91results about How to "Strong ability to overcome obstacles" patented technology

A Mecanum wheel-based rocker omnidirectional mobile platform comprises a main body (1), leftwards-rotating Mecanum wheel assemblies (3), rightwards-rotating Mecanum wheel assemblies (5), a rocker suspension I (2), a rocker suspension II (15) and a balancing mechanism (6); the middle parts of the rocker suspension I and the rocker suspension II are hinged to the left and right sides of the main body through revolute joints symmetrically; the middle part of a transverse rocker (8) of the balancing mechanism and one end of the main body are hinged by a revolute joint (10); one end of a side connecting rod I (9) and one end of a side connecting rod II (11) of the balancing mechanism are hinged to the left and right ends of the transverse rocker by spherical joints, and the other end of the side connecting rod I (9) and the other end of the side connecting rod II (11) of the balancing mechanism are hinged to the rocker suspension I and the rocker suspension II by spherical joints; two Mecanum wheel assemblies with different rotation directions are fixed to the two ends of each rocker suspension, and the Mecanum wheel assemblies at the same ends of the rocker suspension I and the rocker suspension II are opposite in rotation directions. According to the invention, wheels are always in contact with the ground and the load is shared, so that the Mecanum wheel-based rocker omnidirectional mobile platform has better motion controllability and terrain trafficability.

Provided is a robot used to ride on power transmission lines or climb between power transmission steel towers, comprising a pair of mechanical arms. The upper ends of the mechanical arms are equipped with a clamping device which is capable of rotating around a mounting shaft, and the clamping device is provided with a gripping jaw which is capable of clamping a strain tower angle-bar and directing lines, and a roller which can be hung on the directing lines. Lower ends of the mechanical arms are installed on a slipway which can relatively slide along a guide rail, arms are capable of rotating around the mounting shaft and can do swaying movement, a control and driving unit is installed in an electric box which is arranged at the bottom portion of a hanger and the slipway, and the control and driving unit can slide along the guide rail, playing a key role in regulating the center-of-gravity position of the robot. The invention is compact in structure, the articulated linkwork is capable of accomplishing complex operation among different vertical planes, and the invention can climb over all structural forms of steel towers and has wide using range, being capable of realizing the automatic inspection on the full power transmission lines and replacing human workers.

The invention relates to a variable-diameter wheel hub which comprises a central control cabinet and a plurality of identical retractable hub blocks. The various retractable hub blocks can be driven by retractable spoke assemblies, so that the diameters of the various retractable hub blocks can be radially varied; each retractable spoke assembly comprises a variable-damping retraction actuating mechanism and an extension auxiliary spring, and each extension auxiliary spring sleeves the outer wall of the corresponding variable-damping retraction actuating mechanism; a body of each variable-damping retraction actuating mechanism is a double-piston cylinder barrel, spaces between floating pistons and end walls of barrel walls are filled with high-pressure nitrogen, and a space between each floating piston and another end wall of the corresponding barrel wall is filled with magnetorheological fluid materials; an electromagnetic coil is buried in each working piston, and a circle of throttle holes are formed in each working piston in a buried manner; one end of each wire is communicated with the corresponding electromagnetic coil, and the other end of each wire is communicated with a storage battery. The variable-diameter wheel hub has the advantages that the diameter of the variable-diameter wheel hub can be varied by the aid of the dead weight of an automobile and centrifugal force generated when a wheel runs, extra driving devices can be omitted, the viscosity of magnetorheological fluid can be controlled by the aid of only low currents, and accordingly the variable-diameter wheel hub is low in energy consumption and fast in response; the riding comfort and the obstacle crossing ability are taken into account, and accordingly the variable-diameter wheel hub and non-inflatable tires can be matched with one another to be applied to conventional vehicles, motorcycles, wheelbarrows and the like.

The invention relates to a bionic galloping robot based on a connecting rod mechanism. The bionic galloping robot is characterized by concretely comprising a robot body (a), a track marching module (b), a galloping mechanism module (c) and a power module (d), wherein the robot body (a) consists of two quadrilateral pierced metal plates with the shape similar to a trapezoid and is used for fixing and installing other parts of the robot; the track marching module (b) mainly comprises two damping pins, a pair of damping springs and three pairs of crawler wheels; the galloping mechanism module (c) mainly comprises thighs, shanks, soles, foot connecting rods and shank connecting rods; and the power module (d) can be divided into two submodules i.e. a unidirectional transmission gear set and an automatic energy storage and release mechanism submodule. The robot can cross a higher obstacle and jump on a higher step on one hand and abandon a pure and complete simulation principle on the other hand. A jumping mode of the robot is combined with a machine track marching mode with convenience, rapidness and strong terrain adaptability, therefore, the bionic robot has the super strong obstacle-surmounting ability.

