112results about How to "Stable and reliable walking" patented technology

The invention discloses a multi-sensor integration based three-dimensional environment identifying system and a multi-sensor integrated based three-dimensional environment identifying method for a walker aid robot. The multi-sensor integration based three-dimensional environment identifying system comprises an ARM information processing module, an industrial personal computer and a lower computer motion control module, wherein the ARM information processing module sets up a three-dimensional scene reconstruction and target tracking information and transmits the same to the industrial personal computer module after processing acquired data. The industrial personal computer receives users' commands, generates a navigation map by means of a GPS (global positioning system), combines the three-dimensional scene reconstruction and target tracking information with a navigation map to generate motion path planning information and transmits the motion path planning information to the lower computer motion control module. The lower computer control module drives and controls the walker aid robot to act correspondingly according to the motion path planning information and feeds the motion information back to the industrial personal computer. The three-dimensional environment identifying system integrates multiple sensors, creates a real three-dimensional environment for the walker aid robot and generates superior motion path for the walker aid robot to safely, stably and reliably walk, target tracking is realized effectively, and intelligentization of the walker aid robot is improved.

The invention discloses a kind of online supersonic wave detection method and the device for steel track. The device comprises mechanical system, information processing system and the automatic control system, the mechanical system is made up of steel rail guiding mechanism, steel rail guiding and restraining mechanism, multi-crystal supersonic detecting head, speed measuring mechanism, two sets of contacting coupled detecting head landing chassis, detecting frame adjustment mechanism and mark spraying device; information processing system includes digital supersonic wave detection instrument, waveform processing computer and the waveform monitor; the automatic control system includes detecting head landing chassis, mark spraying and speed measuring, made up of closing switch, photoelectric rotary coding device, PLC controller, electricity control computer and the monitor.

The invention discloses a walking mechanism of a massage chair movement. The mechanism comprises an out frame composed of an upper slide rail and a lower side rail, wherein two ends of the massage movement with a power device are disposed on a track groove in the inner side of the outer frame, curved racks are paved on two inner sides of the upper slide rail and the lower slide rail and are mutually hinged, and the lateral part has an L shape capable of angle adjustment; the massage movement transmits rotation power to walking gears on two sides by a reduction mechanism, the walking gears are meshed with the curved racks, thus the massage movement can move back and forth in the outer frame with the curved racks are tracks, and the massage movement can conduct effective and reliable walking.

The invention discloses a middle-low-speed magnetic suspension rescue robot. The middle-low-speed magnetic suspension rescue robot comprises a rack, folding bending mechanisms, a detecting rescue mechanism and an autonomous cruise module; the rack stretches over two middle-low-speed magnetic suspension F rails to be detected; the two folding bending mechanisms are arranged at the two ends of the rack and are located above the F rails, and each folding bending mechanism is provided with a walking wheel pair and a clamping wheel pair; the detecting rescue mechanism comprises a distance measuring sensor, a camera and a rescue contact rod, the distance measuring sensor is arranged on the rack and located between the two F rails, the camera is arranged above the rack, and the rescue contact rod is horizontally mounted on the side face of the rack; the autonomous cruise module is mounted below the rack and used for achieving free walking of the rescue robot along the F rails. In-time rescue of the F-rail abnormal detection robot is achieved, and the beneficial effects of being simple in structure, convenient to operate and the like are achieved.

The invention discloses a low and medium speed magnetic levitation icebreaking and snow melting cleaning robot which comprises a machine frame, two folding bending mechanisms, an ice melting cleaning mechanism and an autonomous cruising module. The machine frame stretches over two rails F of low and medium speed magnetic levitation to be detected. The two folding bending mechanisms are arranged at the two ends of the machine frame and located above the rails F. Each folding and bending mechanism is provided with a walking wheel pair and a clamping wheel pair. The snow melting cleaning mechanism comprises a fixed frame, a rail F obstacle removal cleaning unit and an ice melting heating unit. The fixing frame is installed on the machine frame and located above the folding bending mechanisms and arranged in the extending direction of the rails F. The rail F obstacle removal cleaning unit and the ice melting heating unit are arranged at the two ends of the fixing frame. The autonomous cruising module is installed below the machine frame. Rail F ice and snow melting and cleaning can be achieved, and the low and medium speed magnetic levitation icebreaking and snow melting cleaning robot has the advantages of being simple in structure, convenient to operate and the like.

