structure and convenient to use.

The invention is concerned with a robot of city drainpipe drove by closed track, relating to closed structure, drive transmission system, wide track, tension structure and outside frame structure. The outside frame structure is made of outside frame branch and outside frame. The closed structure relates to closed part, closed part of front wheel and of cable dragging structure. The closed structure of box is made of upper box, lower box and the static closed structure between the end covers of box. The drive transmission system is made of two DC motors, worm, chain transmission equipment and driver. The wide track is made of single ear transmission chain, rubber block of track and track armor plate. The track tension framework is made of front wheel branch, driven axis and adjustment bolt. It is fit for cable pulling, bug checking, mend and dredge of pipe to all kinds of natural gas pipe, oil pipe, city drainpipe pipe, water supply pipe and nucleus industry pipe.

The invention discloses an anti-explosion wheel type inspection robot system. The robot system comprises an anti-explosion wheel type inspection robot, an anti-explosion wheel type inspection robot local monitoring background and an anti-explosion wheel type inspection robot remote centralized control background control system; and the anti-explosion wheel type inspection robot consists of a box body component, a driving mechanism, an RFID positioning system, a front navigation component, a scram button component, a PID gas detector, a front obstacle avoidance sensor, an explosion-proof loudspeaker, an antenna, a sound pick-up, an explosion-proof holder, a rear obstacle avoidance sensor, an automatic charging component and a rear navigation component. By adopting a second-class explosion-proof design, the anti-explosion wheel type inspection robot can be used for replacing inspection personnel to enter inflammable, explosive and poisonous gas environments to implement inspection and monitoring in the petroleum and chemical industries, and has the characteristics of being small in size, flexible to walk, remote in communication distance, long in working time and convenient to operate.

The invention discloses an orchard self-propelled lifting operation platform which comprises a hydraulic system, a traveling mechanism and an engine (13). The orchard self-propelled lifting operation platform is characterized by being provided with a rotary device, a lifting device, an operating platform and an operation table. The rotary device comprises a rotary component and a rotary upright column (3), the rotary component comprises a hydraulic motor (15), a worm and gear reducing mechanism (16) and a slewing ring bearing (14), and the rotary upright column can perform a 360-degree stable rotation on a base plate through the slewing ring bearing. The lifting device comprises a support arm (6), a lifting arm (5) and a lifting oil cylinder (4), and the operation table (9) can ascend or descend in a range from 1m to 6m. Each of the four corners of the base plate is respectively provided with a support leg (12) and a support leg controlling oil cylinder (19). The orchard self-propelled lifting operation platform has the advantages of being flexible in moving and traveling, free in lifting and rotating, and convenient and safe to operate.

The invention discloses a two-section four-track stair climbing wheelchair based on walking wheel swinging and an upstairs and downstairs going method.The wheelchair comprises a wheelchair body, two large walking wheels and track stair climbing mechanisms.The wheelchair body is directly installed on and fixed to the track stair climbing mechanisms.The two large walking wheels are installed on the track stair climbing mechanisms through large wheel swing arm mechanisms.A hand-push wheelchair and the track stair climbing mechanisms are ingeniously combined together, the wheelchair does not need to be disassembled or assembled when walking on flat ground or going upstairs and downstairs, and travel application is more convenient.The designed track stair climbing mechanisms tilt forwards to the positions below a seat of the wheelchair, the wheelchair can smoothly pass through a stair half-storey platform just like the common hand-push wheelchair, and good corridor passing ability is achieved.The related large wheel swing arm mechanisms can prevent backward tilting when the wheelchair goes upstairs at reflex angles of stairs and prevent forward tilting when the wheelchair goes downstairs at the reflex angles, when the stairs are peacefully converted, gravity center transition is stable, the wheelchair can be in stable transition at the reflex angles of the stairs, and therefore the stair climbing wheelchair can be autonomously operated by a rider.

