18results about How to "Improve walking ability" patented technology

The utility model relates to a sole structure suitable for flatfoot, which comprises a sole main body with a low front end and a high rear end, the outer sole of the sole main body is sequentially divided into a metatarsophalangeal area, a waist area and a heel area from front to back, the inner side part of the metatarsophalangeal area is warped forwards and upwards, and the heel area is warped backwards and upwards; the inner waist part of the waist area is an arc surface, and the triangular pattern position of the inner waist part of the waist area shrinks inwards, so that the ground contact area of the inner side area of the waist is reduced; an elastic piece is arranged in the sole body and extends to the metatarsophalangeal area from the heel area. The utility model provides optimization and improvement aiming at the defects in the walking movement under the existing condition of standing on flat feet instead of changing the posture state of the feet during standing and walking, assists in improving the walking capability, is reasonable in design, and effectively solves the problems that the stability of ankle joints is reduced, the off-ground pedaling and stretching capability is reduced and the walking quality is poor during the walking of the flat feet. And the internal rotation angles and moments of ankle joints and knee joints are increased.

The invention relates to the technical field of gouty arthritis, and discloses a traditional Chinese medicine plaster for treating gouty arthritis and a preparation method thereof. The ointment comprises the following materials: 1 part of paniculate swallowwort root, 1 part of asarum, 1 part of borneol, 2 parts of costustoot, 2 parts of earthworm, 3 parts of ligusticum wallichii, 3 parts of radix clematidis, 3 parts of spina gleditsiae, 4 parts of raw rhubarb, 6 parts of mint, a proper amount of vaseline, a proper amount of sesame oil, a medical dressing plaster and a desensitization adhesive tape. According to the traditional Chinese medicine plaster for treating the gouty arthritis and the preparation method of the traditional Chinese medicine plaster, the traditional Chinese medicine plaster directly acts on an affected part, transdermal absorption is achieved, the local treatment effect can be rapidly achieved, pains and inflammations caused by the gouty arthritis are relieved, medicinal materials are smashed into ultra-micro powder of 300 meshes through an ultra-micro powder machine, and the traditional Chinese medicine plaster is prepared into the traditional Chinese medicine plaster for treating the gouty arthritis. Compared with an oral medicine, the external plaster can increase the surface area of the medicine and improve the permeability and absorption efficiency of the medicine, and compared with the oral medicine, the external plaster can reduce the stimulation of the medicine to gastrointestinal tracts and systemic side effects.

The present application belongs to the technical field of pipeline cleaning equipment, and particularly relates to a multifunctional pipeline cleaning robot. The multifunctional pipeline cleaning robot can automatically adapt to different pipe diameters, has strong walking ability in a pipeline with changing pipe diameter, and can provide a counterforce for the robot system while adapting to the pipe diameter, so as to ensure the stable work of the system. The pipe diameter restoring mechanism can clean the residual blocking substances of the wall breaking mechanism, ensure the smoothness of the pipe wall, slow down the secondary blocking caused by the uneven pipe wall, and adjust the angle of the cleaning drill bit facing the blocking position in all directions, so as to improve the cleaning efficiency, realize the variable-diameter cleaning work, and realize the real-time transmission of the image data in the pipeline, thereby providing convenience for the pipeline cleaning work. The wall breaking mechanism adopts multiple combination modes for cleaning work, and multiple sets of cleaning combinations can improve the adaptability of the robot system to various blocking substances and improve the cleaning efficiency.

The utility model relates to an airport air conditioner air pipe's take -up and -lay handling device, including hand -cart, hand -cart includes chassis and the support fixed in the upside of chassis, the take -up and -lay cylinder for winding or unfolding air conditioner air pipe is rotationally arranged in the upside of support along left and right directions, and the take -up and -lay cylinder coaxially is provided with the cylinder axle, and the power -saving wheel axle is rotationally arranged in the below of chassis along left and right directions, and the power -saving gyro wheel is fixedly arranged respectively in the left and right ends of power -saving wheel axle and rolls on the ground, and the transmission mechanism that drives the cylinder axle rotation when hand -cart moves is arranged between the cylinder axle and power -saving wheel axle. Adopting above -mentioned plan, the utility model provides an airport air conditioner air pipe's take -up and -lay handling device of handling high -efficient, convenient operation.

