63results about How to "Walk to achieve" patented technology

The invention relates to a humanoid robot stable waling control method comprising the steps that step S1: momentum and angular momentum generated for compensation of a ZMP tracking error by a robot system are acquired; step S2: mapping from a robot configuration space to the momentum and the angular momentum is acquired by utilizing a momentum jacobian matrix based on the mode of differential kinematics; step S3: damping pseudo inverse calculation is performed on the momentum jacobian matrix so that inverse mapping of mapping in the step S2 is obtained, and thus a robot configuration space command is acquired and is corresponding to momentum compensation control task in walking; and step S4: the momentum compensation control task is allocated by adopting a dynamic priority switching mode, and movement commands of all joints are generated. Compared with methods in the prior art, parsing momentum control is applied to humanoid robot balance control via a ZMP calculation formula, and the control problem is integrated into a task space control system so that unknown disturbance can be suppressed by the humanoid robot by utilizing compensation momentum generated by local movement.

The invention discloses a bipedal semi-passive walker which comprises a hip portion and two leg portions. The hip portion comprises a hip portion balance plate and supports arranged on the lower sides of the two ends of the hip portion balance plate respectively; each leg portion comprises a connecting plate, a thigh and a shank, the bottom of each shank is provided with a simulation foot plate, the thighs and the connecting plates are in hinged connection, the shanks and the thighs are in hinged connection, a knee joint mechanism is formed between each thigh and the corresponding shank, and each connecting plate is hinged to the corresponding support; hip twisting mechanisms for driving the hip portions to twist are arranged between the hip balance plate and the supports respectively; leg portion stretching mechanisms for driving the thighs to swing left and right are arranged between the supports and the connecting plates; leg portion advancing mechanisms for driving the thighs to swing front and back are arranged between the connecting plates and the thighs; knee joint acting mechanisms for driving the knee joint mechanisms to do bending and straightening motion are arranged between the connecting plates and the knee joint mechanisms. The invention further discloses a walking control method of the bipedal semi-passive walker.

The invention discloses a high-altitude glass cleaning device and a cleaning method thereof. The cleaning device comprises a frame, wheels, pushers, a remote control module and a cleaning mechanism, wherein the wheels, the pusher, the remote control module and the cleaning mechanism are installed on the frame, and the cleaning mechanism comprises a water tank, a water tank driving motor, brush plates and brush plate driving motors. A movable piston plate is arranged in the water tank and is provided with a piston rod with a nut head, the water tank driving motor is in linkage connection with the piston rod through a screw, a water inlet and a water outlet are formed in the side wall of the water tank, the water outlet is connected with a water outlet pipe, and a water spraying port of the water outlet pipe is located in the back side of the brush plate. The brush plates are connected with the brush plate driving motors through brush plate screws. The wheels are driven by wheel motors to drive the whole cleaning device to move. The high-altitude glass cleaning device provides positive pressure through the pusher, produces certain friction and can freely walk on vertical high-altitude glass and thoroughly clean the glass.

The invention discloses an on-cable walking-type self-walking system which comprises a guide beam (100), a walking frame (300) which is arranged on the guide beam and can move on the guide beam, two supporting legs (200 and 400) which are arranged on two ends of the guide beam, a walking cylinder (500), a hydraulic system, and the like, wherein the front side and the back side of the lower part of the walking frame are provided with two sets of automatic cable clamping devices (300 and 320) which can form the support on a cable, the supporting legs are respectively provided with a lifting cylinder (31) which is vertically arranged, one end of each lifting cylinder is connected with a supporting leg outer sleeve (201) for fixing the guide beam, the other ends of the lifting cylinders are connected with supporting leg inner sleeves (204) for fixing automatic cable clamping devices (210 and 410), one end of the walking cylinder (500) is connected with the guide beam, and the other end of the walking cylinder (500) is connected with the walking frame. The on-cable walking-type self-walking system disclosed by the invention does not need to be additionally provided with drawing equipment, and accessories for mutually high-altitude disassembling, assembling and carrying cable-clamping hoops, and the like, and has the advantages of self-walking, high automation degree, quick walking speed, and high safety.

