66 results about "Crawling" patented technology

The invention relates to the technical field of bionics, in particular to a bionic crawling device which comprises a support, a driving unit and at least one pair of crawling mechanisms, and each pair of crawling mechanisms comprises two space crank structures; a phase difference exists between actions of the two space crank structures, and the tail ends of the outer sides of the two space crank structures are located at low positions in turn to bear the support; the space crank structure comprises an inner crank, a first fulcrum and an outer crank which are sequentially connected, the driving unit is used for driving the inner crank to do conical motion, the first fulcrum is rotationally connected to the support, the inner crank is arranged in the support in a translational motion mode, and the outer crank is arranged outside the support in a translational motion mode. Each pair of crawling mechanisms can be driven to act through one driving unit, the number of driving sources is small, the production and manufacturing cost is low, the space crank structure is good in working stability and small in occupied space, use of connecting rods and exposure of unnecessary parts are reduced, the bionic crawling device can be made more refined, and the service life of the bionic crawling device is prolonged. During crawling, the fluctuation range is small, and the crawling stability is good.

A crawling device in a large-inclination-angle pipeline comprises a crawling unit and a telescopic unit. The crawling units are symmetrically arranged, each crawling unit comprises a connecting plate, a plurality of rolling wheels are arranged outside the first end of each crawling unit in a circumferential array mode, a plurality of fixing rods are arranged on the circumferential side of the second end of each connecting plate, a plurality of push-pull type electromagnets are further arranged on the circumferential side of each connecting plate, a first connecting plate is hinged to the push-pull end of each connecting plate, and the fixing rods penetrate through the first connecting plates; a push-pull ring is arranged outside the second end of the connecting plate, a plurality of moving plates penetrate through the peripheral side of the push-pull ring in a sliding fit mode in the radial direction of the push-pull ring, one end of the first connecting plate is hinged to the moving plates, and a supporting block is arranged at one end of each moving plate. The telescopic unit is arranged between the two crawling units and used for adjusting the distance between the two crawling units. The crawling device in the large-inclination-angle pipeline can stably crawl in the large-inclination-angle pipeline, and the problem that a wheel type crawling device cannot pull detection equipment to conduct pipeline detection in the large-inclination-angle pipeline is solved.

The invention relates to an AUV (Autonomous Underwater Vehicle) crawling system and application thereof. The plurality of translation mechanisms are mounted on the machine body; in the plurality of lifting mechanisms, the plurality of lifting mechanisms are respectively connected with the movable ends of the plurality of translation mechanisms and the machine body; the multiple wheel set opening and closing mechanisms are connected with the fixed ends of the multiple lifting mechanisms correspondingly. The plurality of walking wheel sets are respectively connected with the plurality of wheel set opening and closing mechanisms; the multiple auxiliary clamping mechanisms are connected with the multiple wheel set opening and closing mechanisms correspondingly. In the obstacle-avoiding crawling process of each obstacle-crossing unit on the pipe / cable, the walking wheel set and the auxiliary clamping mechanism are driven to swing in sequence, the height position of the wheel set opening and closing mechanism relative to an obstacle is adjusted through the lifting mechanism, and the lifting mechanism is driven to cross the obstacle through the translation mechanism. And the obstacle crossing units repeat the actions, so that the AUV crawling system completes inchworm type obstacle crossing on the pipe / cable. The AUV crawling system can adapt to crawling of pipes / cables in different environments, is high in obstacle crossing capacity and belongs to the technical field of pipe / cable inspection.

The invention discloses an infant head-wearing-free easy-to-put-on and take-off creeping series underwear which comprises a body which is specifically formed by sewing a front fabric and a rear fabric, boneless sewing is adopted, and sewing threads are arranged on the outer side of the body; the shoulder and neck parts of the body are designed into a crossed style; the body is made of elastic materials, the at least one breathable net is made of elastic net-shaped materials and arranged at the armpit positions of the body respectively, the breathable net is designed to be of a rhombic structure, the breathable net is arranged on the back of the body, and the body can be one of a half-back garment, a farting garment, a night gown, a jumpsuit and a suit. Compared with the prior art, the infant head-sleeving-free easy-to-put-on and take-off creeping series underwear has the advantages that the defects of existing infant clothes in the aspects of breathability, comfort, adaptability and convenience are effectively overcome through innovative model design, reasonable material selection and a fine manufacturing process; powerful support is provided for healthy growth and exercise development of the infants, and wide market application prospects are achieved.