The invention discloses a robot for power transmission line inspection. The robot comprises a front robot body, a middle robot body and a back robot body, wherein the front robot body comprises a front arm and a front body; the middle robot body comprises a middle arm and a middle body; the back robot body comprises a back arm and a back body; the front arm, the middle arm and the back arm adopt the same structure; the front arm comprises a walking mechanism, a clamping mechanism, a clamping mechanism guide rail, a lifting mechanism and an arm rotating mechanism; the walking mechanism is fixedly mounted at the top end of the clamping mechanism guide rail; the clamping mechanism is glidingly mounted in a position, corresponding to the position of the walking mechanism, on the clamping mechanism guide rail; the bottom end of the clamping mechanism guide rail is fixedly mounted at the top end of the lifting mechanism; the bottom end of the lifting mechanism is rotationally mounted on the front body through the arm rotating mechanism; the front body and the middle body are movably connected through a front turning mechanism; and the middle body and the back body are movably connected through a back turning mechanism. The robot is applicable to the power transmission line inspection.

The invention discloses a multifunctional six-crawler type underwater robot, which comprises a main floating body, main driving crawlers and swinging arms, wherein the main floating body longitudinally penetrates through the heat and tail; the main driving crawlers are arranged at the inner side of the bottom of left and right side plates; two swinging arms are arranged at each of the head and thetail; the swinging arms are in lateral symmetry arrangement and can freely rotate for 360 degrees; when the main driving crawlers rotate, crawlers on the swinging arms can be driven to rotate, so that the swinging arms have climbing and obstacle crossing capability; the head and the tail of the robot are provided with left and right mechanical arms; the left mechanical arm can realize the gripping function; the right mechanical arm is a hydraulic type built-in hand library type mechanical arm; the functions of drilling, cutting and the like can be completed; the underwater operation efficiency is greatly improved; meanwhile, an environment intelligent monitoring system is carried. The multifunctional six-crawler type underwater robot has multiple purposes such as monitoring, overhaul, salvage, rescue and exploration; the crawler type and leg movement structure advantages are fully utilized; through the effective carrier of the underwater robot, the work efficiency of operations such as underwater overhaul and salvage is improved; the all-round service is provided for underwater engineering.

The invention discloses a hinge type wall climbing robot capable of working on a metal wall. The wall climbing robot comprises wall climbing robot units, hinges and a folding mechanism, wherein the wall climbing robot units are rotatably connected through the hinges, and the folding mechanism is mounted at the joint of the two wall climbing robot units. Due to the fact that linear guide rail mechanisms are mounted on each wall climbing robot unit in four directions, each wall climbing robot unit can walk in two freedom degrees; each linear guide rail is provided with a cylinder, and the cylinders stretch and retract to drive supporting plates to move up and down, so that each wall climbing robot unit has the obstacle crossing capacity; and two rows of electromagnets are adopted for attraction when each wall climbing robot unit walks, eight rows of electromagnets can be used for attraction when the robot works, and therefore the robot is reliable in attraction, safe in work and compact in attraction structure.

The invention provides a wall-climbing robot capable of crossing obstacles and an obstacle crossing method thereof. The wall-climbing robot capable of crossing obstacles comprises a pipeline putaway unit, a translation mechanism, an aerial posture fine-adjustment unit and a robot cleaning body, wherein the pipeline putaway unit suspends the robot cleaning body, the translation mechanism is in sliding connection with the pipeline putaway unit and drives the pipeline putaway unit to move in the horizontal direction, the robot cleaning body is suspended below the pipeline putaway unit through a cable, and the aerial posture fine-adjustment unit is arranged on the back side of the robot cleaning body and provides the lift force and pressure perpendicular to a working face for the robot cleaning body. Due to the wall-climbing robot capable of crossing obstacles is provided with the aerial posture fine-adjustment unit, when the wall-climbing robot encounters obstacles, the robot is stably suspended in the air by utilizing the aerial posture fine-adjustment unit, the robot cleaning body is driven to perform vertical and horizontal motion through the pipeline putaway unit and the translation mechanism, and accordingly the robot crosses the obstacles.

