70 results about "Independent walking" patented technology

The invention relates to the technical field of navigation systems, in particular to a blind autonomous navigation method based on the stereoscopic vision and the information fusion. The output part of a left image and right image is connected with an image preprocessing part, the output of the image preprocessing part is connected with an image segmentation part, the image segmentation part is connected with a characteristic extraction part, the output of the characteristic extraction part is connected with a stereographic matching part, the output of the stereographic matching part is connected with a parallax chart obtaining part, the output of the parallax chart obtaining part is connected with a depth image obtaining part and a target detection and marking part, the output of the depth image obtaining part is connected with the target detection and marking part, the output of the target detection and marking part is connected with a target size, distance, direction and calculation participation part, the output of the target size, distance, direction and calculation participation part is connected with a multi-sensor information fusion part, the output of the multi-sensor information fusion part is connected with a voice output part of information, such as obstacle position, size, distance, direction and the like, and the outputs of an ultrasonic wave ranging part, an electronic compass direction finding part and a GPS positioning part are connected with the multi-sensor information fusion part. In the invention, the algorithm has great use value for improving the autonomy and the independent walking ability of the blind.

The invention provides a gait rehabilitation training robot. The gait rehabilitation training robot comprises a rehabilitation instrument platform and a wearable lower limb exoskeleton arranged on the rehabilitation instrument platform. The rehabilitation instrument platform is placed on the ground and provides a virtual walking environment for a patient; the wearable lower limb exoskeleton is worn on the lower limbs of the patient and provides walking driving for the patient, and accordingly gait rehabilitation training is performed. The gait rehabilitation training robot provides the virtual walking environment for the patient, and the patient is helped to gradually perform gait rehabilitation through the wearable lower limb exoskeleton worn the lower limbs of the patient and gradually has independent walking capability.

The invention relates to a stereo tramcar which operates across 1-2 tracks. The tracks are provided with steel rails which fit with the tramcar. The distance from an underframe of the tramcar body to the ground is greater than the height of a car. The tramcar comprises four independent walking parts connected with the tramcar body. The walking parts incline inwardly and are connected with the tramcar body to form a trapezoid structure. The top of the walking parts is connected with the upper portion of the tramcar body through air springs. The gravity center of the tramcar body is lower than the contact surface of the air springs and the tramcar body. The central portion of the walking parts is connected with the lower portion of the tramcar body through a transverse pull bar. A Z-shaped draw gear is arranged between the walking parts and the tramcar body. In comparison with the prior art, the stereo tramcar provided by the invention has advantages of good steering ability, good lateral stability, strong road adaptability, safety, reliability and the like.

The invention discloses a self-propelled stamping slurry extracting spiral calendaring canal lining machine which comprises a crawler-belt-type walking mechanism, a multifunctional hopper and a shaping bulldozing plate. The self-propelled stamping slurry extracting calendaring canal lining machine is characterized in that a rack which can ascend and descend is located on a crawler-belt-type walking device; and a canal shaping bulldozing plate, a multifunctional hopper, a joint cutting device, a stamping slurry extracting device and a screw plastering device are assembled on the rack in sequence. The whole complete canal channel concrete lining work such as canal slope finishing, material distributing, joint cutting, stamping slurry extracting and plastering calendaring can be finished at a time. The bulldozing plate conducts slope pushing and shaping, the multifunctional hopper ensures that concrete is evenly distributed into a canal according to the design thickness, the stamping slurry extracting device impacts on and flaps the concrete, and slurry returning and compacting of the concrete are achieved. The self-propelled stamping slurry extracting calendaring canal lining machine has the advantages that one-time forming is achieved, the paving thickness is uniform, the flatness is high, the mechanical degree is high, work is continuous, independent walking can be conducted, potential quality hazards existing in manual operation are completely eradicated, the construction speed of a canal lining and the forming quality of the concrete can be greatly increased, and a large amount of labor force is saved.

