42results about How to "Climbing smoothly" patented technology

The invention provides a robot capable of climbing steps with any rotation angle and any step surface and a climbing method thereof. The robot comprises an outer four-leg supporting structure and an inner four-leg supporting structure and is characterized in that a first laser ranging sensor and a second laser ranging sensor are arranged on the front sides of two outer legs in the front of a first supporting plate respectively, a third laser ranging sensor and a fourth laser ranging sensor are arranged on the front sides of two inner legs in the front of a second supporting plate respectively, bases are arranged at the lower ends of four outer legs and four inner legs, and collision sensors are arranged on the lower sides of the bases. By using the laser ranging sensors in combination with the designed control method, an ingenious rotation stair climbing path plan is provided, and therefore the robot can climb steps with any rotation angle or steps of any type, wherein the rotation angles of the steps are different.

The invention discloses a telescopic worm-imitating wall-climbing robot device with slide rails and guide sucking discs, and belongs to the field of wall-climbing robots. The telescopic worm-imitatingwall-climbing robot device comprises a plurality of adsorbing units, a plurality of telescopic connecting rod assemblies, a guide shaft, a slide block, an electric gas pump, a solenoid valve, a controller and the like. The telescopic worm-imitating wall-climbing robot device realizes a robot wall-climbing function of worm-imitating motion. The device can avoid upper adsorption and movement in theperpendicular direction, adopts a multi-unit structure for only needing to move one unit through each-time action, is great in a wall adsorption contact area, is stable and reliable in climbing, disperses the mass to each unit, is strong in weight-carrying ability, is good in expandability, is low in cost, is easy to control, is low in energy consumption, is long in duration of flight, and is suitable for being used in the robot for wall operation.

The invention relates to an electric power assisted carrying device for a stair. The electric power assisted carrying device comprises a rack, wherein the two ends of the lower end surface of the rackare rotatably connected with axles; the two ends of each axle are coaxially rotatably provided with triangular wheel assemblies; a drive device for driving the axles to rotate is mounted on the rack;the front end of the rack is fixed with a holding handle; a controller for controlling rotation speed of the drive device is mounted on the holding handle; the two sides and the rear end of the rackare rotatably hinged with side baffle plates and a rear baffle plate separately; and a traction device for controlling rotation angles of the side baffle plates and a rotation angle of the rear baffleplate is mounted on the rack. In this way, the traction device, the side baffle plates and the rear baffle plate are matched, so that a user conveniently loads and unloads goods from multiple directions of the rack; when the side baffle plates and the rear baffle plate abut against ground, goods can be loaded and unloaded from an inclined surface formed by the side baffle plates and the rear baffle plate, so that a function of conveniently loading and unloading heavy things is realized; and the drive device drives the triangular wheel assemblies to rotate, so that the function of reducing manual labor while heavy things are carried on the stair is realized.

The invention discloses a mine steel wire rope dust and dirt removing robot and a working method. The mine steel wire rope dust and dirt removing robot is suitable for being used under a mine. The mine steel wire rope dust and dirt removing robot comprises enclasping devices, lifting devices, driving devices and dust and dirt removing devices, wherein the enclasping devices are symmetrically arranged up and down, and the robot loosens and enclasps a steel wire rope through opening and closing of the upper enclasping device and the lower enclasping device; the lifting devices are arranged in a bilateral symmetry mode and can achieve flexible lifting through cooperation with the enclasping devices, and the climbing stability of the robot is guaranteed; the dust and dirt removing devices are symmetrically arranged on the surface of an arch-shaped wall and matched with the driving devices to achieve dust and dirt removing work; and the driving devices are symmetrically arranged on the inner surface of the arch-shaped wall and are matched with the enclasping devices, so that the robot climbs on the steel wire rope. The mine steel wire rope dust and dirt removing robot is simple in structure, small in size, light in weight and convenient to use, the requirement for flexible climbing on the mine steel wire rope is met, and efficient and safe steel wire rope dust and dirt removing and cleaning operation is achieved.

The invention discloses a fall protection device beneficial for pole climbing or tree climbing operation. The fall protection device comprises a protector and a pole surrounding rope. The pole surrounding rope is connected with the protector through an extension belt. The protector comprises a pole holding arm pipe, a telescopic pole holding arm and a safety rope which are sequentially connected end to end to form an annular shape. The pole holding arm pipe is matched with the telescopic pole holding arm. The safety rope is detachably connected with the telescopic pole holding arm through a loose lock. The pole surrounding rope and the protector are connected with a waist hanging point and a chest hanging point of a human body safety belt correspondingly, the two hanging points simultaneously limit pitching postures of a climber, duplex protection is provided for pole climbing or tree climbing operation, the safety protection performance during pole climbing or tree climbing operationis further improved, and climbing is more convenient.

