98 results about "Step climbing" patented technology

A step climbing device for moving robots including a climbing guide provided with an inclined surface formed on the upper surface thereof so as to allow a moving robot to climb a step through the inclined surface of the climbing guide.

Provided is a step climbing device for moving robots including a climbing guide provided with an inclined surface formed on the upper surface thereof so as to allow a moving robot to climb a step through the inclined surface of the climbing guide.

A step climbing wheelchair apparatus includes right and left lift anus, and a longitudinal slot defined in a middle portion of each lift arm. The rear wheel axles of the wheelchair extend through the slot and a fastener is attached to secure each lift aim on the corresponding axle such that each lift arm can slide longitudinally perpendicular to the axle. The lift anus are configured such that when in an extended position rear step ends of the lift arms are located rearward of the outer rim of the rear wheel, and the front ends are located generally forward of the outer rim of the rear wheel. A front lift mechanism provides a lift lever operative to push a lift wheel downward to raise the front caster wheels of the wheelchair.

The invention discloses a maximum power tracking control method for a switched reluctance wind turbine system. An operation area of a wind turbine is divided into a constant power control area and a maximum power tracking area according to rotational speed-output power characteristic curves of the wind turbine at different wind speeds. A wind speed tracking control method is adopted in the constant power control area, and a control system observes the wind speed by the aid of a wind measuring device, then given power at the current wind speed is output according to the internally stored rotational speed-output power characteristic curves of the wind turbine at different wind speeds, and finally, the speed close to the maximum power point is quickly tracked through power closed-loop control. The system enters the maximum power tracking area after the power closed-loop control is stable. In the area, the system tracks the maximum power through variable-step climbing searching to realize rapidness and accuracy of tracking of the maximum power, and meanwhile, a stop measure and an error control mechanism are introduced to enhance the stability of the system. The maximum power tracking control method combines advantages of wind speed tracking control and climbing searching, so that the stability, accuracy and rapidness of the system are improved, and the method has good engineering application value.

A step climbing attachment suitable for attachment to a wheeled chair is described. The step climbing attachment includes a chassis for mounting one or more ground engaging units, a first and a second ground engaging unit mounted to the chassis, at least one of the first and second ground engaging units adapted to move relative to the other of the first or second ground engaging units and the chassis, the relative movement being between a ground engaging position and a step-engaging support position so that in use at least one of the first and / or second ground engaging units engages a step.

The invention discloses a step climbing mechanism comprising a first car unit, a second unit and a lifting system which is used for connecting the first car unit and the second car unit and which lifts vertically. The lifting system comprises a sleeve and a lifting column sleeved with the sleeve, the sleeve is mounted in the middle of the first car unit, and the lifting column is mounted at the end of the second car unit; the first car unit is provided with a gravity center adjusting device moving transversely. By means of own corresponded movement of the car, equipment can be conveyed and moved on steps without slopes, and turnover is prevented through the gravity center adjusting device.

A flying saucer comprises an undercarriage, a lower rotating body, a saucer body, an upper rotating body, upper blades, lower blades, an outer door and flying control systems, wherein the undercarriage nestles the lower portion of the lower rotating body after the flying saucer rises, a combination body of the flying saucer and the upper rotating body are symmetrically distributed on the upper side and the lower side of a side body, and the undercarriage supports the flying saucer to safely land like a cone when the flying saucer lands. A round body of the middle of the saucer body is a saucer cabin, and an outer ring is the side body. The top end and the lower portion outside the saucer cabin are respectively provided with the flying control systems, and a wind partition wall is arranged between the saucer cabin and the side body. The outer door is installed on the lower rotating body, the blades are installed on blade installing racks on the edges of the rotating bodies, and the upper rotating body and the lower rotating body drives the respective blades to rotate in mutually opposite directions. The flying saucer has the advantages that the saucer cabin, the rotating bodies, the blades and the side body are mutually connected to form a firm whole; the flying saucer takes off or lands like a helicopter, propels like an airplane and can complete step climbing, hovering, turnover, retrogradation and rotation at any angle only by changing attack angles of the upper blades and the lower blades.

