41results about How to "Walking smoothly" patented technology

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.

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 utility model discloses a multi -scene ground -hugging shoe sole in the technical field of shoe sole, including the shoe body, the shoe body includes the ground -hugging area, the antiskid area and the drainage area, the ground -hugging area sets up in the front end, the tail end and one side of shoe body bottom, the antiskid area sets up in the other side of bottom, the utility model discloses through the first drainage groove and multiple second drainage grooves of drainage area intercommunication, when facing the wet and slippery road condition, let multiple first drainage groove and second drainage groove cooperate drainage, guarantee the quick both sides of fluid and export, set up multiple ditches on the ground -hugging boss of ground -hugging area, when the sole of foot strides, and the ground -hugging area is the main stress area, and through multiple ditches cooperate second drainage groove and further quickly guide fluid of the main stress area and export one side, increase the contact area with the foundation simultaneously, increase friction, reduce the sliding risk when the sole of foot strides, avoid the skidding in the walking process.

This utility model discloses a cable laying track robot, including a main body. Track walking mechanisms are respectively installed at both ends of the bottom of the main body. A rotary motor is installed on the upper part of the main body. The output shaft of the rotary motor is connected to a supporting base plate. The outer end of the supporting base plate extends outward from the main body. A first electric telescopic rod is installed on the supporting base plate. One end of the first electric telescopic rod located inside the supporting base plate is connected to a telescopic drive motor, and the other end is connected to a gripping assembly through a gripping drive mechanism. This utility model ensures stable movement on complex tracks and avoids the risk of derailment by combining an anti-detachment plate with a magnet. The smooth opening and closing of the gripping plate is achieved through the linkage of pulleys, a U-shaped push rod, and a drive slide. Combined with a semi-circular gripping groove and an anti-slip pad, it can adapt to cables of different diameters, providing uniform gripping force and anti-slip properties.

This invention provides a jack fixing frame and a base beam under the frame for lifting and positioning a boiler drum using a steel structure, relating to the field of boiler drum hoisting technology. It includes a base beam under the frame and a jack fixing frame. The base beam is detachably connected to the top of the boiler steel frame body, used to bear the hoisting load of the jack and the boiler drum and transfer it to the boiler steel frame body. The jack fixing frame is installed above the base beam. This invention uses clamping steel beams on both sides of the limiting crossbeam to laterally clamp the boiler steel frame body, and the clamping steel beams of the limiting crossbeam and the clamping bolts to vertically clamp the hoisting longitudinal beam, forming a double fixation. Simultaneously, anti-slip pads are provided at the connection points to effectively prevent displacement and shaking of the base beam during hoisting, significantly improving the stability of the jack and the entire hoisting system, reducing safety hazards, and improving the reliability of the fixation compared to existing simple bolt fixing structures.

A split type coal mining machine carrier includes an explosion-proof power source vehicle and a self-driving carrying platform, and a synchronous walking control mechanism is arranged between the explosion-proof power source vehicle and the self-driving carrying platform, the synchronous walking control mechanism includes a buffer connection control device and a synchronous walking control system, the buffer connection control device is a buffer connecting rod, includes a first rod body and a second rod body, a buffer oil cylinder is arranged between the first rod body and the second rod body, first and second hinged pieces for connecting front and rear vehicles are respectively arranged at the ends of the first rod body and the second rod body away from the buffer oil cylinder, and the first rod body and the second rod body are mutually inserted, and the cross section of the insertion interface is square, the beneficial effects of the present application are that through the design of the synchronous walking control mechanism and the speed synchronization method, the coordinated movement of the explosion-proof power source vehicle and the self-driving carrying platform is realized, and the driving stability and operation efficiency of the coal mining machine carrier are significantly improved.

The utility model provides a kind of transmission line ice breaking robot, including frame, walking module and ice breaking component;The frame is constituted by first half body and second half body connected by hinge, so that the frame can be opened and closed to half, to be sleeved in transmission line from side;Walking mechanism is arranged on the frame, for driving robot moves along transmission line;Ice breaking mechanism is arranged at the front end of the frame, for the ice on transmission line is broken;The effect of being able to improve overall deicing efficiency.

