43results about How to "Obstacle surmounting" patented technology

The invention is applicable to the technical field of wall-climbing robots, and provides a derusting wall-climbing robot for a ship. The derusting wall-climbing robot aims at providing the technical problem that in the prior art, an existing derusting wall-climbing robot for the ship is poor in obstacle climbing capacity. The derusting wall-climbing robot for the ship comprises a washing plate, a caterpillar track making contact with the wall face of the ship, a drive assembly, a driven floating assembly with driven wheels, a floating connection assembly driving the washing plate to automatically move up and down relative to the wall face of the ship, and a pressing assembly providing pre-pressing force so as to press the caterpillar track. According to the derusting wall-climbing robot for the ship, driving wheels are driven by the drive assembly to drive the driven wheels to move, and therefore the caterpillar track is driven to walk on the wall face of the ship; when the derusting wall-climbing robot encounters obstacles in the walking process, the washing plate is driven by the floating connection assembly to climb the obstacles; meanwhile, the inner tension of the caterpillar track is increased, and therefore the center distance between the driving wheels and the driven wheels can be reduced and the caterpillar track can be tightly attached to the wall face of the ship to climb the obstacles, and the wall face adaptability of the derusting wall-climbing robot for the ship is improved.

The invention discloses an invasive four-legged wheel type robot. The robot comprises a supporting plate, a circuit board and four supporting legs, and is characterized in that each supporting leg consists of a rotary steering engine, a swinging steering engine, a direct-current motor and a wheel; an output shaft of each rotary steering engine is fixed on the supporting plate along the vertical direction; a shell of each swinging steering engine and the shell of each rotary steering engine are fixed together; the output shaft of each swinging steering engine is arranged along the longitudinal direction of the supporting plate; the output shaft of each direct-current motor is arranged along the horizontal direction of the supporting plate; each direct-current motor and the output shaft of each swinging steering engine are fixed by a U-shaped bracket; each wheel is fixed on the output shaft of each direct-current motor; the supporting plate is provided with an electromagnetic gun and a power supply capacitor. The robot disclosed by the invention is capable of quickly moving forwards, moving backwards, making a turn or rotating in situ by controlling the direct-current motor; the robot can walk by the four legs by controlling the swing steering engines and the rotary steering engines; therefore, the robot realizes the functions of crossing barriers and keeping away from the barriers, so the robot is applicable for walking in complicated environment; by the electromagnetic gun, the robot is capable of attacking a target.

The invention discloses a wheeled obstacle-crossing deformation chassis and a working method thereof. The wheeled deformation chassis comprises a chassis, a carrier table arranged at the upper end ofthe chassis, and a front driving module and a rear driving module arranged at the lower end of the chassis for driving the chassis. The carrier platform and the base are connected with each other by abalancing mechanism which keeps the carrier platform in a horizontal state; The front driving module comprises a fixed axle frame fixed on the front part of the base and perpendicular to the axial direction thereof, a force arm beam hinged on both ends of the fixed axle frame and axially rotatable about the fixed axle frame, and a plurality of driving wheels arranged on the force arm beam; the front driving module comprises a fixed axle frame fixed on the front part of the base and perpendicular to the axial direction thereof; The rear drive module comprises a fixing plate vertically fixed tothe rear of the base, a rear axle frame hinged to the fixing plate and rotatable axially about the base, and drive wheels arranged at both ends of the axle frame. The rear axle frame comprises a fixing plate vertically fixed to the rear of the base, a rear axle frame hinged to the fixing plate and rotatable axially about the base, and a driving wheel arranged at both ends of the axle frame. The invention realizes the balance of obstacle crossing better.

The invention provides a spherical robot. The spherical robot comprises a head assembly and a spherical body which can rotate relative to the head assembly. The spherical body comprises a ball shell, a connecting part arranged in the central region of the ball shell, and a walking driving mechanism connected between the ball shell and the connecting part. The walking driving mechanism comprises a driving arm which can swing around the connecting part, and a driving wheel which is in contact with the ball shell is arranged at one end of the driving arm; the ball shell is driven to walk through friction force between the driving wheel and the ball shell; the walking speed of the ball shell is changed by changing the swinging position of the driving arm relative to the connecting part; the side, away from the walking driving mechanism, of the connecting part is provided with a head driving assembly, and the head driving assembly drives the head assembly to move on the outer surface of the ball shell.

