404 results about "Climbing stairs" patented technology

The proposed invention is an indoor firefighting robot which has the capability to climb stairs and negotiate several types of floor materials inside buildings. it can withstand very high temperature up to 700 Celsius for as long as 60 minutes using multiple thermal insulation technique. It can communicate with trapped and injured persons inside the fire scene and can send back video and audio information describing the fire environment inside the building to the controller. It has also an insulated container at the rear with oxygen masks to help victims to breathe safely in the smoke environment in the early stage of the firefighting process. Several of these compact firefighting robots can be launched and can work together inside the room or multiple rooms under fire with assistance of remote control unit. The fire robot can avoid obstacles while trying to rescue injured victims.

The invention provides a multifunctional electric wheelchair which comprises a seat. A horizontal and gravity center moving adjusting device is arranged below the seat. A walking device comprises an outer driving wheel mechanism, a universal wheel mechanism and crawler wheel mechanisms. The outer driving wheel mechanism comprises a pair of outer tires, an outer tire driving motor and an outer tire lifting device. The universal wheel mechanism comprises a pair of universal wheels and a universal wheel lifting mechanism. The crawler wheel mechanisms comprise a front crawler wheel mechanism, a middle crawler wheel mechanism and a rear crawler wheel mechanism. An optoelectronic switch is arranged on a frame of the electric wheelchair. The electric wheelchair further comprises a control device. A double-drive structure is adopted, one set is specially used for running on land, and the other set is specially used for climbing stairs up and down. Meanwhile, the stability of a wheelchair body is increased, the wheelchair runs and rotates more flexibly, a sitter feels comfortable and smooth, the wheelchair goes up and down along the stairs, and the aim of going upstairs or downstairs safely is achieved.

The invention discloses a rapidly-dismounted electric stair-climbing wheelchair, belonging to a transportation tool which can continuously travel on the flat ground and continuously climb stairs. The stair-climbing wheelchair comprises a wheelchair frame part capable of adjusting the distance between a front wheel set and a rear wheel seat, a detachable folding wheel chair frame and a seat part, a composite rear wheel set part, a stair-climbing driving part, an anti-forward support part, a seat lifting part and a system power supply part, wherein a direct current (DC) motor arranged under a wheelchair frame is connected with a speed reducer for driving a transmission shaft; and the composite rear wheel set part is symmetrically arranged at the left side and the right side of a shaft, so that functions of climbing stairs and travelling on the flat ground can be realized. The wheelchair frame is connected with the seat part by a rapidly-dismounted part, so that the whole wheel chair can be arranged in a tail box of a small bus after being rapidly disassembled, and is convenient to carry and transport.

The invention discloses a wheelchair capable of climbing stairs smoothly and running on flats. The wheelchair comprises a chair, a lifting device and a running part, wherein the running part is used for bearing the chair, the balance of the chair is kept under the action of the lifting device, the running part consists of a planetary wheel mechanism and a differential drive system, four working states of the wheelchair can be achieved through the combination of the planetary wheel mechanism and the differential drive system and the four working states comprise running on flats, turning on flats, stair descending and climbing and the shift between stairs and flats. The wheelchair is provided with two sets of drive mechanisms, an electric motor drives a central shaft through a straight-tooth cone gear, a planet carrier is driven through a clutch on the central shaft, and stretching and keeping of an impeller are achieved through transfer and linkage of the clutch and an arrester, i.e., differential and identical speed of the central shaft and the planet carrier. The wheelchair is adapted to prior stairs, runs stably and continuously, is good in bearing capacity and can run on flats. By the aid of the wheelchair, the living trip of the elderly and disabled persons is achieved.