The invention discloses an all-wheel drive walking mechanism of a biomimetic six-wheeled leg and aims to solve the problem that a plurality of sensors and complex control logic are adopted by the prior art. The all-wheel drive walking mechanism of the biomimetic six-wheeled leg comprises a front automobile frame, a back automobile frame, a middle freedom degree junction device, wheel legs and driving combination bodies. The wheel legs are a front left wheel leg, a middle left wheel leg, a back left wheel leg, a back right wheel leg, a middle right wheel leg and a front right wheel leg, and the driving combination bodies are a front left driving combination body, a middle left driving combination body, a back left driving combination body, a back right driving combination body, a middle right driving combination body and a front right driving combination body. The middle freedom degree junction device is installed on the middle position of a front base plate of the back automobile frame, the back end of the front automobile frame is connected with the front end of the back automobile frame in a rotating mode, and the front left driving combination body and the front right driving combination body are installed on the left position and the right position in front of the front automobile frame and are connected with the two front wheel legs, and the middle left driving combination body, the back left driving combination body, the back right driving combination body and the middle right driving combination body are installed on four corners of the back automobile frame and are connected with the other wheel legs.

The invention discloses a vane wheel type snake-like robot, which comprises vane wheels, machine bodies, a universal joint and motors, wherein two machine bodies are connected with each other through the universal joint; a plurality of the machine bodies are connected in series to form a snake body of the robot; two horizontal sides in each machine body are provided with a motor respectively; two sides of each machine body are provided with a vane wheel respectively; and the motors are in transmission connection with the vane wheels. The vane wheel type snake-like robot has the advantages of strong obstacle passing capacity, strong landform adaptability and simple structure.

The invention discloses a cable-stayed bridge cable detection robot system which comprises a machine frame. Multiple power climbing mechanisms are arranged on the machine frame and are distributed in the peripheral direction, each power climbing mechanism comprises a power mechanism and two climbing mechanism bodies, the two climbing mechanism bodies are vertically arranged and are connected through a synchronous drive mechanism, each climbing mechanism body comprises rolling wheels capable of rolling on cables, the rolling wheels of one climbing mechanism body are driven to rotate by the corresponding power mechanism, and the synchronous drive mechanism can drive all rolling wheels of the two vertically-arranged climbing mechanism bodies to synchronously rotate. The machine frame comprises multiple sub supporting frames, each power climbing mechanism is installed on the corresponding sub supporting frame, every two adjacent sub supporting frames are connected through a connecting device, and the distance between every two adjacent sub supporting frames can be adjusted through the corresponding connecting device. The cable-stayed bridge cable detection robot system has very high adapbility and can work on the cables different in diameter, the sub supporting frames are connected by using the connecting devices, and overall size adjustment of the robot system is facilitated.

The invention discloses a tunnel and subway fire protection rescue robot which comprises a travelling mechanism, a rescue device and a control device. The rescue device is installed on the travelling mechanism through a turntable and consists of a fan, a fan driving device, a water mist nozzle, a water pipe and an elevation adjustment mechanism, the fan is fixed on the turntable by a bracket, the elevation adjustment mechanism is installed on the bracket and connected with the shell of the fan, an output shaft of the fan driving device passes through the elevation adjustment mechanism to be connected with the blade of the fan, the water mist nozzle is arranged at an air outlet of the fan, the water pipe is installed on the shell of the fan and connected with the water mist nozzle which is provided with a circle of atomizing nozzles, the travelling mechanism consists of an air cushion skit, a traveling mechanism body, aerial adjusting nozzles, an air inlet and wheels, the wheels are installed below the travelling mechanism body, the air cushion skirt is arranged at the periphery of the travelling mechanism body, the aerial adjusting nozzles are installed above the front part and the rear part of the travelling mechanism body and communicated with the lower surface, the air inlet is installed on the travelling mechanism body, and when the fan rotates downwards, the air outlet and the air inlet form a closed air channel.

