97results about How to "Improve ground adaptability" patented technology

The invention discloses a leveling method based on four-point support and an electromechanical automatic leveling system. In the leveling method, a symmetrical diagonal lifting and leveling strategy is adopted, and the leveling purpose is achieved mainly by regulating the levelness of the ligatures among supporting points on diagonal lines; and the leveling system comprises a central processor, a level sensor, a control keyboard, a display, four alternating-current servo drivers and four supporting legs; and each supporting leg comprises a motor, a speed reducer, a ball screw and a base. The invention is particularly suitable for large-medium-sized radar truck vehicle-mounted platforms, communication vehicles and various engineering vehicles for engineering machinery, the method has the advantages of high leveling efficiency, high leveling reliability and the like, and the leveling system has the advantages of high leveling precision, high intelligent degree, high speed, strong carrying capacity, good stability, high transmission efficiency, suitability for severe environments and the like.

The invention relates to a foot wheel type robot leg structure. The foot wheel type robot leg structure comprises a thigh with the top connected with a first power mechanism, and the lower side of the top is hinged to an external member to form a hip joint; a wheel, a second power mechanism driving the wheel to rotate and a first elastic suspension unit hinged to a metatarsus rod are further arranged on the upper portion of the tail end of the thigh; the upper portion of the tail end of the thigh is hinged to the upper half of the calf to form a knee joint; the upper end of the calf is connected with a third power mechanism while the lower end is hinged to the metatarsus rod to form an ankle joint; the first elastic suspension unit comprises a sleeve and a sliding shaft respectively hinged to the thigh and the metatarsus rod, the upper end of the sliding shaft extends into the sleeve to slide in a reciprocating manner, an elastic part sleeves the sliding shaft, and the lower end of the elastic part is fixed on a boss on the lower half of the sliding shaft while the upper end of the same is fixed on the sleeve. The invention further discloses a foot wheel type robot. By the arrangement, foot type and wheel type walking modes can be realized.

A Mecanum wheel-based rocker omnidirectional mobile platform comprises a main body (1), leftwards-rotating Mecanum wheel assemblies (3), rightwards-rotating Mecanum wheel assemblies (5), a rocker suspension I (2), a rocker suspension II (15) and a balancing mechanism (6); the middle parts of the rocker suspension I and the rocker suspension II are hinged to the left and right sides of the main body through revolute joints symmetrically; the middle part of a transverse rocker (8) of the balancing mechanism and one end of the main body are hinged by a revolute joint (10); one end of a side connecting rod I (9) and one end of a side connecting rod II (11) of the balancing mechanism are hinged to the left and right ends of the transverse rocker by spherical joints, and the other end of the side connecting rod I (9) and the other end of the side connecting rod II (11) of the balancing mechanism are hinged to the rocker suspension I and the rocker suspension II by spherical joints; two Mecanum wheel assemblies with different rotation directions are fixed to the two ends of each rocker suspension, and the Mecanum wheel assemblies at the same ends of the rocker suspension I and the rocker suspension II are opposite in rotation directions. According to the invention, wheels are always in contact with the ground and the load is shared, so that the Mecanum wheel-based rocker omnidirectional mobile platform has better motion controllability and terrain trafficability.

The invention provides an under-actuated deforming wheel type obstacle crossing robot. The overall shape of the under-actuated deforming wheel type obstacle crossing robot is T-shaped and comprises two wheel trains, which are driven by single power and have same structures, and a vehicle body, wherein the two wheel trains are in running fit with the vehicle body. In the rolling advancing process of a vehicle, the vehicle body can be reversed and claws in the wheel trains can be controlled to expand and retract through controlling a motor to rotate clockwise and anticlockwise. When rolling on flat road surfaces, wheels can be changed into circular wheels to roll for advancing. When meeting an obstacle, the vehicle body can be reversed for 180 degrees through the anticlockwise rotation of the motor; and at the moment, the wheel trains are deformed into claws so that the vehicle can cross the obstacle with a certain height. According to the under-actuated deforming wheel type obstacle crossing robot, an under-actuated principle is creatively melted into the wheel trains so that a function of controlling the wheels to deform and roll by using the single motor is realized. The invention provides the under-actuated deforming wheel type obstacle crossing robot with simple mechanical structure and low manufacturing cost.