The invention relates to the technical field of underwater robot control, in particular to a fixed-depth directional control method for climbing of an underwater robot on a curved surface under the hybrid drive of a crawler belt and a propeller. The fixed-depth directional control control method comprises the following steps: acquiring curved surface contour information required when the underwater robot is used for designing a controller in real time by utilizing an attitude sensor mounted at the buoyancy center of the underwater robot and attitude sensors mounted at the centers of left and right tracks following the curved surface; on the basis, constructing the motion reference quantity of the underwater robot for fixed-depth and directional climbing on the curved wall surface; designing a sliding mode surface by using attitude angle and track speed information of the underwater robot, and designing a fixed-depth directional control law of the hybrid-driven underwater robot for a curved surface climbing task by using a sliding mode control method. According to the invention, the hybrid-driven underwater robot can realize stable fixed-depth directional control on the curved surface.

The invention discloses a concrete pole climbing and conveying device for power line repair high-altitude operation. The concrete pole climbing and conveying device comprises a mounting frame body, astanding box mounted at the top of the mounting frame body and used for standing of workers, a crawling ladder mounted on the side wall of the mounting frame body, and a climbing mechanism used for climbing a concrete pole, wherein the climbing mechanism is mounted on the mounting frame body, the mounting frame body comprises a first supporting plate and a second supporting plate which are arranged vertically, the first supporting plate and the second supporting plate are arranged oppositely, a placing plate is horizontally arranged at the tops of the first supporting plate and the second supporting plate, the placing plate, the first supporting plate and the second supporting plate are of an integrated structure, the crawling ladder is fixedly connected to the first supporting plate, andthe climbing mechanism is located between the first supporting plate and the second supporting plate. When a worker needs to climb the concrete pole, the device is arranged on one side of the concretepole, the worker stands on the standing box through the crawling ladder, and then the climbing mechanism works, so that the standing box moves upwards along the concrete pole.

The invention provides a crawler-type robot with a function of climbing stairs. The crawler-type robot comprises a front-end walking mechanism, a chassis, a back-end walking mechanism, a front-end servo motor and a back-end servo motor; the front-end walking mechanism and the back-end walking mechanism are connected with the chassis through bearings respectively, the front-end servo motor and theback-end servo motor are fixedly connected on the chassis and used for controlling the front-end walking mechanism and the back-end walking mechanism to perform fixed-axis rotation with respect to thechassis respectively, and the front-end walking mechanism and the back-end walking mechanism are each provided with a driving motor to control movement of the crawler-type robot with the function ofclimbing the stairs. The crawler-type robot has the function of rapidly and stably climbing the stairs, is small in volume and simple in structure, can stably run on the flat ground, can also adapt todifferent stair shapes, and has the extremely-strong obstacle obstructing ability. In addition, the crawler-type robot is provided with a mechanical arm to achieve the function of grasping and placing articles.

The invention discloses a marine straight ladder. The marine straight ladder comprises two main supporting frames (1); a plurality of pedal plates (2) are arranged between the two main supporting frames (1); the pedal plates (2) are rectangular surface plates; a plurality of circular rods are arranged between the two supporting frames (1); the numbers of the circular rods (3) and the pedal plates (2) are equal and corresponding one to one; gaps are formed between the circular rods (3) and the pedal plates (2). According to the marine straight ladder, a seaman can stably climb even a boat shakes, the seaman can immediately grab the circular rods to avoid from falling off even feet slide, and the safety is high.

The invention relates to the field of elevator maintenance, in particular to a safety protection device for internal maintenance of an elevator, and further relates to an implementation method of the safety protection device for internal maintenance of the elevator. The safety protection device for internal maintenance of the elevator comprises a lift car, a herringbone ladder placed in the lift car and a stabilizing device installed on the herringbone ladder; the stabilizing device is used for stabilizing placement of the herringbone ladder and protecting maintainers; the stabilizing device comprises a first outer supporting mechanism, a second outer supporting mechanism and a protective waistband, wherein the first outer supporting mechanism is arranged at a ladder foot at the bottom end of the herringbone ladder, the second outer supporting mechanism is arranged on a ladder frame at the lower half part of the herringbone ladder, and the protective waistband is arranged on the pedal tread of the herringbone ladder. Through the installation of the first outer supporting mechanism and the second outer supporting mechanism and the protective waistband on the herringbone ladder, the stability when the maintainer climbs the herringbone ladder is realized, and the safety of the maintainer is greatly improved.