The invention relates to a robot capable of synchronously climbing stairs. The robot comprises a tray component, a first walking component, a second walking component and a rotation driving device, wherein the tray component comprises a first support member, a second support member and a third support member, of which the mutual distance and height can be adjusted according to stair steps, the first walking component and the second walking component are respectively connected to the lower ends of the first and third support members and are the same in structure, each walking component comprises an axle, a left wheel member and a right wheel member which are located at the two ends of the axle, the two wheel members are symmetric and identical in structure, shape curves of each wheel rim consist of end-to-end-connected Archimedean spirals and arcs, then, the distance from the wheel rims to the axes of the axles is changed along with rotation, and the rotation driving device is mounted at the lower end of the second support member, is in transmission connection with the first walking component and the second walking component respectively and drives the first walking component and the second walking component. The robot can bear a heavy load, keep horizontal, stably and automatically climb the stairs and walk on flat ground.

A wearable cardioverter defibrillator (“WCD”) system may output a loud sound after detecting and validating a shockable cardiac arrhythmia. In such embodiments, however, the WCD system might not sound a loud alarm before validating the arrhythmia thoroughly, i.e. for a longer time, thus giving the arrhythmia a further chance to self-terminate. The WCD system may thus detect more robustly the cardiac arrhythmias that do not self-terminate quickly. Such arrhythmias that self-terminate quickly may occur from likely harmless events occurring multiple times in the daily life of the patient, such as the patient becoming “winded” from climbing stairs. In embodiments the WCD system may notify the patient only discreetly, or even not at all. The lack of sounding such a loud alarm responsive to such events reduces the overall number of times in which the patient experiences unwanted attention by others, embarrassment, loss of privacy and dignity, and so on.

The invention relates to a wheel / track coupled type self-balancing barrier-free wheelchair. The wheel / track coupled type self-balancing barrier-free wheelchair consists of an upper machine frame, a lower machine frame, a main machine frame, a lower limb machine frame, an auxiliary wheel frame, an auxiliary wheel, a gravity balance mechanism and a wheel / track changing structure moving platform, wherein the upper machine frame and the lower machine frame are connected with the upper end of the main frame in a shaft driving manner and can automatically rotate around the upper end shaft of the main frame through adjustment of the gravity balance mechanism; and the lower limb machine frame is moveably connected with the lower machine frame and can automatically rotate around the outer side of the lower machine frame. By adoption of the wheel / track coupled type moving platform, the wheelchair has excellent obstacle crossing capability when climbing stairs or barriers. The wheel / track coupled type self-balancing barrier-free wheelchair has a reasonable structure, is convenient to operate and provides great convenience for travelling and daily life of people with the lower limbs disabled.

The invention discloses a planetary multi-wheel carrier stair climbing vehicle. The revolution of wheel carriers and the rotation of small wheels can be automatically switched, so that the vehicle can stably and quickly climb stairs. Core contents are that driving wheels are required to be planetary multi-wheel carriers, non-driving wheels are required to be multi-wheel carriers, and the driving wheels and the non-driving wheels have the same point number, wherein a small wheel is arranged at each point of each multi-wheel carrier which serves as the wheel; a planetary wheel system is additionally arranged on each planetary multi-wheel carrier; the small wheels comprise one-way wheels and omnidirectional wheels. Each multi-wheel carrier of the planetary multi-wheel carrier stair climbing vehicle comprises three wheels, four wheels, five wheels or six wheels. A dour-wheel dual-power four-driven six-wheel carrier stair climbing vehicle is shown in a drawing, wherein small bevel gears are driven through a differential spider by two motors, large bevel gears are driven by the small bevel gears, and are matched with chain wheels, and four wheels are driven by the chain wheels respectively. According to stair climbing principles, 1, when the vehicle runs on a level road, planetary wheels and the small wheels rotate; 2, when the vehicle climbs the stairs, the small wheels rotate to get close to a step, and then the multi-wheel carriers revolve; 3, when the vehicle goes downstairs, the small wheels rotate until one small wheel is suspended, the wheel carriers revolve, and after the suspended small wheel is landed, the wheel carriers continue revolving.

The invention relates to a crawler type six-freedom-degree mobile robot which comprises a frame, main motion modules, swing arm motion modules, a control box and sensors. The whole robot has six freedom degrees, two main crawlers can move independently, through the design of a crawler type structure, the robot has high ground passage capacity and can run, steer and the like on a complex road surface, four swing arms can also move independently, and therefore the robot has excellent performance on climbing stairs, crossing obstacles and obstacle avoidance and other tasks.

