59results about How to "Capable of surmounting obstacles" patented technology

The invention discloses an intelligent spraying robot for the outer wall of a high-rise building and a control method of the intelligent spraying robot. The intelligent spraying robot is composed of an upper machine body and a lower machine body, the upper machine body is installed on the roof of the building, and vertical lifting is carried out by hoisting equipment in the upper machine body on the lower machine body through ropes; and the lower machine body is attached to the outer wall of the building through adsorption feet, and can use the adsorption feet to achieve up and down walking ona wall surface, a spray gun movement worktable arranged on the lower machine body has multiple degrees of freedom, and a spray gun in the spray gun movement worktable can move in the X direction, theY direction and the Z direction separately as well as rotate around the Z axis. The intelligent spraying robot has high wind resistance capability and high safety factors, can realize intelligent spraying through the matched arrangement of a controller, and can effectively improve spraying quality and spraying efficiency.

The invention discloses a track wheel pavement repair robot system which comprises a robot body with a power system, wherein a mechanical arm is mounted on the robot body, and a pavement repair device is mounted on the mechanical arm; the robot body is also provided with a control system for controlling the mechanical arm; and the control system is provided with a wireless signal receiving device and electrically connected with the mechanical arm. Specifically, the pavement repair device comprises a grouting device and / or a percussion bit and / or a slotting device. The invention also discloses a pavement repair method. By adopting the robot system disclosed by the invention, intelligent repair can be realized; since only manual remote intervention is needed, the repair safety is improved to a certain degree; and the integrated modular mechanical arm can be disassembled and combined according to actual conditions, and an end repair tool is replaced, thereby improving the utilization efficiency of the modular mechanical arm.

The invention discloses a multi-motion-mode pipeline outer wall climbing detection robot. The multi-motion-mode pipeline outer wall climbing detection robot is characterized by comprising two circular modules; and the two circular modules are connected with each other through a turnover device so that the two circular modules can realize relative rotations. Each circular module comprises a driving device, a transmission device, a steering device, a camera, a pressure sensor, a control box and so on. The multi-motion-mode pipeline outer wall climbing detection robot has multiple motion modes can realize motions such as linear motion along a pipeline, rotation motion around the pipeline, turnover and so on. The multi-motion-mode pipeline outer wall climbing detection robot can pass through elbow pipes with complicated shapes such as L shapes, T shapes and so on, is able to cross obstacles such as pipeline joints, valves and so on and can realize crossing motion between two pipelines. The multi-motion-mode pipeline outer wall climbing detection robot can adapt to pipeline diameters within a very large range by adjusting the displacement of a linear driver. After various operation tools are mounted on a semicircular frame, works such as maintenance and so on can also be carried out.

The invention relates to the technical field of medical appliances and especially relates to a bidirectional transfer nursing robot. The b bidirectional transfer nursing robot comprises an integrated support, transfer modules and a cover plate, wherein an upper-layer driving belt of a human body transfer unit, after bypassing the lower portion of a driving roller, bypasses the upper portions of a tensioning roller and a first commutation roller, after sequentially bypassing the upper portions of two second commutation rollers, goes from the lower portion of a third commutation roller to the upper portion of the third commutation roller and is attached to the upper surface of the cover plate; and a synchronous belt of a machine mobile unit, after bypassing the upper portion of a lower-layer driving belt roller, goes to the lower portions of two lower-layer tensioning belt rollers, sequentially bypasses the upper portion of each lower-layer driven belt roller, and finally goes from the upper portions of the two lower-layer driven belt rollers at a left end and a right end to the lower portions of the lower-layer driven belt rollers, and the transfer nursing robot is driven to move through friction between a lower layer of the synchronous belt and a bed surface or a stretcher. Such equipment provided by the invention, under the condition that the posture of a patient is not changed, realizes transfer nursing of the patient, mitigates the labor intensity of medical care personnel and prevents secondary damage to the patient caused by a conventional transfer mode.