The invention provides a novel robot walking mechanism, which comprises a body framework, wherein at least two walking units are symmetrically distributed on the left and right sides of the body framework, each walking unit comprises at least three joint modules, and each joint module comprises a joint rotating shaft and a rotating arm. The mechanism is characterized in that: a certain front joint module and a certain rear joint module of the walking unit are combined into a leg lifting mechanism with leg lifting function for independent walking of the walking unit, and the other joint modules are combined into a leg walking mechanism with walking function for independent walking of the walking unit. The invention also provides a method adopting the structure. The method comprises the steps of lifting a group of legs and then making the other group of legs stretch backwards to advance. The mechanism has the advantages that: the whole multi-leg robot is miniaturized and light, has high speed and low energy consumption, and can achieve the ideal entertainment effect of adapting to a complex pavement.

The invention provides a cleaning treatment device for an independent walking pipeline. The cleaning treatment device is used for cleaning the inner wall of the pipeline and comprises a first fixing plate, a second fixing plate, a propelling part, a cleaning part and a power part; the propelling part is mounted on the first fixing plate and is provided with at least three propelling mechanisms which are distributed on the same circumference, and each propelling mechanism is composed of a guide unit, a drive unit and a transmission unit; a cleaning unit is a spiral cleaning part and is cylindrical, and a thread is arranged on the outer surface of the cleaning unit; the cleaning unit can axially move along the pipeline while rotating, and therefore friction and cutting of dirt on the inner wall of the pipeline can be achieved, and the effect of cleaning the inner wall of the pipeline is achieved; and the cleaning treatment device for the independent walking pipeline is used for carrying out pipeline cleaning work, the cleaning effect is better, and the cost of pipeline cleaning can be reduced.

The invention discloses a gantry type truss mechanical arm. The gantry type truss mechanical arm comprises a truss provided with two parallel rails through vertical columns, a moving beam stretching across on the two parallel rails, a vertical beam arranged on the moving beam and perpendicular to the moving beam and a rotating device arranged at the lower end of the vertical beam, two ends of themoving beam are provided with independent walking devices correspondingly to walk along the rails synchronously, one end of the moving beam is fixed to the walking devices, and the other end is movably matched with the walking devices in the axial direction of the beams. The gantry type truss mechanical arm can realize quick translation in three directions of the X direction, the Y direction and the Z direction and rotation of the tail end of the Z axis, movement is flexible without dead angles, the work efficiency is high, truss deformation can be significantly reduced, the precision is improved, and the equipment life is prolonged.

The invention discloses a method for grabbing a borrowed book. The method for grabbing the borrowed book comprises the following steps that 1, a book database is established and two-dimensional code labels are pasted; 2, the book location is obtained; 3, a library map is constructed and the location of a target bookshelf is obtained; 4, a book grabbing robot moves to the target bookshelf; 5, the grabbing point of a target book is obtained; and 6, the borrowed book is grabbed. According to the method for grabbing the borrowed book, the steps are simple, the design is reasonable, independent walking and accurate positioning of books are realized, borrowed books can be accurately grabbed, the labor intensity of a book manager is reduced, and the practicability is high.

The invention relates to a two-crawler material paving machine capable of realizing self-site transfer, which comprises a main frame, wherein two walking crawlers are respectively arranged on two sides of the main frame, and a material distributing device and a paving device are arranged below the main frame; the walking crawlers are mounted below a side beam of the main frame through one or two mounting seats which can rotate in the horizontal plane, the walking crawlers can rotate around the mounting seats which are used as fixed shafts, and the mounting seats are connected with mounting parts of the walking crawlers through connecting parts; and at least one walking crawler is mounted below the side beam of the main frame through the two mounting seats, at least one walking crawler can rotate around one of the mounting seat which is used as the fixed shaft, when the walking crawlers rotate around the fixed shafts, an independent walking device is detachably mounted on the other mounting seat, and the independent walking device is connected with the other mounting seat through the connecting part; and steering mechanisms are arranged between the walking crawlers and the main frame. The two-crawler material paving machine can solve the problems that the existing large two-crawler material paving machine only adopts a large transport vehicle for transmission and can not carry out the site transfer conveniently.

