84 results about "Crawling" patented technology

Height-adjustable apparatus using a spring to urge forward and rearward undulating whippy locomotion. A hand-crawling embodiment enables users to engage in all-fours crawling locomotion while the body is conventionally situated in a two-legged orientation. A foot-bounding embodiment enables walkers, joggers, runners and jumpers to engage in forward and backward whippy locomotion. A crutch embodiment enables crippled or injured users to likewise engage in whippy locomotion.

The invention provides a multi-modal motion bionic inchworm crawling and climbing soft robot, which comprises feet and three deformable bodies sequentially connected between the two feet, and each deformable body is provided with an extensible face and a non-extensible face. The extensible faces are located on the opposite sides of the non-extensible faces so that the deformable bodies can deform between a linear structure and a C-shaped structure, and when the three deformable bodies are all in a linear structure, the direction of the non-extensible face of the middle deformable body is the same as the direction of the ground grabbing face of the foot, and the direction of the non-extensible face of the middle deformable body is opposite to the direction of the non-extensible faces of the deformable bodies located on the two sides, so that the deformable bodies can be matched with the feet in a flexible deformation mode to complete the horizontal crawling action and / or the climbing action. The multi-modal motion bionic inchworm crawling and climbing soft robot is simple in structure, light in mass and good in compliance, has the ability of multi-modal motion, adapts to motion in different environments and active conversion among the motions, and expands the motion adaptability of the soft robot in a complex environment.

The invention discloses a folding parallel mechanism, a crawling method and a surmounting obstacle method of bionic starfish movement, which belongs to an area of robotics. The folding parallel mechanism, the crawling method and the surmounting obstacle method of the bionic starfish movement comprise a mobile platform, wherein a first kinematics branch chain, a second kinematics branch chain, a third kinematics branch chain, a fourth kinematics branch chain and a fifth kinematics branch chain are successively connected with periphery of the mobile platform. The kinematics branch chains are active driving branch chains. The kinematics branch chains respectively comprise at three or more transmission bars connected successively. The mobile platform is connected with the kinematics branch chains through kinematic pairs, and transmission bars are connected by the kinematic pairs. Driving devices are respectively arranged on the kinematic pairs. Terminal parts of the adjacent kinematics branch chains are connected by two or more connecting rods. The connecting rods are connected by the kinematic pairs. The connecting rods and the terminal parts of the adjacent kinematics branch chains are connected by the kinematic pairs. The folding parallel mechanism, the crawling method and the surmounting obstacle method of the bionic starfish movement have the advantages of being simple in structure, convenient in control, capable of achieving a plurality of motion states of crawling, tumbling and folding, capable of adapting a multiple and complex environment.

The invention discloses an auxiliary device for live installation of a bird repeller. The auxiliary device comprises a crawling mechanism, the crawling mechanism comprises a first fastening piece, a second fastening piece and a frame, the first fastening piece is installed at one end of the frame, the second fastening piece is installed at the other end of the frame, a walking frame is installed at the top of the crawling mechanism, a limiting mechanism is installed on the crawling mechanism, the limiting mechanism is matched with the crawling mechanism, and a moving mechanism is arranged on the walking frame. A worker does not need to climb an electric pole, the risk of high-altitude falling of the worker is greatly reduced, the personal safety of the worker is guaranteed, the crawling mechanism can drive the walking rack and the bird repelling device fixed to the fixing frame to climb to the top of the electric pole, and the position of the bird repelling device is adjusted under the action of the moving mechanism. Under the action of the fastening mechanism, the bird repeller is fixed on the cross arm, so that the bird repeller is mounted, and the working efficiency is greatly improved.

The invention discloses a robot crawling like a snake. The robot comprises a frame, steering mechanisms, driving mechanisms and crawling feet, wherein the frame adopts a segmented structure, every twoadjacent frame sections are hinged through the corresponding steering mechanism, the driving mechanisms are arranged in the frame sections respectively, the crawling feet are in transmission connection with the driving mechanisms, the driving mechanisms drive the frame sections to independently move through the crawling feet, and the steering mechanisms are used for driving and controlling the corresponding two adjacent frame sections to relatively swing, so that the whole frame can crawl like a snake. The robot crawling like a snake has the beneficial effects that the segmented frame structure is adopted, the steering mechanisms are arranged between every two adjacent frame sections, and each frame section is provided with the corresponding independent driving mechanism and crawling feet, so that the segmented frame performs snake-like crawling, and can stably work on an inclined plane and in a complex environment. Through snake-like crawling, flexibility is higher, and adaptabilityis better.

