57results about How to "Improve walking performance" patented technology

A wheeled ambulatory aid for mobility and training which is advanced via bodily contact. Reciprocating UE movement is enabled and reciprocating gait patterns can be performed. The patient mobility aid includes a frame, and at least first and second wheels operatively secured to and supporting the frame for selective rolling movement. First and second support assemblies are located on first and second sides of the frame, respectively. A reverse motion linkage operatively associated with the first and second support assemblies, the reverse motion linkage including a first state configured to provide independent between the first and second support assemblies, and a second state configured to provide interrelated movement between the first and second support assemblies to create symmetrical out of phase reciprocating UE movement. Support assemblies can variably be statically positioned.

Footwear as inserts to shoes or integral parts to shoes is made of rigid form with a sole portion to be placed in compression and an upper portion to flex in tension in response to foot motion and constructed to enable triangulation forces for sustaining a user's foot in motion.

The invention aims to provide a crawler-type field management machine, which is structurally characterized in that: a storage battery is arranged on a machine frame in the front of the whole machine; a gearbox assembly is mounted at the rear part of the machine frame; a diesel engine is arranged between the gearbox assembly and the storage battery; a lifting platform is arranged above the diesel engine and the gearbox assembly; an oil pump is arranged between the diesel engine and the gearbox assembly; crawlers are mounted on crawler driving wheels, crawler thrust wheels and crawler guide wheels respectively; a platform lifting oil cylinder, a steering cylinder, an air compressor, a clutch control cylinder and a rotovator lifting oil cylinder are mounted on the machine frame; a seating device is mounted on a rotovator reduction gearbox; a floating harrow is mounted at the rear part of a rotovator transmission case assembly; an electric pump is mounted in the middle on the right side of the machine frame; and an electrical control device is mounted at the bottom of a control panel. By adopting the structure, the crawler-type field management machine has the advantages that the design is optimized, the walking and passing performances of the whole machine are improved, the infrared remote control function is realized, and the reliability and adaptability of the product are improved.

The invention provides a course error correcting method. The course error correcting method comprises the following steps: (a) collecting magnetic field measurement data, gyroscope measurement data and accelerometer measurement data; (b) calculating detection statistics; (c) determining whether a magnetic field is in a stable state or not in a corresponding time interval between an s step and a (s+m-1) step of a person; and (d) if the magnetic field is in the stable state, adopting a magnetic field solved course as an observation amount, estimating a course angle error by utilizing Kalman filtering, and correcting the course of the person by utilizing the course angle error. The invention also provides a course error correcting apparatus. The course error correcting apparatus comprises an accelerometer, a gyroscope, a magnetometer, a signal acquisition unit and a signal processing unit. The invention also provides a magnetic field detection method and apparatus.

The invention discloses a dual-leg traveling mechanism with adjustable joint length, and relates to the technical fields of mobile robots, medical rehabilitation machinery and the like. The mechanism consists of a platform, two legs with adjustable length and two feet, wherein the two legs have the same closed-loop kinematic chain mode; each leg has two degrees of freedom and is driven by two motors; the joint of one leg and one foot has one rotational degree of freedom, and is driven by a motor; and the motion of the two legs can be coordinated by controlling the rotation of the motors of each leg so as to realize standing, squatting, pitching, walking, running and jumping of the mechanism. The dual-leg traveling mechanism has the advantages that: the mechanism has high traveling capability, can realize running and jumping motion, is simple, flexible in motion and easy in control, and can be applied to traveling of mobile robots and related traveling devices.

A wheeled ambulatory aid for mobility and training which is advanced via bodily contact. Reciprocating UE movement is enabled and reciprocating gait patterns can be performed. The patient mobility aid includes a frame, and at least first and second wheels operatively secured to and supporting the frame for selective rolling movement. First and second support assemblies are located on first and second sides of the frame, respectively. A reverse motion linkage operatively associated with the first and second support assemblies, the reverse motion linkage including a first state configured to provide independent between the first and second support assemblies, and a second state configured to provide interrelated movement between the first and second support assemblies to create symmetrical out of phase reciprocating UE movement. Support assemblies can variably be statically positioned.

