58 results about "Vertical climbing" patented technology

The invention belongs to the technical field of pipeline inner wall cleaning, and particularly relates to a self-adaptive pipe diameter adjusting type petroleum oil pipe intelligent cleaning robot which comprises a shell, and the shell is composed of a left shell body and a right shell body which are the same in structure. According to the supporting mechanism, a bidirectional threaded rod linkage structure hinged through a universal joint is adopted, and an electromagnetic cylinder and a moving block are matched to cooperatively control supporting legs to stretch out and draw back dynamically, so that the device is adaptive to different pipe diameters and bent pipe forms, and the device can be stably attached in a round pipe, an oval pipe or a bent pipe; the driving mechanism is based on bevel gear transmission and is combined with a radial pressure compensation mechanism to realize the multidirectional moving capability of vertical climbing and horizontal propelling; the exploration mechanism is integrated with a two-degree-of-freedom holder, and the cleaning process is monitored in real time through axial looking and radial pitching scanning in cooperation with self-adaptive light supplement; the cleaning mechanism innovatively integrates a rotary cutting drill bit, an adjustable blade set and a high-speed brush roller, the operation radius is dynamically adjusted through an extension rod, and stubborn scaling crushing, pipe wall scraping and chipping sweeping are synchronously completed.

The invention relates to a visual bird nest cleaning robot capable of automatically climbing a pole, and the robot comprises a tower climbing mechanism which is of an inchworm structure and carries out the vertical climbing operation; the mechanical arm mechanism is arranged at one end of the tower climbing mechanism, a mechanical clamping jaw is arranged at the free end of the mechanical arm mechanism, the relative position of the mechanical clamping jaw is adjusted through the mechanical arm mechanism, the bird nest is damaged and removed through the mechanical clamping jaw, and a camera is arranged in the center of the mechanical clamping jaw; according to the visual bird nest cleaning robot capable of automatically climbing the pole, an operator stands under a pole tower, the pole-climbing robot is remotely controlled to carry out climbing operation, a mechanical arm can be controlled to work at any time through a mobile phone terminal, and the bird nest removing condition is known.

The invention belongs to the technical field of inspection robots, and particularly discloses a four-wheel-drive magnetic suction wheel driving mechanism of an inspection robot running along a double-circular-tube track, which comprises a three-degree-of-freedom driving frame, and the three-degree-of-freedom driving frame comprises an arm frame connecting frame and a rotary arm frame connecting frame which are rotationally connected; the other end of the arm support connecting frame and the other end of the rotary arm support connecting frame are rotationally connected with the middles of the corresponding driving connecting cross arms, magnetic attraction driving units are arranged above the tail ends of the driving connecting cross arms correspondingly, and an inspection robot body is detachably connected to the lower portion of the arm support connecting frame and / or the lower portion of the rotary arm support connecting frame. Magnetic attraction wheels of the magnetic attraction driving units are connected with circular steel pipes of the double-circular-pipe track in a magnetic attraction mode, the explosion-proof motor drives the magnetic attraction wheels to roll along the double-circular-pipe track, the gravity center of a whole formed by the four sets of magnetic attraction wheel driving units and the inspection robot body is close to the double-circular-pipe track, and the risk that the robot falls off from the double-circular-pipe track when climbing vertically is greatly reduced; vertical climbing, stable pitching and horizontal turning are achieved, and stable operation is guaranteed.

The invention belongs to the technical field of robots, and discloses a ship and bridge dual-purpose cleaning robot and a cleaning control method. The main body structure comprises a resistance reduction-propulsion integrated power system jointly formed by a fairing and a vector nozzle, a grading collaborative cleaning module jointly formed by a cavitation water jet module and a grinding cleaning module, an adsorption system and an auxiliary supporting module, and the auxiliary supporting module comprises a plurality of auxiliary supporting mechanical arms and is used for achieving the purpose of cleaning the water jet in a cleaning mode and an underwater swimming mode. By adjusting the position of a supporting point in real time, the device adapts to structural changes of ribs and bilges of a hull and is used for being matched with an adsorption system and a vector sprayer to form an alternate-cooperative dual-working mode, and different operations of vertical climbing and surface-changing movement are assisted to be completed. The device has multiple purposes, can continuously work on a ship body and a bridge pier, does not need to be modified or replaced by multiple machines, and reduces the comprehensive use cost. And meanwhile, multi-machine cooperation is supported, an efficient cluster cleaning mode is formed, and the operation efficiency and economical efficiency are further improved.