The present invention is directed to a cart for transporting cargo that is capable of climbing stairs. In the preferred embodiment, the cart has two three-wheel assemblies and a frame. The three-wheel assemblies are designed to rotate when contact is made with stairs, thereby allowing the cart to climb the stairs.

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 provides an anti-climbing stair for a high-voltage electric wire tower and relates to a stair. A board shaped like a Chinese character 'Tu' (9) is connected with the face at the lower part of a connection flange (3) at the lowermost part of the high-voltage electric wire tower; the lower part of the convex position of the board shaped like the Chinese character 'Tu' is fixedly connected with the upper end of a channel steel jacket (5); the lower end of the channel jacket is fixedly connected with a forward bending part at the lower end of a back supporting board (10); the both sides of the face at the front part of the back supporting board are movably connected with the inner ends of a plurality of steel roll stairs (6) through a plurality of pin shafts (14); the steel roll stairs are located at a horizontal position, and limiting convex blocks (12) are respectively arranged at each upper part of the steel roll stairs, which is tightly adhered to an upward bending rod (13); splicing rods (11) are respectively arranged at the back part of a connecting rod (7) corresponding to the upper part of the other end of each upward bending rod. The foldable stair arranged at the lower part of the high-voltage electric wire tower disclosed by the invention can be used for effectively preventing children or suicides from climbing the high-voltage electric wire tower.

The invention provides a bionic foot for a bionic robot. The bionic foot comprises a sole base, a bionic arch, an anti-sliding foot pad and a moveable sole, wherein the bionic arch has an arch-shaped structure, simulates a human arch and comprises four bionic arch plate spring stacking modules which are formed by successively staggering and stacking a plurality of plate spring blocks; the bionic arch has a buffering function when the robot walks and climbs stairs and can greatly reduce the ground impact force; the moveable sole is in pivoted connection with the sole base through a rotating shaft; the moveable sole and the sole base has a same degree of freedom; a spring is used for applying a pre-tightening force in the rotating shaft, so that a passive joint is formed; when the robot walks, the moveable sole is clung to the ground, so that the flexibility of the foot is increased and the moving posture of the foot while walking is improved.

The invention provides an aiding method and a device which use a wheelchair for climbing stairs, and relates to the mechanical technology of helping old people and disabled people. A folding movable stay plate is installed at one side of the stairs close to the wall, and a moped consisting of a storage battery, a controller, a control module, a driving module, a framework, a shell, a DC electric machine, a reducer and wheels is also arranged at the side of the stairs close to the wall. After the movable stay plate is put down, an inclined plane is formed on the stairs, and the moped is connected with a connecting piece arranged at the back of a backrest of the wheelchair. Under the control of the auxiliary operating staff, the moped pushes the wheelchair to climb the stairs.

The invention belongs to the field of robots, and specifically discloses a complex environment-oriented lower limb robot gait planning method. The method comprises the steps of: setting mark points onthe lower limbs of a human body, and obtaining static posture data and moving posture data of the human body through a motion capture system; carrying out inverse kinematic calculation on a human body model according to the moving posture data so as to obtain angle data of each joint in the moving process; and establishing a fitting function according to a relationship between the angle data of each joint and a period, and carrying out lower limb robot gait planning according to the fitting function. According to the method, the discrete joint angle data is serialized, so that the change of the joint angle data in the gait period can be basically restored; experiences prove that the method has relatively fitting results, is capable of enabling the lower limb robots to restore the motionsof the human bodies to the greatest extent, and can be suitable for complex walking environments such as walking, climbing hills and climbing stairs.

