892results about How to "Improve climbing ability" patented technology

A hybrid electric vehicle powertrain having an engine and an electric motor and generator sub-system, which establish mechanical and electric power flow paths. Multiple-ratio gearing in a power flow path for forward drive enhances vehicle traction torque for heavy-duty vehicle applications. Reverse drive performance is enhanced by torque multiplying gearing in a reverse drive power delivery path.

A hybrid electric vehicle powertrain having an engine and an electric motor and generator sub-system, which establish mechanical and electric power flow paths. Multiple-ratio gearing in a power flow path for forward drive enhances vehicle traction torque for heavy-duty vehicle applications. Reverse drive performance is enhanced by torque multiplying gearing in a reverse drive power delivery path.

The invention discloses a walking aid exoskeleton rehabilitation robot in the technical field of rehabilitation engineering, which comprises a mobile auxiliary mechanism, a control mechanism and an exoskeleton prosthesis mechanism, wherein the mobile auxiliary mechanism is connected with the exoskeleton prosthesis mechanism, and the control mechanism is connected with the mobile auxiliary mechanism and the exoskeleton prosthesis mechanism respectively. The exoskeleton prosthesis mechanism has compact design structure and large rotation range of each joint, and can meet the requirement on actual motion of a human body. By adopting a servo motor to drive, the control precision is high, and the output torque is large; and the mobile auxiliary mechanism rotates under the driving of the servo motor, can freely move, and has higher climbing capacity and movement speed. The height of the mobile auxiliary mechanism is adjusted to be applied to people with different heights. When the patient undergoes gait rehabilitation training, the human gravity center is actively adjusted to accord with the characteristics that the human body is fluctuated along with alternative gait. The mobile auxiliary mechanism also can support the human body, prevent people from tumbling in walking, and guarantee the whole stability.

The invention discloses a wear type lower limb assistant robot, a folding method thereof and a hand luggage for carrying. The robot is characterized by comprising a lower limb assistant mechanical device and a servocontrol system, wherein the lower limb assistant mechanical device is provided with wearable assistant mechanical legs which are symmetrically arranged on the two sides of a wearable waistband. The wearing load on human bodies can be effectively relieved, and the robot has the characteristics of high safety performance, simple man-machine coordination control, good following assist effect, high cost performance and the like; the robot can be changed into a portable body which is compact in structure through the folding method, and a user can conveniently carry and store the robot in various manners through matching with the hand luggage for carrying, so that the nursing requirements of the middle-aged and the aged people on daily activities such as walking and walking up and down stairs can be better satisfied.

The invention relates to a walk-aiding exoskeleton robot system and a control method, which belong to the technical field of rehabilitation engineering. The system comprises a hanging support, a moving platform, joints, protecting sleeves, a sensor module, a signal acquisition module, a central processing module and a motion control module, wherein the hanging support is fixed on the moving platform, the joints are connected with the hanging support to form an exoskeleton robot, the sensor module, the signal acquisition module, the central processing module and the motion control module are sequentially connected, the sensor module is used for acquiring joint angles, the interacting force of the exoskeleton robot and the human being and the myoelectric signals of the muscles of the human body, the signal acquisition module carries out signal conditioning and digital-to-analog conversion, the central processing module carries out action generation and the reverse solution of motion, and transmits an action command to the motion control module, and the motion control module is connected with the exoskeleton robot and generates a pulse signal to control the coordinated motion of the exoskeleton robot. The invention realizes the synchronous motion of the exoskeleton robot and the human body and real-time active control.

The invention discloses a bendable display panel and a manufacturing method thereof. The manufacturing method comprises the steps of providing a flexible substrate and forming an inorganic film layeron the flexible substrate, wherein the inorganic film layer comprises a deep hole area arranged on a bending part; performing gas dry etching on the deep hole area to form deep holes with slopes, wherein the bottoms of the deep holes are positioned on the flexible substrate; filling the deep holes with an organic material to form an organic film layer; and forming a metal routing line layer on theinorganic film layer and the organic film layer. By virtue of the gas dry etching, the deep holes with slopes are formed, and through the etching method, the slopes of the deep holes can be controlled, thereby improving the metal routing line climbing capability, reducing or avoiding an electric signal losing phenomenon of the display panel caused by breaking of the metal routing line, and improving the quality of the display panel.