The application discloses a barrier-crossing pole-climbing robot and a barrier-crossing method thereof. The mechanism main body is composed of two support arm groups and a support main frame. Each support arm group is composed of two support arms, and the length of the support arms can be adjusted. The support arm groups are connected with elastic track supports through driven support mechanisms to drive tracks. Each group is connected with three driving tracks to form an equilateral triangle. Elastic elements are distributed on the tracks. When working, the arms are clamped to deform and adhere to the curved surface, which protects the pole body and makes it easier to climb. Each support arm group is connected with a servo motor, and the opening and closing of the support arm group is controlled through a control circuit. The two track driving mechanisms are arranged, and the arms are clamped and telescopic. The robot can climb poles of different diameters, cross obstacles on the ring-shaped pole and prominent obstacles, and retain the vertical climbing ability.

The utility model discloses a climbing device with an anti-falling function suitable for various environment working conditions. The climbing device is mainly composed of a track system, a manned walking device, an anti-falling braking system and a safety monitoring system. The track system is made of high-strength alloy steel or stainless steel and comprises a straight-section track system and a corner track system which are standard parts, are installed in a lengthened mode through butt-joint connecting pieces and are fixed to an area needing to be climbed. The manned walking device is divided into a walking driving device and a carrying device, the walking driving device provides power, and the carrying device is used for people to stand. The anti-falling braking system is integrated on the manned walking device and matched with the rail anti-falling table, and when the driving mechanism breaks down, the device is braked, and falling is prevented. The safety monitoring system monitors the device state, the personnel posture and the environment, ensures the operation safety and forecasts faults. The device is simple in structure, light in weight, convenient to install and use, suitable for vertical climbing, slope passing or multi-working-condition combined environments, capable of providing safe and reliable climbing-assisting protection for operators and suitable for being safely used under different working conditions.

A storage facility (1) having a plurality of storage racks (R) and storage rack levels (3) for storage of load units (T), wherein two storage racks (R) have an aisle (2) between them, each storage rack level having running rails on the opposing faces of the storage racks (R), on which at least one storage and retrieval apparatus (5) may travel the length of the aisle (2). Each storage and retrieval apparatus (5) has a first set of four traveling wheels for traveling along the running rails horizontally along the respective storage rack level (3) of an aisle (2), and has climbing means for vertical movement, along vertical climbing chimneys. The climbing means of each storage and retrieval apparatus (5) include a set of four climbing wheels (16) being retractable between an extended engaging position for interaction with the vertical climbing rails and a retracted non-engaging position while travelling horizontally along the running rails along the respective storage rack level (3) and the storage and retrieval apparatus (5) has a power-take-up device (60) for contacting the bus bars (50) that is coupled to the retraction and extension movement of the climbing wheels (16).

The invention discloses an autonomous moving double-arm type steel bar binding robot, which belongs to the technical field of automatic equipment, and comprises a maneuvering and climbing device, an operation execution device and a central control and energy system, the transverse translation mechanisms are installed on the bearing base plate, the number of the vertical climbing mechanisms is the same as that of the transverse translation mechanisms, the vertical climbing mechanisms and the transverse translation mechanisms are arranged in pairs, and each pair of vertical climbing mechanisms is installed on the corresponding pair of transverse translation mechanisms; the output directions of the two vertical climbing mechanisms in pairs are opposite, and the vertical climbing mechanisms are used for vertically moving through meshing of the climbing wheels and the vertical guide rails and horizontally moving between the adjacent vertical guide rails through driving of the transverse translation mechanism; the operation execution device and the central control and energy system are installed on the bearing base plate. Autonomous lifting and transverse moving can be achieved, dead-corner-free covering of the full-height and full-width working face is achieved through the double-arm executing mechanism, the construction process is simplified, and the material cost and the labor cost are reduced.