The present invention discloses a multi - motion - mode amphibious robot inspired by the walking of goats and the crawling of turtles, which includes a body. On one set of opposite side walls of the body, four moving mechanisms are symmetrically arranged. On the other set of opposite side walls of the body, float boxes are provided. A water - driving mechanism is arranged on one side wall of the body where the moving mechanism is located. The robot of the present invention solves the problems of low motion efficiency and poor obstacle - crossing performance of existing robots.

An underwater crawling device for a nuclear reactor comprises: a drive control mechanism; the crawling mechanism is connected with the driving control mechanism, the crawling mechanism comprises a machine body and a plurality of crawling legs, each crawling leg comprises a translation component and a lifting component, the translation component is connected with the machine body, the lifting component is connected with the translation component, and the machine body is connected with the machine body. The driving control mechanism controls the translation part and the lifting part to move in sequence according to a set sequence; the plurality of crawling legs are matched with one another to drive the machine body to crawl and move to a set position; wherein the lifting component is provided with a positioning guide pin corresponding to a flow hole of a lower grid plate of a reactor core in a reactor pressure vessel, and the lifting component is inserted into the flow hole through the positioning guide pin to realize crawling movement; a machine body guide pin matched with the flow hole is arranged on the bottom face of the machine body, and the machine body guide pin is inserted into the flow hole to achieve positioning and bear horizontal component force.

The utility model provides a crawling mechanism of a mine draw shaft blockage dredging device, which belongs to the technical field of mining and is used for solving the problem of how to feed a dredging tool into a blocked part in a draw shaft when the draw shaft is blocked in the prior art. The crawling mechanism comprises two groups of crawling frames which are arranged back to back, wherein each crawling frame comprises a fixed ring, a movable ring, a telescopic part and a retracting and stretching part; the fixed rings of the two sets of crawling frames are fixedly connected to form a middle rack, and the movable rings of the two sets of crawling frames are located on the two sides of the middle rack correspondingly. The telescopic part is connected between the fixed ring and the movable ring and is used for adjusting the axial distance of the movable ring relative to the middle rack; the retracting and stretching part is connected to the periphery of the movable ring, and the radial distance between an abutting structure on the outer side of the retracting and stretching part and the movable ring is adjusted. Crawling is achieved through alternate action of the telescopic part and the stretching and retracting part, the problem of how to feed a dredging tool into a blocked part is solved, and the dredging efficiency and safety are improved.

The present application belongs to the field of robotics technology, and discloses a multi-motion modal robot, including: a trunk, a crawling leg assembly and a jumping assembly. A crawling leg assembly is installed on the left front side, the right front side, the left rear side and the right rear side of the trunk, respectively, to form a four-legged distributed crawling robot. In conjunction with the gait control strategy, the multi-motion modal robot can produce a coordinated motion mode similar to that of biological limbs, and has better ground contact stability than bipedal or hexapod robots. A jumping assembly is arranged on the ventral side of the trunk, and the multi-motion modal robot can move forward quickly or cross obstacles through a jumping control strategy. In addition, when the multi-motion modal robot rolls over, the reset structure combined with part of the crawling leg assembly can reset itself. The multi-motion modal robot of the present application has a compact structure and strong adaptability. It can achieve high-maneuverability obstacle crossing and self-reset after rollover in complex terrain, and integrates crawling mode and jumping mode.