The invention provides a pull-type metal wall surface working wall-climbing robot. The pull-type metal wall surface working wall-climbing robot comprises a pulling mechanism and a climbing mechanism. The climbing mechanism is suspended on a metal wall surface by the pulling mechanism through pulling ropes. The horizontal displacement of the robot is completed through walking of a pulling car, the vertical displacement of the robot is completed through the pulling ropes and a rack and pinion mechanism, an obstacle crossing function of the robot is achieved through up-down displacement of a foot mechanism, and an adsorption function of the robot is achieved through electromagnets. The pull-type metal wall surface working wall-climbing robot has the characteristics of being large in load capacity, high in obstacle crossing capacity and the like.

The invention provides a travelling mechanism of a wall-climbing robot. The travelling mechanism is characterized by comprising a plurality of suction foot modules and travelling transmission devices; the travelling transmission devices comprise two closed-loop arc-shaped guide rails, rectangular thread lead screws, guide sliding blocks and transmission rollers, wherein the two closed-loop arc-shaped guide rails are arranged symmetrically relative to the central point, and the transmission rollers are arranged at the front ends of the traveling transmission devices and matched with threads on the rectangular thread lead screws; each suction foot module is fixedly connected with the corresponding guide sliding bock; and every two adjacent guide sliding blocks are mutually hinged, the guide sliding blocks are uniformly distributed on the closed-loop arc-shaped sliding rails, and each guide sliding block is slidably connected with the corresponding closed-loop arc-shaped guide rail. Compared with the prior art, the travelling mechanism of the wall-climbing robot can travel and operate on a smooth work face, can further adapt to work faces with bulge obstacles and large cracks and has good obstacle crossing capacity.

The invention discloses an elastic bionic walking wheel of a manned lunar vehicle and belongs to the technical field of spaceflight. Connecting plates of 18 spokes in a spoke set are fixedly connectedwith the bottom surfaces of wheel surfaces of a left wheel surface set, a middle wheel surface set and a right wheel surface set in wheel surface sets through bolts and nuts respectively; the inner ends of supporting rods of 18 spokes in the spoke set are fixedly connected to the surface of a hub shaft in a hub according to the arrangement relation of the wheel surfaces of the left wheel surfaceset, the middle wheel surface set and the right wheel surface set in the wheel surface sets. The rolling resistance is small, the trafficability and smoothness are good, the load capacity is high, andthe reliability is high; the annular wheel surfaces made of a spring steel plate are adopted, elastic deformation is generated when the annular wheel surfaces are loaded, the wheel soil contact areacan be increased, the wheel traction force is improved, meanwhile, the elastic deformation can absorb energy, reduce shock and improve riding comfort, and the absorbed energy can be used for restoringthe wheel surfaces. Transverse wheel thorns arranged on the surface of the wheel surfaces can improve the thrust of lunar soil to wheels, and the traction performance and the climbing performance ofthe wheels can be improved.

The invention discloses a magnetic-absorption wall-climbing robot. The universality and adaptability of the magnetic-absorption wall-climbing robot are increased to meet various work requirements. The magnetic-absorption wall-climbing robot comprises a bottom rack. A front shaft is fixed on the bottom rack. A drive wheel component which can achieve independent speed regulating is mounted on each of the two ends of the front shaft. A first magnetic absorption unit is arranged in each drive wheel component. A guide wheel component is mounted in the middle of the rear of the bottom rack, and a second magnetic absorption unit is arranged in the guide wheel component. Each drive wheel component is provided with a roller wheel and has at least two contact parts with a working plane. The magnetic-absorption wall-climbing robot has the advantages that the robot is good in comprehensive performance, turning is achieved by the speed difference of the left drive wheel component and the right drive wheel component, and high operability is achieved; the first magnetic absorption unit is arranged in each drive wheel component, a second magnetic absorption unit is arranged in the guide wheel component, and the first magnetic absorption units and the second magnetic absorption unit are combined to guarantee good absorption performance; in addition, each drive wheel component is provided with a roller wheel, has at least two contact parts with the working plane and is similar to a track, and good obstacle climbing ability is achieved.

