39 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.

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.

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 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.

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.

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.

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.

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 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 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 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.

The invention discloses a simulation spider crawling toy which comprises a rack and a plurality of mechanical claw assemblies, the mechanical claw assemblies are arranged on the rack, the mechanical claw assemblies do not make contact with one another, and each mechanical assembly comprises a U-shaped support. The device comprises a rack, a support, an H-shaped connecting arm, a supporting arm, a first driving motor, a second driving motor and a third driving motor, the support is rotatably mounted on the rack, the first driving motor is arranged on the rack and rotatably matched with the support, the second driving motor is arranged on the support, and the third driving motor is arranged on the rack and rotatably matched with the support. The third driving motor is arranged on the supporting arm, and the second driving motor and the third driving motor are matched with the H-shaped connecting arm. The toy has the following beneficial effects that the rotation of the supporting arms can be realized by controlling the rotation of the driving motors on the different mechanical claw assemblies, so that the crawling of the whole crawling toy is realized, and the interactivity is higher.

The invention relates to a magnetic crawl device and a crawl control method thereof, and the magnetic crawl device comprises a frame and a magnetic component; two moving wheels are mounted at the front end of the frame, a moving wheel is mounted at the rear end of the frame, the moving wheel at the front end is a driving wheel connected with a driving device, and the driving device is mounted 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 fan-shaped electromagnetic attraction structures in one-to-one correspondence with the three moving wheels, the radius of each fan-shaped electromagnetic attraction structure is smaller than that of each moving wheel, and each fan-shaped electromagnetic attraction structure is coaxial with the corresponding moving wheel and rotatably mounted on the moving wheel; the second magnetic attraction structure comprises a permanent magnet and a lifting mechanism, the permanent magnet is installed 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 crawler solves the problem that an existing crawler is limited in wall scene capable of crawling in single-time crawling motion.

The present invention discloses a three-chain crawling-operating integrated configuration variable space manipulator, comprising a manipulator structure, a quick-locking structure, a three-chain manipulator arm structure, a base plate structure, and an external manipulator arm structure. The three-chain manipulator arm structure comprises three manipulator arms of identical models and a base connection device; the base plate structure comprises several identical connection devices and a manipulator arm storage device; the quick-locking structure comprises a quick locking device, a spring buffer device, and an information transmission module; the manipulator structure comprises a connection device and a grasping device; and the external manipulator arm structure comprises a trunk structure and a connection locking device. The present invention fixes the three-chain manipulator arm to several quick-locking devices on the base plate, enabling the manipulator arm to crawl on the base plate. Depending on the requirements of the task to be performed, the manipulator can select between two-arm fixed single-arm operation or single-arm fixed two-arm collaboration. Furthermore, the number of branch joints can be increased to increase the range of motion. The invention has the characteristics of high adaptability, high flexibility, and a large operating range.

1. Name of the designed product: toy (remote control crawling spider). 2. Use of the designed product: children's play. 3. Design points of the designed product: in shape. 4. Picture or photo that best shows the design points: perspective view.

1. Name of the product in this design: Crawling Mat (French Hot Air Balloon). 2. Purpose of this design: This design is for use in baby crawling. 3. The key design features of this product are the combination of shape and pattern. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

This invention discloses a method, system, and device for motion observation based on the crawling trajectory of target organisms. The method includes acquiring training videos of target organism crawling; assigning a tracker and lifecycle variables to each target for multi-target tracking across consecutive frames; performing cascaded matching between the filtered target detection boxes and the target tracking boxes of the current frame; calculating the pixel crawling speed for the matched tracking sequence; obtaining a scale based on the target pixel crawling distance and the target's physical distance in the real world, and then calculating the actual crawling distance and actual crawling speed of the target organism. This invention employs a multi-layer cascaded matching method to match detection boxes and target tracking boxes, enabling real-time observation of the crawling of various types of target organisms, including slow-moving target organisms, fast-moving target organisms, and moths that exhibit jumping crawling, and accurately recording motion information such as crawling trajectory, crawling speed, crawling time, crawling distance, and dwell time.

