127results about How to "Improve climbing ability" patented technology

The invention provides a loader driven by double motors and a maintenance method thereof, and relates to the technical field of engineering mechanical equipment, the loader comprises a frame, a cab and wheels arranged on the frame, a bucket arranged at the front end of the cab, a working device arranged at the right rear end of the frame, and a walking device arranged at the left side of the frame; the working device is arranged above the right side of the walking device; the working device comprises a working motor, a first fixing piece and a second fixing piece; the walking device comprises a walking motor, a third fixing piece, a fourth fixing piece, a fifth fixing piece and a sixth fixing piece. The first fixing piece is fixed with the rear end of the frame; the second fixing piece, the third fixing piece and the fourth fixing piece are fixed with the right lower end of the frame; and the fifth fixing piece and the sixth fixing piece are fixed with the left lower end of the frame. A pure electric driving system is adopted, and the working device and the walking device are driven by double motors to work, so that emission of carbon dioxide and other harmful gases is effectively reduced, and noise pollution is reduced.

The invention provides a mining electric locomotive group. The mining electric locomotive group comprises a control electric locomotive, a dumper, an electric transmission system and a power reconnection device, the control electric locomotive is provided with a control system, a first traction motor and a first bogie; the control system can control the first traction motor; the first bogie is a power bogie and is driven by a first traction motor; the dumper is provided with a second traction motor and a second bogie, and the second bogie is a bogie with power and is driven by the second traction motor; the electric transmission system is arranged on the control electric locomotive and is connected to the second traction motor; the electric locomotive is controlled to receive pantograph net power supply and supply power to the second traction motor through the electric transmission system; the power reconnection device is connected to the control electric locomotive and the dumper and comprises a reconnection connector, and the reconnection connector is connected with the control system, the electric transmission system and the second traction motor; the control system and the electric transmission system can respectively transmit electric energy and control signals to the second traction motor through the reconnection connector.

The utility model discloses a six-arm type inspection robot capable of realizing single-line and double-line switching inspection, which comprises a robot body, and three primary line changing wheel discs are sequentially arranged on the robot body from front to back at intervals; two front movement mechanisms capable of independently rotating are arranged on the first-stage wire changing wheel disc at the front end; two self-power-taking mechanisms capable of independently rotating are arranged on the middle first-stage wire changing wheel disc; two rear movement mechanisms capable of independently rotating are arranged on the first-stage wire changing wheel disc at the rear end; the front movement mechanism, the self-power-taking mechanism and the rear movement mechanism are all connected to the overhead line in a suspended mode, and the front movement mechanism, the self-power-taking mechanism and the rear movement mechanism which are horizontally arranged on the same side are connected to the same overhead line in a suspended mode and can rotate synchronously when the overhead line is switched. According to the utility model, on-line real-time switching can be carried out, line obstacle crossing inspection of a single line and a part of split conductors can be completed, and the requirement of an inspection robot on the number of specific lines can be reduced.

The invention relates to a direct current side coupling type super capacitor-battery hybrid energy storage system. According to the energy storage system, a super-capacitor module and a battery module are directly connected on the direct current side through a bidirectional DC / DC converter, the super-capacitor module is connected with a power grid through a current source type converter, the battery module is connected with the power grid through a voltage source type converter, and a modularized and extensible topological structure is formed. The system has multiple differentiated working modes, cooperative efficient operation of the super-capacitor and the battery can be achieved according to working conditions, high-frequency / short-time power is preferentially borne by the super-capacitor, and the battery is responsible for steady-state energy adjustment. And meanwhile, by virtue of the boosting capability of the current source type converter, the super capacitor can support the power grid in a short time and strong manner in a deep discharging manner. And the battery module charges the super capacitor module through the bidirectional DC / DC converter, so that the influence of frequent charging of the super capacitor on the grid-side electric energy quality is reduced. The method can effectively reduce the aging loss of the battery, improves the energy storage utilization efficiency and the power grid friendliness, assists the new energy consumption and the safe and stable operation of the power grid, and has economic and social benefits.