The invention relates to a massage chair. The massage chair comprises a backrest rack, a cushion rack, a seat rack, an electric push rod and a massage core, wherein backrest rail beams are arranged on two sides of the backrest rack, cushion rail beams are arranged on two sides of the cushion rack, continuous racks or chains are fixed to the backrest rail beams and the cushion rail beams, the ends, close to the backrest rail beams and the cushion rail beams, of the racks or chains are provided with suspended sections, and the suspended sections can be bent and straightened along with the angular adjusting of the backrest rack and the cushion rack; gears or sprockets on the traveling shaft of the massage core mesh with the corresponding racks or chains, and the meshing states are kept by abutting mechanism abutted against the lower sides of the racks or chains. The massage chair has the advantages that the massage core can constantly travel between the backrest rack and the cushion rack, both sit-lie angle adjusting and traveling massage are achieved, and massage comfortableness is increased.

The invention relates to an independent shield trolley sleeper and a construction method thereof. The sleeper comprises a horizontal steel plate with a supporting surface, a vertical steel plate and a limiting steel plate, wherein the vertical steel plate and the limiting steel plate are used for bearing the horizontal steel plate; and the shape of the bottom edge of the vertical steel plate is matched with that of an inner arc surface of a shield segment, the dimension of an outer outline surface of the limiting steel plate is matched with that of an inner outline surface of a hand hole on the shield segment, a limiting shaft is arranged at the lower end portion of the limiting steel plate, and the diameter of the limiting shaft is matched with that of a bolt hole axially arranged in the hand hole of the shield segment. The independent shield trolley sleeper has the advantages of being simple in structure, greatly reducing consumption of steel materials, effectively reducing the weight, and enabling a shield trolley to move stably and reliably by being adhered onto the shield segment stably. Simultaneously, by adopting the structure, the sleeper is fast and convenient to detach when used circularly, reduces investment of manpower and time and improves the extending speed of a rail arranged on the sleeper.

The invention discloses a power automatic conversion connection system of a tyre crane with double power supplies. The system comprises a sliding contact line and a current collection trolley. The sliding contact line is installed on a sliding contact line bracket. Guide rails are installed on the sliding contact line bracket. Travelling wheels are installed on support arms of the current collection trolley. After the current collection trolley is installed on the sliding contact line bracket, the travelling wheels travel on the guide rails. A connection mechanism is installed on the tyre crane. The connection mechanism comprises a vertical moving mechanism, a horizontal stretching mechanism and a hanging device. A guide plate is installed on the sliding contact line bracket above the guide rails. Guide wheels are installed on the ends of the support arms of the current collection trolley. When the current collection trolley moves towards the sliding contact line bracket and is in contact with the guide plate, the guide wheels just enable the travelling wheels to be located right above the guide rails. According to the system disclosed by the invention, the self-supported power of the tyre crane and the power of a commercial power grid can be converted automatically without manual plugging; and the system is safe and efficient and facilitates the transferring work of the tyre crane.

The invention relates to a travelling device for an arch bridge. The travelling device comprises a guide rail and a moving unit. The guide rail is fixedly arranged on the bottom surface of the arch bridge. A chain is fixedly arranged at the bottom end of the guide rail. The moving unit is suspended on the guide rail through suspension mechanisms. Chain wheels and power sources are arranged on the moving unit. The power sources can drive the chain wheels to rotate on the chain, and the moving unit is enabled to move on the guide rail. The travelling device is simple in structure, convenient to produce, stable and reliable in operation and convenient to operate, popularize and apply.

The invention discloses a pre-embedded hole drill carriage for coal mine. The pre-embedded hole drill carriage for the coal mine comprises a drilling mechanism, a traveling chassis and a driving control part, the driving control part is arranged at the front of the traveling chassis, and the drilling mechanism comprises a rotating device arranged above the middle of the traveling chassis, a lifting device arranged on the rotating device, and a drilling device arranged on the lifting device in a sliding mode. The pre-embedded hole drill carriage for the coal mine is reasonable in structure design, good in rigidity, free in traveling, reliable, capable of working under a hostile environment, narrow, convenient to give another the right of way in a narrow coal mine roadway, and capable of realizing the safe, effective and mechanical working targets of the pre-embedded hole construction of the coal mine of China, and the pre-embedded hole drill carriage is a very ideal pre-embedded hole construction device.

