8results about How to "Improve walking efficiency" patented technology

The invention discloses a quadruped robot autonomous decision control system based on multi-modal perception, and belongs to the technical field of robot motion, and the system specifically comprises the steps: collecting visual, force and sound information through multiple sensors of a camera, a force sensor and a microphone array, and carrying out the preprocessing; according to the processed information, a diagonal gait, leg track and motion path planning scheme is generated by adopting a motion planning strategy; generating a specific control instruction to drive the robot to move, and monitoring and adjusting in real time; after the task is completed, the motion performance of the robot is evaluated, and a motion planning and control method is optimized according to an evaluation result; the autonomous motion ability and adaptability of the quadruped robot in a complex environment are improved.

The utility model belongs to wall -climbing robot technical field, concretely relates to a kind of magnetic type chassis and wall -climbing robot.The magnetic type chassis includes: connecting framework;Two track assemblies, respectively installed in the two sides of connecting framework;The track assembly includes: side plate, for connecting in the side of connecting framework;The side plate is obtuse triangle, its rear end acute angle and front end acute angle are respectively provided with driving wheel and driven wheel, its top angle obtuse angle is provided with tension pulley, and tension pulley is located in the rear side of the median line of the bottom side of side plate;And magnetic track, install on driving wheel, driven wheel and tension pulley.By setting tension pulley to be closer to driving wheel in horizontal direction, by such design combination driving assembly's installation position of driving wheel, the gravity center of magnetic track is overall backward, to this offset the influence that overall gravity center is moved forward because work module is installed in front portion, ensure that wall -climbing robot reliably adheres and stably moves, improve walking efficiency.

The application discloses a caterpillar self-propelled rotary cultivator, which comprises a chassis system, a power system, a transmission system and a rotary cultivator device. The chassis system comprises a frame assembly, a walking driving mechanism and a walking caterpillar assembly. The walking driving mechanism comprises a gearbox arranged at the front end of the frame assembly. The walking caterpillar assembly comprises caterpillars arranged at the left and right sides of the frame assembly, a driving wheel drivingly connected with the output end of the gearbox, rear wheels supporting the caterpillars and a plurality of supporting wheels. The power system comprises an engine and a fuel tank. The engine is arranged on the frame assembly and drivingly connected with the output end of the gearbox. The fuel tank is arranged on the frame assembly. The transmission system comprises a PTO transmission box and a rear output transmission shaft. The input end of the PTO transmission box is drivingly connected with the output end of the engine, and the rear output end of the PTO transmission box is connected with the rear output transmission shaft. The rotary cultivator device is arranged at the tail of the chassis system. Compared with the prior art, the application realizes comprehensive improvement in power transmission, structural layout, driving experience and operation adaptability.

The application discloses a walking hydraulic system and an engineering vehicle. The walking hydraulic system comprises first and second oil ports connected with a shunt valve respectively; a motor circuit comprising first, second, third and fourth motor circuits connectable between the shunt oil port of the shunt valve of the first oil port and the second oil port; a reversing valve group comprising a plurality of reversing valves dispersedly arranged in a hydraulic oil circuit and used for switching a series working state or a parallel working state of the motor circuit; in the parallel working state, the first and third motor circuits are arranged in parallel, and the second and fourth motor circuits are arranged in parallel; in the series working state, the second and third motor circuits are arranged in series, and the first and fourth motor circuits are arranged in series. The engineering vehicle and the walking hydraulic system thereof can switch the connection mode of front and rear motors between series and parallel, the motor oil flow in the series state is doubled compared with the motor oil flow in the parallel state, and the walking speed is increased.

The utility model relates to the technical field of robots, in particular to a crawling robot based on a connecting rod structure, which comprises a robot body, two steering engines and crawling claw components mounted on two sides of the robot body and composed of the connecting rod structure. The two steering engines are fixed to the two sides of the fuselage correspondingly. The crawling claw assembly comprises a connecting rod front foot, a connecting rod middle foot, a connecting rod rear foot, a first connecting rod, a second connecting rod and a transmission rod, the connecting rod front foot and the connecting rod rear foot are rotationally installed on the side face of the machine body, the connecting rod front foot, the first connecting rod, the second connecting rod and the connecting rod rear foot are sequentially hinged, and the hinging angle is controllable; one end of the connecting rod middle foot is hinged to the second connecting rod; an output shaft of the steering engine is connected with the first connecting rod; one end of the transmission rod is fixedly connected with an output shaft of the steering engine; and the other end of the transmission rod is connected with the second connecting rod and the connecting rod middle foot. The motion stability of the robot can be effectively guaranteed, and students can understand the motion principle of the connecting rod conveniently.

The utility model discloses a high-stability crane, which belongs to the field of cranes and comprises a crane base, a motor is arranged on the crane base, the motor is connected with an output shaft through a coupler, the output shaft is connected with a reduction gearbox, the reduction gearbox is connected with a winch, and a guide wheel is arranged at the bottom of the base and positioned below the winch; the steel wire rope is wound on the winch and is connected with the lifting appliance after passing through the guide wheel; a plurality of traveling wheels are arranged at the bottom of the crane base, and lubricators are arranged on the traveling wheels; the lubricator comprises a tank body, an oil discharging piece is arranged in the tank body in a sliding mode, a center shaft is arranged at the center position of the oil discharging piece, and a spring is arranged on the center shaft in a sleeving mode; one end of the spring abuts against the upper end of the oil discharge sheet, and the other end abuts against the top of the tank body; an oil outlet hole is formed in the bottom of the tank body, the end of the oil outlet hole is connected with an oil outlet pipe, and a brush is arranged at the end of the oil outlet pipe. The high-stability crane disclosed by the utility model has the advantages of high walking stability, multiple walking directions, small resistance in the walking process and low noise.

The invention relates to the technical field of robots, and discloses a robot path processing method, a nonvolatile readable storage medium and a robot. The path processing method of the robot comprises the steps of generating an original path according to a preset path planning algorithm and a preset cost map, adjusting the original path to obtain a safety path meeting a preset safety condition, smoothing the safety path, and sending the smoothed safety path to the robot according to the smoothed safety path, wherein the sum of the cost of the safety path is smaller than or equal to the sum of the cost of the original path. And obtaining a smooth path meeting a preset smooth condition. According to the embodiment, adjustment is carried out on the basis of the pre-planned original path to obtain the safe path with the cost sum smaller than or equal to the cost sum of the original path, so that the safety of the path can be improved, and the path can be tightly attached to the expansion edge of the obstacle. According to the embodiment of the invention, smoothing processing is carried out on the safe path to obtain the smooth path, so that the robot does not need to turn for multiple times when walking on the smooth path, and the walking fluency and the walking efficiency are improved.

The application discloses a boiler tail heating surface tube detection robot and a detection method, and relates to the technical field of boiler detection. The boiler tail heating surface tube detection robot comprises two central bearing modules arranged at intervals in front and back, a multi-degree-of-freedom joint module connected between the two, a composite attachment module arranged on each central bearing module and an environment sensing module. The composite attachment module comprises a permanent magnet wheel and an openable and closable clamping part with an arc-shaped concave surface. A control unit automatically switches the robot between a full-attachment walking mode and a inchworm obstacle crossing mode according to the tube row surface features collected by the environment sensing module: both ends of a flat tube section are simultaneously adsorbed and cooperatively moved; when an obstacle is encountered, one end is fixed and the other end is lifted to cross over. The application realizes stable attachment and self-adaptive obstacle crossing of the heating surface tube row, and improves the detection efficiency and safety.