The utility model discloses a kind of adsorption formula electrophoresis pool inner wall cleaning device, it is related to electrophoresis pool cleaning technical field, including first bearing frame, winch, bearing block, first wheel frame and second bolt, the first bearing frame side edge setting expansion structure, the expansion structure includes universal wheel, second bearing frame, first bolt, bolt hole and positioning hole, the positioning hole is set below second bearing frame, the first bolt is set above second bearing frame, the positioning column is set above second bearing frame, the bolt hole and positioning hole are set on second bearing frame bottom surface, the universal wheel is installed in universal wheel, the design of cleaning structure guarantees cleaning effect, bearing block is smoothly slid along bearing frame by guide block, so that cleaning roller in cleaning cover and spray pipe are always attached pool wall;The "flushing+ wiping" compound mode of cleaning roller cooperation L-shaped spray pipe driven by motor, can efficiently remove dirt.

The invention discloses a rail top walking mechanism and method for a monorail eddy current detection robot. The rail top walking mechanism comprises a frame, a magnetic attraction unit, a main control unit, a walking supporting unit, an eddy current sensing unit and a flywheel stabilizing unit, wherein the walking supporting unit, the eddy current sensing unit and the flywheel stabilizing unit are electrically connected with the main control unit; the magnetic attraction unit comprises front and rear magnetic attraction units at the front and rear ends of the frame, the walking supporting unit comprises driving walking and driven supporting mechanisms at the front and rear ends of the frame, and the flywheel stabilizing unit is used for outputting righting torque when the robot inclines. A traditional mechanical clamping structure is abandoned, the equivalent gravity center is lowered through magnetic attraction, the flywheel stabilizes and actively righting to form a dual-stable system, walking stability and track trafficability are both considered, the lift-off distance of the eddy current sensor is kept constant, the accuracy of detection signals is improved, the structure is compact and light, and the device is suitable for complex single-track detection scenes.

This application relates to the field of mechanical control technology, specifically to a coal mining machine control method, device, electronic equipment, and medium. A coal mining machine control method is applied in a server of a coal mining machine, which includes a frequency converter and a brake. The method includes: responding to a user's start action of the coal mining machine; acquiring first information; the first information including a first inclination angle of the working face; if the first inclination angle of the working face is greater than a preset first value and less than a preset second value, then calculating a first holding torque based on the first information; adjusting the output torque of the frequency converter based on the first holding torque; when the output torque of the frequency converter is equal to the first holding torque, sending a brake release signal to the brake to allow the coal mining machine to move on the working face. This application calculates the holding torque of the coal mining machine based on the inclination angle of its current position, ensuring that the coal mining machine can move stably on the working face after startup and will not slip.

The application belongs to the technical field of special robot walking and safety protection, and proposes a multiple redundancy safety protection system of a wind power tower robot, which comprises a driving unit, an adsorption unit and an integrated cooperative control unit.The driving unit is used to drive the robot to walk inside the wind power tower.The adsorption unit is used to adsorb the robot on the inner wall of the wind power tower, and provide the friction force between the driving unit and the inner wall of the wind power tower.The redundancy safety protection unit is used to prevent the high-altitude falling, equipment collision and component damage of the wind power tower robot.The integrated cooperative control unit is used to realize the integrated cooperative control of the driving unit, the adsorption unit and the redundancy safety protection unit, and to guarantee the absolute safety and stability of the equipment during high-altitude operation through the driving unit, the adsorption unit, the redundancy safety protection unit and the integrated cooperative control unit, and to realize real-time state monitoring, intelligent fault emergency treatment and guarantee the stable and safe operation of the equipment.

