47 results about "Climbing stairs" patented technology

The intelligent fire rescue robot capable of climbing the stairs comprises a tracked robot body, the tracked robot body comprises a body driving wheel, a shell and a bottom plate, a driving mechanism of the tracked robot body is installed on the rear portion of the robot, and two swing mechanisms are symmetrically installed on the front portion of the robot. A steering engine of each swinging mechanism is mounted below the adjacent bottom plate; each swinging mechanism comprises a steering engine, a swinging driving shaft, a swinging plate, a swinging driven wheel, a swinging crawler belt and a core-missing wheel; one end of the swinging driving shaft is connected with a driving steering engine shaft at the output end of the steering engine through a coupler, and the other end of the swinging driving shaft sequentially penetrates through a connecting plate connected with the bottom plate and the center-missing wheel and is connected with the swinging plate through a flange coupler; the upper space of the bottom plate is divided into two parts, one part is used for installing the stretching platform, and the other part is used for installing the detection execution module and the water storage tank. The system has better adaptability to complex terrains, and can realize the integration of discovery, fire extinguishment and search and rescue.

A system and method for facilitating the traversing of stairs by a wheeled robot enable a wheeled robot to ascend and descend stairs. The system includes a support frame, a first movement module, and a second movement module. The support frame enables the operation of the first movement module and the second movement module. The first movement module and the second movement module enable the quick and efficient movement on flat surfaces. The first movement module and the second movement module also enable the traversing of stairs without compromising the effectiveness of movement on flat surfaces. The first movement module and the second movement module each includes a drive mechanism, an inner wheeled leg, and an outer wheeled leg. The drive mechanism enables the independent, unhindered, and continuous rotation of the corresponding wheeled legs and wheels without the implementation of wiring, electronics, or rotary connectors within the wheeled legs.

Embodiments of the disclosure provide a robot cleaner for cleaning a stair. The robot cleaner includes a main body configured to rotate around a first shaft. The robot cleaner further includes at least one leg each configured to rotate around a second shaft. The robot cleaner also includes at least one connector each configured to connect each leg to the main body. Each connector comprises a first end attached to the first shaft and a second end attached to the second shaft. The robot cleaner is configured to climb the stair by first lifting the main body onto a tread of the stair through rotations of the main body and the at least one connector and then lifting the at least one leg onto the tread through rotations of the at least one connector and the at least one leg.

The utility model discloses a climbing structure of a ladder climbing robot, which belongs to the field of robots and comprises a robot body, a first crawler belt is mounted outside the robot body, a support rod is fixedly connected to one side of the robot body, and the outside of the support rod is in transmission connection with the first crawler belt. According to the scheme, when a worker starts the device to climb stairs, an electric cylinder can be started to enable the output end of the electric cylinder to extend, after the output end of the electric cylinder extends, a bent rod can drive a rack to move above a gear, and due to the fact that the gear is meshed with the rack, the rack can be driven to move to the position above the gear; when the rack moves above the gear, the gear, namely the mounting rod, is driven to rotate, in the process, the second crawler belt rotates by a certain angle, then one side of the second crawler belt makes contact with the stair surface of the stair, and through contact between the second crawler belt and the stair, the device can climb the stair; and therefore, the application range of the robot body is widened.

The application provides an underground pipe gallery tool vehicle, which comprises a driving vehicle, a carrying vehicle, a pair of track assemblies, a fire-fighting assembly and a control module; the driving vehicle and the carrying vehicle are tractionally connected, the carrying vehicle is used for transferring tools, the two track assemblies are respectively arranged on the two sides of the driving vehicle and are used for climbing stairs; the fire-fighting assembly is arranged on the driving vehicle, the fire-fighting assembly can spray fire extinguishing materials; the control module is signal-connected with the driving vehicle and the track assemblies respectively, and the control module can control the driving vehicle and the track assemblies to travel. The tool vehicle can quickly patrol and inspect the underground cable trench, can make the inspection personnel quickly reach a maintenance point under the condition of carrying multiple maintenance tools, reduces the labor intensity of the inspection, and improves the work efficiency of the inspection. In addition, when the inspection personnel encounters an emergency, the vehicle-mounted fire-fighting equipment and other devices are relied on for emergency rescue, so that the work safety of the inspection personnel is improved.