The invention relates to a mobile tunnel rescue cabin. The mobile tunnel rescue cabin comprises a cabin body and a track assembly, wherein the track assembly comprises supports, two track wheel racks and tracks, the supports are connected to the bottom of the cabin body in a supported manner, the two track wheel racks are respectively connected to two sides of the supports, the front end and rear end of one of the track wheel racks are respectively connected with a first drive wheel and a first guide wheel through one track, the front end and the rear end of the other track wheel rack are respectively connected with a second guide wheel and a second drive wheel through another track, a first drive motor and a second drive motor are respectively coaxially connected to the first drive wheel and the second drive wheel, each of the two track wheel racks is supported in the lower track body of the corresponding track through a plurality of track rollers, each of the two track wheel racks is provided with carrier rollers for supporting the upper track body of the corresponding track, and the first drive motor and the second drive motor are connected with a control box disposed in the cabin body; a plurality of signal lamps and a plurality of cameras which are connected with the control box are disposed outside the cabin body. The mobile tunnel rescue cabin can safely and stably move in a multidirectional way, timely monitor a tunnel after a disaster and actively move to a safe area.

The invention relates to a crawler type six-freedom-degree mobile robot which comprises a frame, main motion modules, swing arm motion modules, a control box and sensors. The whole robot has six freedom degrees, two main crawlers can move independently, through the design of a crawler type structure, the robot has high ground passage capacity and can run, steer and the like on a complex road surface, four swing arms can also move independently, and therefore the robot has excellent performance on climbing stairs, crossing obstacles and obstacle avoidance and other tasks.

The invention discloses a lunar surface walking device for a lunar rover, and belongs to the technical field of aerospace and mechanical designs. The lunar surface walking device is characterized by being supported by a central bracket and controlled to perform jumping and wheel-type movement. During jumping work, a servo motor pulls a steel wire rope to drive a sliding block to slide towards the end of the central bracket; a jumping spring is stretched to fold telescopic folding legs; when reaching the end of the central bracket, the sliding block is hooked by a locking hook; when the servo motor is powered off, and the locking hook releases the sliding block, the jumping spring is quickly shortened, and the telescopic folding legs are unfolded quickly; and therefore, a reacting force of the ground to wheels makes the lunar rover jump. During wheel-type movement, the telescopic folding legs are unfolded; the wheels are turned to be moving postures under the adjustment of stepping motors; motors arranged in the wheels drive the lunar rover; and therefore, the lunar rover can adapt to a rugged road surface through suspension springs arranged on the legs. The lunar surface walking device for the lunar rover has the beneficial effects that: due to the two modes of jumping and wheel-type movement, the variety of moving modes of the lunar rover is increased; and the adaptability of the lunar rover to the ground is improved.

The invention provides a safety protecting work trolley for chamber, belonging to the large water-power engineering underground chamber excavating safety protecting instrument, comprising a protecting shed, a working platform, an adjusting device and a moving device, wherein the protecting shed is composed of a protecting roof truss and a steel plate net; the protecting roof truss comprises a level rod, a vertical rod and a bevel rod; the head and tail of the level rod are connected and fixed to the top end of the upright rod; the vertical rod is fixed between two mutually parallel level rods; the bevel rod is mounted between the top end of the vertical rod and two ends of the level rod so as to form the protecting roof truss with symmetrical slopes. The working platform comprises an upper platform, a middle platform and an extension platform; the upper platform is set on the level rod; two ends of the middle platform are provided with platform lifting oil cylinders; the piston rods of the platform lifting oil cylinders are mounted at two ends of the upper platform. The invention is fit for the full process of excavating and supporting chamber; the invention has multiple suitability and high safety protecting design level.