The invention discloses an endless rope traction monorail crane system. A rope traction monorail crane adopts a mature endless rope continuous traction vehicle power system, performs reciprocating transportation in a range along a special rail system suspended in the air by means of a steel rope traction transportation vehicle, and can realize transportation of people, equipment, materials and thelike. Combined with a self-developed electronic control system, the endless rope traction monorail crane system can realize the purpose of controlling the entire system by a vehicle following driverindependently, and is intrinsically safe without falling off track.

The invention relates to the technical field of electric power inspection, and specially relates to a distribution line clamping traveling inspection robot device. The distribution line clamping traveling inspection robot device comprises an installation plate, a traveling mechanism, a compressing mechanism matched with the traveling mechanism to compress a cable and a control box used for drivingthe traveling mechanism and the compressing mechanism, wherein the bottom of the control box is provided with a camera shooting device for inspection, the control box is internally provided with a control unit and a power supply, the installation plate is provided with an inserting mechanism used for inserting an insulated operating rod, the robot device is installed on the cable through the insulated operating rod, and the control unit is enabled to send an electric signal to drive the traveling mechanism to slide along the cable and drive the compressing mechanism to compress the cable at the same time. The device can be hung on the cable without power interruption. Meanwhile, the device is provided with a wheel clamping structure, thereby enabling the device to slide along the cable. The distributed line clamping traveling inspection robot device is especially suitable for thin cables, has the advantages of portable robot, small size and long standby time, and meets the time requirement of the distribution network cable clamping inspection work.

The invention discloses chassis online overturning equipment. A bracket (2) is connected with a base (1) through a rotation shaft (11) and can move relative to the base (1) around the rotation shaft (11); a walking motor (8) installed on the base (1) moves to drive a gear rack mechanism (9) connected to the walking motor (8), to drive the whole equipment to walk in a foundation; a rotary motor (6) installed on the base (1) moves to drive a transmission chain (7) fixed to an overturn circle (3) to move, to drive the whole overturn circle to rotate; a retraction oil cylinder (5) connected with the base (1) and the bracket (2) performs telescopic movements to drive the bracket (2) and the overturn circle (3) to move together around the rotation shaft (11), and thus retraction movements of the bracket and the overturn circle are realized. According to the invention, a chassis can be overturned without being offline, bumping and distortion caused by deformation of the chassis can be reduced, lean production is promoted, and quality of products is also improved.

The invention discloses a solar cell panel cleaning robot. According to the solar cell panel cleaning robot, a walking crawler belt can be controlled by a controller to walk on the inclined surface ofa solar cell panel through one duct fan balanced system and the other duct fan balanced system; and the controller can control a cleaning liquid box to provide cleaning liquid for micro spray pipes,control the micro spray pipes to spray the cleaning liquid onto the solar cell panel, control one rolling brush and the other rolling brush to brush and clean the surface of the solar cell panel, andcontrol one dust collection scraper and the other dust collection scraper to suck dust and sewage which are generated after brushing and cleaning into a sewage box. In this way, the effect that the cleaning robot replaces manpower to cleaning the solar cell panel can be achieved, the cleaning effect is good, the efficiency is high, manpower is saved, and the cost is reduced.

The invention discloses a solar energy robot for a municipal administration road. The solar energy robot for the municipal administration road comprises a rack. Four sets of walking mechanisms are arranged on the rack, the four sets of walking mechanisms are arranged on the front and the back positions of the two sides of the rack respectively, and each walking mechanism comprises a first hollow shaft, a second hollow shaft and a solid shaft; each first hollow shaft sleeves the outer ring of each second hollow shaft, each second hollow shaft sleeves the outer ring of each solid shaft, and the first hollow shafts are connected with the second hollow shafts through bearings; and the second hollow shafts are connected with the solid shafts through bearings, the outer rings of the first hollow shafts are connected on the side wall of the rack through the bearings, the portions, on the outer side of the rack, of the outer rings of the first hollow shafts, are provided with first output rods, and the two ends of each second hollow shaft give off the first hollow shafts. According to the solar energy robot for the municipal administration road, walking of the robot can be achieved through the four sets of walking mechanisms, the robot can adapt to complex terrain, the walking mechanisms can be adjusted independently and mutually matched, a plurality of walking modes are provided, and practicability is achieved.

