47results about How to "Realize the function of overcoming obstacles" patented technology

The invention relates to a glass curtain wall cleaning machine. The glass curtain wall cleaning machine comprises a walking mechanism, a cleaning mechanism and a water circulating mechanism which are fixed on a bracket, wherein the walking mechanism comprises a translation cylinder, a slide block, a slide rail, a lifting cylinder, first sucking disk sets and second sucking disk sets; two groups of first sucking disk sets are symmetrically arranged on the left and right sides of the bracket; two groups of second sucking disk sets are symmetrically arranged on the upper and lower sides of the bracket; the slide block is connected with the slide rail in a sliding way; a piston rod of the translation cylinder is fixedly connected with the bracket; the translation cylinder is fixedly connected with the slide block. By adopting the glass curtain wall cleaning machine, unmanned cleaning of the exterior walls of tall buildings is realized, the cleaning speed and cleaning efficiency are high, and automatic walking and barrier crossing functions of the cleaning machine are realized; moreover, the walking speed can be adjusted in a stepless way, and the cleaning force can be adjusted in order to meet the cleaning requirements of different exterior walls.

The invention relates to a patrol wheel-pedrail type obstacle-crossing robot for transformer substations. The patrol wheel-pedrail type obstacle-crossing robot mainly comprises a chassis, a power mechanism and swing arms. The power mechanism is installed on the chassis and is provided with a walking power source and a swing arm power source, and the walking power source outputs power to walking wheels installed on two sides of the chassis through a transmission shaft. The swing arms are driven by the swing arm power source and are provided with a main walking belt wheel, a swing arm belt wheel and meshed walking pedrails, and the main walking belt wheel is coaxially assembled with the walking wheels. The swing arm power source drives the swing arms to swing for realizing the pedrail walking mode and/or the walking wheel walking mode of the robot. The patrol wheel-pedrail type obstacle-crossing robot can walk in different modes according to different road conditions and obtain the high obstacle-crossing ability through swinging of the swing arms.

The invention discloses an inspection robot which comprises two inspection robot bodies. Each inspection robot body comprises a walking wheel set mechanism, a clamping mechanism and a pitch change mechanism. Each pitch change mechanism comprises a base, a slide base arranged on the base, a screw rod arranged on the base, a nut matched with the screw rod in a threaded mode and connected with the slide base and a pitch change drive device arranged on the base. Each clamping mechanism comprises a supporting box arranged on the corresponding base, a supporting frame arranged on the supporting box, a first rotary shaft, a second rotary shaft, a clamping drive device, a first clamping jaw and a second clamping jaw, wherein each first rotary shaft and each corresponding second rotary shaft are arranged on the corresponding supporting frame and are connected through a transmission mechanism, each clamping drive device drives one of the corresponding first rotary shaft and the corresponding second rotary shaft to rotate, each first clamping jaw is fixed to the corresponding first rotary shaft, each second clamping jaw is fixed to the corresponding second rotary shaft, and the first clamping jaws and the second clamping jaws can be hung on a line after being crossed and can be disengaged from the line after being separated. The inspection robot can achieve the effect of crossing over a barrier through motions of the pitch change mechanisms.

The invention relates to a method for planning the quadruped robot foot end swinging track. The method includes designing the curve end point state parameter in the foot end swinging process according to the swinging span and the swinging phase duration of the foot ends; and fitting the foot end swinging track. The method for planning the foot end swinging track achieves the barrier avoidance function when the leg lifting sage has the backward and upward motion trend; can better realize the barrier avoidance function when the walking direction has the backward and upward motion trend; and moreover, the foot end swinging track parameter can be adjusted in real time to be flexibly adapted to the landform, so that the passing capability of the quadruped robot on the complex rough landform is improved.