Provided is a coated sheet having an excellent traveling performance as paper in a printing machine, when used in sheet-fed offset printing, and capable of giving high-quality images, without causing offset nor blocking on the back surface thereof after printed. This coated sheet has a sheet-shaped base material and is formed by applying a coating layer consisting mainly of a pigment and an adhesive to at least one surface of the base material, wherein the surface of the coating layer has convexities having a height of 0.5-10.0[mu]m in a number of 10-1,000counts / mm2, and the coating layer contains a lubricant in an amount of 0.1-5.0mass%.

The invention relates to a biped robot sole structure with rapid shock absorption and road surface adaptability. The mechanism can effectively improve the shock absorption and buffer capacity of feetof a humanoid robot and improve the adaptability of the robot to uneven road surfaces. The sole mechanism comprises a retainer used for installation and playing a supporting role, a longitudinal archmechanism and a transverse arch mechanism which are connected with the retainer, and an inner side forefoot module, an outer side forefoot module, an inner side heel module and an outer side heel module which are connected with the arch mechanism. The rapid shock absorption and road surface adaptation sole mechanism for the flat plate foot of the humanoid robot is suitable for meeting the requirements of various humanoid robots with the flat plate foot as a main sole structure for quick shock absorption and uneven road surface adaptation.

The invention discloses a camel foot simulated mechanical foot device which comprises a mechanical interface, an ankle joint and a sole, wherein the mechanical interface is used for fixing a mechanical foot and legs of a robot, and has a rapid replacement function for carrying out rapid replacement on various foot ends of the robot; the ankle joint is fixed below the mechanical interface, and hasthe function of freely rotating along two direction shafts on a horizontal plane, so that the sole can rotate with two degrees of freedom relative to the robot; and the sole is arranged below the ankle joint, and has the functions of completing the contact with the ground and simulating the deformation of camel feet, and the like. The device disclosed by the invention can simulate the functions (such as area expansion, sinking for sand fixation, rotating for pedaling sand, rotating for sand outputting, and the like when a camel foot is walking on deserts and soft soils and the like) of the camel foot, can be used for improving the walking characteristics of leg robots on the landforms, and can carry out rapid replacement on various foot ends through rapidly replacing interfaces.

The invention belongs to the field of climbing robot equipment and relates, in particular, to an obstacle-surmounting wall-climbing robot which is of split structure, comprising a left vehicle body, a left mechanical arm, a middle vehicle body, a right mechanical arm and a right vehicle body sequentially from left to right. The vehicle bodies are hinged to the mechanical arms, the left mechanical arm and the right mechanical arm are opposite and both can rotate around their hinging shafts to drive the middle vehicle body to rotate, the left vehicle body comprises a left two-way wheel, a motor and a negative pressure device arranged sequentially on the left vehicle body, the structural arrangement of the right vehicle is bilaterally symmetrical to the left vehicle body, and the middle vehicle body is provided with a negative pressure device. The obstacle-surmounting wall-climbing robot sucks to a wall through negative pressure cavities of the vehicle bodies, travels in two ways through the creatively designed two-way wheels, can be turned through the 3-DOF (degree of freedom) mechanical arms so that the vehicle bodies move in the inner and outer vertical planes to change the planes and surmount an obstacle such as a window frame, and accordingly has the complex climbing functions.

The invention discloses a triangular track wheel. The triangular track wheel comprises a wheel and a track, an axle is mounted at the center of the wheel, an anti-skid wheel sleeves the wheel and is firmly connected with the wheel through locking buttons, the locking buttons are uniformly distributed on the inner circle of the anti-skid wheel, and wheel teeth are formed in the outer circle of the anti-skid wheel; a triangular support frame composed of telescopic rods is mounted at the outer side of the wheel, each of three peaks of the triangular support frame is provided with a driven axle parallel to the axle, and each driven axle is hinged to a driven wheel. By means of the driven wheels hinged to the three peaks of the triangular support frame, the wheel has better walking ability when encountering a rugged ground; the anti-skid wheel which sleeves the wheel is capable of avoiding vehicle skid; a wheeled vehicle can be changed into a tracked vehicle through the track matched with the anti-skid wheel, the agility and the maneuverability of the tracked vehicle are higher than those of the general tracked vehicle, and the trafficability of the vehicle is improved.

