236results about How to "Walking smoothly" patented technology

The invention discloses a quadruped robot autonomous decision control system based on multi-modal perception, and belongs to the technical field of robot motion, and the system specifically comprises the steps: collecting visual, force and sound information through multiple sensors of a camera, a force sensor and a microphone array, and carrying out the preprocessing; according to the processed information, a diagonal gait, leg track and motion path planning scheme is generated by adopting a motion planning strategy; generating a specific control instruction to drive the robot to move, and monitoring and adjusting in real time; after the task is completed, the motion performance of the robot is evaluated, and a motion planning and control method is optimized according to an evaluation result; the autonomous motion ability and adaptability of the quadruped robot in a complex environment are improved.

The invention discloses a walking path planning method suitable for a cabin unmanned excavator, and the method comprises the steps: employing an inertial navigation module to combine with a laser radar to scan cabin environment information, dividing the cabin environment information into a plurality of grid units, constructing a cabin environment space coordinate system, and forming a three-dimensional environment map; the grid units in the space coordinate system serve as basic units, the obstacle position points are assigned, and planning area path data are obtained; taking an original point as an initial node of the planning area path data, and obtaining path data from the initial node to a target node; smoothing path information of the path data by adopting a path planning algorithm, and planning a path with the minimum elevation change as a walking path; self-adaptive dynamic adjustment is conducted on the walking path of the unmanned excavator, an evaluation function is established, the optimal path track is obtained, the walking dynamic state of the unmanned excavator can be mastered in real time, it is ensured that the unmanned excavator is always kept stable in the walking process, and overturning and jamming are avoided.

The invention discloses a wide crawler walking device suitable for seabed thin and soft geology, which realizes stable walking of a deep-sea heavy-load mining operation platform on a thin and soft substrate through a high-tooth large-width composite material crawler walking mechanism, and provides a power driving guarantee for later operation of a heavy and heavy collection device. The crawler walking module is used for providing enough traction force for the mining vehicle, so that the mining vehicle can normally run on the complex bottom surface of the seabed. A crawler walking device is located in a chassis, the overall width of a vehicle body is reduced, a main beam of the chassis penetrates through trolley frames on the two sides, chassis secondary beams are welded to outer side panels of the trolley frames, the bearing capacity of the chassis is improved, the trolley frames are of a simple frame structure, and through holes and open grooves are machined in left and right outer side plates of the trolley frames and used for installing driving wheels, guide wheels and bearing wheels. Welding or bolt connection of other wheel train installation type structural parts is omitted, the lightweight design is met, and the structural strength is enhanced.

According to the biped robot foot structure capable of adapting to the complex road surface, the whole foot structure is designed through modular decomposition, when a user walks on the wet and slippery flat ground, the foot obtains information of foot sole sensors on the front foot sole and the rear foot sole in real time, and the virtual constraint structure is actively controlled through an electric cylinder; stress of a front longitudinal arch sole joint is reduced, meanwhile, the ground pressure transmission direction of a foot structure is improved, the ground pressure is kept in a friction cone as much as possible, and therefore the robot is prevented from slipping; when the robot walks on an uneven road surface, the electric cylinder actively controls the ground contact angle of the front foot sole, and the spring guide rod of the rear foot sole is assisted, so that active and passive self-adaptive adjustment of the foot of the robot to the ground is realized. The electric cylinder is used as a virtual constraint structure for active control, and the spring telescopic rod structure of the rear sole imitating ligament is combined, so that active and passive self-adaption of the feet of the robot to different complex road surfaces is realized, and the adaptability of the biped robot to the complex road surfaces is improved.

