53 results about "Step climbing" patented technology

The invention discloses a vehicle and a control method thereof, and relates to the technical field of vehicles. According to the method, when the vehicle needs to climb the steps, the height of the suspension of each wheel can be increased, so that the trafficability of the vehicle during climbing the steps is improved, and damage to a chassis of the vehicle is reduced to a certain extent. In the step climbing process, the method can reduce the suspension height of the target wheel along with the increase of the climbing height of the target wheel. After the suspension height of the target wheel is reduced, the difficulty of the target wheel climbing steps can be reduced, and it can be ensured that a vehicle body of the vehicle is stable. Therefore, the vehicle can pass through the steps safely and efficiently.

The invention discloses a lifting type cleaning robot capable of climbing steps and a climbing method of the lifting type cleaning robot. The lifting type cleaning robot comprises a robot body, a walking mechanism, a climbing telescopic mechanism, a cleaning mechanism and a sensor module. The robot can clean the flat ground, can climb stairs in a lifting mode to clean up and down floors, and can sweep narrow spaces such as the bed bottom through the compact structure, so that comprehensive cleaning is achieved; manual intervention is not needed, the time and energy of a user are saved, and the cleaning efficiency is improved; by means of a sensor and a control strategy, a user can control starting, stopping, sweeping modes and the like of the robot, the robot can also conduct autonomous adjustment, and intelligent cleaning is achieved. Compared with a traditional sweeping robot and a traditional dust collector which are used separately, the storage space can be saved, and the occupied space of cleaning equipment is reduced.

The invention discloses a folding type cleaning robot capable of climbing steps and a climbing method thereof. The folding type cleaning robot comprises a cleaning machine body, a mopping machine body and a telescopic rotating component, and the rear end of the cleaning machine body is connected with the front end of the mopping machine body through the telescopic rotating component. On the basis that the environment is effectively recognized through the sensors, the position, shape and the like of the robot are adjusted, the gravity center balance problem is solved, all-terrain sweeping can be conducted on the flat ground and stairs, and the problems that due to an excessively complex climbing structure, the cleaning efficiency is low, and the robot does not conform to the actual application scene are solved; the efficient sweeping mode that sweeping and mopping are separated and sweeping is conducted before mopping is conducted is achieved in the process of automatically going up and down stairs, and the device has the advantages of being simple in structure, time-saving, efficient, high in terrain adaptability, stable in stair climbing gravity center and not prone to tipping over.

The invention discloses a method for controlling an automatic pool cleaning device and the corresponding automatic pool cleaning device. The method comprises the steps that the automatic pool cleaning device is controlled to advance underwater; when the automatic pool cleaning device advances to the step, the automatic pool cleaning device is controlled to execute a step climbing action, and the step climbing action comprises the steps of climbing the wall surface of the step and crossing the upper edge of the wall surface to reach the surface of the step; determining an advancing state of the automatic pool cleaning device based on data detected by a downward detection sensor and / or an inertial measurement unit equipped on the automatic pool cleaning device; when it is determined that the advancing state of the automatic pool cleaning device exceeds the upper edge of the wall face, a water pump arranged on the automatic pool cleaning device is controlled to increase the power, and the automatic pool cleaning device rapidly falls onto the table top.

The utility model relates to the technical field of wheels, and discloses a luggage case wheel convenient to climb steps, the inner wall of a groove is rotatably connected with a rotating rod, the outer wall of the bottom of the rotating rod is fixedly connected with a limiting ring, the inner wall, close to the limiting ring, of the groove is fixedly connected with a limiting block, and the inner wall of one side, close to the limiting ring, of a connecting shell is provided with an insertion hole; the insertion holes penetrate through the connecting shell, and insertion rods are inserted into the inner walls of the insertion holes. Through the arrangement of the limiting ring and the inserting rod, in the using process of the equipment, the limiting block in the connecting shell limits the connecting position of the rotating rod and the limiting ring, the limiting ring is clamped to the bottom of the groove and is not prone to loosening, and the inserting rod is inserted into the inserting hole so that the inserting rod can be conveniently pulled out and replaced after being broken; and when the wheels are extruded, the limiting blocks and the inserting rods stably fix the second clamping blocks, the situation that the rotating rods are extruded to the bottom of the connecting shell to cause breakage or looseness can be avoided, and the service life of the equipment is prolonged.