The invention relates to an S-shaped carbon-free dolly walking with a variable space. The S-shaped carbon-free dolly comprises a dolly frame, a drive device, a transmission apparatus and a turning device. The dolly can changes its direction through a crank rocker, a shaft connected with wheels is a rear wheel shaft, the rear wheel shaft is provided with a pinion, a rear gear engaged with the pinion is mounted on a driving shaft, a front gear engaged with the pinion is connected with a cam, the cam is connected with a pull bar, and a crank rocker mechanism can move through gear engagement. The gravitational potential energy is converted into mechanical energy to drive the dolly to move at a certain periodicity, and the dolly can avoid barriers arranged on a racing track when the dolly moves forwards. A coiling of the dolly is of a shape of circular truncated cone, so a potential energy block can fall at a uniform speed, the uniformity of the running speed of the dolly can be ensured, and the stability of the dolly during movement can be enhanced. The dolly frame is turreted, the whole weight can be light, energy loss caused by frictional force can be reduced, and the integrity is good, the cost is low.

The invention relates to a pipeline robot and application thereof. The pipeline robot comprises one or more robot units which are sequentially connected, and each robot unit comprises two crawling mechanisms and a swing mechanism, wherein every two crawling mechanisms are connected to the front and the back of the corresponding swing mechanism; each crawling mechanism is mainly composed of a rack, a driving device, rotating shafts and driving wheels, wherein the driving device, the rotating shafts and the driving wheels are arranged on the rack; each swing mechanism is mainly composed of bevel gear systems which are meshed with each other and can achieve left-and-right swing and up-and-down swing. The pipeline robot is ingenious in structural design, simple and practical, operation of the crawling mechanisms can be driven through one driving motor, and meanwhile turning and obstacle crossing of the pipeline robot can be effectively achieved through the swing mechanisms; compared with an existing pipeline robot on the market, the pipeline robot is low in cost, stable and reliable to operate and convenient to maintain, operation work in multiple complicated occasions such as vertical pipelines, L-shaped pipelines and T-shaped pipelines can be achieved, and good economic value and market benefit are achieved.

The invention discloses a control system and control method of a transmission tower climbing robot. The problems that in the prior art, a robot cannot climb a tower, and cannot cross obstacles can besolved. The beneficial effect of facilitating the climbing task is achieved. The control system of the transmission tower climbing robot comprises a visual recognition module arranged on a robot bodyand used for monitoring the surrounding of the robot, a driving control module arranged on robot body mechanical arms and a lifting control module, each mechanical arm comprises an outer expansion mechanism and a clamping mechanism, the clamping mechanism is connected with the outer expansion mechanism, the drive control module is used for controlling the outer expansion mechanisms and the clamping mechanisms of the robot to act, the lifting control module is arranged between the upper and lower adjacent mechanical arms of the robot and used for controlling the robot to lift to achieve robot climbing action, and a master controller, the visual recognition module, the clamping mechanism control module and the lifting control module are connected with the master controller through a communication module.

The invention provides a crawler-type sleigh composite walking polar region robot. A position-changing crawler walking mechanism comprises four independent walking crawlers and a crawler rocker arm support. The walking crawler comprises a crawler belt body, driving wheels, supporting wheels and guide wheels. The crawler belt surrounds the driving wheels, the supporting wheels and the guide wheels,the driving wheel rotates in the mode that a hollow shaft is connected with a speed reducer shaft, the crawler rocker arm support rotates in the mode that a solid shaft located in the hollow shaft rotates, and different crawler advancing movement modes are achieved by controlling locking of a front guide wheel shaft and a rocker arm shaft. A sail sleigh mechanism comprises a sail at the top of arobot body and a sleigh at the bottom and capable of ascending and descending freely. The sail at the top can ascend and descend through a gear motor, the sleigh at the bottom can pop up from the bottom of the vehicle body, the angle of the sleigh is adjusted, and the pitching degree of the robot is further adjusted; the vehicle body can still be kept horizontal when the robot runs on an inclinedroad surface, and therefore it is guaranteed that instruments in the vehicle body can normally run.