The invention relates to a vehicle and a wheel edge drive system and a wheel edge drive torque distributing method thereof. The number of drive shafts of the drive system is no less than two, vehicle internal space can be arranged more reasonably, the better dynamic property can be obtained, and the passenger carrying capacity and the climbing property are enhanced compared with those of a bus driven by a single motor; torque of the drive shafts can be distributed flexibly according to power needed by the vehicle, the high efficiency of the wheel edge drive system is obtained, and the power consumption of a power battery is saved to the greatest degree; the torque distribution between the shafts, the steering differential and other control modules are combined together to form a control method suitable for the multi-rear-shaft wheel edge drive system, energy optimization of the drive system and the functions of the advanced automobile electronic control systems such as an ASR, an ESP and an EBS can be achieved, and the whole vehicle can obtain a good balance in the aspects of the dynamic property, economy, comfort, safety and the like.

The invention discloses a biomimetic climbing robot which consists of five joint modules and two clamp holder modules. Each joint module has a rotational freedom and is driven by a direct current servo motor. The joint module has such two kinds as I type and T type, and joint rotating shafts are parallel to and perpendicular to the axial line of a joint connecting rod respectively. All modules areconnected successively by snap rings in a series mode, with the sequence as follows: clamp holder, I type joint, T type joint, T type joint, T type joint, I type joint, clamp holder. The rotating shafts of three T type joint modules are parallel to each other and are mutually perpendicular to the rotating shafts of the I type joint modules at both ends. The robot can climb on a rod and a tree andin a truss with equal steps in modes of inchworm, torsion and reversal and has operating function. The robot is characterized by small freedom, easy construction, simple structure and control, strongclimbing capability, good applicability to climbing objects and the like, thus being capable of being applied to high-lift operation in such fields as the agriculture, forestry and building industries.

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 relates to an urban railway operating vehicle and particularly relates to a straddle type single-track operating vehicle with a four-wheel-pair structure. The problems of heavy carriage, complex driving mode, low driving efficiency, heavy bogie, and the like, of the present operating vehicle are solved. The straddle type single-track operating vehicle comprises a carriage, a front bogie, a rear bogie, an I position wheel pair, an II position wheel pair, an III position wheel pair and an IV position wheel pair, wherein each bogie comprises a frame, a vehicle body supporting device and a dragging device; the whole frame has an II-shaped all-steel welded plate type box structure and comprises a lateral beam, an end beam, a central beam and a longitudinal beam; a motor bracket is fixed between the upper part of the lateral beam and the longitudinal beam; the I position wheel pair and the II position wheel pair are mounted on the motor bracket of the rear bogie; the III position wheel pair and the IV position wheel pair are mounted on the motor bracket of the front bogie; a guide wheel assembly is mounted in the middle of the lateral beam; a stable wheel assembly is mounted on the lower part of the lateral beam. The line demand on a single rail PC beam is reasonably met; the safety factor is high; the traction performance is excellent; the structure is simple; the repairing is easy; the vehicle running is stable; the braking performance is excellent.

A suspension maglev rail transit system includes an orbital system, a suspension system, a control system and a car system, wherein the control system comprises a drive system, a guidance system and asuspension control system, wherein the track system is suspended in the air through upright posts, the car system is suspended vertically below the track system through the suspension system, and thedrive system and the guidance system cooperate to drive the car system to operate in the track system. The invention utilizes the levitation force with the permanent magnet repulsion force as the main force and the electromagnetic regulation as the auxiliary force to suspend the car on the air track, and realizes the stable operation through the non-contact traction of the linear motor. The invention has the advantages of low energy consumption, high safety, no land occupation, low cost, strong climbing ability, small turning radius and wide adaptability.

The invention discloses a circumferentially-distributed crawler wheel type pipeline detection robot capable of actively adapting to pipe diameter changes. The robot comprises a crawler wheel travelingmechanism and a detection mechanism connected to the front end of the crawler wheel traveling mechanism through a turning mechanism, the crawler wheel traveling mechanism comprises a cylindrical mainbody sleeve, multiple crawler wheels controlled by a crawler driving motor are evenly distributed on the periphery of the cylindrical main body sleeve, the crawler wheels are installed on a ball screw through a pressing adjusting crank sliding block mechanism, and the ball screw is fixed to the outer wall of the cylindrical main body sleeve. The detection mechanism comprises a cylindrical detection barrel, an ultrasonic probe and a wide-angle camera stretch out of a detection barrel front end cover of the cylindrical detection barrel, the front end of the ultrasonic probe is provided with anultrasonic reflector, an electrical control system is arranged inside the cylindrical main body sleeve, and the electrical control system is connected with a battery. The circumferentially-distributedcrawler wheel type pipeline detection robot is good in movement controllability, outstanding in climbing and obstacle crossing ability and capable of actively adapting to pipe diameter working conditions.