The present application relates to a kind of bionic lizard robot and its crawling control method, solve the problem that existing bionic lizard robot lacks the cooperation of waist torsion and limb movement.This device includes forebody and hindbody, the forebody is provided with forelimb connecting rod, the left and right ends of forelimb connecting rod are respectively connected with left forepaw and right forepaw, the forebody is provided with forelimb servo, and the output shaft of forelimb servo is connected with forelimb connecting rod;The rear part of the hindbody is provided with hindlimb connecting rod, and the left and right ends of hindlimb connecting rod are respectively connected with left hindpaw and right hindpaw, and the rear part of the hindbody is provided with hindlimb servo, and hindlimb servo is connected with hindlimb connecting rod;Torsion servo is arranged between forebody and hindbody.The present application uses torsion servo between forebody and hindbody to cooperate with forelimb servo and hindlimb servo of forebody and hindbody to realize simulation crawling, and the structure is simple and reliable, control is simple, action is flexible, and simulation degree is high, so it is an ideal bionic lizard robot.

The invention discloses an outer pipeline rust removal robot, and relates to the technical field of pipeline rust removal robots. The device specifically comprises a walking mechanism which is located on the outer side of an outer pipeline and performs crawling or clamping action on the outer pipeline; the circumferential rotating mechanism is of an annular structure, and the circumferential rotating mechanism is arranged on the walking mechanism and located on the outer side of the outer pipeline; and the sand blasting and rust removing mechanism is arranged at the moving end of the circumferential rotating mechanism, the sand blasting and rust removing mechanism is driven by the moving end of the circumferential rotating mechanism to rotate in the circumferential direction, and sand blasting and rust removing are conducted on the outer wall of the outer pipeline. According to the outer pipeline rust removal robot, obstacle crossing crawling, normal crawling and clamping actions are conducted on the outer pipeline on the walking mechanism, and when the outer pipeline rust removal robot is in the clamping state, main sand blasting rust removal work on the outer pipeline is completed through mutual cooperation of the sand blasting rust removal mechanism and the circumferential rotating mechanism; and through the arrangement of the walking mechanism, the robot can stably crawl on the outer pipeline.

The utility model relates to the technical field of preschool child sports, in particular to a crawling training device suitable for preschool child sports, which comprises a bottom plate body, a horizontal bar body, a supporting soft cushion and a friction cushion, a distance adjusting mechanism is connected and installed between the bottom plate body and the horizontal bar body, and a portable dismounting mechanism is arranged on the outer side of the horizontal bar body. According to the crawling training device suitable for the preschool child exercise, the two sets of horizontal bars above the crawling frame are arranged to be of the interval adjustable design through the mechanism assembly; the supporting distance between the two horizontal bars can be correspondingly adjusted according to the endurance and mood of the infant in the actual use process of the device, then the effect of adjusting the overall length of the crawling tunnel is achieved, and the device can better meet the current crawling training requirement of the infant in the actual use process.

1. Name of the designed product: toy (a crawling lizard). 2. Use of the designed product: for toys. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: perspective view.

The invention relates to the technical field of bionics, in particular to a bionic crawling mechanism which comprises a driving module, a support and at least one pair of crawling mechanisms, the driving module is arranged on the support, each pair of crawling mechanisms comprises two sets of space crank structures and two connecting rods, and the two sets of space crank structures are matched with the two connecting rods in a one-to-one correspondence mode; the tail ends of the outer sides of the two groups of space crank structures are positioned at low positions to support the bracket; the space crank structure comprises an inner crank, a fulcrum and an outer crank which are sequentially connected from inside to outside; one end of the connecting rod is in driving connection with the output end of the driving module; the inner end of the inner crank is in driving connection with the middle of the connecting rod; the driving module drives the inner crank to move through the connecting rod so as to drive the outer crank to move. The connecting rod transmission is additionally arranged between the inner crank and the driving module to drive the inner crank to do elliptic cone motion or approximate elliptic cone motion, the up-down fluctuation amplitude during crawling is reduced, the crawling efficiency is higher, and the stability is better.

