10641 results about "Wheel drive" patented technology

The invention provides a vehicle control method, a storage medium and a vehicle, and belongs to the technical field of vehicles. When the vehicle is in the low-speed four-wheel drive state, the vehicle state information is obtained, and when the vehicle state information meets the mode switching condition, the vehicle can be controlled to be switched to the low-speed direct drive mode from the current drive mode, and the vehicle is controlled to run in the low-speed direct drive mode; wherein in the low-speed direct drive mode, a clutch of the vehicle is in a sliding friction state, and an engine is in a driving state. By developing the low-speed direct-drive mode, on one hand, the engine can drive the vehicle in a low-speed scene, the problem that the power consumption of the vehicle is too fast when the vehicle runs in winter is effectively solved, and then the power protection capacity of the vehicle is improved; and on the other hand, the vehicle can be always kept in a four-wheel-drive state in a low-speed state, the phenomenon that the vehicle slips and drifts in snowy days is effectively avoided, and then the driving safety of the vehicle is guaranteed.

The invention discloses a control method and system of a vehicle, the vehicle and a computer program product. The method comprises the following steps: acquiring road information of a to-be-controlled vehicle in a current driving direction; in response to the fact that the road information shows that an abnormal road surface object exists in the current driving direction, position information of the abnormal road surface object and a driving track of the to-be-controlled vehicle in a future time period are obtained, and under the condition that wheels of the to-be-controlled vehicle pass through the abnormal road surface object, impact force borne by the wheels of the to-be-controlled vehicle is larger than an impact force threshold value; determining a current distance between the wheel and the abnormal road surface object in response to the position information included in the driving track; based on the current distance, damping force corresponding to the wheels is adjusted before the wheels run to the abnormal road surface object; and the adjusted wheels are controlled to run through the abnormal road surface object, so that the impact force borne by the adjusted wheels is smaller than or equal to the impact force threshold value. The technical problem that the control effect of the vehicle is poor is solved.

The utility model provides a cleaning robot which comprises a robot body and an advancing assembly, the advancing assembly comprises a driving wheel, a supporting unit and an obstacle crossing wheel, the obstacle crossing wheel is arranged on the supporting unit, and the supporting unit can rotate around the driving wheel so that the advancing assembly can be switched between an advancing state and an obstacle crossing state; when the advancing assembly is in an advancing state, the driving wheels abut against the ground to drive the machine body to advance; when the advancing assembly is in the obstacle crossing state, the supporting units drive the obstacle crossing wheels to make contact with the ground, the driving wheels are made to break away from the ground, and the obstacle crossing wheels drive the machine body to advance. By means of the structure, the obstacle crossing wheels can be driven by the supporting units to make contact with the ground to support the machine body when a preset distance exists between the obstacle crossing device and an obstacle, so that the front end of the machine body is far away from the ground, the rear end of the machine body is close to the ground, and the whole machine body is in an inclined state; the distance between the front end of the robot body and the ground is far larger than the ground clearance of the robot body, and therefore the obstacle crossing capacity of the cleaning robot is improved.

The invention is suitable for the technical field of vehicle motion control, and provides a distributed drive-by-wire vehicle motion control method considering parameter robustness, comprising the following steps: establishing a nominal model of system state prediction based on a distributed drive-by-wire vehicle two-degree-of-freedom dynamic model; parameterizing model mismatch into bounded disturbance, constructing a system deviation model and a deviation suppression cost function, and solving a robust state feedback matrix by using an LMI method; based on a tube-based MPC theory, approximately solving a minimum robust invariant set of the nominal model, reconstructing state quantity and control quantity constraints, and solving front and rear wheel turning angles and expected additional yaw moment through rolling optimization; the wheel drive torque is distributed in response to the desired additional yaw moment. According to the control method provided by the invention, the parameter robustness of distributed drive-by-wire vehicle cooperative motion control is improved, and the vehicle handling stability under the model mismatch working condition can be effectively improved.

