226 results about "Foot structure" patented technology

According to the biped robot foot structure capable of adapting to the complex road surface, the whole foot structure is designed through modular decomposition, when a user walks on the wet and slippery flat ground, the foot obtains information of foot sole sensors on the front foot sole and the rear foot sole in real time, and the virtual constraint structure is actively controlled through an electric cylinder; stress of a front longitudinal arch sole joint is reduced, meanwhile, the ground pressure transmission direction of a foot structure is improved, the ground pressure is kept in a friction cone as much as possible, and therefore the robot is prevented from slipping; when the robot walks on an uneven road surface, the electric cylinder actively controls the ground contact angle of the front foot sole, and the spring guide rod of the rear foot sole is assisted, so that active and passive self-adaptive adjustment of the foot of the robot to the ground is realized. The electric cylinder is used as a virtual constraint structure for active control, and the spring telescopic rod structure of the rear sole imitating ligament is combined, so that active and passive self-adaption of the feet of the robot to different complex road surfaces is realized, and the adaptability of the biped robot to the complex road surfaces is improved.

The invention relates to a humanoid robot foot based on a human arch, and aims to solve the problems that a foot structure of a biped humanoid robot is insufficient in the aspects of stability, rigidity, flexibility, energy efficiency, diversity, ergonomics and the like. The five toes, the first metal vertical plate and the second metal vertical plate are fixed to the sole metal plate, the hallux toe sleeve is sleeved on the toes and connected with the toes through the first elastic metal driving rod, and the final toe sleeve is sleeved on the toes and connected with the toes through the second elastic metal driving rod. A first C-shaped connecting rod connected with a first elastic metal driving rod and a second elastic metal driving rod is inserted into the front portion of an ankle connecting block, the bottom of the ankle connecting block is connected with a heel metal plate through a plurality of spring columns, and a second C-shaped connecting rod is inserted into the rear portion of the ankle connecting block. And the second C-shaped connecting rod is fixed with the heel metal plate through the heel elastic metal driving rod. According to the scheme, the shoe sole has better adaptability and balance.

The invention discloses a lower limb leg-foot structure with jumping ability and a biped robot. The lower limb leg-foot structure comprises a thigh assembly, a shank assembly and a foot assembly which are sequentially connected from top to bottom. A thigh body, a knee joint rocker arm and a shank pull rod of the thigh assembly and a shank body of the shank assembly form a four-bar mechanism. The thigh body, the knee joint driving motor and the knee joint rocker arm form a slider-crank mechanism. The four-connecting-rod mechanism and the slider-crank mechanism form a set of combined mechanism through the common knee joint rocker arm so as to drive the knee joint to rotate. According to the combined mechanism, the linear motion speed of the knee joint driving motor is amplified into the rotation angular speed of the knee joint through the variable reduction ratio amplification effect of the four connecting rods, and the lower limb of the knee joint driving motor has the explosive jumping ability under the condition of the conventional output speed.

The invention belongs to the related technical field of robots, and discloses a leg structure assembly of a humanoid robot and the humanoid robot, and the leg structure assembly comprises a hip joint assembly and a leg structure assembly, the hip joint assembly comprises three driving modules, and three-degree-of-freedom rotation movement similar to human hips is achieved; the knee joint assembly comprises a knee joint structure, a knee joint driving module and a knee joint transmission assembly, the knee joint driving module is installed at the upper end of the thigh structure, and the knee joint transmission assembly drives the shank structure to bend and stretch; the ankle joint assembly comprises an ankle joint structure, an ankle joint driving module and an ankle joint transmission assembly, the ankle joint driving module is installed at the upper end of the thigh structure and located below the knee joint driving module, and the ankle joint transmission assembly drives the foot structure to achieve plantar flexion / dorsiflexion movement and extroversion / adduction movement. The driving modules are moved upwards to the upper ends of the thigh structures, and the humanoid robot has the advantages of being free of driving modules at the tail ends, concentrated in mass and small in rotational inertia, and the movement frequency of the humanoid robot can be improved.

