42results about How to "Climbing smoothly" patented technology

The invention discloses a mobile robot system comprising a mobile robot and a magnetic assembly. The magnetic assembly is installed on a slope patrolled by the mobile robot; the magnetic assembly is made from material capable of being magnetically absorbed; the mobile robot has a vehicle body, an angle sensor mounted on the vehicle body, an electromagnetic device mounted on a chassis of the vehicle body, and a controller respectively connected with the angle sensor and the electromagnetic device via signals, wherein an output end of the electromagnetic device faces the ground to produce a magnetic field; and the electromagnetic device and the magnetic assembly for electromagnetic absorbing force. The mobile robot system can control the electromagnetic device to produce relative magnetic fields according to a vehicle body inclination angle monitored by the angle sensor; the electromagnetic device and the electromagnetic assembly on the slope can produce relative electromagnetic absorbing forces, so the mobile robot system can stably climb on slopes of various gradients; the electromagnetic device does not output electromagnetic absorbing force when the mobile robot system walks on a flat ground, so obstacle to walking of the mobile robot system by absorbing force produced by magnetic substance can be avoided when the mobile robot system walks on the flat ground.

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 belongs to the field of non-ferromagnetic structural body surface detection robots, and relates to a detection wall-climbing robot based on negative pressure adsorption. The robot comprises a chassis, a negative pressure adsorption generation device, advancing devices and a detection device. A hole is formed in the middle of the chassis, and the negative pressure adsorption generation device is connected with the chassis, is positioned at the upper end of the hole and covers the hole; and soft sealing devices are arranged on the periphery of the lower end of the chassis, the advancing devices are arranged at the four corners of the chassis, and the detection device is further arranged on the chassis. By adopting a negative pressure adsorption mode, the wall-climbing robot can be effectively ensured to climb in a stable adsorption manner, a safety detection function is realized by carrying a detection device, and an enforceable scheme is provided for detection of the surface of a large-scale structural body.

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 wheel and track combined stair climbing cargo transporter. The wheel and track combined stair climbing cargo transporter comprises a first frame and a second frame which arearranged vertically as well as a first driver and a hinging assembly which are arranged between the first frame and the second frame in the driving direction of the cargo transporter, wherein two endsof the first driver are hinged with the first frame and the second frame respectively; a first wheel assembly enabling the cargo transporter to drive on the ground is arranged below the first frame;a track assembly is arranged on the second frame, a second wheel assembly connected through a position adjusting assembly is arranged below the second frame, and the first wheel assembly and the second wheel assembly are arranged forwards and backwards in the driving direction of the cargo transporter. The cargo transporter has the advantages as follows: a flat ground driving mode driven by a wheel train or a stair climbing mode realized by a track mechanism can be selected according to actual demands when cargos are transported upstairs and downstairs, meanwhile, two functions of high-speed driving on the flat ground and stable stair climbing are realized, and the problems that existing cargo transporters cannot climb stairs and have poor maneuverability are solved.

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.

A concrete pole climbing work platform comprises a work basket and two or more climbing devices. Each climbing device comprises a main rod connected with the work basket, wherein a papilionaceous auxiliary wheel carrier and a fixed frame extending to one side are connected to the front end of the main rod, a screw locking mechanism is connected to the fixed frame, an upward inclining angular buckle arm is hinged to a piston of the screw locking mechanism, the included angle between the center line of the buckle arm and the center line of the main rod is the inclining angle alpha of the buckle arm, and alpha is 145-160 degrees; a main traveling wheel and a first motor retarding mechanism driving the main traveling wheel are arranged at the end of the buckle arm, and auxiliary traveling wheels are arranged at the two ends of the auxiliary wheel carrier. A vertical rod is connected between the main rods of the adjacent climbing devices. The concrete pole climbing work platform is simple in structure, steady and smooth in climbing, high in speed and capable of improving working efficiency.

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 relates to the field of a balancing vehicle, and particularly discloses an obstacle-crossing electric balancing vehicle. The obstacle-crossing electric balancing vehicle comprises a frame, a grab rail, an angle sensor, an electronic gyroscope and an automatic balance controller, wherein the frame is provided with a left pedal and a right pedal, the left side and the right side of theframe are symmetrically provided with a wheel by virtue of a rotating shaft, and each wheel is driven by a motor; the grab rail is arranged on the frame, and the top of the grab rail is provided witha steering grip; the angle sensor is arranged on the steering grip so as to acquire a steering angle; the electronic gyroscope is arranged on the frame to acquire the angle variation of a vehicle body; and the automatic balance controller is separately connected with the motor, the angle sensor and the electronic gyroscope and controls the left motor and the right motor to rotate in a differential manner according to the angle of the vehicle body acquired by the electronic gyroscope and the steering angle of the steering grip. By adopting the self-balancing vehicle, the rollover problem whenthe balancing vehicle encounters a large obstacle in the advancing process can be prevented.