The invention discloses a carrying and obstacle crossing mechanism for electromagnetic detection of a power transmission line. The carrying and obstacle crossing mechanism comprises a driving motor mounted on a fixed plate, wherein a swing arm which is capable of circumferentially swinging by taking an output shaft of the motor as a circle center when the motor rotates is mounted on the output shaft of the driving motor and the swing arm is connected with a seat plate positioned under the swing arm through springs and a connection rod; the springs are perpendicularly mounted over the axis of the power transmission line under a free state; an elliptical limiting through hole is formed in the middle part of the seat plate; the connection rod penetrates through the elliptical limiting through hole; a self-locking screw cap of which the size is greater than the length of a short axis of the elliptical limiting through hole is arranged at the lower end of the connection rod in a sleeving manner; the lower part of the seat plate is connected with pulleys which are capable of being clamped on the power transmission line and an electromagnetic detection device which is used for performing electromagnetic detection on the power transmission line. The carrying and obstacle crossing mechanism is used for carrying the electromagnetic detection device and has the functions of preventing shaking, stabilization, obstacle crossing and the like.

The invention discloses a flexible robot based on piezoelectric driving. The flexible robot based on piezoelectric driving is formed by connecting six driving feet to a cross-shaped PVC film, and shape memory alloy springs and shape memory alloy wires are separately arranged on the upper and lower surfaces of the PVC film, wherein the shape memory alloy springs and the shape memory alloy wires arearranged in a crossed mode. By using the vibration of piezoelectric bimorph under the action of sine and cosine voltages, the robot can move forward and turn left and right by exciting different piezoelectric bimorph sets. By using the characteristics that the shape memory alloy springs are heated and shrunk to restore the original length, a corresponding front leg, middle leg or rear leg of therobot is lifted, and meanwhile by using the characteristics that the shape memory alloy wires are heated to restore the original straight line shape, so that the corresponding front leg, middle leg orrear leg of the robot fall down, and the obstacle-crossing function of the robot is realized. The flexible robot based on piezoelectric driving combines the advantages of fast response, accurate positioning and large deformation degree of a shape memory alloy of piezoelectric driving to realize the planar motion and the obstacle-crossing function of the robot.

The invention discloses a multifunctional integrated smart highway pruning machine and relates to the field of vegetation pruning machinery. The multifunctional integrated smart highway pruning machine comprises four main modules, namely a pruning module, a spraying module, an obstacle-surmounting module and a travelling module and realizes functions of mechanical cutting, pruning, spraying and travelling. The pruning module is composed of a main cutter mechanism and a side cutter mechanism which can cooperatively complete pruning of different shapes; the spraying module is provided with a liquid level sensor which is capable of monitoring pesticide allowance in real time; the obstacle-surmounting module steps over obstacles of a central partition by applying incomplete gear rings and an electromagnetic valve; the travelling module comprises a driving wheel, universal wheels and built-in guide wheels, and the machinery travelling along the central partition can be guaranteed. Compared with a traditional machine, the multifunctional integrated smart highway pruning machine has the advantages that vegetation of different shapes can be pruned, pruning quality is improved, labor intensity of pruning personnel and pruning cost are reduced, and potential safety hazard existing in manual pruning is reduced.

The invention provides a novel hexapod boiler water wall maintenance robot. The novel hexapod boiler water wall maintenance robot comprises: a main transmission system for realizing longitudinal linear movement of the robot on a vertical wall surface; a three-degree-of-freedom mechanical leg transverse movement mechanism which is used for realizing an adsorption function, an obstacle crossing function and crossing in different working intervals of the robot; and a maintenance mechanism which achieves the functions of accumulated dust cleaning and camera shooting. The electromagnetic wall-climbing robot is high in load capacity, flexible in movement, high in wall surface adaptive capacity and good in application prospect, almost realizes full coverage of the interior of a boiler without dead angles, and has good application prospect. According to the scheme, low noise, no pollution, low cost and light weight are achieved, and sustainable development of the environment and the society isfacilitated.

The invention belongs to the field of wall-climbing robots, and relates to a window cleaning robot and an obstacle crossing mode control method thereof. The window cleaning robot comprises a first window cleaning sub-robot body, a second window cleaning sub-robot body and a middle connecting rod, and the specific control method of an obstacle crossing mode is determined according to obstacle crossing instructions of different directions. In the obstacle crossing process, a robot shell abuts against a glass frame, the torsion resistance of the robot is enhanced through the counterforce of the glass frame, and the small window cleaning robot achieves stable and reliable obstacle crossing functions.