The utility model relates to the technical field of building machines, in particular to a lifting mechanism for a building machine platform. A lifting mechanism for a building machine platform comprises a steel bar truss composed of a plurality of standard knots which are detachably connected in the vertical direction and a lifting device which is connected to the standard knots in a sleeving mode and can ascend and descend in the longitudinal direction of the steel bar truss, and the lifting device comprises a supporting unit located on the upper portion and a lifting unit located on the lower portion. The supporting units are detachably connected with the building machine stand columns. The lifting mechanism is installed on a standard knot at the uppermost end, the secondary upper end or the third upper end of the steel bar truss and can ascend and descend in the extending direction of the steel bar truss, and therefore step-by-step climbing and step-by-step descending of the building machine platform can be achieved. By controlling synchronous movement of the multiple lifting mechanisms, the lifting speed and position of the building machine platform can be accurately controlled, stable lifting of the platform is achieved, the construction efficiency is remarkably improved, the ability to deal with emergencies is enhanced, and the safety of constructors is guaranteed.

The utility model discloses a distribution channel system for giant panda, including two opposite fixed frame, two fixed frame all are equipped with a top and two side walls, two top butt -joint can be realized after the horizontal of turning inwards, four side walls can realize two butt -joint after turning inwards, the outside of two fixed frame is provided with a sliding door respectively. Still include the channel extension section between fixed frame and sliding door, and be equipped with the climbing step at its both sides. The utility model discloses through the setting of top, side wall, sliding door, can form the longitudinal distribution channel for the through of animal or the feeder operation channel for the through of feeder, or form the temporary space for holding giant panda. The distribution channel system for giant panda is safe and reliable, convenient operation, and the size is adjusted nimble, and the application scope is wide.

The invention relates to the technical field of electrical equipment, in particular to a sulfur hexafluoride gas cylinder transporting device. The sulfur hexafluoride gas cylinder transporting device comprises a vehicle body, the vehicle body comprises a vehicle frame and rotating wheels, the rotating wheels are rotationally arranged on the vehicle frame, and the vehicle frame is used for fixing parts to be transported; the climbing assembly comprises a driving part and a rotating part, the driving part is arranged on the frame, and the rotating part is located on one side of the rotating wheel; the driving part is configured to drive the rotating part to rotate when the vehicle body climbs the steps so as to drive the rotating part to abut against the steps, and then the vehicle body is driven to climb. By means of the technical scheme, the problems that when a trolley is used for transportation, the trolley can only meet flat ground transportation and cannot cope with complex terrains such as stairs or ramps, manual carrying is still needed, and time and labor are wasted can be effectively solved.

A deformable support comprises a chair frame seat, a chair frame and a chair frame driving assembly, the front end of the chair frame is rotationally connected to the chair frame seat, the chair frame driving assembly is connected between the middle of the chair frame and the chair frame seat, and under the action of the chair frame driving assembly, the chair frame has two states on the chair frame seat; the chair frame is attached to the chair frame seat or forms a certain included angle with the chair frame seat; the seat plate assembly is mounted on the chair frame, and the seat plate assembly is adjusted to be in a seat state or a flat plate state according to use requirements; the triangular driving wheel assembly is arranged at the bottom of the front end of the chair frame seat and has a step climbing mode and a level road advancing mode; the traveling wheel assembly is arranged at the bottom of the rear end of the wheelchair seat; the pedal assembly is arranged at the front end of the chair frame and has two states of stretching out of the chair frame and retracting into the chair frame. When the carrier travels on a flat road, the triangular driving wheel assembly is switched to a flat road advancing mode, and the chair frame is adjusted to form a certain included angle with the chair frame seat; when the carrier climbs the steps, the chair frame is adjusted to be attached to the chair frame base, and the triangular wheel assembly is switched to the step climbing mode. Besides, the seat plate assembly and the pedal assembly are arranged on the chair frame, and the requirements for carrying people and objects are met through deformation of the seat plate assembly and the pedal assembly.