The application discloses a vertical climbing robot, a measuring base and an elevator guide rail detection device. The vertical climbing robot comprises at least one pair of active magnetic wheels arranged oppositely, a pair of active magnetic wheels clamping a guide rail in a first direction when the guide rail is measured, at least one connecting rod mechanism, the connecting rod mechanism comprising a first connecting rod connected with a bearing of one side of the pair of active magnetic wheels, a second connecting rod connected with a bearing of the other side of the pair of active magnetic wheels and a main connecting rod, the first connecting rod and the second connecting rod being rotatably connected at two ends of the main connecting rod respectively, a driven magnetic wheel, the driven magnetic wheel being in contact with the guide rail in a second direction when the guide rail is measured and rotating with the movement of the vertical climbing robot, and a laser spot positioner. According to the vertical climbing robot of the first aspect of the application, the guide rail is clamped by the active magnetic wheel, stronger friction and adsorption force can be provided, and the vertical climbing robot can be ensured to be more stable during the climbing process.

1. Name of the Design Product: Free-standing Vertical Climbing Ladder. 2. Use of the Design Product: For physical training of climbing for children and adults. 3. Design Key Points of the Design Product: Lies in the shape. 4. Picture or Photograph that Best Illustrates the Design Key Points: Perspective View 1.

The utility model belongs to the technical field of steel wire rope lubricating devices, and particularly relates to a steel wire rope vertical climbing lubricating automatic protection device. According to the technical scheme, the steel wire rope vertical climbing lubrication automatic protection device comprises an automatic crawling module used for driving the whole device to automatically crawl along the steel wire rope and a lubrication cleaning module used for conducting oil removal and oil coating work on the surface of the steel wire rope. The autonomous crawling module is connected with the lubricating and cleaning module, and the autonomous crawling module and the lubricating and cleaning module are both clamped on a steel wire rope. The utility model provides an automatic protection device for lubricating during vertical climbing of a steel wire rope. The working efficiency and the safety of lubricating maintenance work of an overlong vertical steel wire rope are improved.

The application provides a pool wall installation scaffold-free construction system, and belongs to the technical field of building construction. The pool wall installation scaffold-free construction system comprises a hanging rack ladder cage. The hanging rack ladder cage comprises a vertical climbing ladder, a horizontal support, a working hanging cage and a fixing device. The vertical climbing ladder comprises multiple climbing ladder segments that can be spliced. Each climbing ladder segment is connected by bolts or fixed by welding. The hanging rack ladder cage forms a vertical channel. The vertical climbing ladder is arranged in the vertical channel by being suspended at the top. The horizontal support is welded to one side of the vertical climbing ladder close to the pool wall. The horizontal support comprises at least one pair of parallel support rods. One end of the support rod is welded or fixedly connected to the vertical climbing ladder by bolts. The other end of the support rod is fixed to the pool wall. The fixing device comprises a tension safety clamp and a top hanging point. The top hanging point is fixed to the top structure of the pool by punching and using expansion bolts. The problem of limited space caused by the inability to pre-bury fixed points due to waterproof requirements during pool construction is solved.

The invention relates to a distance measuring method and device for vertical climbing of a parallel ladder, and belongs to the technical field of kinematics, and the method comprises the steps: obtaining an identification picture coordinate set of the parallel ladder; coordinates of the two ends of a standard bar in the parallel ladder are determined, a distance conversion score is calculated based on the coordinates of the two ends, and coordinates of supporting points of the parallel ladder are determined, and the number of the supporting point coordinates is two; based on identification picture coordinate set detection, calculating a landing score of the target person and a starting action score of the target person according to the coordinates of the supporting points and the parameter coordinates of the target person in each frame of image; calculating a terminal score of the target person according to the start action score, the turn-back criterion frequency score and the first turn-back frequency score, and calculating a displacement score of the target person on the basis of the terminal score and a target threshold value under the condition of determining that the target person arrives at the terminal; and under the condition that the landing score is zero, calculating the climbing distance of the target person according to the displacement score and the turn-back frequency score.

