57results about How to "Improve walking performance" patented technology

A wheeled ambulatory aid for mobility and training which is advanced via bodily contact. Reciprocating UE movement is enabled and reciprocating gait patterns can be performed. The patient mobility aid includes a frame, and at least first and second wheels operatively secured to and supporting the frame for selective rolling movement. First and second support assemblies are located on first and second sides of the frame, respectively. A reverse motion linkage operatively associated with the first and second support assemblies, the reverse motion linkage including a first state configured to provide independent between the first and second support assemblies, and a second state configured to provide interrelated movement between the first and second support assemblies to create symmetrical out of phase reciprocating UE movement. Support assemblies can variably be statically positioned.

Footwear as inserts to shoes or integral parts to shoes is made of rigid form with a sole portion to be placed in compression and an upper portion to flex in tension in response to foot motion and constructed to enable triangulation forces for sustaining a user's foot in motion.

The invention provides a course error correcting method. The course error correcting method comprises the following steps: (a) collecting magnetic field measurement data, gyroscope measurement data and accelerometer measurement data; (b) calculating detection statistics; (c) determining whether a magnetic field is in a stable state or not in a corresponding time interval between an s step and a (s+m-1) step of a person; and (d) if the magnetic field is in the stable state, adopting a magnetic field solved course as an observation amount, estimating a course angle error by utilizing Kalman filtering, and correcting the course of the person by utilizing the course angle error. The invention also provides a course error correcting apparatus. The course error correcting apparatus comprises an accelerometer, a gyroscope, a magnetometer, a signal acquisition unit and a signal processing unit. The invention also provides a magnetic field detection method and apparatus.

Provided is a coated sheet having an excellent traveling performance as paper in a printing machine, when used in sheet-fed offset printing, and capable of giving high-quality images, without causing offset nor blocking on the back surface thereof after printed. This coated sheet has a sheet-shaped base material and is formed by applying a coating layer consisting mainly of a pigment and an adhesive to at least one surface of the base material, wherein the surface of the coating layer has convexities having a height of 0.5-10.0[mu]m in a number of 10-1,000counts/mm2, and the coating layer contains a lubricant in an amount of 0.1-5.0mass%.

The invention discloses a camel foot simulated mechanical foot device which comprises a mechanical interface, an ankle joint and a sole, wherein the mechanical interface is used for fixing a mechanical foot and legs of a robot, and has a rapid replacement function for carrying out rapid replacement on various foot ends of the robot; the ankle joint is fixed below the mechanical interface, and hasthe function of freely rotating along two direction shafts on a horizontal plane, so that the sole can rotate with two degrees of freedom relative to the robot; and the sole is arranged below the ankle joint, and has the functions of completing the contact with the ground and simulating the deformation of camel feet, and the like. The device disclosed by the invention can simulate the functions (such as area expansion, sinking for sand fixation, rotating for pedaling sand, rotating for sand outputting, and the like when a camel foot is walking on deserts and soft soils and the like) of the camel foot, can be used for improving the walking characteristics of leg robots on the landforms, and can carry out rapid replacement on various foot ends through rapidly replacing interfaces.

The invention belongs to the field of climbing robot equipment and relates, in particular, to an obstacle-surmounting wall-climbing robot which is of split structure, comprising a left vehicle body, a left mechanical arm, a middle vehicle body, a right mechanical arm and a right vehicle body sequentially from left to right. The vehicle bodies are hinged to the mechanical arms, the left mechanical arm and the right mechanical arm are opposite and both can rotate around their hinging shafts to drive the middle vehicle body to rotate, the left vehicle body comprises a left two-way wheel, a motor and a negative pressure device arranged sequentially on the left vehicle body, the structural arrangement of the right vehicle is bilaterally symmetrical to the left vehicle body, and the middle vehicle body is provided with a negative pressure device. The obstacle-surmounting wall-climbing robot sucks to a wall through negative pressure cavities of the vehicle bodies, travels in two ways through the creatively designed two-way wheels, can be turned through the 3-DOF (degree of freedom) mechanical arms so that the vehicle bodies move in the inner and outer vertical planes to change the planes and surmount an obstacle such as a window frame, and accordingly has the complex climbing functions.

The invention discloses a picking device with separate placement for tea leaves. The device comprises a bar-shape bearing plate, a bar-shape box body is arranged on the upper surface of the bar-shape bearing board, a telescopic rotating cutting mechanism is arranged on two opposite side surfaces of the bar-shape box body, a bearing mechanism is arranged inside the bar-shape bearing board, a mobile mechanism is arranged on the lower surface of the bar-shape bearing board, a pushing handle is arranged on the rear surface of the bar-shape bearing board, a push cylinder is arranged on the pushing handle, an energy storage mechanism is arranged on the top side surface of the bar-shape box body, and a control device is arranged on the side surface of the bar-shape box body. The picking device has the beneficial effects that, the structure is simple and the practicality is good.