The invention discloses a municipal pipeline desilting device, and relates to the technical field of pipeline desilting, and the municipal pipeline desilting device is technically characterized by comprising a main body, mounting brackets are symmetrically mounted on the inner wall of the main body, a desilting mechanism is arranged on the mounting brackets, a walking mechanism is arranged on the outer circular surface of the main body, and the desilting mechanism comprises a sludge crushing assembly, a pipeline inner wall cleaning assembly and a power assembly; and the sludge crushing assembly comprises a linkage column which is rotationally connected to the inner side of one of the mounting supports and penetrates through the mounting supports, and a drill bit is fixedly mounted at the end, located on the outer side of the main body, of the linkage column. The efficient and comprehensive cleaning of the sludge on the inner wall of the pipeline is achieved, the problems of a traditional dredging device in the aspects of sludge caking treatment and incomplete cleaning are solved, and a powerful guarantee is provided for long-term smoothness of municipal pipelines and healthy operation of cities.

The invention discloses a massage chair support which comprises a base support, a chair frame backrest and a chair frame seat, the chair frame seat is fixedly installed above the base support, the chair frame backrest is hinged to the chair frame seat, a walking massage machine core is arranged on the chair frame backrest and the chair frame seat, the chair frame backrest comprises two symmetrical backrest guide rails, the inner sides of the backrest guide rails are fixedly connected with backrest racks, and the backrest racks are hinged to the chair frame seat. The chair frame seat comprises two symmetrical seat frame guide rails, the inner sides of the seat frame guide rails are fixedly connected with seat frame racks, a double-end connecting piece is installed between the chair frame backrest and the chair frame seat, the walking massage machine core comprises a first walking wheel and a second walking wheel, and the first walking wheel and the second walking wheel are arranged at an interval. And one pair of walking wheels is at least arranged on the backrest guide rail or the seat frame guide rail. The waist and back part can be greatly stretched, and the massage experience feeling is improved; the walking massage machine core can walk stably, the chair frame backrest can swing along the same track repeatedly, and experience is more comfortable.

The utility model discloses a foot shoe for a cement pouring process of a building floor. The foot shoe comprises a sole, a tiptoe sleeve, a heel sleeve and shoe spikes, each spike comprises a sliding cylinder, a hollow column, a reinforcing semicircular head and a spring, the sliding cylinder is vertically arranged below the sole, the hollow column is arranged on the outer wall of the sliding cylinder in a sleeving mode and is vertically connected to the sliding cylinder in a sliding mode, the reinforcing semicircular head is arranged at the lower end of the hollow column, and the spring is arranged in the hollow column and located between the sliding cylinder and the reinforcing semicircular head. The spikes are arranged on the sole, the spikes are matched with the sole, stable walking of a worker can be guaranteed, steel bars cannot be stepped in a staggered mode, construction quality is guaranteed, meanwhile, due to the fact that the spikes are telescopic, pouring requirements of different thicknesses can be met, the spikes and the sole bear acting force together in the stepping process, and construction efficiency is improved. Meanwhile, it is guaranteed that the shoe sole can make contact with the pouring face all the time, and safety and convenience in the walking process are guaranteed.

The invention discloses an offshore photovoltaic walking robot, and belongs to the field of photovoltaic installation. The walking robot comprises an upper moving platform assembly and a lower moving platform assembly, a linear motion mechanism is arranged at the joint of the upper moving platform assembly and the lower moving platform assembly, the upper moving platform assembly comprises a steel structure platform and pile embracing mechanisms, and the pile embracing mechanisms are arranged at the two ends of the steel structure platform. The problem that offshore photovoltaic construction is difficult is effectively solved, it is ensured that the walking robot can stably walk on the pile top of the photovoltaic pile through relative movement of the upper moving platform assembly and the lower moving platform assembly on the pile top of the photovoltaic pile, transportation and installation of a photovoltaic installation assembly can be completed through the walking robot, and the working efficiency is improved. In addition, the whole construction process is not affected by flood tide and ebb tide of the mud flat and heavy wind and waves on the sea, continuous operation can be carried out, and the construction efficiency is remarkably improved.

