13results about How to "Flexible walking" patented technology

The invention discloses a full-hydraulic crawler-type orchard plant protection robot and a control method thereof. The robot comprises a crawler chassis system, a plant protection device, a power system, a hydraulic transmission system and a control system, and the crawler chassis system is used for walking; the plant protection device is used for protecting plants; the power system is used for providing power for the crawler chassis system and the plant protection device; the hydraulic transmission system is used for transmitting power of the power system to the crawler chassis system and the plant protection device; and the control system is used for monitoring the environment, controlling the hydraulic transmission system, driving the crawler chassis system to walk according to a planned path and driving the plant protection device to perform plant protection according to a preset target. By using the robot for operation, the labor intensity of agricultural operation personnel is greatly reduced, effective separation of people and pesticide is realized, and the body health of the operation personnel is guaranteed.

The invention belongs to the technical field of stackers and discloses a transverse moving type stacker which comprises a case, a base plate is arranged at the bottom of the front end of the case, a lifting guide frame is arranged at the upper end of the base plate, a lifting frame is slidably arranged on the lifting guide frame, and an accessory is arranged at the front end of the lifting frame. A telescopic leg mechanism is arranged at the bottom of the base plate, telescopic supporting legs are symmetrically arranged at the two ends of the telescopic leg mechanism, walking wheels and driven wheels are distributed at the ends of the left telescopic supporting leg and the right telescopic supporting leg, and the walking wheels are connected with steering rods through steering mechanisms. The transverse moving type stacker is very small in turning radius, can be flexibly operated in a narrow operation space, can transversely walk, reduces the channel width, enables a warehouse to store more goods in a limited space, and improves the effective utilization rate of the space.

The utility model discloses a full-space intelligent walking robot. The full-space intelligent walking robot comprises a frame, a magnetic front wheel mechanism located at the front bottom, a rear wheel mechanism located at the rear bottom, an electromagnetic adsorption mechanism located at the middle bottom and an electric power system for power supply are arranged on the frame. The robot has the beneficial effects that the electromagnetic adsorption principle is used for adsorbing steel bars in a building structure, walking of the robot on the horizontal surface, the vertical surface of a wall and the surface of a ceiling is achieved, and full-space application is achieved; by applying the principles of perception, sensing, control and the like, the robot can walk flexibly, judgment is carried out according to the actual situation of an operation space, and the stability and accuracy of operation are guaranteed. Meanwhile, an emergency risk avoiding function is achieved, and direct falling of the robot is avoided; the water spraying system is used for spraying on the surface of the building structure, maintenance of all-space and all-position structures is achieved, and danger caused by manual high-altitude operation is avoided.

The present invention relates to an exoskeleton robot waist adjustment and rotation mechanism, belonging to the technical field of exoskeleton robots, the robot waist is connected to the leg fixing rod through a rotation compensation assembly; the rotation compensation assembly includes a mounting plate, the mounting plate is mounted on the robot waist, the leg fixing rod is rotatably mounted on the mounting plate, a compensation block is coaxially mounted on the leg fixing rod, a first limit block and a second limit block are fixedly mounted on the mounting plate, the first limit block is arranged in the clockwise rotation direction of the compensation block, and the first limit block and the compensation block are arranged at intervals; the second limit block is arranged in the counterclockwise rotation direction of the compensation block, and the second limit block and the compensation block are arranged at intervals. The present invention has a compensation angle when the foot swings inward and a compensation angle when the foot swings outward, so that the legs of the exoskeleton robot can swing inward and outward with the left and right transfer of the center of gravity of the human body, and the walking action is relatively flexible and has a high degree of comfort.

The present invention is an all-terrain remote-controlled cluster multifunctional stubble machine, including a main machine, a traveling mechanism, a cutting device, a branch-gathering and baling device, and an intelligent control system; the traveling mechanism adopts a triangular crawler vehicle structure, which can meet the needs of walking in complex terrains such as deserts; the cutting device includes a mechanical arm and a cutter disc, the mechanical arm is installed on the main machine, and the cutter disc is installed at the front end of the mechanical arm; the branch-gathering and baling device is installed behind the cutting device and connected to the lifting arms on both sides of the main machine; the intelligent remote control part is controlled by a positioning system, an intelligent visual sensor, an infrared distance sensor, a tactile sensor, and a pressure sensor, and the remote control module remotely controls the trolley to walk and cut. The all-terrain remote-controlled multifunctional stubble machine has a simple structure, is suitable for moving in complex desert terrain, has a small size, good stubble-gathering effect, high operating efficiency, simple operation, and significantly reduces labor consumption and operating costs.

