53results about How to "Achieve climbing" patented technology

A pure electric bus drive control method comprises the following steps that after a vehicle controller passes self inspection, a working pattern of the a vehicle is judged to be one of a safety starting pattern, an economic pattern and a power pattern according to the opening degree of an accelerator pedal, the change rate of the opening degree of the accelerator pedal and the SOC state of a battery and by combining a minimum working time limiting module; if the working pattern of the vehicle is recognized as the safety starting pattern, expected motor torque under the safety starting pattern is calculated; if the working pattern of the vehicle is recognized as the economic pattern, the expected motor torque under the economic pattern is calculated; otherwise the expected motor torque under the power pattern is calculated; finally, the expected motor torque is restrained and limited through energy limiting strategies, final target torque instructions are output to a drive motor if the vehicle has no serious faults at the moment, the vehicle is switched to high pressure if a fault level is high, and otherwise the final demand torque of the drive motor is output as zero.

The invention relates to an electromechanical coupling transmission device of a crawler. The device comprises an engine, a power coupling and gear shifting mechanism, two motors, a power control unit and an energy storage system, wherein the two motors are connected with sun gears of two planet rows of the power coupling and gear shifting mechanism respectively, a gear ring of the two planet rowsof the power coupling and gear shifting mechanism is shared, a clutch is arranged between the two sun gears and the shared gear ring, and the shared gear ring is provided with a brake and output through a planet carrier. The transmission device removes a steering gear set and a zero shaft of double-flow transmission of the crawler, and has flexible allocation, capability of making full use of space and compact structure. Because of the power coupling and gear shifting mechanism, the requirement for the motors is reduced, and the research and manufacture risks of the motors are reduced.

The invention provides a robot for cleaning vertical props, which is composed of a climbing part and a cleaning part. The climbing part comprises two pairs of mechanical arms (3) which are used to clamp tightly rod bodies in turn, a crank and connecting rod mechanism which is used to produce expanding movements and contracting movements, a cam linking mechanism which is used to adjust the expanding movements and the contracting movements, and a motor which is used to provide power for the expanding movements and the contracting movements above, wherein the two pairs of mechanical arms, the crank and connecting rod mechanism, the cam linking mechanism and the motor are evenly installed on a guiding bar (1) which is used to substitute a human body framework, and thereby the robot which imitates climbing movements is formed. The cleaning part comprises two pairs of cleaning brushes (5) which are installed on the guiding bar and always embayed around the cleaning vertical props, injectors (4) which are arranged respectively on upper cleaning brushes, wherein the cleanings of the vertical props can be realized under the effects of water currents which are injected by the injectors and scrubs of the cleaning brushes, and sewage water after being cleaned is flowed into a sewage water collecting ring (15) which is on the bottom of the vertical props along the vertical props. The invention has the advantages of compact structure, convenient use, low energy consumption, high efficiency and non-environmental contamination, and the invention saves labor and material resources. The invention can be used for cleaning operations of the vertical props or tilting bars.

The invention relates to a pole-climbing robot, in particular to a pole-climbing robot with a stabilizing device. The problem that an existing small pole-climbing robot is poor in stability is solved. A storage battery is installed at the lower end of a linear telescoping mechanism. A second mechanical hand is installed on the lower portion of the linear telescoping mechanism through a second crank-link mechanism. A third motor is installed on the lower portion of the linear telescoping mechanism. A working mechanical hand is installed on the lower portion of the linear telescoping mechanism through a first crank-link mechanism. The stabilizing device and the linear telescoping mechanism are connected above the second mechanical hand and located above the working mechanical hand. A first mechanical hand is installed on the upper portion of the linear telescoping mechanism through a third crank-link mechanism. A second motor is connected with the third crank-link mechanism. The second motor drives the third crank-link mechanism to move to open or close the first mechanical hand. The pole-climbing robot with the stabilizing device is used for pole-climbing cleaning of an electric pole.