The invention discloses a preparation method of a CuZnAlGa hydrotalcite-like derivative catalyst for preparing methanol from synthesis gas rich in carbon dioxide. Cu metal salt, Zn metal salt, Al metal salt and Ga metal salt are used as precursors, Na2CO3 and NaOH are used as precipitants, a mixed alcohol-water solution is used as an auxiliary solvent for coprecipitation, constant temperature and pH value are controlled, and a hydrotalcite-like structure catalyst precursor is obtained. And the precursor is subjected to high-temperature roasting and in-situ reduction in the hydrogen atmosphere, and then the layered framework structure with the Cu nano-particles fixed by the oxide is obtained. The hydrotalcite-like structure plays a role in crystal lattice confinement to prevent Cu particle aggregation, and the interaction between Cu and the oxide improves the adsorption capacity of the surface of the catalyst to CO and CO2, and enhances the activity and stability of methanol prepared from carbon dioxide-rich synthesis gas.

The invention discloses a networked motion control system position tracking control method based on high-order all-drive, and the method employs a high-order all-drive theory to convert a system state space model into a second-order all-drive model with dead zone nonlinearity, thereby providing great convenience for the design of a controller. A dead zone pre-compensation method is adopted to compensate a deterministic parameter part of a dead zone in the system identification process, the system is helped to reduce response delay, and the dynamic performance is improved; an equivalent input interference method is adopted to integrate internal disturbance and external disturbance into input channel interference, so that the design complexity of the control system is reduced; an intermediate observer is introduced to estimate the interference of an input channel, and the accuracy and convergence speed of disturbance estimation are improved by adjusting parameters of the observer; and designing an MPC controller to solve a control law, and inversely transforming the control law into an all-drive control law through a corresponding relational expression to realize high-precision control of the system.

The utility model provides a traction wheel driving assembly and an endoscope, relates to the technical field of endoscopes, and solves the problems that in the prior art, an assembly structure of a traction wheel and a shifting part is complex, and the cost is high. The traction wheel driving assembly adopted by the endoscope comprises a mounting shell, a traction wheel and a turntable, the mounting shell is provided with a mounting hole; the traction wheel is rotatably arranged on one side of the mounting shell and is provided with a positioning hole; the rotating disc is rotationally buckled to the mounting shell, and a positioning column is arranged at one end of the rotating disc, penetrates through the mounting hole and is matched with the positioning hole in a rotation stopping and inserting mode. According to the utility model, the turntable is rotationally connected to the mounting shell in a buckling manner, and the positioning columns arranged on the turntable are inserted into the positioning holes in the traction wheel to realize rotation stopping connection, so that torque is transmitted to the turntable. A rotating shaft does not need to be arranged, so that the connecting structure and the assembling complexity of the traction wheel and the rotating disc are simplified.

The invention discloses a chassis coordination control method and system based on tire side deviation state evaluation, and relates to the technical field of four-wheel steering four-wheel drive vehicle dynamics control. The method comprises the steps that an expected front wheel rotation angle is determined based on an expected steering wheel rotation angle input by a driver, and a front wheel rotation angle is determined; further determining a feed-forward front wheel steering angle, a feed-forward rear wheel steering angle and an additional yaw moment based on feed-forward control and feedback control, determining a first tire slip angle and a second tire slip angle based on a road adhesion coefficient, and further determining a wheel torque control weight, a feedback front wheel steering angle control weight and a feedback rear wheel steering angle control weight; and further determining a driving yaw moment, a feedback front wheel steering angle and a feedback rear wheel steering angle, determining a total longitudinal force based on an expected longitudinal acceleration input by a driver, and performing four-wheel torque distribution based on the total longitudinal force and the driving yaw moment to obtain a four-wheel driving torque. The driving stability of the vehicle under the limiting working condition can be improved.