The invention discloses a novel electric stair climbing wheelchair chassis and a design method thereof. The method comprises the steps that a star wheel mechanism is adopted as a driving walking base of an electric stair climbing wheelchair. According to the walking mode of the star wheel mechanism, a star wheel automatically rotates so that the electric stair climbing wheelchair can horizontally move on the horizontal ground, and the star wheel rotates around the rotation center line of the star wheel mechanism so that the electric stair climbing wheelchair can achieve the function of climbing stairs. According to the two walking modes, the rotation center line of the star wheel mechanism is provided with a driving center gear and a center shaft which is independent from the driving center gear, the driving center gear drives the star wheel to automatically rotate, the center shaft drives the star wheel mechanism so that the star wheel can rotate around the rotation center line of the star wheel mechanism, and the motor drives the center shaft and the center gear through an electromagnetic clutch. According to the novel electric stair climbing wheelchair chassis, the phenomenon of skid prevention of the star wheel mechanism in an existing stair climbing wheelchair chassis is avoided, the shaft and the star wheel mechanism are locked in an active mode when a user climbs stairs, and therefore the star wheel mechanism turns over to climb the stairs.

The invention discloses a human wearable type decompression and assistance mechanical exoskeleton device. The human wearable type decompression and assistance mechanical exoskeleton device comprises shoulder joint exoskeleton multi-bar mechanisms, a vertebral column joint exoskeleton mechanism with dual six-axis platforms, hip joint exoskeleton multi-bar mechanisms and two shank foot supporting exoskeleton mechanisms which are sequentially connected from top to bottom; the structures of the shoulder joint exoskeleton multi-bar mechanisms are the same as those of the hip joint exoskeleton multi-bar mechanisms; the top and the bottom of the vertebral column joint exoskeleton mechanism with dual six-axis platforms are fixedly connected to the middle of the bottoms of the shoulder joint exoskeleton multi-bar mechanisms and the middle of the tops of the hip joint exoskeleton multi-bar mechanisms separately; and the upper end of each shank foot supporting exoskeleton mechanism is connected to the left side and the right side of the lower end of the corresponding hip joint exoskeleton multi-bar mechanism. According to the human wearable type decompression and assistance mechanical exoskeleton device disclosed by the invention, pressure of heavy objects carried on the back of the human is sufficiently relieved, good assistance is provided, and weight of heavy objects carried on the back is greatly increased, and therefore, the human wearable type decompression and assistance mechanical exoskeleton device is suitable for assisting the old to climb stairs and travel, and also can be used for rehabilitation on patients by virtue of medical apparatuses and instruments.

The invention discloses a self-control wheel-track automatic-switching stair-climbing machine. The self-control wheel-track automatic-switching stair-climbing machine is characterized in that: a wheel-track switching mechanism is arranged in a way that: front and rear wheels are assembled on wheel shafts on the two sides of each of a front wheel shaft bracket and a rear wheel shaft bracket; the middle parts of the front and rear wheel shaft brackets are provided with lifting drive shafts connected into a whole; the lifting drive shafts and the wheel shafts on the two sides form eccentric structures; the two sides of each of the front and rear wheel shaft brackets are fixed with a push shank respectively; connecting rods are hinged between the front and rear push shanks on the two sides; the lifting drive shaft of the rear wheel shaft bracket is fixed with a rocking handle; a vehicle frame is fixedly connected with a support arm; an electric push rod of an electric push rod component is hinged with the rocking handle, while a push rod seat is hinged with the support arm; and a steering mechanism is arranged in a way that: the vehicle frame is provided with a driven steering wheel lifting mechanism frame which is hinged with the electric push rod seat; a driven steering wheel supporting arm is hinged with the electric push rod of an electric push rod component; and the middle part of the driven steering wheel supporting arm is connected to the driven steering wheel lifting mechanism frame by a pin shaft, while an end part is connected with a driven steering wheel. The self-control wheel-track automatic-switching stair-climbing machine has the advantages of traveling on a flat ground, climbing stairs, realizing free switching according to needs and realizing a zero-turning radius, along with safety and reliability in use.