The invention provides a walking mechanism. The walking mechanism comprises a walking wheel group, the walking wheel group comprises two front wheels arranged at the front and two opposite rear wheels in the advancing direction of the walking mechanism, and the front wheels and the rear wheels located on the same side are arranged as synchronous rotation; each walking wheel in the walking wheel group comprises a wheel outer tire which can be supported on the ground, each wheel outer tire comprises a tread outer side which makes contact with the ground during walking, tread patterns which are distributed in the circumferential direction of the wheel outer tire are arranged on the tread outer side, and the tread pattern structure is a plurality of pattern strips; and a pattern ditch is formed between adjacent two pattern strips, and the tread patterns of the four walking wheels is in an outward radiate shape from centers of the four walking wheels. The invention further provides a robot provided with the walking mechanism and a self-walking grass cutter. The walking mechanism and the robot provided with the walking mechanism can effectively adapt to various uneven grounds.

The invention provides a rotatable erection crane for assembling a steel box girder. Accurate assembling and butting after rotation of the steel box girder in a plane at 90 degrees in the air is realized. The rotatable erection crane for assembling the steel box girder comprises a walking system, a main truss system, a lifting system and an anchoring system, wherein the main truss system is arranged on the installed steel box girder, the walking system is arranged at the bottom of the main truss system, the lifting system is arranged at the upper part of the main truss system, a longitudinal movement adjustment system is arranged between the main truss system and the lifting system, and a rotatable lifting device is arranged on the lifting system. According to the preferred scheme of the rotatable erection crane for assembling the steel box girder, the walking system includes a pushing cylinder, a rail, a sliding seat and a reverse buckle mechanism, wherein the rail is arranged under the main truss system, the sliding seat matched with the rail is arranged on the rail, the sliding seat is connected to the front end of the pushing cylinder, the rail is connected to the rear end of the pushing cylinder, the upper part of the reverse buckle mechanism is mounted at the rear end of the main truss system through pin shafts, and the lower part of the reverse buckle mechanism is in contact with the outer side of a flange of the rail by rollers.

The invention relates to a large filter-press cloth-washing mechanism and a travel brake cleaning method. The large filter-press cloth-washing mechanism comprises a filter-press filter-cloth washing mechanism, wherein guide rails in the filter-press filter-cloth washing mechanism are arranged at two sides of a filter-press main beam, a supporting frame is a four-upright frame, the lower end of the four-upright frame is positioned on the guide rails through a horizontal travelling mechanism and moves along the guide rails; the guide rails are electromagnetic guide rails which are connected with an electromagnetic controller through a control wire, a lifting mechanism is positioned at the upper end of the supporting frame and connected with a cleaning frame in the supporting frame, and the lifting mechanism drives the cleaning frame to lift along the inner wall of the supporting frame. The invention has the advantages that: firstly, the lower horizontal travelling mechanism is adopted, the guide rails are arranged at two sides of the guide rail without increasing a huge guide rail supporting frame; secondly, the lifting mechanism is driven by a low-speed motor and is lifted stably and reliably; and thirdly, the cleaning frame is positioned by guide wheels and the electromagnetic guide tracks, therefore, the cleaning mechanism is more stable and reliable and safer in travelling, and the cleaning frame is lifted more stably and reliably.

The invention discloses hoisting equipment and a construction method which are suitable for synchronously hoisting prefabricated cantilevers on the two sides of a composite-section segmental beam. The hoisting equipment mainly comprises a gantry system, an anchoring system, a hoisting system and a walking system. The gantry system is fixed to a core longitudinal beam through the anchoring system, the prefabricated cantilevers are hoisted to the two sides of the core longitudinal beam through the hoisting system, after the installation of a pair of cantilevers is completed, anchoring between the hoisting equipment and the core longitudinal beam is relieved, and the hoisting equipment is moved forwards through the bridge deck walking system for hoisting of the next segment. The hoisting equipment can ensure sufficient on-beam beam transportation space, so that the hoisting equipment does not influence subsequent cross-core-longitudinal-beam transportation and assembly when a site lacks parking conditions for a large crane ship or a hoisting crane, the efficiency is improved, and the construction period is shortened.