The invention discloses a plant seedling transplanting robot. The plant seedling transplanting robot comprises a seedling mobile platform, five seedling culture soil cutting blades, a first air cylinder, a first cylinder fixing frame, four mobile wheels, four driving motors and a transplanting frame. According to the invention, through arrangement of a cutting component, an integral culture soil block can be cut into a plurality of single plants; and through arrangement of a pit digging mechanism, a mechanical claw and a soil collecting mechanism, operations of transplanting plant seedlings and covering soil after plant seedling transplanting are completed. The plant seedling transplanting robot provided by the invention has simple structure, is convenient to operate, and can simultaneously complete operations of pit digging, transplanting and soil covering in three different sites. The plant seedling transplanting robot provided by the invention can flexibly walk in a field through the arrangement of the four mobile wheels, can cut the integral culture soil block into a plurality of single plant seedlings through the arrangement of the five seedling culture soil cutting blades, can simultaneously complete operations of planting pit digging, transplanting and soil covering for each seedling, and improves plant seedling transplanting efficiency.

The invention discloses a moving platform for taking and placing stored goods and a route planning method of the moving platform. The moving platform comprises a moving platform body, an obstacle avoiding device, a mechanical arm device, a goods placing device, a goods recognition device and a goods grabbing device. The obstacle avoiding device, the mechanical arm device and the goods placing device are installed on the moving platform body. The goods grabbing device is installed at the tail end of the mechanical arm device. The goods recognition device is installed on the goods grabbing device. The mechanical arm device comprises a rotating mechanism and multiple mechanical arms. The multiple mechanical arms are mutually connected in a rotating manner. The multiple mechanical arms form one modularized mechanical arm. One end of the first mechanical arm is fixed to the rotating mechanism. The tail end of the last mechanical arm is fixed to the goods grabbing device. According to the method, the improved dynamic window method is adopted for adjusting three weights for evaluating a function in real time, the adaptation ability of the moving platform to the environment is improved, and the success rate of the moving platform reaching the designated position point is ensured.

The invention discloses a deep mine environment monitoring robot system and a monitoring method, and belongs to the field of coal mine intelligent monitoring. The robot system comprises an environmentmonitoring robot, an environment monitoring robot remote workstation and a mining wireless communication network. The environment monitoring robot remote workstation is composed of a mining intrinsicsafety type computer, a displayer and an operation table, and the environment monitoring robot and the environment monitoring robot remote workstation communicate through a mining wireless communication network. The environment monitoring robot is of a wheel type intelligent trolley structure and is composed of a trolley frame, a main controller, a driving mechanism, a temperature and humidity sensor, a gas detection sensor, a laser radar, a TOF depth camera, an obstacle sensor, a deformation scanning mechanism, an RFID label and a ZigBee wireless data transmission module. According to the invention, a multi-sensor information fusion technology is utilized, the functions of autonomous positioning, autonomous obstacle avoidance, remote control, deformation monitoring and environmental parameter monitoring are integrated, the robot has the characteristics of small size, complete functions, flexible walking, simple operation and high automation degree, the cognition of a complex environment of a coal mine can be improved, and a guarantee is provided for efficient and safe production of the coal mine.

The invention discloses a shaft mouth platform jacket wheel type moving mechanism orienting an offshore oilfield, and belongs to the field of robots. The shaft mouth platform jacket wheel type movingmechanism comprises an upper mechanism body and a lower mechanism body, and an upper clamping mechanism and a lower clamping mechanism are fixed to the upper mechanism body and the lower mechanism body respectively; the upper clamping mechanism comprises an upper rack, the upper rack comprises a rectangular plate and a first baffle and a second baffle located at the two ends of the rectangular plate, and a fixed rod and a first slide block and a second slide block capable of sliding along the fixed rod are arranged between the first baffle and the second baffle; a first clamping plate and a second clamping plate perpendicular to the rectangular plate are fixed to the first slide block and the second slide block respectively, and triangular slide blocks capable of sliding in the length direction of the clamping plates are arranged at both ends of the first clamping plate and the second clamping plate and are provided with idler wheels and speed adjusting motors; the lower clamping mechanism and the upper clamping mechanism are of the same structure. The shaft mouth platform jacket wheel type moving mechanism can replace the job of manually carrying cleaning equipment to dive for underwater cleaning, the manual cost is saved, and the efficiency is high.