A rolling double four-parallelogram robot comprises connecting bars, two four-parallelogram mechanisms and connection of the two four-parallelogram mechanisms. Each four-parallelogram mechanism comprises four parallelograms consisting of twelve connecting bars, the adjacent two parallelograms share one side, the four parallelograms share one peak, any two adjacent edges are connected by a rotation pair, when the inner angles are all 90 degrees, the appearance takes the shape of a Chinese character 'tian'(meaning field or farmland). The bars (1),(3),(4) and(20) form a parallelogram which is controlled by a motor (2), the bars (4), (6), (8) and (10) form a parallelogram which is controlled by a motor (7), and the bars (10), (11), (13) and (14) form a parallelogram which is controlled by a motor (12); the bars (14), (16), (18) and (20) form a follow-up parallelogram; and a balance weight (17) is as heavy as the motor, so that the structure is symmetric. The changes of the inner angles of the parallelograms are controlled, so that the mechanisms deform and turn over; and when the rolling speeds of the two parallelograms are different, the robot makes a turn.

The invention discloses a shape memory alloy-driving bionic wall climbing robot leg unit. The shape memory alloy-driving bionic wall climbing robot leg unit comprises bionic legs, a foot module, a shock absorption spring, a bi-directional shape memory alloy driving device and a single-directional shape memory alloy driving device, wherein the front-back and left-right movement of the bionic legs are driven by virtue of the bi-directional shape memory alloy driving device and the single-directional shape memory alloy driving device. The invention also discloses a shape memory alloy-driving bionic wall climbing robot driven by shape memory alloy. The bionic wall climbing robot comprises the bionic wall climbing robot leg unit. The shape memory alloy driving device adopts a bionic structure,so that the wall climbing movement of the robot on a medium surface is realized; the driving device is simple in structure, light in weight and flexible in movement; and the foot module adopts an ironmagnetic ball body, no surplus leg raising and re-absorption action is needed in the movement process of the bionic leg, the leg can provide a stable supporting force and absorption adsorption force,the supporting point is stable, the center of gravity of the robot is slight in change, and the gait planning is simple.

The invention discloses a compound parallel-connection four-foot wall climbing mechanism, which comprises a main wall climbing device an auxiliary wall climbing device, wherein the main wall climbingdevice comprises a machine body upper board, four telescopic foot components and a main driving component; the four telescopic foot components are in sliding connection to two sides of the machine body upper board; the main driving component drives four telescopic foot components to synchronously carry out periodic telescopic movement; and the auxiliary wall climbing device comprise four auxiliaryfoot components and an auxiliary driving component, wherein the four auxiliary foot components are in sliding connection to the bottom of the machine body upper board, and the auxiliary driving component drives the four auxiliary foot components to carry out periodic reciprocating movement relative to the main wall climbing mechanism and change a rotation angle formed between the main wall climbing mechanism and the auxiliary wall climbing device to carry out steering motion. The compound parallel-connection four-foot wall climbing mechanism to which the invention relates to has an obstacle crossing ability, the size of each foot and the volume and the weight of the wall climbing mechanism do not need to be obviously increased, the application range of the wall climbing mechanism is enlarged, and the telescopic foot components can realize synchronous stretching and retracting, and have the functions of climbing and steering.

The invention discloses a four-wheel drive road face repairing robot system. The four-wheel drive road face repairing robot system comprises a robot body with a power system. A mechanical arm is installed on the robot body, and a road face repairing device is installed on the mechanical arm. The robot body is further provided with a control system used for controlling the mechanical arm. The control system is provided with a wireless signal receiving device, and the control system is electrically connected with the mechanical arm. Specifically, the road face repairing device comprises a grouting device and / or a percussion bit and / or a slotting device. The invention further discloses a road face repairing method. The robot system can achieve intelligent repairing, and due to the fact that only artificial long-distance intervention is needed, safety during repairing is improved to a certain degree. The modular mechanical arm is integrated, the mechanical arm can be dismounted, mounted and combined according to the actual situation, the repairing tools at the tail end can be replaced, and the use efficiency of the modular mechanical arm is improved.