In order to solve the problems that high-altitude operation of building supporting components and trees is difficult, equipment climbing is limited and the like, the invention provides a light double-hand clamping type climbing robot which comprises a clamping manipulator, a rotating mechanism and two supporting arms. The clamping manipulator is composed of a square frame, a four-point clamping mechanism and a single-point clamping mechanism, the clamping mechanisms on the two sides simulate finger bending, the number of wedge-shaped blocks can be adjusted according to different working requirements to change the bending degree, and the four-point clamping mechanism is composed of a quick-release frame and four clamping units and is designed to be a multi-contact clamping face; the single-point clamping mechanism is composed of a quick-release frame and a clamping unit and is designed to be a single-contact clamping face. The two are driven by a motor gear on a square motor and a worm in a matched mode, the automatic locking function is achieved, and the clamping reliability is improved; the rotating mechanism is connected with the square frame and the supporting arm, free rotation of the clamping mechanical arm can be achieved in the climbing process, the climbing capacity is improved, and the climbing robot can move in multiple directions. The double supporting arms are composed of driving mechanisms and hollow frames, turnover type climbing or peristaltic type climbing can be selected according to task requirements and environmental conditions, turnover type climbing is flexible to adapt to different heights and angles, and the climbing efficiency is high; peristaltic climbing simulates biological movement, and stable movement of a complex surface is ensured.

The utility model provides a hydraulic system of an internal welding machine. A hydraulic pump is respectively connected with a brake cylinder loop, a walking cylinder loop, a front expansion cylinder loop, a rear expansion cylinder loop and a counterpart cylinder loop; the brake cylinder loop is connected with the two ends of the brake cylinder, the walking cylinder loop is connected with the two ends of the walking cylinder, the front expansion cylinder loop is connected with the two ends of the front expansion cylinder, the rear expansion cylinder loop is connected with the two ends of the rear expansion cylinder, and the counterpart cylinder loop is connected with the multiple counterpart cylinders. A first electromagnetic directional valve and a second electromagnetic directional valve are mounted in the brake cylinder loop; a third electromagnetic directional valve and a fourth electromagnetic directional valve are mounted in the walking cylinder loop; a fifth electromagnetic directional valve and a sixth electromagnetic directional valve are mounted in the front expansion cylinder loop; a seventh electromagnetic directional valve and an eighth electromagnetic directional valve are mounted in the rear expansion cylinder loop; and a ninth electromagnetic directional valve and a tenth electromagnetic directional valve are mounted in the counterpart cylinder loop.

The utility model provides full-automatic stair climbing equipment, which belongs to the field of manned running equipment, and particularly is characterized in that parameters needing to be balanced are converted into acting force by a controller through a front-back balance motor and a left-right balance motor, and the acting force is transmitted to a main supporting beam through front-back balance motor supporting rods and left-right balance motor supporting rods and is transmitted to a seat system; the seat can rotate with the universal connector as a datum point, in addition, the seat is transmitted to the leg supporting thrust support through the cross shaft of the universal joint, then the leg supporting main adjusting rod is pushed, when the leg supporting main adjusting rod is subjected to upward thrust of the leg supporting thrust support, the leg supporting portal frame is pushed to rotate, and therefore the leg supporting foot supporting plate adjusting rod is linked; the whole leg supporting system is lifted, it is guaranteed that no matter what climbing angle the whole equipment is located, it can be guaranteed that the seat system keeps horizontal, and the leg supporting system keeps a safe distance from the ground. The safety seat has high trafficability and high safety, and can ensure the comfort and safety of passengers.

The utility model relates to rail transit technical field, specifically disclose a gear and rack drive rail car bogie. The gear and rack drive rail car bogie includes framework, wheel group, power source, drive gear, damping device and anti side roll device, wheel group is installed on the framework, and it includes at least one of supporting wheel, guide wheel and safety wheel, plays the supporting, guiding, anti-overturning effect, power source is installed on the framework and is connected with drive gear, drive gear is engaged with the rack on the track, provides the driving force for the bogie travel on the track, damping device is installed on the framework, the upper part supports the carriage, plays the role of buffering the vibration and impact between bogie and carriage, anti side roll device is installed on the framework, and the left and right swing of the carriage on the bogie is limited. The whole structure is simple, and has strong climbing ability, and the stability, comfort can be effectively guaranteed, can use the existing rail steel structure and rail foundation, saves the cost.