A matched shoe body is integrally formed and processed below a shoe tube, an inner cavity of the shoe tube is communicated with an inner boot space of the shoe body, a hard shoe sole is arranged at the bottom of the shoe body, a driving mechanism is arranged below the shoe sole, and a pair of walking wheels rotationally connected with a linkage shaft is arranged in the driving mechanism. Compared with the prior art, the intelligent walking aid has the advantages that the main control device is matched with the sensor, so that real-time monitoring and intelligent control of walking states and physical conditions are realized, automatic adjustment can be performed according to the physical conditions and requirements of users, and the optimal walking aid is provided; the walking power supply device specially configured for the motor is arranged, so that stable power supply of the motor is ensured, and long-time stable operation of the support is ensured; the crawler belt supporting mechanism is arranged, so that the stability and the wear resistance of the brace are improved; the whole structure is compact, firm and durable, meanwhile, good comfort and stability are achieved, and the walking ability and life quality of a user are improved.

The utility model discloses an adaptive wheel structure of a walking robot, which belongs to the technical field of intelligent robots and comprises adaptive wheels arranged at four corners of a vehicle body, each adaptive wheel comprises a wheel and a driving motor arranged in the middle of the wheel body, a bogie is arranged on one side of each driving motor, and a straight rod is arranged on the corresponding outer side of the vehicle body. The steering frame is connected with the straight rod through a linear bearing, the steering frame and the wheels rotate in the horizontal direction with the straight rod as the center, a damping spring is arranged on the straight rod, a steering motor is arranged on the steering frame, and the steering motor is connected with the vehicle body through a pull rod.

The present application discloses a method, device, equipment and medium for controlling the travel of a diesel off-road scissor lift truck. By pre-determining multiple groups of control parameter groups with the maximum speed of each vehicle speed interval as the target value and zero as the initial value, the multiple groups of control parameter groups can be adaptively used to complete the adjustment of the travel speed of the diesel off-road scissor lift truck based on the target set speed and the real-time speed. In addition, in the process of obtaining the multiple groups of control parameter groups in the present embodiment, the demand for speed surges and drops in off-road scenarios is taken into account, so that it can adapt to walking in outdoor venues very well and improve the walking ability of the diesel off-road scissor lift truck in outdoor scenarios.

The application discloses a pipeline inner circumference cleaning robot, and cleaning device comprises front end cleaning device and upper cleaning device, the front end cleaning device comprises front shovel, left shovel and right shovel, the front shovel is connected at the front end of the robot frame body and is pushed to walk and moves up and down, the left shovel and the right shovel surround the center point fixed on the front shovel, and are symmetrically distributed, and are simultaneously rotated and unfolded along the circular guide rail on the front shovel; the upper cleaning device comprises lifting platform, upper shovel and rotating mechanism, the lifting platform is connected above the robot frame body, the lower end of the upper shovel is provided with angle adjusting device, and the rotating point of the guide rail is arranged at the outer edge of the bottom, the upper shovel is installed on the lifting platform through the rotating mechanism, and the lifting platform, the rotating mechanism and the angle adjusting device are cooperated to make the upper shovel reach the required height and angle; the front end cleaning device and the upper cleaning device are adjusted to the appropriate positions according to the actual conditions.

The utility model discloses a moderate cross-country robot, which belongs to the technical field of intelligent robots and comprises a vehicle body and adaptive wheels arranged at four corners of the vehicle body, a sensor, a communication component, a controller and a power supply are arranged on the vehicle body, and under the control of the controller, the movement of the vehicle body is realized through the sensor and the adaptive wheels; the adaptive wheel comprises a wheel and a driving motor arranged in the middle of the wheel body, a bogie is arranged on one side of the driving motor, a straight rod is arranged on the corresponding outer side of the vehicle body, the bogie is connected with the straight rod through a linear bearing, and the bogie and the wheel rotate in the horizontal direction with the straight rod as the center. A damping spring is arranged on the straight rod, a steering motor is arranged on the steering frame, and the steering motor is connected with the vehicle body through a pull rod.