The invention discloses a cleaning machine. The cleaning machine comprises a shell, four fixing discs evenly distributed and fixedly arranged on the side face of the edge of the shell, installing discs fixedly connected to the fixing discs, three motors, rotary rods and connecting rods. Three grooves in the radius direction are evenly distributed in the edges of the installing discs. The three motors are arranged beside the grooves respectively, and output shafts of the motors are located above the grooves. The side faces of one ends of the rotary rods are hinged to the output shafts, and therotary rods can move in the grooves. The connecting rods are arranged on the two sides of the rotary rods pairwise in parallel, one ends of each pair of connecting rods are hinged to the two sides ofthe other ends of the rotary rods respectively, and the other ends of each pair of connecting rods are hinged to feet of the robot. By the adoption of mechanical arms connected in parallel, the robotcan horizontally move in three directions, and the robot is more flexible and freer. The invention further provides a control method of the cleaning robot based on a BP neutral network, movable cleaning can be carried out according to specific building surface status, and the cleaning efficiency is improved.

The invention discloses a crawler-type transfer robot which comprises an obstacle crossing type crawler chassis, a telescopic lifting device arranged on the obstacle crossing type crawler chassis and a transfer claw arranged on the telescopic lifting device. The obstacle crossing type crawler chassis comprises a vehicle frame, two crawler devices arranged on the two sides of the vehicle frame respectively and a driving system arranged on the vehicle frame and used for driving the crawler devices to operate. Each crawler device comprises a walking crawler mechanism and two obstacle crossing crawler mechanisms arranged on the front side and the rear side of the walking crawler mechanism. The driving system comprises a walking driving mechanism used for driving walking crawler wheels to rotate and an obstacle crossing driving mechanism used for driving a whole crawler mounting frame of each obstacle crossing crawler mechanism to rotate. The robot has the advancing efficiency of a crawler-type robot and the obstacle crossing ability of a legged robot at the same time; and meanwhile, a carrying claw of the carrying robot is arranged on the telescopic lifting device, so that the grabbing range of the carrying claw is greatly enlarged, and the flexibility of carrying operation of the robot is improved.

The invention discloses a magnetic climbing robot applied to cleaning and detecting of a fan tower barrel. The magnetic climbing robot comprises a permanent magnet adsorption track assembly, a centralcontrol box, a water tank, a water pump, a cleaning disk brush and a camera, wherein the permanent magnet adsorption track assembly comprises a left side permanent magnet adsorption track assembly and a right side permanent magnet adsorption track assembly which adopt the same structure; the left side permanent magnet adsorption track assembly and the right side permanent magnet adsorption trackassembly are separately mounted on two sides of the central control box; the cleaning disk brush is mounted at the front end of the permanent magnet adsorption track assembly to clean the fan tower barrel; the water tank and the water pump are located on the central control box; the water tank is connected with the cleaning disk brush through the water pump for transporting cleaning liquid; an equipment hanging bracket is arranged on the central control box; and the camera is mounted on the equipment hanging bracket to perform detection on the fan tower barrel. The magnetic climbing robot disclosed by the invention can complete the maintenance operation on the surface of a tower barrel in a high-efficiency manner; and the magnetic climbing robot is good in safety, and good in reliability,so that manual operation of a conventional fan tower barrel can be replaced, the risk of personal casualty can be avoided, and the economic benefits of the running and maintaining operation are improved.

The invention relates to robots, in particular to a biology bionic snake-like robot. A head support, a supporting frame, a pushing mechanism, a deflection mechanism, a tail support, motion bodies, stretching steel wire ropes and a power mechanism are included. The power mechanism drives the multiple motion bodies to rotate during rotation. The multiple motion bodies move through a walking spiral pushing device during rotation. Since a plurality of walking spirals are each in a circular ring shape, each of the multiple walking spirals can push the device to move as long as the contact face exists on the periphery, and the biology bionic snake-like robot can be better applicable to the soft ground and pipelines or pass through building gaps during earthquake rescue. Through the deflection mechanism, the relative length of the parts, penetrating through the multiple motion bodies, of the multiple stretching steel wire ropes is changed, compression springs are extruded, bending happens between the multiple motion bodies, the device can conduct the two-freedom motion in the plane, and a certain obstacle crossing capability is achieved.