The utility model belongs to the technical field of automatic tea picking machine equipment, and discloses a movable tea picking vehicle suitable for complex terrains and an automatic picking machine. The tea picking vehicle comprises a vehicle frame, front wheel moving mechanisms arranged on the left side and the right side of the front end of the vehicle frame and rear wheel moving mechanisms arranged on the left side and the right side of the rear end of the vehicle frame. The front wheel moving mechanism adopts gear-shaped wheels; the rear wheel moving mechanism adopts crawler wheels. According to the rear wheel moving mechanism of the tea-picking vehicle, the crawler wheels are adopted, the terrain trafficability is good, the rear wheel moving mechanism can adapt to complex terrains such as stepped terrains and mountainous terrains, and the advancing stability and safety of the tea-picking vehicle are greatly improved; the front wheel moving mechanism adopts a gear-shaped wheel, so that the friction force between the front wheel and the ground can be effectively increased, the road holding force is strong, and when the crawler wheel only close to the rear side cannot pass through the complex terrain, the crawler wheel can safely and smoothly pass through the complex terrain by means of the advantage of strong road holding force of the gear-shaped wheel on the front side.

The invention discloses a truck air conditioner control method, device and equipment and a computer readable storage medium, and belongs to the field of vehicle control. The method comprises the steps that the target rotating speed of an electric air conditioner compressor is determined according to the engine state, the truck air conditioner system state, the user set temperature and the temperature in a cab; the electric air conditioner compressor is operated according to the target rotating speed so that the electric air conditioner compressor can compress the refrigerant into a high-pressure refrigerant, and the high-pressure refrigerant is conveyed into an air conditioner condenser; the air conditioner condenser condenses a high-pressure refrigerant into a high-pressure liquid refrigerant and transmits the high-pressure liquid refrigerant to the air conditioner evaporator; after absorbing heat of a cab, a high-pressure liquid refrigerant in the air conditioner evaporator is converted into a low-pressure gas refrigerant and is transmitted back to the electric air conditioner compressor, so that the cab is refrigerated when a truck is in a running or parking state, and the cooling effect and the cooling efficiency can be improved under the parking refrigeration working condition; and the power performance and the climbing performance of the engine can be improved under the driving refrigeration working condition.

The invention discloses an energy storage control method and system for a thermal power plant serving as a data center standby power supply, and relates to the technical field of energy storage control. According to the invention, the working information of the rated equipment of the thermal power plant is obtained, and the maximum charging and discharging power of the energy storage control device is calculated, so that the thermal power plant can be controlled to charge the energy storage control device according to the maximum charging and discharging power of the energy storage control device when the main power grid breaks down; and the energy storage control device and the thermal power plant are controlled to supply power to the data center, so that the thermal power plant is prevented from losing stability due to a large amount of load shedding, the comprehensive gradeability of the thermal power plant serving as a standby power supply of the data center is improved, and the minimum load of the thermal power plant is maintained under the extreme condition that a main power grid collapses. Therefore, the steady-state operation of the thermal power plant when the power grid fails is ensured, and the stable operation of the data center is ensured.

The present application relates to the technical field of highway-railway dual-purpose transport equipment, in particular to a highway-railway dual-purpose steel rail double-frequency electric normalizing train, which comprises a vehicle body, a tool container and a mobile steel rail pressure-keeping double-frequency electric normalizing device are carried on the vehicle body; the vehicle body comprises a truck chassis assembly, a load-bearing frame and a hydraulic pump station are connected to the truck chassis assembly, and a set of telescopic hydraulic leg mechanisms are arranged at the front and rear ends of the truck chassis assembly respectively, and a wheel-rail running lifting mechanism is connected to the load-bearing frame; the present device is suitable for post-welding pressure-keeping double-frequency electric normalizing heat treatment operation of steel rail joints in seamless lines and urban rail transit. Furthermore, the device and the tool box are integrated and installed on a highway-railway dual-purpose vehicle, so that the working efficiency is improved, the on-and-off track operation and construction requirements of the device are facilitated, and the hoisting and carrying cost of the device can be greatly saved.