The utility model discloses a multi-redundancy stable supporting leg structure. The top of the supporting foot structure is connected with the bottom of a robot body to support the robot body, a control groove is formed in the bottom of the robot body, and the supporting foot structure is characterized by comprising a controller, the controller is composed of a single chip microcomputer and a shell, and the controller is arranged in the control groove in the bottom of the robot body. The bottom inclination angle of the robot body is detected through the inclination angle sensor, when the inclination angle of the robot body exceeds a preset threshold value, the controller controls the electric telescopic cylinder on one side of the inclination direction to stretch, the supporting wheels make contact with the ground support, and supporting compensation can be conducted on the unbalanced side; therefore, the stability of the robot body during movement is improved, and the damage loss caused by rollover of the robot is reduced.

The invention discloses a leg and foot structure and a humanoid robot, and belongs to the field of humanoid robots. The leg-foot structure comprises a leg component, a foot component, a first driving component, a second driving component and a third driving component, the foot component comprises a heel part and a sole part, the heel part is movably connected with the sole part, and the heel part is movably connected with the leg component; the first driving assembly is arranged on the leg assembly and connected with the heel part, the second driving assembly is arranged on the heel part, the third driving assembly is arranged on the sole part, the first driving assembly is used for driving the foot assembly to do pitching motion relative to the leg assembly, and the second driving assembly is used for driving the heel part to do side-sway motion relative to the leg assembly. The third driving assembly is used for driving the foot sole part to do pitching motion relative to the heel part.

The invention discloses a bionic foot structure, a control method of the bionic foot structure and a bionic robot. The bionic foot structure comprises an ankle; the foot plate is rotationally connected with the ankle; a planetary gear structure; the planetary gear structure comprises a gear ring, a planetary gear and a sun gear, the planetary gear and the sun gear are both located in the gear ring, and the planetary gear is meshed with the sun gear and the gear ring. The planetary gear is rotationally connected with the foot plate, and the ankle is connected with the sun gear; the first end of the damping structure is rotationally connected with the foot plate, and the second end of the damping structure is rotationally connected with the gear ring. The foot plate rotates by a large angle relative to the ankle, and the damping structure has small activity; the rotation speed of the foot plate relative to the ankle is high, and the movement speed of the damping structure is low. The matching between the damping structure and the foot plate is improved through the planetary gear structure, so that the bionic foot structure can rotate similar to a human foot.

The invention belongs to the field of mechanical legs, and particularly relates to a parallel elastic driving leg-foot structure with tension springs in centralized layout and a using method, and the leg-foot structure comprises a parallel elastic driving mechanism, and a thigh, a knee joint, a shank, an ankle joint and a sole which are arranged in sequence; the parallel elastic driving mechanism comprises a shank elastic part and a sole elastic part, one end of the shank elastic part is fixedly arranged on the thigh, the other end of the shank elastic part is connected with a shank rigid rope, one end of the sole elastic part is fixedly arranged on the thigh, and the other end of the sole elastic part is connected with a sole rigid rope; the shank rigid rope is fixed on the front side of the shank after passing through the front side of the knee joint; the sole rigid rope passes through the front side of the knee joint, then penetrates from the front side of the shank to the rear side of the shank and is fixed to the heel of the sole from the rear side. According to the associated elastic driving mechanism, the mounting stability of the shanks and the soles can be improved, higher output power can be provided for the shanks and the soles, and high-outbreak actions such as running and jumping can be easily achieved.