The invention discloses a picking device with separate placement for tea leaves. The device comprises a bar-shape bearing plate, a bar-shape box body is arranged on the upper surface of the bar-shape bearing board, a telescopic rotating cutting mechanism is arranged on two opposite side surfaces of the bar-shape box body, a bearing mechanism is arranged inside the bar-shape bearing board, a mobile mechanism is arranged on the lower surface of the bar-shape bearing board, a pushing handle is arranged on the rear surface of the bar-shape bearing board, a push cylinder is arranged on the pushing handle, an energy storage mechanism is arranged on the top side surface of the bar-shape box body, and a control device is arranged on the side surface of the bar-shape box body. The picking device has the beneficial effects that, the structure is simple and the practicality is good.

Footwear as inserts to shoes or integral parts to shoes is made of rigid form with a sole portion to be placed in compression and an upper portion to flex in tension in response to foot motion and preferably is provided in a triangulation form for foot stabilization, comfort and injury prevention.

The invention relates to a driving wheel combined mechanism which is a device implemented through that a plurality of mutually combined wheels jointly act on a driving system. The mechanism comprises a body and driving wheels arranged on both sides of the body; the driving wheels are arranged on both sides of the body in a single-side double-row arrangement mode, two rows of driving wheels on the same side are arranged in a mutually staggered mode, and the driving wheels on both sides of the body are symmetrically arranged. The driving wheels also can be arranged in a single-side single-row arrangement mode; and the driving wheels on both sides of the body are arranged in a mutually staggered mode. The combined mechanism is simple in structure, easy to implement, high in efficiency, strong in ground adaptive capacity, and obvious in driving effect, and the like.

The invention discloses a climbing robot capable of automatically detecting and maintaining. The climbing robot comprises a car frame, a climbing assembly mounted at the bottom of the car frame and used for climbing components, a detecting assembly arranged on a rack for detecting the surface quality of the components and a maintaining assembly for maintaining the surfaces of the components. According to the climbing robot capable of automatically detecting and maintaining, the robot is driven by the climbing assembly to walk along the wall surfaces of the components, for example,the robot walks along the wall surface of an oil storage tank, the wall surface of a ship or a cable-stayed bridge inhaul cable, meanwhile the surface quality of the components is detected by the detecting assembly, and thus corresponding maintenance is conducted by the maintaining assembly, the robot can replace people to operate in high-altitude, the hidden safety hazards caused by the high-altitude operation of inspectors are avoided, the detection efficiency of the robot is high, maintaining operation can be conducted simultaneously, and an integrated detection and maintenance technology for the components can be formed.

The invention discloses an educational toy for children's education. The educational toy includes a box body; the upper surface of the box body is provided with a mathematical equation teaching mechanism which is beneficial for children in the entertainment learning of numbers and mathematical equations; one side of the box body is provided with sleeve rods; the box body are fixedly connected withthe sleeve rods through four mounting sleeves which are distributed to form a rectangle; and the bottom of the box body is fixedly provided with four mobile supporting mechanisms which are arranged at four corners respectively and are distributed to form a rectangle. The educational toy for children's education of the invention has the advantages of ingenious design and convenient use. Accordingto the educational toy for children's education, children can be effectively promoted to learn useful knowledge in entertainment; the children can be facilitated to learn the numbers and mathematicalequations through the mathematics equation teaching mechanism, and can be promoted to quickly learn the four mathematical rules of addition, subtraction, multiplication and division within ten; the intellectual development of the children can be benefitted; the arithmetic and computing ability of the children can be improved; the children's learning pleasure can be increased through a speech learning mechanism; the children can recognize various animals; and the children's recognition of sound can be improved.

The invention discloses a blue sheep simulation mechanical foot, which comprises mechanical connectors, ankle joints and foot soles, wherein the mechanical foot is fixed with the leg part of a robot through the mechanical connectors, a fast replacing function is realized, various foot ends of the robot can be fast replaced, the ankle joints are fixedly arranged under the mechanical connectors, two symmetric rotating shafts are adopted so that the two foot soles of the feet can rotate around shafts, the foot soles are arranged under the ankle joints and complete the contact with the ground, and the functions such as the blue sheep foot deformation are simulated. The blue sheep simulation mechanical foot has the advantages that the functions of opening the foot hoofs to be embedded into the stone seams, covering and clamping rocks, hooking and hanging rock bulges during the climbing of the blue sheep feet on the rock surfaces can be simulated, the walking characteristics of the leg type robot in the landform are improved, and different kinds of foot ends can be fast replaced through fast replacing the connectors.

