2158 results about "Obstacle crossing" patented technology

The invention provides a composite transformation mobile robot combining an elastic foot and a wheel type motion mechanism, which comprises a space machine body frame unit of a foot-wheel composite mobile transformation robot, driving wheel drive units, driven wheel driven units, four modular leg units, a control sensing system unit, a hermetical casing and a power source. The robot used elastic foot replaces the traditional rigid foot to increase the kinetic stability of the robot and reduce the vibratility and impact force of the robot, and is combined with a wheel type moving method, so that the quick mobility and high efficiency of the wheel type movement on a flat ground can be guaranteed, and the excellent maneuverability and strong obstacle crossing function of the foot type moving, creeping and climbing motion under complex terrains such as complex mountain environment and city terrain can be taken into account; as the foot type composite transformation mobile robot adopts modular design, the foot and wheel cannot interfere each other, the maintenance and replacement are convenient, and the motion pattern is flexible and variable; and the athletic ability of the robot is improved in virtue of the mutual transformation, coordination and combination of the foot type motion and the wheel type motion.

The invention relates to a biomimetic quadruped robot provided with head and tail balance adjustment devices. The biomimetic quadruped robot comprises a trunk, a head balance adjustment device, a tail balance adjustment device and four robot legs, wherein the four robot legs are distributed under the robot trunk, and the head balance adjustment device and the tail balance adjustment device are located on a trunk front portion cross beam and a trunk back portion cross beam. The biomimetic quadruped robot uses a digital steering engine as a driver, and the steering engine can achieve speed and position control and feed back speed, positions, force moment and other information and facilitates on-line observation of a motion state of the robot. Each leg is provided with three driving freedom degrees and one driven extension freedom degree, three-dimensional space motion can be achieved, and the robot can have strong adaptive capacity to complex environments and obstacle crossing ability. The centre-of-gravity position of the robot can be timely adjusted when the robot with the head and tail balance adjustment devices walks in a static state, and the stability of the robot is improved. When the robot is in a unstable state, namely turns over, and reverse rotation force moment is produced by rapidly rotating the head and the tail to prevent the robot from turning over and being restored to be in a balanced state. The biomimetic quadruped robot provided with the head and tail balance adjustment devices is suitable for the multiple fields of military affairs civil cargo transportation, anti-terrorist devices, filed probing, planetary exploration and the like under complex terrain environments.

The invention discloses a cable climbing robot, which comprises a cable holding effect, can stably climb and has a good obstacle crossing effect. The robot comprises two trolleys arranged symmetrically along the circumferential direction of a cable and clasping devices arranged on the two trolleys and used for clasping the cable, the clasping devices comprise guide rails which are respectively arranged on the front part and the rear part of the two trolleys and are parallel to each other, and the guide rails are perpendicular to the axis of the cable; two roller supports are arranged on each guide rail in a sliding mode, and a spring is arranged between each roller support and the body of each trolley along the direction of each guide rail; a roller rotating around a rotating shaft is arranged on each roller support, and the rotating shaft is obliquely arranged and is perpendicular to the axis of the cable; the rollers are supported and clamped on four points on the cable; and a driving device is arranged on at least one of the rollers.

The invention relates to a quantitative sampling robot suitable for multiple environments, comprising a car body on which a walking caterpillar is installed, wherein an optical camera, a lamp, an infrared thermal imager camera, a temperature sensor, a humidity sensor, a sound sensor, a vibration sensor, an inflammable, explosive and noxious gas sensor and an air pressure sensor are installed in a rotatable observing cover on the top face of the car body; and both sides of the front part of the car body on which a ground dust quantitative sampling device is installed are respectively provided with one obstacle crossing arm with a caterpillar, and the front part of the car body is provided with a combination hub for mechanical arms. The robot also comprises a soil sampler, a sludge sampler, an air dust and microorganism sampler, an air speed sampler, a suction insect sampler, a dust counter, a liquid sampler and a gas sampler. The robot has the functions of horizontal movement, obstacle crossing, climbing, vertical creeping, float swimming, and the like; and the robot can observe and record images, sound, temperature, humidity, vibration and the concentration of inflammable, explosive and noxious gas by a computer in the process of driving of the robot, and can sense the signs of life bodies without being affected by light.