The invention provides a reconstructive tracked robot, which relates to a robot. The invention is to solve problems that the passing ability of the traditional tracked robot is affected due to no arm swinging function and some robots with arm swinging functions may affect robot running flexibilities. The reconstructive tracked robot comprises a main body independent walking robot and a rear part independent walking robot, wherein the rear part independent walking robot comprises a first motor, a second motor, a first motor stand, a second motor stand, a first synchronizing wheel, a rear part worm wheel transmission body, a worm, a rear independent walking robot shell, a first synchronous belt, two second synchronizing wheels, two second motor output wheels, two third synchronizing wheels, two rear part axle driving assemblies, two rear part driving wheels, two rear part driven wheels, two rear part wheel fixing plates, two second synchronous conveying belts, two rear part tracks, four rear part small driven wheels and a plurality of groups of rear part track transitional wheels. The reconstructive tracked robot provided by the invention is used for the field of robots.

The invention relates to a coal mine underground drill rig, in particular to an underground drill rig with complete functions which is separated into a front part and a back part capable of walking separately and is connected and combined after arriving at a drilling field. The drill rig is separated into a front part and a back part, so that the size is reduced effectively, a sub-walking function is provided, convenience is brought for drilling in the drilling field, and the gallery suitability of the drill rig is greatly enhanced. By adopting the drill rig, the problem of difficulty in controlling coal mine gas since the conventional overlarge drill rig cannot enter a coal mine with a small production scale is solved. In the drill rig, a hydraulic station of the entire drill rig is separated from the entire drill rig to form an independent walking module; a small-sized walking hydraulic station is arranged in the rest of the entire drill rig, so that the size of the entire drill rig is effectively reduced; and the two parts are connected through an oil pipe after arriving the drilling field to form an entire coal mine underground drill rig. The drill rig is convenient to transport, has a small size, is flexible for arranging in the drilling field, and has high suitability for small drilling fields.

The invention provides a crawler-type sleigh composite walking polar region robot. A position-changing crawler walking mechanism comprises four independent walking crawlers and a crawler rocker arm support. The walking crawler comprises a crawler belt body, driving wheels, supporting wheels and guide wheels. The crawler belt surrounds the driving wheels, the supporting wheels and the guide wheels,the driving wheel rotates in the mode that a hollow shaft is connected with a speed reducer shaft, the crawler rocker arm support rotates in the mode that a solid shaft located in the hollow shaft rotates, and different crawler advancing movement modes are achieved by controlling locking of a front guide wheel shaft and a rocker arm shaft. A sail sleigh mechanism comprises a sail at the top of arobot body and a sleigh at the bottom and capable of ascending and descending freely. The sail at the top can ascend and descend through a gear motor, the sleigh at the bottom can pop up from the bottom of the vehicle body, the angle of the sleigh is adjusted, and the pitching degree of the robot is further adjusted; the vehicle body can still be kept horizontal when the robot runs on an inclinedroad surface, and therefore it is guaranteed that instruments in the vehicle body can normally run.

The invention discloses a lawn mower. The lawn mower comprises a rack system, a walking system, a power system, an operation system and an electric appliance control system, and further comprises a header system. The walking system is assembled on the rack system to achieve advancing or retreating or turning of the lawn mower. The power system provides a power source for the whole lawn mower. The operation system is assembled on the rack system to control the walking and mowing of the lawn mower. The electric appliance control system is controlled by the operation system to control the walking and mowing action of the lawn mower. The header system is arranged on the front part of the whole lawn mower to achieve the mowing function. In this way, a lithium battery is adopted as the power source, two direct-current brushless motors are adopted to achieve independent walking and mowing work, noise is reduced, maintenance cost is low, the control accuracy, namely, the safety logic protection, is guaranteed through a direct-current motor controller, zero-emission and zero-pollution are achieved through an electric driving mode, and the true sense of environmental friendliness is achieved.

A walking training system and walking training machine capable of remarkably enhancing the effect of improving an independent walking function are proposed. When a subject having a lower limb functional disorder performs walking training, the degree of dependency on upper limbs can be evaluated by enabling the subject to recognize transitional reductions of a load on a holding part(s) by feeding back the transitional reductions of the load as a sense to feel them.