The invention relates to a pediatric physical examination device comprising a base and a crawling plate. A height adjusting mechanism is arranged between the base and the crawling plate. A first inverted-U-shaped plate and a second inverted-U-shaped plate are arranged at the two sides of the upper portion of the crawling plate in the length direction correspondingly, wherein the first -U-shaped plate and the second -U-shaped plate are arranged along the width of the crawling plate; movable bases are arranged at the lower ends of the two sides of the first -U-shaped plate; and the movable basesand the crawling plate are in sliding connection via a sliding rail. Besides, a driving mechanism for driving the movable bases is arranged above the crawling plate. An extending rod is arranged on the lower side wall of the upper portion of the first U-shaped plate; the extending rod is away from the second U-shaped plate and a downward hanging ring is arranged at the end of the extending rod; and a swing ball is hung on the hanging ring. The width of the second U-shaped plate is larger than the widths of the outer edges of the two movable bases; and players are arranged on the inner walls of the two opposite sides of the second U-shaped plate respectively. The pediatric physical examination device has advantages that the height is convenient to adjust, children are more easily attracted, the detection is convenient, and the children do not need to move back and forth.

The invention discloses a multi-foot crawler belt float valve type crawler and a crawling method thereof. The crawler comprises a base plate, a main float valve box, auxiliary float valve boxes, crawler belts and crawling feet. A first detection mechanism, a hydraulic oil tank and a steering platform are arranged on a top surface of the base plate, a hydraulic oil pump is arranged in the hydraulicoil tank, the four steering platforms are evenly arranged on a periphery of a top surface of the base plate, the crawling feet are connected to the steering platforms, the main float valve box is connected to a lower portion of the base plate through a lifting mechanism, the auxiliary float valve boxes are symmetrically arranged on the two sides of the main float valve box, and the crawler beltsare arranged on the auxiliary float valve boxes. The method comprises the steps of base plate machining, crawling foot installation, main float valve box and auxiliary float valve box machining, lifting mechanism installation and crawl operation of a crawl device. Crawler belt type float valve crawling driving advancing or multi-foot crawling driving advancing can be adopted, the crawling method of the crawler is simple in step, an equipment detection range is enlarged, and use and operation are flexible and convenient.

The invention discloses a training device and a training method. The training device comprises a forelimb movement mechanism, a posterior limb movement mechanism, a linkage mechanism, a middle supporting mechanism and an inclination mechanism. The forelimb movement mechanism is installed on the tilting mechanism, the posterior limb movement mechanism is installed on the tilting mechanism, the linkage mechanism is connected with the forelimb movement mechanism and the posterior limb movement mechanism, the middle supporting mechanism is installed on the tilting mechanism, and the linkage mechanism is installed on the middle supporting mechanism. According to the training device, the comfort degree of a patient during crawling is greatly improved, and the crawling posture is corrected.

The invention discloses a rigid-flexible integrated crawling actuator applied to a narrow cavity and a working method of the rigid-flexible integrated crawling actuator, relates to the technical fieldof piezoelectricity, can move forwards and backwards in a bent narrow cavity, and is high in precision and quick in response. The rigid-flexible integrated crawling actuator comprises a flexible connecting beam, piezoelectric ceramic pieces and rigid feet. The two ends of the flexible connecting beam are connected with the rigid feet respectively, and the piezoelectric ceramic pieces are arrangedon the upper surfaces of the rigid feet. According to the invention, the flexibility of the flexible connecting beam provides driving pre-pressure for the actuator in the narrow cavity and enables the actuator to move in the narrow cavity with complex bending through flexible connection; and then forward or backward movement of the actuator is achieved through asymmetric friction force generatedduring vibration driving of the rigid feet based on the inverse piezoelectric effect of the piezoelectric ceramic pieces. The actuator is simple and compact in structure, concise and direct in actuation flow, capable of shortening the time used in the actuation process and high in reaction speed, and thus the function of rapid and accurate movement of the actuator in the narrow bent cavity (such as a medical endoscope biopsy channel) can be achieved.

The invention provides a crawling robot. The crawling robot comprises a main body frame, a power unit, a plurality of transmission units, a plurality of groups of crawling units, a plurality of horizontal driving units and a plurality of vertical driving units, the power unit provides power for the transmission units, the transmission units transmit power to the plurality of horizontal driving units and the plurality of vertical driving units, and the multiple horizontal driving units and the multiple vertical driving units drive the multiple crawling units to move. The purpose of imitating walking of multi-legged insects is achieved through cooperation of few power elements and an appropriate mechanical structure, so the production cost and the maintenance cost are greatly reduced, operation is reliable, and the crawling robot can be widely applied to the technical fields of manned entertainment, teaching aids and the like.

