28results about How to "Improve walking stability" patented technology

According to the biped robot foot structure capable of adapting to the complex road surface, the whole foot structure is designed through modular decomposition, when a user walks on the wet and slippery flat ground, the foot obtains information of foot sole sensors on the front foot sole and the rear foot sole in real time, and the virtual constraint structure is actively controlled through an electric cylinder; stress of a front longitudinal arch sole joint is reduced, meanwhile, the ground pressure transmission direction of a foot structure is improved, the ground pressure is kept in a friction cone as much as possible, and therefore the robot is prevented from slipping; when the robot walks on an uneven road surface, the electric cylinder actively controls the ground contact angle of the front foot sole, and the spring guide rod of the rear foot sole is assisted, so that active and passive self-adaptive adjustment of the foot of the robot to the ground is realized. The electric cylinder is used as a virtual constraint structure for active control, and the spring telescopic rod structure of the rear sole imitating ligament is combined, so that active and passive self-adaption of the feet of the robot to different complex road surfaces is realized, and the adaptability of the biped robot to the complex road surfaces is improved.

The invention relates to the technical field of ultra-high voltage transmission line maintenance, in particular to a multifunctional defect eliminating robot which comprises a rack, a distance adjusting structure installed on the rack, a line distance adjusting structure installed on the distance adjusting structure and a mechanical arm installed on the rack. The mechanical arm is connected with a defect eliminating tool or a pin supplementing tool; the pin supplementing tool comprises a mounting table, a horizontal displacement structure mounted on the mounting table, a vertical translation structure mounted on the horizontal displacement structure, a pin box mounted in the mounting table, a pin clamping jaw mounted on the vertical translation structure, a pin opening device and a nut clamping jaw, wherein the pin opening device and the nut clamping jaw are mounted at the front end of the mounting table. And the nut clamping jaw is positioned above the overhead device. Therefore, the multifunctional defect-eliminating robot is used for solving the technical problem that the prior art mostly stays at the inspection or foreign matter cleaning stage, and although some devices and technologies can perform repairing work, the repairing work is mostly single.

The application provides a training method, device and equipment of a reinforcement learning model and a robot control method, which are used to improve the walking stability of a robot. The training method of the reinforcement learning model comprises the following steps: in response to receiving a first speed instruction, determining a first body observation; inputting the first speed instruction and the first body observation into a to-be-trained encoder to obtain first auxiliary decision information; the first auxiliary decision information comprises a first estimated linear velocity and a first tensor; inputting the first auxiliary decision information into a to-be-trained policy network to obtain a first action, and updating a first simulation state based on the first action to obtain a second simulation state; inputting the first action and the first auxiliary decision information into a to-be-trained decoder to obtain a first predicted state; and updating first parameters of the to-be-trained encoder and second parameters of the to-be-trained policy network based on a difference between the second simulation state and the first predicted state to obtain a target reinforcement learning model comprising a target encoder and a target policy network.

The invention relates to a track energy storage hydraulic tensioning device and a paver. The tensioning device comprises a hydraulic cylinder body and an oil cylinder piston rod, a transition body with a central through hole is arranged in the middle of the hydraulic cylinder body, an inner cavity of the hydraulic cylinder body is divided into two cavities, one cavity is located on the cylinder cover side of the hydraulic cylinder body, and the other cavity is located on the opening side of the hydraulic cylinder body and used for allowing a piston rod of the oil cylinder to stretch out and draw back. An isolation piston is embedded in the cylinder cover cavity in a sliding mode, and the cylinder cover cavity is divided into an air cavity and an oil cavity. An inflation valve and a hydraulic joint are arranged on the hydraulic cylinder body and are respectively connected with the air chamber and the oil chamber; the spreading machine is provided with the tensioning device. The device is simple in structure, high in reliability, easy to maintain and low in cost, and the stability, reliability and safety of the crawler walking system are improved.