The present invention provides a positioning and installation control device and a control method for multiple prefabricated columns, including a lateral support positioning control device and a vertical climbing positioning control device. The lateral support positioning control device includes a connecting device, a support connection unit and a lateral connecting head. The vertical climbing positioning control device includes a fixed clamping device, an outer frame body, an automatic climbing wheel module and an automatic locking module; the support connection unit and the lateral connecting head are symmetrically arranged on both sides of the connecting device; the lateral connecting head is connected to the outer frame body; the drive control system is arranged on the connecting device, and the drive control system can control the rotation of the high-strength threaded rod on the connecting device, thereby driving the support connection unit to move; the outer frame body is sleeved and detachably fixed to the outside of the column; the fixed clamping device is fixedly arranged at the bottom end of the outer frame body; the automatic climbing wheel module is fixedly arranged above the outer frame body through a pair of connecting brackets; and multiple groups of automatic locking modules are arranged on the outer frame body.

This invention relates to the field of intelligent machinery, and more particularly to a robot for inspecting and repairing small- and medium-diameter pipelines. The robot includes: an inspection and repair module connected to a carrier plate, the carrier plate being mounted on top of a worm gear seat; a central drive motor with an output shaft at each end, a central bevel gear fixed on the output shaft, and four equally spaced subsidiary bevel gears meshing with the central bevel gear along its circumference; each subsidiary bevel gear being coaxially connected to a worm; a worm wheel and a driving synchronous pulley meshing with the worm; one end of the worm gear seat being connected to a subsidiary plate, and the other end enabling the connection and rotation of the worm wheel, the driving synchronous pulley, and the traveling rocker arm; the driving synchronous pulley and the driven synchronous pulley at the end of the traveling rocker arm being connected via a synchronous toothed belt; the driven synchronous pulley and the traveling wheel being coaxially and tightly fitted; and a torsion spring fitted at the end of the traveling rocker arm. The robot of this invention exhibits strong vertical climbing ability, bend-crossing ability, and dynamic adaptability to different pipeline diameters.

The application discloses a kind of solving method of unmanned aerial vehicle equivalent simulation spacecraft kinematics characteristics, steps are as follows: the inertial coordinate system required for constructing equivalent model and satellite orbit coordinate system, relative motion equation in orbit coordinate system is established;According to the equation, the spacecraft orbit kinematics parameters and unmanned aerial vehicle equivalent kinematics parameters are determined;Combining each parameter basic dimension, dimension matrix is listed, and the basic parameter quantity describing physical process is determined according to the rank of matrix;Based on the similarity of model and prototype, the similarity condition is applied to dimensionless number, the equation describing two systems is established, and then the scale factor of each kinematics parameter is derived.The method makes full use of the controllable characteristics of unmanned aerial vehicle flight height, speed and vertical climbing / descending speed, and realizes the simulation of satellite motion process by unmanned aerial vehicle through formulating reasonable space-time scaling rules, combining spacecraft kinematics characteristics and unmanned aerial vehicle flight control technology.

A storage facility (1) having a plurality of storage racks (R) and storage rack levels (3) for storage of load units (T), wherein two storage racks (R) have an aisle (2) between them, each storage rack level having running rails on the opposing faces of the storage racks (R), on which at least one storage and retrieval apparatus (5) may travel the length of the aisle (2). Each storage and retrieval apparatus (5) having a first set of four traveling wheels for traveling along the running rails horizontally along the respective storage rack level (3) of an aisle (2) and has climbing means for vertical movement, along vertical climbing chimneys, that include vertical climbing rails (15). The climbing means of each storage and retrieval apparatus (5) include a set of four climbing wheels (16) for interaction with the vertical climbing rails (15). The storage and retrieval apparatus (5) has a drive means (70a) to drive the first set of wheels (10) for horizontal travel and a separate drive means (70b) for driving the climbing wheels (16) for vertical climbing travel or a single drive (80) for both horizontal and vertical travel, which can be switched between the wheels that are driven.

The invention relates to the technical field of intelligent storage, in particular to a walking and climbing AGV which is composed of a walking and climbing AGV body and a climbing AGV body which can be separated, the walking AGV body moves on the ground through a navigation system and a first battery system, and the climbing AGV body is coupled with a linear rack of a storage shelf stand column through a climbing coupler of a climbing device. And the second climbing driver is used for driving the gear to rotate, so that vertical climbing and material transferring are completed. The first control module and the second control module which are in wireless communication connection ensure cooperative work of the two parts. The split type design improves the flexibility and adaptability of the system and optimizes the energy utilization. The invention further relates to the climbing AGV and a warehousing system.