The application provides a walking driving structure of a hanging rail inspection robot, and belongs to the technical field of hanging rail robots. The walking driving structure comprises a slide rail component, an inspection assembly, a same-side connecting component, a speed matching switching assembly, a speed matching driving assembly, an elastic slide column component and a compensation slide sheet assembly. The slide rail component is composed of a linear slide rail and an arc-shaped slide rail. The top ends of the inspection assembly are provided with rollers on both sides, which are slidably connected with the slide rail component. The switching slide seat is transversely slidably connected in the main shell, so that the constant-speed gear and the non-constant-speed pinion and the non-constant-speed gear are meshed and switched between the rotating gears, and are synchronized. The bottom transmission gear connected with the constant-speed gear can also be meshed and switched between the two groups of driving gears rotating in the same direction, so as to improve the flexibility of the meshing connection between the gears. The compensation slide sheet assembly is used for eliminating the problem of poor progress caused by the intersection of the section of the outer slide groove in the arc-shaped slide rail and the roller during the sliding process of the inspection assembly in the arc-shaped slide rail.

The invention provides an indoor storage stairway capable of reducing occupied space and a construction method thereof, and relates to the technical field of indoor architecture.The indoor storage stairway comprises a first stairway body and a second stairway body which are staggered, the stairway body is composed of a plurality of storage cabinets arranged in an array mode in the oblique line direction, and each storage cabinet comprises a cabinet body; the storage cabinet comprises a cabinet body, the bottom of the cabinet body is an inclined bearing bottom plate, a partition assembly is arranged in the middle of the interior of the storage cabinet, the interior of the storage cabinet is divided into a first storage cavity located on the upper portion and a second storage cavity located on the lower portion through the partition assembly, and the top of the cabinet body is provided with a first mounting opening and a first cover plate assembly; and a second mounting opening and a second cover plate assembly are arranged at the top of the front surface, far away from the bearing bottom plate, of the cabinet body. The utilization rate of the space in the staggered stair is greatly increased, the overall structural strength is high, the stability is high, and the walking stability and safety of family members are guaranteed.

The utility model discloses a concrete spreader for a high-speed rail, which relates to the technical field of material distribution and comprises a movable rack, a material distribution hopper is arranged on the rack, a partition plate in the hopper divides the material distribution hopper into two material storage chambers and is correspondingly provided with a first discharge port and a second discharge port, and a first discharge slide way and a second discharge slide way are detachably mounted on two sides of the rack and are respectively connected with the two discharge ports to realize independent discharge. The rack is provided with a mixed discharge port below the distribution hopper, and a third discharge slide way is arranged at the position corresponding to the first discharge port and the second discharge port, so that materials at the two discharge ports can be guided to the mixed discharge port, and mixed discharge is realized. According to the distributing machine, through partition plate partitioned storage and multi-discharging-port design, concrete in different cavities can be independently discharged, mixed discharging of two kinds of concrete can be achieved, various distributing requirements in high-speed rail construction are met, the detachable discharging sliding way is convenient to install and maintain, the equipment using flexibility and the construction efficiency are improved, and the practicability is high. And an efficient and convenient material distribution solution is provided for high-speed rail concrete construction.

The application is suitable for the technical field of industrial coating equipment, and provides a multi-spray-gun parallel type spraying system and a spraying robot, the spraying system comprising a plurality of three-way joints, a plurality of pressure regulating valves and a plurality of spray guns; all the three-way joints are cascaded according to a binary tree structure, the first layer of three-way joints is connected with one end of a main pipeline, the last layer of three-way joints is connected with the spray guns; the other end of the main pipeline is connected with a supply tank through an airless spraying machine; the main pipeline is connected with a plurality of branch pipelines through the three-way joints, and the pressure regulating valves are installed on the branch pipelines. The application adopts the parallel mode of a plurality of spray guns to perform a coating operation, can greatly improve the working range and the spraying operation efficiency, meanwhile, the pressure of each spray gun is stabilized through the pressure regulating valves, the final spraying effect is ensured, in addition, the airless spraying machine is adopted to perform the spraying operation, the pollution is smaller, the coating adhesion is good and the spraying quality is better.