The invention discloses a multifunctional six-crawler type underwater robot, which comprises a main floating body, main driving crawlers and swinging arms, wherein the main floating body longitudinally penetrates through the heat and tail; the main driving crawlers are arranged at the inner side of the bottom of left and right side plates; two swinging arms are arranged at each of the head and thetail; the swinging arms are in lateral symmetry arrangement and can freely rotate for 360 degrees; when the main driving crawlers rotate, crawlers on the swinging arms can be driven to rotate, so that the swinging arms have climbing and obstacle crossing capability; the head and the tail of the robot are provided with left and right mechanical arms; the left mechanical arm can realize the gripping function; the right mechanical arm is a hydraulic type built-in hand library type mechanical arm; the functions of drilling, cutting and the like can be completed; the underwater operation efficiency is greatly improved; meanwhile, an environment intelligent monitoring system is carried. The multifunctional six-crawler type underwater robot has multiple purposes such as monitoring, overhaul, salvage, rescue and exploration; the crawler type and leg movement structure advantages are fully utilized; through the effective carrier of the underwater robot, the work efficiency of operations such as underwater overhaul and salvage is improved; the all-round service is provided for underwater engineering.

The invention relates to an engineering machine balancing rocker arm chassis travelling device which consists of a frame, an intermediate main shaft, a rocker arm rack, a rocker arm, a set of ground gap adjusting mechanism, a travelling motor and brake device, a balance mechanism, a steering device and wheels, wherein the frame is arranged on the rocker arm rack by the intermediate main shaft andthe balance mechanism; the rocker arm rack is connected with the rocker arm by the set of ground gap adjusting mechanism; and the front end of the rocker arm is connected with the steering device which is connected with the travelling motor and brake device by a bolt and is simultaneously connected with the wheels. After the engineering machine balancing rocker arm chassis travelling device is adopted, a common chassis is guaranteed to have the functions of adjusting the posture, changing the ground gap and carrying out all-wheel hydraulic driving and hydraulic steering on the precondition that the common chassis is ensured to operate at higher movement speed, so that the obstacle climbing capability and the passing performance of a vehicle can be improved. Therefore, the engineering machine balancing rocker arm chassis travelling device has a better practical value and a wide application prospect in the technical field of engineering machinery.

The invention provides a soft ground adaptive foot mechanism of a torobot, and relates to a hexapod bionic robot, in particular to a foot mechanism of a hexapod bionic robot. The foot mechanism has the advantages of large contact area, no relative slip and high ground adaptivity on account of the unevenly distributed soft ground with low supporting rigidity, and can ensure that parameter adjustment is carried out according to the specific condition of the ground so as to achieve the optimum service performance. In the mechanism, an upper connector (2) is connected with a robot body through four screws; two ends of a bearing (2) are fixed to add rotational freedom for the mechanism; six light holes of a connecting plate (6) are evenly distributed circumferentially and are in clearance fit with a cylinder on the top end of a foot bottom so as to guide the foot bottom; an adjusting screw (5) is used for adjusting the sliding trip range of the foot bottom; and a spring (7) acts between the connecting plate (6) and the foot bottom (8) so as to buffer impact between the foot mechanism and the ground, and the spring stiffness is adjusted to adapt to different environment.

The invention discloses a composite obstacle-surmounting walking system, which belongs to an obstacle-overriding walking mechanism. It is characterized in that it consists of a rocker suspension (3), a differential balance mechanism (2), a rear wheel (4), and a front track wheel (13), wherein the front track wheel (13) and the rocker suspension (3) Hinged and damping spring (5) is installed between the two, front crawler wheel (13) is made of track (6), internal support (9), drive motor (8,20), two driving wheels ( 7, 19), and two load-bearing wheels (12, 16) located below that are connected to the internal bracket (9) through a parallelogram mechanism (14), the side bars on both sides of the parallelogram mechanism (14) are connected to the interior Elastic stoppers (10, 18) are respectively installed between the supports (9). The composite obstacle-crossing walking mechanism has good obstacle-crossing performance, strong ground adaptability, easy control and light weight, and can be used for various special detection vehicles.

