36results about How to "Walk normally" patented technology

The invention discloses a double-eccentric circle obstacle crossing assembly with a variable eccentric distance. The double-eccentric circle obstacle crossing assembly comprises inner wheels and outer wheels which are both eccentric wheels, the inner wheels are rotationally arranged in the outer wheels, a plurality of first limiting devices are arranged on the outer ring surfaces of the inner wheels, and second limiting devices which are matched with the first limiting devices are arranged on the inner ring surfaces of the outer wheels. An obstacle robot disclosed by the invention can be used as a robot with an eccentric wheel-leg structure and also can be used as a robot with a common round wheel structure; when the robot moves on the smooth ground, obstacle crossing wheels of the robot are changed into a command round wheel mode, a power shaft of each command round wheel is positioned in the circle center of the wheel, no fluctuation is generated during walking, and the efficiency is high; when the robot moves on the unsmooth ground, the obstacle wheels of the robot can be used as the eccentric wheels, a power shaft of each eccentric wheel is deviated from the circle center, and the obstacle crossing capacity is strong. According to the double-eccentric circle obstacle crossing assembly and the robot disclosed by the invention, the obstacle crossing wheels of the robot can be freely switched between an eccentric mode and a circle center mode, the size of the eccentric distance can be adjusted in real time according to the height of an obstacle in an obstacle crossing environment, and the higher the obstacle is, the larger the eccentric distance of the obstacle crossing wheels can be obtained.

The invention provides a shoelace fastening device capable of stretching and sliding, comprising two base bodies which are arranged on a shoe upper longitudinally in axial symmetry, a fastening body capable of stretching and sliding and a fixing buckle, wherein the base bodies are provided with a slide slot and a fixing hook, the fastening body capable of stretching and sliding is used for penetrating and fastening shoelaces and comprises a slide block and a movable slide buckle which are respectively matched with the slide slot and the fixing hook, and the fixing buckle is sheathed at the top of the bodies and provided with a buckling part to form a dismountable connection with the fastening body capable of stretching and sliding. By using the shoelace fastening device capable of stretching and sliding disclosed in the invention, the taking-on and taking-off of shoes can be facilitated by the mutual cooperation of the base bodies and the fastening body capable of stretching and sliding.

The invention discloses a navigation method of a cleaning robot. The method includes the steps that: an environment image and the panel surface image of a photovoltaic panel are acquired, and the position information of the cleaning robot is determined; whether the cleaning robot moves along a preset movement path is judged according to the position information and a coordinate line, a fixed included angle is formed between the coordinate line and the moving direction of the cleaning robot; and if the cleaning robot does not move along the preset movement path, the current moving direction ofthe cleaning robot is adjusted, so that the adjusted cleaning robot can move along the preset movement path. According to the navigation method provided by the invention, the environmental image and the panel surface image of the photovoltaic panel are acquired; when the panel surface of the photovoltaic panel has no identifiable reference objects, the cleaning robot can identify a reference object from a surrounding environment, and therefore, a navigation basis can be provided for the cleaning robot, and the cleaning robot can perform cleaning operation on a photovoltaic assembly of which the panel has no clear features. The invention also provides a navigation system and a cleaning robot which have the same advantages as the method.

The invention provides a robot drive wheel system which comprises a drive wheel, a suspension body, a power device, a spring fixing support and springs. The drive wheel and the power device are fixedto the suspension body. The drive wheel is driven by the power device through a transmission shaft to rotate. The transmission shaft is connected to the suspension body through a bearing. Guide railsare formed in the sides of the suspension body and connected with opened linear bearings in a coupled mode. One end of each spring is connected with the suspension body, and the other end of each spring is connected with the spring fixing support. The spring fixing support and the opened linear bearings are all used for being connected with a robot body. The technical problem that a drive wheel issuspended due to the uneven ground in the robot walking process, and thus a robot cannot normally walk in the prior art is solved.

The invention provides a gravity increase technology based on a spring mechanism. A core spring mechanism comprises a double-parallelogram mechanism, an upper limb connecting frame and a zero-elongation spring mechanism. A human body is fixedly connected with a framework through a bondage, the double-parallelogram mechanism is used for supplying the four-freedom-degree human body space walking range and providing the effect of a downward force; the upper limb connecting frame is used for fixing upper limbs of the human body and providing three rotation freedom degrees; and the zero-elongation spring mechanism is constant in pulling force along the vertical direction, and the gravity potential energy of the human body is increased through the elastic potential energy of the zero-elongation spring mechanism. Due to the adoption of the gravity increase technology, the gravity of the human body can be increased, and the contact force between the human body and the ground can be increased, so that an astronaut can move like on the surface of the earth under the micro-gravity environment, a resistance training method can be provided for the astronauts, or the sick and wounded can be passively rehabilitated.