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

The application provides a gantry crane jacking method for assembling a TBM in a limited space of an underground engineering cavern, which realizes the step-by-step climbing of a main beam on a stand by driving the movement of a jacking beam through a hydraulic cylinder. The method first installs a hydraulic jacking mechanism on the stand, then installs the main beam on the hydraulic jacking mechanism, pulls out the bolt, starts the hydraulic cylinder, step-by-step lifts the first jacking beam, and fixes it. Then, the second jacking beam is moved and fixed by pulling out the bolt and starting the hydraulic cylinder. These steps are repeated until the main beam reaches the designed installation height under the driving of the hydraulic jacking mechanism. By using this jacking method, the mode of assembling the cavern by using drill and blast expansion is avoided, and the installation work of the jacking gantry crane device is realized.

The invention provides an externally-hung throwing lifeboat for water lifesaving, and relates to the field of water lifesaving equipment.The externally-hung throwing lifeboat comprises a lifeboat body, a bearing assembly and a linkage assembly, a rescue frame is arranged on the peripheral side of the lifeboat body, and surrounding plates are slidably matched with the outer walls of two side plates of the rescue frame; and when the two surrounding plates slide to the outermost side, a rescue channel is formed by the two surrounding plates and the two side plates of the rescue frame body, a pulling plate is arranged on the upper side between the two side plates of the rescue frame body in a sliding fit mode, movable grooves are outwards formed in the inner walls of the two side plates of the rescue frame body, and rotating grooves are outwards formed in the inner walls of the movable grooves. A complete auxiliary climbing system is constructed through cooperation of multiple assemblies, and rescue personnel do not need to directly drag the system. The unfolded step blocks form step-by-step climbing support, the bearing plate provides a stable foot stress point, the coaming grabs the handle and the pull rope to lift assistance to form hand and waist dual assistance, a person falling into water can gradually get on a ship by means of self strength in cooperation with an auxiliary structure, and physical output of rescue personnel is reduced.

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

The present application relates to construction technology field, disclose a kind of step-climbing type barrel handling device, it is characterized in that, including: two parallel handling device sub-piece, handling device sub-piece includes cantilever beam, the front end of cantilever beam is equipped with spade head, the rear end of cantilever beam is equipped with handle;Crawling part, crawling part is arranged in the lower part of cantilever beam;Two arc-shaped joists, two arc-shaped joists are fixed between two cantilever beams;Outer longitudinal rod, the both ends of outer longitudinal rod are respectively fixed in the bottom of two arc-shaped joists;Inner longitudinal rod, one end of inner longitudinal rod is telescopically inserted in the end of outer longitudinal rod away from spade head;The end of inner longitudinal rod exposed outside outer longitudinal rod is equipped with buckle;The side of the end of outer longitudinal rod away from spade head is equipped with fixed hole and fixed pin;Crossbar, crossbar is fixed between two cantilever beams, diagonal brace and arc-shaped support, the arc of arc-shaped support is gradually increased from the smaller arc of front end to back.This application is safe and convenient to use, meet the requirements of construction standardization, standardization.

The utility model relates to bearing equipment, a cleaning device and a cleaning system. The bearing equipment can climb a step and / or move along a kicking surface of the step, and the bearing equipment comprises a detection module which is configured to detect a relative posture between the bearing equipment and the kicking surface; and the motion module is configured to enable the bearing equipment to switch a motion state when the bearing equipment is in an inclined posture relative to the kicking surface, so that the bearing equipment is in a basically parallel posture relative to the kicking surface. The bearing equipment has high safety when climbing steps and / or moving along a kicking surface.