The application provides a four-legged crawling gecko robot and a control system thereof. The four-legged crawling gecko robot comprises a trunk structure, four symmetrically distributed leg structures, and four foot suction cups. The four-legged crawling gecko robot further comprises a motor driving system. A damping turntable is used as a waist joint for connecting a front trunk and a rear trunk of the trunk structure, so that the robot swings left and right. A longitudinal servo steering engine is used as a shoulder joint for connecting the trunk structure and the leg structure, so as to control the lifting and falling of the leg structure. A first transverse servo steering engine is used as an elbow joint for connecting the longitudinal servo steering engine and the leg structure, so as to drive the movement of the leg structure. A second transverse servo steering engine is used as a wrist joint for connecting the leg structure and the foot suction cup, so as to adjust the foot landing point position of the foot suction cup. The four-legged crawling gecko robot can realize flexible movement in a complex environment and maintain the stability of movement in a vertical plane.

The utility model discloses a crawl training device for preschool education, and relates to the technical field of preschool education auxiliary equipment, the crawl training device comprises a crawl pad and an adjusting mechanism arranged on the outer wall of the crawl pad, by arranging a toy, when a child is subjected to crawl training, in order to stimulate the interest of the child in crawl, the attention of the child is attracted through the toy, and the child is more interested in crawl. A sliding knob can be rotated to drive a sliding block to slide along the inner wall of a sliding groove through rotation of a sliding threaded rod, and a telescopic rod is driven to do reciprocating telescopic motion along the outer wall of a connecting rod through connection of a telescopic groove, so that control operation on the position movement adjustment convenience of the toy is achieved; compared with an existing crawling training device, the crawling training device for preschool education has the effects that the convenience of position movement and adjustment of toys is improved, and the folding rods for assisting and supporting standing of infants are conveniently stored.

The present invention discloses a rehabilitation crawling device, which includes a large platform panel, a small platform panel, pressure sensors, a chin bracket, a safety belt, universal wheels, a control device, and an anti-rollover device; the large platform panel bears the human torso in the crawling state, greatly reducing the supporting force required by the limbs; the small platform panel is placed at the elbows and knees or hands and knees, and the small platform reduces the gravity load for the support of the arms and legs during crawling; stroke hemiplegia patients and patients with brain dysfunction perform crawling rehabilitation exercises; middle-aged and elderly people with declining physical fitness engage in crawling exercises to prevent various diseases. According to the needs of the rehabilitator, the large platform panel can be used alone to support the human torso for crawling; or the large platform panel and the small platform panel can be used simultaneously; the crawling training state can be accurately detected from multiple angles, the detection data can be quickly analyzed, and the cost is low. Patients can quickly see the results of their training, stimulate the interest in actively participating in activities, adhere to the training, resulting in efficient rehabilitation and forming a virtuous cycle; achieving the effects of improving brain function and limb function.

1. The name of the product of this design: Toy (wind-up crawling tiger). 2. Purpose of the product with this design: This product with this design is used for children to play. 3. The design key point of this appearance design product lies in the shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

The invention discloses a power transmission tower climbing device which comprises a connecting guide rail, at least two crawling devices are arranged on the connecting guide rail at intervals, and one crawling device on the outermost side in the extending direction of the connecting guide rail is a fixed crawling device and is fixedly connected with the connecting guide rail. The other crawling devices are movable crawling devices and are slidably connected to the connecting guide rail, and the movable crawling devices can slide on the connecting guide rail in the extending direction of the connecting guide rail; the crawling device comprises a crawling body, and the crawling body is provided with a clamping device which can exert controllable acting force on the inner side end of the iron tower angle steel and can keep the crawling body and the iron tower angle steel in a relatively static state by pressing the bottom of the crawling body on the outer side face of the iron tower angle steel. Crawling driving devices connected with the fixed crawling device and the movable crawling devices are arranged between the fixed crawling device and the movable crawling devices, and the crawling driving devices can drive the fixed crawling device and the movable crawling devices to move in the opposite or opposite directions.