The utility model discloses a high safety composite cage football field of preventing climbing, relates to sports facilities technical field. The utility model discloses a plurality of support bars are fixed on the ground through bolt, and the plurality of support bars are set up to form the football field contour in the back type, and the main enclosure net is equipped between the plurality of support bars, and the plurality of main enclosure nets are used to form the football field enclosure, in order to prevent from climbing into the football field from outside, the vice enclosure net is inclined and is provided with in the top of each main enclosure net, and the vice enclosure net can change the originally vertical climbing path to the outside inclination, each support bar includes vertical support pole and inclined support pole, and the inclined support pole is located the upside of vertical support pole, through the top of main enclosure net is inclined and is provided with vice enclosure net, has changed the originally vertical climbing path, has increased the difficulty of climbing, has prevented effectively that outside personnel climbs into the football field, has improved the safety of football field.

The utility model discloses a three-dimensional pergola for siraitia grosvenorii planting, and aims to solve the problems of low space utilization rate, poor ventilation and light transmission, high risk of plant diseases and insect pests and inconvenience in management in a traditional planting mode. The pergola comprises stand columns and iron wires, moving holes are formed in the bottom ends of the stand columns, conical sliding blocks are slidably connected into the stand columns, and supporting columns are evenly arranged on the side walls and hinged to the top ends of the sliding blocks through through holes. The top end, the middle and the lower portion of the stand column are fixedly connected with fixing rings used for erecting iron wires. The iron wires are fixed along the vertical columns transversely and longitudinally to form dense climbing grids. Chamfers are arranged at the bottom ends of the stand columns to facilitate soil insertion. The distance between the bottom end of the supporting column and the lowermost fixing ring ranges from 30 cm to 50 cm. According to the design, the vertical climbing surfaces are added to form a three-dimensional structure, the space utilization rate and ventilation and light transmission are improved, the pest and disease damage risk is reduced, picking and management are facilitated, and the yield and quality of momordica grosvenori are improved.

A vertical greening device for gardens comprises a greening fixing frame, a box body cover plate, vertical climbing rods, horizontal connecting rods, fixing connecting rods, strip-shaped positioning plates, positioning inserting rods, a planting box body, a supporting main shaft, an irrigation water pipe and a U-shaped fixing plate, a side storage box body is arranged on the side face of the lower portion of the greening fixing frame, and the box body cover plate is installed on the upper portion of the side storage box body; a supporting side hole is formed in the side face of the greening fixing frame, the supporting main shaft is matched with the supporting side hole, the supporting main shaft is inserted into the supporting side hole and rotates in the supporting side hole, a box body side sleeve is arranged on the side face of the upper portion of the planting box body, the supporting main shaft is matched with the box body side sleeve, and the supporting main shaft is inserted into the box body side sleeve and connected with the box body side sleeve. The planting box bodies are evenly distributed in the greening fixing frame up and down, and a plurality of box body lower holes are formed in the bottoms of the planting box bodies.

The utility model discloses a staggered balcony multi-point pulling and connecting climbing frame which comprises a vertical climbing frame body, and a pulling and connecting mechanism is arranged on the side, close to a wall, of the climbing frame body and used for fixing the climbing frame body at the position where an attachment point structure of the vertical climbing frame body is lost. The tie mechanism comprises a cross beam, one end of the cross beam is installed on the wall, and the other end of the cross beam is connected with the climbing frame body. The top of one end of the cross beam is connected with a first supporting assembly, the bottom of one end of the cross beam is connected with a second supporting assembly, the design structure is reasonable, the cross beam in the middle is transverse, the cross beam is directly connected with the climbing frame body, the inclined first supporting assembly is additionally arranged on the cross beam, and the vertical second supporting assembly is additionally arranged below the cross beam; the cross beams are further supported in the vertical direction, multiple pulling stress is formed to fix the climbing frame body, and the problems that in the prior art, connection is conducted only through inclined rods, the loading capacity in the vertical direction is poor, and the stability of the climbing frame is prone to being affected in long-time use are solved.