The invention provides an all-directional movable manipulator with four feet. The all-directional movable manipulator comprises a movable four-foot platform and a multi-freedom-degree manipulator. The movable four-foot platform comprises a platform base and four legs, and the legs in a parallel structure form are mounted laterally below the platform base circumferentially and symmetrically, so that the movable four-foot platform has the same moving capability circumferentially. The legs in the parallel structure form have three degrees of freedom respectively, and each leg is mainly composed of a waist platform, three branched chains, an ankle and a foot. The legs and the platform base are fixedly connected by a certain angle through the waist platforms to enable the legs to extend towards the outside of the platform base. The multi-freedom-degree manipulator is fixedly mounted on the movable four-foot platform. The movable manipulator has good ground adaptability and all-directional moving capability, thereby being applicable to movable operation in narrow space. Moreover, the legs in the parallel structure form have the characteristics such as high bearing capacity and rigidity, guarantee high stability of the platform base of the movable platform, and are applicable to high-precision operation of the manipulator.

Provided with a hand-and-foot integration electric hexapod robot. The robot includes a trunk and four legs connected to the trunk, and the trunk is also connected with two rotating arms, wherein each rotating arm comprises three transmission chains, namely, a first transmission chain, a second transmission chain and a third transmission chain, the first transmission chain is connected to the trunk, the second transmission chain is connected to the first transmission chain, and the third transmission chain is connected to the second transmission chain; the ends of the third transmission chains of the two rotating arms are connected with handles. The robot breaks through the singleness that a walking robot only can walk, and through a hand-and-foot integration mechanism, the function of space operation is expanded while the ground adaptability of robot is improved; the robot is mainly used in a complex operating environment, wherein the form of the robot can be changed according to specific working conditions, and the robot is provided with the function of hand-and-foot integration, and adopts a hexapod mechanism structure, so that the robot has the high stability and can quickly pass through a complex terrain. The robot adopts the mechanism structure of four feet and two arms, therefore the robot can realize simultaneously walking and grabbing objects, and is driven with more portability and flexibility.

The invention discloses a vehicle-mounted full hydraulic multifunctional deep well drilling machine, comprising an all-axle driven automobile chassis, wherein the tail part of the automobile chassis is provided with a drilling mechanism; the drilling mechanism includes a mast; a power unit, a winding device, a shackle device and a porthole device are installed on the mast; a hydraulic power station of the drilling machine is installed on the automobile chassis; hydraulic legs are installed at four corners of he automobile chassis and the bottom of the mast; the mast includes a fixed mast part and a movable mast part; the porthole device is arranged at the lower part of the fixed mast part; a feeding cylinder, the movable mast part, a steel wire rope I and a steel wire rope II form a multiplication mechanism; and the feeding manner is characterized in that the stroke of the power unit is twice more than that of the piston of the feeding cylinder. The vehicle-mounted full hydraulic multifunctional deep well drilling machine has the advantages of good maneuverability, high degree of integration, short preparation time, high work efficiency and good adaptability for strata, satisfies requirements for coal mine rescue drilling, and also can be applied to drilling holes with different diameters, such as coal seam gas extraction holes, shallow oil and gas wells, geothermal wells, water wells and the like.

