166results about How to "Walk freely" patented technology

The present invention is one small six-crawler belt all terrain mobile robot with high obstacle surmounting capacity and capacity of traveling in complicated way. The robot includes two travel driving units; four oscillation arm assemblies; one body frame to hold the driving motors, the control system and the power source; and two traveling crawlers to cover the body frame. It has four oscillation arms separately arranged in the front and back ends and oscillation arm crawler belts in the same linear speed as the traveling crawler belts. In surmounting obstacle, the four oscillation arms can support and attach. The traveling crawler belts are provided with stepped teeth for suiting different types of way. All these make the robot possess very high obstacle surmounting capacity.

The invention provides an engineering robot for environmental monitoring, environmental emergency handling and environmental remediation. The engineering robot comprises a machine vision device, a self-alarm device, a remote control device, a GPS real-time positioning device, an air quality detection device, a soil underground water sampling detection and in-situ remediation device, a risk identification device, an environmental expert system, a data processing center, a robot body and a mobile device, wherein the machine vision device, the self-alarm device, the remote control device, the GPS real-time positioning device, the air quality detection device, the soil underground water sampling detection and in-situ remediation device, the risk identification device, the environmental expert system and the mobile device are all connected with the data processing center, and the soil underground water sampling detection and in-situ remediation device is further provided with an automatic drill stem filling device. The engineering robot integrates the multiple advanced technologies of soil underground water environmental risk detection and in-situ remediation, rapid environmental quality detection, machine vision, remote control, GPS real-time positioning, risk identification, the environmental expert system and the like, the structure is more simplified, and more comprehensive functions are achieved.

The invention discloses a biped robot climbing stair gait planning method and device and a robot. The biped robot climbing stair gait planning method comprises the steps that in the stair climbing process, a variable-length first-order inverted pendulum model is adopted to carry out trajectory planning on a forward gait, the motion trajectory of an ankle joint is constrained according to preset constraint conditions, and a first-order linear inverted pendulum model is adopted to carry out trajectory planning on a lateral gait to realize stair climbing of a biped robot; the process is that whenfacing the first stair, the center of gravity of a body is controlled to move to the left; a right foot of a swing leg is lifted to drop the right foot onto the stair; the center of gravity of the body is moved to the right foot, and the left foot of the swing leg is lifted so that the left foot falls onto the stair; the steps are repeated until the first stair is the last stair; whether the center of gravity falls within a stable region or not is judged; if yes, the walking is finished; and if not, the two legs are controlled to close and return to the starting state. Based on the biped robot climbing stair gait planning method and device and a robot, an effective application of a robot walking mode can be realized, so that the robot can walk on the stairs as freely as a human.

The invention discloses an overhead network barrier-clearance and detection robot which comprises an electrical box which is equipped with two lateral plates. The upper part of the two lateral plates is equipped with a first mounting plate which is equipped with a second mounting plate. A driving wheel is installed between the first mounting plate and the second mounting plate. A travelling motor is installed on the first mounting plate and is connected with the driving wheel. A camera pole support is installed on the first mounting plate and is equipped with a second motor. An output shaft of the second motor is equipped with a camera base which is equipped with a first motor. The output shaft of the first motor is equipped with a camera. The second lateral plate is equipped with a mechanical arm. The overhead network barrier-clearance and detection robot can travel freely on a plurality of overhead networks with spacing rods and is not influenced by the spacing rods, and the overhead network barrier-clearance and detection robot can replace working personnel to carry out aloft work, clean up the sundries hung at the networks and ensure the normal operation of the network.

