34results about How to "Easy to overcome obstacles" patented technology

Provided is an automatic robot for inspection of high air transmission lines, comprising two pairs of hand-paw mechanisms, two pairs of arm mechanisms and an engine base. The hand-paw mechanisms are composed of roller mechanisms, clamping mechanisms and wrist mechanisms and are capable of realizing that the robot slides along electric lines. In the process of obstacle navigation, the hand-paw mechanisms not only can clamp the electric lines but also can clamp a steel tower angle-bar. The arm mechanisms are connected with the hand-paw mechanisms and the engine base, being capable of realizing that the hand-paw mechanisms moves up and down relative to the engine, and driving hand-paws to rotate around a vertical shaft. Feed screw nuts arranged on the engine are capable of enabling the arms to parallel move along the length direction of an engine base guide rail. Elements of image collecting, controlling and driving are installed inside an electric equipment box and are hung under the guide rail, and the regulation of the integral center-of-gravity position of the robot can be realized through the parallel moving of the electric equipment box along the length direction of the guide rail. The invention is powerful, is convenient to realize moving, is capable of easily cross over all forms of tower frames, is adaptable with a wide range, and can actually realize the automatic inspection on a whole line.

The invention provides a small-sized variable crawler type search and rescue robot, comprising a body, a crawler travelling device, a communication device and a signal acquisition device, wherein the body is a carrier for the crawler travelling device, the communication device and the signal acquisition device; the crawler travelling device comprises a retractable crawler, a driving wheel and a retractor device; the retractor device is a slipper rocker mechanism consisting of two movable driven wheels, two fixed driven wheels and two linear push rods; the driving wheels are driven by driving shafts on the body, a linear push rod motor is taken as a slider and drives rockers and the movable driven wheels thereon to rotate around the fixed driven wheels so as to drive the crawler to stretch and shrink, thus forming a certain angle in the forward to backward direction of the crawler. The robot of the invention has small volume and flexible movement and can run forwards and backwards and turn in narrow space. The variable crawler can form certain angles in the forward to backward direction, thereby being beneficial to realizing obstacle detouring, reducing the volume of the crawler type search and rescue robot and improving the running speed of the robot.

The invention provides a cleaning robot. The cleaning robot comprises at least two adsorption moving modules used for adsorbing on a surface to be cleaned and moving on the surface to be cleaned, mechanical arms which are connected between the at least two adsorption moving modules and can drive the adsorption moving modules to move at least in the direction perpendicular to the surface to be cleaned and first cleaning modules arranged on the adsorption moving modules and used for cleaning the surface to be cleaned in the moving process. Due to the adoption of the combination mode of the mechanical arms, the cleaning modules and the adsorption moving modules, when the robot meets an obstacle, the mechanical arms can lift the adsorption moving modules so that a robot main body can easily bypass the obstacle, dirt on the cleaning surface can be effectively removed, the effect of crossing over a plurality of cleaning surfaces which are arranged side by side is achieved, flexible obstaclecrossing is achieved, and the cleaning effect is improved.

The invention provides an overturning obstacle crossing type overhead line work robot which comprises a beam. The two ends of the beam are provided with rotation mechanisms respectively and the rotation mechanisms can rotate around the end portions of the beam in a reciprocating mode. The end portions of the rotation mechanisms are connected with cantilever mechanisms which can slide on an overhead line and can be disengaged from the overhead line. The overturning obstacle crossing type overhead line work robot is large in inspection range, drive motors are few in number, the overall weight is low, the obstacle crossing action is simple, and the obstacle crossing adaptability is high.

The invention relates to an obstacle-crossing type no-cable remote-control risk-elimination detecting robot, and belongs to the technical field of military affairs, investigation and exploration, and anti-terrorist explosive-removal. Guide slopes are arranged on the rear part and the front part of the robot as entry points for crossing obstacles; the rear part is a drive part, a motor can be protected through a fixed shaft mode, and the motor can be moved; wheels are arranged on the bottom to fill the back of a caterpillar band as an obstacle-crossing supporting mechanism of the robot; double-layered wheels and a swinging arm coaxial mechanism are adopted on the front part; the caterpillar band is a tooth-similar belt, does not slip, is large in surface concave and convex fluctuation, and convenient for crossing obstacles; the robot adopts carbon fiber board thread portable type connection; a swinging arm unit can freely move by 360 degrees; an arm part joint power source adopts a worm and gear with a large reduction ratio (60:1), a paw part adopts a mechanism for keeping both sides parallel all the time, so that objects of various shapes can be enabled to be grabbed; a camera head is of a movable type, is driven by a steering engine and is accurate in angle, so that view of the camera head can be expanded to be three times that of a fixed camera head.