This invention provides a lizard-like crawling robot adapted to various environments, comprising a torso assembly, leg assemblies, claw assemblies, a spine assembly, and a tail assembly. The leg assemblies are symmetrically arranged below the torso assembly, the claw assemblies are located below the leg assemblies, the torso assemblies are located at both ends of the spine assembly, and the tail assembly is located on one side of the torso assembly. This invention achieves crawling on narrow substrates and vertical or horizontal walls through the cooperation of these components, adapting to various environments. Gear transmission in the claw assembly enables the gripper to move horizontally or bend, and rotate in the direction of the suction cup, allowing for switching between claws for crawling on narrow substrates and claws for crawling on vertical walls. The oscillation of the spine assembly and tail assembly enhances the robot's balance when crawling on narrow substrates. Simultaneously, the spine assembly can also achieve vertical displacement, enhancing the robot's walking ability on uneven surfaces.

The utility model discloses a transportation robot, which belongs to the technical field of intelligent robots, and comprises a vehicle body and adaptive wheels arranged at four corners of the vehicle body, the cross section of the vehicle body is of a concave structure, the interior of the vehicle body is used for transportation and bearing, a sensor, a communication component, a controller and a power supply are arranged on the vehicle body, and under the control of the controller, the adaptive wheels are connected with the vehicle body. The movement of the vehicle body is realized through the sensor and the adaptive wheels; side plate structures are arranged on the left side and the right side of the trolley body, a bottom plate is arranged between the bottoms of two side plates, the side plates are of long-strip-shaped structures, the tops of the side plates are flat, and flat plates are hinged to the front end and the rear end of the bottom plate. The adaptive wheel comprises a wheel and a driving motor arranged in the middle of the wheel body, a bogie is arranged on one side of the driving motor, a straight rod is arranged on the corresponding outer side of the vehicle body, the bogie is connected with the straight rod through a linear bearing, and the bogie and the wheel rotate in the horizontal direction with the straight rod as the center.

The utility model discloses a walking robot, belongs to the technical field of intelligent robots, and improves the flexibility, efficiency and bearing capacity of the walking robot through a four-wheel structure and a unique four-wheel independent structure. A walking robot comprises a vehicle body and adaptive wheels arranged at the four corners of the vehicle body, the section of the vehicle body is of a U-shaped structure, the interior of the vehicle body is used for transporting and bearing, a sensor, a communication component, a controller and a power source are arranged on the vehicle body, and under the control of the controller, movement of the vehicle body is achieved through the sensor and the adaptive wheels.

Modeling is carried out on the foot-ground interaction force of the hexapod robot walking in the soft slope environment. In order to accurately describe the dynamic process of slippage and collapse during mutual contact of foot and ground, the foot and ground acting force is analyzed in the normal direction and the tangential direction, in the normal direction, a shape theoretical model is established for irregular soil particles, modeling is conducted on the shape of the irregular soil particles based on the Fourier theory, and the shape of the irregular soil particles is obtained. A soil particle Fourier shape description mathematical model is obtained, and the relation between normal contact force and shape parameters in the irregular soil particle contact process is constructed on the basis of a DMT contact model and in combination with an irregular soil particle shape theoretical model based on the Fourier theory; in the tangential direction, due to the fact that the shape of the sand grains is irregular, the local shear rate is nonlinear, and the angle of the shape of the grains causes a remarkable non-local effect, the boundary conditions of grain rolling between different layers are considered when the grains roll, and the boundary conditions are determined according to the rolling characteristics of the grains between the adjacent layers; obtaining different integral equations between the suspension layer and the transition layer and between the transition layer and the bottom layer, and assuming that the local flow velocity is integrated in depth to obtain a progressive solution of the average flow velocity when the bottom does not slip, so as to obtain a constitutive equation of particle rolling. According to the foot-ground interaction force and the tangential particle rolling equation, the phenomena of sinking, sliding, falling and the like of the foot end of the robot in the soft slope environment can be well described, and then the gait of the robot is optimized to cope with the complex environment.