The invention belongs to the technical field of robot control, and particularly relates to a gait switching control method and system for a foot type mechanical arm robot, and the method comprises the following steps: calculating the current gait of the foot type mechanical arm robot and the position of a zero moment point of the gait to be switched; a zero moment point reference track of the foot type mechanical arm robot is planned; and controlling the foot type mechanical arm robot to move according to the zero moment point reference track by using a model predictive control algorithm, adjusting control parameters of the predictive control algorithm in real time according to a loss function, and outputting a state track and an input track in real time so as to realize gait switching of the foot type mechanical arm robot. According to the gait switching control method of the foot type mechanical arm robot, the influence of mechanical arm dynamics on the movement performance of the whole robot is fully considered, and gait switching control of the foot type robot can be achieved.

The utility model discloses a walking swinging telescopic mechanism for tunnel construction ultrasonic detection, which belongs to the technical field of tunnel ultrasonic detection equipment and specifically structurally comprises a walking door frame, an electric walking mechanism, an arc-shaped synchronous driving transmission belt and a telescopic cylinder. An arc-shaped rail is installed on the rear side of the walking door frame, the arc-shaped rail is consistent with the inner arch face of the tunnel, the two ends of the arc-shaped rail extend to be close to the ground, the arc-shaped rail is connected to a sliding plate through a sliding block, and an arc-shaped synchronous driving belt is connected to the inner side of the sliding plate. According to the utility model, the detection position and orientation are accurate and reliable, the detection result is more accurate, the radial swing angle adjustment can always ensure the measurement perpendicular to the tangent line of the detection point, and the telescopic cylinder controls the telescoping through the measurement accuracy, so that the telescoping function is realized; and a certain protection effect on the probe is achieved.

The invention relates to the technical field of submarine cables, in particular to a submarine suspended cable treatment device and a using method, and the device comprises a machine body, a propelling device, a covering and pressing device, a walking device and a conveying pipe; the propelling device is rotationally mounted at the top end of the machine body and driven by a first power source to rotate, the propelling unit comprises a first propelling unit and a second propelling unit, the first propelling unit is used for propelling the treatment device to move horizontally, and the second propelling unit is used for propelling the treatment device to move up and down; the covering and pressing device is installed at the bottom of the machine body and used for covering and pressing the suspended cable. One end of the conveying pipe is connected with the machine body, and the other end is connected with the ship body; the walking devices are installed at the bottom end of the machine body and located on the two sides of the covering and pressing device. The walking devices provide moving power for the treatment device after making contact with the earth surface. A buoyancy bin is arranged in the middle of the machine body, and a water inlet and outlet device used for changing the volume of liquid in the buoyancy bin is arranged in the buoyancy bin and used for solving the problem that a submarine cable is suspended in the prior art.

The invention discloses a bridge bottom surface crack detection device, and relates to the technical field of bridge detection, the bridge bottom surface crack detection device comprises a walking detection mechanism and a plurality of steel cable guide rail mechanisms, the steel cable guide rail mechanisms are arranged in the width direction of a bridge, and each steel cable guide rail mechanism comprises a steel cable frame, a steel cable and a fixing plate; the wire rope is wound on the wire spool, one end of the wire rope is fixedly connected with the fixing plate, the wire rope is wound through the wire spool and used for being in a tightened state, the walking detection mechanism comprises a walking base, a detection bottom plate and two imaging detection assemblies, the walking base is used for walking on the wire rope, and the bottom of the detection bottom plate is connected to the top of the walking base through a stand column; the imaging detection assembly comprises a detection box and an industrial camera, the detection box is slidably arranged on the top face of the detection bottom plate, a hollow detection pipe is fixed to the top of the detection box, the industrial camera is installed in the detection box, crack detection of the bottom face of the bridge is achieved, manual participation is not needed in the detection process, and detection data are more accurate.