The invention discloses a bionic robot which is a legged crawling robot based on a bionic dry adhesion technique. The bionic robot comprises a body, a control module and a plurality of legged structures, wherein the plurality of legged structures are connected with the body; the legged structures comprise thigh fixing bases, thigh rotating parts, thigh raising parts, shin rotating parts, adhered foot soles, first motors, second motors and third motors; the thigh fixing bases are fixed to the body; the first motors drive the thigh rotating parts to rotate; the second motors drive the thigh raising parts to rotate; the third motors drive the shin rotating parts to rotate; the foot soles are rotationally connected with the shin rotating parts; and the control module respectively controls therotation of the first motors, the second motors and the third motors. By virtue of the flexible legged structures and the excellent adhered foot soles, the bionic robot provided by the invention not only adapts to the microgravity environment in space but also has excellent obstacle-crossing ability so as to realize the transition on complex surfaces such as cables and right-angle surfaces in a small space in a space capsule.

The invention discloses a strong-magnetic-absorption snake section type caterpillar band device applied to a climbing robot. The strong-magnetic-absorption snake section type caterpillar band device comprises a caterpillar band machine frame, a caterpillar band plate driven wheel, a caterpillar band plate driving wheel, a caterpillar band driving shaft, a snake section type magnetic field reinforced chain with strong magnetic blocks and a permanent magnetic caterpillar band chain; the caterpillar band plate driving wheel, the caterpillar band plate driven wheel and the permanent magnetic caterpillar band chain form a caterpillar band transmission structure; the caterpillar band plate driving wheel is connected with the caterpillar band driving shaft, the caterpillar band plate driven wheeland the caterpillar band plate driving wheel are fixed to two ends of the caterpillar band machine frame correspondingly, the snake section type magnetic field reinforced chain is located at the inner bottom of the caterpillar band machine frame, and the two ends of the snake section type magnetic field reinforced chain are fixed to the two ends of the caterpillar band machine frame correspondingly; and the permanent magnetic caterpillar band chain on the lower part of the caterpillar band machine frame penetrates through a groove in the bottom of the snake section type magnetic field reinforced chain, and the magnetism of the magnetic poles of the same side of caterpillar band plate strong magnetic blocks and the snake section chain strong magnetic blocks are identical. According to thestrong-magnetic-absorption snake section type caterpillar band device applied to the climbing robot, comparatively large adsorption capacity and improvement of loading effect are realized through comparatively small size and weight, and the condition that the strong magnetic blocks are in contact with the absorption surfaces directly is avoided.

The invention belongs to the technical field of special industrial robots, and particularly relates to a TOFD flaw-detection wall-climbing robot. The TOFD flaw-detection wall-climbing robot comprisesan electrical part, a climbing part and a flaw detection part, wherein the electrical part is arranged at one side of a mounting plate, the climbing part and the flaw detection part are arranged at the other side of the mounting plate, and the flaw detection part can linearly move along a board parallel to the mounting plate; the climbing part comprises an attraction body and climbing wheels, wherein the attraction body and the climbing wheels can be attracted onto a climbing face, and the climbing wheels protrude out of the attraction face of the attraction body. The TOFD flaw-detection wall-climbing robot can climb on curves like a ball tank and a pipe wall to detect welding defects; meanwhile, the obstacle crossing ability of the robot is high, in the detection process, the robot is stable and reliable in location, and the detection precision is improved; meanwhile, risks brought to the artificial detection is further reduced, the environment adaptability of the detection robot is improved, the detection range is expanded, and intellectualized and high-standard detection work is achieved.

The invention discloses a cable pipe checking and cleaning robot, relates to a robot, and solves the problem that a traditional cable pipe robot cannot integrate checking and cleaning functions as a whole. The cable pipe checking and cleaning robot comprises a car body, a walking driving device, a control circuit board, a cleaning component and camera detecting component; the cleaning component includes a small shovel, a cleaning arm and a cleaning brush; the camera detecting component includes a holder, a camera and an illuminating lamp; the walking driving device includes multiple sets of walking wheels and a walking wheel driving motor; the walking wheels are independently driven by the walking wheel driving motor to realize steering; the control circuit board is connected with the cleaning mechanism, the camera detecting component and the walking driving device to respectively control actions of the cleaning mechanism, the camera detecting component and the walking driving device; and the small shovel is not narrower than the car body. The cable pipe checking and cleaning robot can perform all-directional monitoring for internals of pipes, is prominent in obstacle crossing capacity, and achieves the checking and cleaning integration.