A robot foot structure with an active foot pedaling half sole comprises a vertically-arranged supporting leg and a supporting foot arranged at the lower end of the supporting leg, the supporting foot comprises a foot sole arranged at the lower end of the supporting leg, and toes are hinged to the front side of the foot sole; an elastic tensioning piece is further arranged between the toes and the sole, and the front sides of the toes tend to rotate downwards under the action of the elastic tensioning piece; a limiting piece capable of limiting the rotation angle of the toes is further arranged between the toes and the foot sole, the overall motion range of the supporting foot is improved by establishing a linkage structure of the toes and the foot sole, when the robot steps forwards, the toes can be bent in advance, and when the supporting foot is lifted, the toes can be pulled back through an elastic tensioning piece; furthermore, a stable supporting effect is provided for the robot before the toes step, a stepping effect is provided when the toes step, the stability of the robot during action is effectively enhanced, and the walking quality is improved.

The utility model provides a presser foot structure of a multi-needle machine, and belongs to the technical field of sewing machines. The problem of how to improve the sewing quality of the multi-needle machine is solved. The presser foot structure of the multi-needle machine comprises a connecting base, a presser foot plate with a plurality of needle holes and a presser foot support fixedly connected with the connecting base, the presser foot plate is located below the presser foot support, the two side edges of the presser foot plate are hinged to the presser foot support, and a torsional spring is arranged between the presser foot plate and the presser foot support. The bottom face of the presser foot plate inclines relative to the horizontal plane in the front-back direction and is high in front and low in back, and the presser foot plate can swing relative to the presser foot support and reset through elastic force of the torsion spring. The presser foot is simple, reasonable and stable in structure, the presser foot plate has mechanical elasticity, stable and reliable pressing force can be provided for cloth with different thicknesses, the cloth is not prone to loosening, the pressing effect is good, and the sewing quality of the multi-needle machine is greatly improved.

The bionic attachment foot structure comprises a connecting assembly and a self-adaption assembly, the connecting assembly comprises a connecting base, the connecting base is used for being connected with the humanoid robot, the connecting base is provided with a first matching part, the self-adaption assembly comprises a rotating base and an attachment part, the rotating base is provided with a first matching part, and the attachment part is provided with a second matching part. The rotating seat is provided with a second matching part, the first matching part is matched with the second matching part, the second matching part can rotate around the center point of the first matching part, the attachment part is detachably connected with the rotating seat and located on the side, close to the bottom face, of the rotating seat, the attachment part has an attachment state and a release state, and in the release state, a gap is formed between the attachment part and the ground; in the attaching state, at least part of the attaching piece makes contact with the ground. According to the bionic auxiliary foot structure, the balance of the humanoid robot can be improved, and the system complexity and cost of the humanoid robot are reduced.

The utility model belongs to the technical field of sewing equipment, and particularly relates to a presser foot structure and a sewing machine, the presser foot structure comprises a presser foot body, a pressing plate is arranged on the rear side surface of the presser foot body, and the pressing plate can press a sewing material without rolling; the presser foot is simple in structure, the pressing plate is arranged on the presser foot body for pressing materials, the material pressing area of the presser foot body is prolonged, fabric is prevented from being rolled after an elastic band is sewn, a cutter of the thread cutting structure can conveniently cut off a sewing thread and the elastic band, the situation that the work efficiency is affected due to mistaken cutting or empty cutting is avoided, and the working efficiency is improved. And the quality of the machine is improved.

The utility model discloses a tripod supporting leg structure which comprises three base legs installed on a base, snowfield inserts are installed at the bottoms of the base legs, the upper ends of the snowfield inserts are fixedly connected in pipe holes of the base legs, and the tip ends of the snowfield inserts protrude out of the lower end faces of the base legs. A sheath capable of moving up and down is further arranged at the bottom of the pin, the snowfield plug is wrapped in the sheath, and a friction block is arranged between the snowfield plug and the sheath; by rotating the sheath, the sheath drives the friction block to rotate, so that the friction block is clamped between the snowfield plug and the sheath. The tripod supporting leg structure provided by the utility model can be quickly switched between two supporting modes of a snowfield plug and a foot pad, so that stable supporting on the soft ground is realized.