The invention provides a crawler-type multi-joint snakelike robot which comprises joint modules, drive modules and connecting modules. Each joint module comprises three 'V'-shaped side plates, wherein three wheel axles are installed between every two adjacent 'V'-shaped side plates through bearings so that the three 'V'-shaped side plates can be connected to form equilateral triangle distribution; two crawler wheels are fixedly installed on each wheel axle, so that two rows of crawler wheels are formed on the three wheel axles; a crawler belt is installed on each row of crawler wheels, and a joint chain wheel is also fixedly installed on the wheel axle located on the end portion. The drive modules are installed inside the joint modules. Each connecting module is located between every two adjacent joint modules. A worm bracket of each drive module is connected with a part of a connecting plate frame of the corresponding connecting module so that the two adjacent joint modules can be connected. A drive chain wheel of each drive module and the joint chain wheel of the corresponding joint module are in chain transmission. The crawler-type multi-joint snakelike robot is good in stability, strong in ground adaptive capacity, and applicable to disaster relief, detection, firefighting, transportation, space exploration and other fields.

The invention discloses an anti-dropping crawler belt which comprises anti-dropping induction teeth, a crawler belt pin, crawler belt plate bodies, end connectors, lock sheets, screws and a glue block, wherein the anti-dropping induction tooth penetrates through the middle position of the crawler belt pin; the crawler belt plate bodies are penetrated at the two sides of the anti-dropping induction teeth; arc circular grooves matched with the lock sheets are arranged at the two ends of the crawler belt pin; and the end connectors are fixed at the two ends of the crawler belt pin by the screws and the lock sheets. According to the technical scheme of the invention, the anti-dropping effect of the crawler belt of a small tracked vehicle is improved, and stable running of the tracked vehicle in various working conditions can be realized by the cooperation of the crawler belt and a corresponding anti-dropping system without considering the dropping problem of the crawler belt.

The invention discloses a traveling device with a balanced rocker arm suspension and deformable wheels. The traveling device comprises a hull type vehicle, a vehicle frame, an engine, a transmission, a transmission shaft, a transfer case, leg cases, a ground clearance adjusting mechanism, a brake apparatus, a wheel gear case, steering devices, a balance mechanism, the deformable wheels and a water injection boost pump. The hull type vehicle is connected with the vehicle frame by bolts, the engine and the transmission are mounted on the vehicle frame via bolts, the left side and the right side of the transfer case are connected with the hull type vehicle by bolts, two ends of the balance mechanism are connected with the transfer case by hinge pins, the middle of the balance mechanism is connected to the vehicle frame by hinge pins, the leg cases are connected with the transfer case by hinge pins, two ends of the ground clearance adjusting mechanism are respectively connected onto the transfer case and the leg cases by hinge pins, the front end of each leg case is connected with the wheel gear case, one end of each steering device is connected with the corresponding leg case by a lug, the other end of each steering device is fixedly connected with the wheel gear case, the wheel gear case is connected with the deformable wheels by bolts, the transmission shaft is provided with the brake apparatus, the brake apparatus is fixed to the vehicle frame, and the water injection boost pump is connected with the vehicle frame by bolts.

The invention discloses a semi-passive biped walking machine provided with bionic metatarsophalangeal joints. The semi-passive biped walking machine comprises a hip assembly, a leg assembly and a foot assembly. A second rack, a third rack, a pair of fourth racks and a pair of fifth racks are symmetrically arranged at the two sides of a first rack from inside to outside, so that a rack main body part of the walking machine is constituted. A left leg and a right leg are consistent in structure, and the length of each leg can be adjusted freely within a certain range. A left foot and a right foot are symmetrical in structure; through spherical hinges, functions of human ankles can be simulated; first foot toe connecting pieces, torsional springs and second foot toe connecting pieces constitute connecting parts of the bionic metatarsophalangeal joints; and the angle of the motional rotation axis of the bionic metatarsophalangeal joints is designed by referring to human metatarsophalangeal joints. According to the semi-passive biped walking machine provided with the bionic metatarsophalangeal joints, a gear set is utilized, so that the hip portion of the walking machine is always maintained on the angle bisector, on the sagittal plane, of the left leg and the right leg; and meanwhile, the bionic metatarsophalangeal joints are introduced, so that ground adaptability of the walking machine is improved.