This invention discloses a high lift-to-drag ratio, long-endurance, low-speed airfoil, revealing its maximum relative camber, maximum relative thickness, and the curve equations satisfied by its upper and lower edges. The origin of the coordinate system containing the airfoil is defined as the leading edge of the chord. The X-axis coincides with the chord line, pointing from the leading edge to the trailing edge of the airfoil. The Y-axis is perpendicular to the X-axis, pointing in the direction of the airfoil's curvature. The chord length is defined as C; therefore, the maximum relative camber is 6%C, and the maximum relative thickness is 4.5%C. The airfoil of this invention exhibits a higher lift-to-drag ratio and a higher lift coefficient while maintaining a lower drag coefficient. It reduces the weight of the wing structure, and its thin, curved shape results in a smaller internal wing cavity, optimizing aircraft weight while concentrating stress on the structure.

The invention relates to a double-portal-frame traction walking wheel type main cable maintenance platform and a traction advancing method. The maintenance platform comprises an outer portal frame and an inner portal frame. The outer portal frame comprises outer front and rear door frames and a guide rail A; traction connecting assemblies A are mounted on the left side and the right side of the outer front door frame; the inner portal frame comprises an inner front door frame, an inner rear door frame and a middle truss frame. Traction connecting assemblies B are installed on the left side and the right side of the inner front door frame. The traction connecting components A and B are respectively connected with the traction mechanism; a step of a traction advancing method; the movable pulley and the fixed pulley are sequentially arranged in the traction direction, and the needed traction force is greatly reduced through conversion of the movable pulley and the fixed pulley; along with the increase of the splicing number of the maintenance platforms, the maintenance length of the main cable can be expanded, the required traction force is further reduced, the adaptability of the maintenance platforms under different working conditions is enhanced, and diversified maintenance requirements are better met; the traction walking method guarantees the effective load of the maintenance platform and improves the high-altitude obstacle crossing ability of the maintenance platform.

The application discloses a path planning method, a path planning device, a self-moving device and a computer storage medium. The method is applied to the self-moving device, the self-moving device comprises a first front wheel and a second front wheel, the first front wheel and the second front wheel are arranged in a non-parallel manner, and the method comprises the following steps: when it is detected that the self-moving device is located on a slope, the direction of the slope is determined according to the current posture of the self-moving device; the first angle between the direction of the slope and the first front wheel and the second angle between the direction of the slope and the second front wheel are determined; the target motion direction of the self-moving device is determined according to the first angle and the second angle; the slope moving path is planned according to the target motion direction, and the self-moving device is controlled to move along the slope moving path. The method can improve the climbing ability of the self-moving device, and further improve the operation coverage and operation effect.

The invention relates to walking mechanisms of a sweeper and an obstacle crossing method, two walking mechanisms are symmetrically arranged on a chassis of the sweeper, one walking mechanism comprises a driving shell, a driving motor, a transmission system, a tachometer disc and two driving wheels, the driving motor and the transmission system are mounted on the driving shell, a first spring suspension is arranged between the chassis and the driving shell, and the driving wheels are mounted on the driving shell. An output shaft of the driving motor extends out of the front side and the rear side of the driving motor respectively, the output shaft on the front side of the driving motor is in transmission connection with the two driving wheels through a transmission system so that the two driving wheels can synchronously rotate in the same direction, and the output shaft on the rear side of the driving motor is connected with the tachometer disc. The tachometer disc measures the rotating speed of the driving motor, whether the sweeper needs to be subjected to obstacle crossing operation or not is judged according to the rotating speed measured by the tachometer disc of the sweeper, and the obstacle crossing operation is to change the output power of the driving motor. The walking mechanism of the sweeper is improved, so that the stable obstacle crossing ability of the sweeper is improved.