The invention relates to a stair armrest robot cleaner which is formed by a climbing structure and a cleaning system; the climbing structure is formed by a reciprocated pushing structure and a clamping rotation structure, the reciprocated pushing structure is formed by a driving motor, a deviation cam, a connecting rod, a front sliding block, a back sliding block, a guide rail polished shaft, a front pushing block, a back pushing block and a pushing block, the clamping rotation structure comprises a front clamping hand and a back clamping hand, each clamping hand is formed by a convex rotary connecting piece, a clamping claw, an ejection rod, a first compression spring and a jump ring, the front clamping hand and the back clamping hand are installed on the front sliding block and the back sliding block in a rotatable mode respectively, and the ejection rods in the clamping hands are abutted against the front pushing block and the back pushing block under the effect of the first compression springs. The cleaning system of the stair armrest robot cleaner is formed by a trigger type cleanout fluid jetting device and a cleaning brush. The stair armrest robot cleaner for achieving single power source driving through the design that a cam centre mechanism is ingeniously combined with a connecting rod mechanism is provided.

The invention discloses a line patrol deicing robot and an obstacle crossing method thereof. The line patrol deicing robot comprises a machine body, wherein two moving arms are respectively arranged on two sides of the machine body, a drive wheel and a deicing wheel are arranged at the upper end of each moving arm, the drive wheels and the deicing wheels are connected with a drive motor, the drive wheels are respectively installed above the deicing wheels through push rods, a cable to be patrolled is erected between each drive wheel and each deicing wheel, a first motor and a second motor are installed on a bottom plate of the machine body, an output shaft of the first motor is connected with a first shaft, a second shaft sleeves the periphery of the first shaft, the second shaft is connected with the lower ends of the moving arms, an electricity storage device is further installed on the bottom plate, and detectors are installed in the front and at the rear of the machine body. The line patrol deicing robot is simple in mechanism movement, compact in mechanical structure, low in weight, flexible in movement, and capable of automatically crossing an obstacle, can greatly improve deicing and line patrol efficiency through a wheel type and arm type combined mode, can adapt to the cables different in thickness by changing limiting bolts of the wheels, is strong in practicability, and can achieve climbing of the cables and rod-shaped objects.

The invention relates to a climbing device for construction. The pillar climbing equipment comprises a mobile platform, and 3-4 slide rails are arranged on the mobile platform, wherein a driving device and a wheel carrier are slidably arranged on each slide rail, and the driving devices are in driving connection with the wheel carriers; and each wheel carrier is provided with a friction wheel relatively forming an obvolvent column shape. Basic climbing equipment is provided on the mobile platform to match with a tool for assisting the construction. An automatic control tool is used for high-altitude operations, thus manpower high-altitude operations are avoided. The pillar climbing equipment greatly improves the system safety, and meanwhile, the equipment climbing cannot be influenced by factors such as the weather, and the like. The pillar climbing equipment has high speed, avoids many unnecessary disassembly and round trips, saves time and labor, effectively improves the construction efficiency and reduces the cost. Moreover, the pillar climbing equipment can work in sealing environment and is environmentally friendly.

The invention provides a multi-category geographical environment traveling pedal wheel which comprises a convex ratchet wheel, a convex pedal, a pedal pad, viscosity-removing toggle pins, a viscosity-removing spring, a resetting spring, a telescopic rod and a telescopic limiting combination spring. The convex ratchet wheel is provided with six convex ratchets, each convex ratchet is inserted in the telescopic rod and is pushed by the built-in telescopic limiting combination spring under the action of the gravity and inertia to slide in a reciprocating mode. The concave pedal is hinged to the tail end of the telescopic rod, a resetting spring is used for keeping the concave pedal rotating and resetting, the pedal pad attenuates sound, absorbs shock and resists slipping, and the viscosity-removing toggle pins reduce the viscosity of a smooth and viscous floor.