The utility model discloses a puncture needle sharpening device with placing and positioning functions, which belongs to the technical field of puncture needle sharpening, and comprises a sharpening table, a positioning mechanism and a splash-proof mechanism, the splash-proof mechanism comprises a transparent frame fixedly connected to the top of the sharpening table, a transparent window is hinged to the front end of the transparent frame, and the transparent window is connected with the positioning mechanism. A through hole is formed in one side of the transparent frame. By means of the mode, the transparent frame, the transparent window, the shade and the soft cushion are matched with one another, the surface of the grinding wheel is surrounded and blocked, then metal scraps are prevented from splashing to the positioning mechanism, the surface of the positioning mechanism is surrounded and blocked through the dustproof sleeve, impurities are prevented from being attached to the positioning mechanism, and compared with an existing mode that the metal scraps are prone to splashing to a sliding rail and an electric sliding block, the machining efficiency is improved. According to the mode, metal chippings are prevented from splashing to the positioning mechanism, the surface of the positioning mechanism is surrounded, the placing and positioning functions of the positioning mechanism on the puncture needle are guaranteed, and then the sharpening effect on the puncture needle is guaranteed.

This invention discloses an automatic charging rack for refrigerated containers, relating to the technical field of container charging. It includes: a support frame with at least two parallel layers, each supporting frame comprising a first charging side and a second charging side arranged opposite to each other, with multiple charging sockets distributed along a first direction on both sides; a plugging / unplugging mechanism, including a robotic arm and a walking component connected to the robotic arm, the robotic arm being used to plug and unplug the charging plug of the refrigerated container into the charging sockets; a translation mechanism, the walking component being capable of moving and transferring along the first direction between the translation mechanism and the support frame; the translation mechanism being capable of moving along a second direction between the first and second charging sides; and a lifting mechanism connected to the translation mechanism, used to drive the translation mechanism to vertically lift and lower between the support frames. This invention can increase the number of refrigerated containers that can be charged on a single automatic charging rack, improving the equipment utilization efficiency of the automatic charging rack.

The utility model relates to a kind of explosion-proof transfer flatcar, involving transfer car technical field, including frame, transfer track, automatic and manual driving device etc..Frame is composed of box girder, end beam etc., high structural strength, and fence is equipped to improve security.Transfer track is detachably installed in the top sink of frame.Automatic driving device contains driving wheel, explosion-proof driving motor etc., can stably drive frame to walk;Manual driving device contains driven wheel, speed reducer etc., when motor fails or needs to fine-tune position, it can be manually or driven by electric wrench.Driving motor and speed reducer output end are all equipped with clutch, can switch power source to make corresponding component be in free state.Frame both ends have parking device, containing fixed seat, telescopic cylinder and brake pad, can realize parking function.The utility model can meet the explosion-proof requirement of dangerous environment operation, with automatic walking, manual or electric wrench fine-tune position and other multiple functions, improve the flexibility and adaptability of use.

The patent discloses an amphibious photovoltaic panel cleaning device and its driving method, aiming to solve the problem that the existing cleaning equipment cannot independently cross between photovoltaic panel groups. The device is composed of eight parts: a flight module, a transmission module, a cleaning module, a walking module, a shell, a solar panel, a battery, and a scanning camera. The flight module adopts a threaded screw transmission mechanism, which can universally adjust the angle of the rotor, synchronize the angle change of adjacent rotors, and ensure the stability of take-off and landing and crossing, realizing non-equilibrium state control under heavy load conditions. The walking module adopts independent left and right driving to realize differential steering, which can stably adapt to the surface of photovoltaic panels with different inclination angles. The transmission module divides the power through bevel gears, synchronously drives the rotating brush for cleaning, and drives the plunger pump type water sprayer to realize high-pressure water spraying cleaning. Through structural design and driving principle innovation, the invention effectively improves the autonomous crossing and full-scene operation capability of the photovoltaic cleaning device.