The invention discloses a single-driving double-directional crawling-type pipeline cleaning robot. The single-driving double-directional crawling-type pipeline cleaning robot comprises a front machine body assembly, a transmission assembly and a rear machine body assembly. Through the condition that the transmission assembly is driven by a power assembly and through the transmission effect of a link mechanism, a gear mechanism and an equal-interval cam mechanism, alternant contracting and supporting of the front machine body assembly and the rear machine body assembly in the radial direction are achieved, stretching out and drawing back of the front machine body assembly and the rear machine body assembly in the axial direction are achieved, and meanwhile synchronous rotation of a dredging knife flywheel is achieved, so that crawling-type travelling of the robot in the positive and negative directions of a pipeline and pipeline cleaning operation are achieved. The single-driving double-directional crawling-type pipeline cleaning robot is stable, reliable, compact and practicable, achieves single-driving double-directional crawling-type travelling and pipeline cleaning in the pipeline with large pipe diameter changing, effectively improves the obstacle crossing property and pipe diameter changing adaptability of the pipeline robot, improves the cruising ability of the pipeline robot and has a practical engineering significance on cleaning of the horizontal pipeline with large pipe diameter changing.

The invention relates to a power transmission line repairing robot and particularly relates to a broken strand crimping work robot mechanism of a super-high-voltage power transmission line. The broken strand crimping work robot mechanism comprises a front line stroking device, a front walking clamping mechanism, a front arm, an electrical equipment box body, a crimping arm, a rear arm, a rear walking clamping mechanism and a rear line stroking device, wherein one ends of the front arm and the rear arm are respectively and fixedly connected to the electrical equipment box body and the other ends of the front arm and the rear arm are hinged with the front walking clamping mechanism and the rear walking clamping mechanism; the front line stroking device and the rear line stroking device are respectively arranged on the outer sides of the front walking clamping mechanism and the rear walking clamping mechanism; one end of the crimping arm is fixedly connected with the electrical equipment box body; and the other end of the crimping arm is a crimping end and is located between the front walking clamping mechanism and the rear walking clamping mechanism. The broken strand crimping work robot mechanism has the advantages of large climbing angle, good safety protection, short obstacle crossing time, simple obstacle crossing process, simple and efficient line stroking process, small abrasion on the line and good broken strand crimping effect, improves the personal safety, reduces the labor intensity of staff and improves the efficiency.

The invention discloses a multi-rotator leg-wheeled multifunctional aerial robot and a motion planning method thereof. The robot comprises rotators A, B, C and D, rotator driving motors A, B, C and D, wall-climbing thighs A and B, wall-climbing legs A and B, hip joint driving motors A and B, knee joint driving motors A and B, a robot main body, a wall-surface running wheels A and B, a ground supporting rod, rotating supporting rods and a rigidity-strengthened ring. The motion planning process comprises the motion planning of the robot in flight state, the motion planning of the robot undergoing a change from the flight state to a wall climbing state, the motion planning of the robot in a wall climbing state, the motion planning of the robot crossing an obstacle during wall climbing, and the motion planning of the robot undergoing a change from the wall climbing state to the flight state. The robot realizes the fusion of a rotator type aircraft and a leg-wheeled movement mechanism, is simple in mechanical structure and easy to realize, and has the advantages of high stability, small volume, strong adaptability to wall surfaces, large obstacle crossing capacity, wide application range and the like.

The invention discloses an obstacle-crossing all-position automatic welding robot, which comprises a robot moving system (400), a welding equipment system (300), an intelligent sensing system (500), a central control system (100) and a communication system (200), wherein the robot moving system (400) is used for moving the welding robot, the welding equipment system (300) is used for welding, theintelligent sensing system (500) is used for detecting information about obstacles in front of the welding robot, trailing the position of a welding workpiece and controlling welding quality in real time, the central control system (100) is used for controlling the robot moving system (400), the welding equipment system (300) and the intelligent sensing system (500), and the communication system (200) is used for realizing data communication of the robot moving system (400), the welding equipment system (300) and the intelligent sensing system (500) with the central control system (100). The obstacle-crossing all-position automatic welding robot is capable of automatically crossing obstacles and automatically travelling and welding in an all-position manner.