The invention discloses an autonomous type mobile robot device and construction method for curtain wall indoor installation. The autonomous type mobile robot comprises a snatch mechanism and a supportmechanism; the support mechanism comprises a caterpillar walking part and a hydraulic telescopic support leg device, and the snatch mechanism from front to back is provided with a sucker fixing frame, an attitude adjustment mechanism part, a hydraulic telescopic big arm and a rotating part in a big arm plane in sequence; the caterpillar walking part is connected with the rear end of the hydraulictelescopic big arm through the rotating part in the big arm plane, so that hydraulic telescopic big arm rotates along the plane of the rotating part in the big arm plane; and the sucker fixing frameis connected with the front end of the hydraulic telescopic big arm through the attitude adjustment mechanism part, so that the attitude adjustment mechanism part drives the sucker fixing frame to domultidimensional adjustment, an the sucker fixing frame is provided with a plurality of vacuum suckers. According to the technical scheme, a curtain wall is installed indoor by remote control, the safety of construction is improved, and the multi-dimensional adjustment can be realized through the coordination of the mechanisms to ensure the installation quality of the curtain wall.

The invention discloses a control system and control method of a transmission tower climbing robot. The problems that in the prior art, a robot cannot climb a tower, and cannot cross obstacles can besolved. The beneficial effect of facilitating the climbing task is achieved. The control system of the transmission tower climbing robot comprises a visual recognition module arranged on a robot bodyand used for monitoring the surrounding of the robot, a driving control module arranged on robot body mechanical arms and a lifting control module, each mechanical arm comprises an outer expansion mechanism and a clamping mechanism, the clamping mechanism is connected with the outer expansion mechanism, the drive control module is used for controlling the outer expansion mechanisms and the clamping mechanisms of the robot to act, the lifting control module is arranged between the upper and lower adjacent mechanical arms of the robot and used for controlling the robot to lift to achieve robot climbing action, and a master controller, the visual recognition module, the clamping mechanism control module and the lifting control module are connected with the master controller through a communication module.

The invention provides a cylindrical stair handrail cleaner and belongs to the technical field of intelligent cleaning. The cylindrical stair handrail cleaner includes a first shell, a second shell and a third shell. The first shell is provided with a climbing mechanism capable of climbing along a cylindrical stair handrail. The climbing mechanism includes a driving motor, a driving wheel, a vacuum generator and a vacuum sucker. The second shell is provided with a wet rubbing mechanism capable of performing wet rubbing on the cylindrical stair handrail. The wet rubbing mechanism includes a cleaning solution storage box and a nylon brush. The third shell is provided with a dry rubbing mechanism capable of performing dry rubbing on the cylindrical stair handrail. The dry rubbing mechanism includes a cleaning cloth, a first cleaning cloth storage box, a second cleaning cloth storage box, a first winding shaft, a second winding shaft, a first variable frequency motor and a second variablefrequency motor. The cylindrical stair handrail cleaner has the advantages of being capable of improving stair handrail cleaning efficiency and cleanliness and alleviating workload on cleaning workers.

The invention relates to the technical field of power grid erection. The invention further discloses auxiliary equipment for erecting and installing a cable. The equipment comprises a shell, and an adjusting wheel is arranged at the lower part of the left side of the shell; the left side of the adjusting wheel is in engaged connection with a first clamping arm; and the right side of the adjustingwheel is connected with a second clamping arm in a meshed mode, the inner sides, extending out of the shell, of the first clamping arm and the second clamping arm are provided with clamping wheels, aclimbing wheel is arranged above the left side of the shell, the front side of the climbing wheel is coaxially coupled with a driven gear, and the right side of the driven gear is connected with a driving gear in a meshed mode. According to the auxiliary equipment for erecting and installing the cable, a tower bracket is clamped by the two clamping arms under the action of a thrust spring, meanwhile, idler wheels at the lower ends of the supporting rods abut against the tower frame to enable the whole mechanism to be clamped on the tower bracket, the climbing wheels abut against the outer wallof the tower frame, climbing is achieved, meanwhile, a wire spool and a tool box which transmit cables in a one-way mode are arranged, the tower frame is climbed with the cables and tools, and the whole mechanism is easy to install and detach.