This utility model relates to a steering wheel walking mechanism for ridged planting land, comprising a frame, a drive assembly, and tracks. The drive assembly is mounted on the frame, and a mounting frame is located on the outer bottom of the frame. A drive wheel is located on the top of the mounting frame, and the drive assembly drives the drive wheel to rotate. Two pairs of support wheels are located at the bottom of the mounting frame. The tracks are wound around the drive wheel and the two pairs of support wheels, and are driven by the drive wheel. The steering wheel walking mechanism for ridged planting land provided by this utility model, by combining the mounting frame located on the outer bottom of the frame with the tracks, raises the height of the frame, thereby increasing the height of the chassis mounted above the frame. When moving on ridged planting land, it can prevent the chassis above the frame from colliding with the ridge. By increasing the ground clearance of the chassis and optimizing walking stability, agricultural machinery can adapt to complex terrain between ridges.

The utility model relates to radar flow measuring equipment technical field, concretely relates to including the double -track cableway of striding on river course and flow measuring device, and the flow measuring device includes the radar wave flow measuring appearance of walking car body and being located at walking car body bottom, both sides of walking car body all are provided with two walking wheels, all walking wheels of each side walk on the cableway of double -track cableway corresponding side, the region between two walking wheels on both sides of walking car body all are provided with mounting seat, two stabilizer wheels can be rotatably installed on each mounting seat, the damping mechanism is provided on the mounting seat, the top pressing wheel is rotatably provided on the telescopic end of damping mechanism, and the top pressing wheel is set up on the region between two stabilizer wheels, and the top pressing wheel can cooperate with two stabilizer wheels and clamp the cableway of double -track cableway corresponding side. This double -track mobile radar flow measuring system can effectively improve walking stability, and adapt to hydrological monitoring demand under various complex environmental conditions.

This application relates to the field of ultra-high voltage transmission line maintenance technology, and particularly to a multi-functional defect elimination robot, comprising a frame, a spacing adjustment structure mounted on the frame, a line spacing adjustment structure mounted on the spacing adjustment structure, and a robotic arm mounted on the frame; the robotic arm is connected to a defect elimination fixture or a pin repair fixture; the pin repair fixture includes a mounting platform, a horizontal displacement structure mounted on the mounting platform, a vertical translation structure mounted on the horizontal displacement structure, a pin box mounted inside the mounting platform, a pin gripper mounted on the vertical translation structure, and an outlet device and a nut gripper mounted at the front end of the mounting platform, the nut gripper being located above the outlet device. Therefore, this multi-functional defect elimination robot addresses the problem that existing technologies often remain at the inspection or foreign object removal stage, and although some devices can perform repair work, they are mostly single-task operations.

This utility model discloses a bidirectional track-and-ground walking chassis, belonging to the field of chassis technology. It includes a chassis body; a rotating base installed at the center of the chassis body; and at least two drive units, each including a bracket, a driver, a first drive wheel, and a second drive wheel. The bracket is connected to the rotating base via a telescopic push rod, and the driver is mounted on the bracket. The first and second drive wheels are coaxially arranged and driven by the driver, with the diameter of the first drive wheel being smaller than that of the second drive wheel. This utility model enables bidirectional movement with high stability. It reduces the turning radius through lateral movement, simplifies the turning and track-changing path of the bidirectional track-and-ground walking chassis in actual use, improves the chassis's applicability in confined areas, and makes it more suitable for use in ground environments.

The application relates to a control method for dynamically optimizing contact force distribution of a foot-type robot, and belongs to the technical field of foot-type robots. The method solves the problem that the foot end of a foot-type robot is prone to sinking when the foot-type robot travels on soft terrain. The method comprises the following steps: acquiring real-time ground reaction force of each foot of the foot-type robot in a current gait cycle supporting phase and joint control information in a previous gait cycle supporting phase; obtaining an expected ground reaction force time curve of each foot in the current gait cycle supporting phase based on the joint control information of each foot in the previous gait cycle supporting phase and a standard ground reaction force time curve; and obtaining control torque of each foot at each time by using a PID controller based on the expected ground reaction force time curve of each foot in the current gait cycle supporting phase and corresponding real-time ground reaction force, and applying the control torque to each joint motor of each foot to optimize the contact force distribution of each foot. The method realizes walking stability of the foot-type robot on unstructured terrain.