The invention discloses an intelligent automobile cooperative cruise safety control method under Dos attacks and physical faults, and relates to automobile intelligent safety and automatic driving. A hierarchical control framework is adopted and comprises an observer layer and a tracking layer. The method comprises the following steps: establishing a vehicle longitudinal dynamics model and a DoS attack model for DoS attack in a V2X communication network and the problems of sensor and actuator faults and parameter isomerism of a vehicle; a completely distributed self-adaptive preset time observer based on event triggering is designed for each following vehicle in the observer layer, and rapid and accurate estimation of the state of the pilot vehicle is achieved; the method comprises the following steps: constructing an augmentation system at a tracking layer, designing a distributed intermediate observer, carrying out online estimation and compensation on faults of a sensor and an actuator, designing a distributed active fault-tolerant controller based on a fault estimation value and a pilot vehicle state estimation value, and calculating a wheel driving torque to realize safe cruise control. Multiple threats of coexistence of network attacks and physical faults are effectively handled, and the stability and safety of the cooperative cruise system are ensured.

The invention discloses an air-ground multi-mode cross-domain robot system with a clutch structure and a control method. The air-ground multi-mode cross-domain robot system comprises a machine body, wings, clutch assemblies and rotor assemblies. The aircraft body drives the connecting rod mechanism through the steering engine to control the bilateral wings to move. Rotor driving motors, wheels and transmission gear sets are integrated on the wings, and motor power can be distributed to wheel driving shafts and propeller shafts. The clutch assembly is connected with a motor and a propeller shaft through a ratchet wheel meshing mechanism, and power on-off control is achieved, in the ground running process, a clutch is separated to stop rotation of a propeller, power is fully output to wheels to serve as driving wheels, and in the flight mode, the clutch is meshed to synchronously drive rotors and the wheels. According to the system, bimodal power distribution is achieved through a single motor, a driving wheel motor does not need to be additionally arranged, the structural complexity is effectively reduced, the moving speed and controllability are remarkably improved through the ground mode propeller static design, the advantage of cross-domain operation is achieved, and the system is suitable for complex task scenes.

The invention discloses a distributed driving electric vehicle path tracking control method, system and device, and relates to the technical field of vehicle chassis control. The method comprises the steps that vehicle parameter information is received, a vehicle dynamics model and a magic formula tire model are constructed according to the vehicle parameter information, and a vehicle-road system model used for trajectory tracking control is constructed based on the vehicle dynamics model and the magic formula tire model. According to the method, various uncertain disturbances in the vehicle driving process are comprehensively considered, a model predictive control framework based on minimum-maximum robustness is designed, and the robustness of a path tracking control system is enhanced; meanwhile, an online observer based on a minimum robust positive invariant set is designed, real-time and accurate obtaining of key parameters of the vehicle is achieved without increasing hardware cost, meanwhile, an active front wheel steering and torque vector cooperative control method is designed, and coordinated operation between a steering system and a four-wheel drive system is achieved.

The utility model discloses a pressure controllable type machine tool clamp, belongs to the technical field of machine tool clamps, and aims to solve the problems that a workpiece cannot be clamped stably and cannot be protected. The pressure controllable type machine tool clamp comprises a concave frame, a disc is fixedly connected to the top of the concave frame, and a rotating shaft penetrating through the disc is rotationally connected to the upper surface of the bottom of the concave frame; the worm wheel is matched with the worm, the rotating wheel is rotated to enable the worm to rotate, and the worm wheel meshed with the worm drives the rotating shaft to rotate, so that the disc rotates, the disc rotates to drive the arc-shaped guide groove to push the guide wheel to move, and the guide wheel drives the sliding rod to move. The multiple sliding rods are driven to move towards the inner side, the multiple arc-shaped chucks are driven to clamp and fix a workpiece, the workpiece is clamped from four directions at the same time, the workpiece can be stably fixed, production errors caused by deviation of the workpiece in the machining process are avoided, and the production precision and stability are improved.