The invention discloses an inspection and repair device for an outer sheath of a power transmission line. The inspection and repair device comprises a supporting plate, a walking assembly, a camera and a repairing assembly, and the walking assembly specifically comprises a walking mechanism and a clamping mechanism. A first driving motor is arranged on the outer wall of the clamping mechanism; theoutput end of the first driving motor is connected with a first transmission gear assembly and a second transmission gear assembly; the output end of the first transmission gear assembly and the output end of the second transmission gear assembly are connected with the walking mechanism and the clamping mechanism correspondingly; and a second driving motor is connected to the top wall of the supporting plate, the output end of the second driving motor is connected with a third transmission gear assembly, the output end of the third transmission gear assembly is connected with a first rotatingshaft and a second rotating shaft, and the first rotating shaft and the second rotating shaft are connected with the walking mechanism and the clamping mechanism correspondingly. Obstacle crossing operation can be conveniently carried out, the labor intensity of inspection and maintenance of the outer sheath of the power transmission line is effectively reduced, and the safety coefficient and theinspection and repair efficiency of the outer sheath of the power transmission line are improved.

The invention discloses a single-transmission line deicing robot and method. The single-transmission line deicing robot comprises a first gripper, wherein the first gripper is matched with a motion mechanism; a second gripper is arranged in the motion mechanism; a deicing mechanism is arranged at the top part of the motion mechanism; the first gripper comprises arc-shaped grab bars; the middle parts of two arc-shaped grab bars are connected through a pin shaft; the bottom ends of the two arc-shaped grab bars are fixedly connected through a first hydraulic cylinder; the arc-shaped grab bars, the pin shaft and the first hydraulic cylinder are arranged in a first rectangular box body; first connecting rods are fixed at two side surfaces of the first rectangular box body respectively; the tail ends of the two first connecting rods are connected with long racks respectively; and a first hydraulic drive device is fixed on the side surface of the first rectangular box body. The robot can be automatically elevated when encountering an obstacle and stretch a clamping device to pass cross the obstacle; and meanwhile, ice blocks on the line can be effectively eliminated to achieve the deicing target.

The invention relates to a robot for the automatic deicing of a transmission line. In the invention, a first walking box and a second walking box are connected through a second screw and nut mechanism; a screw in the second screw and nut mechanism is installed on the first walking box; the lower end of a clamping device is connected with a first screw and nut mechanism through screw threads; the first walking box is connected with a first lifting arm device through a rotating device capable of enabling a device installed on the first lifting arm device to rotate at a certain angle; the secondwalking box is connected with a second lifting arm device through the rotating device capable of enabling the device installed on the second lifting arm device to rotate at a certain angle; deicing devices and walking devices for driving the whole device to walk are arranged on the first lifting arm device and the second lifting arm device; the first lifting arm device and the second lifting arm device are arranged at the two ends of the whole walking box; and the clamping device is arranged between the first lifting arm device and the second lifting arm device. The robot for the automatic deicing of the transmission line provided by the invention can reliably realize the deicing on a high voltage transmission line and can be convenient and reliable to clear obstacles.

The invention relates to the technical field of high-rise building external wall cleaning machines, in particular to a crawler type obstacle crossing high-rise building external wall cleaning machine.The crawler type obstacle crossing high-rise building external wall cleaning machine comprises a high-rise building simplified schematic model and a hand-held remote controller, the front end of theouter wall of the high-rise building simplified schematic model is connected with cross bar obstacles, a building bottom counterweight trolley is mounted at the front ends of the cross bar obstacles,a water and electricity bundled pipe is mounted above the building bottom counterweight trolley, a cleaning machine body is mounted on the upper part of the water and electricity bundled pipe, a steelwire rope lifting rope is connected to the upper part of the cleaning machine body, and nylon rope soft guide rails are mounted on the left side and the right side of the steel wire rope lifting ropecorrespondingly. The crawler type obstacle crossing high-rise building external wall cleaning machine adopts crawler rolling type obstacle crossing, structure and control system design is simple, safety is better achieved during working in the scene with the high-risk environment by adopting the obstacle crossing mode of a mechanical structure, and the practical value and significance are also better achieved; and compared with obstacle crossing realized by a control system and a sensor, the crawler type obstacle crossing high-rise building external wall cleaning machine is more suitable andpractical.