An automatic large pipeline cutting machine is characterized by comprising a cutting mechanism, a lifting mechanism, a circumference walking mechanism, an installing bottom plate and a circumference rail; the circumference walking mechanism and the lifting mechanism are both installed on the installing bottom plate, the circumference rail is installed around the circumference of a pipeline to be cut, the circumference walking mechanism moves along the circumference rail and drives the installing bottom plate to move along the circumference of the pipeline to be cut; and the cutting mechanism is arranged at the tail end of the lifting mechanism.

The invention relates to a running device for an arch bridge. The running device comprises guide rails fixedly arranged on the undersurface of the arch bridge and moving units hung on guide rail assemblies through hanging mechanisms, wherein a chain is fixedly arranged at the bottom end of each guide rail; chain wheels and a power source are arranged on each moving unit. Due to the construction of the power sources, the chain wheels can be driven to rotate on the chains, so that the moving units move on the guide rails. The running device for the arch bridge is simple in structure, convenient to produce, stable and reliable in operation and convenient to apply and popularize.

The invention discloses a medium-low speed magnetic suspension auxiliary working robot, which comprises a frame, two sets of folding and bending mechanisms, an auxiliary working mechanism and an autonomous cruising module. The frame spans between two F rails of medium-low speed magnetic suspension to be detected. The two sets of folding and bending mechanisms are respectively arranged at two endsof the frame and above the F rail, and each group of the folding and bending mechanism is provided with a traveling wheel pair and a clamping wheel pair. The auxiliary work mechanism comprises an auxiliary work platform and an auxiliary work equipment, wherein the auxiliary work platform is installed on the machine frame and the auxiliary work equipment is installed on the auxiliary work platformfor completing the auxiliary work. The autonomous cruise module is installed under the rack, which is used to realize the free walking of the auxiliary robot along the F-track. The invention can realize auxiliary operation of field maintenance and can realize autonomous cruising, and has the advantages of simple structure, convenient operation and the like.

The invention discloses a medium and low speed maglev auxiliary operation robot. The auxiliary operation robot comprises a rack, folding and bending mechanisms, an auxiliary operation mechanism and an autonomous cruise module. The rack stretches across two F rails of a medium and low speed maglev; the two folding and bending mechanisms are arranged at the two ends of the rack respectively and located on the F rails, and each folding and bending mechanism is provided with a walking wheel pair and a detent wheel pair; the auxiliary operation mechanism comprises an auxiliary operation platform and auxiliary operation equipment, wherein the auxiliary operation platform is installed on the rack, the auxiliary operation equipment is installed on the auxiliary operation platform and used for completing auxiliary operation; the autonomous cruise module is installed below the rack and used for making the auxiliary operation robot walk along the F rails freely. Auxiliary operation of on-site maintenance and autonomous cruise can be achieved, and the medium and low speed maglev auxiliary operation robot has the advantages of being simple in structure, convenient to operate and the like.

The invention relates to the technical field of robot equipment, in particular to a robot with an over-obstacle function. The robot with the over-obstacle function comprises a base, connecting rods, rollers, support plates, first springs, second springs, limiting columns and first rods. The connecting rods are rotatably arranged on the base, the base is provided with first motors for driving the connecting rods to swing, the rollers are arranged at the two ends of the connecting rods, and the connecting rods are provided with second motors for driving the rollers to rotate. The robot with theover-obstacle function is supported on a pipe through the support plates on the base during use, the reciprocating swing of the connecting rods is controlled at the same time, the rollers at one endsof the connecting rods are connected to the pipe so as to control the robot to walk on the pipe, when the robot overs an obstacle, the first rods are in contact with flange plates to drive the limiting columns to be separated from clamping grooves, at the same time, the flange plates act on the inclined surfaces of the support plates, so that the support plates are risen, and the base passes through the flange plates.