The utility model provides a controllable micro-motion elastic internal fixation device with a bidirectional locking pressing plate structure, and belongs to the technical field of orthopedic medical instruments. Comprising a plurality of bridging rods; and the two end blocks are arranged at the two ends of the bridging rod. A stable frame structure is constructed through the combination of the bridging rod, the end block and the fixing screw, a fracture part is effectively connected and fixed in the axial direction, then a bidirectional locking mechanism is formed through the upper pressing plate, the lower pressing plate, the adjusting lead screw and the locknut, and the fracture part is locked by screwing the locknut. The distance and pressure between the pressing plates can be accurately adjusted and locked, dynamic force generated by factors such as muscle contraction and limb movement can be effectively resisted in the long-term use process, the pressing plates are prevented from loosening or displacing, and it is ensured that the fixing device always keeps the stable fixing effect; and the problems of poor fracture healing or malformation healing and the like caused by fixation failure are avoided.

The utility model relates to the technical field of hardware feet, in particular to a high-strength hardware foot structure which comprises a transverse supporting concave frame and a longitudinal supporting concave frame, supporting foot plates are connected to the inner side of the transverse supporting concave frame and the inner side of the longitudinal supporting concave frame in a sliding mode, and kidney-shaped grooves extending in the length direction of the supporting foot plates are formed in the supporting foot plates. Hardware supporting feet are installed at the bottom of the supporting foot plate, short bolts are arranged in the transverse supporting concave frame and the longitudinal supporting concave frame, and locking nuts are connected to the ends, extending out of the tops of kidney-shaped grooves, of the short bolts in a threaded and sleeved mode. The stability and the adaptability are improved, and the practicability is improved.

The invention discloses a leg and foot structure and a humanoid robot, and belongs to the field of humanoid robots. The leg-foot structure comprises a leg component, a foot component, a first driving component and a second driving component, the first driving assembly is arranged at one end of the leg assembly, the second driving assembly is arranged on the foot assembly, and the first driving assembly is connected with the second driving assembly; the first driving assembly is used for driving the second driving assembly to do pitching motion relative to the leg assembly, so that the second driving assembly drives the foot assembly to do pitching motion, and the second driving assembly is used for driving the foot assembly to do side-sway motion relative to the leg assembly.

The invention discloses a lower limb rehabilitation auxiliary robot, which relates to the technical field of rehabilitation medical instruments and comprises a waist structure, a crotch structure, a leg structure, a knee joint structure, an ankle structure and a foot structure. The leg structure is provided with an upper plate, a lower plate and a leg limiting structure, the upper plate and the lower plate are arranged up and down, an inserting groove is formed in the lower end of the upper plate, the upper end of the lower plate is inserted into the inserting groove in a sliding fit mode, a clamping groove penetrating into the inserting groove is further formed in the upper plate, and the leg limiting structure is installed at the clamping groove and used for limiting relative sliding of the upper plate and the lower plate during locking. The leg structures and the waist structure have the functions of flexibly adjusting and locking the length and the width respectively, and SEA series elastic actuators in the knee joint structures provide an elastic receding interval within a certain range for a patient on the included angle parameters of the thigh structures and the shank structures. Full-parameter adaptation, safe elastic driving and efficient rehabilitation training of the body type of the patient can be achieved, and the device is suitable for full-process rehabilitation treatment of different dyskinesia patients.

The invention provides a soft crawling robot and a preparation method thereof, and relates to the technical field of robots, the soft crawling robot comprises two spring drivers and two foot structures; each spring driver comprises a rear end cover and a front end cover, a rear end ventilation sleeve is arranged in the rear end cover, a front end ventilation sleeve is arranged in the front end cover, a spring is arranged between the rear end ventilation sleeve and the front end ventilation sleeve, and the rear end ventilation sleeve and the front end ventilation sleeve are arranged outside the spring in a sleeving mode. The rear end ventilation sleeve, the front end ventilation sleeve, the rear end cover and the front end cover are jointly closed to form a vacuum air bag with a sealed cavity. The vacuum air bag is connected with an air pipe and is connected with an external vacuum pump through the air pipe to provide negative pressure; and foot structures are respectively arranged at the bottom of the front end cover and the bottom of the rear end cover of the spring driver. By adopting a double-driver structure and a driving mode that the vacuum air bag is matched with the spring, linear motion and steering motion can be achieved, and motion flexibility and terrain adaptability are remarkably improved.

