The invention provides a robot capable of climbing steps with any rotation angle and any step surface and a climbing method thereof. The robot comprises an outer four-leg supporting structure and an inner four-leg supporting structure and is characterized in that a first laser ranging sensor and a second laser ranging sensor are arranged on the front sides of two outer legs in the front of a first supporting plate respectively, a third laser ranging sensor and a fourth laser ranging sensor are arranged on the front sides of two inner legs in the front of a second supporting plate respectively, bases are arranged at the lower ends of four outer legs and four inner legs, and collision sensors are arranged on the lower sides of the bases. By using the laser ranging sensors in combination with the designed control method, an ingenious rotation stair climbing path plan is provided, and therefore the robot can climb steps with any rotation angle or steps of any type, wherein the rotation angles of the steps are different.

Robot capable of climbing steps with any rotation angle and any step surface and climbing method thereof

The invention discloses a bionic foot type walking aid with driving control. The bionic foot type walking aid comprises a body support, a control unit, a left supporting leg set, a right supporting leg set, a left leg swing driving device driving the left supporting leg set and a right leg swing driving device driving the right supporting leg set. The left supporting leg set and the right supporting leg set each comprise a first supporting leg and a second supporting leg which swing front and back alternately. The left leg swing driving device and the right leg swing driving device each comprise a shell fixed to the body support and a power device arranged in the shell and controlled by a control unit. The first supporting legs and the second supporting legs in the supporting leg sets can swing front and back alternately under control of the control units, the leg swing driving devices and the like so as to move forwards by swinging front and back alternately like the legs of a human, and therefore the walking aid can move forwards automatically; furthermore, the walking aid has good obstacle crossing and stair crossing performance and is more comfortable and effortless to use, good in stopping stability and high in use safety.

Bionic foot type walking aid with driving control

The invention discloses a wheelchair robot beneficial to obstacle surmounting. The wheelchair robot is characterized by comprising an upper layer mechanism, a middle layer mechanism and a lower layer mechanism, the upper layer mechanism comprises a chair and upper layer guide rails arranged on the two sides of the chair, main wheels and guide wheels are arranged on the chair, the lower layer mechanism comprises a lower layer guide rail and lower layer multi-joint telescopic electric push rods arranged at one end of the lower layer guide rail, the middle layer mechanism comprises a middle layer connection layer, an upper layer slide block, a lower layer slide block and middle layer multi-joint telescopic electric push rods, and the upper layer slide block, the lower layer slide block and the middle layer multi-joint telescopic electric push rods are arranged on the middle layer connection layer. The wheelchair robot has the advantages that by means of stretch-out and draw-back of the electric push rods and sliding between the guide rails and the slide blocks, people having difficulty in lower limbs and the aged can be assisted in safely and stably walking up and down stairs and getting on and off automobiles in horizontal postures without assistance of other people, and people having difficulty in lower limbs and the aged can conveniently go out to participate in social activities.

Wheelchair robot beneficial to obstacle surmounting

The invention discloses an automatic book taking bookshelf which comprises a base, a bookshelf body and a book taking device. The bookshelf body is arranged on the base and is used for storing books, the book taking device is arranged on the base and is used for taking down the books stored on the bookshelf body, the bookshelf body comprises bookshelf plates and a plurality of book storage boxes, the bookshelf plates are vertically arranged, the book storage boxes are arranged on the bookshelf plates, are used for storing the books and are arranged on the bookshelf plates along the horizontal direction and the vertical direction, and the book storage boxes and the bookshelf plates can be separated from one another when the books are taken. The automatic book taking bookshelf has the advantages that the books stored on the bookshelf can be conveniently taken out, and accordingly the automatic book taking bookshelf can bring convenience for physically inconvenienced people such as physically disabled persons, old people and pregnant women for reading.

Automatic book taking bookshelf

The invention relates to the field of carrying machinery, in particular to a steering device of a complex pavement carrying robot. The steering device comprises a first support mechanism, a propelling device and a second support mechanism; the first support mechanism is connected with the propelling device, and is positioned below the propelling device; the second support mechanism is arranged on the propelling device, and is positioned above the propelling device; and the first support mechanism and the second support mechanism can intermittently finish advancing and steering functions of the robot under the effect of the propelling device. The steering device of the complex pavement carrying robot, provided by the invention, can uses a mechanical device for realizing a trackless steering function, can assist the complex pavement carrying robot to finish the transportation work on such complex pavements as stairs and mountains, liberates the labor force, and greatly improves the transportation efficiency.