The invention relates to an inside-pipe flexible mobile micro robot system. A pneumatic moving mechanism of the robot system is formed by the connection of a front supporting unit, a rear supporting unit and a rubber driver; the front supporting unit and the rear supporting unit are hollow cylinders, the end surface of one end of each supporting unit is internally connected with a round ring with a strap; two round rings with straps are respectively connected with two ends of the rubber driver; the cylinders are completely and externally covered with airtight plastic film airbags; the front supporting unit and the rear supporting unit are respectively connected with an air pipe which is communicated with a ventilation circuit; an air pressure transfer system is formed by the serial connection of a high-pressure pump, a pressure storage tank, a ball valve, a flow control valve, a pressure regulating valve and the pneumatic moving system; three ventilation pipelines are connected in parallel between the flow control valve and the pneumatic moving mechanism; two ventilation pipelines are connected in parallel between the pressure regulating valve and the pneumatic moving mechanism; and each ventilation pipeline is connected in series with a normal-closed two-position two-way electromagnetic valve and a two-position three-way electromagnetic valve, and is respectively communicated with three air chambers of the driver and the film airbags of the front supporting unit and the rear supporting unit. The invention can achieve driving in three directions, is safe and flexible, and has accurate control without damaging the inner walls of the pipelines.

The invention discloses a crawler motion device without thrust wheels, and consists essentially of a track frame, a track chain, a guide wheel, a strainer mechanism, a driver mechanism, a speed reducer, a brake, a hydraulic pressure motor, a chain wheel, a connecting board and a sustaining block, and the track chain is directly arranged on the track frame, and is adjusted by the guide wheel and a strainer oil cylinder, the hydraulic pressure motor drives the speed reducer for retarding work, the retarding rotation of the speed reducer is driven by three groups of shaft gears and a secondary satellite gear and the braking of the speed reducer is controlled by the hydraulic pressure motor. The device has reasonable design, compact structure, even stress, convenient operation and using, and flexible motion and turning, reduces the height of the whole device and the number of accessories, improves the stability, reliability, mechanical performance, safety coefficient of a mechanical boring machine and a motion mechanism, is an ideal crawler motion device that fits working in severe environments, and is also applicable for other similar motion mechanisms.

The invention provides a robot walking mechanism which comprises a mounting part, a driving mechanism and a guide mechanism, wherein the guide mechanism comprises a front guide module and a rear guide module; the front guide module and the rear guide module are same in structure and comprise support rods, guide blocks and guide wheel groups; the guide blocks can be rotatably arranged on the support rods; two ends of the guide bocks are arranged on the guide wheel groups; the bottom ends of the support rods of the front and rear guide modules are respectively arranged at two ends of the mounting parts; and the driving mechanism is arranged on the mounting part in a manner of moving left and right. The guide mechanism and the driving mechanism can adapt to a curve, so that the robot walking mechanism can turn a corner without assistance of an auxiliary device and is simple in structure.

The invention discloses a thrombus taking device. The thrombus taking device comprises a thrombus taking support, and developing elements are arranged on the thrombus taking support. Preferably, the developing elements are arranged at the far end, the middle section and the near end of the thrombus taking support. The developing elements are linear or annular or netty or in point shapes, and the arrangement modes of the developing elements include one or more modes that developing materials are sprayed and painted to the thrombus taking support, and the developing elements are installed on the thrombus taking support in a winding or buckling or punching or welding or splicing mode. The developing elements are evenly distributed on the thrombus taking support, and particularly are evenly distributed around the circumference of the thrombus taking support, the expanding state during thrombus taking and the specific position of the support can be accurately displayed accordingly, the fusion condition of the support and the blood vessel is judged, judgment of a doctor and operating of surgery are convenient, and operation time is shortened.

The invention relates to a self-propelled chassis for an aloft work platform, which can automatically maintain the balance of a rotating platform. The self-propelled chassis comprises a frame (1), a rear axle (3), a front axle (7), a rear extensible leg (2) and a front extensible leg (5); the middle of the rear part of the frame (1) is connected with the middle of the rear axle (3) by pins, the middle of the front part of the frame (1) is connected with the middle of the front axle (7) by pins and the right side and the left side of the frame (1) are hinged with the right side and the left side of the front axle (7) by balancing cylinders (6); the rear axle (3) is provided with a balance control valve (11), a control handle of the balance control valve (11) is hinged with the rear axle; the balance control valve (11) adopts a three-position and six-way control valve, wherein, an A port is respectively connected with the left oscillating oil cylinder in a manner with a rod chamber and with the right oscillating oil cylinder in a manner without a rod chamber, while a B port is respectively connected with the left oscillating oil cylinder in a manner without a rod chamber and with the right oscillating oil cylinder in a manner with a rod chamber, and a balance valve (14) is arranged between the A port of the three-position and six-way control valve and the right oscillating oil cylinder without a rod chamber and a balance valve (14) is also arranged between the B port and the left oscillating oil cylinder without a rod chamber. The chassis can automatically maintain the balance of a rotating platform connected with the chassis.