The utility model provides a combined leisure chair, which relates to the technical field of furniture and comprises a chair cushion and an inner frame, the chair cushion and the inner frame are of a combined structure formed by wrapping and filling, and vertical legs are fixed on the end surfaces of all corners of the inner frame; the stand feet are divided into front and rear specifications according to front and rear distribution positions, the front stand feet are of a ball column type structure, the rear stand feet are of a column rod type structure, and the width spacing of the front stand feet is larger than that of the rear stand feet; a backrest plate is arranged at the rear end part of the inner frame, and back rods are combined and fixed between two ends of the backrest plate and the inner frame; by adjusting the distribution positions of the stand feet in the combined structure and extending the stand foot structure to the outer reinforcing temple of the end face of the backrest structure, the whole front and rear stand feet can effectively support the whole chair, and the horizontal stability of the sitting face is improved.

The invention relates to the technical field of water conservancy projects, and discloses an accropode and scattered riprap combined foot protection structure and a visual underwater construction method, and the foot protection structure comprises an accropode blocking area, a first scattered riprap area and a second scattered riprap area which are sequentially and transversely laid in the direction from a river channel slope toe to a bank slope. According to the accropode and scattered riprap combined foot protection structure and the visual underwater construction method, the accropode and scattered riprap combined foot protection structure is sequentially composed of an accropode blocking area, a first scattered riprap area, a second scattered riprap area, a slope connecting stone area and a grouted building block stone area, the accropode blocking area can effectively block stone blocks in a designated area, and under the condition that water flow continuously scours the stone blocks, the stone blocks can be effectively blocked by the accropode blocking area; according to the technical scheme, riprap rolling and loss can be achieved, throwing missing or repetition can be avoided according to divided grids, throwing uniformity is improved, the forming quality of a throwing section is guaranteed, the block stone loss rate is reduced, and the slope connecting stone area and the grouted building block stone area can effectively slow down water flow scouring and avoid water and soil loss.

The utility model discloses a selfie stick with a telescopic support leg structure, which comprises a main rod and a plurality of support legs, the plurality of support legs are arranged around the peripheral surface of the main rod, and the plurality of support legs can rotate relative to the main rod so as to be unfolded or folded; the clamping part is used for clamping an electronic terminal, the clamping part is fixedly connected with the upper end of the main rod, and the clamping part can rotate around the upper end of the main rod; telescopic supporting legs are arranged at the tail ends of the supporting legs, and the telescopic supporting legs can movably extend relative to the supporting legs. By designing the telescopic supporting leg structure, the length of the selfie stick main rod can be further reduced through the telescopic function of the supporting leg, a user can carry and store the selfie stick conveniently, and the selfie stick has the advantages of being simple in structure and convenient to assemble.

An integral power-assisting exoskeleton device and power-assisting method, wherein the shoulder fixing frame of the shoulder joint assembly realizes free movement of the upper limb exoskeleton through a ball head connector; the forearm support of the upper limb exoskeleton is hinged to the upper arm support, and the upper limb cylinder for driving the forearm support to swing relative to the upper arm support is fixed to the upper arm support; the lower end of the thigh plate is rotatably installed with the knee joint rotation axis, and one end of the piston cylinder assembly for assisting in increasing the angle between the thigh plate and the calf plate is hinged to the large push plate, and the other end is hinged to the cantilever rocker on the outer periphery of the knee joint rotation axis; one end of the connecting plate of the foot exoskeleton is fixedly connected to the calf plate of the lower limb exoskeleton, and the other end is connected to the sole sleeve assembly, and energy is stored through the passive power-assisting component when the human foot structure performs plantar flexion movement for power-assisting walking, and the power-assisting function of the exoskeleton is realized on the basis of reducing system cost by adopting the minimum active power-assisting method, so that the power-assisting effect is better.