The utility model relates to the technical field of self-moving devices, in particular to a stair climbing device and a cleaning system. The stair climbing device comprises a lifting assembly, a bearing platform and a supporting assembly, the lifting assembly comprises a supporting piece, a lifting piece and a lifting mechanism, the supporting piece and the lifting piece are both connected with the lifting mechanism, and the lifting mechanism is configured to drive the lifting piece to ascend relative to the supporting piece in the first direction; the lifting mechanism is further configured to drive the supporting piece to ascend in the first direction relative to the lifting piece. The bearing platform is in sliding connection with the lifting part and can slide in the second direction relative to the lifting part, and the first direction intersects with the second direction; the supporting assembly is connected with the lifting assembly, the supporting assembly is configured to extend and retract in the first direction so as to support the bearing platform, the stair climbing device can be prevented from falling off the steps, and the stair climbing device can stably climb the steps.

The invention relates to a series six-foot stair-climbing robot capable of walking on complex terrains, and belongs to the technical field of robots. Comprising a rack, an objective table, an electric cylinder lifting mechanism, a moving wheel set, a gear type moving control assembly and a balance moving mechanism. The electric cylinder lifting mechanism is arranged to be matched with the gear type movement control assembly, so that the racks and the corresponding servo electric cylinders can achieve the cooperative movement of vertical lifting and transverse displacement, and the purpose of step-by-step climbing is achieved; a movable balance moving mechanism is arranged below an objective table, a ball screw is used for driving a balancing weight to move in the direction of the objective table, the gravity center of the whole machine is dynamically adjusted to be within the range of a supporting polygon formed by supporting points in the climbing process, forward inclination or rollover is avoided, and the overall climbing stability is improved; through alternate cooperation of the moving wheel sets and the electric cylinder lifting mechanisms, the robot is borne and driven by the wheel sets when moving on the flat ground, and is supported by the electric cylinders in the climbing state, so that the robot has the flat ground moving capacity and the step stable climbing capacity.

The invention relates to a domestic hydraulic step ladder, comprising a large-area table-board platform for standing and working at levels at different heights from the floor, said platform being divided from the middle into two halves, each half being mounted on two multi-stage telescopic hydraulic cylinders, all of the four telescopic hydraulic cylinders are carried on a common base and are connected by means of a three-position hydraulic valve to a small conventional air preloading hydropneumatic accumulator equipped with a mini-air pump for air preloading control, in order to manually climb the step ladders, the four telescopic hydraulic cylinders are connected by means of a three-position hydraulic valve to the small conventional air preloading hydropneumatic accumulator, and the four telescopic hydraulic cylinders are connected by means of a three-position hydraulic valve to the small conventional air preloading hydropneumatic accumulator. When the two halves are at the same level at the lowest point of the step ladder, a person climbs up the platform by placing one foot on each of the two platform halves, then operating the three-position hydraulic valve, and by maintaining a suitable posture on the platform, effecting raising / standing / lowering of the platform.

A deformable support comprises a chair frame seat, a chair frame and a chair frame driving assembly, the front end of the chair frame is rotationally connected to the chair frame seat, the chair frame driving assembly is connected between the middle of the chair frame and the chair frame seat, and under the action of the chair frame driving assembly, the chair frame has two states on the chair frame seat; the chair frame is attached to the chair frame seat or forms a certain included angle with the chair frame seat; the seat plate assembly is mounted on the chair frame, and the seat plate assembly is adjusted to be in a seat state or a flat plate state according to use requirements; the triangular driving wheel assembly is arranged at the bottom of the front end of the chair frame seat and has a step climbing mode and a level road advancing mode; the traveling wheel assembly is arranged at the bottom of the rear end of the wheelchair seat; the pedal assembly is arranged at the front end of the chair frame and has two states of stretching out of the chair frame and retracting into the chair frame. When the carrier travels on a flat road, the triangular driving wheel assembly is switched to a flat road advancing mode, and the chair frame is adjusted to form a certain included angle with the chair frame seat; when the carrier climbs the steps, the chair frame is adjusted to be attached to the chair frame base, and the triangular wheel assembly is switched to the step climbing mode. Besides, the seat plate assembly and the pedal assembly are arranged on the chair frame, and the requirements for carrying people and objects are met through deformation of the seat plate assembly and the pedal assembly.