Disclosed in the present invention is a flexible robot welding system for a middle rotary displacement pipe fitting. The flexible robot welding system comprises a clamp-type positioner and two welding systems located on two sides of the clamp-type positioner, wherein the clamp-type positioner comprises a driving wheel mechanism for driving pipe fitting to rotate and displace, and a clamp mechanism for pressing the pipe fitting; the clamp mechanism comprises a pressing wheel in contact with the pipe fitting, and a pressing-wheel driving device for driving the pressing wheel to ascend and descend, the pressing wheel rotating along with rotation of the pipe fitting and pressing the pipe fitting; the two welding systems are respectively located at two ends of the pipe fitting, and each welding system comprises a welding robot and an end pressing mechanism; and the end pressing mechanism comprises a pressing first roller in contact with the pipe fitting, and a roller driving device for driving the pressing first roller to ascend and descend, the pressing first roller rotating along with rotation of the pipe fitting and pressing the pipe fitting. The middle part and the two ends of the pipe fitting are pressed at the same time by means of the clamp-type positioner and the end pressing mechanism, such that straightness correction of the pipe fitting is achieved, thereby guaranteeing the welding quality.

A wheel drive unit is to be fitted on a chassis of a heavy-duty vehicle. The wheel drive unit has at least one wheel shaft, configured to drive a wheel in rotation, at least one electric motor, capable of generating a torque, a gearbox for transmitting the torque of the motor(s) to the wheel shaft(s) and a transmission system between the electric motor(s) and the gearbox. The transmission system has of a gear train. A rotation axis of the electric motor is parallel to that of the wheel shaft(s).

The invention provides a control mode switching method and device, a vehicle and a storage medium, the method is applied to the technical field of vehicles, and the method comprises the steps that in the process that the vehicle is switched from a pure electric four-wheel drive mode to a direct drive mode, if a target gear is an odd gear, whether the odd gear is available or not is judged; when it is determined that the odd gears are unavailable, whether the vehicle meets the preset condition of switching to the series connection mode or not is judged; and under the condition that it is determined that the vehicle meets the preset condition, an engine of the vehicle is controlled to be in a running state, and a second clutch is controlled to be closed, so that the vehicle is switched to a series connection mode from a pure electric four-wheel drive mode. The method can ensure the power performance of the vehicle, improve the driving safety of the vehicle, and avoid the safety problem caused by stall of the vehicle due to power shortage of a high-voltage battery since the engine is frequently started and the engine is forbidden to start after the engine is frequently started.

The invention discloses an Internet of Things server heat dissipation system and method, and relates to the technical field of server heat dissipation, and the system comprises a cooling device, a heat dissipation device, a circulation device, a server housing, and a supporting device. According to the heat dissipation device, a water-cooling rotating shaft is driven by cooling liquid to rotate anticlockwise, at the moment, the air-cooling rotating shaft is limited by an arc-shaped ring to rotate anticlockwise, the water-cooling rotating shaft drives a second friction wheel to rotate anticlockwise through a limiting block and a semicircular lantern ring, the second friction wheel drives a first friction wheel and air-cooling fan blades to rotate, and therefore the deflection angle of the air-cooling fan blades is changed; when the air cooling fan blades are parallel to the end face of the air cooling rotating disc, the cleaning assembly can automatically pop up and clean the air cooling fan blades. According to the cooling device, cooling liquid in the circulating device enters a second cooling pipe or a third cooling pipe under the action of gravity, then the cooling liquid enters the flow control cylinder, and then the flow control cylinder is combined and communicated through a first cooling pipe or a fourth cooling pipe, so that integrated control over the cooling liquid and the air cooling fan blades is achieved.

The invention relates to a motor driving torque determination method, a vehicle control unit and a vehicle, and belongs to the technical field of four-wheel-drive pure electric vehicles. The method comprises the steps that the acceleration pedal depth and the vehicle speed are obtained; determining a driving demand torque based on the acceleration pedal depth and the vehicle speed; determining the load ratio of the front axle to the rear axle; according to the load ratio of the front axle and the rear axle, the torque distribution proportion of the front axle and the rear axle is determined, and the driving demand torque is the sum of the front axle torque and the rear axle torque; detecting a steering wheel angle and determining a vehicle driving track; according to the vehicle driving track, the TCS trigger flag bit and the VDC trigger flag bit, the torque distribution proportion of a front axle and a rear axle is compensated or not compensated, and the final torque distribution proportion is obtained; determining a motor driving torque based on the final torque distribution proportion; and performing minimum calculation on the motor driving torque and the motor driving torque threshold value to obtain the final motor driving torque. Through the motor driving torque determined by the invention, an automobile can be prevented from slipping.