The monorail personnel transportation device for the coal mine tunnel comprises a rail assembly and a transportation vehicle advancing on the rail assembly, the transportation vehicle comprises a driving part, a cabin and a bearing trolley, the rail assembly comprises a rail, the driving part comprises a hydraulic motor and a friction wheel, the friction wheel can roll on the rail, and the cabin is arranged on the rail. Through driving of the hydraulic motor and friction wheels on the two sides, the running speed is increased, the driving force is larger, the gradeability is higher, running is more stable, a rail is clamped through a brake block of a brake assembly, rapid braking can be achieved, the transport capacity of a single train can be improved according to the needs of personnel through the modular marshalling design, and the situation that the train does not need to turn around to go back and forth is achieved through the two-way cockpit configuration; the air spring damping and rotation structure enables operation to be more stable, the track structure supports rapid extension, and the narrow fuselage design enables the device to be suitable for a complex narrow roadway network of a mine.

The application provides a rear axle steering continuous pipe operation roller semi-trailer. The semi-trailer comprises a frame, a roller arranged on the frame, a rear axle assembly and a rear axle steering mechanism. The rear axle steering mechanism comprises an upper support seat, a rotary disc bearing, a lower support seat and a steering driving assembly. The steering driving assembly and the upper support seat are arranged on the frame, the rotary disc bearing is connected with the upper support seat and the lower support seat respectively, and the lower support seat is fixedly connected with the rear axle assembly. The steering driving assembly is connected with the lower support seat to drive the lower support seat to rotate relative to the upper support seat and drive the rear axle assembly to rotate. The rear axle assembly is steered by adopting the steering driving mechanism to drive the lower support seat. The relative rotation angle between the frame and the wheel is large, the turning radius of the semi-trailer is reduced, the reliability of the steering driving is improved, the safety of the whole vehicle is improved, and the driving strength of the vehicle is reduced.

The self-leveling AGV comprises front wheel assemblies, rear wheel assemblies, a frame assembly, an inclination sensor and a control system, the two front wheel assemblies are arranged on the two sides of the front end of the frame assembly, the rear wheel assemblies are located in the middle of the rear side of the frame assembly, and the inclination sensor and the control system are installed on the frame assembly. The front wheel assembly comprises a driving device, a steering device and a leveling device. The driving balance and stability of the AGV trolley are ensured when the AGV trolley runs on the uneven ground, and when the AGV trolley runs on the uneven ground, the AGV trolley is adaptive to the ground and can be actively leveled, and an AGV body does not incline; during high-precision butt joint, deviation is avoided, so that production accidents are prevented; the obstacle crossing and climbing capabilities are high; the structure is relatively simple and clear, the manufacturing and using cost is low, and the occupied space is small; the robot can walk straightly or transversely conveniently, can rotate by 360 degrees in situ, is higher in flexibility, and improves the moving and posture adjusting efficiency.

The utility model belongs to the technical field of agricultural machinery, and particularly relates to four-wheel miniature tillage equipment which comprises a power assembly and further comprises a front gearbox, a second steering transmission part, a rear transmission case, a front axle, a rear axle, a tillage mechanism and an adjusting structure. The front gearbox is in transmission connection with the rear transmission case through a second steering transmission part; the power output of the front gearbox drives a front wheel shaft, the power output of the rear gearbox drives a rear wheel shaft and a tilling mechanism, and the front wheel shaft and the rear wheel shaft are both provided with walking wheels; the adjusting structure is used for adjusting the height of the tillage mechanism; the utility model aims to realize a four-wheel-drive tillage mode, has larger traction force under all road conditions, and can ensure uniform tire wear and increase of starting and climbing capabilities; the tilling depth of the tilling mechanism can be adjusted through the adjusting structure, and the tilling mechanism is suitable for various tilling conditions.

