55results about How to "Improve road adaptability" patented technology

The invention provides a mid-engine incremental stroke electric vehicle. The electric vehicle comprises a vehicle body, a turbo shaft engine (1), a battery pack (2), a generator (3), a whole vehicle controller (4), a driving motor (5), a gas controller (6), a battery controller (7), a gas holder (8) and a gas inlet tank (12), and is characterized in that the vehicle body comprises a vehicle main body, wherein the bottom structure of the vehicle main body forms a vehicle frame; the turbo shaft engine (1) is distributed between a front axle and a rear axle and is close to the vehicle frame of the rear axle; the axis of the output shaft of the turbo shaft engine (1) is positioned on the symmetry planes of the vehicle body; the air inlet of the turbo shaft engine (1) faces towards the tail of the vehicle; the gas inlet tank (12) is communicated with the air inlet of the turbo shaft engine (1); the gas inlet tank (12) is communicated with a gas inlet grille on a vehicle covering piece. The electric vehicle has the characteristics of high energy conversion efficiency, good operating performance, long driving mileage and high vehicle body structural strength.

The invention discloses a track type omnibearing moving platform which is mainly composed of a moving mechanism, a control sub-system, a drive sub-system and a power sub-system, wherein the moving mechanism is composed of multiple omnibearing moving tracks; and the multiple omnibearing moving tracks are arranged like the four-wheel set of an automobile. The omnibearing moving track is mainly composed of a driving wheel (12), a track plate (13), a roller (14), a loading wheel (15), a towing wheel (16) and an induction wheel (17). The roller (14) is fixed on a roller bracket (23) of each track plate, and the rotation axis thereof forms a certain angle with the axis of the driving wheel (12) of the omnibearing moving track so as to form an offset angle of the roller (14).

The invention discloses a track walking device having an independent damping function. The track walking device comprises a track frame, a driving wheel, a guide wheel, a plurality of supporting wheels and a track. The driving wheel is rotatably arranged on the track frame and is in transmission connection with the track, and the track is sleeved outside the driving wheel, the guide wheel and the plurality of supporting wheels. The guide wheel is rotatably arranged on the track frame, the plurality of supporting wheels are located below the track frame and are arranged at intervals along the front and back walking directions of the track walking device, and each supporting wheel is connected with the track frame through a supporting wheel shaft, an oscillating rod and an oscillating shaft. One ends of the oscillating rods are rotatably connected with the track frame through the oscillating shafts, and the other ends of the oscillating rods are rotatably connected with the supporting wheels through the supporting wheel shafts. The track walking device is further provided with a plurality of damping units, and each damping unit corresponds to one oscillating shaft. Accordingly, compared with the prior art, the track walking device has good damping performance and terrain self-adaption capability.

The invention discloses a machine for paving bricks on a pavement, and relates to the technical field of building machinery. Two parallel speed reduction units are arranged on a chassis frame and independently drive crawler wheels to move through gear transmission mechanisms; a plurality of front swing sliding plates are arranged at the front end of the chassis frame; a plurality of rear swing sliding plates are arranged at the rear end of the chassis frame; a paving platform is arranged on the front swing sliding plates and the rear swing sliding plates; the chassis frame is connected with the paving platform through a positioning sleeve in the middle of the rear end of the chassis frame; a leveling device comprises a leveling plate and a lifting mechanism; and a traveling induction controller is arranged on one side of the rear end of the chassis frame and consists of a hanging clamp, a stretching adjustment rod, an induction emitter and a contact induction rod. By the traveling induction controller, the traveling precision of a road paver is realized; due to the front and rear swing sliding plates, a paving mechanism can swing leftwards and rightwards, and over forth-and-back displacement of the paving mechanism can be avoided; the paving precision of pavement bricks is guaranteed; and the pavement suitability of the machine is greatly improved.