The invention belongs to the technical field of soft tissue injury risk assessment, and particularly relates to a deep foot soft tissue injury risk assessment method based on a macro-mesomechanical conduction model. The method comprises the following steps: acquiring plantar multi-dimensional force data in a gait by using a multi-dimensional force plate; the method comprises the steps of dividing a foot structure based on a foot image, establishing a macroscopic foot geometric model, segmenting a mesoscopic geometric model from the macroscopic foot geometric model, establishing a mesoscopic geometric model containing microvessels in the mesoscopic geometric model based on microvessel parameters, and establishing a macroscopic foot model and a mesoscopic microvessel model through a mechanical analysis technology. Carrying out cross-scale coupling and solving calculation on the macroscopic foot model and the mesoscopic capillary model; calculating a capillary closure degree parameter; and evaluating the soft tissue injury risk. The invention further relates to a pelma deep soft tissue injury risk assessment system which specifically comprises four modules. The problems that an existing soft tissue injury risk assessment technology lacks physiological indexes and is not high in accuracy are solved.

The present invention discloses a robot foot structure and a robot. The robot foot structure includes: a bottom plate; two side plates, which are spaced apart and arranged opposite to each other on the bottom plate; a connecting assembly, which is arranged on the side of the side plate facing away from the bottom plate and connects the two side plates. The bottom plate, the side plates and the connecting assembly constitute a foot frame structure with a cavity. The robot foot structure of the present invention, by arranging a bottom plate, a side plate and a connecting assembly, constitutes a foot frame structure with a cavity, forming a humanoid foot structure, omitting a heavy axial support structure, effectively reducing the overall weight of the robot foot structure, facilitating the flexible walking of the foot structure, and ensuring the stability and impact load resistance of the foot structure. The robot foot structure has a cavity inside, which facilitates the routing of internal devices, prevents the wiring harness from being exposed, and ensures the aesthetic appearance.

The invention discloses a robot leg and foot structure capable of reversing front and back based on double-connecting-rod transmission. The leg and foot structure comprises a thigh component, a hip joint, a shank component and a knee joint. The thigh component comprises a thigh component outer side piece and a thigh component inner side piece; the thigh component outer side piece and the thigh component inner side piece are fixedly connected, and other parts in the thigh component are enveloped by the thigh component outer side piece and the thigh component inner side piece; the hip joint is arranged at the upper end of the thigh component and is a rotational degree of freedom joint, and the knee joint is arranged at the lower end of the thigh component and is a rotational degree of freedom joint; the upper end of the shank component is of a three-axis hinged structure connected with the thigh component and the double-connecting-rod structure, the lower end of the shank component is a part making contact with the ground, and the position making contact with the ground is a semi-cylinder. The large-range forward and backward movement of the shank component relative to the thigh component is achieved through the double-connecting-rod structure, that is, the knee joint can bend forwards or backwards, and no dead point position exists.

The invention relates to the technical field of humanoid robots, and discloses a humanoid robot leg structure which comprises a hip structure and further comprises a thigh structure which comprises a rotating part and an extending part, the rotating part is connected with the hip structure, and the extending part is connected with the rotating part; the rotating part and the extending part are respectively used for driving the thigh to rotate and adjusting the length of the thigh; the knee structure is mounted on the extension part, can rotate relative to the thigh structure and can swing back and forth along the thigh structure; the shank structure is mounted on the knee structure and used for adjusting the length of the shank; the foot structure comprises an autorotation part, an adjusting part and a foot plate, the autorotation part is connected with the shank structure, the adjusting part is connected with the autorotation part, and the foot plate is connected with the adjusting part; according to the robot, more movement automation degrees, variable limb lengths and better bionic characteristics can be realized while compact structure and accurate control are ensured, and the movement performance and adaptive capacity of the robot are improved.