The utility model discloses a ground walking robot for the farm inspection, including robot body and main control unit, is equipped with the crawler type walking mechanism in the bottom of robot body, is equipped with the horizontal rotation robot head in the top of robot body, is equipped with the environmental monitoring sensor in robot body and / or robot head, is equipped with the camera in the front side, left side and right side of robot head respectively, environmental monitoring sensor and camera all are connected with main control unit signal. The robot can be used for the ground walking inspection in the farm, not only can be used for real -time monitoring the environmental condition in the farm, still can be used for all -round inspection to the breeding house, and walking stability is good, will not appear the adverse situation such as side -over, car body tremble, can satisfy the automatic inspection demand in the farm of the environment relatively complex very well.

The application relates to a multifunctional biped robot foot structure which can adapt to different working states, and the whole foot structure is designed in a functional modularization mode; when walking is needed, the foot structure can acquire the sole sensor information in real time and realize self-adaptive posture adjustment of the biped robot on uneven and smooth ground through two stages, the two stages include preliminary fine adjustment of anti-skid air cushions and two-side torsional springs and comprehensive adjustment of five toe joints and two side plates made by a pneumatic driving mechanism; when the biped robot is in a state needing fixed foot structure such as grabbing, a plurality of pneumatic driving devices are driven to lift the toes and the side plates, a vacuum generator is driven and the gas in an adaptive suction disc mechanism is extracted, so that the biped robot foot structure is firmly adsorbed on the ground. The application realizes the adaptability of the robot foot to the ground in different working states by utilizing the torsional spring characteristics and the pneumatic control technology and cooperatively controlling the toes, the side plates and other mechanisms.

This invention relates to the field of overhead line robot technology, and discloses a lightweight overhead line walking robot, comprising: a body frame; several body wheels disposed inside the body frame; a clamping mechanism including a clamping module, a clamping plate, a clamping guide rail, a guide rail connecting plate, a guide rail connecting block, and a balance arm. The clamping plate is fixedly connected to the clamping guide rail, and the balance arm passes through the gap formed by the connection between the clamping plate and the clamping guide rail. The guide rail connecting block is fitted with the clamping guide rail, and the guide rail connecting plate is fitted with the guide rail connecting block. The clamping module includes a clamping arm, a transmission rod, and a clamping column. The end of the transmission rod away from the clamping arm is provided with a third through hole, and the clamping arm is provided with a first through hole. The clamping plate includes a clamping back plate and a transmission plate, and a first transmission block and a second transmission block cooperate with the balance arm. This invention ensures the reliability of the robot's movement on overhead lines through the clamping mechanism.

This utility model discloses a precast power wall end mold with a walking mechanism, relating to the field of precast power wall technology. It includes a mold body, a first mold support welded to the bottom of the mold body, an inclined support welded to the side of the mold body opposite to the casting side, a first roller and a second roller mounted on the first mold support, an independent roller mounted on the inclined support, and a braking device for braking the first roller. The lowest points of the wheel surfaces of the first roller and the independent roller are at the same height, used for rolling support on the top plane of the upper horizontal section of an I-beam track. The second roller is a conical wheel located below the first roller, used for rolling against the bottom inclined surface of the upper horizontal section of the I-beam track. When used as the end mold of a precast power wall casting equipment, this utility model's precast power wall end mold achieves more stable movement and excellent controllability.

The utility model relates to crawler device technical field, especially relates to a crawler structure and mobile type side arm cleaning robot, and the crawler structure includes main beam frame, walking wheel unit, attitude adjustment unit and crawler body, attitude adjustment unit includes bearing, attitude disc and deformation structure, the inner ring of bearing is used for driving attitude disc rotation, and the one end of attitude disc is connected with the vehicle frame body away from bearing, and deformation structure includes two elastic components along the symmetry distribution of attitude disc middle axis, when attitude disc rotates to the direction close to one of elastic components, two elastic components are deformed, the utility model realizes the buffer effect to whole operation device, reduces the bumping phenomenon of operation device in the process of advancing, improves its walking stability, solves the problem that the existing crawler structure cannot twist swing to buffer, leads to the whole operation device to produce violent bumping in the process of advancing, leads to the walking stability low greatly reduces, also can influence operation efficiency and quality.