The invention relates to the technical field of pipeline machining, and particularly discloses an operation device in a pipeline and a machining operation method, which are suitable for inner machining operation of a large-diameter water diversion pressure steel pipe. The at least three walking wheel sets can independently walk on the inner wall of the pipeline in the length direction of the pipeline; the processing operation of the operation device in the pipeline is not limited by the placing angle of the pipeline; a telescopic adjusting mechanism is further arranged, the telescopic amount of a telescopic driving part can be adjusted according to pipelines with different inner diameters, and the walking wheel sets can be tightly attached to the inner walls of the pipelines, so that the walking wheel sets can stably walk along the inner walls of the pipelines; for bent pipeline machining, turning can be achieved by controlling different telescopic lengths of the telescopic driving pieces on the inner side and the outer side of the pipeline bending position in cooperation with different rotating speed control of the walking wheel sets on the inner side and the outer side of the pipeline bending position, and the structure is ingenious.

The invention discloses a deicing robot for power transmission line inspection, and relates to the technical field of power equipment. The deicing robot for power transmission line inspection comprises a robot support, a bearing track frame, a walking unit, a deicing unit, an inspection camera box body, a cleaning protection unit, a spraying unit and a transmission unit, and through the design of the transmission unit, power of the deicing unit drives the cleaning protection unit and the spraying unit; the robot support and the bearing track frame form a robot framework, the walking unit is used for controlling the robot to walk on the power transmission line, the deicing unit is used for removing ice blocks on the power transmission line, and the inspection camera box is used for inspecting and observing the working condition of the robot in real time. The cleaning protection unit is used for ensuring that the view field of a camera in the inspection camera box body is clear, and the spraying unit is used for spraying protection liquid on the cable, so that secondary freezing of the cable is avoided, and the cable is protected.

The utility model relates to the technical field of hoisting equipment, and particularly discloses an electric hoist single-beam crane trolley which is characterized in that a trolley frame comprises a horizontal plate body, side plates fixed on two sides of the top surface of the horizontal plate body and end plates fixed at the front end and the rear end of the bottom surface of the horizontal plate body; the winding assembly is fixed to the end plate. Supporting wheels are rotatably mounted on the inner sides of the rear portions of the top ends of the side plates. Each walking wheel comprises a wheel with the outer end of a wheel shaft rotatably sleeving the front portion of the top end of the corresponding side plate and a driven gear fixedly sleeving the wheel shaft on the outer side of the wheel. A walking motor is fixed to the front end face of a T-shaped steering gear fixed to the middle of the top face of the horizontal plate body, a power output shaft of the walking motor is fixedly in butt joint with a power input shaft of the T-shaped steering gear, the power output shafts on the two sides of the T-shaped steering gear are fixedly in butt joint with shaft rods respectively, and the positions, close to the outer ends, of the shaft rods are fixedly sleeved with driving gears meshed with the driven gears. The problem that the electric hoist single-beam crane is difficult to stably and smoothly walk along the track is well solved.

According to the bionic leg and foot mechanism based on the four-bar mechanism, the crossed four-bar mechanism is combined with a linear actuator to drive knee joints to move, the rotation movement of the knee joints of the human body is simulated in the movement process, the movement flexibility of the leg and foot mechanism is improved, and a robot can more naturally and smoothly complete actions such as walking and running. A double-electric-drive ankle joint driving system is adopted, a parallelogram mechanism is designed, and a driving joint is upwards moved to the top of a shank rod piece, so that the rotational inertia of the leg-foot mechanism can be greatly reduced, the movement flexibility of the ankle joint is improved, and the simulation of complex actions in the walking process of a human body is realized.