Footwear as inserts to shoes or integral parts to shoes is made of rigid form with a sole portion to be placed in compression and an upper portion to flex in tension in response to foot motion and preferably is provided in a triangulation form for foot stabilization, comfort and injury prevention.

The invention relates to a driving wheel combined mechanism which is a device implemented through that a plurality of mutually combined wheels jointly act on a driving system. The mechanism comprises a body and driving wheels arranged on both sides of the body; the driving wheels are arranged on both sides of the body in a single-side double-row arrangement mode, two rows of driving wheels on the same side are arranged in a mutually staggered mode, and the driving wheels on both sides of the body are symmetrically arranged. The driving wheels also can be arranged in a single-side single-row arrangement mode; and the driving wheels on both sides of the body are arranged in a mutually staggered mode. The combined mechanism is simple in structure, easy to implement, high in efficiency, strong in ground adaptive capacity, and obvious in driving effect, and the like.

The invention discloses a climbing robot capable of automatically detecting and maintaining. The climbing robot comprises a car frame, a climbing assembly mounted at the bottom of the car frame and used for climbing components, a detecting assembly arranged on a rack for detecting the surface quality of the components and a maintaining assembly for maintaining the surfaces of the components. According to the climbing robot capable of automatically detecting and maintaining, the robot is driven by the climbing assembly to walk along the wall surfaces of the components, for example,the robot walks along the wall surface of an oil storage tank, the wall surface of a ship or a cable-stayed bridge inhaul cable, meanwhile the surface quality of the components is detected by the detecting assembly, and thus corresponding maintenance is conducted by the maintaining assembly, the robot can replace people to operate in high-altitude, the hidden safety hazards caused by the high-altitude operation of inspectors are avoided, the detection efficiency of the robot is high, maintaining operation can be conducted simultaneously, and an integrated detection and maintenance technology for the components can be formed.

The invention relates to a local accurate positioning method for a rocker arm suspension structure patroller, which comprises the following steps of: firstly calculating the theoretical instantaneousbody speed of the patroller under the action of six wheels, then calculating the theoretical instantaneous steering angular speed of the patroller under the action of six wheels, and finally calculating the position estimation information of the patroller with slip compensation. Compared with the prior art, the method has the advantages that the influence of topographic changes on the structure ofthe patrolling device can be well reflected. The calculation errors caused by slippage to whole device positioning are effectively reduced through indirect calculation and compensation. The method can be suitable for various complex terrains, has good walking performance and is high in practicability.

The invention discloses a sickbed for patients of the breath internal medicine department. The sickbed comprises a bar-shaped bearing board, wherein support stand columns are arranged at four corners of the lower surface of the bar-shaped bearing board, a swing traveling mechanism is arranged on the side surface of each support stand column, an air purifying mechanism is arranged below the bar-shaped bearing board, a rotating carrying mechanism is arranged on the upper surface of the bar-shaped bearing board, an accompanying relative sitting mechanism is arranged at the edge of one end of the lower surface of the bar-shaped bearing board, a supporting mechanism is arranged on the side surface of the bar-shaped bearing board, an electricity storage box sleeves the side surface of one of the support stand columns, a storage battery is arranged in the electricity storage box, and a controller is arranged on the side surface of the bar-shaped bearing board. The sickbed for the patients of the breath internal medicine department has the beneficial effects of simple structure and strong practicability.

The invention discloses a multi-legged robot kinematics parameter calibration method based on vision. Calibration plates are fixed to the robot body and the foot ends of the robot respectively, the poses of the calibration plates are obtained through a monocular camera, and then the relative pose relation between the robot body and the foot ends of the robot is obtained; according to joint angle data of a robot, a nominal pose relation between a robot body and a foot end is calculated through forward kinematics, an error matrix is constructed, and a kinematics parameter error is estimated by using a least square method. According to the method, kinematics parameter calibration is conducted on each leg of the multi-legged robot in sequence through the visual technology, the kinematics parameter calibration process can be rapidly and accurately completed, the positioning precision of the foot ends of the multi-legged robot can be improved, and therefore the walking effect of the multi-legged robot is improved. According to the method, the kinematics parameter calibration process of the multi-legged robot can be completed only through the monocular camera and the two calibration plates, special or expensive equipment is not needed, cost is low, and implementation is easy.