The invention relates to a power-assisted transferring trolley capable of climbing stairs. The power-assisted transferring trolley capable of climbing stairs comprises a bearing device used for bearing goods, a stair climbing device capable of achieving stair climbing through track movement, a flat ground and stair converting device used for adjusting the working angle between the bearing device and the stair climbing device, a control device used for controlling the working states of the stair climbing devices and the flat ground and stair converting device, and a power source. The bearing device and the stair climbing device are connected through the flat ground and stair converting device. The flat ground and stair converting device comprises a telescopic push rod, a push rod cylinder and a push rod driving motor. The push rod driving motor provides power for the operation of the push rod cylinder. The operating state of the push rod cylinder determines the telescopic length of the push rod. The power-assisted transferring trolley capable of climbing stairs has a flat road traveling function and a stair climbing function, and the movement speed and direction of the trolley can be adjusted; and in addition, the power-assisted transferring trolley is simple in structure and convenient to operate, the labor intensity of operators is greatly relieved, and the working efficiency and safety are improved.

The invention relates to a new type of motion driving mechanism. The walking body adopts a helical mechanism. When the helical mechanism contacts the ground surface, a strong friction pair is formed by the helical contact line or the helical contact surface. Movement or combined horizontal and vertical arbitrary given movement, so as to achieve the purpose of walking movement, this driving form is different from the traditional walking movement, has a strong driving ability, can climb over various obstacles, climb stairs smoothly, and is not affected by various Road restrictions, can adapt to the off-road driving of complex terrain and landforms in the field, can be applied to rescue and disaster relief with complex road conditions or unknown road surfaces, earthquake rescue, obstacle-breaking tools, vehicles for people or materials to climb stairs, etc. The principle of the new spiral walking motion mechanism is simple, It has high reliability, low cost, wide application fields, can be realized in a variety of ways, and can be combined with multiple functions and multiple operation mode applications.

The present invention discloses a driving device capable of walking and stair-climbing by electric power which adopts a combination of a walking mechanism and a climbing carrier to create inventive planetary gear transmission principles. When walking on a flat ground, a driving part drives a sun gear to rotate in a positive direction, two walking wheels are in contact with the ground at the same time, the sun gear drives a planet gear to rotate in a negative direction around a planet shaft, and inner teeth and outer teeth of a gear ring rotate in the negative direction synchronously with the planet gear, thereby a transmission gear drives the walking wheel to rotate in the positive direction to realize rotation of walking. When climbing stairs, the sun gear rotates in the positive direction, the walking wheel is obstructed by stair, the transmission gear, the inner and outer teeth of the gear ring stop rotating, and the sun gear drives the planet gear to revolute along the inner teeth in the positive direction, thereby the planet shaft drives the climbing carrier to rotate in the positive direction to realize climbing cross obstacles. Thus, the present invention solves the problem of the known planetary wheel structure that the climbing carrier is driven to rotate in opposite direction when the walking wheel cannot rotate such and thus is difficult to realize the function of stair-climbing, and has advantages of simple structure and safe and reliable use.

The invention discloses a portable power assisting device for assisting lower limbs of a human body to climb stairs. The portable power assisting device comprises a power assisting mechanism, a controller and a direct current power supply. The power assisting mechanism comprises a waist supporting part, two executors, two leg fixing racks and two leg bandages, wherein the waist supporting part is U-shaped for being matched with the waist of the human body; the two executors are separately mounted on two ends of the U shape of the waist supporting part for assisting two lower limbs of the human body to climb stairs; the two leg fixing racks are separately mounted on the two executors; and the two leg bandages are separately mounted on the two leg fixing racks and are separately bonded to the two lower limbs of the human body if being used. The controller controls the two executors to operate and the direct current power supply provides a power supply to the two executors. A power assisting effect can be achieved by assisting flexion and extension of quadriceps femoris without a targeted structural design for integrally considering motions of hip joints, knee joints and ankle joints, so that the cost is lowered to a great extent.