This utility model discloses a pier-crossing moving device, belonging to the field of bridge construction technology. The pier-crossing moving device is located on a bridge and includes a traveling component, a lifting component, a working component, and a supporting component. The traveling component is suspended above the bridge deck and rolls in contact with the supporting guardrail on the bridge. The lifting component is installed on the traveling component and is located on one side of the supporting guardrail. The traveling component is connected to one end of the supporting component, which is located on the other side of the supporting guardrail. There is a gap between the supporting component and the supporting guardrail. The other end of the supporting component is movably connected to one side of the working component, allowing the working component to rotate relative to the supporting component. A traction rope in the lifting component is connected to the other side of the working component, which is located below the bridge. The supporting guardrail provides a gravity balance support point between the working component and the lifting component, ensuring the stability of the pier-crossing moving device during construction and reducing the impact of lateral forces on the supporting guardrail.

The utility model aims to disclose a swing arm type double-arm rubber wheel anchor rod drill carriage, which relates to the technical field of coal mine tunnel construction and comprises a rubber wheel chassis, a first swing arm component and a second swing arm component, and the first swing arm component and the second swing arm component are arranged at the front end of the rubber wheel chassis. The first swing arm assembly comprises a rotary seat, a swing oil cylinder, a lifting arm, a pitching oil cylinder, a pedal assembly, a first rotary assembly, a second rotary assembly and a drill arm assembly. The rotary seat is mounted on the rubber wheel chassis, and the swing oil cylinder drives the rotary seat to swing by taking the rubber wheel chassis as a fulcrum; the lifting arm is hinged to the rotary seat, and the pitching oil cylinder drives the lifting arm to pitch; the pedal assembly is installed at the end of the lifting arm. The utility model has the beneficial effects that the first swing arm component and the second swing arm component which are in a swing arm type are arranged, and the rubber wheel chassis is adopted, so that the walking is flexible, the design is compact, the anchor protection operation of the top and the sides of a roadway is realized, and the device can adapt to a relatively narrow roadway space.

The utility model discloses a kind of suction grain pipe offset suction grain machine, suction grain device and suction grain pipe are arranged on walking device, suction grain pipe is connected on rotating seat, can rotate around the center of rotating seat, suction grain pipe and rotating seat are offset in the angle position inclined outer side of suction grain device, suction grain pipe can rotate in the space range of adjacent two side surfaces of suction grain device around rotating seat center.The suction grain pipe and rotating seat of the utility model are offset in the angle position inclined outer side of suction grain device, increase the working surface range of suction grain, suction grain is more convenient and fast, less time-consuming, improve the efficiency of suction grain, reduce the requirement to space volume, more convenient to walk flexibly, also more convenient to store in warehouse, reduce storage cost.

The present invention relates to the field of rubber tapping devices, specifically, an intelligent rubber tapping robot, including an all-terrain chassis, a rubber storage tank, a six-axis mechanical arm, a GPS module, a laser radar, a camera pan, a scanner, an electric rubber tapping knife, a rubber suction hose, a rubber collection pump and a controller, wherein the rubber storage tank and the six-axis mechanical arm are both arranged on the all-terrain chassis, the free end of the six-axis mechanical arm is provided with an electric rubber tapping knife, a rubber suction hose and a scanner, a GPS module, a laser radar and a camera pan are arranged at the front end of the all-terrain chassis, a controller is arranged in the chassis body of the all-terrain chassis, and the GPS module, the laser radar, the camera pan and the scanner are all controlled by the controller. The present invention can replace manual rubber tapping, reduce labor costs, and is flexible in walking, can realize rubber tapping of multiple trees with one machine, and improves rubber tapping efficiency.