The invention discloses an intelligent tracking and transporting device for packaged drinks, belongs to the technical field of robots, and aims to solve the problems that an existing device is only suitable for a flat road surface, is difficult to climb stairs, and is prone to toppling over due to the fact that the gravity center is deviated when the existing device runs on a slope. A driving mechanism is arranged at the bottom end of the whole machine vehicle, a fixing plate is fixedly connected into the whole machine vehicle, two driving motors are symmetrically and fixedly installed on the fixing plate, the output ends of the two driving motors are fixedly connected with first bevel gears, and two rotating shafts are symmetrically arranged at the bottom end of the fixing plate. According to the intelligent tracking transportation device for the packaged drinks, it can be ensured that the gravity center of the device is always kept in a relatively stable state through a pendulum bob structure, the situation that the gravity center shifts due to changes of the inclination angle and the height is avoided, meanwhile, barreled water can be fixed, shaking is prevented in the transportation process, and the transportation safety of the barreled water is improved.

This application belongs to the field of wearable robot technology, specifically providing a mechanical load-bearing exoskeleton system based on ground reaction force self-triggering. The exoskeleton system includes an upper body mechanism, a thigh mechanism, a knee joint mechanism, a lower leg mechanism, and a foot mechanism. The knee joint mechanism includes a knee joint support, a locking component, and a transmission assembly. When the foot mechanism touches the ground and the sole of the foot is compressed and deformed by the ground reaction force, the thigh mechanism slides downward relative to the knee joint support. The transmission assembly drives the locking component to slide towards the thigh mechanism and connect with it, thereby locking the knee joint mechanism. The compression deformation of the sole of the foot caused by the ground reaction force is used as a trigger signal to automatically trigger the locking of the knee joint mechanism. The knee joint mechanism can lock at any reasonable angle, so that when the wearer is going up or down slopes, climbing stairs, or bending their knees for cover, the exoskeleton system can still effectively assist the human body in bearing the load by locking the knee joint mechanism.

Hubless wheels allowing shaft-based movement according to an embodiment of the present invention have an improved mechanical structure of the wheel and thus can easily climb stairs or obstacles. The hubless wheels allowing shaft-based movement according to an embodiment of the present invention enable elderly people, children, disabled persons, and the like to climb obstacles having stepped regions such as curbs and stairs without assistance, and thus has the effect of reducing inconvenience in everyday life. The hubless wheels allowing shaft-based movement according to an embodiment of the present invention can be applied to transportation means of any field, such as wheelchairs, baby carriages, carts, and robots, and thus can be widely used and provide everyday convenience.

The stepping tread type chassis assembly comprises a vehicle frame, two crawler walking units, a first power mechanism, a pedal driving mechanism, a wheel type walking unit, a lifting adjusting device and an electric control system, the two crawler walking units are symmetrically arranged on the left side and the right side of the vehicle frame, and the lifting adjusting device is arranged at the front end of the vehicle frame. The crawler walking unit comprises a crawler beam, a front chain wheel, a rear chain wheel, a crawler assembly and a plurality of pedal assemblies. The power mechanism drives the front chain wheel and the rear chain wheel to rotate synchronously. The pedal assemblies are arranged in the track assembly at equal intervals, and each pedal assembly comprises a pedal and a double-torsion spring. The pedal driving mechanism controls the pedals below the track beams to be unfolded, and the double torsion springs enable the rest of the pedals to be closed. The number of the wheel type walking units is two, and the two wheel type walking units are symmetrically arranged front and back. By constructing a plurality of continuous planar supporting systems, the supporting stability and safety are improved, the requirement for large loads is met, and the working efficiency is high.