1. The name of the design product: twist waist crawling machine. 2. The use of the design product: for sports fitness. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The utility model relates to the technical field of drilling crawling devices, in particular to an automatic crawling device for drilling dragging. The automatic crawling device for drilling dragging aims at solving the technical problems that in the prior art, the height and the using angle cannot be adjusted, the obstacle removing function is not achieved, and in the crawling process, riprap is prone to being clamped into the device. According to the technical scheme, the automatic crawling device for drilling dragging comprises a fixing frame; the device further comprises a rotating shaft, crawler wheels, a walking crawler belt, a transverse moving assembly, a guiding assembly, a supporting frame, an obstacle removing assembly, a moving plate, a second motor, a rotating disc, a vertical supporting arm, a rotating arm and a third motor. The overall adjustable design is adopted, the using height and angle can be adjusted, drilling equipment can be better dragged, more stable drilling movement can be provided, the obstacle removing mechanism is further arranged, front riprap is pushed while dragging is conducted, and therefore the riprap is prevented from being clamped into the device.

1. Name of the designed product: infant's open-front and open-leg triangle crawling suit (magnetic buckle). 2. Use of the designed product: used for infants to wear, facilitating clothes for crawling. 3. Design points of the designed product: in the combination of shape, pattern and color. 4. Picture or photo best indicating the design points: perspective view. 5. The design for which protection is sought contains colors. 6. The designed product is a thin product, and other views are omitted.

The application provides a friction experiment device and method applied to inhibiting crawling research. The device comprises a motion control device, a balancing device, a friction device structure, a data acquisition device and a control unit. The application controls a stepping motor to realize low-speed motion, detects displacement and friction force change trends when crawling occurs, provides different system stiffness by using a spring, records friction force and displacement changes of a friction pair during motion, evaluates the crawling degree of the friction pair, and finds out measures for inhibiting crawling. The structure is simple, and observation is convenient.

The invention belongs to the field of rehabilitation training equipment, and discloses a prone four-limb linkage crawler and a control method thereof. The crawler comprises a main body support, and a hand movement mechanism, a transmission mechanism, an abdomen flexible supporting device, a foot movement mechanism, a man-machine interaction module, a power module, a sensing module and a control module which are respectively fixed on the main body support. The transmission mechanism comprises a transmission piece which is connected with the hand movement mechanism and the foot movement mechanism and enables the end executors on the same side to move synchronously. Opposite-side end actuators on the hand movement mechanism and the foot movement mechanism are fixed in opposite directions and perform circular motion; the abdomen flexible supporting device can achieve small-amplitude springing or / and twisting or / and swinging of the abdomen and the waist of the user along with movement of the four limbs in the training process. According to the crawler, the movement of four limbs of a user during training is closer to the multi-axis movement of an animal during crawling, an intelligent control method is introduced, and the self-adaptive and personalized rehabilitation requirements of the user are met.

A crawling insect trapping device for preventing crawling insects from accessing food for a pet includes a panel and an annular trough. The panel has an upper surface, a lower surface, and a perimeter. The annular trough is attached to and extends upwardly from the upper surface to define a protected area and an outer area upon the upper surface. The food, or a bowl containing the food, can be positioned in the protected area. A liquid can be positioned in the annular trough so that a crawling insect is prevented from entering the protected area.

Bionic octopod spider robot, which includes a torso, a silk-spinning mechanism, two auxiliary leg groups and three types of leg groups; three types of leg groups are arranged on the upper part of the torso, two auxiliary leg groups that can assist in rolling are arranged on the lower part of the torso, and the silk-spinning mechanism is arranged at the front of the torso; three types of leg groups are respectively arranged on both sides of the torso. The first type of leg group includes a pair of crawling and rolling assistance leg groups arranged symmetrically, the second type of leg group includes a pair of crawling and rolling telescopic leg groups arranged symmetrically, and the third type of leg group includes a pair of crawling gait leg groups arranged symmetrically. The crawling gait leg groups on the same side are located between the crawling and rolling assistance leg groups and the crawling and rolling telescopic leg groups; when the robot rolls, the arc-shaped feet of the crawling and rolling assistance leg groups on the same side are docked with the unfolded arc-shaped telescopic legs to form a circular rolling ring. The structure of the present invention is compact, with modular design, easy to expand, and stable and reliable in operation.