The invention discloses a variable-amplitude walking excavating machine. Two sets of landing leg mechanisms are respectively supported on two sides of a rotating base, wherein each set of the landing leg mechanism comprises two landing leg oscillating bars which are arranged in parallel; the upper ends of the landing leg oscillating bars are hinged under the rotating base; the lower ends of the landing leg oscillating bars are supported on corresponding walking beams through hinges; landing leg hydraulic cylinders are hinged between at least one of landing leg oscillating bars and the walkingbeams; lifting wheel sliding rods are slidably supported on the walking beams; rotatable variable-amplitude lifting wheels are mounted at the upper ends of the lifting wheel sliding rods; lifting hydraulic cylinders are hinged between the lifting wheel sliding rods and the walking beams; rotatable caterpillar driving wheels are arranged at one ends of the walking beams; guide pulley sliding bars are slidably sleeved at the other ends of the walking beams; guide pulleys are arranged at external ends of the guide pulley sliding bars; variable-amplitude hydraulic cylinders are hinged between thewalking beams and the guide pulley sliding bars; and caterpillar bands are wound on the variable-amplitude lifting wheels, the caterpillar driving wheels and the guide pulleys. The variable-amplitudewalking excavating machine is stronger in climbing function and is more excellent in adaptability.

The invention discloses a range-extending type hybrid electric vehicle, which comprises a fuel engine, a 12V generator, a compressor, a transmission shifting mechanism and a motor, wherein the 12V generator is connected with a 12V battery, the motor is connected with a 72V battery and is arranged below the fuel engine, a left end output shaft of the motor is connected with the 12V generator and the compressor through a belt, a driving gear is arranged on a right end output shaft of the motor and are meshed with a gear of the fuel engine through a transition gear, the right end output shaft is connected with the transmission shifting mechanism through a flange, the transmission shifting mechanism is provided with an mileage sensor, the mileage sensor is connected with an oil-electric switching controller, the oil-electric switching controller is connected with a motor controller, the motor controller is connected with an accelerator pedal, and the accelerator pedal is provided with a motor-generator switch. According to the range-extending type hybrid electric vehicle disclosed by the invention, the problems that the hybrid electric vehicle consumes too much electricity during starting and is hard to climb at high speed in the prior art are solved, and the design structure is reasonable; in addition, with electric energy as main power and with the fuel as auxiliary power, the range-extending type hybrid electric vehicle saves energy and is environmental-friendly, low-carbon and economical.

The invention discloses a traveling mechanism of a claw-thorn wall climbing robot and relates to the technical field of robots. The traveling mechanism comprises a chassis for supporting and fixing, two main movement steering engines and two switching steering engines are arranged on the chassis diagonally, the main movement steering engines are used for driving a first crawling mechanism and a second crawling mechanism to realize wall climbing of the robot, the switching steering engines are used for switching the first crawling mechanism or the second crawling mechanism to execute wall climbing action, and the first crawling mechanism and the second crawling mechanism are used for climbing in smooth and rough wall environments respectively. The switching steering engines are used for switching the first crawling mechanism or the second crawling mechanism to execute wall climbing action so as to respectively realize climbing of the robot on smooth and rough walls, and the second crawling mechanism firmly grasps the rough walls through a claw thorn wheel with claw thorns and a claw thorn track to realize climbing on the rough walls. The traveling mechanism is simple and reliable instructure, high in automation level and especially suitable for executing cleaning, detecting and rescue tasks in special environments with steep walls and narrow space.

The invention relates to the technical field of robots, and provides a mechanical leg assembly and a robot, and the mechanical leg assembly comprises a mechanical thigh assembly, a mechanical shank assembly, a foot moving assembly and a locking device. The locking device comprises a bendable or straightened connecting plate mechanism and a locking mechanism. One end of the connecting plate mechanism is fixedly connected to the mechanical thigh assembly, and the other end is slidably connected to the mechanical shank assembly. Or one end of the connecting plate mechanism is fixedly connected tothe mechanical thigh assembly, and the other end of the connecting plate mechanism is slidably connected to the mechanical shank assembly. According to the mechanical leg assembly provided by the invention, the locking device is additionally arranged, and the bending and stretching between the mechanical thigh assembly and the mechanical shank assembly are limited by limiting the bending and stretching state of the connecting plate mechanism through the locking mechanism, so that the purpose that motors of all the assemblies stop working in turn is achieved, the energy consumption of the mechanical leg assembly is reduced, and the durability is improved.