The invention discloses a polling robot for a transformer substation. The robot comprises a body, a data acquisition module, a master control module, a motion control module, a temperature control module, a communication module and a power supply management module, wherein the robot body is of a four-wheeled robot trolley structure; the data acquisition module detects the surrounding environment,including a video image, an infrared temperature, a real-time position and an operating state, by means of a sensor and transfers the detected information to the master control module; the master control module is a data processing and logic control center of the robot; the motion control module controls actions of moving parts of the robot in a centralized manner; the temperature control module comprises a fan, a temperature sensor, an electric heater and a PLC; the communication module transmits data of the video image, infrared temperature, real-time position and operating state to a localbackground monitoring sub system by way of wireless communication. The robot provided by the invention is suitable for rigorous working environments, is high in image recognition rate and is good in obstacle crossing and climbing ability.

The invention relates to a reverse thrust and negative pressure combined adsorption method applied to a wall-climbing robot and realization thereof. When a suction disk(1) of the wall-climbing robot is contacted with the wall surface, air flow enters a cavity(4) of the suction disk(1) from the gap between the suction disk(1) and the wall surface through a propeller(3) rotating at a high speed in a guiding channel, and is discharged from the guiding channel (5) in which the propeller(3) on the top of the suction disk(1) is arranged, and the superimposed effect of the adsorption force generated due to the negative pressure state in the suction disk(1) and the reverse thrust generated due to the high-speed rotation of the propeller(3) in the guiding channel is formed, so that the adsorption force between the suction disk(1) of the wall-climbing robot and the wall surface is kept in the range of enough threshold value. The robot is ensured to be dynamically adsorbed on the wall surface, and flexibly moved. By the application of the theory and the realization method, the wall-climbing robot can realize small size, light weight, low noise, energy conservation, unnecessary complex suction disk sealing device and strong obstacle crossing capability.

A method and system produce a warning signal to warn a driver of a vehicle about a potential obstacle crossing behind the vehicle, for example as the vehicle is backing out of a parking space. The system and method use a sensor to detect, monitor and track the position and velocity of a potential obstacle relative to the subject vehicle, in a detection space behind and to the sides of the vehicle, preferably to predict the probability that the trajectory of the potential obstacle will intersect with the trajectory of the subject vehicle at a critical time.

The invention relates to an electric stair climbing wheel chair which comprises a chair, armrests, front wheels, rear wheels and a composite chassis assembly, wherein a traveling output shaft of a power box is connected with the front wheels, and an obstacle crossing stair climbing output shaft is connected with a rear shaft gearbox; the rear shaft gearbox drives belt wheels of an obstacle crossing crawler belt, and a turning frame of the rear wheels is installed on a rear wheel shaft by a shaft sleeve; an accessory crawler belt frame is articulated with a crawler belt frame, and the accessory crawler belt frame is movably connected with the power box by a front connecting rod; the accessory crawler belt frame is connected with the turning frame of the rear wheels by a chain wheel; one end of an electric push rod is connected to a frame, and the other end drives the rear wheels to turn by a posture change mechanism; a carrying frame, the frame and one end of a rear connecting rod are coaxially fixed on a support shaft, luniform positioning blocks at both ends of the support shaft are matched with luniform buckled rings at the end parts of the crawler belt frames, and the other end of the rear connecting rod is articulated with the crawler belt frames. The invention has functions of traveling on the flat ground, crossing an obstacle and a ditch, climbing stairs up and down, and the like and has the advantages of compact structure, high automation degree, stable working, safe use and small size.