The invention discloses a navigation vehicle and a navigation method, aiming at solving the problem that the prior automatic navigation vehicle generally adopts two-wheel differential speed or Mecanumwheel drive, adopts magnetic strips or lasers to cooperate with bent sheet metal parts for navigation and positioning, and the positioning accuracy is poor. The utility model comprises a frame unit,a driving unit, a power unit and a control system, wherein the driving unit and the power unit are respectively connected with the frame unit. In the invention, the structure design of the upper frameand the auxiliary support frame is adopted, which is favorable for reducing the manufacturing difficulty and the production cost of the vehicle body. Based on the split design, the manufacture of thenavigation vehicle is simpler. And the upper frame can be used as the upper support part to provide better load-carrying capacity. At the same time, based on the design of the driving unit, the navigation vehicle of the invention has the ability of omni-directional movement, and has better obstacle-crossing and pit-crossing ability. In addition, based on the improvement of the positioning unit, the positioning accuracy of the present invention is improved to+ / - 5 mm, and the present invention has high application value.

The invention relates to a pipeline cleaning device. The cleaning device comprises a main body frame, a traveling mechanism, a rotary cutter head assembly and a garbage recycling device, wherein the traveling mechanism, the rotary cutter head assembly and the garbage recycling device are all arranged on the main body frame; and in particular, the pipeline cleaning device also comprises a cooling device arranged on the main body frame, and cold air sprayed from the cooling device can make deposited stains cool, brittle and easy to remove, so that the cutting efficiency is obviously improved andthe cutting effect is good. When the cleaning device is applied to a permafrost region, the arrangement of the cooling device can also store cold energy for a local stratum by cooling a pipeline. Further, the rotary cutter head assembly of the cleaning device is characterized in that a plurality of rigid cutting blades are uniformly distributed in the circumferential direction and are driven to rotate by an epicyclic gear train structure, so that the structure is reasonably arranged, the cutting rigidity is guaranteed, and the cutting efficiency and the cutting effect are greatly improved; and the travelling mechanism generates friction force by virtue of magnetic force, so that the loss degree of related parts is reduced while the overall complexity is reduced, and the travelling mechanism has the barrier-crossing capability when making contact with small obstacles.

The invention relates to a vehicle frame chassis a radiation source detecting and processing robot, the robot and application. The vehicle frame chassis part mainly comprises a vehicle frame, wherein the front end of the vehicle frame is connected with a front rotating arm in a rotating manner through a front rotating shaft; front wheels and an advancing power source for driving the front wheels are respectively mounted at the left end and the right end of the front rotating arm; the left side and the right side of the rear part of the vehicle frame are a left side rotating arm and a right side rotating arm in a rotating manner through side part rotating shafts; middle wheels, rear wheels and an advancing power source for driving the corresponding wheels are respectively mounted at the left ends and the right ends of the left side rotating arm and the right side rotating arm; the ground clearance of the vehicle frame is changed through self rotation of the front rotating arm and / or the side rotating arms, so that the robot can span a barrier. According to the vehicle frame chassis disclosed by the invention, a bran-new structure is designed, so that the barrier spanning capacity is high, and requirements in an adverse road condition are met.

The embodiment of the invention discloses an intelligent movement platform with a multi-degree-of-freedom mechanical arm. The intelligent movement platform comprises a carrying platform, and four drive wheels arranged independently below the carrying platform through buffering devices respectively, wherein the buffering devices are controlled to turn through a turning motor arranged on the carrying platform, and the mechanical arm is arranged on the carrying platform. With the adoption of the intelligent movement platform disclosed by the invention, the driving and turning of the drive wheels can be controlled independently, the drive wheels are enabled to freely turn in 360 degrees, can flexibly complete movement along an established movement route in various environments, have an obstacle crossing capacity to a certain extent, and can run according to a set running track; and the configured multi-degree-of-freedom mechanical arm can carry out sorting or assembly working on carried articles, and realizes loading and unloading working before and after movement. The intelligent movement platform disclosed by the invention has the advantages of being flexible to apply, complete in function and simple in structure.