The invention discloses a shock-absorbing modular load wheel set with a three-stage balance suspension, and relates to a load wheel set of a rubber crawler walking device. The invention includes a first-level balance suspension, a first-level balance suspension rubber ball joint and two modular double-row road wheel assemblies. The invention adopts multiple groups of road wheels, which can carry heavy vehicles and make the grounding pressure of the rubber crawler running device more uniform; it has a three-stage balanced suspension structure, which can significantly improve the ride comfort and passability of the vehicle; the rubber ball hinge or The rubber bushing can greatly improve the shock absorption effect of the rubber crawler walking device; at the same time, the balance suspension at all levels can be modularized and assembled, which can realize quick loading and unloading, and is easy to use and maintain.

Disclosed is a road surface self-adapting rhombus lunar rover moving system, which comprises a rotational lunar rover frame, a front wheel, a rear wheel, a left wheel and a right wheel, wherein the front wheel, the rear wheel, the left wheel and the right wheel are installed on the lunar rover frame and are in rhombus arrangement. The front wheel and the rear wheel are respectively fixed on the lunar rover frame via a front suspension system and a rear suspension system, the left wheel and the right wheel are respectively fixed on the lunar rover frame via a left suspension system and a right suspension system, the lunar rover frame comprises a front lunar rover frame and a rear lunar rover frame, the left suspension system is fixed on a left hinge joint shaft, the right suspension system is fixed on a right hinge joint shaft, the left hinge joint shaft is fixedly connected with the rear lunar rover frame via a connecting base, a motor is fixedly installed at the end of the left hinge joint shaft, the output shaft of the motor is fixedly connected with the right hinge joint shaft, a hinge joint bearing base is fixed on the front lunar rover frame, the left hinge joint shaft and the right hinge joint shaft are in hinge joint with the front lunar rover frame via the hinge joint bearing base with bearings. The lunar rover moving system utilizes a novel structure of a rhombus chassis with four wheels and three shafts, which is compact in structure, high in light weight degree, convenient in posture adjusting, fine in off-road performance, strong in terrain adaptive capacity and high in reliability.

The invention discloses a double-clutch active planetary gear train obstacle crossing robot and a control method thereof. The double-clutch active planetary gear train obstacle crossing robot is formed by connecting a chassis and four groups of planetary gear drive devices, wherein in the planetary gear drive devices, a first clutch of a double-clutch is coaxially connected with a first transmission gear through a hollow shaft sleeve, a second clutch of the double-clutch is coaxially connected with a third transmission gear through an input shaft; the second transmission gear meshes with the first transmission gear; a fourth transmission gear meshes with the third transmission gear; the second transmission gear is coaxially connected with a sun gear of a planetary gear train mechanism through an output shaft; the fourth transmission gear is fixedly connected with a planet carrier of the planetary gear train mechanism through a connecting frame; a shock absorption wheel is coaxially arranged on a planet wheel of the planetary gear train mechanism; and the control method is characterized by realizing driving on the flat road or crossing obstacles through controlling the separation and reunion of the double-clutch and utilizing the principle of the planetary gear train. The double-clutch active planetary gear train obstacle crossing robot provided by the invention not only can quickly move on the common road, but also can smoothly cross the obstacles under the large loading condition, and is compact in structure and good in shock absorption.

The invention provides a solenoid valve assembly externally arranged on an absorber and the absorber. The solenoid valve assembly externally arranged on the absorber comprises a solenoid valve part and an overflow valve. The solenoid valve part comprises a solenoid valve deck, a solenoid valve body, a coil, a solenoid valve element, an armature, a first spring and a second spring. The overflow valve comprises an overflow valve deck provided with open holes formed in the two ends in the axial direction, an overflow valve body provided with an oil inflow hole and an overflow hole, an overflow valve seat provided with a center hole, an overflow adjusting assembly, an overflow valve element, a pressure adjusting spring and a supporting piece. Through the overflow valve of the solenoid valve assembly externally arranged on the absorber, damping adjustment can be achieved through the overflow adjusting assembly of the overflow valve when the oil pressure is small and a throttling hole is closed, so that the solenoid valve assembly externally arranged on the absorber is high in damping adjustment response speed, stable in performance and capable of meeting the requirements that damping force is adjusted continuously in real time in the suspension frame movement process.

