363results about How to "Improve terrain adaptability" patented technology

The invention provides an intelligent photovoltaic array washing car used for washing photovoltaic arrays of a large-scale ground photovoltaic power station. A washing head supporting and locating unit and a power unit are arranged on the head portion and the tail portion of a crawler base respectively, a water storage unit is arranged adjacent to the power unit, and a washing head unit is provided with range finder sensors used for measuring the distance between the washing head unit and solar cell panels; the washing head supporting and locating unit comprises a movable base capable of rotating and transversely moving and a working arm set provided with a main arm and an end arm, wherein the main arm and the end arm can pitch respectively; a water pump of a water supply unit is driven by a hydraulic motor; a computer is used as a control kernel of a main control module of an operation control unit; a pair of proportional directional valves of the hydraulic control unit controls two base crawler traveling motors, and other directional valves are electromagnetic directional valves controlled by the main control module. According to the intelligent photovoltaic array washing car, the position and the posture of the washing head unit relative to photovoltaic array panels and the position and the posture of a car body relative to the photovoltaic arrays can be automatically controlled, and the intelligent photovoltaic array washing car is intelligent, efficient, flexible in operation, high in adaptability, easy and convenient to operate, concise in structure and good in washing effect.

An all-ground-anchor type single-tower double-span cable-stayed bridge system comprises a main beam, a stay cable, a main tower and an anchor. The main beam is composed of a side span main beam body and a main span main beam body. The length of the side span main beam body is far smaller than that of the main span main beam body, and the side span main beam body and the main span main beam body are asymmetrically distributed. The side span main beam body is supported by a support arranged on a side span buttress main tower lower beam and fixedly connected with the main span main beam body and the anchor. The stay cable comprises a main span stay cable body and a side span stay cable body. The main span stay cable body supports the main span main beam body. The upper end of the side span stay cable body is anchored to the main tower and corresponds to the main span stay cable body in position. The lower end of the side span stay cable body is anchored to the anchor. The main tower provides anchorage for the main span stay cable body and the side span stay cable body and meanwhile transmits the vertical force of the side span stay cable body to a foundation through a main tower bearing table and a main tower foundation. The anchor provides anchorage for the whole side span stay cable body and meanwhile balances the horizontal force transmitted by the side span main beam body. The invention further discloses a construction method of the cable-stayed bridge system. The cable-stayed bridge system is high in adaptability, reasonable in structural system, easy and convenient to construct, short in construction period, low in manufacturing cost and small in safety risk in the construction period.

The invention provides a composite mobile robot with wheel-track legs. The composite mobile robot comprises a frame, track arms, support legs and a wheeled elevating mechanism, wherein the track arms are connected with the frame through an inner shaft and an outer shaft, the four sets of the track arms are symmetrically distributed at four corners of the frame; the support legs are connected with the frame through a support leg transmission shaft, and the two support legs are symmetrically distributed in front of and behind the frame; the wheeled elevating mechanism is connected with the frame through a connecting plate, and is arranged at the middle part of the frame. According to the composite mobile robot disclosed by the invention, motors are used for driving the track arms, the support legs and the wheeled elevating mechanism to move, so that the robot has different postures, the composite motion manner of wheels, tracks and legs is realized, and the obstacle surmounting capacity is greatly improved.

The invention provides a quadruped robot body posture control method and a quadruped robot body posture control device. The method includes acquiring robot body posture angle, a robot body posture angular speed and position coordinates of all leg ends of a to-be-controlled quadruped robot in real time; computing an angle of a leg end supporting plane of the to-be-controlled quadruped robot relative to a robot body plane on the basis of the leg end position coordinates; computing a robot body posture angle control quantity of the to-be-controlled quadruped robot on the basis of the angle, the robot body posture angle and the robot body posture angular speed; computing all joint target positions of the to-be-controlled quadruped robot on the basis of the robot body posture angle control quantity, and controlling all joints of the to-be-controlled quadruped robot to move according to all the joint target positions. The quadruped robot body posture control method has the advantages that the method can achieve real-time robot body posture control of the to-be-controlled quadruped robot, and the movement stability and the terrain adaptability of the to-be-controlled quadruped robot are enhanced, so that the technical problem that the movement stability of the quadruped robot is affected severely by the poor real-time performance of an existing posture adjustment mode is relieved.

The invention relates to a bionic galloping robot based on a connecting rod mechanism. The bionic galloping robot is characterized by concretely comprising a robot body (a), a track marching module (b), a galloping mechanism module (c) and a power module (d), wherein the robot body (a) consists of two quadrilateral pierced metal plates with the shape similar to a trapezoid and is used for fixing and installing other parts of the robot; the track marching module (b) mainly comprises two damping pins, a pair of damping springs and three pairs of crawler wheels; the galloping mechanism module (c) mainly comprises thighs, shanks, soles, foot connecting rods and shank connecting rods; and the power module (d) can be divided into two submodules i.e. a unidirectional transmission gear set and an automatic energy storage and release mechanism submodule. The robot can cross a higher obstacle and jump on a higher step on one hand and abandon a pure and complete simulation principle on the other hand. A jumping mode of the robot is combined with a machine track marching mode with convenience, rapidness and strong terrain adaptability, therefore, the bionic robot has the super strong obstacle-surmounting ability.