This invention discloses a biomimetic gecko robot, belonging to the field of robotics technology. The invention includes a robot torso, head, and tail. The left end of the robot torso is movably connected to the head via a joint axis, while the right end is fixedly connected to the tail. Two pairs of mechanical walking legs are retractably mounted on the sides of the robot torso. Each mechanical walking leg consists of a thigh assembly, a lower leg assembly, a mechanical foot forefoot, and a crawling claw. The thigh assembly is retractably mounted on the side of the robot torso. This invention employs a multi-legged crawling structure, mimicking the crawling behavior of animals in nature, giving the robot excellent ceiling-climbing ability. Furthermore, the robot adopts a modular design; each mechanical leg includes a drive module, a sensor module, and a control module, facilitating maintenance and upgrades. Through the processing and analysis of sensor-detected signals, the robot can perceive its surrounding environment, assisting it in completing cleaning tasks.

This invention provides a method, system, device, and medium for predicting joint angles during infant crawling, belonging to the field of medical artificial intelligence. The method includes: acquiring joint coordinates of infant crawling using a 3D motion capture system, converting them into real joint angles, generating simulated data using a spatiotemporal dual discriminator, and mixing them to form an extended dataset; extracting a posture coordination matrix and a temporal recruitment matrix through principal component analysis, projecting the real and simulated data into low-dimensional coordination coefficients, and constructing hybrid coordination features; employing dual encoders to capture the local dynamic features of joint angles and the global motion patterns of coordination coefficients respectively, fusing multimodal features through a cross-attention mechanism, and ultimately achieving accurate prediction of future joint angles. This innovative combination of data augmentation and biomechanical collaborative modeling significantly alleviates the problem of scarce infant data, improves prediction accuracy, and reduces training risks. It is applicable to infant rehabilitation training, intelligent rehabilitation engineering, and clinical motor function reconstruction.

The application discloses an integrated cap beam construction device, which comprises a plurality of bridge piers, an integrated cap beam construction platform and a plurality of crawling devices, one crawling device is arranged on each bridge pier, the crawling device can move up and down along the bridge pier, an electric hoist is arranged on the crawling device, the electric hoist is connected with the integrated cap beam construction platform through a pulley and a rope, the electric hoist can drive the integrated cap beam construction platform to ascend, and the integrated cap beam construction platform can be supported on the plurality of crawling devices after ascending by a set distance. Since the crawling device is used, the integrated cap beam construction platform is arranged on the ground, then the integrated cap beam construction platform is hoisted and installed, therefore, each part of the integrated cap beam construction platform does not need to be hoisted by a crane or the like and then installed, the whole process is simple and convenient, the construction efficiency is improved, meanwhile, the construction cost can be reduced.

The application discloses a bionic snake-shaped robot, which comprises a head joint, a battery cabin and a bending joint, and the snake body is formed by the combination of a plurality of electromagnetic cabins and bending joints. The bending joint is a main motion module, which is mainly composed of a plurality of bending joint units stacked together, and the maximum bending angle of the bending joint is realized by stacking different numbers of bending joint units. The bending joint unit comprises a joint unit driving circuit board, an electromagnet group, an upper rubidium magnet group, a lower rubidium magnet group, an upper air bag and a lower air bag. The application provides a snake-shaped robot with compact overall structure, high integration degree and simple driving mode, and the snake-shaped robot can realize linear crawling, turning crawling, head lifting, rolling and other actions by controlling the electromagnetic directions of different electromagnets.

1. The name of the design product: climbing mat (house jumping). 2. The use of the design product: the design product is used for baby crawling. 3. The design points of the design product: the combination of shape and pattern. 4. The picture or photo that best indicates the design points: perspective view 1.