The invention discloses a mahjong machine and a slope tile playing device thereof, which are characterized in that a planet carrier and a planet wheel which rotate actively rotate around a fixed sun wheel, and a tile feeding push rod is driven by the planet carrier, the planet wheel and a turntable to rotate to push and feed tiles; a mahjong lifting swing arm is driven by a planet carrier, a swing rod, a rack and a mahjong lifting gear to swing to drive a mahjong lifting supporting plate to lift mahjong; two transmission paths of a planet carrier and a planet wheel are ingeniously utilized, so that a mahjong feeding push head does not push mahjong tiles when a mahjong tile lifting supporting plate is controlled to descend only through mechanical transmission cooperation by a motor, and the mahjong tile lifting supporting plate does not move when the mahjong tile feeding push head pushes the mahjong tiles; when the tile lifting supporting plate is lifted, the tile feeding pushing head does not push tiles, after the tile lifting supporting plate is lifted, the tile feeding pushing head moves out of the tile storage groove, the lifting action of the tile lifting supporting plate and the tile pushing action of the tile feeding pushing head do not interfere with each other, the structure is simple and reasonable, action connection is good, operation is stable and reliable, the mahjong machine is coherent and smooth in action, noise is low, and the user experience is good.

The invention provides a submicron grain precursor oxide and a preparation method thereof, a lithium ion battery positive electrode material and a lithium ion battery, and relates to the field of lithium battery manufacturing. The preparation method of the submicron grain precursor oxide comprises the following steps: mixing raw materials including a nickel source compound, a cobalt source compound, a manganese source compound and water, and heating to obtain a precursor hot solution; carrying out atomization and pyrolysis treatment on the precursor hot solution to obtain powder particles; carrying out pulpifying washing on the powder particles, and carrying out wet screening, solid-liquid separation and drying to obtain a crude precursor oxide; and carrying out pre-sintering treatment on the rough precursor oxide to obtain the submicron grain precursor oxide. According to the preparation method provided by the invention, the submicron grain precursor oxide powder with low composition segregation and uniform grains can be prepared, and the uniform organization structure is beneficial to improving the electrical properties of the material and can meet the level requirements of the existing industry.

In a left-right wheel driving device (10) including two motors (1, 2) that drive left and right wheels and a gear mechanism (3) that amplifies a torque difference between the two motors (1, 2) and transmits the amplified torques to the left and right wheels, respective, rotating shafts (1A, 2A) of the two motors (1, 2) are coaxially disposed. The left-right wheel driving device (10) further includes motor shafts (11) that are positioned between the rotating shafts (1A, 2A) coaxially with the rotating shafts (1A, 2A) and that are each provided with a motor gear (21), counter shafts (12) that are disposed in parallel to the motor shafts (11) and that are each provided with a first intermediate gear (22) meshing with the motor gear (21) and a second intermediate gear (23) having a diameter smaller than that of the first intermediate gear (22), and output shafts (13) that are disposed in parallel to the motor shafts (11) and that are each provided with an output gear (24) meshing with the second intermediate gear (23). The gear mechanism (3) is disposed on one end side of each of the output shafts (13) and one of the left and right wheels is disposed on the other end side of the output shaft (13).

A braking energy recovery control method, comprising: when a vehicle satisfies a preset energy recovery condition, determining a required braking torque on the basis of a pre-stored correspondence between a moving depth and a braking torque of a braking pedal of the vehicle; on the basis of a preset priority distribution motor braking torque principle, an energy recovery maximum torque limit value and the required braking torque, determining an expected motor braking torque and an expected hydraulic braking torque; and on the basis of the expected motor braking torque, the real-time rotating speed and efficiency of a front-wheel drive motor of the vehicle, and the real-time rotating speed and efficiency of a rear-wheel drive motor of the vehicle, determining a target distribution ratio that maximizes the sum of recovery power of the front-wheel drive motor and recovery power of the rear-wheel drive motor. In this way, torque distribution of the front-wheel drive motor and the rear-wheel drive motor based on the target distribution ratio is conducive to performing braking energy recovery with maximum power, so as to increase the braking energy recovery efficiency. In addition, the present invention further relates to a braking energy recovery apparatus, a control system, a vehicle, and a medium.