The invention provides a spherical robot. The robot comprises a head component and a spherical body capable of rotating relative to the head component; the spherical body comprises a spherical shell, a connecting part arranged in the center area of the spherical shell and a walking drive mechanism connected between the spherical shell and the connecting part; the walking drive mechanism comprises a driving arm capable of swing around the connecting part, one end of the driving arm is provided with a driving wheel in contact with the spherical shell, the spherical robot is driven to walk through friction force between the driving wheel and the spherical shell, and the walking speed of the spherical robot is changed by changing the swing position of the driving arm relative to the connecting part; one side, far from the walking drive mechanism, of the connecting part is provided with a head driving component driving the head component to slide on the outer wall of the spherical shell through magnetic attraction force. The obstacle crossing and climbing capability of the spherical robot is improved, and stepless speed change is achieved.

The invention discloses an industrial pole-climbing robot with an obstacle-surmounting function. The industrial pole-climbing robot comprises two mechanical arms mounted at a main body, wherein each of the mechanical arms consists of a crawling guide mechanism, a self-locking drive mechanism, a rotation detachment mechanism and a transmission mechanism; each crawling guide mechanism comprises tworubber wheels which are oppositely arranged and can be used for crawling; the rear ends of the crawling guide mechanisms are correspondingly equipped with the self-locking drive mechanisms; the self-locking drive mechanisms comprise connecting shafts connected with the crawling guide mechanisms; one side of each self-locking drive mechanism is connected with the corresponding rotation detachment mechanism through the corresponding connecting shaft; the rotation detachment mechanisms are capable of realizing the rotation with two degrees of freedom; and the rotation detachment mechanisms are driven by the transmission mechanisms arranged at the rear end. By virtue of the self-locking drive mechanisms and the rotation detachment mechanisms, the industrial pole-climbing robot with the obstacle-surmounting function achieves the climbing on guide poles with different diameters, realizes the obstacle-surmounting function and increases the application fields of the pole-climbing robot.

The invention, which belongs to the technical field of electric power inspection, particularly discloses a line-hanging inspection robot, which comprises a controller, a bottom plate, a lifting mechanism, a traverse mechanism mounting plate, a traversing mechanism, a front working arm, a rear working arm, a front obstacle-crossing mechanical arm, and a rear obstacle-crossing mechanical arm. According to the invention, the front and rear working arms are designed and two obstacle-crossing mechanical arms e configured for the two working arms; when the robot walks, the front and rear working arms are suspended at the like for walking; and when the robot meets an obstacle like a suspension wire clamp, the two obstacle-crossing mechanical arms replace the two working arms simultaneously for walking, thereby realizing obstacle crossing quickly. Because of the action synchronization of the front and rear working arms and the action synchronization of the front and rear obstacle-crossing mechanical arms, the relative balancing of the gravity center of the inspection robot is ensured, so that the trouble of adjusting the gravity center is saved.

The invention discloses a detection system for a bridge rope. The detection system comprises a snake-shaped robot, a multi-single-vision detection module, a nondestructive magnetic flux leakage testing module and a magnetostriction sensing module, wherein the multi-single-vision detection module is located at a joint part of the snake-shaped robot; the nondestructive magnetic flux leakage testing module is located in the snake-shaped robot; the magnetostriction sensing module is located on the top of the snake-shaped robot. By designing the snake-shaped robot, the detection system can adapt to various environments and finish a spatial helical motion; the detection system is high in intelligent degree and strong in controllability; by virtue of the multi-single-vision detection module, the nondestructive magnetic flux leakage testing module and the magnetostriction sensing module, the external part, the internal part and the corrosive damage of the rope can be comprehensively detected; the detection system can perform gait transition in a detection task so as to successfully cross obstacles, so that the to-and-fro frequency in the detection process of the bridge rope is reduced, and the detection efficiency is improved.

The invention provides a three-dimensional robot having an obstacle detouring function, comprising a running gear, a chassis frame, a frame, a three-dimensional manipulator, an obstacle detouring running gear and a bracket. The running gear is fixed on the lower part of the chassis frame. The bracket and the frame are fixed on the upper part of the chassis frame. The obstacle detouring running gear is fixed on the lower part of the bracket. The three-dimensional manipulator is installed on the frame. The invention can astride a high obstacle in order to realize three-dimensional grabbing and interfering object. The robot can form a specific robot by matching with other robots.