The invention discloses a hybrid power assembly having four-wheel drive characteristics and a vehicle assembled with the same. The power assembly comprises a first power driven system, a second power driven system and a vehicle integrated control unit, wherein the first power driven system comprises an engine, an engine electric control unit and a first gear shifting mechanism; the input end of the first gear shifting mechanism is connected with the engine through a clutch and the output end of the first gear shifting mechanism is connected with a vehicle front wheel; the second power driven system comprises a power battery stack, a management system of the power battery stack, a main motor system, and a second gear shifting mechanism; the input end and the output end of the main motor system are connected with the power battery stack and the second gear shifting mechanism respectively; the second gear shifting mechanism is connected with a vehicle back wheel; and the electric control unit of each component is connected with the vehicle integrated control unit through a bus. In the hybrid power assembly and the vehicle assembled with the hybrid power assembly, the vehicle integrated control unit is used for distributing vehicle power, which realizes not only the drive between a front axle and a back axle, but also the biaxial four-wheel drive; besides, the power assembly has the advantages of no direct mechanical coupling at the front and the back drive parts, high reliability, and easy implementation.

The invention discloses a road-railway concrete transporting tank truck. The tank truck comprises a truck rack, a hydraulic system which transmits hydraulic power for all parts in the tank truck, a diesel power system which provides kinetic energy for the hydraulic system, a concrete stirring tank on the truck rack, guide steel wheel devices which are mounted on the bottom of the truck rack and can extend out in the vertical direction to be matched with a rail, tire walking devices which are mounted on the bottom of the truck rack and used for driving the tank truck to walk on road surface, wheel rack telescopic devices which are horizontally arranged and can stretch and hydraulic steering devices. The guide steel wheel devices and the wheel rack telescopic devices are arranged at both thefront end and the back end of the bottom of the truck rack, the tire walking devices which can rotate around the vertical direction are mounted at two ends of each wheel rack stretching device, and the hydraulic steering devices are arranged between the truck rack and the tire walking devices; the hydraulic steering devices stretch and drive the tire walking devices to rotate around the verticaldirection, and thus steering of the truck body is achieved. The road-railway concrete transporting tank truck can walk on a road or a railway, can also walk on a tunnel tube-shaped surface, and meetsthe construction requirement of concrete transporting in a tunnel.

The invention belongs to the technical field of articulated vehicle equipment for coal mines, aims at improving the adaptability of long-wheelbase heavy-type articulated vehicles to complex road conditions, and provides a multi-freedom degree self-adaption lifting obstacle crossing-type vehicle articulation mechanism. The mechanism has the functions of making front and back vehicle frames relatively veer, relatively swing and vertically lift, and includes a front connection part, a triangular lift arm, a veering articulation part, a swing articulation part and a swing shaft, the front connection part is in articulation connection with the veering articulation part through the triangular lift arm, through connection with a lift oil cylinder, the vertical-lifting function of the front connection part and the veering articulation part can be achieved, the swing articulation part is connected with the back vehicle frame through the swing shaft, horizontal swinging between the front vehicleframe and the back vehicle frame can be achieved, the veering articulation part is in articulation connection with the swing articulation part, and vertical rotation can be achieved. The mechanism can simultaneously achieve the three functions of articulated veering, horizontal swinging and vertical lifting between the front vehicle frame and the back vehicle frame, and the problem is solved thatparts of super-long articulated verticals have low adaptability to complex pavement.

The invention relates to a two-wheeled quadruped robot, and belongs to the technical field of mechanism design. The two-wheel quadruped robot includes a base plate, the left and right sides of the base plate are provided with walking wheels correspondingly, the left and right sides of the upper surface of the base plate are provided with walking motors, reducers and transmission shafts which correspond to the walking wheels correspondingly, and each walking wheel includes a wheel bracket, a wheel leg and a wheel leg driving device; the middles of the wheel brackets are provided with wheel legdriving device mounting grooves, the left and right sides of the lower parts of the wheel brackets are symmetrically provided with first pin shaft mounting holes, and the two wheel leg driving devicesare symmetrically arranged on the left and right sides of the wheel brackets; and each wheel leg driving device includes a driving motor, a lead screw seat, a driven gear, a driving gear, a lead screw, a nut sliding block and a wheel leg driving connecting rod assembly, and each wheel leg includes a connecting plate, a first hub plate, a supporting rod, a second hub plate, a third hub plate, a wheel foot, a first supporting sleeve, a second supporting sleeve and a telescopic pushing rod. The two-wheeled quadruped robot has the advantages of simple structure, convenient operation, large wheeldiameters of the walking wheels and adjustable leg length.