This application discloses an adaptive pipe diameter adjustment control method and device for a tracked pipeline robot. The method includes: acquiring the current position, pose, and pipe diameter information of the underground pipeline; mathematically modeling the adaptive pipe diameter adjustment mechanism and solving the mathematical model of the adaptive pipe diameter adjustment mechanism; determining the vertical plane dynamic model of the adaptive pipe diameter adjustment control mode of the adaptive pipe diameter adjustment mechanism based on the solution results; determining the deployment mode of the adaptive pipe diameter adjustment mechanism of the pipeline robot under different pipe diameters and different pipe poses, so that the overall volume of the pipeline robot can adapt to the pipe diameter of different underground pipelines; determining whether the desired pressure value is met; if the current pressure value is not met, restarting the control of the linkage drive electric cylinder of the pipeline robot until the pressure value meets the requirements. This application improves the operational stability of the pipeline robot and enables it to perform operations such as pipeline dredging better.

This application relates to a photovoltaic robot walking mechanism, specifically to the technical field of photovoltaic panel cleaning. The photovoltaic robot walking mechanism includes a guide rail, rollers, driven wheels, auxiliary wheels, and a drive assembly. The guide rail is mounted on both opposite side walls of the photovoltaic panel, with a guide groove on one of the opposite sides. The rollers are mounted on the robot body and roll within the two sets of guide grooves. Two sets of driven wheels roll within the two sets of guide grooves. The auxiliary wheel is rotatably mounted on the robot body and located directly above the guide rail, limiting the distance between the robot body and the photovoltaic panel. The drive assembly synchronously drives the two sets of rollers to rotate. This application uses the drive assembly to simultaneously rotate the two sets of rollers, thereby moving the robot body along the guide rail. The driven wheels and rollers cooperate to improve the stability of the robot body, and the auxiliary wheel limits the distance between the robot body and the photovoltaic panel, ultimately improving the stability of the photovoltaic robot when walking on inclined photovoltaic panels.

The utility model discloses landscaping soil remediation equipment which comprises a handrail frame, an internal combustion engine, a transmission shaft, a spiral drill rod, a worm and gear mechanism, a tillage tool rest, a remediation agent bin and an agent spraying system. The internal combustion engine drives the transmission shaft to rotate through the coupler, the bottom of the transmission shaft is connected with the spiral drill rod, the plowing tool rest is driven by the worm gear and the worm to rotate and loosen soil, and the plowing tool is annularly distributed and can be detached and replaced. A remediation agent bin is arranged behind the device, various agents are accurately sprayed to an operation area through a pump body and an agent pipeline, and deep remediation of the soil is achieved. The equipment is compact in structure, convenient to operate and suitable for rapid remediation treatment of polluted or barren soil in landscaping engineering.

The utility model discloses a breathable and comfortable insole structure which comprises an insole body, the insole body comprises a net face breathable layer, an elastic soft cushion layer and a supporting bottom face layer, the net face breathable layer comprises a polyurethane breathable foam cushion, a silver ion deodorization cushion and a breathable net cushion, and the elastic soft cushion layer comprises an elastic soft cushion layer and a supporting bottom face layer. Elastic rubber pad structures are arranged on the lower surfaces of the polyurethane breathable foam pad, the silver ion deodorization pad and the breathable mesh pad, a silica gel air bag is arranged on the surface of the upper end of the elastic soft pad layer, and the elastic soft pad layer comprises a TPU soft pad, a silica gel foaming soft pad and an air bag soft pad; and the supporting bottom surface layer comprises an EVA (Ethylene Vinyl Acetate) supporting pad, a PU (Poly Urethane) supporting pad and a vinyl acetate copolymer supporting pad. Breathable design protection is carried out on the interior of the insole, the breathable perspiration, sterilization and bacteriostasis effects of the insole can be remarkably improved by arranging the polyurethane breathable foam pad, the silver ion deodorization pad and the breathable mesh pad, and meanwhile the insole has good soft, comfortable and damping protection effects; the bottom supporting performance is high so that arch supporting can be provided.