The utility model discloses a novel wheel type stair climbing robot chassis based on liftable driving wheels, which comprises a chassis main body, the chassis main body comprises a chassis frame, two groups of front supporting leg structures, front wheels and rear wheel structures, the front supporting leg structures are positioned at the upper end of the chassis frame, and the front supporting leg structures are symmetrically distributed; the front wheels are located in the middle of the chassis frame, and the rear wheel structures are located on the two sides of the chassis frame. The front supporting leg structure comprises a supporting leg frame and a front supporting leg driving motor, and a gear disc I is arranged at the output end of the front supporting leg driving motor, so that the use problem of an additional driving motor, the problem of insufficient power and the requirement of climbing steps with different heights in the step climbing process can be firstly solved; secondly, the indirectly-driven supporting wheel solves the problem that a shaft system of a direct-driven supporting wheel is difficult to design and maintain, and due to the retractable design, the supporting wheel cannot affect ordinary movement.

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

If the wheels for climbing steps encounter an obstacle in the moving process of the wheels, rotation of the outer peripheral wheel stops, the inner peripheral wheel rotates through driving force of the motor, and when a motor shaft ascends to the upper portion of the obstacle, tension of the spring acts to pull the wheels, so that the wheels can easily climb the obstacle. The invention is applicable to wheels of moving tools such as wheelchairs, baby carriages, carts and the like, and has the effect of providing convenience for easily climbing obstacles such as steps, stairs and the like.

The application discloses an underwater robot and a moving control method thereof, and relates to the technical field of underwater robots. The underwater robot comprises a robot main body, a rotating mechanism and a crawling mechanism. The rotating mechanism has a fixed part and a rotating part which can rotate along the axis extending in the left-right direction relative to the fixed part. The fixed part is arranged on the robot main body. The crawling mechanism comprises a crawling arm and a moving structure movably arranged on the crawling arm. The moving structure can drive the crawling arm to move along the length direction of the crawling arm. One end of the crawling arm in the length direction is connected to the rotating part, so that the crawling arm has a climbing step state. In the climbing step state, the crawling arm can be rotated to protrude forward and upward from the robot main body, so as to be lapped on the step surface in front and upward of the robot main body. The technical scheme is provided to improve the moving ability of the underwater robot.

The utility model relates to a sofa shared by people and cats. The sofa comprises a sofa main body, an inverted U-shaped arch plate, a cat climbing frame and a ladder climbing frame, the sofa main body comprises a sofa cabinet body, a cushion soft bag and a backrest soft bag, the cushion soft bag is movably placed at the top of the sofa cabinet body, and the backrest soft bag is rotatably arranged on the rear side of the top of the sofa cabinet body; the two inner sides of the inverted-U-shaped arch plate are connected with the two outer sides of the sofa cabinet body respectively, the cat climbing frame and the step climbing frame are arranged on the two outer sides of the inverted-U-shaped arch plate respectively, a first through hole is formed in the side, adjacent to the cat climbing frame, of the inverted-U-shaped arch plate in a penetrating mode, and the first through hole is higher than the cat climbing frame and the sofa cabinet body; and a spherical space capsule is embedded in the middle of the top of the inverted U-shaped arch plate. According to the sofa shared by people and cats disclosed by the utility model, a sofa seat and a cat appliance are combined together, so that the occupied space can be reduced, entertainment areas such as claw grinding, climbing and resting can be provided for cats under the condition that the rest of a user is met, and the interactivity between people and pets is improved.

The present invention provides a self-balancing chassis capable of climbing stairs for a disinfection robot, which belongs to the field of robot equipment technology and is used to solve the technical problem that it is inconvenient for the existing robot chassis to climb stairs and difficult to maintain balance. It includes a lower shell, in which a controller, a power supply and a gas storage tank are fixed, shock-absorbing driving wheel legs are arranged on both sides of the lower shell, a counterweight mounting seat is arranged between the two shock-absorbing driving wheel legs, a front T-shaped frame and a rear T-shaped frame are fixed at the bottom of the lower shell, a crawling motor and a cylinder are arranged on the front T-shaped frame and the rear T-shaped frame, a tripod is fixed on the output shaft of the crawling motor, a swivel is rotatably arranged at the end of the tripod, and a universal wheel is fixed on the swivel; the present invention can keep the counterweight mounting seat balanced and prevent tipping when climbing stairs or the robot is hit and tilted by the cooperation of the shock-absorbing driving wheel legs and the crawling support mechanism, so that the device can move normally and climb stairs.