The single rotation shaft stairs climbing wheel chair includes caster wheel assemblies, star frames, a driving mechanism, an energy source and balance mechanism, a wheel chair rotation shaft, a seat, etc. The caster wheel assemblies are mounted onto the star frame; the star frame may have 3, 4, 5 or 6 sides; and the driving mechanism has two freedom degrees and may be driven with the caster wheel or the star frame. It features only one rotation shaft to drive two star frames for no interference during climbing stairs. The present invention has light weight, safety, automation, low cost and other features.

The invention discloses a multifunctional universal robot chassis, which adopts a wheel type and crawler type combined robot chassis structure that integrates the advantages of a wheel type structureand a crawler type structure and overcomes the defects of the two structures; when the robot chassis needs to rapidly travel, a crawler mechanism is controlled to be folded, and wheels are landed, sothat rapid movement is realized; when the robot chassis needs to climb stairs or cross obstacles, the crawler mechanisms are put down through control, the crawler mechanisms are driven by the wheels to move together, so the stair climbing and obstacle crossing functions are achieved. Compared with an existing composite robot chassis, the multifunctional universal robot chassis is small in appearance sizes, capable of riding an elevator and entering and exiting indoor / outdoor doors, is relatively simple in structure, complete in function, high in universality and wide in application range.

The invention relates to an electric wheelchair, in particular to a wheel-track combined electric wheelchair which can not only travel on a flat ground in a hub mode, but also cross obstacles and climb stairs in a track mode. The wheel-track combined electric wheelchair mainly comprises a wheel-track switching module, two track modules, a seat balance module, a chassis and a control box. The wheel-track switching module comprises two parallelogram mechanisms, a front coupling, a rear coupling, a switching crank and a switching push rod, the two parallelogram mechanisms are symmetrically distributed on two sides of the electric wheelchair, and the two track modules are symmetrically distributed on two sides of the electric wheelchair and comprise tracks, track driving wheels, a track driven wheels, track driven wheel inner plates, track driven wheel outer plates, track supporting plates and stepping motors. A hub traveling mode and a track travelling mode are simultaneously set on one device, the two modes can be automatically switched through a switching mechanism, and the electric wheelchair is compact in structure and convenient to use.

The invention relates to a vehicle-mounted unmanned aerial vehicle system for take-out delivery and belongs to the field of intelligent control. The vehicle-mounted unmanned aerial vehicle system comprises an unmanned vehicle, at least one unmanned aerial vehicle, a remote control terminal and a monitoring terminal. The remote control terminal at least comprises an operator; the information of theunmanned vehicle and the unmanned aerial vehicle is received by a wired or wireless network, and the unmanned vehicle and the unmanned aerial vehicle are operated; and the monitoring terminal is usedfor supervising the condition of the operator of the remote control terminal and operating conditions of the unmanned vehicle and the unmanned aerial vehicle. The technical scheme has the beneficialeffects that after the operator of the remote control terminal operates the unmanned vehicle carrying the unmanned aerial vehicle to reach a preset position, the unmanned aerial vehicle rectilinearlyflies to a client window to deliver the take-out foods, the operation of taking the elevator or climbing stairs is not needed in the process, and compared with the traditional take-out delivery manner, the vehicle-mounted unmanned aerial vehicle system has the advantage that the time consumption is obviously shortened.

The invention belongs to the technical field of intelligent equipment, and particularly relates to a converting station fire disaster early warning inspecting robot. A robot body and a walking device,a monitoring device, a control device, a communication device and a navigation positioning device which are arranged on the robot body are included, the walking device comprises two V-shaped crank arms and two obliquely arranged supporting frames, the ends of the V-shaped crank arms and the supporting frames are provided with driving motors, rolling wheels are in transmission connection with output shafts of the driving motors. The robot has the advantages that functions of climbing stairs and entering cable ditches are achieved, equipment of cable ditches and the like and indoor and outdoorenvironments of a converting station can be automatically inspected according to preset time and routes, fire disaster potential safety hazards of heat generating points, electric sparks, flame spots,smoke sensing spots and the like can be timely discovered, functions of fire disaster early warning and alarming of an unmanned converting station are achieved, and the robot has the application prospects of being popularized in the fields of warehouses, oil depots and the like.