The utility model relates to the technical field of carton folding, and discloses an efficient carton folding device for carton processing, which comprises a support rod, the top of the support rod is fixedly connected with a folding table, the top of the folding table is provided with a rotary folding mechanism, and the back end of the folding table is provided with a pressing mechanism. The rotating folding mechanism comprises a rotating assembly and a folding assembly, the rotating assembly is arranged in the middle of the top of the folding table, the rotating assembly is arranged on the front face of the top of the folding table, the rotating assembly comprises a first motor, the first motor is fixedly connected to the top of the folding table, and the back end of the first motor is fixedly connected with a first worm; and the left side of the first worm is engaged with a first worm gear. When the carton needs to be rotated, after the carton can be pressed through a pressing disc, a first motor is started, the first motor drives a first worm wheel to rotate through a first worm, the first worm wheel drives a rotating disc to rotate through a linkage rod, and the rotating disc can drive the carton to rotate.

The invention discloses an automobile circuit board welding pin repairing device which comprises a workbench, a groove is formed in the top surface of the workbench, long plates are symmetrically and fixedly connected to the top surface of the workbench, the long plates are hollow, sliding grooves are formed in the two opposite sides of each long plate, and the long plates are arranged in the sliding grooves. A first rolling wheel and a second rolling wheel are slidably connected into the long plate, rotating shafts are rotatably connected to the opposite sides of the first rolling wheel and the second rolling wheel, and the device further comprises a driving assembly, a clamping assembly, a taking assembly, a conveying assembly, a lifting assembly, a swinging assembly and an air blowing assembly. A first motor is started to drive a reciprocating lead screw to drive a lead screw nut and a connecting rod to move, then a first rolling wheel drives a clamping plate to move, a double-thread screw drives a clamping plate to clamp a circuit board, repairing is completed, the clamping plate is reset, the double-thread screw is driven to rotate reversely, and the clamping plate is far away from a wire plate; therefore, when a plurality of circuit boards are repaired, manual operation and taking are not needed.

The invention discloses an airplane wheel driving and rotating device, particularly relates to the technical field of airplane maintenance equipment, and aims to solve the technical problem that an existing airplane wheel driving and rotating device firstly drives and rotates airplane wheels and then performs a brake test, which is different from a real landing condition, and a real landing environment cannot be simulated. The device comprises a rack, a contact roller is installed on the rack, the contact roller is driven by a driving module installed on the rack to rotate, and an asphalt concrete layer is arranged on the outer side of the contact roller and used for simulating the pavement of an airplane runway. The invention provides an airplane wheel rotation driving device which can simulate a real braking environment, so that working state test data of an airplane wheel braking system can be closer to a real value, and powerful data theory support is provided for research of the airplane wheel braking system.

The utility model provides a longitudinal front-drive hybrid drive system and a vehicle. The drive system comprises a transmission, a first electric drive system, a second electric drive system, an internal combustion engine drive system and a drive axle, and the transmission comprises an input shaft, a first output shaft and a clutch device; the first electric driving system comprises a first motor and a first transmission shaft, the first motor is connected with the first transmission shaft, and the first transmission shaft is in transmission connection with the input shaft; the second electric driving system comprises a second motor and a second transmission shaft, the second motor is arranged on one end side of the input shaft and connected with the second transmission shaft, and the second transmission shaft is in transmission connection with the first output shaft; the internal combustion engine driving system comprises a longitudinal internal combustion engine which is located on the other end side, opposite to the second motor, of the input shaft, and a rotating shaft of the internal combustion engine is in transmission connection with the input shaft. The input end of the drive axle is in transmission connection with the first output shaft. According to the utility model, the power transmission link of the hybrid power driving system can be shortened, and the driving efficiency of the hybrid electric vehicle is improved.