The invention discloses a radiation detection robot which comprises a robot shell, two alpha and beta detectors, a gamma detector and a control module, wherein the two alpha and beta detectors, the gamma detector and the control module are located in the robot shell. The control module comprises a control module a and a control module b, wherein the control module a is used for independently driving the speed and the rotation direction of each hub motor, and the control module b is used for controlling the detectors to measure; any one of the two alpha, beta detectors and the gamma detector isindependently connected to a data acquisition module; four wheel hub motors which can be independently driven are arranged outside of the robot shell, so that the radiation detection robot is controlled to move forward, backward, left-right steering and in-situ 360-degree rotation. According to the method, the principle is adopted, and alpha and beta and gamma radioactive pollution detection arespecially designed for the ground, alpha and beta and gamma radioactive pollution detection can be carried out in a nuclear power station or a nuclear material factory according to a monitoring room instruction or a preset route. The invention is advantageous in that the scheme replaces manual ground detection, so that the safety is greatly improved.

The invention discloses an underwater unmanned remote-control heavy-load work vehicle which comprises a frame (15), a first walking caterpillar band (101), a second walking caterpillar band (102), an electronic cabin (10), a hydraulic valve cabin (4), a hydraulic pump station cabin (6), a right swing arm auxiliary caterpillar band (141) and a right swing arm auxiliary caterpillar band (142). Two ends of a left swing arm auxiliary caterpillar band driving oil cylinder (111) and a right swing arm auxiliary caterpillar band driving oil cylinder (112) are respectively hinged on the frame (15) and a left swing arm auxiliary caterpillar band support frame (182) of the left swing arm auxiliary caterpillar band (142) and a right swing arm auxiliary caterpillar band support frame (183) of the right swing arm auxiliary caterpillar band (141) on corresponding sides. The hydraulic oil cylinders are used to drive the triangular auxiliary caterpillar bands to swing, moving ranges are big, underwater work is easy to carry out, a structure is simple, weight is light, installation and maintenance are easy and convenient, and cost is saved. The oil cylinders are easy to lock, good in rigidity, and capable of carrying out underwater heavy-load work. By adopting a hydraulic oil cylinder swing arm driving system, the trafficability and the obstacle climbing ability of the underwater unmanned remote-control heavy-load work vehicle under complex environments are greatly improved, and the adaptability of the underwater unmanned remote-control heavy-load work vehicle in the seabed underwater complex environments is greatly enhanced.

The invention discloses a multi-functional wheel structure with the variable wheel diameter. The multi-function wheel structure comprises a motor, a small-spoke limiting guiding plate, small spokes, driving plates provided with threads, large spokes and a large-spoke limiting guiding plate. The driving plates are fixedly arranged on a rotating shaft of the motor in a sleeving mode. The small-spokelimiting guiding plate and the large-spoke limiting guiding plate keep static relative to a stator of the motor. The small spokes, the driving plates and the large spokes are arranged between the small-spoke limiting guiding plate and the large-spoke limiting guiding plate in sequence and axially limited. The small spokes and the large spokes are each composed of fan blocks arranged annular and capable of moving in the radial direction. All the fan blocks are provided with threads engaged with the threads of the driving plates. According to the multi-function wheel structure with the variablewheel diameter, the ground height of a chassis can be changed by adjusting the diameter of a wheel, the outer rim of the wheel can also be changed into a non-circular circle, the surface adaptabilityof the wheel is good, and the multi-function wheel structure climbs steps or crosses gullies more easily and can adapt to operation under various terrain conditions.