The invention discloses a crawling-type mud suction device and belongs to the field of salvage devices. The crawling-type mud suction device comprises a crawler truck chassis, a frame, a mud suction pipe assembly, a mud rising pipe assembly and a high-pressure jet pump, wherein the frame is fixed to the crawler truck chassis, the high-pressure jet pump is arranged below the belly portion of the crawler truck chassis, and two ends of the high-pressure jet pump are respectively connected with the mud suction pipe assembly and the mud rising pipe assembly. The crawling-type mud suction device utilizes a crawling-type pipe burying machine as an underwater operating platform, is provided with the crawler truck chassis, can achieve self-walking movement operation on a sea bottom mud bed and carries the large high-pressure jet pump, the high-pressure jet pump is carried below the belly portion of the crawler truck, and mud clearing operation can be conducted on common loose and soft seabed mud and harder argillaceous mudstone mixture. The self-walking submarine pipeline burying machine adopts modular design, caterpillar band walking units can be quickly replaced by sliding-warping devicesunder the dilute and soft geological conditions, and a crawling-type self-walking mode is changed into a sliding-warping dragging operation mode.

The invention discloses an array sucker type rigid-flexible integrated crawling actuator and a working method thereof, relates to the technical field of intelligent actuators, and can linearly move ona vertical or approximately vertical wall surface. The array sucker type rigid-flexible integrated crawling actuator is composed of a pair of crawling feet connected with telescopic rods, and each crawling foot comprises a flexible array suction cup, piezoelectric ceramic pieces, a cuboid base body, a flexible bent beam and a crawling foot telescopic rod. The front face of the flexible array sucker faces the working face, the back face of the flexible array sucker is connected with the bottom of the cuboid base body, the piezoelectric ceramic pieces are pasted to the two adjacent side faces of the cuboid base body respectively, the top of the cuboid base body is connected with the bottom of the inner side of the flexible bent beam, and the head and tail ends are connected through crawlingfoot telescopic rods on the outer side of the flexible bent beam. The bottom of the inner side of the flexible bent beam is connected with one end of the telescopic rod. The telescopic rods and the crawling foot telescopic rods are all made of telescopic materials which are stimulated by external conditions. The actuator is suitable for complex bent and non-horizontal surfaces (such as the interior of an aero-engine) and has very high practical application value.

The invention discloses a crawling device for rehabilitation of a cerebrovascular patient. The crawling device comprises a support frame, a fixed support device arranged on the support frame and usedfor fixing a rehabilitation person, four crawling device bodies which are arranged on the support frame, positioned at the periphery of the fixed support device and used for training four limbs of therehabilitation person, a control device which is arranged on the support frame and is used for controlling the crawling device bodies, and sign detection equipment which is arranged on the control device, wherein each crawling device body comprises two motion units; and each movement unit comprises a shell, a rail unit arranged in the shell, a resistance unit arranged in the shell and capable ofproviding resistance for the rail unit, and a clutch unit arranged between the rail unit and the resistance unit. The crawling device can protect the safety of a cerebrovascular patient and expand themovement crawling area to three dimensions, so that the cerebrovascular rehabilitation person can complete crawling movement in the three-dimensional space.

The invention relates to a pipeline repairing device. The repairing device comprises a crawling device, a mounting support, a notch detecting assembly and a notch filling assembly; the crawling device comprises a crawling supporting rod, movable supporting rods arranged in the length direction of the crawling supporting rod at intervals, a driving supporting rod arranged at the bottom of the crawling supporting rod and a crawling driving part for driving the driving supporting rod to move; The mounting support comprises rotating rods rotationally mounted on the outer side of the crawling supporting rod, rotating driving parts for driving the rotating rods to rotate, lifting driving parts mounted on the outer sides of the rotating rods and mounting plates mounted on the outer sides of the lifting driving parts; and the notch detecting assembly and the notch filling assembly are both mounted on the mounting plates, and at least two rotating rods are arranged in the length direction of the crawling supporting rod at intervals. The repairing device and method have the effects that the pipeline repairing process is simplified, and the labor cost needed by pipeline repairing is reduced.

The invention discloses a self-obstacle-crossing robot and a control method, and the robot is in remote communication connection with an operation controller, and comprises a head, a main body, two front climbing limbs, and two rear climbing limbs. The operation controller comprises an information receiving unit for receiving environment information and state information respectively; an environment modeling unit, calling scene materials and constructing an environment model according to the environment information; a path planning unit generating at least one moving track in the environment model according to the state information and the environment information; a path selection unit, selecting an optimal running track according to a preset running target and a constraint condition; a central control unit, receiving the moving track and sending a crawling instruction for executing the optimal moving track to the two front crawling limbs and the two rear crawling limbs, and the two front climbing limbs and the two rear climbing limbs respectively receive the crawling instruction and crawl to a preset running target according to the crawling instruction. The self-obstacle-crossingrobot has the beneficial effects that the optimal moving track can be found, the obstacle crossing efficiency is improved, and the service life of the self-obstacle-crossing robot is prolonged.