The invention relates to a double-wheel self-balance robot. The double-wheel self-balance robot comprises the following components: (a) motor brackets (3) are arranged at two ends of an axle (5); andthe motor brackets are connected with speed reducing motors (2) and walking wheels (1); (b) spring brackets (18) are arranged at two ends of the axle, and two ends thereof are connected with spring dampers (4); a box body (17) is arranged under the axle; and four corners of the box body are connected with the spring dampers; and (c) a mechanical arm (16) is connected in front of the box body, anda mechanical tail achieving balancing and obstacle crossing effects is connected behind the box body; the mechanical tail comprises a tail wheel bracket (11) and a tail wheel (12); the middle part ofthe tail wheel bracket (11) is connected with a tail wheel steering engine (13); and a steering engine output shaft is fixed on a tail wheel U-shaped frame (10), and is connected behind the box body (17) through a driving unit formed by a driving steering engine (8) of an U-shaped frame (9). As the gravity center is lower than the plane of a wheel shaft, the balance is automatically approached, and a balance control sensor and other control elements are saved; and the double-wheel self-balance robot achieves the climbing assisting and obstacle crossing functions, and improves the pavement adaptability.

The invention relates to an all-terrain composite walking mechanism which comprises a caterpillar band and a driving wheel arranged at the middle part of the caterpillar band, and further comprises a drive wheel arranged at a corner of the caterpillar band and meshed with the caterpillar band and driven wheels respectively arranged at other corresponding corners of the caterpillar band, wherein the driving wheel is connected with the drive wheel through a chain and drives the drive wheel to operate. The all-terrain composite walking mechanism further comprises a bracket which is coaxial with the driving wheel and is used for limiting the positions of the drive wheel and the driven wheel. The walking mechanism is in the following two working states during working: a rotating state, in which the driving wheel drives the drive wheel to rotate through the chain and the drive wheel drives the caterpillar band to rotate synchronously, and a revolving state, in which the caterpillar band is connected with the drive wheel to form a whole which cannot operate and the driving wheel drives the whole walking mechanism to turn over overall and cross an obstacle. The walking mechanism disclosed by the invention can adapt to a complicated unstructured terrain and cross a step and a steep hill which have certain heights, and has the function of walking in all terrains and extremely high obstacle crossing capability.

The invention discloses an automatic driving vehicle and a sound feedback adjustment method thereof and relates to the field of unmanned vehicles (or automatic driving or unmanned driving). The automatic driving vehicle is an unmanned vehicle, and the automatic driving vehicle comprises a vehicle body, and a sound detection part, a calculation part and a parameter adjustment component which are arranged on the vehicle body, wherein the sound detection part comprises a plurality of sound sensors and is used for detecting the sound information emitted by an external sound source of the automaticdriving vehicle, the calculation part is used for calculating the position of an external sound source based on difference between the sound information detected by a plurality of sound sensors, theparameter adjusting component is used for adjusting the advancing parameters of the automatic driving vehicle according to the sound information and the position of the external sound source. The automatic driving vehicle is advantaged in that the interaction capacity between the unmanned automatic driving vehicle and the outside is improved, and the actual road adaptability of the automatic driving vehicle is improved.

A roller brush control mechanism and method are provided; the roller brush control mechanism mainly comprises spring (1), cylinder (2), brush rack shaft (3), roller brush (4), brush rack (5), and telescopic mechanism (8); the state of the roller brush is better to control, and the roller brush control mechanism is more practical.