The invention discloses a tunnel inspection system and method, and the system comprises an overhead rail which is provided with walking convex teeth at the bottom, and is provided with a walking bearing surface; the suspension type robot inspection vehicle comprises a vehicle body, the top of the vehicle body is provided with a hanging frame, the hanging frame is provided with a first roller, the first roller is in contact with the walking bearing surface on the hanger rail, and the suspension type robot inspection vehicle is provided with a rolling gear below the hanger rail; the sweeping part is arranged at the front end of the vehicle body, the bottom makes contact with the walking bearing face, and the sweeping part can move along with the vehicle body to clean the walking bearing face. According to the inspection vehicle, the rolling gears are matched with the walking convex teeth on the hanger rail, stable movement on the hanger rail is achieved, the sweeping piece arranged at the front end of the vehicle body can automatically clean the walking bearing face along with movement of the inspection vehicle, dust or impurities on the walking bearing face are avoided, and dust or impurities on the walking bearing face can be automatically cleaned in the running process.

The invention discloses a high-support photovoltaic panel robot installation method, which utilizes a deashing robot installed on a photovoltaic panel support frame to realize related operations, and comprises the following specific steps: preparation before installation, photovoltaic panel installation and deashing maintenance. The dust removal robot is used for installing the photovoltaic panel, the camera is used for collecting images to guide butt joint, an image recognition algorithm is adopted for calculating the adjustment amount, accurate installation can be achieved, the installation efficiency is improved, and manual operation errors are reduced; a cleaning disc of the dust cleaning robot is of a multi-layer bristle structure, bristles are customized according to dust characteristics, and different types of dust can be effectively cleaned; and the dust collector has an automatic dust cleaning function, so that continuous and effective dust cleaning operation is guaranteed, and the light transmission and power generation efficiency of the photovoltaic panel are improved.

The invention relates to the field of garden construction, and discloses a garden landscape road and a construction technology thereof.The garden landscape road comprises 70%-75% of an asphalt concrete base layer and 25%-30% of an anti-skid surface layer; the asphalt concrete base layer specifically comprises 40%-50% of coarse aggregate, 30%-35% of fine aggregate, 4%-6% of asphalt and 3%-5% of mineral powder; and the anti-skid surface layer specifically comprises the following components in percentage by weight: 20-30% of colored anti-skid ceramic particles, 10-15% of modified asphalt cement, 30-40% of fine aggregate and 1-2% of fiber material. The antiskid surface layer is arranged, and the colorful antiskid ceramic particles, the modified asphalt cement, the fine aggregate and the fiber material are mixed according to a specific proportion, so that the friction force of the pavement is effectively increased. Different from the traditional pavement made of cement concrete and marble, the pavement provided by the invention can provide stable walking and driving conditions for vehicles and pedestrians even in rainy days, so that the risk of slipping or falling down is greatly reduced, the safety of the garden pavement is guaranteed, and accidents caused by slippery pavement are reduced.

The invention relates to an automatic fertilizing device for corn cultivation, which comprises a rack, wheels and a sensor are arranged at the bottom of the rack, and a fertilizer barrel which is divided into an upper cavity and a lower cavity is arranged at the top of the rack. A fertilizer mixing device is arranged in the upper cavity and used for mixing fertilizers, a dry fertilizer applying device is arranged in the lower cavity, and a liquid fertilizer applying device is arranged on the outer wall. All the fertilizing units in the device are connected with the intelligent controller, the fertilizer feeding amount can be automatically controlled according to the soil condition, and accurate and efficient fertilizing operation is achieved. The device relates to the technical field of agricultural automation, is reasonable in structure, can effectively improve the fertilization efficiency and the fertilizer utilization rate in the corn planting process, and is suitable for agricultural automation.

The utility model relates to the technical field of fire-fighting boots, in particular to a high-comfort fire-fighting protective boot for firefighters, which comprises a boot sole, a toe cap, a vamp, a heel and a boot leg which are integrally arranged, a waterproof sock is jointly attached to the inner surface layers of the toe cap, the vamp and the boot leg, and the boot leg comprises a leg body, a tibia protective layer, an ankle protective layer and an ankle joint bending layer. By means of the arrangement of the waterproof socks on the inner surface layers of the boot vamps and the boot legs, it is guaranteed that when a fireman works in the environments such as wading, the feet cannot be soaked by water, and the waterproof socks further have the functions of high breathability, chemical protection and blood transmission and viral pathogen resistance; meanwhile, the tibia protection layer, the ankle protection layer and the ankle joint bending layer are arranged, and the design fully considers the protection requirements of different parts of the feet of the firefighter when the firefighter executes a task, so that the firefighter can quickly respond in an emergency, and the timeliness and the accuracy of rescue actions are improved.