Provided is an overturning and climbing robot with two telescopic arms on different sides. A body is driven to climb in the modes of grabbing through two hands, stretch outing or drawing back of the arms and spatial overturning. The opening and closing of each hand is realized through horizontal movement of a screw rod along two guiding shafts, wherein the screw rod is driven by a motor and provided with a forward buckle and a reverse buckle in a machined mode. The stretch and contraction of the arms are realized through vertical movement of a single-buckle screw rod along two telescopic pipes, wherein the single-buckle screw rod is also driven by the motor. The spatial overturning is realized through a cross-shaped motor installation structure. A unit formed by the two hands, a unit formed by the arms and a spatial overturning unit are connected in sequence and then fixedly mounted on the body (namely a vehicle body) through a support, and therefore the body is driven in a grabbing type climb mode. The overturning and climbing robot with the two telescopic arms on different sides is simple in structure and high in mobility. Corresponding technology application demands for carrying out field tasks can be met in different control modes by means of carrying different sensors.

The invention discloses an all-dimensional steering obstacle crossing vehicle based on a hub motor. The all-dimensional steering obstacle crossing vehicle comprises a central control system, a storage battery pack, an operating table, a hydraulic system and wheels, wherein the storage battery pack is fixed to a vehicle body, and the wheels are arranged on the left front portion, the right front portion, the left rear portion and the right rear portion of the vehicle body respectively. The all-dimensional steering obstacle crossing vehicle is characterized in that the wheels and the vehicle body are connected through a steering lifting mechanism, and crawler wheel mechanisms are arranged on the left side and the right side of the bottom of the vehicle body respectively. The all-dimensional steering obstacle crossing vehicle can realize on-site steering, transverse traveling and wheel lifting obstacle crossing, flexibility, maneuverability and obstacle crossing performance of the all-dimensional steering obstacle crossing vehicle are high, and stability, power performance and the terrain adaptive capacity of the all-dimensional steering obstacle crossing vehicle are high.

The invention discloses a hydraulically-driven type bionic single-leg double-loop control method. The hydraulically-driven type bionic single-leg double-loop control method is composed of two links including the outer loop force/position control link and the inner loop single-joint force control link. In the outer loop force/position control link, an externally-input original expected foot end position track is received, and replanning, active-disturbance-rejection controlling and redundant optimizing based on the expansion Jacobian are sequentially carried out on the original expected foot end position track to obtain original joint space control amount of joints of a bionic single leg; in the inner loop single-joint force control link, output force information of the joints of the bionic single leg is collected, the original joint space control amount of the joints of the bionic single leg is amended based on the output force information to obtain amended joint space control amount, and motions of hydraulically-driven motion controllers of the joints of the bionic single leg are respectively controlled according to the joint space control amount of the joints of the bionic single leg. The hydraulically-driven type bionic single-leg double-loop control method has the advantages of being good in terrain adaptive capacity, good in supple capacity, high in universality, high in robustness and wide in application scope.

The invention discloses a diaphragm wall joint and a manufacturing method of a diaphragm wall. The diaphragm wall joint comprises two sections of first-stage walls in one foundation pit, wherein the sides of the two sections of walls are opposite; the opposite sides of the first-stage walls are respectively and fixedly connected with two joist steel webs; one section of second-stage wall is arranged in a middle foundation pit; and the second-stage wall is connected with the joist steel webs by adopting a sleeve valve tube for grouting. The manufacturing method of the diaphragm wall aims to manufacture the diaphragm wall. For the diaphragm wall joint, the second-stage wall is utilized to transit; the connecting position is fixed by the joist steels and grouted by a sleeve valve tube, thus having good structure adaptability, no water leakage, low possibility of water burst and sand burst, good water-stopping effect, and safety and reliability. In the manufacturing method, substage grouting is carried out on wall sections in the joint, and the fillers of the joist steel webs are washed and then grouted, thus realizing fast forming and firm connection for the joint, and avoiding the water burst and the sand burst.

The invention provides a wheel-shoe deformation mechanism which includes a traveling device of the wheel shoe deformation mechanism and a vehicle provided with the traveling device. The wheel shoe deformation mechanism comprises a gear seat, the transmission gear and two sets of track spreading units which are hinged on the gear base and whose hinge axes are both parallel to the transmission gearaxes. The gear base is connected with a deformation driving unit capable of driving the reciprocating linear movement thereof, and the reciprocating linear movement direction is perpendicular to the axial direction of the transmission gear. The two sets of track spreading units are connected with a limit structure capable of controlling the opening angle thereof, and the transmission gear is positioned between the two sets of track spreading units so as to be meshable with the inner side of the track. The invention can realize the change of the track shape, and the cooperation of a plurality of wheel-shoe deformation mechanisms can make the traveling device have various working modes such as wheel type and track type, and improve the load bearing performance and obstacle overtaking performance. The track spreading unit can cooperate with the transmission gear to induce and support the track and can adjust the tightness of the track.