The invention discloses an intelligent garden weeding robot. The intelligent garden weeding robot comprises four wheels, four first stepping motors, four first servo motors, four first telescopic cylinders, a hinge joint, a hinging seat, four first electric cylinders, a first bottom plate, a second bottom plate, a rotating frame, four mechanical arms, four mechanical clamps, a first gear, a second servo motor, a cone barrel, a crushing assembly, a feeding barrel, blades and a second stepping motor. The weeding robot has the advantages that the first bottom plate and the second bottom plate are connected through swivels and the electric cylinders so that the balance of a machine body can be constantly guaranteed on ramps, low-lying areas and other severe geographical environments, and a good damping effect is achieved to enable the weeding robot to walk freely in various geographical environments; the four independent mechanical arms and mechanical clamps are adopted for weeding so that the efficiency is high, the degree of freedom is high, and a good weeding effect can be achieved for the weeds which are relatively short and relatively tall; and the weeds are crushed and blown out by the crushing assembly, and the crushed weeds subjected to microbial decomposition become waste materials, so that the weeding robot is more energy-saving and environment-friendly.

The present invention relates to fall protection systems to which a scaffolder can tie off during scaffold construction by adjusting the height of the lifeline and to move along the entire length of a scaffold level without having to disengage the lifeline. In one embodiment the fall protection system includes two vertical support members adapted to be affixed to a scaffold frame wherein the two vertical members have attachment means for attachment of a lifeline, and wherein the attachment means are located at each respective vertical member and configured for movable attachment at a plurality of positions along the vertical axis of each support members. In addition the present invention relates to methods to use the fall protection system during scaffold construction.

The invention relates to a front fork and rear rack transfer robot which comprises a self-propelled chassis. The front fork and rear rack transfer robot is characterized in that a rack and a fork lifting mechanism are arranged on the self-propelled chassis, and the self-propelled chassis, the rack and the fork lifting mechanism are fixedly connected together. One side of the self-propelled chassisadjacent to the fork lifting mechanism is connected with a self-balancing supporting leg. The outer side of the fork lifting mechanism is connected with a flat plate, a rotating disk capable of rotating by 90 degrees is arranged on the flat plate, and a telescopic fork capable of bidirectionally extending and retracting is arranged on the rotating disk. By the aid of the front fork and rear racktransfer robot, a dealer does not need to upgrade or rebuild warehouse racks, does not need to enlarge the distance and the walkway between the racks and does not need to invest heavily, economic benefits are greatly improved, and the front fork and rear rack transfer robot avoids the embarrassment that a backpack transfer robot transfers a whole rack once and only can finish sorting commodities with one specification, and transfer efficiency is greatly improved.

The invention discloses a high-altitude glass cleaning device and a cleaning method thereof. The cleaning device comprises a frame, wheels, pushers, a remote control module and a cleaning mechanism, wherein the wheels, the pusher, the remote control module and the cleaning mechanism are installed on the frame, and the cleaning mechanism comprises a water tank, a water tank driving motor, brush plates and brush plate driving motors. A movable piston plate is arranged in the water tank and is provided with a piston rod with a nut head, the water tank driving motor is in linkage connection with the piston rod through a screw, a water inlet and a water outlet are formed in the side wall of the water tank, the water outlet is connected with a water outlet pipe, and a water spraying port of the water outlet pipe is located in the back side of the brush plate. The brush plates are connected with the brush plate driving motors through brush plate screws. The wheels are driven by wheel motors to drive the whole cleaning device to move. The high-altitude glass cleaning device provides positive pressure through the pusher, produces certain friction and can freely walk on vertical high-altitude glass and thoroughly clean the glass.