The invention belongs to the field of automatic robot control and particularly relates to a control system for a tracked robot with a stair climbing function and a method. The control system for the tracked robot comprises a tracked robot main body, a main control module MCU, an attitude detection module, a human-computer interaction module, a motor driving module and a power supply module; and the main control module MCU, the attitude detection module, the motor driving module and the power supply module are fixed to the tracked robot main body. The tracked robot main body comprises a front-end traveling mechanism, a chassis, a back-end traveling mechanism, a mechanical arm, a servo motor and a direct-current driving motor. The tracked robot is a tracked mechanism capable of having a rapid and stable stair climbing function and being small in size, and the tracked robot can further adapt to different stair shapes besides stably operating on the flat ground, and has the quite high obstacle-crossing ability. The tracked robot is simple in structure and small in size, and can achieve the rapid and stable stair climbing function.

The invention discloses a crawler-type hydraulically-driven tree climbing and pruning robot. The crawler-type hydraulically-driven tree climbing and pruning robot comprises a rack, a holding clampingmechanism, a tree climbing mechanism, a cutting mechanism, an obstacle avoidance mechanism and a handheld mechanism; the rack comprises an upper stand column, a lower stand column, a first connectingrib plate, a second connecting rib plate, a third connecting rib plate, a fourth connecting rib plate and a fifth connecting rib plate, and the holding clamping mechanism comprises a first push rod air cylinder upper connecting plate, a first push rod air cylinder lower connecting plate, a first push rod air cylinder, a clamping wheel upper connecting plate, a clamping wheel lower connecting plate, a clamping plate connecting shaft, a clamping fixing plate, a clamping wheel connecting shaft and a clamping wheel; and the tree climbing mechanism comprises a left crawler assembly, a right crawlerassembly and a right-angle reverser, the cutting mechanism comprises five cutting tool bits, and the obstacle avoidance mechanism comprises a second push rod air cylinder and an air cylinder connecting frame. The technology is high in automation degree, the working efficiency of forestry production is improved, the labor intensity of workers is reduced, and the safety of forestry operation is improved.

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.

The invention provides a robot capable of climbing steps with any angle of rotation and any step surface and a climbing method thereof. The robot includes an outer four-leg support structure and an inner four-leg support structure, wherein the front sides of the two outer legs located at the front of the first support plate are respectively provided with first laser ranging sensors and the second laser ranging sensor, the front sides of the two inner legs at the front of the second support plate are respectively provided with the third laser ranging sensor and the fourth laser ranging sensor, the four outer legs and the four inner legs The lower ends of the legs are provided with a base, and the lower side of the base is provided with a collision sensor. The present invention uses a laser ranging sensor, combined with the control method designed by the present invention, to propose a clever path planning for rotating stairs, thereby realizing the climbing of steps with any rotation angle and any style (the rotation angle of each step is different). climb.

An electric cross arm installing device is used for solving the problems that efficiency is low and labor intensity is high during daily installation and maintenance of an electric cross arm at present. The electric cross arm installing device can convey an assembled electric cross arm to an installation position along a power pole and comprises a walking device, a supporting beam, a clamping device, a locking device, a strengthening device, a braking device and an electric control device. The walking device is installed at the bottom of the supporting beam and provided with walking wheels, sothat the electric cross arm installing device can crawl along the surface of the power pole. The clamping device is installed on the upper face of the supporting beam and used for fixing the electriccross arm. The locking device is installed on the supporting beam and used for rapidly opening and closing the supporting beam. The strengthening device is installed at the bottom of the supporting beam and used for ensuring the stability of the electric cross arm installing device during crawling. The braking device is installed at the bottom of the supporting beam and used for reliably fixing the electric cross arm installing device and the power pole. The electric control device is used for controlling the operation of the walking device and the action of the braking device and can performremote controlling through a remote control transmission device.