The invention relates to a local accurate positioning method for a rocker arm suspension structure patroller, which comprises the following steps of: firstly calculating the theoretical instantaneousbody speed of the patroller under the action of six wheels, then calculating the theoretical instantaneous steering angular speed of the patroller under the action of six wheels, and finally calculating the position estimation information of the patroller with slip compensation. Compared with the prior art, the method has the advantages that the influence of topographic changes on the structure ofthe patrolling device can be well reflected. The calculation errors caused by slippage to whole device positioning are effectively reduced through indirect calculation and compensation. The method can be suitable for various complex terrains, has good walking performance and is high in practicability.

The invention discloses a sickbed for patients of the breath internal medicine department. The sickbed comprises a bar-shaped bearing board, wherein support stand columns are arranged at four corners of the lower surface of the bar-shaped bearing board, a swing traveling mechanism is arranged on the side surface of each support stand column, an air purifying mechanism is arranged below the bar-shaped bearing board, a rotating carrying mechanism is arranged on the upper surface of the bar-shaped bearing board, an accompanying relative sitting mechanism is arranged at the edge of one end of the lower surface of the bar-shaped bearing board, a supporting mechanism is arranged on the side surface of the bar-shaped bearing board, an electricity storage box sleeves the side surface of one of the support stand columns, a storage battery is arranged in the electricity storage box, and a controller is arranged on the side surface of the bar-shaped bearing board. The sickbed for the patients of the breath internal medicine department has the beneficial effects of simple structure and strong practicability.

The invention belongs to the field of climbing robot equipment and relates, in particular, to an obstacle-surmounting wall-climbing robot which is of split structure, comprising a left vehicle body, a left mechanical arm, a middle vehicle body, a right mechanical arm and a right vehicle body sequentially from left to right. The vehicle bodies are hinged to the mechanical arms, the left mechanical arm and the right mechanical arm are opposite and both can rotate around their hinging shafts to drive the middle vehicle body to rotate, the left vehicle body comprises a left two-way wheel, a motor and a negative pressure device arranged sequentially on the left vehicle body, the structural arrangement of the right vehicle is bilaterally symmetrical to the left vehicle body, and the middle vehicle body is provided with a negative pressure device. The obstacle-surmounting wall-climbing robot sucks to a wall through negative pressure cavities of the vehicle bodies, travels in two ways through the creatively designed two-way wheels, can be turned through the 3-DOF (degree of freedom) mechanical arms so that the vehicle bodies move in the inner and outer vertical planes to change the planes and surmount an obstacle such as a window frame, and accordingly has the complex climbing functions.

The invention discloses a multi-legged robot kinematics parameter calibration method based on vision. Calibration plates are fixed to the robot body and the foot ends of the robot respectively, the poses of the calibration plates are obtained through a monocular camera, and then the relative pose relation between the robot body and the foot ends of the robot is obtained; according to joint angle data of a robot, a nominal pose relation between a robot body and a foot end is calculated through forward kinematics, an error matrix is constructed, and a kinematics parameter error is estimated by using a least square method. According to the method, kinematics parameter calibration is conducted on each leg of the multi-legged robot in sequence through the visual technology, the kinematics parameter calibration process can be rapidly and accurately completed, the positioning precision of the foot ends of the multi-legged robot can be improved, and therefore the walking effect of the multi-legged robot is improved. According to the method, the kinematics parameter calibration process of the multi-legged robot can be completed only through the monocular camera and the two calibration plates, special or expensive equipment is not needed, cost is low, and implementation is easy.

The invention discloses a self-walking type cable snow remover, which comprises a cylindrical case, two pairs of walking units, a driving shaft and a cutter, wherein the case is equally divided into a first case body and a second case body, the first end of the first case body is rotatably connected with the first end of the second case body, and the second end of the first case body is connected with the second end of the second case body through a lock catch; the two pairs of walking units are installed on the first box body and the second box body respectively, each walking unit comprises two walking assemblies, and the four walking assemblies are located in the case and distributed in a central symmetry mode; the driving shaft is coaxially arranged with the rotating joint of the two first ends, the driving end of the driving shaft is inserted into the case in the axial direction, and the driven end of the driving shaft is located on the outer side of the case; and the cutter is arranged at one end of the case and is in transmission connection with the driving shaft through a first transmission assembly. The self-walking type cable snow remover has the advantages that the stability is higher, the snow removing efficiency is higher, and the cable is not prone to being damaged.