The invention discloses a track system of a building delivery system, comprising a vertical rail and a horizontal rail; the vertical rail is installed vertically along the wall of a building, and each floor of the building is provided with a corresponding horizontal rail; There is also a transition guide rail, which is used to guide the delivery trolley to change the track between the vertical rail and the horizontal rail; the transition guide rail is connected with a control mechanism, and the control mechanism enables the two ends of the transition guide rail to be respectively connected to the vertical rail and the horizontal rail. Falling off; Through the ingenious design of the track structure, the problem of how to match the delivery trolley on the track to realize the uplink / downlink of the delivery trolley is solved; the problem of how to change the track on each floor when the delivery trolley runs on the main track is solved Technical problem; solve the technical problem of how to avoid mutual uplink and downlink when multiple delivery cars are running on the main track; solve the problem of automatically delivering the goods to the consignee's floor, avoiding the waste of time for the consignee to go up and down the stairs, solve The last "100" meters of logistics distribution.

The invention discloses a semi-wheel type robot. The semi-wheel type robot comprises a machine body, a control system and travel devices, wherein the control system is mounted in the machine body; the travel devices are symmetrically mounted on the side surfaces of the machine body; moreover, the control system comprises a central controller, a motor drive controller, a wireless communication unit, position detectors and a battery; the travel devices adopt semi-wheel type structures, and mainly comprise semi-wheels and motors, the semi-wheels are mounted on the output shafts of the motors via drive holes, and the motors are mounted on the machine body via motor fixing boards; the number of the position detectors is the same as that of the semi-wheels, and the position detectors are mounted between the semi-wheels and the motor fixing board. According to the invention, the foot adopts a semi-wheel structure, as a result, both the stability of system power consumption and high efficiency of the travel of the robot on a regular landform are considered; in addition, the capability for crossing a barrier on an irregular landform of the robot can be realized; the robot is high in landform adaptability, can travel under a complex environment, and has the movement efficiency of wheels on a regular landform.

The invention provides a robot chassis. The robot chassis comprises a chassis main body, a driving assembly, two driven wheels and two driving wheels, wherein the two driven wheels are respectively arranged on the front side and the rear side of the bottom of the chassis main body; the two driving wheels are respectively arranged on the left side and the right side of the bottom of the chassis main body; the driving assembly comprises a hanging body and a power device which is used for driving the driving wheels to rotate; the driving wheels and the power device are fixed on the hanging body;a spring fixing bracket is fixed at the upper part of the chassis main body; and the driving assembly is connected with the spring fixing bracket through a spring. According to the robot chassis, through elastic connections between the driving wheels and the chassis main body, the high stability of a robot is guaranteed; and under an effect of a compression spring, the driving wheels suffer downward pressure so as to guarantee close contacts between the driving wheels and the ground so that the robot can also normally run on the uneven ground. A technical problem that the robot in the relatedtechnology cannot normally run because the driving wheels of the robot are impending in the running process due to the uneven ground is solved.

The invention discloses a traditional Chinese medicine composition for treating ankylosing spondylitis, which is prepared from the following raw medicines in proportions by weight: 20g of spatholobus stem, 10g of teasel root, 10g of radix cyathulae, 12g of safflower, 15g of orientvine, 10g of lycopodium clavatum, 8g of abrus herb, 15g of angelica, 10g of ground beetle, 15g of notopterygium root, 8g of radix angelicae pubescentis, 12g of red sage root, 10g of ophiopogon root, 8g of gentiana macrophylla and 12g of mugwort leaf. By using the traditional Chinese medicine composition disclosed by the invention for treating ankylosing spondylitis, the total effective rate is as high as 90.6%.

The invention discloses a self-cleaning efficient solar LED street lamp. The self-cleaning efficient solar LED street lamp comprises a glass lamp shade, a heat dissipation shell and a fixing frame. The heat dissipation shell is clamped to the top of the glass lamp shade. Heat dissipation holes are formed in one side of the heat dissipation shell. An electric motor is fixedly connected to the inner wall of the other side of the heat dissipation shell. The output end of the electric motor is connected with a rotary shaft. The tail end of the rotary shaft is connected with a fan blade. A base plate is fixedly connected to the inner side of the bottom of the heat dissipation shell. LED beads are connected to the surface of one side of the base plate. A heat conducting block is connected to the surface of the other side of the base plate. Cooling fins are fixedly connected to the surface of the heat conducting block. The fixing frame is fixedly connected to the top of the heat dissipation shell. A gas pump is clamped to the middle of the top end of the fixing frame. The output end of the gas pump is connected with a pneumatic rod, and the pneumatic rod is fixedly connected with a connecting frame. An annular banister brush is fixedly connected to the tail end of the connecting frame. The two ends of the top of the fixing frame are correspondingly and fixedly connected with a hanging ring and a solar photovoltaic panel fixedly connected to the fixing frame through a support column. A storage battery is fixedly connected to the inner side wall of the fixing frame. The LED street lamp is reasonable in structure, good in practical value and worthy of application and popularization.