The invention relates to an automatic climbing device for a gate steel wire rope, and solves the problems of low working efficiency, high labor intensity and potential safety hazards caused by manualcleaning and maintenance of the gate steel wire rope. The device comprises an outer frame and an inner frame which are slidably arranged on a gate steel wire rope in a sleeving mode. The outer frame and the inner frame can slide relatively; the outer frame and the inner frame are respectively provided with a rack and a gear which are mutually meshed; the rack extends in the axis direction of the gate steel wire rope. The gear is driven by a positive and negative rotation motor, an outer clamping device capable of loosening / holding a gate steel wire rope is arranged on the outer frame, an innerclamping device capable of loosening / holding the gate steel wire rope is arranged on the inner frame, and an upper carrying plate and a lower carrying plate are arranged at the two ends, in the axialdirection of the gate steel wire rope, of the outer frame respectively. Axial relative sliding is achieved through the gear and the rack, the gate steel wire rope is alternately clamped through cooperation of the inner clamping device and the outer clamping device of the inner frame and the outer frame, and stepping climbing of the device along the gate steel wire rope is achieved.

The invention discloses a land operation robot. The robot comprises a vehicle body and a plurality of wheels, and the wheels are all arranged on the vehicle; each wheel comprises a wheel shell, a driving mechanism and a plurality of movable hinges; a containing groove is formed in the wheel shell, and a circle of containing groove is formed in the circumferential direction of the wheel shell; the multiple movable hinges are arranged at intervals along the arrangement track of the storage groove, and the multiple movable hinges are movably connected with the storage groove in a turnover mode; the driving mechanism is connected with the multiple movable hinges, and the driving mechanism is used for driving the multiple movable hinges to be overturned out of the storage groove and overturned into the storage groove; and when the movable hinges are stored in the storage groove, the wheels make rolling contact with the ground through the wheel shell, so that the land operation robot moves on the flat ground. When the movable hinges are turned out, the wheels abut against the steps through the movable hinges, so that climbing of the land operation robot is achieved, and the problem that existing land operation robots cannot achieve step climbing is practically solved.

The invention discloses a connecting rod type climbing wheelchair, and belongs to the field of household wheelchairs. The connecting rod type climbing wheelchair comprises a wheelchair seat, a front wheel drive module and a back wheel set which are arranged at the bottom of the wheelchair seat, and a front wheel set arranged on the front wheel drive module; the front wheel drive module comprises alead screw, a linear guide rail, a nut sliding block and a motor, the front wheel set comprises a connecting rod C, a connecting rod D, a friction slab and a roller, the connecting rod A, the connecting rod B, the connecting C and the connecting rod D share the same plane, the included angle formed between the connecting rod C and the connecting rod D is larger than 90 degrees, and due to combination of the lead screw and the connecting rod mechanism, alternate climbing motions of the friction slab and the roller in the front wheel set are achieved; four son rollers capable of freely rotatingare evenly arranged at the periphery of the back wheel A, and climbing motions can be achieved under the drive of the front wheel set. The wheelchair connecting rod type climbing is simple and reasonable in structure, and the connecting rods synchronously drive the front wheels to achieve lifting interactive wandering step climbing and drive the back wheels to achieve passive rolling type step climbing.

The invention is suitable for the technical field of robot movement control, and provides a movement control method and a movement control device for a robot, the robot and a computer readable storage medium. The method comprises the steps of acquiring the geometric parameters of a target step, wherein the geometric parameters comprise the stepping width and the stepping height of the target step; determining at least two time-displacement coordinates and a velocity vector corresponding to each time-displacement coordinate according to the geometric parameters; based on the at least two time-displacement coordinates and the corresponding velocity vectors, fitting to generate a movement track; and controlling feet of the robot to move based on the movement track. By means of the method, the feet of the robot can be prevented from violently colliding with the steps in the step climbing process, and step climbing is safer and more stable.