The invention discloses a leveling hillside orchard picking platform, and the picking platform mainly comprises a telescoping ladder, a fence, a lifting and leveling device, a hillside tractor and a control box, wherein left and right sides of the picking platform are leveled through a hydraulic leveling device of the hillside tractor while the front and rear sides are leveled and lifted through the lifting and leveling device, at the same time, the telescoping ladder can shield the left side of the fence after being withdrawn to ensure that a picker is in safe operation. The leveling hillside orchard picking platform can operated complex hills and mountains and has the advantages of flexible walking, safety and reliability, thus it has a good practical value.

The invention relates to a gap type negative pressure adsorption wall-climbing robot, comprising a bottom plate, a negative pressure generating device, a sealing device, an advancing device and an electric control device, wherein the advancing device is of a dual-crawler type structure; the bottom plate comprises an upper bottom plate and a lower bottom plate, the upper bottom plate covers on thelower bottom plate, the lower bottom plate is suspended below the upper bottom plate by a support pillar, an air inlet hole is formed in the center of the lower bottom plate, a gap is reserved betweenthe peripheral edge of the lower bottom plate and the periphery of the upper bottom plate instead of connection, a flow guide chamber is formed between the upper and lower bottom plates, crawler walking troughs are formed in the lower bottom plate in bilateral symmetry by taking the air inlet hole as a center; the sealing device comprises a flow guide mechanism and a flow stop mechanism, the flowguide mechanism is obliquely arranged in the gap between the peripheries of the upper and lower bottom plates, the flow stop mechanism is arranged on the bottom surface of the lower bottom plate, anda plurality of quantity of sealing bulges are uniformly distributed on the lower surface of the flow stop mechanism. The robot is applicable to common wall surfaces, and meanwhile solves conflict between adsorption force and resistance in the negative pressure adsorption process, so as to flexibly move on the wall surface.

The invention discloses a wall-climbing robot. The wall-climbing robot comprises motors, an outer frame, an inner frame, a parallel moving mechanism capable of moving in the X-Y plane and leg mechanisms capable of conducting leg lifting movement in the Z direction, wherein the inner frame is installed in the outer frame through the parallel moving mechanism, and the bottoms of the outer frame and the inner frame are each provided with four leg mechanisms capable of being sucked to a wall; the four end corners of the outer frame are each provided with one motor; the parallel moving mechanism comprises a mounting plate, a Y-direction sliding mechanism, an X-direction sliding mechanism, bearing pedestal assemblies, a toothed belt and rollers; each bearing pedestal assembly comprises a synchronous pulley, and the toothed belt is wound around all the rollers and the synchronous pulleys to define an I-shaped closed loop. The wall-climbing robot is ingenious in design, easy to control, capable of walking on the wall flexibly and stable and reliable in climbing; besides, the wall-climbing robot can carry different functional devices to complete cleaning, painting, surveying and the like and has significant loading and obstacle crossing capabilities.

The invention provides a wall-climbing robot for cleaning a ship. The wall-climbing robot comprises a body frame, hub motor type walking wheels, a suction cup assembly and a supporting wheel assembly.The hub motor type walking wheels are located on the two sides of the suction cup assembly respectively. In the wall-climbing robot, the wall-climbing robot is attracted to the wall surface of a steel plate of a ship body through a spraying disc magnet set and a rear-end small magnet. And a spray gun sprays high-pressure water flow through nozzles of a spray head group to strike a steel plate onthe surface of the ship body to finish cleaning or paint and rust removal of the ship body. Wastewater after cleaning is discharged through a water pumping hose, a tee joint and an external water pumping pipe. The hub motor type walking wheel is a walking wheel with a wheel hub and motor integrated structure, a motor for driving the walking wheel to walk does not need to be additionally and independently arranged, the single-side single-wheel structure design form is achieved, the walking end structure form is simplified, the overall structure of the wall-climbing robot is greatly reduced, andthe weight of the wall-climbing robot is reduced; and the wall-climbing robot can walk more flexibly.