The invention provides an omni-directional mobile wheel module. A steering engine and a spline shaft are mounted on a main mounting plate. A spline shaft gear is fixed at one end of the spline shaft, and a U-shaped plate is fixed at the other end of the spline shaft. A steering engine gear on a steering engine output shaft is meshed with the spline shaft gear. The left end and the right end of a wheel hub motor rotation shaft are fixed at the two branch end parts of the U-shaped plate, and a control panel receives an external command for controlling the turning and movement of a wheel hub motor through a communication interface. The steering engine is connected with the control panel, and the rotation angle of the steering engine is controlled according to the command sent by the control panel. The wheel hub motor is connected with a driver, and the driver is connected with the control panel and controls the wheel hub motor to move forwards and backwards according to the command sent by the control panel. The omni-directional mobile wheel module integrates turning and move functions, so that an omni-directional mobile wheel becomes a separate module. The omni-directional mobile wheel module is suitable for the outdoor common ground and is easy to operate and control. After the omni-directional mobile wheel module is mounted on a robot, the flexibility of the robot can be increased.

The invention discloses a construction method for treating an adjacent existing railway line soft soil foundation and a roadbed structure thereof. The construction method comprises the steps of leveling the site, and longitudinally constructing a plurality of rows of rigid CFG piles along the line in the slope toe area of the side, away from an existing railway line, from a safety limit part to a designed newly-built roadbed; longitudinally constructing a plurality of rows of flexible jet grouting piles along the line in the slope toe area of the side, close to the existing railway line, from the safety limit part to the designed newly-built roadbed; longitudinally paving a mattress layer along the railway line above the rigid CFG piles and the flexible jet grouting piles and at the top of a soft soil layer; and paving a roadbed above the mattress layer according to the design. According to the construction method and the roadbed structure, the roadbed bearing capacity is effectively improved, the post-construction settlement of the roadbed is reduced, the stability of the soft soil foundation is guaranteed, and the negative impact to the safe operation of the existing railway line is avoided; and the roadbed reinforcement structure is simple in form, good in stratum adaptability, reasonable in technology, and economic in cost, and has relatively high popularization and application value.

The present invention is one kind of mechanically boosting walking mechanism and belongs to the field of vehicle chassis. Technologically, the mechanically boosting walking mechanism includes one frame and several independent basic wheel sets. Each of the basic wheel sets includes one damper, one wheel shaft, one driving wheel, and one boosting rotation guide rod mechanism, which comprises crank, link rod, guide rod and sliding block. The boosting rotation guide rod mechanism in simple structure increases the driving force to raise the obstacle crossing capacity of the wheel type walking mechanism and expand the ground adapting range of the wheel type walking mechanism, so as to meet different requirements.

The invention relates to a wheel-type linked barrier-crossing traveling mechanism capable of automatically adjusting according to the topographic situation. The wheel-type linked barrier-crossing traveling mechanism is composed of at least one traveling wheel and barrier-crossing connecting rods at the edges of the wheels, wherein the diameters of the wheels are equal; location holes are arranged on the wheels and the barrier-crossing connecting rods; the wheel is connected with the barrier-crossing connecting rod by a movable pin through the location holes; the position of the location hole on the wheel is necessary to be close to the circumference of the wheel to a large extent; the distances from the location hole of each wheel to the axial hole of each wheel is necessary to be consistent; and the axial hole of the wheel is connected with a drive shaft of a power drive device. When traveling on the flat ground, the barrier-crossing traveling mechanism is in round-wheel traveling, and is the same with the traveling of the common wheel-type traveling mechanism, when the barrier-crossing traveling mechanism meets barriers, the barrier-crossing connecting rod can be placed on the barrier, thus the wheel can cross the barrier with the help of the support action of the connecting rod. The barrier-crossing traveling mechanism is high in efficiency, high in reliability and concise in mechanism, has stronger barrier-crossing ability, and can be used in mobile devices, such as mobile robots, barrier-crossing vehicles and the like which need to travel on unsmooth ground.