The invention discloses a wheel-legged combined-type robot platform, which comprises a vehicle body, a front vehicle body, a rear vehicle body, a front wheel-legged system and a rear wheel-legged system, and is characterized in that the front wheel-legged system comprises a steering system and a front leg swinging system; the steering system comprises a steering motor, a steering mechanism and steering wheels; the front leg swinging system comprises a front leg swinging motor, a front wheel-legged supporter and front leg swinging wheels; the two subsystems are installed in a front box body, and the front box body is connected with the vehicle body by utilizing a front stub axle extending out of the rear part of the front box body; the rear wheel-legged system comprises a vehicle body and rear leg swinging system and a driving system, and the two subsystems are installed on the rear vehicle body; the rear vehicle body is connected with the vehicle body by utilizing a rear stub axle extending out of the front part of the rear vehicle body; the vehicle body part mainly comprises an angle-turning motor which is installed inside the vehicle body and has no relative motion with the vehicle body; a gear is connected to a torque output end, and another gear engaged with the gear is rigidly connected with the rear stub axle; and leftward and rightward adjustment and inclination of the vehicle body are realized through the angle-turning motor.

The invention discloses a vane wheel type snake-like robot, which comprises vane wheels, machine bodies, a universal joint and motors, wherein two machine bodies are connected with each other through the universal joint; a plurality of the machine bodies are connected in series to form a snake body of the robot; two horizontal sides in each machine body are provided with a motor respectively; two sides of each machine body are provided with a vane wheel respectively; and the motors are in transmission connection with the vane wheels. The vane wheel type snake-like robot has the advantages of strong obstacle passing capacity, strong landform adaptability and simple structure.

Disclosed a multi-foot robot gait optimization control method based on the multidimensional workspace coupling algorithm. The method comprises the following steps: step 1, solving a virtual constraint radius and parsing robot body swing leg movement constraint K space according to the virtual constraint radius; step 2, solving the swing leg ideal foothold constraint R space and the robot body stability constraint B space, coupling the robot body swing leg movement constraint K space, the swing leg ideal foothold constraint R space and the robot body stability constraint B space, solving the multidimensional robot body workspace W, and then putting forward the robot body 'dead-lock' instability situation and countermeasures; step 3, parsing the mapping relation between the standing leg joint output position and the robot body workspace according to the multidimensional robot body workspace obtained in step 2, and finally, making polynomial interpolation calculation on the joint rotation angle, and finishing a gait plan for the robot in a non-structural environment. The method guarantees the gait stability and gait high-efficiency of the robot in the non-structural environment.

The invention discloses a robot stable motion control method based on curve fitting modeling and multi-constraint foot point estimation. The method comprises the following steps: (1) a local environment of a swing leg foot end is modeled based on a curve fitting algorithm; (2) a reachable area of the swing leg foot end is fitted by combining with working space of the swing leg foot end according to the fitted local environment; (3) according to the reachable area of the swing leg foot end fitted in the step (2), a multi-constraint foot point estimation algorithm is combined to estimate and analyze a plannable foot point in the reachable area of the swing leg foot end; and (4) according to the steps (1) to (3), a multi-gesture conversion algorithm is combined to analyze a robot joint output position, and the polynomial interpolation operation is performed for a joint corner to finish the stable motion control of a robot under non-structural environment. The stable motion control method is high in terrain adaptability and high in efficiency.

The invention discloses a multi-moving-mode bionic moving robot, which is characterized by consisting of a machine body platform, six machine legs in the same structures, a video monitoring system based on 3G (3rd generation) network and a double-rocker-rod remote operation and control system based on remote operation, wherein the machine legs comprise four joint parts and one wheel part, each joint part is driven by a large-torque steering engine with the rotating angle being 180 degrees, one steering engine is in charge of driving one joint, the wheel parts are driven by large-toque steering engines with the rotating angle being 360 degrees, and the whole circle rotation can be realized. The two ends of the steering machine rotating center shaft are respectively fixed by bearings, the six machine legs are symmetrically arranged at two sides of the robot machine body platform for forming a bionic mechanism, a connecting rod arranged at the lower end of the machine legs adopts a right-angle reverse L-shaped deign, one end of the connecting rod is connected with the machine body, the other end of the connecting rod is in contact with the ground, the video monitoring system mainly comprises a sending end and a receiving end, and the remote operation and control system carries out operation and control by aiming at the six machine legs, and mainly comprises a sending end and a receiving end.