The utility model discloses an adjustable external overhanging type climbing stair for building construction. The adjustable external overhanging type climbing stair comprises a main beam supporting frame (3), a cuboid-shaped main frame body (2) and an adjustable stair (1), wherein the main beam supporting frame (3) is fixed on a rear anchor embedded part (30) and a front anchor embedded part (31) of a current-layer stair; the cuboid-shaped main frame body (2) is fixed on the main beam supporting frame; the main beam supporting frame is composed of a set of supporting beams (29) arranged in parallel, the other end of a lower supporting rod (25) arranged on the main beam supporting frame is fixed to the lower stair, and the other end of a cable-stayed steel wire rope (32) arranged on the main beam supporting frame is fixed to an embedded part clamping ring of the upper stair. The device can be quickly built among floors, moved to a corresponding construction position according to construction requirements, guarantees safety of constructors, is convenient to mount and dismount, and is particularly suitable for solving the problem that the constructors cannot go up and down the channel due to the fact that the upper-layer construction is not completed during high-rise construction during floor construction of building engineering.

The invention belongs to the technical field of blind person assistance, and provides a blind person navigation assisting device which comprises a shell, a first rotating shaft is rotationally installed in the shell, the two ends of the first rotating shaft extend out of the two sides of the shell and are provided with wheels, and one side wall of the shell is open; the rotating power source is fixedly arranged in the shell, and an output shaft of the rotating power source is in power connection with the first rotating shaft; the stair climbing assembly comprises sliding blocks, a second rotating shaft is rotationally installed between the two sliding blocks, a rotating frame is fixedly arranged on the peripheral outer wall of the second rotating shaft, and when the sliding blocks slide into the shell, the second rotating shaft is in power connection with an output shaft of the rotating power source; and the navigation equipment mounting rack is fixedly arranged on the top surface of the shell. The navigation equipment is installed on the shell, a user makes contact with the shell and moves forwards, the shell transmits vibration of the road condition to a user receiving hand in real time, the road condition is better detected in combination with the navigation equipment, and the safety sense of the user is higher; the rotating frame has a step climbing function and is suitable for different road conditions.

The utility model relates to a plastic extruder which comprises an extruder body, the top of the extruder body is communicated with an inclined feeding pipeline, one end, far away from the extruder body, of the feeding pipeline is in butt joint with a discharging box, and the side face of the discharging box is provided with a discharging opening communicated with a feeding opening of the feeding pipeline. The bottom in the discharging box is of an inclined structure in butt joint with a feeding port of the feeding pipeline, a door body is arranged at the discharging port, a door opening mechanism used for opening the door body is arranged on the discharging box, and a lifting mechanism used for driving the discharging box to ascend and descend is arranged on the ground. A worker does not need to carry raw materials and climb to a high position through a crawling ladder for feeding, physical exhaustion of the worker is reduced, the working intensity of the worker is reduced, and the risk that the worker climbs stairs and is hurt is avoided.

The utility model relates to the technical field of hydraulic galleries, and particularly discloses an anti-tilting device for a four-footed inspection robot in a hydraulic gallery ladder environment, which comprises an inclined plate mounted on the top surface of a body of the four-footed inspection robot, and a supporting mechanism in transmission connection with the inclined plate and used for supporting the four-footed inspection robot when the four-footed inspection robot tilts backwards; the supporting mechanism comprises a sliding device installed on the inclined plate in a sliding mode, a supporting piece hinged to the sliding device, and an anti-collision supporting assembly installed on the side, close to the supporting piece, of the inclined plate and hinged to the supporting piece. And the sliding direction of the sliding device is set along the advancing direction of the four-footed inspection robot. The four-foot inspection robot can solve the problem that the four-foot inspection robot is prone to toppling and falling in the inspection process due to the fact that the stability is poor when the four-foot inspection robot climbs steps.

This invention discloses a method for controlling the movement of a humanoid robot climbing stairs, comprising: acquiring environmental perception data in front of the robot and robot body state information; constructing a local terrain representation and performing a treadability assessment to obtain a treadable area; segmenting the support plane based on the treadable area and constructing a structured safety support surface; generating a torso reference trajectory, foot landing point, and foot swing trajectory based on the structured safety support surface; constructing constraints on the treadable domain of the support foot and obstacle avoidance constraints on the swinging foot, and introducing nonlinear model predictive control; further combining whole-body control and joint hybrid control to output execution commands, thereby realizing continuous and stable stair climbing movement of the humanoid robot in a stair environment, improving foot landing safety, swinging obstacle avoidance ability, and movement stability.