The invention discloses an enhanced map learning path planning method for an indoor mobile robot. The method includes the steps that (1) ambient environment information is acquired, and an obstacle probability density model is established; (2) path planning is carried out through a greedy algorithm and an enhanced map learning method; (3) path selection and self-adaptation speed strategy adjustment are conducted on the indoor mobile robot. By the adoption of the enhanced map learning path planning method, a current optimal path can be planned in real time according to the current condition of the indoor mobile robot and the inherent non-holonomic constraint of the robot, meanwhile, the obstacle crossing ability, the target point convergence ability and the planning efficiency of the indoor mobile robot can be considered through the self-adaptation speed strategy adjustment, and therefore the indoor mobile robot can arrive at a specific location safely and effectively.

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.

The invention discloses a line robot drive arm with an obstacle crossing function. The line robot drive arm is a high-voltage transmission line patrolling and operating robot drive arm and is particularly used for walking along the transmission conductor line and performing detection and operation. The line robot drive arm comprises a drive wheel mechanism, a rotary joint and a lifting joint, wherein the drive wheel mechanism comprises a fixing plate, and a drive device is movably connected onto the fixing plate. The rotary joint comprises a rotary shaft and an electromagnetic clutch, wherein the electromagnetic clutch is sleeved on the rotary shaft, and the middle of the rotary shaft is movably connected with a connecting piece. The lifting joint comprises a base plate, wherein a sliding device and a lead screw device are arranged on the base plate and are fixedly connected through a connecting plate. The drive wheel mechanism is connected with the connecting part of the rotary joint through the fixing plate, and one end of the rotary shaft of the rotary joint is connected with the connecting plate of the lifting joint. The line robot drive arm can be freely combined according to an overall structure of a robot, and each drive arm can provide drive force for the robot, is similar to modular design and is strong in interchangeability.

The invention relates to an obstacle-crossing travelling mechanism for an inspection robot. The obstacle-crossing travelling mechanism comprises at least three groups of travelling components, a detecting feedback unit, and a signal control unit, wherein the at least three groups of travelling components are arranged inside a device frame along a power transmission cable direction in sequence; each group of travelling components comprises a drive wheel and a tightening wheel, which are arranged on the two sides of the power transmission cable and rotate and travel along the wires by friction on the side surface of a wire cable; the detecting feedback unit for detecting the obstacles on the circuit is arranged on the front travelling components among the three groups of travelling components; the signal control circuit is used for sending the control signal to the at least three groups of travelling components according to the circuit obstacle detection result of the detecting feedback unit, and controlling the drive wheel and the tightening wheel of each group of travelling components to separate from the power transmission cable, so that the circuit obstacles are crossed. The obstacle-crossing travelling mechanism uses the friction force generated by the drive wheel and the tightening wheel to drive the inspection robot device to travel, and a plurality of groups of travelling components are controlled in sequence in the travelling process to automatically cross the obstacles, so that the structure of the obstacle-crossing travelling mechanism is light and compact.

The invention relates to an anti-explosion fire reconnaissance firefighting robot which comprises an anti-explosion fire reconnaissance firefighting robot movable base plate, a manipulation control box, an anti-explosion fire water monitor, an anti-explosion reconnaissance assembly, an anti-explosion road condition shooting assembly, an anti-explosion fire hose falling-off assembly and an anti-explosion self-spraying cooling assembly. The movement and safe properties of the fire reconnaissance firefighting robot under the environments of the complex ground and severe disasters are improved; the anti-explosion capacity and the waterproof property of the fire reconnaissance firefighting robot are improved; the loading capacity of the fire reconnaissance firefighting robot is improved; and the tensile capacity, the obstacle crossing ability, the stair climbing capacity and the capacity of passing of a 'unilateral bridge' with the left portion and the right portion being different in height during dragging of a fire hose from the rear portion are improved. It is ensured that when flames burn a fire reconnaissance firefighting robot body or a track, the fire reconnaissance firefightingrobot can still move; and the success self-protection rate during robot withdrawing is increased, the automation degree of the robot is increased, the application range of the fire reconnaissance firefighting robot is enlarged, and the practicability of the fire reconnaissance firefighting robot is improved.