The invention discloses a cable rope steel wire detection mechanism based on leakage magnetic flux detection. The cable rope steel wire detection mechanism comprises a vehicle body, flaw detection modules connected onto the vehicle body and a connecting mechanism for connecting the vehicle body and a driving vehicle, wherein the vehicle body comprises an upper mounting ring, a lower mounting ringand a connecting rod; the upper mounting ring comprises an upper mounting semi-ring and a mounting sheet; the connecting rod comprises a central pipe and a rod end connecting part. Each flaw detectionmodule is composed of a fixing plate, flaw detection wheels, an armature, a magnet and a cover plate; the armature is connected onto the fixing plate; the magnet is adsorbed on the armature; the cover plate is adsorbed on the magnet; a sensor is mounted on the cover plate; the flaw detection wheels are mounted at two ends of the fixing plate. The flaw detection modules are connected with the vehicle body through safety buckles and ropes; the flaw detection modules are connected through a tension spring. The connecting mechanism is composed of a traction rod, a fisheye bearing and a mounting lug piece.

The invention discloses a crawler-type magnetic adsorption detection robot walking mechanism which can walk on an overhead rail in an underground comprehensive pipe gallery and comprises a shell and crawler belts arranged on the two sides of the shell. The crawler belts on the same sides are connected through crawler wheels, the crawler wheels arranged on the two transverse sides are fixedly connected with the shell through power output shafts, the crawler belts are in a magnetic attraction walking mode, and the whole walking mechanism is tightly attracted to a pipe gallery overhead rail through a plurality of permanent magnets fixed to the crawler belts on the two sides. A motor is arranged in the shell and drives the walking mechanism to walk. A base is arranged at the top of the shell,and a sensor and a detection mechanism are borne on the base, so that when the robot walking mechanism walks on an overhead rail of the underground comprehensive pipe gallery, the robot walking mechanism can achieve detection operation on the underground comprehensive pipe gallery by carrying the corresponding detection device. The robot walking mechanism is simple in structure, and problems thata traditional detection mode is high in labor intensity, and detection risks exist are solved.

The invention discloses a two-degree-of-freedom foldable mobile robot, comprising a first rod piece, a second rod piece, a third rod piece, a fourth rod piece, a fifth rod piece, a sixth rod piece, a first electric motor and a second electric motor, wherein an end B of the first rod piece is connected with an end C of the second rod piece in a mutually rotational manner through a connecting shaft, an end F of the third rod piece is connected with an end G of the fourth rod piece in the mutually rotational manner through a connecting shaft, a spherical casing end of the fifth rod piece and a spherical end of the sixth rod piece are connected with each other through a ball pair to realize relative rotation between the fifth rod piece and the sixth rod piece; an end A of the first rod piece is connected with an end H of the fourth rod piece through the first electric motor, and the middle end of a shorter connecting shaft is matched with the end A of a first connecting rod to realize the mutually rotational connection of the first rod piece and the fourth rod piece; an end D of the second rod piece is connected with the middle end of a long connecting shaft through the second electric motor, and an end E of the third rod piece is matched with the middle end of the long connecting shaft to realize the mutually rotational connection of the second rod piece and the third rod piece; a forked end of a fifth connecting rod is connected with the short connecting shaft in a matched manner, and a forked end of a sixth connecting rod is connected with the long connecting shaft in the matched manner. The robot disclosed by the invention has two degrees of freedom, and can realize omnidirectional moving and folding functions through the control of the first electric motor and the second electric motor.

A non-contact magnetic adsorption wheel and leg composite mechanism for a wall climbing robot includes two wheel type driving mechanisms, a leg rotation mechanism, a non-contact magnetic adsorption mechanism, two connecting flanges and two connecting brackets. The two wheel type driving mechanisms are fixedly mounted on the two sides of the leg rotation mechanism respectively through the connecting flanges, the non-contact magnetic adsorption mechanism is placed below the leg rotation mechanism and fixedly mounted between the two wheel type driving mechanisms, the wheel type driving mechanismsand the non-contact magnetic adsorption mechanism can swing by driving the leg rotation mechanism, and the two connecting brackets are fixedly mounted on the two sides of the leg rotation mechanism respectively. According to the non-contact magnetic adsorption wheel and leg composite mechanism, not only are original flexible and stable motion characteristics of a wheel type mechanism ensured, butalso the mechanism has obstacle crossing capability of a leg type walking mechanism; the adjustment of a magnetic adsorption force is achieved, and the movement flexibility of the mechanism is improved; the stable adsorption of the mechanism on the wall of the small curvature radius is achieved, and the adaptability of the mechanism to different wall surfaces is improved.

