32 results about "Step climbing" patented technology

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.

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 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.

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 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.

The invention relates to a multi-mode multifunctional health care wheelchair integrating visual obstacle avoidance. The multi-mode multifunctional health care wheelchair comprises a seat self-leveling module, a straight steering module, a step climbing module, a defecation assisting module, a multi-source sensor fusion system and a multi-mode control system. Compared with the prior art, the stair lifting and locking device has the advantages that continuous actions of stair lifting, locking, forward moving and follow-up are achieved, and meanwhile the stair lifting and locking device meets the auxiliary supporting requirements of unstructured road surfaces such as potholes and slopes.

The invention belongs to the technical field of display screen moving supports, and particularly relates to a display screen moving type supporting device which comprises a supporting plate. The bottom end of the supporting plate is fixedly connected with two first bases. A servo motor is arranged in a connecting block to drive a gear set to rotate, a plurality of rotating wheels on a fixing frame are synchronously driven to rotate, the rotating wheels are switched to climb steps in a triangular mode till a large display screen is stably carried to the position above the steps, the principle that the triangle is stable is utilized, rotation of the gear set is accurately controlled through the servo motor, and the large display screen can be stably carried to the position above the steps. Therefore, cooperative work of the multiple rotating wheels is achieved, it is ensured that the large display screen is kept stable in the step climbing process, the falling risk possibly caused by the unstable gravity center is avoided, the requirements of the large display screen for flat-layer movement and step crossing on the same floor can be flexibly met, and the carrying efficiency and safety of the large display screen are improved; and meanwhile, the multiple rotating wheels are flush with the bottom end of the first base, and the supporting effect on the large display screen can be achieved.

The application relates to a stroke circle gait correction system based on BCI intention decoding, which comprises an online consultation platform; a patient wears an electroencephalogram cap, VR glasses, and tDCS and rTMS electrodes, and wears a power-assisted robot; the patient performs flat ground walking, step climbing and obstacle crossing training based on a VR training scene; an intention intensity signal is decoded by using a BCI intention recognition module; the power-assisted robot converts the intention intensity signal into a servo control instruction for driving; a knee joint assists hip and knee flexion; an adjustable damping abduction limiting joint limits leg abduction and circle drawing of the patient; and combined with multi-scene VR feedback and time-sequenced tDCS and rTMS nerve regulation, the stroke circle gait correction is realized from the aspects of "idea-action-feedback-remodeling".

To provide a multi-wheeled conveyance vehicle exhibiting excellent step ride-over performance without raising the gravity center of a vehicle body.SOLUTION: The multi-wheeled conveyance vehicle 1 includes a vehicle body, drive wheels, front wheels, and rear wheels. A drive-wheel spring rate k20 is set to be smaller than a front-wheel spring rate k30 and smaller than a rear-wheel spring rate k40. The amount of drive-wheel travel T20, the amount of front-wheel travel T30, and the amount of rear-wheel travel T40 are set so as to at least partially overlap one another in an assumed load range NML. The amount of drive-wheel travel T20 is set to produce a preload range PLL. The amount of front-wheel travel T30 is set so as to allow movement of each front wheel in a high load range HL. The amount of rear-wheel travel T40 is set so as to allow movement of each rear wheel in the assumed load range NML including the high load range HL.SELECTED DRAWING: Figure 11

The present disclosure relates to a carrying device and a control method thereof, a cleaning device and a cleaning system, a computer program product and a computer readable storage medium. The carrying device is capable of climbing a step, and the carrying device comprises a detector and a controller. The detector is configured to detect a distance between a bottom surface of the carrying device and a tread surface of the step. The controller is in communication connection with the detector. The controller is configured to slow down a speed of the carrying device moving towards the tread surface when the distance between the bottom surface of the carrying device and the tread surface of the step is less than a preset distance. In this way, a large impact force generated when the carrying device contacts the tread surface of the step can be avoided, so as to reduce the probability of damage to the carrying device and / or the step.