The invention discloses a moving device for a photovoltaic assembly cleaning detecting robot. The device is characterized in that a moving rack is glidingly connected to one end of a fixed rack, wherein an adjusting mechanism for driving the moving rack to move is connected between the moving rack and the fixed rack; a first driving wheel which moves on a track and a first driven wheel which is propped to the side surface of the track are arranged at the lower end of the moving rack; the first driving wheel is in transmission connection with a first driving motor; the other end of the fixed rack is provided with a second driving wheel which moves on the track and a second driven wheel which is propped to the side surface of the track; the second driving wheel is in transmission connectionwith a second driving motor; the first driving wheel and the second driving wheel are correspondingly controlled to rotate and move through a first driving motor and a second driving motor; the firstdriven wheel and the second driven wheel are propped to the side surface of the track. According to the device, the photovoltaic assembly cleaning detecting robot is prevented from deviating from thetrack; the fixed rack and the moving rack realize the telescoping function, so that the moving device for the photovoltaic assembly cleaning detecting robot is suitable for photovoltaic assemblies with different size.

The invention discloses an environment-friendly robot with a camera for construction and municipal engineering, which includes a frame, and the frame is provided with four sets of walking mechanisms, and the four sets of walking mechanisms are respectively arranged at front and rear positions on both sides of the frame. , characterized in that the traveling mechanism includes a hollow shaft and a solid shaft, the hollow shaft is sleeved on the outer ring of the solid shaft, the hollow shaft and the solid shaft are connected by a bearing, and the outer ring of the hollow shaft is connected by a bearing On the side wall of the frame, the outer ring of the hollow shaft is located outside the frame and fixedly connected to the first support arm, the two ends of the solid shaft grow out of the hollow shaft, and the outer ring of the solid shaft is located outside the frame There is a second support arm. The invention can realize the walking of the robot through four groups of walking mechanisms, and can adapt to complex terrains. Each walking mechanism can be independently adjusted and cooperates with each other, and has various walking modes. The height of the frame can be adjusted by the walking mechanism, which is practical sex.

The invention provides a soft robot and a manufacturing method thereof. The soft robot includes a robot frame, a plurality of traveling parts and control air pipes, wherein the robot frame includes aplurality of mounting interfaces for mounting the traveling parts; the traveling parts comprise at least two soft actuators and connecting heads, and the connecting heads are connected between every two adjacent soft actuators; and the control air pipes are connected with the soft actuators, control the soft actuators to bend and deform upwards or downwards relative to the horizontal plane, and / ordrive the soft actuators to bend and deform forwards or backwards relative to the vertical plane. The soft robot is better in use effect.

The invention discloses a modular vehicle chassis and an engineering machine with the same. The modular vehicle chassis comprises a middle body, four legs and a traction structure; the four legs provided with a plurality of traveling suspension mechanisms are radially distributed around the middle body; one end of each leg is hinged to the middle body in such a manner that the end of the leg can swing, and a vertically retractable leg support mechanism is arranged at the other end of each leg; the two legs which are positioned on the same side of the transverse center line of the middle body can be detachably connected with one end of the traction structure, and the other end of the traction structure can be detachably connected with a tractor. Different working modes of site construction operation, short-distance transition in a site and quick long-distance transition in the site can be implemented by the aid of the modular vehicle chassis. The invention further discloses the engineering machine comprising the chassis.

The embodiment of the invention provides an autonomous robot, an edge control method and device of the autonomous robot and a storage medium. The method comprises steps of enabling the autonomous robot to travel in a first walking mode when the autonomous robot meets an edge walking triggering condition, so as to search a boundary of a working region; when the autonomous robot encounters a workingarea boundary or an obstacle during advancing in the first walking mode, the autonomous robot being made to advance in a second walking mode after executing the first adjusting action; wherein a pathformed by advancing according to the second walking mode comprises a first path section gradually far away from the boundary or the obstacle of the working area and a second path section gradually close to the boundary or the obstacle of the working area; and when the autonomous robot encounters a working area boundary or an obstacle during advancing according to the second walking mode, the autonomous robot being made to advance next time according to the second walking mode after executing the second adjustment action. According to method, the autonomous robot can walk along the edge of theboundless working area.