This wheel capable of crossing an obstacle by using an axial movement can easily climb over stairs or obstacles by improving a mechanical structure thereof. The present invention enables the elderly and the infirm, children, disabled people, and the like to climb by themselves over obstacles having stepped differences, such as stepped protrusions and stairs, thereby reducing inconvenience in daily life. According to the present invention, the wheel can be applied to all fields related to movement means, such as a wheelchair, a stroller, a cart, and a robot, and thus can be widely distributed and provide convenience in life.

The invention discloses a global transportation blind guiding quadruped robot, and belongs to the technical field of disabled assisting robots. The robot mainly comprises a global walking-replacing blind-guiding quadruped robot structure (100) and an intelligent control system (200). The structure (100) comprises a machine body compartment body (101), four groups of wheel-foot combined type leg modules (110-115), sensing devices (103 and 109), control devices (104, 105 and 108), a seat (107), a power storage and supply device (106) and the like. The system (200) integrates subsystems such as a general control subsystem (201), an environment perception subsystem (202, 203), a voice interaction subsystem (204), a navigation driving subsystem (207) and a balance control subsystem (208). Through the fusion of the robot technology and the unmanned driving technology and by means of artificial intelligence learning training, the dual functions of manned riding instead of walking and intelligent blind guiding under various environments such as road driving, step climbing and field walking can be achieved, and the autonomy, safety, comfort and efficiency of visually impaired people going out can be remarkably improved.

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

The invention discloses a step climbing testing device which comprises a supporting frame, a lifting frame, a lifting control mechanism and a step assembly, step frames are arranged on the two sides of the supporting frame, guide shafts are arranged at the bottoms of the step frames in the height direction, one end of the lifting frame is hinged to the supporting frame, and the lifting control mechanism is arranged on the supporting frame and connected with the lifting frame. The lifting control mechanism is used for driving and controlling the step assembly to ascend and descend to a preset height position, the step assembly comprises step plates and supporting columns, the step plates and step openings of the step frame are arranged in a one-to-one correspondence mode, shaft sleeves are arranged on the two sides of the step plates, and the shaft sleeves are arranged on the outer sides of the guide shafts in a sleeving mode and can move up and down along the guide shafts. The first end of the supporting column is connected with the step plate, and a roller is arranged at the second end of the supporting column and abuts against the lifting frame. According to the invention, the height position of each step can be automatically and flexibly adjusted, so that diversified step test scenes are simulated to adapt to test tasks with multi-model equipment and multi-scene requirements.

The invention discloses a psychological counseling and relaxing exercise device for the psychiatry department, relates to the technical field of psychological rehabilitation exercise, and is used for solving the problem of poor psychological counseling effect of patients in the psychiatry department due to single function in the prior art, the psychological counseling and relaxing exercise device comprises a supporting platform, a supporting plate is arranged at one end of the supporting platform, and a display device is arranged on the supporting plate; the supporting platform is provided with a deformable track movement assembly used for providing exercises for psychiatric patients, and the supporting plate is further provided with an irregular obstacle avoidance training assembly. A deformable track structure is arranged on a supporting platform, plane walking and running exercises are provided for a psychiatric patient, or mountaineering and step climbing simulation exercises are provided for the patient after deformation, a sandbag which can be inflated to expand so that the patient can strike the patient is arranged on the other side, the irregular springback effect generated under the action of magnetic force is combined, and the training effect of the psychiatric patient is improved. Therefore, the patient can perform obstacle avoidance training. The device has the advantages of being comprehensive in function, good in emotion catharsis effect, convenient to use and good in safety.