The invention belongs to the field of mobile robots, and particularly relates to a crawler belt of a crawler belt type mobile robot. The crawler belt comprises a main crawler belt body and an auxiliary crawler belt body, wherein the main crawler belt body comprises a main synchronous belt body, off-tracking-prevention baffle blocks, off-tracking-prevention guide strips, walking baffle blocks and main belt teeth, a plurality of walking baffle blocks are evenly arranged on the outer surface of the main synchronous belt body in the belt length direction, a plurality of main belt teeth are evenly arranged on the inner surface of the main synchronous belt body in the belt length direction, and the off-tracking-prevention baffle blocks and the off-tracking-prevention guide strips are respectively arranged on the two sides of the inner surface of the main synchronous belt body. The auxiliary crawler belt body comprises an auxiliary synchronous belt body, auxiliary crawler belt off-tracking-prevention baffle blocks, auxiliary crawler belt walking baffle blocks and auxiliary belt teeth, the auxiliary crawler belt walking baffle blocks are evenly arranged on the outer surface of the auxiliary synchronous belt body in the belt length direction, the auxiliary belt teeth are evenly distributed on the inner surface of the auxiliary synchronous belt body in the belt length direction, and the auxiliary crawler belt off-tracking-prevention baffle blocks are arranged on the inner surface of the auxiliary synchronous belt body. The crawler belt has the advantages of being wide in application, high in adaptability and the like, can be applied to any one crawler belt type mobile robot, and is easy to machine.

The invention provides a robot for automatically deicing for a power transmission line. A first walking box and a second walking box are connected through a second screw and nut mechanism and a screw of the second screw and nut mechanism is installed on the first walking box; the lower end of a clamping device is connected with a first second screw and nut mechanism through screw threads; the first walking box is connected with a first lifting arm device through a rotation device capable of rotating the device which is installed on the rotation device for a certain angle; the second walking box is connected with a second lifting arm device through a rotation device capable of rotating the device which is installed on the rotation device for a certain angle; the first lifting arm device and the second lifting arm device are all provided with deicing devices and walking devices which are used for driving the whole device to walk; and the first lifting arm device and the second lifting arm device are respectively located at the positions of two ends of the whole walking box and the clamping device is located in the middle. According to the robot for automatically deicing the power transmission line provided by the invention, the deicing on a high-voltage power transmission line is reliably realized and the obstacles can be conveniently and reliably detoured.

The invention relates to an automobile capable of spanning barriers. The automobile comprises an automobile main body, a front wheel grope, a rear wheel group, a power system and a power transmission system, wherein the front wheel group and the rear wheel group are arranged inside the automobile main body; the power system and the power transmission system are arranged between the front wheel group and the rear wheel group; a automobile longitudinal drawing mechanism is further connected with the power transmission system. The automobile can span the barriers.

The invention relates to a conveniently maintained caterpillar band fire-fighting robot platform convenient to cross obstacles. An existing caterpillar band walking assembly is complex in structure and inconvenient to maintain, and does not has an obstacle-crossing ability commonly. Therefore, the conveniently maintained caterpillar band fire-fighting robot platform convenient to cross obstacles comprises a vehicle body. A storage battery and two direct current driving motors are arranged in the vehicle body, a program controlled circuit is matched, caterpillar band walking assemblies are separately arranged on two sides of the vehicle body, a driven shaft is arranged between driven wheels of the caterpillar band walking assemblies on two sides, an obstacle crossing lifting rack is also hinged to the middle section of the driven shaft, and a driven caterpillar band is arranged. The conveniently maintained caterpillar band fire-fighting robot platform convenient to cross obstacles is simple in structure, convenient to cross obstacles and convenient to disassemble and assemble. By additionally mounting equipment such as a water monitor, a mechanical arm, a forcible entry tool or an exhaust fan, various small caterpillar band robots such as a fire-fighting robot, a fire-fighting smoke exhausting robot and an explosion clearing forcible entry robot can be formed.