The invention belongs to the technical field of exoskeleton robots, and particularly relates to an exoskeleton robot for a lower limb paraplegia patient. The robot comprises a binding assembly arranged on the upper trunk of a patient, a hip assembly installed on the binding assembly, a lower limb rehabilitation mechanism and a leg supporting mechanism, wherein the lower limb rehabilitation mechanism and the leg supporting mechanism are symmetrically installed on the hip assembly. The lower limb rehabilitation mechanism comprises a hip joint assembly, a thigh training assembly, a shank training assembly and a foot assembly which are connected in sequence. The hip joint assembly, the thigh and shank assembly and the foot assembly of the robot adopt a parallel mechanism, and the leg supporting mechanism is arranged on the inner side of the leg and thigh training mechanism, so a wearer can independently walk without crutch or single-hand crutch, and joint dislocation corresponding to the patient due to long-time wearing of the patient is avoided. All movable joints of the robot correspond to all joints of a human body, all main joint parts have angle limitation, and the phenomenon that the overall stability is poor due to the fact that robot joints are too flexible is avoided.

The invention relates to an independently walking mechanism, in particular to an independently walking mechanism for a robot platform, which belongs to the technical field of robot engineering. The mechanism is an independent walking module, and is in particular suitable to be used for the modularization design of a robot. The mechanism mainly comprises an electric motor, an electric motor decelerator set, an electric motor driver, a driving wheel, a driven wheel and so on, wherein the electric motor and the electric motor decelerator set are integrated into a whole, and a shell of the whole is an output shaft of a decelerator; the driving wheel is fixedly connected to the shell of the whole; and the operation of the shell of the whole drives the electric motor to rotate. The mechanism can guarantee that the platform can smoothly drive in complex ground surface environment. The design applied to the robot ensures that each wheel of the robot can independently operate; and once one wheel is broken, the work of other wheels can not be influenced. The mechanism can also be a small robot independently.

The invention discloses a floor sweeping robot. The floor sweeping robot comprises a body. The body is provided with multiple independent walking devices. Each walking device comprises a shell and a driving wheel assembly, wherein at least part of the driving wheel assembly is arranged in the shell. The driving wheel assemblies of the walking devices can be replaced with one another. Each driving wheel assembly comprises a drive assembly, a roller, a motor and an encoder, wherein the roller is rotationally connected with the drive assembly around the horizontal axis. The motors are used for driving the rollers to rotate, and the motors are connected with the drive assemblies in a relatively fixed mode and are in drive connection with the rollers through the drive assemblies. The encoders are connected with the motors to control the motors to change speed. According to the floor sweeping robot, the drive wheel assemblies replaced with one another are arranged, the universality of the drive wheel assemblies can be improved, the parts of the drive wheel assemblies are shared and standardized, and therefore the production efficiency and the assembly efficiency of the floor sweeping robot are improved, and the production cost is reduced.

The invention discloses a chassis structure of a suspension frame electric vehicle. The chassis structure comprises a frame. The frame is provided with a plurality of sets of independent walking devices. Each walking device comprises a control system, a hanging motor, a cantilever, wheels and a power motor, and a containing frame is arranged on the top of the frame. The control systems are arranged in the containing frame. A cantilever shaft fixing frame is arranged at the bottom of the frame and connected with cantilever shafts in the horizontal direction through longitudinal rotating bearings. The upper ends of the cantilevers are connected with the cantilever shafts. The cantilever shafts are connected with output shafts of the hanging motors through transmission gear sets. The lower ends of the cantilevers are connected with the wheels. The power motors are hub type power motors installed on the wheels. Compared with the prior art, the chassis structure has the advantages that during driving, the wheels can be automatically lifted up or placed down through a vehicle chassis when the ground is bumped or oblique, and the wheels are kept to make contact with the ground; the vehicle body part is kept horizontal constantly, and the gravity center is in the safety range all the time.

A self-propelled, intermittent operational transplanting and injection needle irrigation device belonging to the technical field of agricultural machinery, comprises a mainframe, a transplantation accessory and an injection needle irrigation accessory, wherein, the mainframe comprises an independent walking mechanism, a manual power mechanism, an aeration water tank mechanism; the transplantation accessory comprises an indentation mechanism and a pot seedling feeding mechanism. The device intermittently operates and both sides thereof are operation faces; the independent walking mechanism is only responsible for walking and loading tasks; the manual power mechanism provides the power of the work; the aeration water tank mechanism provides the pressure and the water source; the indentation mechanism completes indentation work; the pot seedling feeding mechanism completes cave entry of the pot seedlings; an injection needle irrigation mechanism completes daily irrigation and fertilization operations to the roots of the crops. The device of the invention integrates a pot seedling transplantation machine and an injection needle irrigation machine into a whole and has the advantages of simple structure, easy operation, low labor intensity, high operating efficiency, substantial reduction of evaporation capacity and loss amount, obvious water-saving effect and remarkable fertilizer effect.