The invention discloses a high-altitude climbing type welding robot based on AI visual identification, and belongs to the field of welding robots. The high-altitude climbing type welding robot comprises a robot arm main body, wherein connecting frames are arranged at the upper end and the lower end of the robot arm main body; the connecting frames are connected with mounting bases through rotating control mechanisms respectively; the rotating control mechanisms are used for driving the robot arm main body and the mounting bases to turn over to achieve climbing; image collectors used for visual identification are arranged on the side edges of the mounting bases; a clamping portion used for clamping a structure is further arranged on the side edge of each mounting base; and a welding mechanism is arranged on the outer side of the middle of the robot arm main body. In order to solve the problems that in the prior art, the welding robot can only conduct welding operation on a plane, and the high-altitude welding risk is large, high-altitude automatic climbing welding can be achieved, the labor intensity of workers is effectively reduced, and safe production is guaranteed.

The invention discloses a land operation robot. The robot comprises a vehicle body and a plurality of wheels, and the wheels are all arranged on the vehicle; each wheel comprises a wheel shell, a driving mechanism and a plurality of movable hinges; a containing groove is formed in the wheel shell, and a circle of containing groove is formed in the circumferential direction of the wheel shell; the multiple movable hinges are arranged at intervals along the arrangement track of the storage groove, and the multiple movable hinges are movably connected with the storage groove in a turnover mode; the driving mechanism is connected with the multiple movable hinges, and the driving mechanism is used for driving the multiple movable hinges to be overturned out of the storage groove and overturned into the storage groove; and when the movable hinges are stored in the storage groove, the wheels make rolling contact with the ground through the wheel shell, so that the land operation robot moves on the flat ground. When the movable hinges are turned out, the wheels abut against the steps through the movable hinges, so that climbing of the land operation robot is achieved, and the problem that existing land operation robots cannot achieve step climbing is practically solved.

The invention discloses a wheel type vacuum chuck structure climbing cleaning trolley for a glass curtain wall. A motor and a battery pack are mounted on a frame; bottom auxiliary rotating wheels aremounted at the bottom of the frame through mounting frames; a cleaning mechanism is installed at the bottom of the rear end of the frame. A driving gear of the main driving gear set is mounted at theend of a rotating shaft of the motor; a driven gear of the main driving gear set is mounted on a gear shaft on one side of the motor; a pair of side driving gear sets is arranged; driving gears of theside driving gear sets are installed at the ends of the two sides of the corresponding gear shaft, driven gears of the side driving gear sets serve as driving mechanisms of the center air path assemblies to be arranged on steps of the tail air path assemblies of the corresponding wheel type vacuum suction cup structures in a sleeving mode, and the wheel type suction cup structures are arranged onthe two sides of the front end of the frame. According to the vacuum sucker structure, an original wheel type structure is adopted, vacuum generation and damage of different sucker air paths are achieved through movement cooperation of the two air path pieces, and therefore climbing is achieved, and cleaning of the glass curtain wall is completed in cooperation with the corresponding cleaning mechanism.

Disclosed is a toothed wheel and a wheelchair. A tooth protecting disk of the toothed wheel is connected with a connecting shaft; the connecting shaft is connected with a power shaft; a plurality of wheel tooth seats which are equally distributed are disposed around the axis of the connecting shaft in a radial direction of the outer wall circumference of the connecting shaft and the surface of thetooth protecting disk; wheel teeth are accommodated on each of the wheel tooth seats contains; tooth roots and tooth crowns are sleeved and are slidably telescopic relative to each other; and the wheel teeth are limited and locked by a wheel tooth self-locking and limiting device which is additionally disposed. The toothed wheel is artful in design and simple in structure, and the wheel tooth self-locking and limiting device which is additionally disposed controls and locks the telescoping of the wheel teeth. If the toothed wheel meets a complex road condition, the wheel teeth are changed with a contact surface, so that the holding power of the contact surface may be increased, the climbing reliability of the wheel is improved, and the climbing capability is enhanced. For the wheelchair,a seat is connected with a support frame shaped like a Chinese character "ge", the support frame is connected with a main wheel and a guide wheel of the toothed wheel, and the due to the rapid foldingand unfolding of the support frame shaped like the Chinese character "ge", the wheelchair is enabled to be rapidly switched to adapt to the complex road condition, and thus, the rapid and safe traffic capacity of the wheelchair is improved.