The invention discloses a training device and a training method. The training device comprises an anterior limb slider-crank mechanism, a middle supporting mechanism, a linkage mechanism, a posteriorlimb slider-crank mechanism and a base tilting mechanism. The anterior limb slider-crank mechanism is mounted on the base tilting mechanism. The posterior limb slider-crank mechanism is installed on the base tilting mechanism. The linkage mechanism is connected with the anterior limb slider-crank mechanism and the posterior limb slider-crank mechanism. The middle supporting mechanism is installedon the base tilting mechanism, and the linkage mechanism is fixed to the middle supporting mechanism. The comfort degree of a patient during crawling is greatly improved, the crawling posture is corrected, and recovery of the patient is better facilitated.

The invention relates to a coordination training system based on a linkage crawl device. In a process that a trainee uses the crawl device, four-limb force and image recognition body posture conditions are detected in real time; a scientific guidance scheme is provided; the trainee is guided to carry out coordination training; more particularly, by utilizing a crawl device system consisting of a linkage crawl device body, a force sensor, a displacement sensor, a data acquisition module, an image recognition module and an upper computer (including a human-computer interaction interface), when atrainee uses the linkage crawl device for training, the strength of the hands and the feet of the trainee and the situation of the simulated crawling posture of the body are detected in real time, the strength of the four limbs, the stretching degree situation and the body coordination of the trainee in the simulated crawling process are analyzed, the trainee is prompted and guided to scientifically crawl through the human-computer interaction interface, and the purpose of coordination training is achieved.

A crawling insect detection and protection system includes a curved member for attachment to a surface. The curved member has a coarse textured outer surface and a smooth interior surface, the interior surface includes a grooved upper lip located at a top portion of the curved member and a smooth lower lip located at a bottom portion of the curved member. The width of the grooved upper lip is recessed from the bottom lip to allow a crawling insect to fall into the lower lip portion. The system includes an attachment means which may be an adhesive fastener and / or a mechanical fastener for affixing a mounting surface of the flexible curved member to an attachment surface.

The invention discloses a training device and a training method. The training device includes a forelimb motion mechanism, a hind limb motion mechanism, a linkage mechanism and a base leaning mechanism, wherein the forelimb motion mechanism is installed on the base leaning mechanism, the hind limb motion mechanism is installed on the base leaning mechanism, and the linkage mechanism is connected with the forelimb motion mechanism and the hind limb motion mechanism. Through the training device, the comfort of a crawling patient is improved, the crawling posture can be corrected, and recovery ofthe patient is facilitated more.

The invention discloses a slippage crawling device overturn-preventing system and a construction method thereof. The overturn-preventing system comprises skid shoes connected to column feet of arch structures, rails connected to the lower portions of the skid shoes, hydraulic crawling devices, connection rods and overturn-preventing devices. Each hydraulic crawling device is connected between theside face of the corresponding skid shoe and the corresponding rail. Each connection rod is connected between stand columns of the two corresponding adjacent arch structures on the same side. Each overturn-preventing device is connected between the corresponding connection rod and the corresponding hydraulic crawling device. Each overturn-preventing device comprises a movable rail connected to thecorresponding connection rod, an overturn-preventing mechanism connected to the movable rail and a chain block connected to the overturn-preventing mechanism. According to the slippage crawling device overturn-preventing system and the construction method, by arranging the overturn-preventing devices, overturn-preventing protection can be easily conducted on the hydraulic crawling devices in theslippage process; by means of targeted design of the bottoms of the skid shoes and the rails inclining inwards, smooth propulsion of the skid shoes in the slippage process of the arch structures is facilitated; and by arranging the connection rods, integrity of the arch structures is ensured, and stable construction of the whole arch structures is facilitated.

Novel catheter with longitudinal expandable arid contractile elements which promote wave propagation. The tension-band characteristics of these elements enhance the “crawling” dynamics of the catheter. Tauglit is an aspiration catheter with three key components: an inner spring coil system, a soft pleated jacket with annuli that buckles under load and an outer proleg or leaf-spring that fattens the. diameter of the catheter. Smart features, robotics and AI may be on-boarded. As shown, subject catheters shall piston in a fixed environment (muscular structure such as an artery) and propagate forward akin to earthworm locomotion (Lumbricm terrestris).