The utility model provides a moving device for construction of a check gate hoist, which comprises a track assembly, a moving assembly is arranged above the track assembly, the track assembly comprises a plurality of slide rail grooves, symmetrical fixing seats are arranged on two sides of the slide rail grooves, fixing holes are arranged on the bottom surfaces of the fixing seats, and the fixing holes are used for being fixed with the ground. The movable assembly comprises a transportation frame and a movable trolley, the transportation frame is square, cross beams are arranged in the transportation frame in a crossed mode, a plurality of connecting plates are arranged below the transportation frame, and connecting grooves are formed below the connecting plates. And the transportation frame and the moving trolley are in electromagnetic connection, so that connection between the transportation frame and the moving trolley is more stable, mounting and dismounting are convenient, and the problem that the check gate hoist is difficult to move when being mounted and constructed in a rail mode is solved.

The utility model provides an electric track engineering forklift, which belongs to the technical field of track engineering forklifts and comprises a forklift body, the forklift body is provided with an operation board, a safety column is arranged on the forklift body, a supporting column is arranged on the safety column, and a tire disc is arranged on the forklift body. Goods are forked or placed through operation of the electric crawler forklift, the problems that a wheel train bridge type differential wheel train vehicle is poor in trafficability, stable in walking, high in obstacle crossing capacity, high in flexibility, small in turning radius and free of special requirements for the terrain during turning are solved in the running process, the motor drives the vehicle to walk, soft starting and soft stopping can be achieved, the driving feeling is smooth in the starting process, and the driving safety is high. When the fork forks goods, a sideslip and toppling prevention device is additionally arranged, the inclination angle is increased, electro-hydraulic proportional valve control is adopted, differential control over steering wheels and differential control over inner and outer side wheel trains during in-situ rotation are achieved, a traditional hydraulic rod operation mode is omitted, and valve clamping is avoided to a certain extent.

The invention provides a self-balancing walking control method for rehabilitation exoskeleton under dynamic deformation. The self-balancing walking control method comprises the following steps: acquiring sole force and moment data when an exoskeleton robot executes walking actions; inputting the sole force and moment data into a feed-forward deformation compensator to obtain feed-forward compensation; the mass center active compliance controller carries out calculation based on sole force and moment data and an expected trajectory to obtain mass center compensation; determining a new expected posture of the robot according to feed-forward compensation and centroid compensation; the inverse kinematics solver calculates an instruction joint angle of each joint of the robot according to the new expected attitude; the exoskeleton robot performs walking and standing tasks based on the commanded joint angle. According to the method, by improving the deformation problem, the walking stability of the rehabilitation exoskeleton robot is improved.

The invention discloses a power line loss analysis device, and belongs to the technical field of line loss detection, the power line loss analysis device comprises a front walking part and a rear walking part with the same structure, and a connecting part connected between the front walking part and the rear walking part, the front side of the front walking part is provided with a cleaning part, and the connecting part is provided with a line loss detection part; the front walking part comprises a U-shaped bottom frame, U-shaped side frames, walking wheels and a walking motor, a sliding groove is formed in the inner side of the U-shaped bottom frame, a screw is arranged in the sliding groove, threads on the two sides of the screw are opposite, the two ends of the screw are rotationally connected with the two sides of the U-shaped bottom frame respectively, handle wheels are arranged at the ends of the screw, the two sides of the screw are each in threaded connection with a sliding block, and the U-shaped side frames are arranged above the two sliding blocks. Walking wheels are rotatably arranged in the two U-shaped side frames, and the walking wheels are driven by walking motors arranged on the tops of the U-shaped side frames. According to the invention, partial discharge and insulation skin abnormity of the overhead line cable can be accurately detected, the line loss abnormal position can be conveniently determined, and maintenance is facilitated.