The invention discloses a walkable scaffold. The walkable scaffold comprises walking wheels, supporting legs and a movable platform. The supporting legs on the same side are fixedly connected through supporting leg connecting rods. The walkable scaffold is characterized in that the movable platform comprises a left pedal and a right pedal, the left pedal and the right pedal are movably linked through a middle pedal rotating shaft and can be turned over upwards around the pedal rotating shaft, the ends of the pedal rotating shaft are fixedly provided with upward stand columns, the stand columns are directly or indirectly fixed to the supporting legs, seat plates are arranged at the upper ends of the stand columns, a spring is installed on the right pedal, the upper end of the spring is fixed to a stand column or a fixing piece above the stand column, the walking supporting legs capable of swinging left and right are connected to the portion below the right pedal through pin shafts, and a pedal switch is further arranged on the right pedal. The walkable scaffold has the advantages of being simple and light in structure, free of power consumption, capable of walking conveniently and flexibly, capable of being folded, convenient to carry, transport and store, low in manufacturing cost, and mainly applicable to various working places for decoration and equipment maintenance where climbing is needed and positions need to be moved constantly.

The invention discloses a fire and rescue robot which comprises two parts including a fire robot body and a remote control box. The fire robot body consists of a box body assembly, a moving carrier assembly, a forcible breaking assembly, a data information acquisition assembly and a hydraulic rescue assembly, wherein the box body assembly is a mounting base of a whole system; and the moving carrier assembly, the forcible breaking assembly, the data information acquisition assembly and the hydraulic rescue assembly are all mounted on the box body assembly. The the forcible breaking assembly, the data information acquisition assembly and the hydraulic rescue assembly are mounted above the novel box body by flanges, the moving carrier assembly and the novel box body are subjected to modular assembly by using a bolt structure and are mounted below the novel box body. By adopting the novel design, a forcible breaking tool, a rescue tool, a camera and the like are carried, the robot can enter flammable, explosive and toxic gas environments to rescue and investigate instead of firefighters; therefore, the robot has the characteristics of flexible walking, long communication distance, long working time and convenient operation.

The invention belongs to the technical field of underground coal mine transportation facilities and particularly relates to a phosphor block belt conveyor capable of performing curved running and curved operation. The problem that an existing transportation device strictly restricts the efficiency of a united coal mining machine is solved. The phosphor block belt conveyor comprises a movable dragging assembly, a rubber belt, a round-link chain fixing the rubber belt, an rubber belt supporting structure and a rubber belt driving device, wherein the movable dragging assembly comprises a driving gun carrier and a plurality of common gun carriers which are sequentially hinged, hinge seats for hinge include one-degree-of-freedom hinge seats and three-degrees-of-freedom hinge seats which are consistent in length and width size, the driving gun carrier and the common gun carriers are two-wheeled vehicles, are consistent in length and width size and have the mass centers located at the centers of corresponding gun carrier frames, a wheel axle and wheels are installed in the middles of two sides of each gun carrier frame, and the distances from the centers of the wheel axles to the centers of the front and rear hinge seats are equal. The movable dragging assembly of the phosphor block belt conveyor capable of performing curved running and curved operation can be organically assembled and can be configured according to different road conditions and transfer requirements, electricity is saved, stable starting is also achieved, the driving gun carrier is independently braked and controlled in a centralized mode, and parking is stable.

The invention provides a vertical profile single-rail traction robot. The vertical profile single-rail traction robot comprises a vertical walking rail, a mechanical arm for clamping and towing a profile, a transmission mechanism, a driving mechanism for connecting with the transmission mechanism, and a control mechanism; the mechanical arm is buckled on the side surface of the vertical walking rail, and is slidingly connected with the side surface of the vertical walking rail to realize walking movement by hanging on the side surface of the vertical walking rail; the transmission mechanism consists of a transmission device 1 arranged on the mechanical arm and a transmission device 2 arranged on the vertical walking rail; and the control mechanism is respectively in signal connection with the driving mechanism and the mechanical arm. The vertical profile single-rail traction robot adopts the mechanical arm as an actuation mechanism for towing the profile, and is flexible in operation and convenient for control. Meanwhile, the vertical profile single-rail traction robot can shrink the floor area to reduce the production cost, and is not influenced by the ground condition to effectively solve the problem of incapability of guaranteeing the profile towing straightness caused by uneven ground so as to improve the profile towing processing quality.