The present invention relates to an arm-type aerial work platform, and is intended to solve the shortcomings of the travel system of the existing arm-type aerial work platform; a arm-type aerial work platform is provided, wherein a closed high-pressure variable pump in the power system includes a working pump and a displacement control valve for controlling the displacement of the working pump; the output shaft of the reduction box in the chassis travel system is simultaneously connected to the integral front and rear drive axles through a transmission shaft, the output shaft of the drive motor is connected to the input shaft of the reduction box, and the drive motor is connected to the working pump through a pipeline to form a closed hydraulic circuit; the control system includes a whole machine controller connected to the displacement control valve of the working pump and the engine speed controller. The chassis parts of the arm-type aerial work platform of the present invention are highly interchangeable, the difficulty of assembly and maintenance is low, the design of the whole machine system is simplified, the processing difficulty and cost of the structural parts are reduced, and the layout of the whole vehicle is easy.

This invention discloses a method, apparatus, device, and storage medium for robot walking stability control. The method includes: acquiring environmental point cloud data, target walking direction, and motion posture data corresponding to the target robot; determining the target landing point and target terrain feature parameters based on a preset walking stride length, a preset maximum stride length, environmental point cloud data, target walking direction, and motion posture data; determining the target landing gait parameters of the target robot based on the target landing point and target terrain feature parameters; and determining target joint control commands based on the robot's dynamics model and the target landing gait parameters. This invention enables stable control of robot walking, improves adaptability to complex terrain, enhances the robot's intelligence in landing point selection and gait generation, and ensures the robot's walking stability, safety, and adaptability in complex environments, thereby improving robot mobility efficiency and reducing energy consumption and task failure risk.

The present application provides a bulldozer track soil cleaning device and method, aiming at solving the problems of high labor intensity, low efficiency, non-adjustable distance of existing cleaning device, incomplete cleaning and easy secondary adhesion of soil. The device comprises a bulldozer base, a walking wheel and a track, one end of the bulldozer base is fixed with an L-shaped support seat, one side of the L-shaped support seat is provided with a strip-shaped plate with a cleaning brush assembly, the bottom end is provided with a push-pull assembly for adjusting the distance between the cleaning brush assembly and the track, and the top end is fixed with a liquid storage tank and a matching spraying assembly. The present application can be flexibly adapted to different working conditions, realize automatic brushing and synchronous spraying and washing of the track, greatly reduce the labor intensity, improve the cleaning efficiency and effect, and ensure the walking stability of the bulldozer and the service life of the equipment.

This invention discloses a high-altitude steel structure lifeline installation device, comprising: a steel structure; a tracked trolley disposed on the upper surface of the steel structure, wherein a lifeline upright is mounted on the tracked trolley; a lifting structure, wherein two lifting structures are symmetrically arranged along the axial direction of the steel structure, one end of the lifting structure is connected to the tracked trolley, and the other end is connected to a limit block around the lower surface of the steel structure; and a control system for controlling the movement of the tracked trolley and the operation of the lifting structures; when the lifting structure moves the limit block to be close to the bottom surface of the steel structure, the tracked trolley, the lifting structure, and the limit block together form a clamping structure, thereby fixing the tracked trolley to the steel structure; when the lifting structure moves the limit block away from the bottom surface of the steel structure, the clamping state is released, and the tracked trolley can move freely relative to the steel structure, thus enabling detachable automatic deployment of the lifeline according to operational needs, improving construction efficiency while ensuring the safety of workers.