The invention discloses a construction elevator and outer climbing frame integrated system which comprises an outer climbing frame and a climbing frame lifter used for lifting the outer climbing frame, a plurality of main frames evenly distributed in the vertical direction are arranged on one side of the outer climbing frame, and the two main frames located on the uppermost side are in sliding connection in the vertical direction. The rest main frames are fixedly connected with one another through bolts, and the uppermost main frame is fixedly connected with the outer climbing frame through a connecting frame; construction personnel can directly go back and forth to a building main body floor and an outer climbing frame working layer through the elevators without climbing stairs of 6-8 floors, time and physical output are greatly saved, the two elevators are symmetrically distributed on the two sides of the main frame and can operate simultaneously or independently, the large-flow transportation requirement in the construction peak period is met, and the construction efficiency is improved. And entrances and exits in the outer climbing frame accurately correspond to all floors of the building body and entrances and exits of the elevators, and it is guaranteed that personnel and materials are smoothly transferred.

The invention relates to a motor vehicle, such as a wheelchair, comprising a main chassis (14), first ground connections fixed to the main chassis, second ground connections longitudinally at a distance from the first, and an articulation device (20) for the second ground connections relative to the main chassis. The articulation device comprises a bent body (34), a first longitudinal pivot connection (36) connecting the bent body to the main chassis, and a second vertical pivot connection (38) connecting the bent body to the second ground connections. The ground connections each comprise a hub (22) with a central axis of rotation (24), three wheels (26). The bent body comprises a concave surface (48) facing the second ground connections (18). Relative to the central axis of rotation of the hub of the second ground connections, the concave surface is radially at a distance from the associated wheels. Figure to be published with the abstract: Figure 3

The utility model discloses a kind of auxiliary up and down stairs sky rail self-adapting gravity center following device, including walking track and nose component, walking track is along stair arrangement, and is installed in the top of stair by sky rail hanger, nose component is used to generate power and move along walking track, nose component is connected with patient by sling and provides dynamic weight loss effect for patient;Measurement grating is arranged on the side of stair, measurement grating is used to detect the position of patient;A plurality of RFID chip modules are arranged on walking track, a plurality of RFID chip modules and the multiple steps of stair one-to-one correspondence, card reader is arranged on nose component, card reader is used to read the information of RFID chip module;External control system controls nose component movement according to the signal output by measurement grating and the information read by card reader;The utility model can adaptively assist cooperation patient training, achieve synchronization with patient's walking, make patient occupy initiative in the process of climbing stair training and can train alone, make training reasonable, effective and reliable.

The invention relates to the field of electronic health-care shoes, and discloses an electronic health-care shoe and an assembly process thereof.The electronic health-care shoe comprises a vamp, a sole and a cotton and linen covering layer, a containing groove is formed in the surface of the sole, a circuit board is installed in the containing groove, the cotton and linen covering layer covers the surface of the sole, and the sole wraps the lower side of the vamp; when the shoe sole is subjected to external force (such as stepping on the corners of the stairs when the user climbs the stairs), the bending plate is firstly subjected to pressure. Due to the design of the bending shape, the bending plate can generate elastic deformation, part of external force is converted into elastic potential energy, and therefore the buffering effect is achieved. The buffering effect can effectively reduce direct impact of external force on the circuit board, and the circuit board is protected from being damaged. For example, when the shoe climbs stairs, the arch position of the shoe sole can bear large pressure, the bending plate can disperse the pressure through elastic deformation of the bending plate, and therefore the pressure borne by the circuit board is greatly reduced.

1. Name of the designed product: toy (table game parking lot climbing stairs). 2. Use of the designed product: for playing. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: perspective view.

This invention relates to a kneeless, jointless load-bearing robot, comprising a load-bearing seat module, a leg walking module, a front-and-back leg swing module, a left-and-right leg swing module, and a control module. The front-and-back leg swing module includes a fixed part and a rotating part; the left-and-right leg swing module includes a fixed part and a rotating part. The fixed part and the rotating parts are connected by an extension frame, which allows the left-and-right leg swing modules to extend forward or backward relative to the front-and-back leg swing module. A linear telescopic module drives the leg body to move up and down relative to the front-and-back leg swing module; the rotating parts of the front-and-back leg swing module drive the leg body to swing forward and backward; and the rotating parts of the left-and-right leg swing module drive the leg body to swing left and right. This invention simulates human walking through a foot-like structure, enabling forward, backward, left, and right movement. It requires minimal space, is convenient for people with mobility impairments, and reduces the fatigue of other people carrying heavy loads or climbing stairs.