The invention discloses a linkage type high-pressure cleaning and sucking device. The invention relates to a cleaning vehicle, which belongs to the technical field of advanced manufacturing, automation and novel mechanical products and comprises a cleaning vehicle assembly, a swing lifting device, a lifting hydraulic cylinder component, a high-pressure water pump assembly and a water inlet high-pressure pipe, and the swing lifting device is arranged on the cleaning vehicle assembly and connected with the lifting hydraulic cylinder component. The invention discloses a linkage type high-pressurecleaning suction device. The multiple spray rods are driven by the transmission of the synchronous belt A and the synchronous belt B to perform slip-free multi-axis linkage; the tangential impact force of the water jet on the ground is consistent with the tangential direction of the rotating movement; the cleaning vehicle is simple in structure and convenient to use, greatly improves the scouringand stripping capacity of water jet on dirt on the ground, has higher road shape adaptability to the unevenness of the road surface in the advancing operation of the cleaning vehicle, avoids damage caused by hard collision between the cleaning vehicle and the concave-convex surface of the road surface, can shift leftwards and rightwards for a certain range in the road surface operation, and enlarges the cleaning operation width.

The invention discloses a rollover-prevented and self-balancing electric car comprising an electric car body formed by one front wheel and two rear wheels. A rollover-prevented device is arranged between the two back wheels and formed by a parallel linking mechanism and a central damping mechanism, wherein the parallel linking mechanism has balance supporting blocks, left wheel connection rods, aleft support arm, right wheel connection rods and a right support arm; one ends of the left wheel connection rods are hinged to the balance supporting blocks and the other ends are fixedly connected to a left-rear wheel of the rear wheels; one ends of the right wheel connection rods are hinged to the balance supporting blocks and the other ends are fixedly connected to a right-rear wheel of the rear wheels; the left support arm and the right support arm are respectively fixed on the corresponding left wheel connection rod and the corresponding right wheel connection rod; two ends of the central damping mechanism are respectively fixedly connected to the left support arm and the right support arm; and through the central damping mechanism, rollover prevention and self-balance can be achieved for the two rear wheels. The rollover-prevented and self-balancing electric car is simply structured, convenient to use and has great practical and market value.

The invention provides a wheel assembly comprising a wheel seat, a wheel and a suspension mechanism. The suspension mechanism comprises a swing arm and a damper; one end of the swing arm and one end of the damper are in rotating shaft type connection, and the other ends of the swing arm and the damper are connected with a rotating shaft of the wheel seat; the wheel is fixedly connected to the swing arm; and when the wheel bears impact force in the direction perpendicular to the ground, the damper expands and retracts, the swing arm rotates around the connecting point of the wheel seat and theswing arm, and the wheel makes displacement in the direction perpendicular to the ground. The invention further provides a trolley comprising the wheel assembly. The wheel assembly and the trolley have the advantages of good pavement adaptability, ground-griping performance, damping effect and the like and besides have better comfort for a bearing material.

The invention belongs to the technical field of vehicles and provides a contact area and tightness adjustable crawler wheel in order to achieve the functions of the contact area adjustment and the tightness adjustment of a rubber crawler and enable the vehicles to have high maneuverability and trafficability performance simultaneously. Through the contact area and tightness adjustable crawler wheel, the adjustment of different contact areas on the three road conditions such as highways, cross-country and extreme conditions can be achieved by controlling oil charge and oil discharge of a double-acting hydraulic cylinder in a contact area adjusting mechanism on the premise of ensuring original steering, braking, transmitting and other functions; through the control over a tension cylinder in a crawler tensioning mechanism, the tensioning and loosening of the rubber crawler can be achieved so that it can be guaranteed that the crawlers of the vehicles will not fall off in the running or steering process of the vehicles, and the road condition adaptive capacity of the vehicles are improved. The contact area and tightness adjustable crawler wheel has a certain military value and social and economic benefits.

The invention discloses a mobile robot assembly and a mobile robot multi-machine cooperation carrying system. The mobile robot assembly comprises a robot body and a connecting joint; the connecting joint comprises an adapter plate, an elastic air bag, a bearing plate and six or more linear displacement sensors, wherein the adapter plate is connected with the upper portion of the robot body; the elastic air bag is provided with an upper end and a lower end which are opposite in the vertical direction, the lower end is connected with the adapter plate, the bearing plate is connected with the upper end and used for supporting a load, and the six linear displacement sensors or more are arranged around the elastic air bag in the circumferential direction at intervals and installed between the bearing plate and the adapter plate, so that the deformation amount of the elastic air bag can be obtained through the displacement amount detected by the linear displacement sensor. The mobile robot assembly has the advantages of being simple in structure, good in road surface adaptability and the like.