The invention provides a traveling device for detecting the internal quality of a concrete pipeline and an operation method. The traveling device comprises a rack structure. A head traveling wheel setand two head supporting wheel sets used for supporting the inner wall of the pipeline to travel are connected to a first middle supporting plate of the rack structure. A tail traveling wheel set andtwo tail supporting wheel sets used for supporting the inner wall of the pipeline to travel are connected to a second middle supporting plate of the rack structure. The rack structure is provided witha head opening device used for driving the head traveling wheel set and the head supporting wheel sets to open symmetrically. The head opening device is connected with a tail opening device through asynchronous transmission mechanism. The tail opening device is connected with the tail supporting wheel sets and the tail traveling wheel set in a matched mode. The traveling device can carry a concrete quality detection device and a camera device to detect the internal quality of the concrete pipeline so as to ensure the detection quality.

The invention discloses a walking mechanism for a hanging basket construction device. The mechanism comprises a truss main longitudinal beam which is provided with a plurality of stair stops, a sliding support detachably fixed on a box girder, a front supporting point connected to the truss main longitudinal beam in a sliding manner, and a pushing assembly connected to the truss main longitudinalbeam in the sliding manner. A walking method of the hanging basket construction device comprises the following steps that S1, the sliding support is moved forwards to the position of a next section tobe in place, and the sliding support is anchored, wherein the moving position is as long as a block; S2, a jack is installed, and the front supporting point is jacked and disengaged; S3, a pushing assembly is used for moving the front supporting point forwards to the position of the next section in place; the jack is removed and the front supporting point is anchored; and S4, a hydraulic system is started, and a hydraulic screw and the pushing assembly are used for pushing the hanging basket forwards till the next section is in place. A hanging basket structure can be simplified, mounting anddismounting are convenient, operation walking steps are simplified, on-site construction personnel are reduced, and engineering cost is decreased.

The invention discloses a settling basin for treating high-concentration heavy metal industrial wastewater that comprises the settling basin and a mud scraper arranged on the settling basin, wherein the mud scraper comprises a rail, a walking device, a lifting mechanism and a mud scraping plate; the walking device comprises walking wheels and a connecting bridge; the mud scraping plate comprises a front mud scraping plate and a rear mud scraping plate; the front mud scraping plate and the rear mud scraping plate are in up-and-down movable connection with each other; the lifting mechanism comprises a first lifting cylinder, a second lifting cylinder, a front fixing rod, a rear fixing rod and a lifting bridge; one end of the first lifting cylinder is connected with connecting bridge while the other end is connected with the lifting bridge; one end of the front fixing rod is connected with the lifting bridge while the other end is connected with the front mud scraping plate; the second lifting cylinder is arranged between the rear fixing rod and the lifting bridge; the rear mud scraping plate is connected with the lower end of the rear fixing rod. The invention has the advantages of excellent mud scraping effect, high speed and capability of thoroughly removing the sludge at the bottom of the settling basin; sludge is difficult to raise and the secondary floating diffusion phenomenon of the sludge is avoided; the heavy metal is effectively flocculated; the secondary pollution of the heavy metal to soil is avoided; the service life is long.

The embodiment of the invention provides a gait control method and device, and the method specifically comprises the steps: collecting deflection angle information of a trunk of a biped robot througha sensor in the biped robot; according to the deflection angle information, adjusting gait parameters of the biped robot, so that the mass center of the biped robot is located in a stable area. The stability of the biped robot in the walking process can be improved, and stable walking of the biped robot can be achieved.