The invention discloses a combined tetrahedral movable robot which comprises six-fork vertexes from first to fourth, three-fork vertexes from first to fourth and branch chains from first to eighteenth. The first six-fork vertex is connected with the first, second, third, seventh, tenth and thirteenth branch chains. The second six-fork vertex is connected with the first, fourth, sixth, twelfth, fourteenth and eighteenth chain chains. The third six-fork vertex is connected with the second, fourth, fifth, eighth, fifteenth and sixteenth branch chains. The fourth six-fork vertex is connected withthe third, fifth, sixth, ninth, eleventh and seventeenth branch chains. The first three-fork vertex is connected with the branch chains from seventh to ninth. The second three-fork vertex is connectedwith the branch chains from tenth to twelfth. The third three-fork vertex is connected with the branch chains from thirteenth to fifteenth. The fourth three-fork vertex is connected with the branch chains from sixteenth and eighteenth. After the connections are completed, the robot represents the five-regular-tetrahedron-combined appearance. The robot can move on the ground in all directions by changing postures and can be used for reconnaissance, detection and the like.

The invention belongs to the field of ground mobile robots, and particularly relates to a wheel-like rolling reconnaissance robot which comprises a left wheel mechanism (A), a right wheel mechanism (B) and a holder (C), and the robot is characterized in that the left wheel mechanism (A) and the right wheel mechanism (B) are connected in parallel through the holder (C); the holder is composed of aconnecting rod (C-1) and a camera device (C-2), and the camera device (C-2) is fixed on the connecting rod (C-1). According to the wheel-like rolling reconnaissance robot provided by the invention, the left wheel mechanism (A) and the right wheel mechanism (B) are respectively driven and controlled through two steering engines, so that the rolling motions of the mechanisms are realized; zero-radius turning and fixed-angle turning can be achieved, the obstacle climbing function can be achieved through deformation of the left wheel mechanism and the right wheel mechanism, the application range is wide, and carrying and transportation are convenient after contraction and folding of the robot.

The invention relates to the technical field of car equipment, in particular to a car chassis capable of crossing obstacles. The car chassis comprises a rack, front traveling wheels, rear traveling wheels, a front obstacle-crossing mechanism, a front obstacle-crossing transition mechanism, a rear obstacle-crossing transition mechanism and a rear obstacle-crossing mechanism. The front traveling wheels are arranged at the front portion of the rack; the rear traveling wheels are arranged at the rear portion of the rack; the front obstacle-crossing mechanism is arranged on the rack and located infront of the front traveling wheels and can swing relative to the rack for assisting a car to cross higher obstacles; the front obstacle-crossing transition mechanism is used for guiding the front traveling wheels to cross obstacles when the car is crossing lower obstacles; the rear obstacle-crossing transition mechanism is disposed on the rack and located between the front traveling wheels and the rear traveling wheels and is used for guiding the rear traveling wheels to cross obstacles when the car is crossing lower obstacles; and the rear obstacle-crossing mechanism is arranged at the backof the rack and can swing relative to the rack to assist the car in crossing higher obstacles. With the car chassis capable of crossing obstacles, the adaptability of the car to a complex road surfacecan be improved.

The invention relates to the technical field of smart home, and discloses a household intelligent anti-collision dust collector. The household intelligent anti-collision dust remover comprises a shell; a through groove is formed in the bottom end of the shell, a bottom plate is fixedly mounted in the through groove, the top end of the bottom plate fixedly communicates with a dust collection box, mounting columns are arranged at the top end of the bottom plate at equal intervals, and fixing grooves are formed in the outer side faces of the mounting columns at equal angles. According to the household intelligent anti-collision dust remover, the fixing grooves are formed in the mounting columns; crushing nails are fixedly mounted in the fixing grooves; therefore, the crushing nails also rotate along with the relative rotation of the mounting columns; at the moment, sundries and garbage in the dust collection box are crushed under the relative action of the crushing nails, so that the volume of the sundries and the garbage in the dust collection box is reduced, more garbage is temporarily stored, the times of cleaning the dust collection box are reduced, and the advantages of crushingthe garbage in the dust collection box and reducing the occupied space are achieved.