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 discloses an autonomous obstacle crossing programming method of a deicing and line inspecting robot for a high-voltage transmission line. The method comprises the following steps: step 1, detecting environment information by utilizing a laser radar mounted at the tail end of a mechanical arm, so as to obtain a robot movement ahead obstacle signal; step 2, according to a difference value between the current position and the expected position of the mechanical arm and the obstacle signal in the current condition, programming out a fuzzy programmed angle of the movement ahead mechanical arm by utilizing a fuzzy planner; step 3, performing online optimization to the fuzzy programmed angle by utilizing the particle swarm optimization, so as to obtain a particle swarm fuzzy programmed angle of the movement ahead mechanical arm; step 4, obtaining control moments of all joints by utilizing a neural network self-adaptive controller, and guiding the mechanical arm to act. By adopting the fuzzy programming method, an obstacle crossing programming decision can be made in real time according to the current condition of the deicing and line inspecting robot, and the inaccuracy and hysteretic nature of information perception can be overcome; meanwhile, by adopting the particle swarm optimization, the fuzzy programmed angle can be optimized online, so that the track can be smoother and the redundancy can be smaller.

The invention discloses a polar robot based on wind-solar hybrid power supply. Wheeled active deformation suspension mechanisms are symmetrically mounted on two sides of a body. Each active deformation suspension mechanism is in a seven-bar structure. The two active deformation suspension mechanisms are connected through a passive deformation suspension mechanism. Therefore, the height of the body can be adjusted, and sidewise rolling of the body is also achieved. A loading unit, a power supply unit and a control system are installed on the body. The loading unit is used for acquiring external ambient information and motion status information of the polar robot in real time. The power supply unit comprises a wind driven generator, a solar panel and a battery pack. Electric energy output from the wind driven generator and the solar panel is stored in the battery pack. The control system is used for controlling the power supply unit and controlling motion, obstacle avoidance and obstacle crossing of the polar robot. The polar robot has the advantages that the robot can better adapt to terrains, can better travel complex terrains and is available for long-term scientific investigation tasks in the polar region.

The invention provides a double-suction-cup connecting rod type wall face cleaning robot and belongs to the field of specialized robots. The double-suction-cup connecting rod type wall face cleaning robot is characterized by comprising an adsorption device, a walking obstacle crossing device, a power device, a control device, a cleaning device and a safety device. The adsorption device is composed of a vacuum pump, a vacuum cavity and a suction cup. The walking obstacle crossing device is composed of a suction cup and a four-connecting-rod mechanism. Power is provided by a stepping motor and a steering engine. The control device comprises a single-chip microcomputer, a pressure sensor, an angle sensor and an infrared sensor. The cleaning device is composed of a cleaning box, cleaning cloth, a throttling valve and the like. The cleaning robot is wholly adsorbed on a wall face through the suction cups, alternate adsorption is achieved through the suction cups, and advancing wiping and obstacle crossing of the robot are achieved in cooperation with rotation of four connecting rods. The wall face cleaning robot can carry out safe and efficient cleaning work on high-rise outer walls (ceramic tiles or glass curtain walls or laid aluminum-plastic panel structures), and has the advantages of being stable in adsorption force, high in obstacle crossing capacity, high in wiping efficiency, high in wind load resistance, light, simple in structure, convenient to control and the like.

The present invention is crawler type multiple joint hinged robot suitable for searching and detecting in coal mine, and belongs to the field of robot technology. The robot of the present invention is superior to available ones, which have easy turnover and poor obstacle performance. The robot of the present invention has power source module, control and sensing module, loading module, head module, tail module and hinging unit module hinged to form snake shape, and each of the modules has crawler in the surface, with the crawler being controlled with the motor in separate modules. The robot has raised obstacle crossing capacity, powerful moving capacity, high reliability and rich sensing functions, and is suitable for searching and rescuing.