The invention relates to a coupling bionic foot pad for improving the ground contact stability of the leg-foot type robot, the bionic foot pad can achieve an excellent biomechanical function by simulating a unique compartment structure and material combination of a human heel pad. The bionic foot pad comprises a bionic foot pad base layer, a bionic foot pad middle layer, a bionic foot pad lower layer and a ground contact surface layer which are fixed through flexible adhesives. The bionic foot pad base layer has relatively high hardness; the middle layer of the bionic foot pad is provided with an ellipsoidal compartment and a pinniform compartment, nanofiber bundles coated with viscoelastic filler are embedded in the compartments, the bionic foot pad shows highly anisotropic mechanical properties through the coupling effect of structures and materials, and the lower layer of the bionic foot pad is provided with a honeycomb closed compartment coated with viscoelastic filler. By means of the structure, good shock absorption and energy storage effects can be achieved, and the ground contact stability of a leg-foot type system of the robot can be effectively improved.

The invention provides a wheel anti-skid control method based on an energy distribution model. The wheel anti-skid control method comprises the steps of obtaining the mechanical power consumed by wheels at the actual rotating speed according to the angular speed and the rotational inertia of the wheels of a vehicle; acquiring the power allocated to the wheel by the motor when the wheel does not slip at the current rotating speed; obtaining constraint power by comparing the mechanical power consumed at the actual rotating speed with the power which should be distributed to the wheels by the motor when the wheels do not slip; constraining the power control adjustment upper-layer power output request value to generate a power instruction value; and obtaining torque output for controlling thedriving wheel according to the power instruction value.

The invention relates to a high-pressure fine-water-mist off-road fire-fighting vehicle. The high-pressure fine-water-mist off-road fire-fighting vehicle can effectively solve the problems that the fire-fighting vehicle is small in structural space, small in load capacity, low in off-road performance and low in fire-fighting efficiency. According to the technical scheme, the high-pressure fine-water-mist off-road fire-fighting vehicle comprises an off-road vehicle body; the back part in the off-road vehicle body is divided into equipment bin in the middle and fire-fighting equipment bins on the two sides; a water tank, a high-pressure water pump, a high-pressure reel, a high-pressure fine-water-mist spray gun and a gasoline engine are arranged on a bottom plate, on which the equipment bin is, of the off-road vehicle body; the water tank is connected with a water inlet of the high-pressure water pump; a water outlet of the high-pressure water pump is connected with a water inlet of the high-pressure reel; a water outlet of the high-pressure reel is connected with a water inlet of the high-pressure fine-water-mist spray gun; and windows at the back part of the off-road vehicle body are positioned on the side walls, on which the fire-fighting equipment bins are, of the off-road vehicle body. The high-pressure fine-water-mist off-road fire-fighting vehicle is reasonable in vehicle body space distribution, strong in power, has the structural space and the load capacity which just accord with settings, meets actual combat requirements, is maneuverable, high in road adaptability and high in off-road maneuverability, completely exerts the fire-fighting advance, and has high fire-fighting efficiency.

The invention discloses a damping modularized load bearing wheel set with three stages of balanced suspensions, and relates to a load bearing wheel set of a rubber belt track walking device. The damping modularized load bearing wheel set comprises the first-stage balanced suspension, a first-stage balanced suspension rubber spherical hinge and two modularized biserial load bearing wheel assemblies. Multiple sets of load bearing wheels are adopted, a heavy vehicle can be borne, and the grounding specific pressure of the rubber belt track walking device can be more even. The three-stage balanced suspension structure is arranged, and the smoothness and trafficability characteristics of a vehicle in the running process can be improved obviously. The rubber spherical hinge or a rubber bushing is adopted, and the damping effect of the rubber belt track walking device can be improved greatly. Meanwhile, the balanced suspensions of all the stages can be assembled in a modularized mode, fast assembling and disassembling can be achieved, use and repair are convenient, and maintenance is facilitated.