The present invention relates to a guide-rail type climbing stair elderly assistance sharing robot, belonging to the fields of elderly assistance mechanical equipment technology and community intelligent infrastructure construction. This manned climbing stair robot is put into use in the corridors of community buildings based on a sharing mode. The robot is composed of a guide rail, a frame, accessory components, a traveling mechanism, a docking mechanism, and a climbing mechanism. The guide rail is fixedly installed on the wall on one side of the corridor against the wall; the frame is the basic framework of the robot, and the main body is used to carry and protect a single user; the accessory components include the electronic components and the storage battery of the robot; the traveling mechanism consists of four Mecanum wheels and their supporting motors, responsible for driving the robot to move on flat ground and corridor platforms; the docking mechanism includes a lead screw installed on one side of the robot and a specially designed docking sleeve, responsible for realizing the docking of the robot with the guide rail; the climbing mechanism includes gears and a climbing motor, used to provide power for the robot to move forward on the guide rail.

A stair-climbing integrated sweeping and mopping bionic robot relates to the field of robot technology and includes a clamping device, a camera, an infrared detection device, an ultrasonic ranging sensor, a stepping device, Mecanum wheels, a vacuum cleaner, a storage tank, a control mechanism, a storage battery, a GPS positioning module, and a WIFI module. A full-coverage path planning algorithm for the stair-climbing integrated sweeping and mopping bionic robot, and the full-coverage path planning algorithm is improved based on the ploughing-style full-coverage path planning in the region division method. The present invention solves the problems that existing floor-sweeping robots cannot smoothly and safely climb stairs to the upper layer for cleaning in residences with indoor stairs such as duplex structures and villas, and the cleaning paths are messy and inefficient due to unreasonable path planning.

The optimized structure for vibration reduction and safety of offshore wind turbine tower base berthing platforms aims to address technical issues such as significant damage to the foundation and berthing platform when ships berth, high physical exertion and safety hazards for personnel climbing stairs, and a lack of effective self-rescue methods for those falling into the water. This structure features several metal berthing columns vertically erected on the seabed, with berthing railings installed around their perimeter. A buffer device consisting of two layers of rubber and springs is installed between the columns to effectively reduce damage from ship berthing. The berthing railings are connected to the wind turbine tower via connecting devices. A steel double-beam staircase connects to each pair of columns, forming a ring around the wind turbine tower via the berthing platform. Visibly marked floating ropes made of polyethylene fiber are installed on the metal berthing columns, providing self-rescue methods for personnel falling into the water, improving personnel climbing safety and operational efficiency, enhancing overall safety, and adapting to the complex marine environment.

The utility model discloses a wheelchair walking mechanism which comprises a driving mechanism, a walking frame assembly, a tappet balance mechanism and an operation controller. The driving mechanism is installed on the walking frame assembly. The utility model has the beneficial effects that a control signal is sent by the operation controller controlled by a person, the motor controller sends a signal to the three mechanisms after receiving the signal: the balance wheel mechanism, and the balance wheel mechanism controls the balance driving device to drive the balance wheel to start lifting or descending operation after receiving the signal; after the tappet balance mechanism receives the signal, the tappet balance mechanism controls a tappet driving device to drive a tappet to start lifting or descending operation; and the driving mechanism is used for controlling the two tires to start to rotate or stop after the driving motor receives the signal. Angles of the three mechanisms can be dynamically adjusted according to factors such as inclination of a stair or an obstacle, weight of a human body and gravity center of the human body, so that the stair or the obstacle can be climbed more stably and safely.

The present invention discloses a dismantlable shower assistance chair comprising suction cups that attach the chair to the wall of the bathtub for greater user comfort, and a bearing installed under the seat to allow rotary movement, thus improving access to shower water when necessary. The present invention also discloses telescopic footrests installed inside the seat, which are used to support the user's legs. The dismantlable shower assistance chair has a removable integrated base with wheels, which also allows the user to be moved to different locations. Said wheels are also interchangeable with double or triple wheels, which allows the user to move on flat surfaces or climb stairs. It should be noted that the chair has holes in the backrest and in the seat to prevent water from accumulating.