The invention relates to a robot walking control method. A robot comprises a controller, an ultrasonic distance sensor and a camera. The robot walking control method comprises the following steps thatthe controller controls the robot to walk in a first preset direction; the ultrasonic distance sensor transmits ultrasonic waves in a preset interval time to detect whether an obstacle exists in front or not, if the distance between the robot and the obstacle in front is smaller than a preset value, the camera is started; the camera collects an obstacle image to obtain an obstacle type; accordingto the obstacle type, the maximum included angle between the connecting line between the side edge of the robot and the outermost contour point of the obstacle and the first preset direction is obtained; and the robot moves in a second preset direction which is deviated from the first preset direction by a first preset included angle, and the first preset included angle is larger than the maximumincluded angle.

The invention discloses a wheel-legged robot which comprises a robot body and two mechanical wheel-legged sets, and the robot body comprises a head part and a tail part which are connected in sequence in the length direction of the robot body; the two mechanical wheel-legged sets are connected to the head and the tail correspondingly to be used for supporting the robot body, and each mechanical wheel-legged set comprises two mechanical wheel legs arranged in the width direction of the robot body in a spaced mode; each mechanical wheel leg comprises a leg arm structure and a wheel structure, the wheel structure is connected to the movable end of the leg arm structure to be used for bearing the leg arm structure, and the leg arm structure is movably connected to the robot body to adjust the position of the wheel structure in the width direction of the robot body. And if one mechanical wheel leg at the tail of the robot body goes wrong, the leg arm structure of the other mechanical wheel leg is adjusted, so that the wheel structure moves towards the width direction of the robot body, the wheel structure can stably support the tail of the robot body, and the robot is normally supported in cooperation with the other two wheel structures.

The present invention relates to a kind of collision prevention device for vehicle which is configured on the AGV handling route 11 and around the predetermined allocation of manual guided vehicle MGV3. The device comprises: the limit switch 4 whose contact is closed while the said automatic guided vehicle is allocated at the said predetermined position; the reflection board 2, which can protrude or extract from the said AGV handling routes on at least one side of each predetermined position of said AGV handling routes 11; and, the reflection board driver 6, which can make the reflection board move forward and backward corresponding to the open / close operation of limit switch 4. The invention can certainly prevent the collision of automatic guided vehicle and manual guided vehicle.

The invention provides a rag mounting device of a sweeping robot. The rag mounting device comprises a rag support bottom cover and a rag support connected with the rag support bottom cover in a covering mode. The outer side of the rag support is connected with rag through a magic tape, and the rag is matched with the rag support in shape; a plurality of elastic column bodies used for being connected with the bottom of the sweeping robot are further arranged in the rag support bottom cover and the rag support, and each elastic column body comprises an elastic column and an elastic column springarranged on the elastic column in a sleeving mode; a rag support left button and a rag support right button which are movably connected with a connecting mechanism at the bottom of the sweeping robotare respectively arranged on the rag support bottom cover and the left and right sides of the rag support; in the actual application process, due to the fact that the elastic column body, the left duster cloth support button and the right duster cloth support button are arranged, it can be well guaranteed that the sweeping robot can normally walk in the mopping process, the step obstacle crossingcapacity of the sweeping robot is enhanced, and meanwhile the mopping cleaning effect of the sweeping robot is improved.

The invention relates to a magnetic adsorption type wall-climbing robot chassis and a magnetic adsorption type wall-climbing robot. The chassis comprises a chassis module, wherein the chassis module comprises a base, at least two rollers, wheel carriers, a power motor and a steering motor; the number of the wheel carriers is the same as that of the rollers, and the wheel carriers are rotationally assembled on the base and used for mounting the rollers; the roller are magnetic rolling wheels and / or magnets are arranged on the base and are used for being attracted to the wall face where the chassis climbs so as to provide attraction force for the base; the rotating axes of the wheel carriers are coplanar; the power motor is used for driving at least one roller to rotate; the steering motor is used for driving each wheel carrier to rotate so as to realize the steering of each roller; when the chassis travels, the axes of the rollers are parallel or coincide; the number of the chassis modules is one or more than two, and the bases of the adjacent chassis modules are movably connected, so that the rollers can be tightly attached to the wall surface where the chassis climbs. The chassis is used for solving the problem that a magnetic adsorption type wall-climbing robot in the prior art is poor in adaptability.