The invention discloses an agricultural machine, a steering control method and device thereof and a medium, and belongs to the technical field of agricultural machines. The method comprises the following steps: estimating an ideal yaw velocity and an ideal side slip angle of the agricultural machine; the actual yaw velocity and the actual side slip angle of the agricultural machine are obtained; based on a first difference value between the ideal yaw velocity and the actual yaw velocity and a second difference value between the ideal side slip angle and the actual side slip angle, executing a feedback control algorithm to determine a compensation yaw moment of the agricultural machine; and based on the compensation yawing moment, adapting to the current steering working condition and carrying out rear wheel torque optimal distribution for the agricultural machinery. Smooth and stable walking and steering can be achieved, and the problem that the agricultural machine slips due to unreasonable drive torque distribution under the working condition that the adhesive force is very low is solved.

This utility model discloses a cattle unloading and transfer channel, relating to the technical field of cargo loading and unloading devices. It includes a main channel module, a branch channel module, and a monitoring system. The horizontal section of the main channel module is connected to the ship's suspension ladder via a floating slide rail connector. A branch channel module is connected to the end of the main channel module, and the end of the branch channel module is connected to the loading and unloading vehicle. The monitoring system is installed within the branch channel module. The floating slide rail connector is not rigidly fixed to the suspension ladder; the lateral displacement of the slide rail compensates for the longitudinal height difference caused by tides, adapting to tidal fluctuations and ensuring stable movement of the cattle. Two loading lanes are provided at the end of the branch channel module, allowing multiple vehicles to operate simultaneously, reducing ship waiting time and reducing the time for unloading cattle per transaction to 60% of the traditional method. The monitoring images meet customs quarantine filing requirements and support dispute tracing.

The invention discloses macadam laying equipment for a box girder support embedded plate and an operation method thereof.The macadam laying equipment comprises a macadam placing mechanism, a macadam pressing mechanism and a support embedded plate placing table, the macadam placing mechanism and the macadam pressing mechanism are both installed on a walking mechanism, and the support embedded plate placing table is used for placing the support embedded plate; the walking mechanism is installed on one side of the support pre-buried plate placing table, the gravel placing mechanism can place gravel on a support pre-buried plate, and the gravel pressing mechanism can downwards extrude the placed gravel. The broken stone laying equipment composed of the broken stone placing mechanism, the broken stone pressing mechanism and the support embedded plate placing table is adopted, accurate broken stone laying can be achieved, the broken stone laying quality and position precision are improved, the problems of high labor intensity and time and labor waste caused by manual laying are solved, laying pressing is conducted through automatic walking, and the efficiency is high.

The utility model discloses a laser deep hole straightness measuring device which comprises a walking positioning trolley, a laser transmitting and receiving device and a display control box. The walking positioning trolley comprises a trolley body, four driving wheels and four driven wheels, the four driving wheels and the four driven wheels are arranged at the two ends of the trolley body and distributed in a cross-shaped circumferential mode, the driving wheels are worm wheels, and worms meshed with the four driving wheels and provided with power through a servo motor are arranged on center shafts of the four driving wheels. The laser transmitting and receiving device comprises a positioning seat which is arranged at the deep hole opening and is provided with a laser transmitter at the central position, a laser receiving and reflecting plate which is arranged on the trolley main body, and a video head which can shoot an image of the laser receiving and reflecting plate and transmits the image to the display control box; a center cross mark and concentric circle lines are engraved on the laser receiving and reflecting plate, the center of the center cross mark coincides with the center axes of the four driving wheels and the four driven wheels, and the straightness detection device is efficient in straightness detection and high in precision.