The invention relates to the technical field of furniture and household appliances, in particular to a footing structure and a table. A footing structure comprises an upper cover piece, a lower cover piece, a first connecting piece, a second connecting piece and a third connecting piece, and the upper cover piece is provided with a first through hole penetrating through the upper cover piece in the first direction; the reinforcing piece is arranged on the upper cover piece and used for reinforcing the mechanical strength of the upper cover piece, the reinforcing piece comprises an abutting part, the abutting part abuts against the upper cover piece in the first direction, a second through hole penetrating through the abutting part in the first direction is formed in the abutting part, and the second through hole communicates with the first through hole to form a fixing hole; the connecting pieces are arranged in the fixing holes in a penetrating mode, the first ends of the connecting pieces are limited to the sides, away from the upper cover piece, of the abutting parts, and the second ends of the connecting pieces are used for being connected with the table legs. According to the bottom foot structure provided by the invention, the connecting positions of the bottom foot structure and the table legs are relatively firm, so that the durability and the use experience of the table are relatively good.

The utility model relates to the technical field of office chair accessories, in particular to a compression-resistant and wear-resistant five-star foot of an office chair. Comprising a five-star foot base, sliding clamping grooves are formed in the bottoms of the ends of five supporting legs of the five-star foot base, trundle top plates are clamped in the sliding clamping grooves, fixing bases are rotationally connected to the bottoms of the trundle top plates through rotating shafts, and movable trundles are installed in the fixing bases; fixing grooves are formed in the tops of the five supporting leg ends of the five-star foot base, and limiting locking mechanisms matched with the trundle top plates are arranged in the fixing grooves. The five-star foot structure provided by the utility model has compression-resistant and wear-resistant characteristics and a convenient disassembly function, and the maintenance process is simplified and the use cost is reduced while the running stability of the trundle is ensured, so that the overall practicability and economical efficiency of the office chair are improved.

The invention discloses a self-adaptive ankle joint mechanism and foot structure for a mobile exoskeleton, which is used for assisting a wearer to realize autonomous movement and comprises a rear insole, a rear cover, a front insole, a front cover, a steel rope buckle, a rotating column, a motor, a rotor connecting piece, a rotor foot connecting piece, a motor mounting plate, a tibia shield, a sliding rod, a telescopic buckle, a spring buckle and a spring, the rear insole, the rear cover, the front insole and the front cover form a bottom plate structure for supporting a foot, the bottom plate structure adopts a double-section split structure and is divided into a front sole area and a heel area, and the front sole area and the heel area are connected through a detachable and deformable soft rubber material. Through one active degree of freedom and a plurality of additional passive degrees of freedom, the movement flexibility of the human body is remarkably improved, and then the walking stability and the adaptability to the uneven ground are enhanced.

The utility model discloses a children's shoe with an anti-ankle-sprain structure, and relates to the related field of children's shoes, the children's shoe comprises a children's shoe, anti-ankle-sprain mechanisms and a protection mechanism, the front end and the rear end in the children's shoe are both connected with the anti-ankle-sprain mechanisms in an adhesive mode, the right end in the children's shoe is connected with the protection mechanism in a sewing mode, the anti-ankle-sprain mechanisms are arranged, and the anti-skid performance is improved through anti-skid particles. According to the child shoe, the foot is prevented from being sprained to a certain degree, the shoe lace of the child shoe tightly connects the foot and the shoe together through the fixing rope, the button, the first adhesive layer and the second adhesive layer, friction force generated in the movement process of the foot is reduced, accordingly, the occurrence of spraining is reduced, the risk of foot injury is reduced, and the protection mechanism is arranged, so that the safety of the child shoe is improved. The lining is detached and replaced through adhesive connection of the third adhesive layer and the fourth adhesive layer, the foot rubbing phenomenon is prevented, the buffering performance of the toe cap is improved through EVA foam, and the risk that toes of children are injured is reduced.