The utility model discloses an elevator guide rail perpendicularity detection machine, including walking mechanism, detection mechanism and control mechanism, walking mechanism includes robot car body, the four corners of robot car body are equipped with drive wheel, the inboard of robot car body is fixed with electric cylinder, the piston rod end of electric cylinder is equipped with clamping wheel, the top of robot car body is equipped with safety module and is equipped with function module in the bottom, detection mechanism includes inertia measurement unit, laser range sensor and encoder, control mechanism includes electric control box, be equipped with signal receiver, PLC and signal transmitter in electric control box. The elevator guide rail perpendicularity detection machine design is advanced, and reliable operation is realized, and a plurality of function modules are integrated, realize guide rail perpendicularity detection, clean, noise and vibration detection and the defect identification such as many functions in an organic whole, not only has improved the detection efficiency, still greatly reduced equipment cost and maintenance difficulty.

The utility model discloses a foot structure and four -legged robot of four -legged robot belong to four -legged robot field, solve the problem that rubber foot pad whole stress is uneven because rubber foot pad is smaller in height direction's stress, and the technical scheme of solving this problem mainly includes foot end piece and the rubber foot pad of through locking piece and foot end piece can dismantle connection, the bottom of foot end piece is equipped with the lock catch, and the top recess of rubber foot pad forms the slot for the lock catch insertion, be equipped with the through -hole of rubber foot pad for locking piece penetrates, and locking piece includes two stop surfaces, and locking piece makes foot end piece and rubber foot pad keep fixed along the through -hole penetration lock catch, and two stop surfaces press on the two sides of rubber foot pad opposite, locking piece and through -hole interference fit to make part rubber foot pad be clamped between the bottom of foot end piece and locking piece. The utility model mainly is used for improving the locking force of locking piece to rubber foot pad.

This application belongs to the field of electrolysis technology, specifically relating to a device for cleaning the bottom of an electrolytic cell. The device includes a chassis, a cleaning device, a conveying device, and an anti-magnetic chamber. The chassis includes a chassis frame and first rollers mounted at the bottom of the chassis frame. The cleaning device is fixedly connected to the front end of the chassis frame and is used to transport the cleaned material onto the conveying device. The conveying device is located in the middle of the chassis frame and is used to transport the cleaned material, and an obstacle-crossing mechanism is provided on the conveying device. The anti-magnetic chamber is located above the chassis and is used to house control devices. The device of this application has an obstacle-crossing mechanism on the conveying device, allowing the entire device to move smoothly at the bottom of the electrolytic cell without being blocked by large particles of cleaned material at the bottom of the cell. Furthermore, the use of an anti-magnetic chamber to house control devices allows the device to operate smoothly and safely in the electrolytic cell without being affected by strong magnetic fields.

The application discloses a design method and a control device of a human-imitating walking stability controller based on model reference self-adaption, and comprises the following steps: S1, a dynamic equation of a continuous swing stage of a biped robot and a mapping model of a discrete collision stage are established; S2, a virtual constraint function y=h(q) is designed to make the motion of drive joints and under-actuated joints of the biped robot coupled; S3, input / output feedback linearization processing is performed on the virtual constraint function; S4, a PD tracking controller is designed for a linear subsystem; S5, an adaptive reference model is established; S6, based on an energy minimization criterion, parameters of a desired joint trajectory of the biped robot are optimized by combining a Bezier polynomial fitting method to generate an energy-saving periodic desired trajectory; and S7, the asymptotic stability of a closed-loop system is proved by using a control Lyapunov function and a Poincare mapping to ensure that the system is periodically stable in walking.