The invention provides a wall surface green plant vertical climbing structure for garden design. The wall surface green plant vertical climbing structure comprises a planting box and a climbing vertical frame fixedly mounted at the top of the planting box; the top of the water receiving shell fixedly communicates with a plurality of connecting pipes, and the connecting pipes fixedly communicate with the bottom of the planting box; a side groove is formed in the bottom of one side of the water receiving shell, a supporting frame fixedly installed on the bottom face of the water receiving shell is arranged below the side groove, and the water collecting box is inserted into the supporting frame. The dirt scraping plate is arranged in the water receiving shell, and the bottom edge of the dirt scraping plate is attached to the inner wall of the bottom of the water receiving shell; and the dirt scraping plate is connected with a translation assembly. The water receiving shell and the connecting pipe are arranged and used for receiving superfluous water at all positions in the length direction of the planting box, the water collecting boxes are arranged and used for collecting the received water, and during maintenance, only the single water collecting box needs to be poured and cleaned; and the translation assembly and the dirt scraping plate are arranged, and dirt on the bottom face of the water receiving shell can be pushed and gathered into the water gathering box before the water gathering box is poured out.

A storage installation (1) having a plurality of storage racks (R) and storage rack levels (3) for storing load units (T), with a tunnel (2) between two storage racks (R), each storage rack level having running tracks on opposite faces of the storage racks (R), at least one storage and retrieval device (5) being able to travel along the length of the lanes (2) on said running track, for each lane (2) at least two pairs of vertical climbing tracks (15) being located on opposite faces of the storage racks (R) adjacent to the respective lane (2); according to the invention, the storage and retrieval device (5) has a carrying region for at least one load unit (T), which carrying region is located between load handling means which can extend into the storage rack (R) in a direction perpendicular to the length of the channel (2), a plurality of storage and retrieval devices (5) for placing or retrieving load units (T) into or from the storage racks (R), each storage and retrieval device (5) having a first set of four traveling wheels for traveling along a running track extending horizontally along a respective storage rack level (3) of the aisle (2); the storage and retrieval devices (5) each have two wheels on each side, one or both wheels on each side being driven on a combined drive shaft, and wherein each storage and retrieval device (5) has climbing means for vertical movement, in particular along a vertical climbing track, in order to achieve a three-dimensional movement of the storage and retrieval device.

The invention discloses a wall surface green plant vertical climbing structure for landscape gardens, relates to the technical field of papermaking additive adding devices, and solves the technical problem that green plant tendrils in planting grooves possibly extend outwards along the edges of the planting grooves due to the fact that large distances exist between the planting grooves and sleeves for green plants to climb. The fixing frame is fixed on a wall body; the side frames are mounted on the two sides of the fixing frame; the planting foundation trench is installed on the fixing frame and used for green plants to grow; the climbing frame structure is mounted between the two side frames and is used for climbing plants; the climbing frame structure comprises an extension frame capable of being stretched and unfolded; the climbing area of the green plant tendrils can be adjusted according to the requirements of the green plant tendrils, convenience is provided for growth of the green plant, meanwhile, the extending nozzles can be close to the green plant, the tendrils growing from the green plant can spread to the extending frame along the extending nozzles, the climbing and growth neatness and attractiveness of the green plant tendrils are guaranteed, and the green plant tendrils can be irrigated through the extending nozzles for growth of the green plant tendrils.

The invention discloses a tree-climbing pruning machine with multiple operation modes and multiple motion postures, and belongs to the technical field of branch pruning equipment. Comprising a main body structure, a driving wheel set, a driven wheel set and a pruning assembly, a trunk receding space is formed in the middle of the main body structure, and an opening is formed in one side of the receding space; through angle conversion of the driving wheel set and the driven wheel set, multiple motion postures of vertical climbing, spiral climbing and rotary climbing of the device are achieved; through transverse pruning and vertical pruning of the pruning assembly, multiple operation modes are achieved; when side branches need to be reserved, a gap between the first driving wheel assembly and the second driving wheel assembly is aligned with the side branches needing to be reserved through variable motion posture operation of the tree climbing pruning machine, then the maintaining posture is controlled to vertically complete climbing along a tree trunk, the side branches can be crossed, and selective pruning operation is achieved. The technical problem that a traditional tree-climbing pruning machine is inconvenient to selectively prune branches is solved.