A height-adjustable apparatus using a spring to urge forward and rearward undulating whippy locomotion is disclosed. A hand-crawling embodiment having a hand-glove assembly affixed to a base assembly enables users to engage in all-fours crawling locomotion while the body is conventionally situated in a two-legged orientation. One embodiment includes a forearm support bracket mounted at either a permanent or adjustable wrist angle. An internal stabilizer cylinder retainer is also provided to reduce inward pivoting of the internal stabilizer cylinder retainer in the direction of the opposite hand while permitting outward pivoting toward the outside of the device, and front-to-back pivoting toward the front side or backside of the device. A similar foot-bounding embodiment enables walkers, joggers, runners and jumpers to engage in forward and backward whippy locomotion. A crutch embodiment having a similar base assembly enables crippled or injured users to likewise engage in whippy locomotion.

The invention discloses a rehabilitation crawling device, which comprises: a large platform panel, small platform panels, pressure sensors, a jaw bracket, a safety belt, universal wheels, a regulationand control apparatus and an anti-rollover apparatus. The large platform panel bears a crawling-state human body trunk, and the supporting force needed by four limbs is greatly reduced; the small platform panels are placed at elbows and knees or hands and knees, and the small platform supports the arms and legs to reduce gravity load during crawling; stroke hemiplegia patients and cerebral dysfunction patients do crawling rehabilitation exercises; middle aged and elderly people with physical decline are engaged in crawling exercise, and various diseases are prevented. According to the requirements of rehabilitation patients, the large platform panel can be independently used for supporting the human body trunk to crawl; the large platform panel and the small platform panels can also be used at the same time; the crawling training state is accurately detected from multiple angles, detection data is rapidly analyzed, and cost is low. Patients can quickly see their own training scores, the interest of actively participating in activities can be stimulated, and training can be insisted, so that efficient rehabilitation is achieved, and a virtuous cycle is formed; the effects of improving the brain function and the limb functions are achieved.

A cradle bed capable of preventing a child from falling comprises a base, two symmetrically-arranged supporting seats are fixedly connected to the upper end face of the base, the two supporting seatsare arranged away from each other, rotating holes are formed in the ends, away from the base, of the two supporting seats, and the two rotating holes are symmetrically formed; and rotating shafts arerotatably connected into the two rotating holes correspondingly, pull columns are fixedly connected to the ends, close to each other, of the two rotating shafts correspondingly, the two pull columns are both arranged close to the base, and sliding grooves are formed in the side walls, close to the base, of the two pull columns correspondingly. According to the invention, a user can conveniently hold up and put down a child in the cradle bed, it is greatly guaranteed that the child cannot be hurt due to crawling falling, the crawling activity space of the child cannot be limited, and it is greatly guaranteed that growth and development of the child cannot be affected.

The invention discloses a high-adaptability automatic crawling device for construction of an outer protective layer of a bridge steel cable. A crawling part is of a cylindrical structure and arranged on the outer side of an inhaul cable in a sleeving mode, and crawling along the inhaul cable can be achieved; a rotating part is of a cylindrical structure, arranged on the outer side of the inhaul cable in a sleeving mode and located below the crawling part; the top of a rotating part is rotationally connected with the bottom of the crawling part; and a driving part is installed on the outer side of the crawling part and used for achieving wriggling driving of the crawling part and rotating driving of the rotating part. The structural form that the crawling part and the rotating part are matched is adopted, crawling driving is conducted through the crawling part, the stability of crawling along the steel cable is guaranteed, the rotating part provides the rotating function, meanwhile, the guiding function is achieved, and the operation stabilizing effect is further improved; and the driving part is used for overall crawling and rotating driving, the structure is simple and reliable, and driving is convenient and stable.

The invention discloses a bionic pipeline crawling robot, which is composed of two basic telescopic modules. Each basic telescopic module is composed of a support structure in contact with the pipe wall and a three-degree-of-freedom parallel structure, and the three-degree-of-freedom mechanism connects the dynamic platform and the static platform respectively. The basic telescopic modules are flexibly connected by springs. The invention starts from simulating the crawling gait characteristics of inchworms and earthworms, and develops a bionic robot crawling in pipelines. The robot is used as a carrier to carry various equipment, which can realize the internal flaw detection of the pipeline, regular inspections, dredging the pipeline and other functions, and provide solutions for internal corrosion, cracks, wear, blockage and other problems of the pipeline, so as to effectively monitor pipeline corrosion and cracks , wear and blockage, so as to avoid accidents caused by such problems.