The invention relates to the technical field of constructional engineering, and discloses bar planting integrated equipment and an operation method thereof.The bar planting integrated equipment comprises a bearing mechanism which comprises a machine shell, a storage groove formed in the outer side of the machine shell, telescopic supporting legs rotationally installed in an inner cavity of the storage groove and universal wheels fixedly installed at the bottom of the machine shell; the driving mechanism comprises a three-section type hydraulic telescopic column located in the center of an inner cavity of the machine shell, a ball bearing seat fixedly installed at the end of the three-section type hydraulic telescopic column and a jacking buffering assembly fixedly installed at the top of the ball bearing seat. And the integrated mechanism is used for integrated punching operation and comprises an operation support fixedly installed on the outer surface of the innermost section of the three-section type hydraulic telescopic column. An integrated platform is provided for the punching assembly, the hole cleaning assembly, the glue injection assembly and the steel bar planting assembly through the integrated mechanism, the assemblies can be reasonably distributed around operation points, operation of all steps is rapidly achieved, and therefore the operation efficiency is effectively improved.

The utility model relates to the technical field of cleaning equipment, in particular to a cleaning robot which comprises a robot body and an advancing assembly, the advancing assembly comprises a driving wheel, a supporting unit and an obstacle crossing wheel, the obstacle crossing wheel is arranged on the supporting unit, the supporting unit can rotate around the driving wheel, and the obstacle crossing wheel is arranged on the robot body. The driving wheels are arranged on the machine body so that the advancing assembly can be switched between an advancing state and an obstacle crossing state, and when the advancing assembly is in the advancing state, the driving wheels abut against the ground so as to drive the machine body to advance; when the advancing assembly is in the obstacle crossing state, the supporting units drive the obstacle crossing wheels to make contact with the ground, the driving wheels are made to break away from the ground, the obstacle crossing wheels drive the robot body to advance, and the obstacle crossing capacity of the cleaning robot is improved.

The invention belongs to the technical field of sports equipment, and discloses a riding training vehicle which comprises a base. The frame is connected with the base; the frame is connected with a handle and a saddle; the first connecting part of the frame and one end of the lifting rod are rotationally connected with the base respectively; an adjusting button for adjusting the damping and angle of the vehicle body is arranged on the handle; the pedal is connected with the frame; the driving wheel is connected with the pedal, and the pedal is treaded to drive the driving wheel to rotate; the inertia wheel is connected with the driving wheel; the driving wheel rotates to drive the inertia wheel to rotate; the damping motor is connected with the frame and applies resistance to the driving wheel; the brushless generator is arranged on the frame and electrically connected with the inertia wheel, and the inertia wheel rotates to drive the brushless generator to generate electricity; the controller is electrically connected with the brushless generator, and the adjusting button, the lifting rod and the damping motor are electrically connected; the hollow rotary encoder is electrically connected with the adjusting button and the controller, and an adjusting signal of the adjusting button is transmitted to the controller. Riding without plugging in is achieved, and convenience is provided for a user.

The invention relates to the technical field of furnace shell welding, in particular to a gas industrial furnace shell welding device which integrates a radial circular seam and an axial longitudinal seam, a servo motor drives a planetary gear train through an intermittent sheave, a rotating shell drives a clamped furnace shell to rotate, and radial welding is completed; after a bottom clamping jaw instantly locks a shell, power is switched to a planet carrier, an outer mounting arm drives a driven scraping arm to grind the inner wall while axially moving, welding and grinding synchronization is achieved, a bidirectional pushing seat crank sliding block mechanism continuously rotates in a one-way mode to push and pull the furnace shell in a two-way mode, whole-circle accurate grinding is achieved during resetting, and six sets of air cylinder lead screw adjustable clamping jaws conduct internal and external synchronous supporting. The outer supporting cylinder is prevented from deformation, secondary clamping is not needed in the whole process, butt joint of multiple sections of furnace shells is completed at a time, continuous filling of a longitudinal weld bead can be completed when a circular seam is still in a high-temperature plastic stage through instantaneous switching of clamping and stopping, and the welding quality of a T-shaped connector area is improved.