The present disclosure relates to a carrying device and a control method thereof, a cleaning device and a cleaning system, a computer program product and a computer readable storage medium. The carrying device is capable of climbing stairs and / or moving along a kick surface of the stairs, and the carrying device comprises: a detection module configured to detect a relative attitude between the carrying device and the kick surface; and a movement module configured to drive the carrying device to move; the movement module is configured to switch a movement state of the carrying device when the carrying device is in an inclined attitude relative to the kick surface, so that the carrying device is in a substantially parallel attitude relative to the kick surface. The carrying device has higher safety when climbing stairs and / or moving along the kick surface.

The utility model relates to bearing equipment, a cleaning device and a cleaning system. The bearing equipment can climb a step or move along a kicking surface of the step, and the bearing equipment comprises a detection module which is configured to detect the relative position between the bearing equipment and the kicking surface of the step; and the movement module is configured to drive the bearing equipment to climb the step and / or move along the kicking surface of the step when the relative position between the bearing equipment and the kicking surface is within a preset range. Therefore, the risk when the bearing equipment climbs the steps or moves along the kicking surface can be avoided, and the safety when the bearing equipment climbs the steps or moves along the kicking surface is improved.

The utility model provides a robot walking auxiliary track device, and mainly relates to the technical field of mobile robots. A robot walking auxiliary track device comprises a walking base, a mounting plate is fixedly arranged at the front end of the walking base, connecting rods are symmetrically and rotationally connected to the bottom end of the mounting plate, the other ends of the connecting rods are rotationally connected with a supporting plate, an electric push rod is rotationally connected to the mounting plate, and the other end of the electric push rod is hinged to the bottom of the supporting plate. The beneficial effects of the utility model lie in that the electric push rod can stretch out and draw back to realize unfolding and folding, and can adapt to obstacles with different heights; when a high step is encountered, the electric push rod extends to push the supporting plate to be unfolded downwards and abut against the surface of the step, additional supporting points are provided for the walking base, the robot is helped to climb the step smoothly, and the problems that a traditional tracked robot is prone to slipping and insufficient in power when facing a high obstacle are solved.

The present disclosure relates to a carrying device and a control method thereof, a cleaning device and a cleaning system, a computer program product and a computer readable storage medium. The carrying device is capable of climbing a step or moving along a kick surface of the step. The carrying device comprises a detection module configured to detect a relative position between the carrying device and the kick surface of the step; and a movement module configured to drive the carrying device to move. When the relative position between the carrying device and the kick surface is within a preset range, the movement module is configured to drive the carrying device to climb the step and / or move along the kick surface of the step. In this way, the risk of the carrying device climbing the step or moving along the kick surface can be avoided, and the safety of the carrying device climbing the step or moving along the kick surface can be improved.

The present disclosure provides a control method and device of a carrying device, the carrying device, a cleaning device and system, and relates to the technical field of smart home. The method comprises: detecting the height of a step by using a height detection assembly to obtain a first height; if the first height is within a preset height range, controlling the carrying device to move from a first surface to a second surface; wherein one of the first surface and the second surface is the upper surface of the step, and the other is the lower surface at the bottom of the step. The present disclosure can reduce the safety risk of the device climbing the step.

A mobility support device capable of stably climbing a step without impairing mobility on flat ground is provided. The mobility support device includes a front wheel, a rear wheel, a drive wheel disposed between the front wheel and the rear wheel, a first link coupled to the front wheel, a second link connecting the drive wheel and the rear wheel, a rotation joint coupling the first link and the second link at a first position, and a first elastic member coupling the first link and the second link at a second position different from the first position.

The invention relates to the field of pipelines, and discloses an energy storage power station converter boosting cabin PCS module replacement device which comprises a frame, the frame is designed to be L-shaped, and the frame is used for bearing installation; the moving mechanism comprises a connecting frame installed on one side of the frame, an installing frame fixedly connected to the side, away from the frame, of the connecting frame, moving wheels installed on the installing frame in a matched mode, and a driving element arranged on the side, away from the frame, of the connecting frame. The driving element is used for driving the moving wheels to operate; through the coordinated lifting action of the hydraulic lifting platform and the main lifting frame and the auxiliary lifting frame of the hydraulic lifting platform, the gravity center position of the PCS module on the frame can be flexibly adjusted, modules of different specifications and the heights of operators can be adapted, the balance weight can be actively adjusted when the moving wheels climb steps or ramps, and the overall stability of the equipment in the climbing and obstacle crossing process is remarkably improved.