The invention discloses a self-walking multifunctional cleaning vehicle device for a solar panel. The self-walking multifunctional cleaning vehicle device comprises a device body, wherein the device body comprises an integrated supply unit and a vehicle body; multifunctional cleaning truss structures are installed on the vehicle body; an optional truss extension structure is arranged between the multifunctional cleaning truss structures; crawler walking mechanisms are installed at the two ends of the multifunctional cleaning truss structures; a walking unit driven by a wireless control motor is arranged at one end of the vehicle body; a direct-current motor is installed in the walking unit driven by the wireless control motor; a rolling brush drive shaft is arranged at one end of the direct-current motor; a double reduction structure is arranged on the rolling brush drive shaft; a truss is arranged at the top ends of the multifunctional cleaning truss structures; a water collection tray is arranged at the bottom end of the truss; and a rolling brush is installed at one end of the water collection tray. The self-walking multifunctional cleaning vehicle device disclosed by the invention is novel in structure, and simple and convenient to operate; the multifunctional cleaning truss structures provide electricity, water and steam, and the connection channel of a transmission shaft;and the unique designs of the cleaning rolling brush, a silica gel scraping plate, a water collection plate and the like are provided.

The invention relates to a ground guiding wire traveling crane. The ground guiding wire traveling crane comprises a base, a seat body which is arranged on the base and a guard rail which is matched with the seat body, wherein two sides of the base are respectively provided with a traveling device and a braking device; the traveling device and the braking device are respectively provided with a first traveling wheel and a second traveling wheel. The ground guiding wire traveling crane has the following beneficial effects that firstly, newly developed equipment capable of traveling on a ground guiding wire is adopted to maintain the ground guiding wire, and the ground guiding wire traveling crane is simple in structure, reliable to use and high in safety; secondly, the ground guiding wire traveling crane is provided with the traveling device for traveling driving and the braking device capable of braking in time at any time, so that the purposes of quick and stable traveling and safety are achieved, the traveling crane also can be braked at the same time, the operation is simple and reliable, and the work efficiency is improved; thirdly, the ground guiding wire traveling crane is provided with the guard rail, so that the personal safety reliability of maintenance personnel is improved, forward bending and falling are prevented, and the ground guiding wire traveling crane is also beneficial to force-borrowing operation of the maintenance personnel by abutting against the guard rail and is beneficial to reducing the working strength of the maintenance personnel.

The invention discloses a roof structure of a sandblasting room. The roof structure of the sandblasting room comprises a wall body and also comprises a driving mechanism, a transmission chain wheel, a flexible tarpaulin, a plurality of trusses, a plurality of trolleys, a sliding rail, a chain rail and a hinge structure; the sliding rail and the chain rail are fixedly connected onto the upper portion of the wall body; the driving mechanism is in transmission connection with the transmission chain wheel; the driving mechanism and the transmission chain wheel are fixedly connected onto the first trolley; the transmission chain wheel is meshed with the chain rail in a transmission mode; two ends of the plurality of trusses are fixedly connected with the corresponding trolleys respectively; the plurality of trusses are hinged to each other through the hinge structure; the trolleys are in rolling connection with the sliding rail; the flexible tarpaulin is fixedly connected with the plurality of trusses. According to the roof structure of the sandblasting room, the sealing effect is good, the pollution to the external environment in the process of sandblasting is avoided, and the efficiency and the quality of the sandblasting are improved.

The invention discloses a self-walking device of a large transformer. The self-walking device comprises a walking wheel set, a hydraulic driving system, a control cabinet and a driven walking mechanism, wherein the walking wheel set comprises a plurality of walking wheel mechanisms, the walking wheel mechanisms are uniformly distributed and installed at the bottom of the transformer, the walking wheel mechanisms are power and carriers of the transformer, the hydraulic driving system and the control cabinet are integrated on the driven walking mechanism, the driven walking mechanism is hung onthe transformer through rigid connection, and one end of the hydraulic driving system is in transmission connection with the walking wheel mechanisms. The walking wheel set is provided with the corresponding hydraulic system, so that on-orbit self-walking displacement of the large transformer is realized, and many problems existing in a rope traction displacement mode are eliminated; a ground anchor does not need to be arranged on site, the conveying process is coherent and rapid, and the transfer time of more than ten days can be shortened to one day; and the self-walking device walks stably,safely and reliably, so that the operation efficiency is greatly improved, the engineering construction period or the shutdown maintenance period is shortened, and the economic benefit and the socialbenefit are extremely considerable.