This invention relates to a spraying device for anti-corrosion paint on precast concrete components, comprising a spraying frame with a traveling mechanism at the bottom. Multiple atomizing nozzles for spraying the left, right, and top surfaces of the precast concrete components are distributed on the inner wall of the spraying frame. The atomizing nozzles are connected to a paint supply mechanism. A spraying auxiliary mechanism, rotatable in a horizontal plane, is provided at the lower end of the spraying frame for spraying the bottom surface of the precast concrete components. This invention is rationally designed. The traveling mechanism moves the spraying frame through the precast concrete components, allowing for the spraying of anti-corrosion paint on the top, two sides, and bottom surfaces of the precast concrete components in the storage area. Disassembly is not required during the movement, making it convenient and flexible. Simultaneously, the smooth movement of the spraying frame effectively ensures spraying quality, does not affect the precast concrete component production line, saves construction costs, and reduces personnel input.

This invention relates to a portable combined rinsing machine, comprising a wheel section, a brush section, a wheel section, and a power section. Wheel section one and wheel section two are respectively mounted at both ends of the brush section, and the power section is mounted at the end of wheel section two furthest from the brush section. Wheel section one and wheel section two have identical structures. Wheel section one, brush section, wheel section two, and power section are connected by connecting sections. A passive brush is mounted outside the power section. The power section includes a mounting plate, a connecting plate, a servo geared motor, a manifold, and a water pipe. The servo geared motor drives the transmission shaft, and in conjunction with the cam plate and reciprocating shaft, the brush body achieves telescopic movement, enabling dynamic cleaning of the inner wall of the rinsing tube, avoiding the problem of incomplete cleaning by static brushes. Simultaneously, the configuration of linear bearings and optional springs enhances the adaptability and durability of the brush, improving cleaning coverage and effectiveness.

The utility model provides a flexible massage machine core. The flexible massage machine core comprises a flexible rack and a machine core assembly. The machine core assembly is provided with a shell and a driving part arranged in the shell, a limiting channel with one side open is defined by the shell, a gear of the driving part extends into the limiting channel from the open position of the limiting channel, the flexible rack is slidably arranged in the limiting channel in a penetrating mode, a first elastic protruding strip capable of making elastic contact with the flexible rack is arranged on the inner side wall of the limiting channel, and a second elastic protruding strip capable of making elastic contact with the flexible rack is arranged on the outer side wall of the limiting channel. And the flexible rack is limited in the limiting channel and is meshed with the gear, so that the machine core assembly can be driven to walk in the length direction of the flexible rack when the gear rotates. The flexible massage machine core is simple in structure, smooth in walking and beneficial to massage of a user.

The application relates to the technical field of ship intelligent maintenance equipment, in particular to a cabin washing robot based on a suspension type magnetic attraction crawler, which comprises a robot body, a walking mechanism, a removing mechanism, a baffle and a main water tank. The cabin washing robot is characterized in that the walking mechanism is optimized, the removing mechanism is additionally arranged, the water tank structure is improved, and a cleaning and spraying mechanism is designed, so that the automation and integration of the cabin washing operation are realized, manual operation in the cabin is not needed, the safety of the cabin cleaning operation is greatly improved, the arc-shaped, rivet area and irregular cabin wall surface can be flexibly adapted, the walking is stable, continuous operation can be realized, and the cleaning efficiency and quality are obviously improved.

This invention relates to a car massage device based on a release and collapse mechanism, comprising a base and a massage assembly. The massage assembly includes a massage arm, a kneading base, and a collapse mechanism. The kneading base is rotatably connected to the base, and a kneading shaft is rotatably mounted on the kneading base. The massage arm is mounted on the kneading shaft. The collapse mechanism includes an elastic element and a latching component for locking or unlocking the sliding of the lifting base on the base. Both ends of the elastic element are connected to the base and the kneading base, respectively. Using this technical solution, the invention achieves stable support for the massage arm during normal massage by locking the latching component in cooperation with the elastic element. When subjected to abnormal pressure exceeding the pre-tension of the elastic element, an external force acts on the massage arm, causing the kneading base supporting the massage arm to rotate around the base, and the latching component unlocks. The striking shaft is then pushed by the massage arm and connecting rod, causing the lifting base to slide and collapse.