A strip camellia fruit resonant picking machine, including lifting motor, suspension belt, track assembly, chassis frame, track servo motor, lifting device and battery pack, wherein the lifting motor is installed on the top of the lifting device, and the lifting device is controlled by the lifting motor to meet the picking requirements of different height branches; the lifting device is installed with a lifting plate, and the lifting plate is symmetrically provided with a suspension belt for mounting the picking device; the bottom of the lifting device is installed on the chassis frame, and the track assembly is symmetrically installed on both sides of the chassis frame; the track servo motor and the battery pack are installed on the chassis frame; the battery pack is connected with the track servo motor, the lifting motor and the picking device; at the same time, the amplitude adjusting variable amplitude vibration assembly for different tree conditions, the clamping assembly for clamping camellia fruit branches and the vibration motor for realizing resonance are arranged in the picking device; two sets of picking devices are used to pick the same tree under the action of resonance, which effectively improves the work efficiency.

The utility model belongs to the technical field of robot driving devices, and discloses an intelligent inspection robot high-angle climbing driving device which comprises two driving parts moving along a preset path, a connecting plate is fixedly connected between the two driving parts, and the top of the connecting plate is fixedly connected with a supporting face used for supporting a robot. Climbing parts rotating along the horizontal plane are arranged on the opposite sides of the two driving parts, each climbing part comprises a first base frame, a first through mounting groove is formed in each first base frame, a plurality of first transmission rollers are rotationally connected into each first mounting groove, and a first crawler belt is arranged between the first transmission rollers in a sleeving manner; the first base frame rotates around the driving part, the first crawler belt makes contact with the slope, the contact area of the device and the slope is increased, the driving part moves to enable the device to climb the slope, the inspection robot can normally cross the slope and cannot conduct normal inspection, and the inspection efficiency of the inspection robot is improved.

The invention belongs to the technical field of oilfield chemistry, and relates to a gas reservoir crack mixed temporary plugging agent and a preparation method thereof. The temporary plugging agent is prepared from the following components in parts by mass: a water-soluble high-molecular polymer, heat-resistant starch, degradable fibers, a strength improver and water, the strength improver is montmorillonite powder wrapped by polyvinyl alcohol. The water-soluble high-molecular polymer is matched with the degradable fibers and the starch particles to be interwoven and connected to form a net-shaped structure, so that the pressure resistance is improved, and the temporary plugging effect is improved; according to the strength improving agent, montmorillonite powder wrapped by polyvinyl alcohol is added, in the process that the temporary plugging agent still flows downwards, the polyvinyl alcohol on the surface of the montmorillonite powder is melted along with decline and temperature rise, so that the montmorillonite powder leaks out and absorbs water again to swell, and the strength of the temporary plugging agent is improved. And montmorillonite powder wrapped by heat-resistant starch-degradable fiber-polyvinyl alcohol is cross-linked to form a rich three-dimensional system structure as a climbing skeleton, so that the temporary plugging agent can temporarily plug cracks at positions needing temporary plugging.

The present invention relates to the field of tunnel construction, and in particular to a mechanized construction system matched with an inclined shaft, comprising: a crawler excavation trolley; a first crawler transport vehicle cooperates with a crawler excavator to transport slag to a slag unloading pool at a tunnel entrance; a second crawler transport vehicle transports a stand and supporting materials to a heading face; a first crawler concrete tanker transports concrete to the heading face and cooperates with a wet spraying machine to perform initial support spraying concrete operations; a crawler dump truck transports out slag; a second crawler concrete tanker transports concrete to an intersection of an inclined shaft and a main tunnel; a crawler drainage operation trolley performs drainage operations; a crawler hydraulic lining trolley performs secondary lining operations; a third crawler concrete tanker transports concrete to an intersection of an inclined shaft and a main tunnel; the present application utilizes the advantages of a crawler machine, such as a sturdy and durable walking structure, strong ground adhesion, strong gradeability, and the ability to operate normally in an inclined shaft, to thereby achieve safe and efficient construction operations.