A mobile robot including a body having a drive arrangement for driving the body on a surface, the body further including a bias for biasing a rear portion of the body in a direction away from the floor surface. The bias may include a spring-loaded swing arm located on a rear portion of the body and which is movable between stowed and deployed positions.

The invention discloses a spherical robot with an in-situ rotation function carried with a control moment gyro. The robot is mainly composed of a homogeneous spherical shell, an advance driving mechanism, a steering mechanism, a control moment gyro mechanism, a heavy pendulum and the like. The steering mechanism is composed of two steering motors, a steering gear mechanism, a toothed belt wheel mechanism and the like. In-situ steering of the sphere is achieved through the cooperation of output torques of the two motors. Meanwhile, the robot is carried with the control moment gyro mechanism, and the control moment gyro mechanism is mainly composed of a flywheel, a flywheel rotation motor, a flywheel fixing frame, a frame rotation steering engine, the toothed belt wheel mechanism and the like; extra precession moment is provided through the precession effect of a gyro rotor which rotates at a high speed, so that the operation speed of the robot is higher, and the climbing and obstacle crossing capacity is improved. The spherical robot can steer in-situ and is high in operation speed, the movement rapidity and flexibility of the spherical robot are greatly improved, and the spherical robot has great application prospects.

The invention provides a power system of a compound energy electro-vehicle, comprising a compound power supply controlling machine box, a main power supply connected with the power supply controlling machine box, a solar energy photovoltaic cell and a super capacitor module set, wherein, the output end of the compound power supply controlling machine box is connected with a motor driving controlling module and an assistant device, and the other end of the motor driving controlling module is connected with a motor; a hardware main circuit and a control circuit which are mutually connected are arranged in the compound power supply controlling machine box; the hardware main circuit is connected with the solar energy photovoltaic cell via an unidirectional DC / DC converter and is connected with the super capacitor module set via a bidirectional DC / DC converter; the input end of a microprocessor in the control circuit is connected with a temperature detecting module, a current detecting module and a pressure detecting module via a signal conditioning circuit, and the output end is connected with the motor driving circuit and an assistant device potentiometer via an optocoupler isolation circuit. The invention can better improve the acceleration performance and climbing performance of a vehicle, reduce heavy current discharging time of the main power supply and avoid the main power supply from damage and reduction of volume.

A robot has an electronic surveillance system embedded within a chassis disposed between two wheels. The wheels include a main body and a plurality of treads. The treads are generally disposed radially around the main body and extend distally from outer portion of the main body. The main body generally defines a plurality of compression cells and may present a substantially frustoconical outer surface.

The invention relates to a robot inspection system and inspection method for a cold region transformer substation, and belongs to the robot inspection field for a transformer substation. The robot inspection system and inspection method for a cold region transformer substation solve the problem that an existing manual inspection mode for a transformer substation is low in efficiency and bad in the detection quality. The robot inspection system for a cold region transformer substation comprises a main control system, a motion control system, a sensing detection system, a wireless communication system and a failure warning system, wherein the main control system is used for task scheduling of an inspection robot, and is also used for receiving an environment perception signal, orientation data, temperature data, environmental images and pointer instrument images, and sends a motion control signal according to the environment perception signal and the orientation data; by means of comparison between the collected temperature data and a set temperature threshold, when the collected temperature data exceeds the set temperature threshold, an warning control signal is transmitted; the images in a failure type model base are matched with the received environmental images; and if the matching is successful, the instrument data of the transformer substation can be read according to the received pointer instrument images. The robot inspection system and inspection method for a cold region transformer substation are used for inspection of a transformer substation.