Many handicapped appliances exist in the market, can only ease the difficulties of the lower limb handicapped to a certain extent and still have a long way to satisfy the real needs of the handicapped. The invention discloses a vehicle which can help the lower limb handicapped to overcome the difficulties of standing and independent walking for a long time. The vehicle can carry an electric wheelchair to run together on a road, and a manual mechanical device which can vertically lift, fix and put down the electric wheelchair. When sitting on the seat of the electric wheelchair, a user can drive a motor vehicle to go short and long trips easily, and put down the electric wheelchair on the ground after the user reaches a destination, and then departs from the motor vehicle. At the moment, the user can sit in the electric wheelchair to go indoors and outdoors freely. All operations are independently completed by the user without the assistance of other persons, and it is unnecessary for the user to leave the seat of the electric wheelchair in the whole process.

A self-walking plant transplanting machine relates to a plant transplanting machine, for resolving the problems of present technique as independent walking and unable to work on high-density plants. The inventive plant transplanting machine (4) is arranged at the back of a seat and a seed box (5), wherein a hydraulic lifter (3-1) is fixed on a main frame (6) at the back of the plant transplanting machine (4), one end of a four-rod suspending support (3-2) is connected with an output of the hydraulic lifter (3-1) while another end is connected with the plant transplanting machine (4). The invention uses a detachable power self-walking chassis, with better versatility and complement, that arranges plant transplanting machine on the self-walking chassis, thereby making the device simple and easy operation. And the invention uses crawler walking device to make operation stable and reliable, therefore the mechanical device can be engaged with power completely, and high-density plant transplanting process can be realized.

The invention discloses a broach lifting and stretching type intelligent carrier which comprises a body and a lifting rack, wherein the body is connected to the lifting rack through a lifting device,and a walking mechanism is arranged on the body; the body, the lifting device and the walking mechanism form an independent walking and lifting module; a front broach on the lifting rack is arranged on a front stretching device and a back broach is arranged on a back stretching device, and the lifting rack, the front stretching device and the back stretching device form an independent stretching module; each carrier comprises a stretching module and two walking and lifting modules located at two ends of the stretching module; each carrier is composed of one stretching module and two totally same walking and lifting modules, so that the carrier is simple in structure, low in production cost, high in universality and good in interchangeability. By adopting a stretching type broach structure,the width dimension of the carrier is reduced and the thickness of the carrier is reduced greatly, so that the layer height of a garage is reduced and the space utilization ratio is high; walking wheels of the walking mechanisms are driving wheels, so that the carrier is good in dynamic property.

The invention relates to the technical field of medical equipment, in particular to a separable multipurpose lower limb exoskeleton robot. The separable multipurpose lower limb exoskeleton robot comprises a movable protection frame device and an exoskeleton device which are movably connected. The exoskeleton device comprises a waist connecting mechanism, thigh connecting mechanisms, shank connecting mechanisms and sole supporting mechanisms which are connected in sequence; and a control box used for control is arranged in the waist connecting mechanism and electrically connected with the thigh connecting mechanisms and the shank connecting mechanisms through cables. The exoskeleton device is movably connected to the movable protection frame device, the exoskeleton device can act independently and can also be installed on the movable protection frame device, so that patients capable of walking independently and patients incapable of walking independently can conduct rehabilitation training conveniently, the exoskeleton device can drive thighs and shanks of the patients to conduct rehabilitation training, and the rapid rehabilitation of the patients is facilitated.

The invention discloses a rectangular material storage yard conveying system and mainly aims at providing the rectangular material storage yard conveying system which has a simple structure and is low in cost. The rectangular material storage yard conveying system is arranged to have two spans. Each span is provided with a material stacking machine and a material picking machine. Each material stacking machine is provided with two independent walking tracks and a set of material stacking belt conveyer. Each material picking machine is provided with two independent walking racks and a set of belt conveyer. A space between the two walking tracks of each material picking machine is a storage yard. The rectangular material storage yard conveying system disclosed by the invention has the advantages of investment saving, less dust and simple design.