The invention relates to a kinematics based patrol unit gear train coordinating and controlling method. A patrol unit gear train includes two front wheels, two back wheels and two middle wheels, wherein the front wheels and the back wheels are steering wheels, and the six wheels are on the same plane or not on the same plane. The patrol unit gear train coordinating and controlling method includes the steps of 1), respectively calculating steering angles of the front wheels and the back wheels of the patrol unit gear train, namely specifically calculating the speed and location of the patrol unit gear train to enable the speed and location of the patrol unit gear train to be perpendicular with each other so as to obtain the steering angles; calculating and coordinating the speed of the six wheels in the patrol unit gear train. By the application of the patrol unit gear train coordinating and controlling method, a patrol unit can also assuredly reserve coordination of gear train movement to the greatest extent under the condition of non-planar terrain, negative effects against coordination of the whole unit due to the fact that steering angles are too large in errors during the coordinating the steering angles of the steering wheels are effectively lowered; the coordinating and controlling method is applicable to various complicated terrain, good in walking performance and highly practical.

The invention discloses a combined counterweight structure. The combined counterweight structure comprises a first counter mechanism and second counter mechanisms, wherein the first counter mechanismis fixedly arranged at the tail part of a rotary table, the second counter mechanisms are detachably arranged on the left side and the right side of the rotary table, the first counter mechanism comprises trays fixed at the tail part of the rotary table and first counter blocks arranged on the trays; the second counter mechanisms comprises detachable counter blocks, the counter blocks comprises extension parts and counterweight parts, the counter blocks comprises second counter blocks and third counter blocks, the third counter blocks are hung on the second counter blocks. The invention discloses a crawler crane with the combined counterweight structure. According to the combined counterweight structure, the space at the tail part of the rotary table is fully utilized, so that the stress of the tail part of the rotary table is more uniform, the stability of rotation, traveling and weight of the whole crane can be guaranteed, under the condition that the counterweight is not disassembled, the width of the whole crane is effectively reduced, the walking trafficability of the whole crane on a narrow road surface is improved, disassembling and assembling of components such as the counterweight and a boom are reduced, the convenience of short-distance transferring is greatly improved, the rotating field efficiency is greatly improved, and the use cost is reduced.

The invention discloses an intelligent robot. The intelligent robot comprises a vehicle body, a video acquisition mechanism, a picking mechanism, a storage mechanism, a supporting leg support mechanism and a movement obstacle avoidance mechanism, wherein the video acquisition mechanism, the picking mechanism, the storage mechanism, the supporting leg support mechanism and the movement obstacle avoidance mechanism are arranged on the vehicle body; the movement obstacle avoidance mechanism adopts a four-wheel walking movement obstacle avoidance structure; and under the driving of a walking driving motor, walking connecting rods do rotary motion, so as to drive walking thighs to do up-and-down telescopic motion and a fixed support to do horizontal motion at the same time. According to the intelligent robot provided by the invention, when encountering obstacles or uneven roads, bionic limbs can be used for walking; the walking driving motor drives a driving shaft and then drives a plurality of walking connecting rods, finally, the tracks of the walking thighs form actions like walking, the walking sequence refers to the animal walking on the four limbs, and the animal walks on the left front side and on the right back side together, and then walks on the left back side and on the right front side together; the four-wheel walking movement obstacle avoidance structure is adopted, so that the walking performance is good; the supporting leg support mechanism is used, so that the stability is good; and wheels are adopted during normal running, so that the movement speed is high.

The invention provides a walking device, a photovoltaic system and a walking deviation rectifying method thereof. The walking device comprises four walking driving assemblies, a walking frame, a rotating shaft and an angle sensor, wherein each walking driving assembly comprises a mounting frame assembly, a driving wheel and a positioning wheel, the driving wheel and the positioning wheel are rotationally arranged on the mounting frame assembly, the axial direction of the positioning wheel is perpendicular to the axial direction of the driving wheel, the positioning wheel is located on the axial side of the driving wheel, the walking frame comprises four supports, the head ends and the tail ends of the four supports are sequentially hinged to form four hinge positions, one mounting frame assembly is hinged to at least one support through a rotating shaft, one walking driving assembly is close to one hinge position, the rotating axial direction of the mounting frame assembly is parallelto the rotating axial direction of the support, and the angle sensor is connected between the support and the rotating shaft. The deviation condition is obtained through the angle sensor, then the four driving wheels can be controlled to walk correspondingly, control over the walking frame is achieved, and the walking stability is further improved.