The invention discloses an automatic gear-shifting control method and system for a two-gear transmission of an electric vehicle, and belongs to the technical field of electric vehicle gear-shifting control. The automatic gear-shifting control method comprises the specific steps that whether the gear-shifting condition is met or not is judged, if the gear-shifting condition is met, the gear-shifting mode is conducted, and transmission control unit (TCU) replaces a vehicle controller to control a driving motor controller, so that torque of the driving motor is reduced to zero torque according toa certain curve; in the zero torque, the TCU controls a gear-shifting executing mechanism to shift a gear down to a neutral gear; in the neutral gear, control torque is determined through the TCU byutilizing a certain algorithm, so that the rotating speed of a driving motor is adjusted to the target speed; After the target speed is reached, the TCU controls the gear-shifting executing mechanismto shift gear; a non-gear-shifting mode is conducted, torque is slowly increased to the torque corresponding to an accelerator signal according to a certain curve; torque reducing and torque increasing are conducted according to the certain curve, and the speed is adjusted through the TCU by using a torque mode, so that the speed adjusting time is reduced, quick gear shifting is achieved, abruptness caused by power interruption during gear shifting can be effectively alleviated, and the driving feeling is improved.

The invention relates to an urban railway working vehicle bogie and particularly provides a straddle type single track working vehicle bogie, aiming at solving the problems that an existing bogie cannot meet the operation requirement that a single track road has more bends and slopes and is narrow. The straddle type single track working vehicle bogie comprises a framework, a secondary suspension device and a traction device, wherein the whole body of the framework is of an II-shaped all-steel assembly welding plate type box-shaped structure, and comprises a side beam, an end beam and longitudinal beams; motor brackets are fixed between the upper part of the side beam and the longitudinal beams respectively; the motor brackets are provided with walking wheel assemblies; four guide wheel assemblies are mounted in the middle of the side beam and two stable wheel assemblies are mounted on the two sides of the lower part of the side beam; the secondary suspension device adopts a secondary steel coil spring assembly; walking wheels are rubber steel wire tyres filled with nitrogen; guide wheels and stable wheels are additionally arranged so that a working vehicle can be safely and stably operated; the turning radius is small, the climbing capability is strong, the sticking force is high, the highest operation speed is 40km / h, the working speed is 5km / h and the rescuing speed is less than 5km / h; the straddle type single track working vehicle bogie has a simple structure, is convenient to maintain and has a reliable performance.

The invention discloses a modular flight wall-climbing robot. The modular flight wall-climbing robot comprises a flight module, an adsorption module, a wall-climbing walking module and a control module. The wall-climbing walking module and the adsorption module are arranged on a rack of the flight module. The flight module, the adsorption module and the wall-climbing walking module are all controlled by the control module to work. The flight module comprises the rack, brushless motors, propellers and a lithium battery. The four propellers are distributed around the rack, each propeller is sleeved with a protective cover, the lower end of each propeller is connected with one brushless motor, the brushless motors are controlled by the control module to work, and the lithium battery is arranged on the lower portion of the rack and supplies power to the whole robot. The modular flight wall-climbing robot has the advantage that invisibility is greatly improved. All functions can be freely switched. The two functions of wall climbing and ground walking are achieved through one single module. The structure of the whole robot is simplified. High climbing capacity is achieved.

The invention discloses a health care type compound boar feed. The health care type compound boar feed is prepared by the raw materials of corn, bran, puffing soybean meal, fermented soybean meal, fish meal, sucrose, soybean oil, limestone used for feed, calcium hydrophosphate, salt, sodium bicarbonate, potassium chloride, compound premix for the boar, L-lysine hydrochloride, and a special functional additive for the boar. The invention takes physiological characteristics of the boar and many factors in the aspects of raising, growth, breeding, stress and the like into the consideration to design a nutrient balance diet. The health care type compound boar feed can promote the toughness of legs of boars and the climbing capability, prolong the life of the boars, enhance the anti-oxidation capability and the immunity of the bodies of the boars, reduce the rate of sperm deformation, improve the spermatogonium activity, sexual desire and ejaculation amount of the boars to improve the farrowing quantity of sows, enhance the toughness of the muscular tissues of the bodies, reduce the excessive fat sedimentation, enable the bodies of the boars to be strong, and reduce the boar stress caused by various factors.