The invention discloses a tunnel excavating trolley. The tunnel excavating trolley comprises a bottom layer trolley body and an upper layer trolley body arranged on the bottom layer trolley body; oneor more layers are arranged on the upper layer trolley body, and the upper layer trolley body can longitudinally walk relative to the bottom layer trolley body; when the upper layer trolley body is provided with multiple layers, each layer of the upper layer trolley body has the independent walking power, and can longitudinally walk relative to the adjacent lower layer. Preferably, the bottom layer trolley body is loaded on a wheel type frame; the upper layer trolley body is composed of a middle layer trolley body and a top layer trolley body, and the middle layer trolley body can longitudinally walk relative to the bottom layer trolley body; the top layer trolley body can longitudinally walk relative to the middle layer trolley body; a trestle or a steel rail bridge or a hanging bridge isarranged at one end of the bottom layer trolley body and used for walking of the middle layer trolley body; a trestle or a steel rail bridge used for walking of the top layer trolley body is arrangedat one end of the middle layer trolley body. The tunnel excavating trolley has the advantages that multi-layer combination is realized, the trolley can adapt to full-section or double-step or three-step tunnel excavating through changes of a combination state, the application range is wide, repeated utilization can be realized, and the cost for tunnel excavating can be effectively lowered.

The invention provides a medical physiotherapy device for rehabilitation of independent walking, comprising semicircular braces. Two step recesses are arranged in the top of a tilting plate and used for resting feet. The lateral end of each third bar is provided with a T-shaped block that is as large as a T-shaped groove of a corresponding second bar in size; each T-shaped block can reciprocate inthe corresponding T-shaped groove; each third bar is fixedly connected to the corresponding second bar via a screw. The top of each third bar is provided with a T-shaped groove, the bottom of each third bar is provided with hex blind holes distributed at equal intervals, and a threaded hole is arranged in each blind hole. The left end of the bottom of each fourth bar is provided with a T-shaped block, the top of each fourth bar is provided with a stepped hole, and each fourth bar is fixedly connected to the corresponding third bar through a bolt. The medical physiotherapy device for rehabilitation of independent walking is simple in structure and low in cost, and is suitable for long-term domestic rehabilitation training; a patient needs to be accompanied by family members to arrive within a protective railing during use, then the patient can start training on his or her own since many auxiliary support points are provided, the family members of the patients are freed, and the patientmay push and activate an alarm to inform the family members for assistance when feeling overfatigue or falling.

A horizontal coring drilling machine comprises a drilling frame, a chassis is hinged to the lower portion of the drilling frame, supporting legs are arranged on the chassis, a power head assembly, a machine cover, a drilling rod, a cab and a vice are sequentially arranged above the drilling frame, and a drilling rod assembling and disassembling device is arranged on the side face of the drilling frame. The horizontal coring drilling machine does not need to penetrate through a useless rock layer on the upper portion of a mountain, directional linear exploration can be directly conducted along the horizontal axis of a tunnel, the invalid footage amount is greatly reduced, the comprehensive efficiency is high, and the drilling machine is provided with an independent walking system, convenient to transition and low in engineering cost.

The invention discloses an artificial intelligence-based lightning protection detection system and method, and the system comprises a machine body, and also comprises independent walking mechanisms which are located at the periphery of the machine body and are used for driving the machine body to walk, an electric telescopic rod, a first vertical angle adjustment mechanism which is located on the upper surface of the machine body and is used for driving the electric telescopic rod to perform vertical adjustment, a second vertical angle adjusting mechanism which is located at the end of the electric telescopic rod, and a horizontal angle adjusting mechanism which is connected with the second vertical angle adjusting mechanism. According to the invention, detection data is analyzed and processed by establishing a detection data platform, a big data analysis software system and a 5G communication technology, the product only needs to control the machine body to move through the remote controller to detect the lightning protection device, and a detector does not need to go to a detected place, so that on one hand, effective safety protection is performed on the detector, and on the other hand, the labor intensity of the detector is effectively reduced; meanwhile, the independent walking mechanism is arranged, and the machine body can walk under various road conditions.