The invention provides a double-sucker glass curtain wall robot cleaner. The double-sucker glass curtain wall robot cleaner is characterized by comprising a drawing mechanism, a hoisting mechanism, a reversing mechanism, a power mechanism, a clearing device, an adsorption device and a safety device, wherein the drawing mechanism is composed of a double wire rope winding mechanism and a linear guide rail mechanism, the hoisting mechanism is composed of a small worm gear and a small worm, the reversing mechanism is composed of a large worm gear and a large worm, power is provided by a direct current motor, the clearing device is composed of a rotary fur brush and a spring telescoping mechanism, the adsorption device is composed of suckers and an air blower, and the safety device is composed of a safety ring and a safety rope. The double-sucker glass curtain wall robot cleaner is adsorbed to the surface of a glass curtain wall through the adsorption device, and achieves moving forward by using the drawing mechanism, and simultaneously the clearing device keeps wiping in rotating mode, and the drawing mechanism, the hoisting mechanism and the reversing mechanism synergistically work to complete moving forward for wiping, obstacle crossing and row change. The double-sucker glass curtain wall robot cleaner can achieve two main functions of high altitude stable absorption and obstacle crossing, and has the advantages of being high in clearing efficiency, safe and reliable, and high in moving accuracy.

The invention relates to a sucking disk type high-rise building outer wall cleaning machine. The sucking disk type high-rise building outer wall cleaning machine comprises a walking mechanism fixed on a bracket, a cleaning mechanism and a water circulation mechanism, wherein the walking mechanism comprises a translation cylinder, a sliding block, a sliding rail, a lifting cylinder, two first sucking disk groups and two second sucking disk groups, the two first sucking disk groups are symmetrically arranged on left and right sides of the bracket, the two second sucking disk groups are symmetrically arranged on upper and lower sides of the bracket, the sliding block is connected with the sliding rail in a sliding mode, a piston rod of the translation cylinder is fixedly connected with the bracket, and a cylinder body of the translation cylinder is fixedly connected with the sliding block. The sucking disk type high-rise building outer wall cleaning machine is fast in cleaning speed, high in cleaning efficiency, steplessly adjustable in walking speed, and capable of achieving unmanned cleaning, automatic walking, as well as an obstacle crossing function, and adjusting cleaning capability to meet the cleaning requirements of different outer walls.

The invention discloses a device and a method for controlling self-localization, butting and charging of a high-voltage line inspection robot. According to the device and the method, the specific position of the robot in a high-voltage power transmission line is located through a GPS-GIC (Global Position System-Geographic Information System) technology according to a self line structure of the high-voltage power transmission line and a self obstacle crossing function of the robot, and a moving speed of the robot in the high-voltage power transmission line is controlled by combining an ultrasonic wave sensor and a hall proximity sensor, so that the efficiency of an automatic butting process is improved; joints of the robot are controlled by using a speed mode, a moment mode and a position mode, so that the charging and butting process is accurately controlled; finally, the charging and butting process is accurately adjusted according to signal feedback of a strain gage of a charging plug and the hall proximity sensor, so that the tangential internal stress between the charging plug and a charging socket is reduced and the safe and reliable processing of the charging process is ensured.

The invention provides an obstacle-crossing type robot for cleaning a building external wall. The robot comprises a robot body, an obstacle crossing mechanism and a cleaning mechanism, wherein the obstacle crossing mechanism and the cleaning mechanism are both mounted on the robot body; the obstacle crossing mechanism comprises obstacle crossing traveling devices and a climbing adsorption device which are arranged on the robot body; the obstacle crossing traveling devices are evenly distributed on two sides of the robot body; the climbing adsorption device comprises front end adsorption assemblies and bottom adsorption assemblies, the front end adsorption assemblies are rotationally arranged at the front end of the robot body, and the bottom adsorption components are arranged at the bottom of the robot body in an extensible and rotational manner. The obstacle-crossing type robot has high obstacle crossing capacity and high flexibility, thereby crossing obstacles and traveling on the building external wall flexibly and stably and realizing the effect of effectively cleaning the building external wall. The invention further aims at providing the obstacle-crossing type robot with high cleaning capacity and high safety property, so that the external wall is effectively cleaned in all directions.