The invention relates to a frame structure of a collecting net for bottom-layer organisms in a seamounts area. The frame structure of the collecting net for the bottom-layer organisms in the seamountsarea comprises a collecting net frame, wherein the collecting net frame is of a groove-shaped structure and comprises two side frames; the side frames are used as supporting edges of the collecting net frame; the front end of each side frame is arc-shaped; the front end of each side frame and the bottom surface of the side frame form an arc-shaped surface in smooth transition; the edges of the corners of the rear ends of the side frames are rounded; reinforcing plates are arranged between an upper plate and a lower plate of each side frame; the two side frames are connected by three connecting plates; a net opening upper steel support is also arranged between the two side frames; a net opening side steel support is also arranged between the upper steel plate and the lower steel plate of each side frame; the net opening upper steel support and the net opening side steel supports form a U-shaped frame; and the U-shaped frame is positioned at the front end of the collecting net frame. The frame structure of the collecting net for the bottom-layer organisms in the seamounts area has the advantages that the contact area between the collecting net and the seabed is reduced by the two side frames, obstacle crossing is facilitated, the success rate of bottom-layer organism collection is improved, the frame structure of the collecting net for the bottom-layer organisms in the seamountsarea adapts to sampling of the bottom-layer organisms in different seabed sediment environments, and the sediment environments are well protected.

The invention discloses an inspection and repair device for the outer sheath of a power transmission line, which includes a support plate, a walking assembly, a camera and a repairing assembly. The walking assembly specifically includes a walking mechanism and a clamping mechanism, and a first drive motor is arranged on the outer wall of the clamping mechanism , the output end of the first driving motor is respectively connected with the first transmission gear assembly and the second transmission gear assembly, the output ends of the first transmission gear assembly and the second transmission gear assembly are respectively connected with the traveling mechanism and the clamping mechanism, and the top wall of the support plate The second driving motor is connected to the top, the output end of the second driving motor is connected to the third transmission gear assembly, the output end of the third transmission gear assembly is respectively connected to the first rotating shaft and the second rotating shaft, and the first rotating shaft and the second rotating shaft The shafts are respectively connected with the traveling mechanism and the clamping mechanism; the present invention can conveniently perform obstacle-crossing operation, thereby effectively reducing the labor intensity of the inspection and maintenance of the outer sheath of the transmission line, improving the safety factor and the patrolling of the outer sheath of the transmission line. Check and repair efficiency.

The invention provides an obstacle crossing device for an electric wheelchair and the electric wheelchair adopting the same in the technical field of wheelchairs. The obstacle crossing device comprises a guide rail frame, a connecting block, a steering rod and an inclined plate; the guide rail frame is fixedly arranged on a chair body; front rolling wheels and rear rolling wheels are arranged below the chair body in a rolling mode; the connecting block is arranged in the guide rail frame in a sliding mode and rotationally arranged corresponding to the guide rail frame; the steering rod penetrates through the connecting block; the inclined plate is arranged at the lower end of the steering rod and connected with a baffle; a supporting part is arranged at the joint of the inclined plate and the baffle; the supporting part extends in the direction away from the steering rod. the baffle is in contact with an obstacle along with advancing of the chair body; the supporting part is arranged on an upper plane of the obstacle in a contact mode; the front rolling wheels and the rear rolling wheels sequentially roll to the upper plane of the obstacle from the inclined plate; and the connecting block slides backwards in the guide rail frame along with advancing of the chair body. According to the invention, the guide rail frame is combined with the steering rod, so that under the condition of not adding a driving force device, the obstacle crossing capacity of the wheelchair is improved, the structure is simple, and the cost is low.

The invention discloses a manual vortex air pump, which comprises an air cylinder, a piston, and a piston rod; the piston is arranged in the air cylinder, and the lower surface of the piston is an impeller structure; the piston rod is fixedly connected to the piston, and the outside of the piston rod is a spiral structure. The structure of the guide hole in the cap matches the helical structure of the piston rod. When the piston rod passes through the guide hole, the guide hole and the piston rod cooperate to drive the piston rod to rotate, and the gas under the piston is compressed into a high-pressure vortex flow, which Compared with the high-pressure translational airflow, it has greater penetrating power, is easier to overcome the obstruction of air pressure, and saves effort to inflate the object to be inflated.

The invention discloses a gravity center adjusting device, a cleaning robot and an obstacle crossing method. The gravity center adjusting device comprises a device body, a balancing weight and a driver. The device body is used for bearing the balancing weight and limiting movement of the balancing weight. The driver is connected with the balancing weight and used for driving the balancing weight to move. The gravity center adjusting device can be applied to the cleaning robot, under the limitation of the device body, the gravity center is adjusted by driving the balancing weight to move, then the cleaning robot can cross obstacles more easily, and the obstacle crossing capacity of the cleaning robot can be greatly improved.