The invention provides a pipeline inner wall flaw detection crawling robot and an application method thereof. The pipeline inner wall flaw detection crawling robot comprises a mounting assembly, wherein the interior of the mounting assembly comprises a first triangular mounting plate and triangular plate butt joint rods, a second triangular mounting plate is fixedly mounted on the surface of the front end of the first triangular mounting plate through a plurality of triangular plate butt joint rods, a supporting butt joint base is fixedly mounted on the second triangular mounting plate through an output end of a motor, a device main rod is fixedly mounted at the front end of the supporting butt joint base, forward rotation threads are arranged at the front end of a rod body of the device main rod, and reverse rotation threads are arranged at the rear end of the rod body of the device main rod. Compared with a traditional pipeline detection scheme, the robot adopts the modular structural design and has the advantages of being simple in structure, wide in practical field, safe, reliable, high in cost performance, capable of achieving a certain turning function, applicable to variable-diameter pipeline detection, flexible in control mode and the like.

The invention discloses a complex space obstacle crossing robot. The complex space obstacle crossing robot comprises a machine body extending in the horizontal direction and at least three sets of long-foot advancing mechanisms symmetrically arranged on the two sides of the machine body in the length direction; the long-foot advancing mechanisms are arranged in the length direction of the machinebody at intervals; each long-foot advancing mechanism comprises a first leg, a second leg, a first angle adjusting mechanism and a second angle adjusting mechanism; the head end of the first leg is rotatably connected with the machine body, and the tail end of the first leg is rotatably connected with the head end of the second leg; a driving motor and wheels driven by the driving motor are arranged at the tail end of the second leg; the angle between the first leg and the machine body is adjusted through the first angle adjusting mechanism; and the angle between the first leg and the second leg is adjusted through the second angle adjusting mechanism. Compared with the prior art, the complex space obstacle crossing robot has the advantages of light weight and high obstacle crossing performance.

The invention discloses a lifting device for a hand-operated command workbench, which includes a frame, a transmission device and 2N bottom wheel assemblies, N≥2; the frame includes a front frame, a rear frame, a left frame and a right frame, each The bottom wheel assembly includes a bottom wheel seat and a bottom wheel; the transmission device includes a crank handle, a connecting rod and a long shaft, and 2N bottom wheel seats are respectively connected with the left frame and the right frame through connecting rods to form 2N four-bar linkages , wherein the four-bar linkage connected to the rocker is connected to the four-bar linkage of the frame on the opposite side through the long axis, so as to realize the coordinated operation of 2N four-bar linkages. The invention is easy to operate, and the command workbench can be lifted or lowered by pulling or loosening the handle, thereby switching the movement and placement state of the command workbench; and it has a certain ability to overcome obstacles on uneven ground, and is especially suitable for heavy command workbenches. workbench.

The invention relates to the technical field of medical appliances and especially relates to a bidirectional transfer nursing robot. The b bidirectional transfer nursing robot comprises an integrated support, transfer modules and a cover plate, wherein an upper-layer driving belt of a human body transfer unit, after bypassing the lower portion of a driving roller, bypasses the upper portions of a tensioning roller and a first commutation roller, after sequentially bypassing the upper portions of two second commutation rollers, goes from the lower portion of a third commutation roller to the upper portion of the third commutation roller and is attached to the upper surface of the cover plate; and a synchronous belt of a machine mobile unit, after bypassing the upper portion of a lower-layer driving belt roller, goes to the lower portions of two lower-layer tensioning belt rollers, sequentially bypasses the upper portion of each lower-layer driven belt roller, and finally goes from the upper portions of the two lower-layer driven belt rollers at a left end and a right end to the lower portions of the lower-layer driven belt rollers, and the transfer nursing robot is driven to move through friction between a lower layer of the synchronous belt and a bed surface or a stretcher. Such equipment provided by the invention, under the condition that the posture of a patient is not changed, realizes transfer nursing of the patient, mitigates the labor intensity of medical care personnel and prevents secondary damage to the patient caused by a conventional transfer mode.