The invention discloses an automatic obstacle crossing system of a crawler-type transformer substation inspection robot and an automatic obstacle crossing control method. The system comprises a mobilerobot body, a sensing system, a communication system, a control system, a pan-tilt system, a lighting system, an automatic charging system and an alarm system, wherein the sensing system, the controlsystem, the communication system, the lighting system and the alarm system are installed on the robot body; the pan-tilt system is arranged on the mobile robot system; information transmission is conducted between the sensing system and an industrial control computer, and information transmission is conducted between a movement control system and the industrial control computer. The robot can becharged by using the automatic charging system, the signal obtained by the sensing system is transmitted to the industrial control computer for analysis and processing, surrounding obstacle information is identified, analyzed and processed, then the industrial control computer sends a signal to the control system and other various assist systems, automatic obstacle crossing of the transformer substation inspection robot can be achieved, and meanwhile, the conditions of devices in a transformer substation can be monitored.

The invention discloses a six-leg walking robot capable of crossing obstacles. The walking robot comprises a left front leg (1), a right front leg (2), a left middle leg (3), a right middle leg (4), a left rear leg (5), a right rear leg (6) and a body (7). The body comprises a front body (7A) and a rear body (7B). The six legs are symmetrically disposed relative to the body (7). Each leg is provided with three joints, namely a hip joint, a thigh joint and a shank joint, coordination of the three joints guarantees front-rear swing, lifting, and bending and stretching of each leg. The three joints of each leg and body joints guarantee good obstacle crossing and slope climbing ability of the robot. The feet of each leg is connected in a buffer manner, and damping and energy accumulation recycling can be completed in a one-step cycle. The six-leg walking robot is flexible in motion, fast in response, large in motion space, small in motion inertia, and suitable for movements under complex non-structure topographic conditions of fields.

The invention provides an obstacle-crossing mechanical arm suitable for a power transmission line inspection robot. The obstacle-crossing mechanical arm comprises a traveling mechanism and a supporting mechanism. The traveling mechanism comprises a traveling arm, a traveling wheel and a traveling motor, the traveling wheel and the traveling motor are installed at the upper end of the traveling arm, and the traveling wheel is connected with the traveling motor through a reduction gearbox. The obstacle-crossing mechanical arm further comprises an auxiliary traveling mechanism and two connecting rods, the auxiliary traveling mechanism comprises an auxiliary traveling arm and an auxiliary traveling wheel installed on the auxiliary traveling arm, one end of each connecting rod is connected with the traveling arm in a hinged mode, the other ends of the connecting rods are connected with the auxiliary traveling arm in a hinged mode, and the supporting arm is connected with the middles of the two connecting rods in a hinged mode. The traveling obstacle-crossing mechanical arm is simple in structure, traveling and obstacle crossing can be achieved through one driving motor, and the obstacle-crossing mechanical arm can be combined freely according to the overall structure of the inspection robot and is widely applied to moving and obstacle-crossing mechanisms of various power transmission line inspection robots.

The invention relates to a variable structure spherical robot capable of crossing an obstacle. The robot comprises a balancing weight horizontal shifting module, a rolling movement driving module, a flywheel driving module and a flywheel braking module. The two basic movement modes of pure rolling and obstacle crossing can be achieved. In the mode of pure rolling, the variable structure spherical robot is similar to a traditional spherical robot driven by center-of-gravity shift, and the variable structure spherical robot has the advantage of being high in movement efficiency. In the mode of obstacle crossing, the variable structure spherical robot can automatically achieve acceleration energy storage for a flywheel set only by increasing driving torque of a power shaft, and when the rotating speed of flywheels reaches the preset threshold value, claw feet hidden on the two sides of a spherical shell can be triggered to be unfolded. Meanwhile, the movement of the spherical shell is blocked, and the flywheels are braked, so that stored energy instantly breaks out and drives the claw feet to rotate to achieve obstacle crossing, and the movement mode of pure rolling is recovered after the energy is completely released. The variable structure spherical robot has the advantages of being compact in structure, easy to control, high in obstacle crossing ability, reliable in system and the like, and the terrain adaptability and practicability of the spherical robot are improved.