The invention discloses a multifunctional electric hoisting transfer trolley and an application method. The multifunctional electric hoisting transfer trolley comprises a transport trolley body, a cantilever crane and a clamping device. The transportation vehicle body comprises a vehicle frame, a driving walking structure and a shell, the driving walking structure is installed on the vehicle frame and drives the transportation vehicle body to walk, and the shell is fixedly installed on the vehicle frame and provides a supporting platform for the cantilever crane and the clamping device; the cantilever crane comprises a suspension arm assembly, a driving rotation structure and a suspension assembly, the driving rotation structure is fixedly installed on the shell and used for driving the suspension arm assembly to achieve bidirectional rotation, and the suspension assembly is installed on the suspension arm; the clamping device comprises a clamping base and a plurality of telescopic clamping arms installed on the clamping base, and the clamping device is installed on the shell. The device has the advantages that the production efficiency of ship corollary equipment can be improved, the device can be suitable for loading and transferring of various complex curved surface parts, and meanwhile the device has the hoisting and remote control functions.

The invention discloses a magnetic powder inspection device and method for pipeline detection. The magnetic powder inspection device for pipeline detection comprises a plurality of walking trolleys circumferentially distributed on the peripheral surface of a to-be-detected pipeline, elastic connecting pieces arranged between the adjacent walking trolleys and a plurality of magnetic powder inspection assemblies for magnetic powder inspection operation. The walking trolley can move in the axial direction and the circumferential direction of the to-be-detected pipeline, and protruding obstacles on the surface of the pipeline are overcome through the design of the front-back moving body. The front adjusting assembly and the rear adjusting assembly can adjust the tensioning force of the elastic rope, and stable running of the walking trolley is guaranteed. The effect of improving the pipeline detection efficiency and precision is achieved, and meanwhile limitation of traditional manual operation is effectively avoided.

The present invention discloses a single-sided double-drum spiral propulsion travel device suitable for the seabed, comprising a vehicle body, a spiral drum, a driving device, a power generation device and a deck control platform; the power generation device and the deck control platform are arranged on a mother ship at sea level; the vehicle body is connected to the power generation device and the deck control platform on the surface mother ship through an umbilical cable to realize the transmission of power and signals; two spiral drums are respectively arranged on both sides of the bottom of the vehicle body, one end of the spiral drum is connected to the driving device, and the driving device is connected to the umbilical cable through an electric cable; the driving device is fixed to the bottom of the vehicle body. The present invention has a simple structure, is safe and reliable, is not easy to sink or slip when traveling on a soft seabed, and can quickly and efficiently travel to the seabed slope and travel along the slope, has strong environmental adaptability, and has a long practical life.

The invention relates to a track component for an inspection robot system, comprising: a track, wherein the track defines an inspection path; and an uninterrupted transmission chain fixedly installed on the track along an extended track of the track.

The invention belongs to the technical field of cantilever type heading machines, and particularly relates to a side thrust mechanism and a large-gradient heading machine. The side pushing mechanism comprises a mounting seat, a supporting arm, an adjusting oil cylinder and a supporting seat; the mounting seat is fixedly connected with the heading machine; the mounting seat is a carrier of the side pushing mechanism; the supporting arm comprises a plurality of sections of telescopic supporting arms, the first section of supporting arm of the supporting arm is hinged to the mounting base through a first cross-shaped connector, and the tail section of supporting arm of the supporting arm is connected with the supporting base through a spherical hinge structure; the upper side and the lower side of the supporting base are each provided with an adjusting oil cylinder, one end of each adjusting oil cylinder is hinged to the mounting base through a second cross-shaped connector, and the other end of each adjusting oil cylinder is hinged to the supporting base through a third cross-shaped connector. By means of the side pushing mechanism, the gradeability of the heading machine can be improved, the heading machine can walk on a large slope or a argillization bottom plate and conduct slotting operation on hard rocks, and therefore the problem that the heading machine walks and conducts slotting under the complex geological working condition within the 20-degree slope range is solved.