The invention relates to a crawler-type automatic circulation step snow sweeper. The crawler-type automatic circulation step snow sweeper comprises a crawler, a crawler driving motor, an end cover, arack, a conveying belt, a snow sweeping brush, a conveying belt driving motor, supporting wheels, crawler wheels, crawler wheel shafts, rollers, a supporting plate, a battery and the like. After the snow sweeper is started, the conveyor belt driving motor drives the conveyor belt to rotate for two circles; in the process, the snow sweeping brush sweeps accumulated snow within the action range of the snow sweeper to the gap between the conveying belt and the crawler and then stops at the initial position, the crawler driving motor drives the crawler to rotate after two steps are swept at a time, the snow sweeper ascends to a new working position, and a clean road is swept in cycles. The crawler-type automatic circulation step snow sweeper has the beneficial effects that the structure is reliable, the snow removing efficiency is high, stair climbing is stable and rapid, continuous long-time large-range work can be achieved, the burden of sanitation workers is greatly relieved, and the casualty hidden danger is reduced.

The invention relates to a constant-pressure safe self-locking pole-climbing robot which comprises an annular pole frame (1), a pole-climbing mechanism (2) and a push rod mechanism (3), the push rod mechanism (3) comprises a push rod roller set (31), a sliding frame (32), a compression spring (33), a lead screw (34) and a push rod motor (35), the push rod motor (35) is connected with the lead screw (34) through an overload clutch (5), a self-locking mechanism (6) is arranged between the sliding frame (32) and the push rod mechanism, and the push rod mechanism (3) is connected with the sliding frame (32). The self-locking mechanism (6) comprises a one-way rack (61), a locking tooth (62) and an unlocking motor (63), the one-way rack (61) is installed on the push rod mechanism frame, the locking tooth (62) and the one-way rack are installed on the sliding frame in a matched mode, and the unlocking motor (63) and the locking tooth are installed on the sliding frame in a matched mode. The pressure on the telegraph pole is constant, the inclination phenomenon is avoided, climbing is more stable, the self-locking function of preventing accidental falling is achieved during climbing and no lifting, and using is safer and more reliable.

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 discloses a supporting rope device for supporting a reference steel rope and a target steel rope. The supporting rope device comprises a supporting rope system, at least two climbing andfixing systems and a traction system. The supporting rope system is used for rotatably being arranged on the target steel rope. Each climbing and fixing system comprises climbing roller supporting rods which are arranged vertically, fixed roller support rods of which the bottom ends are rotatably connected with the climbing roller supporting rods, and first driving mechanisms. Climbing rollers are arranged on the climbing roller supporting rods, and fixed rollers are arranged on the fixed roller support rods. The first driving mechanisms are used for driving the fixed roller supporting rods to move towards the direction near the climbing roller support rods and enabling the fixed rollers and the climbing rollers to clamp the reference steel rope. The traction system is connected with a clamping fixing system. The supporting rope device can adjust the position, the climbing rollers and the fixed rollers are used for clamping the reference steel rope, so that the steel rope is preventedfrom jumping from a groove, and at the same time, the problem that a wire of the reference steel rope is broken due to the fact that the reference steel rope is abrasive caused by the frequent relative movement between the supporting rope device and the reference steel rope is avoided.

The present invention relates to the field of transportation machinery, specifically a self-navigating all-terrain mobile charging pile. The device part includes a lifting mechanism, a walking base, a balancing mechanism, a charging box and a control device; the lifting mechanism is arranged in front of the walking base, and the lifting mechanism can Lift the front part of the equipment; the control device is set in the middle of the walking base; the balance mechanism is set above the walking base, and the balance mechanism can sense the inclination of the equipment and adjust the position of the charging box; the charging box is set above the balance mechanism; the present invention With the navigation system, it can move to the user's location in most terrain environments, which can solve the user's urgent need for charging.

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.

The invention relates to an adjustable step pitch stair climbing device. The adjustable step pitch stair climbing device comprises a frame, two stair climbing wheels symmetrically installed at the bottom of the frame, a wheel driving mechanism used for driving the stair climbing wheels to rotate, a plurality of telescopic blocks and a telescopic block driving mechanism used for driving the telescopic blocks to expose out or retract into the stair climbing wheels. Each stair climbing wheel is internally provided with a plurality of hole grooves evenly distributed in the peripheral direction, the telescopic blocks are located in the hole grooves, a plurality of springs are arranged in the peripheral direction of the periphery surface of each telescopic block, one ends of the springs are connected to the stair climbing wheels, and the other ends of the springs are connected to the telescopic blocks. The wheel driving mechanism is installed on the lower portion of the frame, the output endof the wheel driving mechanism is connected to the stair climbing wheels, the output ends of the telescopic block driving mechanism is arranged in the stair climbing wheels and in contact with the telescopic blocks. The adjustable step pitch stair climbing device can be used for climbing stairs, and belongs to the technical field of stair climbing devices.