The invention discloses a self-walking type cable snow remover, which comprises a cylindrical case, two pairs of walking units, a driving shaft and a cutter, wherein the case is equally divided into a first case body and a second case body, the first end of the first case body is rotatably connected with the first end of the second case body, and the second end of the first case body is connected with the second end of the second case body through a lock catch; the two pairs of walking units are installed on the first box body and the second box body respectively, each walking unit comprises two walking assemblies, and the four walking assemblies are located in the case and distributed in a central symmetry mode; the driving shaft is coaxially arranged with the rotating joint of the two first ends, the driving end of the driving shaft is inserted into the case in the axial direction, and the driven end of the driving shaft is located on the outer side of the case; and the cutter is arranged at one end of the case and is in transmission connection with the driving shaft through a first transmission assembly. The self-walking type cable snow remover has the advantages that the stability is higher, the snow removing efficiency is higher, and the cable is not prone to being damaged.

The invention relates to a kinematics based patrol unit gear train coordinating and controlling method. A patrol unit gear train includes two front wheels, two back wheels and two middle wheels, wherein the front wheels and the back wheels are steering wheels, and the six wheels are on the same plane or not on the same plane. The patrol unit gear train coordinating and controlling method includes the steps of 1), respectively calculating steering angles of the front wheels and the back wheels of the patrol unit gear train, namely specifically calculating the speed and location of the patrol unit gear train to enable the speed and location of the patrol unit gear train to be perpendicular with each other so as to obtain the steering angles; calculating and coordinating the speed of the six wheels in the patrol unit gear train. By the application of the patrol unit gear train coordinating and controlling method, a patrol unit can also assuredly reserve coordination of gear train movement to the greatest extent under the condition of non-planar terrain, negative effects against coordination of the whole unit due to the fact that steering angles are too large in errors during the coordinating the steering angles of the steering wheels are effectively lowered; the coordinating and controlling method is applicable to various complicated terrain, good in walking performance and highly practical.

The invention discloses a walking reducer of an ultra-large hydraulic excavator. The walking reducer of the ultra-large hydraulic excavator comprises a primary cylindrical gear reducing module, a secondary planetary reducing module and an external bearing module, wherein the primary cylindrical gear reducing module comprises a connecting cover, a flange base, a primary cylindrical gear and a primary cylindrical gear shaft; the secondary planetary reducing module comprises a fixing connector, a spline connecting disc, a secondary rotary case, a secondary sun gear, a secondary planetary gear, asecondary planetary carrier, a secondary annular gear, a connecting ring, a primary rotary case, a gear shaft, a primary planetary gear, a primary planetary carrier and a primary annular gear; the external bearing module comprises an inner fixing connector, an inner sealing plate, an outer sealing plate and a limiting block. The walking reducer of the ultra-large hydraulic excavator is smaller instructural size under the same output power; the walking reducer is in double-flange connection with a longitudinal beam frame, which is considerably higher in structural strength and rigidity than traditional single-flange cantilever connection; the entire walking reducer is arranged inside the frame of the ultra-large hydraulic excavator to avoid the risk of collision with other objects, therebyimproving walking through performance and meanwhile being compact in structure and convenient to assemble and disassemble.

The invention discloses an automatic cotton straw collection device which comprises a round base, wherein a rectangular bearing barrel is arranged above the round base, a swinging lifting mechanism is arranged between the round base and the rectangular bearing barrel, a rotary cutting mechanism is arranged on the side surface of the round base, a clamping mechanism which is in lap joint with the rotary cutting mechanism is arranged on the edge of the upper surface of the round base, a bearing mechanism is arranged in the bearing barrel, a rotary walking mechanism is arranged on the lower surface of the round base, and a controller is arranged on the side surface of the rectangular bearing barrel. The automatic cotton straw collection device has the advantages that the structure is simple, and the practicability is high.

The invention relates to an obstacle breaking and demining robot. The robot comprises a frame, crawler traveling assemblies and a putting mechanism, wherein the crawler traveling assemblies are mounted on the two sides of the frame and connected with the frame, the putting mechanism comprises a putting support and a putting box, the putting support is fixedly arranged outside the rear end of the frame and is arranged in a suspended mode, the putting box fixedly connected with the putting support is mounted in the middle of the putting support, the bottom surface of the putting box is providedwith an opening structure, a door plate is arranged in the bottom surface of the putting box, the edge of the door plate is connected with the putting box through a limiting component, the door platecan be moved to the outer side and opened under a failure state of the limiting component, and the right side of the putting box is an obstacle-free putting channel. According to the robot, the structural design is reasonable, the robot can be suitable for more complex terrain by adopting the track traveling assembly, a good walking effect is achieved, meanwhile, the putting mechanism capable of putting TNT explosives is installed on the frame, and the putting mechanism is used for meeting the putting needs, and the robot is convenient to use as a whole.