The present application relates to the technical field of bionic robot, and particularly relates to a bionic mole cricket micro crawling and excavating robot based on multi-mechanism cooperative driving. The bionic mole cricket micro crawling and excavating robot comprises a four-legged crawling mechanism for driving the whole robot to move on the ground, a steering mechanism for adjusting the moving direction of the four-legged crawling mechanism on the ground and a bionic excavating mechanism for excavating soil; the four-legged crawling mechanism comprises a body and four bionic legs located at the bottom of the body, each group of the bionic legs is provided with a leg lifting mechanism and a leg swinging mechanism for periodically driving the bionic legs to sequentially perform leg lifting and leg swinging actions respectively; a transmission mechanism is arranged in the body, and the transmission mechanism is used for simultaneously driving the leg lifting mechanism and the leg swinging mechanism of each group of the bionic legs. The crawling mechanism design driven by a single motor reduces the number of actuators, makes the robot structure more compact, and through the multi-mechanism cooperative driving design, the robot can simultaneously realize the functions of crawling, steering and excavating.

The present invention relates to an underwater robot. The purpose is to provide an underwater crawling and feeding robot, which has the characteristics of being able to move amphibiously on land and water and having a good feeding effect. The technical solution is: an underwater crawling and feeding robot, characterized in that: the robot further includes a bottom crawling mechanism with four legs installed on the front and rear sides of the body shell, and a tail swimming mechanism installed at the rear end of the body shell; an underwater ascending and descending mechanism with an airbag is arranged inside the body shell; each leg includes a thigh and a calf formed by combination.

The invention provides an adjustable active clamping crawler which comprises an upper hoop, a lower hoop and a jacking oil cylinder connected between the upper hoop and the lower hoop, and the jacking oil cylinder is used for driving the upper hoop and the lower hoop to alternately crawl in a stepping mode. Each of the upper hoop and the lower hoop is formed by connecting two semi-ring assemblies through a pin shaft and a fastening bolt; each of the upper hoop and the lower hoop comprises an outer hoop assembly and an inner hoop assembly embedded in the outer hoop assembly; the outer hoop assembly is provided with an adjustable device used for adapting to the sizes of pier columns with different diameters. The inner hoop assembly comprises an inner hoop steel belt, a flange connecting block and a locking device assembly, and the locking device assembly is arranged between the two semi-ring hoops in a penetrating mode and drives the two semi-ring hoops to achieve clamping and loosening. According to the crawler, adaptive switching of bridge pier columns of different specifications can be achieved, and the turnover utilization rate of equipment is greatly increased; and the clamping force can be accurately controlled, and damage to the surface of the bridge pier stud can be effectively avoided in the crawling process of the crawler.

The utility model belongs to the pipeline cleaning equipment technical field that petroleum, chemical industry adopts belongs to, disclose a kind of petroleum pipe wall inside crawling device, comprising the same structure of crawling device upper section and crawling device lower section group, the crawling device upper section includes crawling support, the upper end of the crawling support is fixedly connected with upper cover, the lower end of the crawling support is fixedly connected with bottom plate, three sets of telescopic wall claw mechanism of being located at the same height are equipped on the side wall of the crawling support, the screw rod that the middle axis in the crawling support coincides with is equipped in the crawling support.This application, driver driving screw rod rotation is located on the upper cover and is connected with the top end of screw rod, and then drive the lifting of the connecting block on screw rod, the hinge point position of connecting block and connecting rod changes, and piston is hinged to the other end of connecting rod and moves along the radial direction of crawling support, wall claw is telescopic relative to crawling support, therefore, when pipe wall crawling device needs to move, wall claw can be retracted along the radial direction of crawling support.

The utility model relates to the technical field of infant crawling training, and discloses an infant crawling training device which comprises a back and abdomen assembly, at least two upper limb binding assemblies and at least two lower limb binding assemblies, and the back and abdomen assembly comprises a back and abdomen belt and a fixing belt which are connected and used for binding the abdomen of an adult and the abdomen of an infant respectively. The upper limb constraining assembly comprises an infant upper limb constraining cylinder and an adult upper limb constraining cylinder which are connected and used for being bound to arms of an infant and an adult respectively, and the lower limb constraining assembly comprises an infant lower limb constraining cylinder and an adult lower limb constraining cylinder which are connected and used for being bound to legs of the infant and the adult respectively. The infant crawling training device is good in crawling training effect and good in interactivity.