A fluid spraying device of metal materials is used for spraying fluid for an object to be sprayed (4). The fluid spraying device comprises a shell composed of an upper bearing portion (92) and a lower driving containing portion (91). The upper bearing portion (92) is in sliding fit with a plurality of guiding rods (93) fixedly connected with an adjusting base (101) to achieve bearing. The adjusting base (101) is in sliding fit with a sliding groove (102) formed in a machine frame (100). An adjusting motor (21) capable of adjusting the height of the adjusting base (101) is installed at the upper end of the machine frame (100). An internal thread gear disc (96) is clamped into an inner cavity (920) of the upper bearing portion (92) through a thrust bearing. An internal thread is arranged on the inner circumference of the internal thread gear disc (96) and used for being in fit with a walking screw (95) which is parallel to the guiding rods (93) and penetrates through the inner cavity (920).

A fluid spraying assembly convenient and fast to operate is used for spraying fluid towards a to-be-sprayed object (4) and comprises an outer shell (9) composed of an upper supporting part (92) and a lower driving and containing part (91). The upper supporting part (92) is in sliding fit with a plurality of guide rods (93) fixedly connected with a fixing base frame (100) to realize supporting. An inner threaded gear plate (96) is clamped in an inner cavity (920) of the upper supporting part (92) through a thrust bearing. An inner thread is arranged in the inner periphery position of the inner threaded gear plate (96) and used for being matched with a traveling screw (95) which is parallel to the guide rods (93) and penetrates through the inner cavity (920).

The invention relates to a fluid spraying assembly with a simple structure for spraying a fluid to a sprayed object (4). The assembly comprises a housing (9) formed by an upper supporting part (92) and a lower driving accommodating part (91), wherein the upper supporting part (92) is slidably matched with a plurality of guide rods (93) which are fixedly connected to a fixed base frame (100) to realize supporting; an internal thread gear disc (96) is clamped in an inner cavity (920) of the upper supporting part (92) through a thrust bearing; and an internal thread is arranged at the inner circumference of the internal thread gear disc (96) for being matched with a traveling screw (95) which is parallel to the guide rods (93) and penetrates through the inner cavity (920).

The invention discloses an anti-explosion walking robot for a natural gas pipeline, and belongs to the technical field of robots. The anti-explosion walking robot comprises a chassis, swing air cylinders, a transmission system, a transmission control system, wheel systems and a supporting system. The four wheel systems are installed on the swing air cylinders through the transmission system and the transmission control system. The transmission control system controls the meshing position of the transmission gear A to achieve advancing and retreating of the robot. According to the anti-explosion walking robot, the double swing air cylinders and the two-way ratchet mechanism are designed to work cooperatively, reliable and continuous operation of the anti-explosion walking robot for the natural gas pipeline can be achieved, and the anti-explosion walking robot has the advantages of being stable and reliable in the working process, easy to control and easy to operate.

A fluid spraying device convenient to lock is used for spraying fluid to a to-be-sprayed object (4), and comprises a shell (9) consisting of an upper supporting part (92) and a lower drive containing part (91); supporting is realized by the upper supporting part (92) through sliding fit between the top supporting part (92) and a plurality of guide rods (93) fixedly connected with a fixed bed frame (100); an internal thread gear plate (96) is arranged in an inner cavity (920) of the upper supporting part (92) through a thrust bearing in a clamping manner; the inner circumference of the internal thread gear plate (96) is provided with internal threads used for being matched with a walking screw (95) which is parallel to the guide rods (93) and penetrates through the inner cavity (920).

The invention discloses a height-adjustable automatic reciprocating traveling power tongs device. The device comprises hydraulic power tongs which comprise a main tong and a back tong. The hydraulic power tongs are hung on a traveling support, and a traveling rail is laid at the bottom of the traveling support. The traveling support comprises an outer frame portion and an inner frame portion. The inner frame portion is connected with an outer frame portion through a hydraulic lifting unit and is capable of rising and descending along the inside of the outer frame portion. By means of the device, the device is moved front and back through the traveling support, the power tongs can rise and descend freely relative to a drilling table surface and can pass through the wellhead to a mouse hole opening, a cylinder and a suspension unit are not needed to be moved, the whole operation process can be completed through one person and can be completed through remote control, and accordingly, the labor intensity is reduced greatly, and the worker safety factor is improved.