The invention discloses an automatic plastering robot for building. The automatic plastering robot comprises a first frame mechanism, a second frame mechanism arranged in the first frame mechanism, aplastering mechanism arranged on the second frame mechanism, a driving mechanism which is arranged on the second frame mechanism and is used for driving the plastering mechanism to move up and down, and a feed mechanism for conveying a lime material to the plastering mechanism. The automatic plastering robot for building not only can replace manual work so as to increase the efficiency, but also can enable the plastered wall to be flat.

The invention discloses a wheel-leg switching mechanism. The wheel-leg switching mechanism comprises a wheel thigh, wheel shanks and a wheel foot; the wheel shanks are installed on the wheel thigh through shank installation shafts, and the wheel foot is installed on one of the wheel shanks through a foot pin shaft; a shank folding and unfolding driving gear of the wheel thigh drives the wheel shanks to be folded or unfolded through multi-stage gear transmission, and switching of the wheel-shaped structure and the leg-shaped structure is achieved; and a wheel leg driving shaft of the wheel thigh rotates or swings, so that rolling traveling of the wheel-shaped structure or gait traveling of the leg-shaped structure is achieved. According to the wheel-leg switching mechanism, switching of the wheel-shaped structure and the leg-shaped structure can be achieved, quick traveling on a flat pavement and a rugged pavement can be achieved, the diameter of the wheel-shaped structure is large and high in pavement adaptability, the leg-shaped structure is high in bearing capacity and small in joint torque, and the wheel legs are adjustable in length and can flexibly walk under various pavement conditions.

The invention discloses a navigation-based automatic walking intelligent dispensing vehicle. The navigation-based automatic walking intelligent dispensing vehicle comprises an electric driving system and an automatic navigation system, wherein the automatic navigation system automatically positions the dispensing vehicle, and then according to the position of the dispensing vehicle, calculates an optimal route for reaching a destination, then the electric driving system drives the dispensing vehicle to the destination, the electric driving system comprises electric wheels, an ultrasonic module and a control module, the ultrasonic modules obtains ultrasonic signals in front and sends the ultrasonic signals to a determining module, the determining module determines whether there is a barrier in front through the ultrasonic signals, and the control module, according to a result determined by the determining module, controls a motor to accelerate, decelerate and stop. The dispensing vehicle can walk automatically, plans a path for the dispensing vehicle in advance, displays the route through a man-machine interface, employs the optimal route as the path in a patient area, saves dispensing time and reduces the workload of a nurse.

The invention discloses a wall-climbing robot, which includes a chassis, a driving wheel and a driven wheel; the chassis includes a bottom plate, two side plates and two end plates; Two driven wheels are distributed across the two side plates; a driving motor is respectively installed on the two side plates, and the driving motor is connected with the driving wheel through a transmission gear; There is a suction hole at the bottom of the cavity, a centrifugal fan is set on the top of the negative pressure cavity, and a sealing skirt around the bottom plate is set on the edge of the bottom plate; a battery is set on the bottom, and the battery is used to drive the motor and the centrifugal fan. powered by. The invention is light and handy, flexible, intelligent and efficient, and can quickly and freely walk on the wall.

The invention provides a multifunctional working machine for an orchard. The multifunctional working machine comprises a working device and an operation platform. The working device is provided with a travelling device, a rotating device and a lifting device, wherein the travelling device can travel and divert freely. The rotating device can drive the operation platform and a working platform to steadily rotate at 360 degrees; the lifting device can drive the operation platform and the working platform to rise or fall between 1m to 6m. The working machine can perform pesticide spraying or pneumatic pruning. The multifunctional working machine has the advantages that the working machine can move and travel flexibly, can rise and fall freely, can rotate freely, is convenient and safe in operation and is multifunctional.