The invention discloses an adsorption type wall climbing firefighting truck for a high building. The adsorption type wall climbing firefighting truck comprises a frame, a middle sucking disc assembly, a front sucking disc assembly, a back sucking disc assembly, a vacuum system and a vehicle-mounted firefighting device, wherein the front sucking disc assembly comprises a pair of front sucking disc devices arranged at one end, in the long edge direction, of the frame; the front sucking disc devices have front telescopic mechanisms which extend and retract in the normal direction of the frame; the back sucking disc assembly comprises a pair of back sucking disc devices arranged at the other end, in the long edge direction, of the frame; the back sucking disc devices have back telescopic mechanisms which extend and retract in the normal direction of the frame; the vacuum system is connected with the middle sucking disc assembly, the front sucking disc assembly and the back sucking disc assembly, and provides negative pressure; and the vehicle-mounted firefighting device is mounted on the frame. According to the adsorption type wall climbing firefighting truck, the obstacle crossing ability is high, and the control is relatively simple.

The invention discloses a mechanical structure of a humanoid edge climbing line patrol robot and an obstacle crossing method thereof, and belongs to the technical field of robots. The mechanical structure of the humanoid edge climbing line patrol robot comprises a frame; a first mechanical arm, a second mechanical arm, a third mechanical arm and a fourth mechanical arm capable of extending front and back in the walking direction of the frame are respectively arranged at four corners of the frame, and are respectively provided with a first manipulator, a second manipulator, a third manipulator and a fourth manipulator for grabbing lines from two sides; and mechanical wrists capable of rotating are arranged between all the mechanical arms and all the manipulators. Compared with the prior art, the mechanical structure of the humanoid edge climbing line patrol robot has the advantages of relief of the labor intensity, reduction of the operation cost and capability of crossing obstacles.

The invention relates to a locomotive advancing device and belongs to the field of automatic machine. The locomotive advancing device comprises six leg advancing devices, a chassis, a differential gear train device and a front universal wheel; the six leg advancing devices are symmetrically arranged on the two sides of the chassis; the differential gear train device is arranged at the back end ofthe lower surface of the chassis; and the front universal wheel is arranged at the front end of the lower surface of the chassis. According to the locomotive advancing device, by using two driving advancing modes, a locomotive advances by using wheels; and when meeting an obstacle, the locomotive can change the advancing mode into leg advancing mode to cross the obstacle so that the environmentaladaptability and universality of the locomotive can be improved. The locomotive advancing device has the advantages of simple structure, simple mechanism, reliable operation, low manufacturing cost and low operation cost; and the locomotive advancing device can be widely used as carriers for various automatic running machines.

The invention discloses a four-mechanical-arm climbing line-patrolling robot mechanical structure and an obstacle crossing method thereof and belongs to the technical field of robots. The four-mechanical-arm climbing line-patrolling robot mechanical structure comprises a frame. The four corners of the frame are provided with a first mechanical arm, a second mechanical arm, a third mechanical arm, and a fourth mechanical arm respectively which are capable of flexing and extending forwardly and backwardly along the moving direction of the frame. The first mechanical arm, the second mechanical arm, the third mechanical arm, and the fourth mechanical arm are provided with a first mechanical hand, a second mechanical hand, a third mechanical hand, and a fourth mechanical hand respectively which are used for holding a line from under the line. Compared with the prior art, the four-mechanical-arm climbing line-patrolling robot mechanical structure has advantages of reducing labor intensity, decreasing operation cost, and crossing obstacles.

The invention relates to an electric power inspection robot, an electric power inspection robot system and an electric power inspection robot obstacle crossing method. The electric power inspection robot comprises a horizontally arranged bottom plate, wherein a row of parallel sliding grooves are formed in the upper surface of the bottom plate, a sliding block is arranged in each sliding groove, and can be driven by a horizontal linear driving component to slide along the sliding groove and be positioned, vertical rods are installed on the upper portions of the sliding blocks, the vertical rods are perpendicular to the bottom plate, an upper roller and a lower roller are rotatably mounted at the upper portion of the vertical rod, a ground wire space is formed between the upper roller and the lower roller, a ground wire penetrates through the ground wire space, the lower roller is driven by a rotary driving component to rotate, the upper roller can vertically move and be fixed along thevertical rod so as to change the size of the ground wire space, a supporting plate is fixed to the upper surface of the sliding block, a rod sleeve is fixed to the upper surface of the supporting plate, and the lower portion of the vertical rod is inserted into the rod sleeve. According to the invention, the electric power inspection robot can walk along the overhead ground wire conveniently, andinspection of a power transmission line is completed.