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 discloses a magnetic adsorption crawler-type wall-climbing robot which comprises a supporting frame, magnetic adsorption crawler-type movement mechanisms are arranged on the left side and the right side of the supporting frame respectively, an obstacle crossing magnetic wheel mechanism is arranged at the bottom of the supporting frame, each magnetic adsorption crawler-type movement mechanism comprises a crawler, front wheels and rear wheels, and a plurality of permanent magnets are arranged on the surface of each crawler. The whole robot is attracted to the magnetic conduction wall face through magnetic attraction of the permanent magnets and the magnetic conduction wall face, the front wheels are driven to rotate through the driving mechanism, and therefore the crawler belt is driven to run. The obstacle-crossing magnetic wheel mechanism comprises obstacle-crossing magnetic wheels, the obstacle-crossing magnetic wheels are rotationally installed at the bottom ends of magnetic wheel supporting frames, the top ends of the magnetic wheel supporting frames are rotationally installed on a chassis of the supporting vehicle frame, the middle sections of the magnetic wheel supporting frames are connected with a shell of the supporting vehicle frame through dampers, and the obstacle-crossing magnetic wheels are magnetically attached to the magnetic conductive wall faces in the working process. The robot has the advantages that stable and reliable adsorption of the robot is achieved, and the robot can adapt to various complex wall faces.

The invention discloses a pipeline robot magnetic absorption track structure. The track structure comprises an inner hexagonal plate and an outer hexagonal plate and further comprises a magnet mounting plate and a permanent magnet. The inner hexagonal plate and the outer hexagonal plate are wrapped by a track in the outer periphery direction. The two sides of the magnet mounting plate are fixed to the inner hexagonal plate and the outer hexagonal plate respectively and located at the inner side of the track. The permanent magnet is fixed to the magnet mounting plate. The spacing between the permanent magnet and the track is 1-1.5 mm. According to the pipeline robot magnetic absorption track structure, a pipeline robot can be attached to move inside a pipeline, climb the pipeline wall, move flexibly, stop abruptly, make a turn, move backwards and cross obstacles. Therefore, the pipeline robot can better detect the interior of the pipeline.

The invention relates to the technical field of photovoltaic cleaning, and particularly discloses a photovoltaic power station cleaning robot capable of crossing obstacles. The cleaning robot comprises a machine shell, a supporting frame, a walking system, a cleaning system and an obstacle-crossing system, and the walking system, the cleaning system and the obstacle-crossing system are installed on the supporting frame. A machine shell used for protecting the walking system, the cleaning system and the obstacle-crossing system is fixed to the upper side of the supporting frame. The obstacle-crossing system comprises a rotary table mechanism and a turnover arm mechanism. The rotary table mechanism comprises a rotary table, a guide rail, a positioning block, a sliding block, a movable block, a second motor, a first lead screw, a supporting block, a hinged block and a push-pull plate, and the turnover arm mechanism comprises a turnover arm, a third motor, a second lead screw, a guide rod and a suction cup mechanism. In the running process, the obstacle-crossing function can be achieved, that is, when two coaxial adjacent systems arranged in the same direction are encountered, the cleaning robot can automatically cross the gap between the two coaxial adjacent systems, and assembly cleaning work of the other system is completed.

The invention relates to a power system charging detection technology, in particular to a high-voltage transmission line inspection robot intelligent charging device and a control method, and the device comprises a mobile module, a cantilever module, a control module, a ground terminal, a measurement module and a power supply module. The mobile module can walk along a power transmission cable; thecantilever module comprises a charging plug and a grabbing joint, and realizes obstacle crossing, when the charging plug is connected with a power supply socket, a robot can be charged; in the charging process, the measurement module monitors the environment in real time and transmits monitored data to the ground terminal; when it is found that charging is not suitable due to too high temperatureor too high humidity, terminal personnel immediately stop charging, the control module controls movement of the robot, the measurement module transmits measured data to the ground terminal, and the power supply module charges the robot. The device can effectively solve the problem that the power energy carried by the inspection robot is limited, and the inspection efficiency of the inspection robot is improved.