Provided is a swing arm actuating device particularly used by an automatic robot for inspection tour of high air transmission lines, belonging to the technical field of robots. The swing arm actuating device is composed of an arm swing actuating mechanism, an actuating mechanism of arms rotating around a vertical shaft and a supporting stand. The arm swing actuating mechanism is composed of a motor, a speed reduction box, gear wheels and a screw actuating mechanism. The actuating mechanism of the arms rotating around the vertical shaft is composed of a motor, a worm gear box and a pivoted frame. The supporting stand is composed of a straight-arm stand, a tripod rest and an ear shape stand. A kernel mechanism of the device employs a parallelogram shaped four-bar mechanism, theoretically guaranteeing that the attitude of a hand-paw in the air is constantly kept when the arms sway up and down, effectively overcoming the shortage that the attitude of a connecting bar is changed with the swaying of the connecting bar in the swaying process of a general link mechanism, from the mechanical structure guaranteeing the decoupling of the spatial position and the attitude of the hand-paw, thereby largely simplifying the operating steps of the robot.

The invention discloses a bridge detecting robot. The bridge detecting robot comprises a frame, a traveling mechanism and a control system. The traveling mechanism comprises two traveling leg groups, each traveling leg group comprises three mechanical legs identical in structure and a driving mechanism capable of driving the three mechanical legs in the group simultaneously, and the mechanical legs in the two traveling leg groups are spaced from one another and are matched with the frame in arrangement. Every mechanical leg comprises a thigh, a shank and a vacuum adsorption foot, the thigh is disposed on the frame rotatably in a horizontal plane, the shank can be matched with the thigh in arrangement rotatably in a vertical plane, and the vacuum adsorption foot is matched with the shank in arrangement rotatably in the vertical plane. The bridge detecting robot has the advantages that the bridge detecting robot can be used with a high-definition camera and a crack detector to detect the problems or hidden dangers existing on the surfaces or inside bridges so as to meet bridge detecting requirements, can be operated amphibiously and is capable of stepping over obstacles effectively.

The invention discloses a wheel type robot chassis. The wheel type robot chassis comprises a round base plate, front and back universal wheels and left and right driving wheels, wherein the front andback universal wheels and the left and right driving wheels are connected to the round base, the universal wheels and the driving wheels are arranged in a rhombus shape, and the driving wheels are connected with a driving device. The driving wheels and the driving device thereof are connected to the round base plate through an elastic hanging device, the round base plate is connected with a collision detection device, and the collision detection device comprises a plurality of air pressure testing modules which are evenly distributed on the peripheral edge of the round base plate, and the airpressure testing modules are used for outputting collision signals when the air pressure increases. When the road surface changes, the elastic hanging device has an adaptive function, so that the driving wheels are always in contact with the ground and always has the driving ability, so that the wheel type robot is suitable for both flat environment and uneven environment, and the obstacle climbing ability is high. The collision detection device can detect the external collision force of the robot through the changes of air pressure reflected by the air pressure testing modules at different positions and realize the all-round anti-collision.

The invention discloses a household intelligent security service robot including a difference movement chassis, a control hardware module, a lifting device, a sensor detection module and an outer shell. The difference movement chassis is used to control the movement of the robot, the control hardware module is used to control a chassis motor and obtain depth information, the lifting device is usedto lift a storage box, the sensor detection module is used to detect all kinds of outer information and all kinds of home safety hazards and provide feedback, and the outer shell is used to warp thewhole robot. The household intelligent security service robot further includes a control system for receiving data, processing data, controlling remotely and building a map. The robot can navigate autonomously, and has good autonomous detection, multifunctional detection and information feedback functions.

The invention discloses an H-shaped power chassis with ground clearance adjusting function. The H-shaped power chassis comprises a chassis and an engine, a clutch, a gearbox, a differential, transfer cases, chain wheel transmission mechanisms and wheels arranged on the chassis. The engine transfers power to the differential through the gearbox, and the power is respectively transferred to the chain wheel transmission mechanisms of two sides by a left output shaft and a right output shaft of the differential through the transfer cases at two sides of the chassis, so that the power is transferred to the wheels connected with the chain wheel transmission mechanisms of the two sides. The H-shaped power chassis has the advantages that: the transmission ratios of the front and rear wheels of the same side are the same; and when only one of the wheels of the same side slips and the other wheel does not slip, the torque can be transferred to the non-slip wheel, and a driving force is generated by using the adhesive force of the non-slip wheel, so that an automobile smoothly starts or continuously runs, and the passing performance of the vehicle under the rugged pavement condition is improved. Because of adjustable ground clearance, the chassis is suitable for running on the rugged pavement of a mountain land, a hill or the like, and has high passing property and good smoothness and obstacle detouring capacity.