The invention discloses a walking reducer of an ultra-large hydraulic excavator. The walking reducer of the ultra-large hydraulic excavator comprises a primary cylindrical gear reducing module, a secondary planetary reducing module and an external bearing module, wherein the primary cylindrical gear reducing module comprises a connecting cover, a flange base, a primary cylindrical gear and a primary cylindrical gear shaft; the secondary planetary reducing module comprises a fixing connector, a spline connecting disc, a secondary rotary case, a secondary sun gear, a secondary planetary gear, asecondary planetary carrier, a secondary annular gear, a connecting ring, a primary rotary case, a gear shaft, a primary planetary gear, a primary planetary carrier and a primary annular gear; the external bearing module comprises an inner fixing connector, an inner sealing plate, an outer sealing plate and a limiting block. The walking reducer of the ultra-large hydraulic excavator is smaller instructural size under the same output power; the walking reducer is in double-flange connection with a longitudinal beam frame, which is considerably higher in structural strength and rigidity than traditional single-flange cantilever connection; the entire walking reducer is arranged inside the frame of the ultra-large hydraulic excavator to avoid the risk of collision with other objects, therebyimproving walking through performance and meanwhile being compact in structure and convenient to assemble and disassemble.

The invention discloses an automatic cotton straw collection device which comprises a round base, wherein a rectangular bearing barrel is arranged above the round base, a swinging lifting mechanism is arranged between the round base and the rectangular bearing barrel, a rotary cutting mechanism is arranged on the side surface of the round base, a clamping mechanism which is in lap joint with the rotary cutting mechanism is arranged on the edge of the upper surface of the round base, a bearing mechanism is arranged in the bearing barrel, a rotary walking mechanism is arranged on the lower surface of the round base, and a controller is arranged on the side surface of the rectangular bearing barrel. The automatic cotton straw collection device has the advantages that the structure is simple, and the practicability is high.

The invention discloses a guide sliding shoe remanufacturing method. The method comprises the following steps that a guide groove of a guide sliding shoe is machined so as to remove an original wear-resisting layer and expose a guide sliding shoe base body; a chamfer is machined at an end opening of the guide groove; wear-resisting plates are welded on the surface of the guide sliding shoe base body; a first groove matched with the chamfer is formed in the wear-resisting plate located at the position of the end opening in the length direction, and second grooves are formed in the connecting positions of the adjacent wear-resisting plates in the length direction; and stress relief annealing is conducted after welding. Compared with the prior art, the method has the beneficial effects that the grinding procedure after surfacing of the wear-resistant layer is omitted, the labor intensity of workers is reduced, the time is saved, meanwhile, the wear-resisting layer is made of the same material, the size and the wear-resisting hardness are easy to guarantee, the wear-resisting performance is enhanced, the service life is prolonged, the defects that the surface of the wear-resisting layer is uneven and uneven in hardness due to improper grinding can be avoided, the walking effect of a coal mining machine is good, and abrasion to a conveyor is reduced.

The invention relates to an obstacle breaking and demining robot. The robot comprises a frame, crawler traveling assemblies and a putting mechanism, wherein the crawler traveling assemblies are mounted on the two sides of the frame and connected with the frame, the putting mechanism comprises a putting support and a putting box, the putting support is fixedly arranged outside the rear end of the frame and is arranged in a suspended mode, the putting box fixedly connected with the putting support is mounted in the middle of the putting support, the bottom surface of the putting box is providedwith an opening structure, a door plate is arranged in the bottom surface of the putting box, the edge of the door plate is connected with the putting box through a limiting component, the door platecan be moved to the outer side and opened under a failure state of the limiting component, and the right side of the putting box is an obstacle-free putting channel. According to the robot, the structural design is reasonable, the robot can be suitable for more complex terrain by adopting the track traveling assembly, a good walking effect is achieved, meanwhile, the putting mechanism capable of putting TNT explosives is installed on the frame, and the putting mechanism is used for meeting the putting needs, and the robot is convenient to use as a whole.