The utility model discloses a simple warp beam loading vehicle, which comprises two groups of beam loading mechanisms, a moving assembly, connecting beams, a middle cross beam and fulcrum shafts, the two ends of the middle cross beam are respectively provided with the connecting beams, the free ends of the connecting beams are connected with the corresponding beam loading mechanisms, and the bottom of each beam loading mechanism is provided with the moving assembly. The upper shaft mechanism comprises a cushion block, a supporting base, a spring, a swing arm and a driving mechanism, the driving mechanism is arranged on one side of the supporting base, one end of the swing arm is hinged to one side of the supporting base, the spring is arranged at the other end of the swing arm, the middle of the swing arm is connected with the driving mechanism, and the cushion block is connected with the free end of the swing arm. The beam feeding vehicle is used in cooperation with an automatic drawing-in machine or a weaving machine, the structure is reasonable, independent operation of the whole beam taking and placing process is achieved through the hydraulic driving structure, cost is greatly saved, stable, flexible and easy-to-operate beam carrying walking is achieved through the moving assembly, time and labor are saved, and production efficiency is improved.

The utility model discloses a sewage deodorization device and relates to the technical field of sewage treatment. The guide rails are respectively fixed on the left and right sides of the upper end of the sewage pool along the trend of the sewage pool; a groove is formed in the upper end of the guide rail along the guide rail; the guide rails are correspondingly connected with supporting seats in a sliding manner; traveling wheels are rotationally connected to the lower sides of the supporting seats; the walking wheels are driven by a power motor fixed on the supporting seat; the walking wheels are correspondingly arranged in the grooves in a rolling manner; the two supporting seats are connected through a cross beam crossing the upper part of the sewage pool in the left-right direction; a liquid spraying treatment mechanism is arranged on the cross beam; the liquid spraying treatment mechanism comprises shaft seats fixed on the left side and the right side of the upper end of the cross beam; an adjusting lead screw is arranged between the two shaft seats in the left-right direction. And the end parts of the adjusting screw rods are rotationally connected with the shaft seats on the same side respectively. The deodorization device has the beneficial effects that the diffusion efficiency of the deodorization reagent in the sewage pool can be improved, the deodorization efficiency is ensured, and meanwhile, the deodorization reagent can be effectively prevented from being added too much.

The utility model relates to a magnetic adsorption walking device suitable for walking on a curved surface. The magnetic adsorption walking device comprises a controller; a chassis; the steering assembly comprises a steering driving part and a mounting frame, the mounting frame is located on the reverse side of the chassis and rotationally connected with the chassis, and the steering driving part drives the mounting frame to rotate; the first adjusting assembly comprises two first adjusting frames and a first elastic part, the first ends of the first adjusting frames are hinged to the reverse side of the chassis, one end of the first elastic part is connected with the reverse side of the chassis, the other end is connected with the second ends of the first adjusting frames, and the first ends and the second ends are opposite in direction; the magnetic wheel set comprises two rear magnetic wheels and one or two front magnetic wheels, the front magnetic wheels are rotationally connected to the mounting frame, the rear magnetic wheels correspond to the first adjusting frames one to one, and the rear magnetic wheels are rotationally connected to the second ends of the first adjusting frames; and in the front magnetic wheel and the rear magnetic wheel, at least the front magnetic wheel or the rear magnetic wheel is a power wheel. The curved surface obstacle crossing robot can flexibly and reliably walk on a curved surface and has certain obstacle crossing capacity.

The utility model relates to the technical field of pipeline welding, in particular to a pipeline welding device which comprises a welding trolley, an annular guide rail and a ring adjusting mechanism. The welding trolley is adsorbed to the outer side of the annular guide rail and slidably connected with the annular guide rail in the circumferential direction of the annular guide rail. A fracture is axially formed in the annular guide rail, and the ring adjusting mechanism is used for annularly splicing the annular guide rail and adjusting the size of the fracture; a plurality of pressing mechanisms are fixedly arranged on the inner side of the annular guide rail in the circumferential direction and used for abutting against a pipeline. An opening is formed in the end, close to the pipeline, of the pressing mechanism, a walking part is slidably arranged in the pressing mechanism, one end of the walking part is elastically connected with the pressing mechanism through an elastic connecting piece, and the other end of the walking part extends out of the pressing mechanism through the opening. The sliding length of the walking part in the pressing mechanism is larger than or equal to the length of the walking part extending out of the pressing mechanism. And through mutual cooperation of the ring adjusting mechanism and the pressing mechanism, flexible walking can be achieved on the basis that the welding work stability is guaranteed.