The invention discloses a radioactive waste liquid storage tank bottom mud withdrawing method which comprises the steps that S1, the interior of a storage tank is divided into a plurality of areas tobe recycled; S2, high-pressure water is adopted for carrying out local jet stirring on the bottom mud in any area to be taken back in the storage tank, so that suspension liquid containing the bottommud is formed in the storage tank; S3, the suspension liquid is pumped out of the storage tank; and S4, the steps S2 to S3 are repeated until all bottom mud in the storage tank is withdrawn. The invention further discloses a bottom mud recycling system. The method and system can adapt to different bottom mud environments, the bottom of the storage tank cannot be damaged, recycling operation is convenient, and the withdrawing effect is good.

The invention discloses a wall-climbing robot operating on a metal wall surface for a rectangular coordinate system. The robot comprises a framework, fixed sliding blocks, linear guide rails, a pinion-and-rack mechanism, liner motors, support frames, support columns, support plates, a spherical hinge mechanism, electromagnets, rotary shafts, belts, a belt wheel, a driving motor, a reducer and a rotary shaft fixing plate. The linear guide rails are arranged on the robot in all directions. The robot can walk at two degrees of freedom. The linear motors are arranged on the linear guide rails and contract to drive the support plates to move up and down such that support feet and swing feet of the robot can alternate, thereby easily overcoming obstacles. Two rows of electromagnets are absorbed when the robot walks and multiple rows of electromagnets are absorbed for fixed-point operation such that the robot absorbs reliably and works safely and the absorption structure is compact.

A miniature hopping robot capable of controlling the hopping direction comprises a body structure, a plurality of leg structures, a plurality of locking structures and a driver, the body structure isconnected with the leg structures, the locking structures are connected with the leg structures and allow relative rotation between the locking structures and the leg structures, and each locking structure comprises an electrode layer or a magnetic material layer, and can be locked on a ground base plate via a static absorption force or a magnetic force, the driver is connected with a body structure through a connecting structure, is made of a material with a shape memory function, and generates elastic potential energy due to change of a rigidity coefficient when being electrified; when the locking structures are released, elastic potential energy is instantaneously released to the leg structures to be converted into hopping starting energy of the robot, and control over the hopping direction of the robot is achieved by controlling the release time sequence of the multiple locking structures. The robot can control the hopping direction of the robot, the obstacle crossing capacity is extremely high, and meanwhile hopping control is very flexible.

The invention discloses a dust collector robot which comprises a robot base station, a mobile robot and a control device, the control device controls the robot base station and the mobile robot to execute a control instruction, a bearing space capable of bearing the mobile robot is arranged at the bottom of the robot base station, and an accessory lifting cabin is arranged on one side of the bearing space. The accessory lifting cabin comprises a mopping module, a sweeping module and a lifting moving module, the mopping module and the sweeping module are both connected with the mobile robot in an inserted mode, the lifting moving module comprises a lifting module and a translation module, the lifting module drives the mopping module and the sweeping module to conduct lifting movement, and the translation module drives the mopping module and the sweeping module to conduct horizontal movement. And a 3D environment photosensitive camera is arranged at the front end of the mobile robot. A sweeping mode and a mopping mode can be automatically switched, manual intervention is not needed, the base station design is innovative, the dust collecting and cleaning functions are automatically completed, and the mobile robot has the multi-cone cyclone filtering technology and can purify air.

The invention belongs to the technical field of electric power operation climbing robots, and particularly relates to a clamping assembly with an angle and height adjusting function. The clamping assembly comprises a clamping jaw, an angle adjusting assembly and a lifting assembly, wherein the angle adjusting assembly is mounted on the clamping jaw and can adjust the pitch angle of relative anglesteel, and the lifting assembly can enable the clamping jaw to move close to or away from the angle steel. The hinge axis of the angle adjusting assembly is horizontally arranged and is perpendicularto the length direction of angle steel. The clamping assembly enables a climbing robot to have extremely high obstacle crossing capacity and climbing efficiency, the action stability and the action reliability of climbing operation of the climbing robot can be synchronously guaranteed, and therefore the manpower inspection cost can be greatly reduced, the maintenance efficiency can be improved, and safe and reliable operation of a power transmission system can be guaranteed.