This invention relates to the field of exoskeleton robot technology, specifically disclosing a rehabilitation exoskeleton robot and its control method. The rehabilitation exoskeleton robot includes a wearable component, a drive component, a sensor component, a visual perception component, and a control component. This invention can adjust the tightening length of the left and right tension bands based on perceived data, thereby controlling the swing leg's movement angle. This reduces cost and system complexity, improves gait recognition accuracy through multi-source sensor fusion, meets the rehabilitation needs of transitional postures, and expands the application scenarios of the exoskeleton. It solves the technical problem in related technologies where the flexible exoskeleton drive structure has poor gait recognition accuracy for transitional postures during rehabilitation training primarily involving walking on flat ground or climbing stairs. Furthermore, the inclusion of a visual perception component allows for the collection of data on moving and static obstacles, thereby addressing the issues of insufficient anti-interference capability and low safety of the walking system in the user's walking environment.

The application discloses an indoor pedestrian navigation method and system based on behavior probability analysis, wherein the method steps comprise the following steps: based on the measurement result of an IMU sensor, a Kalman filter is used to predict the current state of an indoor pedestrian, and a prediction result is obtained; a gait detection method is used to extract a maximum probability zero speed point of the indoor pedestrian; a stair step probability detection method is used to estimate the height of the pedestrian climbing stairs, and an estimation result is obtained; and the prediction result is corrected by using the maximum probability zero speed point and the estimation result, so that indoor pedestrian navigation is completed. The application extracts the zero speed point based on the maximum probability, is suitable for different gaits, and reduces the influence of unstable barometer output on height correction. Through experimental verification, the application can realize high positioning accuracy in an indoor scene.

This utility model belongs to the field of robotics technology, specifically relating to a six-legged wheel-walking hybrid drive robot. It includes a body, with a foot mechanism on the outer wall for foot movement and a lifting mechanism on the inner wall for movement on flat roads. The bottom of the lifting mechanism has a wheel mechanism for movement across different terrains. This six-legged wheel-walking hybrid drive robot achieves flexible switching between two drive modes through a combination of legged and wheeled propulsion. In complex terrains such as mountains and ruins, the legged drive mode, with precise control of the supporting legs by three servo motors in the foot mechanism, allows it to traverse obstacles and climb stairs. On flat roads, the wheeled drive mode can be quickly switched, utilizing wheel rolling for efficient movement, reducing energy consumption, and significantly improving the robot's working efficiency and adaptability in different environments.

A tool box for inspection of power station equipment comprises a box body, an opening is formed in the upper end of the box body, supporting legs are arranged at the bottom of the box body, and universal wheels are arranged at the lower ends of the supporting legs; a pull rod is arranged on one side of the top of the box body, and a turnover drawing plate is inserted in one side opposite to the pull rod. According to the tool box for power station equipment inspection, the supporting legs and the universal wheels capable of being locked are arranged at the bottom of the box body, the pull rod is arranged at the top of the box body, push-pull movement is facilitated, the supporting legs are in threaded connection with the box body, the height can be adjusted, the supporting legs are matched with the drawing plate, the limiting plate and the protrusions to form the seat plate, and flexible switching among the forms of a trolley, a handbag, a platform, a seat and the like can be achieved. And the requirements of multiple scenes such as stair climbing and elevator taking are met.

This application relates to the field of robotics technology, specifically providing a suspension device for robots and a fire-fighting robot equipped with such a suspension device. Because the drive wheels of the robot suspension device are located in front of the suspension bracket, the entire device is situated at the upper front end of the walking mechanism, which consists of the suspension device and the drive motor. When traversing obstacles, such as climbing stairs, the rear support wheel and the first support wheel provide the main fulcrum, eliminating the need for the drive wheels to bear the fulcrum role. This prevents increased pressure between the drive wheels and the tracks, ensuring the normal rotation of the tracks and allowing the entire fire-fighting robot to move forward. This enhances the robot's obstacle-crossing ability and expands its operational space.