The invention belongs to the technical field of well tunnel construction and particularly relates to an intelligent sensing early warning terminal for well tunnel operation. The intelligent sensing early warning terminal comprises a moving mechanism, a control mechanism and an intelligent sensing mechanism, wherein the moving mechanism is provided with a remote controller matched with the moving mechanism, receives an instruction of the remote controller and advances according to an instruction path, and the moving mechanism is provided with a hollow inner cavity; the control mechanism can be hidden and stored in the hollow inner cavity of the moving mechanism and can be unfolded according to needs, and the control mechanism comprises a PLC and a GPRS module; the intelligent sensing mechanism is detachably mounted at a head of the moving mechanism, comprises a water level sensor and a flow sensor, and is used for monitoring the water level information of a well and tunnel monitoring points and transmitting the monitoring information to the PLC for data processing; and the processed data information is synchronously transmitted to a cloud server and mobile phones of field personnel through the GPRS module. The terminal is advanced in technology and convenient to operate, and big data dynamic remote intelligent management of pit and tunnel construction can be achieved.

A concrete pole climbing maintenance platform comprises a working basket, two or more longitudinal walking devices and one or more circumferential rotating devices. The longitudinal walking devices are provided with main poles connected with the working basket, butterfly-shaped auxiliary wheel carriers and fixing frames stretching to one sides are connected to the front ends of the main poles, screw locking mechanisms are connected to the fixing frames, angular buckling arms inclined upwards are hinged to pistons of the screw locking mechanisms, main walking wheels and first motor speed reducing mechanisms driving the main walking wheels are arranged at the ends of the buckling arms, auxiliary walking wheels are arranged at the two ends of the auxiliary wheel carriers respectively, and vertical poles are connected between the main poles of the adjacent walking devices. Each circumferential rotating device comprises two holding arms, a supporting pipe supporting the two holding arms, and a lead screw adjusting mechanism, and the supporting pipes of the circumferential rotating devices are connected with the vertical poles. The concrete pole climbing maintenance platform can walk, cross over obstacles and rotate by 360 degrees on a concrete pole. The concrete pole climbing maintenance platform is simple in structure based on the climber pole climbing lever principle, and stable, smooth and rapid in climbing by the adoption of the walking wheel mode. The concrete pole climbing maintenance platform is safe, capable of saving strength and beneficial to improving working efficiency.

The invention relates to the field of medical machines, in particular to a medical all-terrain self-balancing wheelchair and an operation method thereof. The wheelchair comprises a lifting mechanism, a walking base, a balance mechanism, a wheelchair base and a control device. The lifting mechanism is arranged in the front of the walking base and can lift the front portion of equipment; the control device is arranged in the middle of the walking base; the balance mechanism is arranged above the walking base, the balance mechanism can sense the inclination condition of the equipment and adjust the position of the wheelchair base; the wheelchair base is arranged above the balance mechanism. When the medical all-terrain self-balancing wheelchair meets upward stairs, the front portion of the equipment can be lifted by means of a pinch bar and fall down to the stairs, the front portion of the equipment can automatically fall down when reaching the top of the stairs, some weight is transferred to the flat ground, and the purpose of stably climbing the stairs is achieved.

The invention provides a motion planning and control method for wall climbing and crossing of a hybrid-driven underwater hexapod robot. The method specifically comprises the following steps: S1, for a wall surface with a known inclination angle, acquiring a forward distance from the mass center of an underwater hexapod robot to the wall surface by using distance measuring equipment; S2, judging which gait (climbing gait/crossing gait) should be adopted according to the forward distance between the mass center and the wall surface and the error between the pitch angle of the underwater hexapod robot and the inclination angle of the wall surface; S3, aiming at the climbing gait, designing a blade point leg supporting angle change rule according to a course error, and proposing a three-foot gait planning method based on CPG; and S4, aiming at the crossing gait, designing a mapping relation between an oscillator output signal and a blade point leg expected joint angle according to the wall inclination angle and the current pitch angle of the underwater hexapod robot, and proposing a CPG-based crossing gait planning method. According to the planning and control method disclosed by the invention, the underwater hexapod robot can cross wall surfaces with different inclination angles and realize stable climbing.

The invention discloses to a tree climbing machine which comprises a connecting plate, the right side of the bottom of the connecting plate is rotationally connected with a main plate, the left side of the top of the connecting plate is fixedly connected with a lifting table through a lifting block, the lower surface of the lifting table is rotationally connected with a holding arm, and the left end of the holding arm is fixedly connected with a clamping wheel; a lifting table is fixedly connected to the left side of the bottom of the main plate, embracing arms are rotationally connected to the lower surface of the lifting table, and clamping wheels are fixedly connected to the left ends of the embracing arms. Before the device is used, the embracing arms on the two sides are embraced and shaped around a tree trunk, the clamping wheels and the climbing wheels are tightly pressed on the outer surface of the tree trunk, and the clamping wheels are clamped with the outer surface of the tree trunk, so that the tree climbing machine is prevented from sliding down and falling off, the problem that an operator difficultly climbs a tree can be effectively solved, people who cannot climb the tree are helped to climb the tree easily, and compared with manual tree climbing, by using the device, the time for a user to climb a tree can be saved, and the user can be safer when climbing the tree.