The invention discloses a cleaning and flaw detection robot for electric power metal parts. All longitudinal rotating joints are in rotatable connection through connecting plates. The upper ends of walking rotating joints are in rotatable connection with the longitudinal rotating joints on the two sides through connecting plates to enable all the rotating joints to be in integrally series connection, and electromagnetic chucks are fixed at the lower ends of the walking rotating joints. A main control unit sends instructions to control units placed in all rotating joints to control all the rotating joints to move to achieve stretching and shrinkage of a robot body, and meanwhile the positions of the electromagnetic chucks are adjusted. The main control unit sends instructions to control units on a cleaning device and a flaw detection device to control the cleaning device and the flaw detection device to work. According to the cleaning and flow detection robot for the electric power metal parts, the electromagnetic chucks are used for sucking and positioning, various climbing step states under different operation environments can be achieved, the electric power metal parts can be cleaned and detected, and the cleaning and flaw detection robot is particularly suitable for flow detection of small-diameter pipelines, discontinuous or staggered-connection electric power metal parts and the like.

The invention discloses a straddling type mono-rail bogie without a primary spring. The straddling type mono-rail bogie comprises a frame and further comprises a traction device, a basic braking device, a vibration reducing device, a gear case, stabilizing wheels, guiding wheels and walking wheels, and the traction device, the basic braking device, the vibration reducing device, the gear case, the stabilizing wheels, the guiding wheels and the walking wheels are arranged on the frame. A traction motor longitudinally arranged and the gear case are directly hung on the outer side of the frame in a rigidity manner. An output shaft of the gear case is connected with an axle through a split coupling. The frame is provided with a split type shaft box composed of an upper shaft box body and a lower shaft box body. The upper shaft box body and the lower shaft box body are detachably and fixedly connected. The upper shaft box body is fixed to the frame and used for installing the basic braking device. Wheel replacing is achieved without vehicle erecting, and daily maintaining work of a vehicle is greatly improved.

The invention discloses a cable rope detection robot based on parallelogram independent suspension. The cable rope detection robot comprises a vehicle body, independent suspension devices arranged on the vehicle body and wheels arranged on the independent suspension devices. Each independent suspension device comprises two sets of parallelogram frames which are arranged in parallel, a tensile force transmission shaft connected with the two sets of parallelogram frames and a pre-tightening spring connected with the tensile force transmission shaft, each parallelogram frame is formed by sequentially connecting a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, and the first connecting rods, the second connecting rods, the third connecting rods and the fourth connecting rods are sequentially connected. One end of each first horizontal connecting rod is connected with an axle of the corresponding wheel, the other ends of the first horizontal connecting rods are connected with the middle connecting rods and meanwhile connected with the tensile force transmission shafts, the connecting ends of the second horizontal connecting rods and the middle connecting rods are arranged on the vehicle body, one end of each pre-tightening spring is connected with the corresponding tensile force transmission shaft, and the other ends of the pre-tightening springs are fixedly connected to the vehicle body.

The invention discloses a water, land, air and wall type quadruple robot. The water, land, air and wall type quadruple robot comprises a flight system, a wall climbing walking system, an absorbing system, a support system, a floating system and a control system, wherein the flight system is a main body of the robot; the absorbing system and the support system are arranged at the top part of the flight system; the wall climbing walking system is connected with the lower part of the flight system; the floating system is arranged at the bottom part of the wall climbing walking system; the control system is used for controlling the working of the flight system, the wall climbing walking system, the absorbing system, the support system and the floating system to wholly control the robot. The water, land, air and wall type quadruple robot has the beneficial effects that the functions of flight, wall climbing, walking on ground, walking on water, and resting on wall are realized by the cooperation of the flight system, the wall climbing walking system, the absorbing system, the support system and the floating system through the robot, and can be freely switched; the device structure is greatly simplified, the total weight of the robot is reduced, the whole device is more compact, and the climbing capability is stronger.

The invention discloses a cable pre-buried pipeline tour-inspecting and obstacle removing robot. The cable pre-buried pipeline tour-inspecting and obstacle removing robot comprises a cable pre-buriedpipeline walking device, a pan and tilt head, a clamping manipulator and a central processing unit; the cable pre-buried pipeline walking device comprises a walking driving motor and a plurality of walking wheel assemblies uniformly arranged in the circumferential direction of a main shaft, the walking wheel assemblies comprise wheel legs and supporting arms, the two ends of the supporting arms are hinged to the wheel legs and hinged to the main shaft correspondingly, and the driving motor drives the wheel legs; a variable-diameter mechanism comprises a variable-diameter driving motor, variable-diameter connecting rods and lead screw transmission mechanisms, the two ends of the variable-diameter connecting rods are hinged to sliding blocks and the supporting arms correspondingly, the variable-diameter driving motor pushes the inclination of the supporting arms to be changed through the lead screw transmission mechanisms and the variable-diameter connecting rods so as to achieve the extension state, clamping blocks and a clamping block driving motor are involved; and the central processing unit controls the walking driving motor, the variable-diameter driving motor and the clampingblock driving motor, so that the robot walks to a pipeline obstacle, and the clamping manipulator clamps the obstacle so as to clear the obstacle in a pipeline.