The invention provides a flipper and relates to the field of swimming appliances. The flipper comprises brackets, a sleeve and blades, wherein the brackets comprise a peripheral bracket, a vertical bracket and transverse brackets; the vertical bracket is arranged along the center line of the long shaft of the peripheral bracket; the two ends of the vertical bracket are connected with the peripheral bracket; the transverse brackets are perpendicular to the vertical bracket, are connected with the vertical bracket and the peripheral bracket, and divides the space surrounded by the peripheral bracket into a plurality of gaps; the sleeve is arranged at the joint of the vertical bracket and the transverse brackets; the blades are rotationally connected with the vertical bracket and used for opening the gaps when the flipper swings upwards and closing the gaps when the flipper swings downwards; all the blades are correspondingly arranged below the gaps of the brackets. According to the flipper provided by the invention, the blades can only rotate downwards and are limited in upward rotation, so that when in use, the flipper receives small resistance when a foot wearing the flipper is raised. By virtue of the flipper provided by the invention, idle work is reduced during swimming, and a user can use the flipper more conveniently with less effort.

The invention provides a self-moving robot and a rag mounting device. The self-moving robot is provided with a machine body, a water tank is arranged in the machine body, the rag mounting device is arranged at the bottom of the water tank, rags are installed on the outer side of the rag mounting device, the rag mounting device comprises a base material layer and an elastic cushion layer, and the elastic cushion layer is arranged between the base material layer and the rags. The magnitude of interference between the rags and the ground can be dynamically adjusted, or the degree of attachment tightness between the rags and the ground can be dynamically adjusted, so that the self-moving robot is prevented from slipping in the walking process, it is ensured that the self-moving robot can walknormally, and the cleaning efficiency of the self-moving robot is ensured.

The invention discloses a movable ash and dust removal device in a coke oven building process. The device comprises a walking mechanism and a plurality of groups of dust removal devices, the walking mechanism is erected around a coke oven machine in a closed loop manner, the dust removal devices slide on the walking mechanism, each dust removal device comprises a pulley matched with the walking mechanism, a dust collector is fixed on the pulley, and the bottom of the walking mechanism is connected with a base supporting the walking mechanism. The wall working face can be mechanically cleaned and dedusted conveniently and quickly in the coke oven building process, manual carrying of the dust collector is reduced, and the cleaning is thorough and effective.

The invention relates to the technical field of explosion-proof tires, and in particular relates to an explosion-proof automobile tire. The explosion-proof automobile tire comprises a tire, the innercircumference of the tire is connected with a hub; the tire comprises an outer tire skin, the hub comprises a steel ring, a supporting mechanism and an extruding mechanism are arranged on the surfaceof the steel ring; the supporting mechanism and the extruding mechanism are arranged on the outer circumferential surface of the steel ring at intervals, the supporting mechanism and the extruding mechanism are both located in the tire cavity, the supporting mechanism and the extruding mechanism are connected through a pushing mechanism, and the bottom of the pushing mechanism is fixed to the surface of the steel ring; the extruding mechanism moves when being extruded by the ground, when the extruding mechanism moves, the extruding mechanism extrudes the supporting mechanism, and the supporting mechanism moves, so that the supporting mechanism can support the outer tire skin, and the flat tire can normally run under the support of the supporting mechanism.

The invention relates to the technical field of nursing robots, and discloses a chronic disease medical nursing robot based on the Internet of Things, the chronic disease medical nursing robot comprises an intelligent host, a supporting pipe and two square pipes, the supporting pipe is of a C-shaped structure, the two square pipes are arranged below the supporting pipe in parallel, and the pipe wall of the supporting pipe is fixedly connected with a backrest plate and two symmetrically-arranged armrest frames; two connecting frames are symmetrically and fixedly connected to the lower end of the supporting pipe, the lower ends of the connecting frames are fixedly connected with the pipe wall of the square pipe, a square frame is jointly and fixedly connected between the two connecting frames, and a supporting mechanism is arranged in the square frame. According to the chronic disease medical care robot based on the Internet of Things, a user can be directly conveyed to the position above a toilet bowl of a toilet for defecation, nursing personnel do not need to pour and clean a container many times, the user can be normally nursed, walking of the user is facilitated, and the robot can assist a patient in moving the lower limbs during walking.

The invention relates to the technical field of shoes, in particular to a shoe with replaceable heels and vamps, which comprises soles made of flexible materials and detachably connected with heels and vamps. The sole comprises a sole section and a heel section which are connected in sequence, an adjusting groove is formed in the lower side face of the sole section, and the adjusting groove extends in the width direction of the sole section; an adjusting liquid bag is arranged in the adjusting groove, and the two side walls of the liquid bag are connected with the corresponding side walls of the adjusting groove so that the included angle between the sole section and the heel section can be adjusted through expansion and contraction of the adjusting liquid bag. According to the shoe, heels with different heights and different vamps can be replaced according to wearing requirements, and the shape of the sole can be adjusted, so that the sole can be combined with the foot sole, and the comfort of the shoe and normal walking of a wearer are ensured.