The invention provides a climbing robot based on a catapult ejection device, which mainly comprises a head ejection device, a trunk steering device, a limb power device and four sole climbing devices with the same structure, wherein the head ejection device provided with an upper mandible and a lower mandible is connected with the trunk steering device through a neck, the limb power device is arranged in a cavity of the trunk steering device, the limb power device is connected with one ends of front and rear legs, and the other ends of the front and rear legs are respectively connected with the sole climbing devices. According to the climbing robot provided by the invention, the head ejection device can realize quick climbing; multi-link mechanisms and vacuum pump sucking disks are combined to realize climbing on rough and smooth walls; and a single motor is used for driving limbs, thereby saving the power source and facilitating the control.

The invention discloses a stair climbing movement control method for a robot system composed of two caterpillar mobile robots of the same structure in a butt joint mode. According to the method, the moving directions of the two caterpillar mobile robots are adjusted by rotating a butt-joint device connected between the two caterpillar mobile robots, so that different moving directions of the caterpillar mobile robots are achieved, and thus the two caterpillar mobile robots can complete climbing of stairs. According to the method, by means of cooperation control over the two caterpillar mobile robots, the efficiency of stair climbing is higher, and higher stairs can be climbed. The control method is clear in layer, control is accurate, and operation is stable and reliable.

The invention relates to a single-pipe tower, in particular to a single-pipe tower with a crawling ladder safety rope device. The single-pipe tower comprises a rod body and the crawling ladder safetyrope device. The crawling ladder safety rope device is arranged on the rod body through crawling ladder safety rope device fixing parts. The device comprises a steel wire rope sleeve assembly, an anti-falling fixed part, a safety rope, an elastic cord, an adjusting rod and a U-shaped chuck. The steel wire rope sleeve assembly is connected with the anti-falling fixed part through a stainless steelwire rope, and a guide rubber chuck is arranged at the position, located above the anti-falling fixed part, of the stainless steel wire rope. One end of the safety rope is connected to the anti-falling fixed part, and the other end of the safety rope is connected with the elastic cord. The adjusting rod is in parallel fit with the bottom end of the stainless steel wire rope. The adjusting rod is connected with an adjusting terminal fixing part in cooperation. The adjusting rod is adjusted on the adjusting terminal fixing part through a nut. The adjusting rod and the stainless steel wire rope are clamped and fixed through the U-shaped chuck. The single-pipe tower has the beneficial effect of solving the problems that an existing single-pipe tower is insufficient in connecting strength, longin service life, high in maintenance cost and low in safety coefficient and crawling is inconvenient.

The invention discloses an intelligent climbing, carrying and sorting device for steel structure construction, comprising a support system for supporting the whole carrying and sorting device; the crawler-type moving system is used for driving the whole carrying and sorting device to move; the mechanical arm system is divided into a four-claw type mechanical arm structure, a double-claw type mechanical arm structure, a fork claw mechanical arm structure, a lumbering mechanical arm structure and an excavating mechanical arm structure; the waste classification system is used for classifying the materials picked up by the mechanical arm system; the hoisting system is mounted above the waste classification system and is used for carrying classification boxes of the waste classification system; and the stair climbing systems are installed on the two sides of the support system and used for driving the whole carrying and sorting device to achieve climbing between floors. The problems of low manual efficiency and low safety of material carrying and sorting can be solved, materials can be rapidly and accurately carried and sorted, different waste materials can be classified, and climbing between floors can be achieved.