The invention discloses a multi-purpose robot for a municipal administration road. The multi-purpose robot for the municipal administration road comprises a rack. Four sets of walking mechanisms are arranged on the rack, the four sets of walking mechanisms are arranged on the front and the back positions of the two sides of the rack respectively, and each walking mechanism comprises a first hollow shaft, a second hollow shaft and a solid shaft; the first hollow shafts sleeve the outer rings of the second hollow shafts, the second hollow shafts sleeve the outer rings of the solid shafts, and the first hollow shafts are connected with the second hollow shafts through bearings; and the second hollow shafts are connected with the solid shafts through the bearings, the outer rings of the first hollow shafts are connected on the side wall of the rack through the bearings, the portions, on the outer side of the rack, of the outer rings of the first hollow shafts, are provided with first output rods, and the two ends of each second hollow shaft hang out the first hollow shafts. According to the multi-purpose robot for the municipal administration road, walking of the robot can be achieved through the four sets of the walking mechanisms, and the robot can adapt to complex terrain; and the walking mechanisms can be adjusted independently and cooperate mutually, a plurality of walking modes are provided, and practicability is achieved.

The invention discloses field detection equipment based on residual liquid petroleum pipeline flaw detection operation, and relates to the technical field of detection equipment, the field detection equipment comprises a power joint, the power joint is composed of a tail cavity and a driving wheel, the tail cavity is hollow, the driving wheel is installed at the bottom of the tail cavity, and the front end of the power joint is respectively provided with a detection joint and a forward joint; the power joint is connected with the forward joint through the detection joint, the detection mechanism is installed in the middle of the detection joint, power is strong and controllable, the equipment can effectively adapt to walking of petroleum pipelines to be detected within specifications, meanwhile, the environment where the detection joint is located is kept relatively dry, and thus it is guaranteed that the detection mechanism can work in the better environment, the detection precision is improved, errors are reduced, the detection mechanism effectively ensures accurate butt joint with the weld joint of the to-be-detected pipeline, the detection efficiency is ensured to a certain extent, and the detection time is also shortened.

The invention relates to a self-propelled grass trimmer suspended on an expressway guardrail and an application method thereof. The self-propelled grass trimmer comprises a walking system, a grass trimming system and a control unit, and the walking system and the grass trimming system are both connected with the control unit; the walking system comprises a first motor, a driven wheel and a drive wheel; an output shaft of the first motor is connected with a rotation shaft of the drive wheel, and a groove is formed in the middle of the driven wheel and can be clamped to the edge of the outer side of the expressway guardrail; the drive wheel takes the protruding part on the inner side of the guardrail as a rail; the grass trimming system comprises a first part and a second part, the first part comprises a first machine shell, and a first motor and an upper cutter are arranged in the first machine shell; an output shaft of the first motor is connected with a cutter shaft of the upper cutter; the second part comprises a second machine shell, a second motor and a lower cutter are arranged in the second machine shell, and the second motor is connected with the lower cutter. According to the self-propelled grass trimmer suspended on the expressway guardrail, weeds below the expressway guardrail and branches and leaves outside the expressway guardrail can be removed, and the self-propelled grass trimmer is convenient to operate, high in automatic degree and high in efficiency.

The invention relates to a foldable robot. The robot comprises a main body and two crawling devices, wherein, the two crawling devices are rotationally arranged on the two sides of the main body correspondinlgy and positioned and can drive the main body to crawl. The robot has the beneficial effects that the structure is compact, the robot can walk and be positioned in a pipeline, detection and flushing of the pipeline can be achieved, and the functions are diversified; and in addition, the two crawling devices can be folded to the two sides or the same side of the main body so as to adapt to different working conditions such as slits and the like, and use is convenient.

The invention relates to the technical field of installation of a twisted king block, in particular to an installation method of a twisted king block based on a gantry crane, comprising: S1, the gantry crane is in place; S2, the twisted king block is hoisted; S3, the twisted king The transfer and installation of the word block; S4, the lateral movement of the hoisting device; S5, the lateral movement of the gantry crane; through the movement of the hoisting device on the gantry crane and the movement of the whole gantry crane, the torsion in different areas of the slope is completed. The installation of the king block does not require the use of cranes to carry it back and forth, which improves the construction efficiency and reduces the labor intensity of workers.