The invention relates to the technical field of robots, in particular to a robot leg speed change mechanism and a robotic.The robot leg speed change mechanism comprises a first motor, a speed reducer, a gearbox, a second motor and a leg connecting rod, the driving end of the first motor is connected with the speed reducer, the input end of the speed reducer is connected with the first motor, and the output end of the speed reducer is connected with the gearbox; a connecting disc is arranged at the fixed end of the second motor, and the second motor is connected with the speed reducer through the connecting disc; the gearbox comprises an output adjusting disc, a variable-speed fixed disc and a variable-speed output disc, the variable-speed fixed disc is arranged at the fixed end of the first motor, the variable-speed output disc is rotationally connected to the speed reducer, the output adjusting disc is connected with the output end of the speed reducer, and the output adjusting disc moves between the variable-speed fixed disc and the variable-speed output disc; the variable-speed fixed disc or the variable-speed output disc is in driving connection; the speed reducer and the gearbox are arranged between the first motor and the second motor, the speed reduction and speed change functions are achieved, and the stability of leg movement of the robot is improved.

The utility model provides an unmanned search and exhaust vehicle. The unmanned search and exhaust vehicle comprises an industrial personal computer, a navigation and positioning device and a crawler chassis, the crawler chassis is provided with a side A and a side B which are oppositely arranged, a support is vertically arranged on the side A of the crawler chassis, a second camera and a radar are arranged on the outer surface of the side B of the crawler chassis, a multi-shaft mechanical arm is arranged at the upper end, close to the side B, of the crawler chassis, and the industrial personal computer is connected with the industrial personal computer. A clamping jaw and a first camera are arranged at the tail end of the mechanical arm, a holder is arranged on the support, and the navigation positioning device, the first camera, the second camera, the radar, the holder, the mechanical arm and the crawler chassis are electrically connected with the industrial personal computer. The mechanical arm is higher in flexibility, higher in grabbing capacity and wider in operation range, and the trafficability of complex terrains is enhanced.

The invention discloses an orthopaedic lower limb rehabilitation training wheelchair, which comprises a frame, a cushion plate and a back cushion plate which are used for forming the wheelchair, a limb swinging structure for performing rehabilitation training on legs of a patient is arranged on the frame, the limb swinging structure comprises two groups of pedal plates arranged below the cushion plate, a mounting plate is fixedly connected to the cushion plate, and the pedal plates are fixedly connected to the mounting plate. A transverse pin is arranged on the mounting plate in a fixed-axis rotation mode and fixedly connected with the pedal plate, a knee bending assembly for driving the transverse pin to rotate in a reciprocating mode in the vertical direction is arranged on the mounting plate, a waist cushion air bag used for supporting the waist of a patient is arranged between the cushion plate and the back cushion plate, and a composite supporting assembly for adjusting the air amount in the waist cushion air bag is arranged on the frame. By arranging the limb swinging structure, transferring and rehabilitation training of a patient are synchronously carried out, in the transferring process of the patient, knee joints and leg adductor groups can be exercised at the same time through alternate operation of the knee bending assembly and the inner supporting assembly, and the defect that conventional rehabilitation equipment cannot continue training in the transferring stage is overcome.

The invention discloses an amphibious submarine cable detection robot suitable for a mud flat environment and a working method of the amphibious submarine cable detection robot. A plurality of electric push rods which are evenly distributed in the circumferential direction are fixed to a hub in a rear wheel device, the end, away from the hub, of each electric push rod is hinged to one end of a rim, the other end of each rim is hinged to one end of a connecting rod, and the other end of each connecting rod is hinged to the hub; a plurality of foot web devices which are uniformly distributed along the circumferential direction are arranged on the connecting disc which is coaxially fixed with the hub; the inner ends of bottom plate rods in the foot web devices and fixing frames form sliding pairs and are connected with the fixing frames through compression springs, the outer ends of the bottom plate rods are fixedly provided with bottom plates, and the middles of the bottom plate rods are hinged to one ends of telescopic rods. The two ends of foot webs are fixed to one ends of two foot web rods, and the other ends of the two foot web rods are hinged to the two sides of the fixing frames. The other end of the telescopic rod is connected with the other end of one foot web rod through a cylindrical gear pair and a bevel gear pair. The submarine cable landing section detection device can be suitable for a mud flat environment and a waterline change condition so as to realize detection work of the submarine cable landing section.