The utility model discloses a kind of self-driving walking vehicles for tunnel, including the wheel group being connected with trolley frame, the wheel group includes the wheel being arranged below wheel box, wheel box is connected with the driving mechanism for driving wheel, wheel box includes the upper part and lower part of swing cooperation, upper part is hinged with trolley frame, lower part is used to connect wheel and driving mechanism, upper part and lower part between being provided with the steering device for driving the relative rotation of both. The utility model provides a kind of self-driving walking vehicles for tunnel, over structure innovation comprehensively solves the pain points such as " dependence on track, poor working condition adaptability, insufficient stability, low transport efficiency " of existing tunnel battery car, without track can realize advancing, retreating and steering, simultaneously with rail / trackless two kinds of working conditions, solve the limitation that existing battery car can only track travel;Wheel group can change the angle of radial self-adaptation relative to trolley frame, adapt to different diameter tunnel.

The application provides an open warehouse track layout, which comprises a plurality of open tracks for robots to enter different groups of tracks according to needs to perform corresponding work, each group of tracks forms a horn opening with two ends opening outward to facilitate the robot to enter the track, and each group of tracks comprises two oppositely arranged power supply tracks, each power supply track comprises a track body, a slide wire mounted on the inner side of the track body, and two anti-collision plates respectively mounted on the two ends of the inner side of the track body, the track body comprises a straight track main body and a track guide part extending obliquely outward at the two ends of the track main body, the anti-collision plates are respectively mounted on the track guide parts, and the slide wire is mounted on the track main body.

The application is suitable for the technical field of power transmission line operation and maintenance, and provides a four-split conductor deicing robot slip control method, equipment and medium. The deicing robot adopts a four-wheel double-line walking structure and simultaneously clamps two sub-conductors in the four-split conductor. Two driving wheels and corresponding compression wheels are arranged on the left and right sides, and one sub-conductor is clamped on each side. The method comprises the following steps: a mathematical model of the four-split iced conductor is established, and the tangent angle of any point on the clamped sub-conductor is solved; based on the mathematical model and the tangent angle, a whole machine stress model and a front and rear driving wheel stress model are established, and the minimum compression force corresponding to each driving wheel is calculated; the angular velocity of any driving wheel and the corresponding compression wheel on the same side of the deicing robot is detected in real time, and the walking working condition of each side is identified; and the compression force of each compression wheel is dynamically adjusted in combination with the tangent angle of each clamped sub-conductor and the minimum compression force corresponding to each driving wheel, so that the effective slip suppression of the deicing robot is realized.

The utility model provides a kind of virtual track gantry structure logistics robot for shelf type warehouse, the design is realized longitudinal and transverse independent fast movement by innovative gantry mechanical structure design, combined with multi-degree-of-freedom boom and modularized grabbing device, significantly improve handling efficiency and operation accuracy;Adopt laser ranging, visual identification and infrared line patrol fusion virtual track navigation technology, get rid of the dependence on entity track, enhance environmental adaptability;And by partition power supply system and intelligent control algorithm.Case, it includes mobile mechanism, gear transmission turntable mechanism is slidably installed along Y direction, the top of gear transmission turntable mechanism is fixedly installed with lifting mechanism, telescopic mechanism is slidably installed on the lifting mechanism along Z direction, the front end of telescopic mechanism is installed with claw clamp mechanism.

The utility model discloses a saw beam walking mechanism of a band sawing machine. The device comprises a walking frame and a walking structure arranged on a saw beam, the walking frame comprises a base and a guide beam and a walking beam which are arranged in the left-right direction, the guide beam is located on the rear side of the saw beam and connected with the base through a supporting structure, the walking beam is arranged at the top of the base and located below the saw beam, and a supporting plate in the left-right direction is arranged at the top of the walking beam; a rack in the left-right direction is arranged on the rear side of the supporting plate, the front side of the supporting plate extends out of the walking beam to form an extending part, the walking structure comprises a driving module and a walking module which are arranged at the bottom of the saw beam, the driving module comprises a gear meshed with the rack and a driving assembly used for driving the gear to rotate, and the walking module comprises a roller set and a hook wheel set. The roller set comprises a plurality of rollers capable of rolling along the top face of the supporting plate, the hook wheel set comprises a plurality of hook wheels abutting against the bottom face of the extending part, and the rear side of the saw beam is connected with the guide beam through a guide structure. The walking device is high in walking precision, stable in walking and convenient and fast to install.