The invention discloses a double-section double-caterpillar-band stair climbing wheelchair based on travelling wheel swing and a method for going upstairs and downstairs.The stair climbing wheelchair comprises a wheelchair body, two big traveling wheels, a caterpillar band stair climbing mechanism and a big wheel swing arm mechanism; the caterpillar band stair climbing mechanism comprises double caterpillar band mechanisms, and the caterpillar band mechanism at each side comprises a mechanism front segment, a mechanism rear segment and a rubber caterpillar band, wherein the mechanism front segment and the mechanism rear segment are hinged through a bearing axle into a whole mechanism for installing the rubber caterpillar band.After the caterpillar band stair climbing mechanism is folded on the flat ground, the outer sides of the caterpillar bands are supported by supporting bearings, the caterpillar bands are in a slightly slack state, which is beneficial for prolonging service life of the caterpillar bands, and the step that at ordinary times, when the caterpillar bands are not used for going upstairs and downstairs for a long time, a caterpillar band tensioning mechanism is adjusted repeatedly to remove tension force on the caterpillar bands is omitted.

The invention belongs to the technical field of coal-mine downhole exploiting equipment, and particularly relates to an angle-adjustable self-moving type scraper conveyor. According to the technical scheme, the angle-adjustable self-moving type scraper conveyor is composed of a walking mechanism, a machine body part, a conveying part, a protecting plate part, an electric appliance system and a hydraulic system, wherein the walking mechanism is arranged under the machine body part, the conveying part is hinged to the upper portion of the machine body part, the protecting plate part is fixed atthe middle position of the upper portion of the machine body part, the electric appliance system is arranged on the right side of the machine body part, and the hydraulic system is arranged on the left side of the machine body part. The angle-adjustable self-moving type scraper conveyor has the advantages that the labor intensity of workers is low, and the construction efficiency is high; and thewhole machine is short, small and portable, walking is flexible, and the scraper conveyor can be rapidly moved to a designated area, so that the equipment is more rapid and convenient to use and highin adaptability. The maximum inclination angle can reach 18 degrees, and the machine tail can swing leftwards and rightwards by 45 degrees; and therefore the front-and-back lap joint can be completedmore conveniently, downhole wire conveying can be more coherent and reliable, material conveying can be achieved rapidly, and the operation efficiency is high. The angle-adjustable self-moving type scraper conveyor is suitable for mechanical rapid conveying of materials of a transverse tunneling conveying system in a double-roadway tunneling process.

The invention belongs to the technical field of pipeline robots, and particularly relates to a walking method of a pipeline robot. The walking method of the pipeline robot includes a method of the pipeline robot fitting pipeline walls, a method of the pipeline robot walking in pipelines and a method of the pipeline robot making a turn in the pipelines. The walking method of the pipeline robot cansolve the problems that existing pipeline robots cannot cope with pipelines with special shapes, cannot change the thickness, and cannot enter thin pipelines from thick pipelines, so that the applicable size has great limitations, making a turn cannot be carried out when the pipelines with different bending degrees are handled, and the limitation of the application of the pipeline robots is caused.

The invention discloses a desktop robot, and belongs to the technical field of intelligent robots. A mobile phone can be conveniently supported and fixed and be used for controlling the robot, and the mobile phone can be conveniently charged while control of the mobile phone over the robot is not affected. The desktop robot comprises a box cover, a mobile phone supporting frame device, a mobile phone charging head device and a walking device. The box cover comprises a box body and a lower cover body, an accommodating cavity is formed in the middle of the box body, and movable guide grooves are formed in the bottoms of the two sides of the accommodating cavity. The mobile phone supporting frame device comprises a supporting plate and a supporting frame. The mobile phone charging head device comprises a charging head, a mobile phone charging plug and a rotating shaft arm. The desktop robot can be popularized in and applied to other intelligent robot fields.