The invention discloses a single-transmission line deicing robot and method. The single-transmission line deicing robot comprises a first gripper, wherein the first gripper is matched with a motion mechanism; a second gripper is arranged in the motion mechanism; a deicing mechanism is arranged at the top part of the motion mechanism; the first gripper comprises arc-shaped grab bars; the middle parts of two arc-shaped grab bars are connected through a pin shaft; the bottom ends of the two arc-shaped grab bars are fixedly connected through a first hydraulic cylinder; the arc-shaped grab bars, the pin shaft and the first hydraulic cylinder are arranged in a first rectangular box body; first connecting rods are fixed at two side surfaces of the first rectangular box body respectively; the tail ends of the two first connecting rods are connected with long racks respectively; and a first hydraulic drive device is fixed on the side surface of the first rectangular box body. The robot can be automatically elevated when encountering an obstacle and stretch a clamping device to pass cross the obstacle; and meanwhile, ice blocks on the line can be effectively eliminated to achieve the deicing target.

The invention discloses a flexible crawler-type magnetic adsorption mechanism for a wall-climbing robot. The mechanism comprises a rack and a flexible crawler belt, the rack as a magnetic adsorption mechanism connecting skeleton is assembled and connected with a wall-climbing robot body, the flexible crawler belt is engaged and driven with belt wheels arranged on the rack, and the belt wheels on the rack are symmetrically mounted relative to the rack. A gap is formed between every two symmetrical belt wheels, magnetic adsorption areas are correspondingly arranged in the inner side of the flexible crawler belt at intervals, a plurality of circles of magnet packaging chains arranged at intervals are arranged in the magnetic adsorption areas, and each circle of magnet packaging chain comprises a plurality of magnet packages distributed in the circumferential direction of the flexible crawler belt; and each magnet package comprises a package shell fixedly connected with the flexible crawler belt and a magnet unit arranged in the package shell. The flexible crawler-type magnetic adsorption mechanism for the wall-climbing robot is high in reliability.

The invention relates to the technical field of building curtain walls, in particular to glass curtain wall cleaning equipment capable of conveniently crossing obstacles. The equipment comprises a machine body in bilateral symmetry, a steering cavity is formed in the machine body, and a steering body extending up and down is rotatably arranged between the steering cavity and the upper end wall ofthe machine body; an outer gear ring is fixedly arranged at position, located in an air pump belt, of the steering body, and a steering motor is fixedly arranged on the right side of the upper end ofthe steering cavity. According to the glass curtain wall cleaning equipment capable of conveniently crossing the obstacles, wheels do not need to be additionally arranged on the machine, the suction force of a traditional window cleaning robot can increase more frictional resistance to the robot depending on the advancing process of wheels, the window cleaning process simulates manual window cleaning, the degree of freedom is higher, work is more efficient, obstacle crossing is convenient, the work range is wide, and the equipment is not limited by the shape of a window. No residual stain is caused after cleaning.

The invention discloses walking type ground wire outlet equipment for a high-voltage line, and aims to provide the walking type ground wire outlet equipment for the high-voltage line, which not only has an obstacle crossing function, but also is convenient in obstacle crossing operation and can simplify obstacle crossing operation steps. The walking device comprises a walking support, a front walking wheel device and a rear walking wheel device, the front walking wheel device and the rear walking wheel device are arranged on the walking support, and each walking wheel device comprises a rotating wheel frame rotationally arranged on the walking support through a shaft rod, three walking wheels evenly distributed on the rotating wheel frame in the circumferential direction of the shaft rod and a wheel frame rotation driving mechanism used for driving the rotating wheel frame to rotate around the shaft rod. The walking type ground wire outgoing equipment for the high-voltage line is supported on a lead or a ground wire of the high-voltage line through the front and rear walking wheel devices, and each walking wheel device is supported on the lead or the ground wire of the high-voltage line through any two walking wheels.

The invention discloses a robot system for bridge vibration detection and relates to the technical field of bridge test. The robot system comprises a robot body and a detection assembly installed on the robot body, wherein the robot body comprises a main joint assembly, an auxiliary joint assembly and an adsorption assembly; the main joint assembly comprises a first connecting block, a second connecting block, a first rotating mechanism and a first fixing frame, the first connecting block and the second connecting block are rotatably connected together through the first rotating mechanism, and the first rotating mechanism is fixed to the first connecting block through the first fixing frame; vibration accelerations of the bridge in the X, Y and Z directions can be detected through the first detector, then vibration velocities and vibration displacements in the three directions are obtained, the vibration velocities and the vibration displacements are synthesized to obtain a synthesized velocity and a synthesized displacement, a correction coefficient is obtained, and finally the vibration velocities and the displacements detected by the second detector are corrected through the correction coefficient; therefore, accurate detection of bridge vibration data is realized.