The invention relates to the related technical field of helmet conveying, in particular to a spraying pretreatment and spraying long-distance vertical climbing ground chain conveying device which comprises a conveying rail, a trolley, a labyrinth body, a cross arm, a rotating body, a top supporting rod, a water retaining disc, a radial fixing module, a negative pressure adsorption module and a climbing stabilizing module. The radial fixing module is matched with the flexible inner clamping head, self-adaptive radial expansion is achieved according to the inner diameter sizes of helmets of different specifications, and it is ensured that constant and lossless clamping force is applied to the helmets of various models in combination with an error compensation mechanism; meanwhile, the negative pressure adsorption module automatically adapts to the curvature of the top of the helmet, and efficient stability in the vertical direction is achieved through air pressure locking. Particularly, under the climbing working condition, gravity is used for triggering the climbing stabilizing module, so that the overturning baffle automatically forms external physical limiting, and the slipping risk is thoroughly eradicated through multiple guarantees.

The invention discloses a resolving method for equivalent simulation of spacecraft kinematics characteristics by an unmanned aerial vehicle, which comprises the following steps of: constructing an inertial coordinate system and a satellite orbit coordinate system required by an equivalent model, and establishing a relative motion equation in the orbit coordinate system; determining spacecraft orbit kinematics parameters and unmanned aerial vehicle equivalent kinematics parameters according to the equation; a dimension matrix is listed in combination with the basic dimensions of the parameters, and the number of basic parameters describing the physical process is determined according to a matrix rank; on the basis of the similarity between a model and a prototype, similar conditions are applied to dimensionless numbers, an equation is established to describe two systems, and then scale factors of kinematics parameters are deduced. According to the method, the controllable characteristics of the flight height, the flight speed and the vertical climbing / descending speed of the unmanned aerial vehicle are fully utilized, a reasonable space-time scaling criterion is formulated, and the kinematics characteristics of a spacecraft and the flight control technology of the unmanned aerial vehicle are fused, so that simulation of the unmanned aerial vehicle on the satellite motion process is realized.

The invention discloses a low-altitude elevator tower for taking off and landing of an unmanned aerial vehicle and a networked logistics method, and belongs to the technical field of urban air traffic infrastructures. Comprising an upper hub formed by stacking multiple layers of take-off and landing platforms, a tower footing, a low-altitude elevator module, an unmanned aerial vehicle take-off and landing deck and a control center, and further integrates system modules such as aircraft and cargo preparation and intelligent path planning and scheduling. The method is characterized in that high-energy-consumption vertical climbing / descending tasks of the unmanned aerial vehicle are undertaken through a low-altitude elevator module, and efficient vertical transfer of the unmanned aerial vehicle and goods and leapfrog type relay distribution between towers are achieved in combination with a multi-layer structured take-off and landing platform and a central dispatching system. According to the method, the energy utilization efficiency of the unmanned aerial vehicle is remarkably improved, air traffic conflicts are avoided, the safety and order of taking-off and landing are enhanced, the reusability of infrastructures and the throughput capacity of the system are improved, full-process automation and networked collaborative operation are supported, diversified tail end distribution scenes are adapted, and reliable technical support is provided for large-scale low-altitude logistics operation.

The invention belongs to the field of offshore wind power, and discloses an integrated climbing-assisting and anti-falling vertical climbing device for offshore wind power high-altitude maintenance training, which comprises a simulation tower drum, a climbing training module and a climbing-assisting auxiliary module, and is characterized in that the climbing training module is arranged in the simulation tower drum and is used for climbing training of trainees, and the climbing-assisting auxiliary module is arranged in the simulation tower drum; and the auxiliary climbing assisting module is arranged on the simulation tower drum and assists the climbing training of the trainee through upward traction. The climbing assisting device is high in structural integration, integrates climbing training, climbing assisting and anti-falling protection, is complete in function and is suitable for multi-scene training arrangement.