The invention discloses track beam hoisting equipment suitable for high-speed magnetic levitation, which belongs to the technical field of high-speed magnetic levitation track construction, and can realize reliable walking on a T-shaped beam of a high-speed magnetic levitation track through corresponding arrangement of structures such as a vehicle body, a walking mechanism, a hoisting main beam, a main beam sliding plate on the hoisting main beam, an electromagnetic hoisting clamp and the like. And the reliable hoisting of the high-speed maglev track beam can be accurately realized through the reciprocating translation of the main beam sliding plate along the longitudinal direction of the hoisting main beam and the reciprocating lifting of the hoisting main beam in the vertical direction. The track beam hoisting equipment suitable for the high-speed magnetic levitation can reliably walk on a T-shaped beam, magnetic attraction hoisting of the high-speed magnetic levitation track beam is achieved after reliable walking, beam body construction in the construction environment with the limited operation space is met, the beam body construction operation process is simplified, impact damage to related walls and equipment in the hoisting process is avoided, and the hoisting efficiency is improved. And the accuracy and reliability of beam body hoisting construction are guaranteed, and good practical value and application prospects are achieved.

The invention provides a box girder transport vehicle without negative moment reinforcement damage. The box girder transport vehicle comprises a front vehicle system and a rear vehicle system, whereinthe front vehicle system comprises a front vehicle frame, the rear vehicle system comprises a rear vehicle frame, the front vehicle frame is hinged to the rear vehicle frame, the front vehicle frameis provided with a front bearing table, the front vehicle frame is provided with a front conveying system, the front vehicle frame is provided with a front notch, and the front conveying system is provided with a placement grabbing system; the rear vehicle frame is provided with a rear bearing table, the rear vehicle frame is provided with a rear conveying system, the rear vehicle frame is provided with a rear notch, the rear conveying system is provided with a recovery grabbing system, and the placement grabbing system and the recovery grabbing system are matched with cushion blocks correspondingly. The box girder transport vehicle has the advantages that the cushion blocks are additionally arranged on negative moment reinforcements, the cushion blocks protect the negative moment reinforcements, meanwhile, the transport vehicle walks on the cushion blocks, so that traveling of the transport vehicle is realized; the grabbing systems are matched with the transporting system to realize paving and recycling of the cushion blocks; the conveying system drives the grabbing systems to stretch and retract, so that paving of the cushion blocks during small-angle steering of the transport vehicle can be met.

The invention relates to the technical field of farmland sprinkling irrigation equipment, and provides a sprinkling irrigation belt winding device, which comprises a body with an inclined plane and a groove, and the groove is opened on the inclined plane; a traveling mechanism is arranged on both sides of the fuselage and has traveling wheels; The support frame is arranged on the inclined surface; the belt winding mechanism is arranged on the support frame and has a rotating belt winding roller; the transmission component is arranged at the groove, and the rotation component includes a first transmission shaft, a second transmission shaft and The third drive shaft; the first drive shaft drives the second drive shaft to rotate, the second drive shaft drives the third drive shaft to rotate, the third drive shaft is used to drive the traveling wheel to rotate, and the sprinkler belt is wound around the first drive shaft Rolled on the roller; the controller is arranged on the support frame and is electrically connected to the winding mechanism. The above technical solution solves the problem that the long-length sprinkling irrigation belt laid in the field needs to be manually collected in the related art.

The invention provides an electric power line crossing protection device comprising an insulation shielding sleeve, transmission parts and a power conversion part; the transmission parts and the power conversion part are arranged in the insulation shielding sleeve; each transmission part comprises three concave pulleys; one concave pulley is arranged on the top, the other two are arranged below, and the three pulleys are mutually connected by connecting springs, thus enabling crossed wires to penetrate and are fixed between the three concave pulleys; the power conversion part comprises a limit horizontal connecting rod and a driving rod used for pushing the limit horizontal connecting rod to slide; the central axles of the three concave pulleys are connected by the limit horizontal connecting rod; two ends of the limit horizontal connecting rod are respectively provided with a limit telescopic joint; the driving rod vertically moves downwards so as to push the limit horizontal connecting rod to move, thus enabling the limit telescopic joints to push the insulation shielding sleeve, and driving the electric power line crossing protection device to move forwards along the crossed wire. The electric power line crossing protection device is simple in structure, low in supplement cost, and not limited by places.