The invention provides a chassis assembly and a carrying vehicle, and relates to the technical field of carrying machinery. The chassis assembly includes a front suspension, a chassis, a middle chassis, and a small connecting rod. The front suspension is hinged to the front end of the chassis through a first hinge shaft, and the front suspension can be lifted or dropped relative to the chassis around the axis of the first hinge shaft. The middle chassis is arranged above the chassis, the rear end of the middle chassis is hinged to the chassis through a second hinge shaft, and both the middle chassis and the chassis can be lifted or dropped around the axis of the second hinge shaft. The small connecting rod is arranged between the front suspension and the middle chassis, one end of the small connecting rod is hinged to the middle chassis through a third hinge shaft, and the other end of the small connecting rod is hinged to the front suspension through a fourth hinge shaft. The small connecting rod, the front suspension, the chassis and the middle chassis form a four-bar linkage mechanism through the first hinge shaft, the second hinge shaft, the third hinge shaft and the fourth hinge shaft. According to the chassis assembly, the technical problem of unstable driving of an AGV mobile robot on a bumpy pavement in the prior art is relieved.

A coupled bionic foot pad that improves the stability of a leg-footed robot touching the ground. The bionic foot pad can achieve excellent biomechanical functions by imitating the unique compartment structure and material combination of the human heel pad. The invention comprises a base layer of the bionic foot pad, a middle layer of the bionic foot pad, a lower layer of the bionic foot pad and a surface layer touching the ground, each layer is fixed by a flexible adhesive. The base layer of the bionic foot pad has high hardness; the middle layer of the bionic foot pad is equipped with ellipsoidal compartments and feather compartments, and the interior of the compartments is inlaid with nanofiber bundles coated with viscoelastic fillers. Through the coupling of structures and materials, The bionic foot pad presents highly anisotropic mechanical properties. The lower layer of the bionic foot pad is equipped with a honeycomb-shaped closed compartment wrapped with viscoelastic filler. This structure can achieve good shock absorption and energy storage effect, which can effectively improve the robot leg. Ground contact stability of the foot system.

The invention discloses a multi-pose portable tracked robot, comprising a bearing unit and moving units; the bearing unit is disposed between the moving units through a transmission shaft; driving wheels are mounted on two sides of the transmission shaft; each moving unit comprises a side plate, a rear wheel arranged on one side of the side plate, and a transmission track sleeving the driving wheels and the rear wheel; a track driving motor is mounted in each side plate; left and right plate driving motors are mounted in the bearing unit. The multi-pose portable tracked robot can well adapt to a pavement; compared with the traditional like robots, the multi-pose portable tracked robot with the active configuration of left and right segments has significantly improved mobility properties, such as obstacle crossing height, ditch crossing width, and pavement adaptability.

The invention discloses an inflation-free tire of a sharing bicycle. The tire comprises an outer tire and an inner tire, the inner tire is connected with a tire rim, and a damping device is arranged between the inner tire and the tire rim; the outer tire is connected with the inner tire through an isolation layer, and the outer tire is in contact with the ground. By the adoption of the inflation-free tire of the sharing bicycle, the technical problem is solved that existing sharing bicycle solid tires have insufficient suspension, the user's experience is improved well, and the user's comfort of sharing bicycle riding is improved.

The invention relates to an improved all-terrain composite walking mechanism. The mechanism comprises a crawler belt and a driving wheel arranged in the middle of the crawler belt, and also comprisesa drive wheel arranged at one corner of the crawler belt and engaged with the crawler belt, and driven wheels respectively arranged at other corresponding corners of the crawler belt. The driving wheels are connected with the drive wheel through a chain and drive the drive wheel to move. The mechanism further comprises a bracket arranged coaxially with the driving wheel and used for defining the positions of the drive wheel and the driven wheels. The mechanism has following two working states: a state in which the driving wheel drives the drive wheel to rotate through the chain, and the drivewheel drives the crawler belt to rotate along with the drive wheel; and a state in which the crawler belt and the drive wheel are connected into an integral body and cannot move, and the driving wheeldrives the whole traveling mechanism to do the integral overturning for surmounting an obstacle. The traveling mechanism of the invention not only can adapt to the complex and unstructured terrain, but also can climb the steps and steep slopes with a certain height, and has all-terrain walking and extremely strong obstacle-crossing ability.