Steering device of complex pavement carrying robot

The invention provides an intelligent horizontal-attitude stair-climbing wheelchair and a rotary stair-climbing method The intelligent horizontal-attitude stair-climbing wheelchair comprises an upper plate, a switching plate and a lower plate, wherein the upper plate is fixedly connected with a chair, and rear wheels are arranged on the lower side of the chair The chair is connected with front legs through a front leg lifting system, and front wheels are arranged on the front legs The front leg lifting system lifts the front legs to a horizontal attitude, and four liftable outer legs are fixed to the lower side of the upper plate The upper plate and the switching plate are connected through a steering shaft and rotate relatively to each other through the steering shaft, and the switching plate and the lower plate are connected with each other through a leading screw and realize relative rectilinear motion through the leading screw Four liftable inner legs are fixed on the lower side of the lower plate, and the inner legs are arranged on the inner side of the outer legs The intelligent horizontal-attitude stair-climbing wheelchair runs on a level ground fast or slow, and climb stairs to realize two functions

Intelligent horizontal-attitude stair-climbing wheelchair and rotary stair-climbing method

The invention provides a stair height and depth detection device and a stair height and depth detection method used for a stair-climbing robot. The stair-climbing robot is provided with at least four mechanical legs; each mechanical leg comprises an electric drive pusher; the rise and fall of each mechanical leg is realized through the expansion of the corresponding electric drive pusher, and each electric drive pusher is driven by a corresponding motor. The stair height and depth detection device is characterized by comprising ultrasonic sensors and incremental encoders; at least one mechanical leg of the stair-climbing robot is provided with the ultrasonic sensor; each ultrasonic sensor can rise along with the rise of the corresponding mechanical leg; each incremental encoder is arranged on the motor shaft of the corresponding motor. According to the stair height and depth detection device and the stair height and depth detection method provided by the invention, by utilizing the simple sensors and the encoders, in allusion to the characteristic that the stair height and the stair depth are all within a certain range in actual use, by adopting essential information, the stair height and depth detection device is easy to install, low in cost, simple in technology, high in resolution ratio and accurate in information, and can be suitable for being popularized in other automatic detection devices.

Stair height and depth detection device and stair height and depth detection method used for stair-climbing robot

The invention provides a pneumatic type self-adaptive door opening manipulator which is characterized by comprising a pneumatic control part, a clamping part, a supporting part and a rotating part. The rotating part comprises a rotating cylinder and a patch disc. The supporting part comprises a supporting claw, a first connecting rod, a second connecting rod and a third connecting rod. The clamping part comprises a jaw clamp and air bags. The air bags are arranged at the internal sides of the jaw clamp. The pneumatic control part comprises a rotating cylinder and a telescopic cylinder. One end of the supporting claw is fixedly connected with the cylinder rod of the rotating cylinder via the patch disc. The other end of the supporting claw is connected with the middle part of the second connecting rod and one end of the third connecting rod. The other end of the third connecting rod is connected with the jaw clamp. The two ends of the second connecting rod are respectively connected with one end of the first connecting rod and the jaw clamp. The other end of the first connecting rod is connected with the cylinder rod of the telescopic cylinder via a cylinder rod lock. The telescopic cylinder is fixed on the supporting claw. The pneumatic type self-adaptive door opening manipulator works in cooperation with a stair-climbing robot and a walking robot so that automatic door opening can be realized.

Pneumatic type self-adaptive door opening manipulator

The invention provides a cargo-carrying platform which is characterized by comprising a platform part, wherein an electric permanent magnet clamping part and a positioning rod part are arranged on the platform part; the platform part comprises a tray and a first electric permanent magnet arranged in the center of the tray; the electric permanent magnet clamping part comprises a support frame and a second electric permanent magnet fixed on the support frame; the positioning rod part comprises a positioning rod; the support frame and positioning rod are embedded in the tray and are connected with the tray through a butterfly hinge According to the invention, multiple small electric permanent magnets powered by 24V direct current are cooperated with the positioning rod and are used for clamping ferromagnetism objects, so that stability and energy conservation are realized

Zhu Qingyun

Papers

Intelligent horizontal-attitude stair-climbing wheelchair and rotary stair-climbing method

Robot capable of climbing steps with any rotation angle and any step surface and climbing method thereof

Stair height and depth detection device and stair height and depth detection method used for stair-climbing robot

Pneumatic type self-adaptive door opening manipulator

Cargo-carrying platform