The invention relates to a frame wall pile type wharf comprising a wharf surface, a pile foundation, an apron board and backfill. The wharf is characterized in that the pile foundation is of a wall pile frame structure comprising a square frame and wall piles. The front side wall and the rear side wall of the square frame are provided with a plurality of wall pile holes in the longitudinal direction. A plurality of the preformed wall piles penetrate through the wall pile holes. The left wall and the right wall vertical to the side walls of the square frame are provided with wall pile holes, supporting piles penetrate through the wall pile holes, the square frame is arranged on the upper portions of the wall piles, and the outer sides or the inner sides of the wall piles, on the side facing water, of the lower portion of the square frame are provided with the apron board used for blocking silt. The frame wall pile type wharf has the advantages of being strong in foundation adaptability, high in component performing degree and simple and convenient to construct as a traditional sheet pile type wharf and a high pile wharf, and meanwhile overcomes the defects that the sheet pile type wharf and the high pile wharf are poor in durability and low in bearing ability.

The invention provides a rock-socketed hollow precast pile and a rock-socketed construction method using the precast pile. The precast pile comprises a hollow pile body and a rock-socketed pile tip. The rock-socketed pile tip comprises a steel pipe pile joint section and a big-end-up circular-truncated-cone-shaped pile tip prefabricated by concrete, the steel pipe pile joint section comprises a thin-wall steel pipe, core filling concrete filled in the thin-wall steel pipe and a plurality of stiffening plates welded to the outer wall of the thin-wall steel pipe, and the core filling concrete and the circular-truncated-cone-shaped pile tip are integrally formed in a pouring mode. When rock-socketed construction is carried out, firstly, pile sinking equipment is adopted for sinking a precastpile till drilling footage is difficult, then, a rock core drilling machine is adopted for drilling or crushing plain concrete filling cores at the pile tip part and a hard soil layer and a rock stratum below the pile tip part from the hollow part of a pile body of the hollow precast pile to the designed pile bottom elevation, and a rock-socketed section pile hole is formed; and finally, the forcetransmission framework is put in, cementing materials are injected, and construction of the hollow precast rock-socketed pile is completed.

The invention relates to a robot capable of being switched between a wheel mode and a leg mode. The robot is characterized in that four legs completely identical in structure and four wheels are symmetrically installed on the long edges of the two sides of a vehicle body, a wheel motor drive device is installed in the vehicle body and used for driving the four wheels, and each leg comprises an arc-shaped connecting frame, a thigh, a shank and a foot, wherein the bottom of the shank is installed on the foot, the top of the shank is installed between two parts of the thigh, the thigh is provided with a thigh drive device and a shank drive device, the arc-shaped connecting frame is installed between the vehicle body and the thigh, and the arc-shaped connecting frame is driven by an arc-shaped connecting frame motor on the side edge of the vehicle body and can rotate around the corresponding wheel. A wheel type robot body and a leg type robot body are combined together, and the different walking modes can be effectively selected according to the actual condition, so that the purposes of increasing the moving speed, reducing the energy loss of the robot and improving the flexibility of the robot are achieved, the robot has the advantages of being compact in structure, high in moving speed, high in terrain adaptive capacity and the like, and the drive mode is simple and flexible.

The invention discloses a composite telescopic-diameter walking wheel to solve the technical problems that the adaptation capacity of wheel type transportation to complex ground is relatively poor and the trafficability characteristic is relatively weak caused by the prior art. The composite telescopic-diameter walking wheel comprises large-diameter parts, intermediate-diameter parts, small-diameter parts, a reducing disc and a fixed disc. By rotating the reducing disc, the large-diameter parts are pushed through five groups of crank slider mechanisms to achieve the telescopic diameter. The composite telescopic-diameter walking wheel provided by the invention can be directly arranged on the existing vehicle like a common tire, and is matched with a track, and the track can be switched by changing the size of the diameter, so that the vehicle has an efficient running speed and good ground adaptability.