The invention is suitable for the field of nondestructive detection, and provides an intelligent detector and a system for a bottom plate of a storage tank. The intelligent detector comprises a detection trolley, a positioning module mounted at the top of the detection trolley, walking wheels mounted in front of and behind the detection trolley, an excitation unit mounted at the bottom of the detection trolley, and a driving mechanism which is used for driving the excitation unit to move up and down mounted above the excitation unit. According to the intelligent detector, detection of the geographic environment in the storage tank can be realized by the positioning module, and a detection path can be reasonably planned. In addition, the height of the excitation unit can be adjusted, so that functions of obstacle crossing, welding avoidance, etc., can be realized. According to the intelligent detector disclosed by the invention, frequent repeated operation in the detection process can be eliminated, the physical and mental consumption is greatly reduced, the detection efficiency is improved, and the safety of operators is improved.

The invention discloses a device and a method for inspecting the closed space of a thermal power unit. The device includes two inspection trolleys connected by a flexible connector. Each inspection trolley is internally equipped with an inspection execution unit which includes an image acquisition module, a lighting module, an action control motor, a motion controller, a wireless communication module and a battery module. The method includes the following steps: placing the two inspection trolleys on the ground of the closed space of a thermal power unit and connecting the two inspection trolleys to a control end through a wireless communication network; carrying out light fill-in through the lighting modules and collecting inspection images through the image acquisition modules accordingto the command of the control end, and uploading the inspection images to the control end; and making the device run in different running modes according to the command of the control end to adapt tothe small-diameter closed pipe space of the thermal power unit. The device has strong obstacle crossing ability and strong field adaptability. The inside of the small-diameter closed pipe space of a thermal power unit can be quickly and efficiently inspected.

The invention discloses a multi-arm collaborative flexible cable obstacle crossing operation robot which comprises a frame type box body, a sliding swing mechanism is arranged at the top of the frame type box body, and the sliding swing mechanism is connected with a front movement arm, a middle movement arm and a rear movement arm; the front moving arm and the rear moving arm are symmetrically arranged on the front side and the rear side of the frame type box body; the front moving arm comprises a moving arm bottom plate, a direct-drive roller mechanism, a cable pressing mechanism, a first swinging mechanism and a first lifting mechanism; a moving arm framework is hinged to the moving arm bottom plate, and the direct-drive roller mechanism and the cable pressing mechanism are fixed to the moving arm framework. The first lifting mechanism is arranged below the moving arm bottom plate; the middle moving arm is arranged in the frame type box body and comprises a rope holding mechanism and a second lifting mechanism, and the rope holding mechanism is arranged at the top of the second lifting mechanism; the sliding swing mechanism comprises a sliding mechanism and two second swing mechanisms. The robot is high in obstacle crossing ability, good in safety and stability, suitable for large-sag flexible cables and high in detection precision.

The invention discloses a pinecone picking robot. The pinecone picking robot comprises a picking device, an obstacle cleaning device, a machine body device and a traveling part, the machine body device and the traveling part are provided with traveling tracks and can move, turn and move in a complex terrain, the picking device and the obstacle cleaning device can rotate relative to the machine body device, and the picking device and the obstacle cleaning device control a clamping claw to pick up pinecones and put into the machine body device through a plurality of rotating joints and rotary joints. According to the pinecone picking robot, full-automatic express delivery can be achieved, and the needs of full-automatic pinecone picking can be met.

The invention provides a spherical robot. The robot comprises a head component and a spherical body capable of rotating relative to the head component; the spherical body comprises a spherical shell, a connecting part arranged in the center area of the spherical shell and a walking drive mechanism connected between the spherical shell and the connecting part; the walking drive mechanism comprises a driving arm capable of swing around the connecting part, one end of the driving arm is provided with a driving wheel in contact with the spherical shell, the spherical robot is driven to walk through friction force between the driving wheel and the spherical shell, and the walking speed of the spherical robot is changed by changing the swing position of the driving arm relative to the connecting part; one side, far from the walking drive mechanism, of the connecting part is provided with a head driving component driving the head component to slide on the outer wall of the spherical shell through magnetic attraction force. The obstacle crossing and climbing capability of the spherical robot is improved, and stepless speed change is achieved.