The invention provides a bionic regular-hexagon hexapod robot and belongs to the technical field of walking robots. The robot comprises a regular-hexagon robot body, a walking mechanism and a closed-loop control system controlling the walking mechanism, wherein the walking mechanism is a regular-hexagon rack and comprises three pairs of mechanical feet, each mechanical foot comprises a composite rotating arm, a short arm, a long arm and a horizontal regulation component used for driving the mechanical foot to rotate in the horizontal direction, the horizontal regulation component rotates in the horizontal scope to drive the robot to move forwards and backwards, the mechanical foot moves up and down through the rotation of the short arm in the vertical scope, the rotation of the long arm in the vertical scope drives the mechanical foot to do stretching exercises in the horizontal scope, the mutual movement of the six mechanical feet forms a movement mechanism to drive the robot to achieve various movements. The robot is strong in terrain adaptability, can be applied to the exploration of a danger zone, and is also applied to aerospace as well as environmental survey of an unknown planet.

Disclosed are a walking robot and a walking method thereof. The walking robot comprises an upper base, a lower base, at least one straight guide rail and at least one slider, four first driving mechanisms are respectively mounted at four corners of the lower base, four second driving mechanisms are respectively mounted at four corners of the upper base, each first driving mechanism drives a corresponding first standing rod to move along the length direction of the first driving mechanism, each second driving mechanism drives a corresponding second standing rod to move along the length direction of the second driving mechanism, the first standing rods are parallel to the second standing rods, the sliders are fixedly mounted on the upper base, the straight guide rails are fixedly mounted on the lower base, a third driving mechanism is further mounted in the lower base, the sliders are connected with the straight guide rails, the third driving mechanism drives the sliders to slide along the length directions of the straight guide rails, the straight guide rails are perpendicular to the first standing rods, and first grounding paws and second grounding paws are respectively mounted at bottoms of the first standing rods and bottoms of the second standing rods. The walking robot can walk when carrying a load and stably cross obstacles.

The invention discloses a construction method of a drilling device for a complex high and steep side slope. The drilling device comprises a drilling machine support, a drilling machine base and a drilling machine; the drilling machine support comprises a sliding plate, a chassis is arranged on the sliding plate, the front end of the chassis is hinged to the front end of a platform, a supporting component is hinged to the platform and connected with a chassis fastener, and the width of the chassis and the width of the platform are adjustable; and the drilling machine comprises a power distribution system, an air compression system, a gear, a rock drilling component, a soil drilling component, a drill rod and a drill bit. The construction method comprises the following steps of 1, pulling the drilling machine support to a specified position; 2, unfolding and locking the support; 3, adjusting the angle between the chassis and the platform; 4, mounting the drilling machine; and 5, startingdrilling. The device solves the problem that it is difficult to drill in the complex high and steep side slope, can adapt to various rock-soil body stratums, can cope with complex slope surface conditions such as concavo-convex surfaces and flourishing forests, is flexible in action and safe and reliable in performance, and can fully cope with existing complex high and steep side slope reinforcement engineering.

The invention belongs to the original product of the same industry at home and abroad and provides a boiler maintenance gray supporting platform. The boiler maintenance gray supporting platform is formed by a plurality of unit bearing assemblies through series arrangement and connection; every unit bearing assembly is formed by a unit bearing support, a unit supporting plate and two unit triangular supporting and anti-skid devices; the unit supporting plate is laid on the surface of the unit bearing support; the two unit triangular supporting and anti-skid devices are arranged at two ends of the lower portion of the unit bearing support; the two ends of the unit bearing support and the bottom ends of the two unit triangular supporting and anti-skid devices which are utilized as supporting feet are used for abutting against the gray slope surface of the boiler water wall. According to the boiler maintenance gray supporting platform, the triangle which is stable in structure is adopted to support the steel beam integral structure, so that the boiler maintenance gray supporting platform is firm and reliable and high in security; the integral structure is level and smooth and free of gaps and holes endangering the personal safety and equipment safety; the assembly and disassembly is rapid and convenient; the requirements of the length of the operation surface for boiler maintenance can be met through free combination according to the length of a boiler and the boiler maintenance gray supporting platform can be customized according to the widths which are required by different boiler types.