The invention provides a method for generating MIMO (multiple-input and multiple-output) radar orthogonal polyphase code signals on the basis of genetic-tabu hybrid algorithm. The method includes: firstly, randomly generating an initial population; secondly, judging whether a stop criterion of genetic algorithm is satisfied or not; thirdly, calculating a fitness function; fourthly, selecting by proportional selection; fifthly, intersecting; sixthly, mutating by tabu search algorithm; seventhly, updating the population, and returning to the step 3 for continuing genetic algorithm with the new population. Transmission signals with fine self-correlation and cross-correlation can be designed, and polyphase code waveform designed by the method has fixed phase and is easy to generate and more suitable for practical application.

A deforming wheel mechanism for a stair climbing robot comprises three sets of identical arc wheels (1). Each set of arc wheel (1) comprises an arc tire (2), a curve triangular hub (3), an outer disc sliding shaft (4) and an inner disc rotary shaft (5). The arc wheels (1) are in sliding connection with outer wheels (6) through the outer disc sliding shafts (4) and are hinged to inner discs (7) through the inner disc rotary shafts (5). The deforming wheel mechanism further comprises a drive element steering engine (8). The outer edge of each curve triangular hub (3) is provided with an L-shaped overlap edge (3-a) and fixedly connected with the corresponding arc tire (2). Each curve triangular hub (3) is provided with a sliding groove (3-b) and a linkage hole (3-c), wherein the three portions of the curve triangular hub (3) are the same in structure. The two inner discs (7) are each provided with three linkage holes (7-a). The two outer discs (6) are each provided with three linkage holes (6-a).

The invention provides a suspended monorail train driving device, and relates to the technical field of driving of suspended monorail traffic. A gear transmission structure of the traditional motor has the problems that vibration noise is high, and a wheelrail abrasion space is reduced during operation. The non-contact driving structure is characterized in that mounting seats of linear motors are arranged on the two sides of the middle of a truck frame; axles provided with disk braking devices are connected with the truck frame by bearings; travelling wheels are arranged at the two ends of the axles; guide wheel mounting seats are arranged at the front and rear ends of the truck frame; safety wheels and guide wheels are arranged on the two sides of the truck frame; a suspended device penetrates through the middle of the truck frame, and is connected with a sleeper beam; an air spring is arranged between the sleeper beam and the truck frame; a train body is articulated with the lower end of the suspended device; a rail beam is in a box structure with an opening below; a positive conductor rail is arranged at the top of the rail beam; two negative conductor rails are arranged on the inner sides of the rail beam respectively; and bases of induction plates are welded on the inner sides of the rail beam, and correspond to the mounting seats of the linear motors. The device is mainly used for urban traffic.

The invention provides a ball-shaped robot used for detection. The ball-shaped robot comprises a ball shell in which a barrel body is arranged, the barrel body is rotatably connected with the ball shell; two openings of the barrel body are respectively provided with a ball shell cover; the ball shell covers and the ball shell form a complete ball shape; the barrel body is internally provided withtwo arms; each arm comprises a fixed arm part and a movable arm part; the fixed arm part is fixedly connected with the barrel body, the movable arm parts are connected with the fixed arm parts by a motor and a transmission mechanism; the two ball shell covers are respectively fixed on the movable arm of each arm; the barrel body is fixedly provided with a barrel body driving motor which is connected with the ball shell by a transmission device; a counterweight mechanism is arranged on the barrel body; and a gravity-swinging driving motor drives the counterweight mechanism. By the robot, the external operation capability of the ball-shaped robot used for detection is improved, and the robot can evolve into a tricycle driven by a front wheel, so that the slope-climbing capability of the ball-shaped robot is greatly improved and the practicability of the ball-shaped robot is enhanced.