The application relates to a magnetic attraction crawler and a crawling control method thereof, wherein the magnetic attraction crawler comprises a frame and a magnetic attraction assembly; two moving wheels are arranged at the front end of the frame, and one moving wheel is arranged at the rear end of the frame; the moving wheels at the front end are driving wheels connected with driving devices, and the driving devices are arranged in the frame; the magnetic attraction assembly comprises a first magnetic attraction structure and a second magnetic attraction structure; the first magnetic attraction structure comprises three sector-shaped electromagnetic attraction structures corresponding to the three moving wheels respectively; the radius of the sector-shaped electromagnetic attraction structure is smaller than the radius of the moving wheel; each sector-shaped electromagnetic attraction structure is coaxial with the moving wheel and is rotatably arranged on the moving wheel; the second magnetic attraction structure comprises a permanent magnet and a lifting mechanism; the permanent magnet is arranged in the middle of the frame through the lifting mechanism; and the lifting mechanism is used for adjusting the distance between the permanent magnet and the frame. The application solves the problem that the current crawler has limited wall surface scenarios in single crawling movement.

The present invention discloses a gecko-like robot with a bionic spine, which belongs to the technical field of climbing robots. The gecko-like robot includes a shoulder girdle joint module, a pelvic girdle joint module, a bionic spine, a limb module, a hybrid attachment mechanism and a drive control module. The bionic spine includes a rigid linear guide mechanism and a flexible spinal joint mechanism. The linear guide mechanism includes a guide rail and a slider slidably mounted on the guide rail. The front end of the linear guide mechanism is mounted in the middle of the shoulder girdle frame and the rear end is mounted in the middle of the pelvic girdle frame. The spinal joint mechanism includes N spinal joint servos and N-1 joint connecting rods, where N is an integer greater than 2, and each joint connecting rod is respectively connected between two adjacent spinal joint servos. The bionic spine uses the gecko spine as a bionic prototype. During crawling, it can imitate the curved shape of the gecko spine, so that the robot can bend and crawl, and the robot can imitate the movement of the gecko spine, thereby increasing the robot's movement flexibility.

The present invention relates to a self-ambulation helper and assistive rehabilitative device that is primarily designed to train the initial developmental phase of early life i.e., independent crawling. The device includes a tummy rest, a pair of forearm rest, a pair of leg rests, a left supporting rod, a right supporting rod, and a main frame. The tummy rest includes a tummy bracket, a top layer, and a pair of height adjusting mechanisms. The pair of forearm rest includes a left forearm rest and a right forearm rest. The pair of leg rest includes a left leg rest and a right leg rest. Each forearm rest and each leg rest include an adjustable strap and a base support. The device ensures reinforcement of biomechanically correct training patterns through repetitive practice at home for such patients.

The invention discloses crawling-imitating fitness equipment, and belongs to rehabilitation measures for spinal diseases in a pain remission period and fitness equipment for carrying out fitness exercises on cervical vertebra and lumbar vertebra. The robot is divided into two action movement parts, namely an upper limb movement part and a lower limb movement part. The upper limb telecontrol part comprises a front rotating shaft, a front synchronous belt wheel, wheel discs at the two ends of the front rotating shaft, wheel disc side shafts on the wheel discs, a supporting rod driven by the wheel disc side shafts, an arm tray above the supporting rod and a hinge restraining device below the supporting rod. The lower limb movement part comprises a rear rotating shaft, a rear synchronous pulley, cranks at two ends of the rear rotating shaft and pedals on the cranks; upper and lower limb moving parts are connected through a synchronous belt. In the body building process, the arms do irregular elliptical motion of lifting and forward stretching, the four limbs alternately bear the weight of the human body in opposite angles, and the four limbs do an opposite angle motion mode (left foot-right hand) simulating animal crawling, so that the body building process is closer to the forward crawling action of an animal.