1117 results about "Foot supports" patented technology

The invention discloses a self-adaptive variable impedance algorithm for hydraulic four-foot support unloading, which comprises the following specific steps: step 1, single-cycle variable impedance control: introducing a variable impedance control strategy in a single-step cycle, judging that a robot is subjected to large impact when a large force change rate is detected by a force sensor, and judging that the robot is subjected to large impact when the force change rate is larger; at the moment, expected force is rapidly adjusted to achieve force unloading, and therefore impact damage to structural parts is reduced; step 2, dynamic impedance coefficient adjustment: when it is detected that the impact force change rate exceeds a preset threshold value or the speed is increased, the impedance coefficient is dynamically reduced to reduce rigidity and improve flexibility, and rapid force unloading is assisted; and step 3, performing impact detection and real-time response. The hydraulic quadruped robot can dynamically adapt to complex tracks and stress changes, compliant control and whole-course stable operation are achieved, the unloading efficiency and the structural reliability are improved, the compliance and the movement capacity are also considered, and reliable support is provided for efficient walking of the hydraulic quadruped robot in the complex environment.

A medical rehabilitation chair includes a main frame, multiple castor devices mounted on the bottom of the main frame, and two armrest boards mounted on two sides of the main frame. A telescopic damping driver, a seat frame assembly, a backrest frame assembly, a leg support assembly, a lifting mechanism, and a foot support assembly are assembled on the main frame. The seat frame assembly has a front section connecting the leg support assembly and a rear section connecting the backrest frame assembly. The telescopic damping driver drives the backrest frame assembly, the seat frame assembly, and the leg support assembly, to produce different swinging angles. The lifting mechanism drives the seat frame assembly to lift or lower. The foot support assembly is movable in a horizontal direction to protrude from the front section of the main frame.

The invention discloses a three-foot portable multi-angle underwater adsorption anchoring drilling device. The drilling machine feeding component is installed on the drilling machine main body platform in a vertically movable mode, the three-foot supporting component is composed of a main foot and an auxiliary foot, the main foot and the auxiliary foot are installed on the drilling machine main body platform in an angle-adjustable mode, the main foot and the auxiliary foot are each provided with a micro-needle rotational flow suction cup, and after the micro-needle rotational flow suction cups suck the wall face of a to-be-drilled structure, the micro-needle rotational flow suction cups suck the wall face of the to-be-drilled structure. The drilling machine feeding component drills a to-be-drilled structure, the drilling machine feeding component achieves feeding and resetting of the drilling machine through positive and negative rotation of the motor so as to adjust the drilling operation depth, and the three-foot supporting component can change the feeding angle of a drill bit so as to meet the operation requirements of different drilling angles. The multi-angle drilling device can achieve multi-angle drilling operation in the repairing process of surface cracks of dams with different curvatures, meanwhile has the operation capacity in the complex water flow environment, can replace manual operation and improve the operation efficiency, and is easy to carry and store, wide in application range, safe and reliable.

The present invention relates to the technical field of humanoid robots. Disclosed are a leg power structure for a humanoid robot and a humanoid robot. The leg power structure for a humanoid robot of the present invention comprises a stride driving unit, thigh body assemblies, shank body assemblies and foot assemblies, which are arranged on the waist of a humanoid robot and are connected in sequence, wherein the striding driving unit is configured to drive the whole leg power structure to swing forward and backward; each thigh body assembly comprises a first thigh body and a second thigh body; each shank body assembly comprises a shank body; each foot assembly comprises a foot support member; hip joint driving units are provided on the upper portions of the first thigh bodies so as to drive the whole leg power structure to swing to the left and right; and a first driving unit is provided between each first thigh body and the corresponding second thigh body, so as to realize relative circumferential rotation between the first thigh body and the second thigh body. The whole leg power structure of the present invention has a rational design, is compact, and better meets the requirements of the humanoid robot for various motion postures.

The invention provides an inner supporting device and a using method thereof, and relates to the technical field of inner supporting, the inner supporting device comprises three foot supports, four supporting rods and a locking rod; the three foot supports and one end of the lock rod are sequentially connected through the four supporting rods to form a closed structure in a surrounding mode. The rod end of each supporting rod is rotationally arranged on the corresponding foot support or the corresponding lock rod. When the two supporting rods connected with one section of the lock rod are collinear, the inner supporting device forms a triangular supporting structure with the three foot supports as supporting points, and the triangular supporting structure is used for being supported in a target structure. The locking rod is a telescopic rod, the other end of the locking rod is used for being supported on the target structure in a jacking mode so that the triangular supporting structure supported in the target structure can be kept stable, and dismounting operation on a reinforcing hoop of the column reinforcement cage is easy.

A medical rehabilitation chair includes a main frame, multiple castor devices mounted on the bottom of the main frame, and two armrest boards mounted on two sides of the main frame. A telescopic damping driver, a seat frame assembly, a backrest frame assembly, a leg support assembly, a lifting mechanism, and a foot support assembly are assembled on the main frame. The seat frame assembly has a front section connecting the leg support assembly and a rear section connecting the backrest frame assembly. The telescopic damping driver drives the backrest frame assembly, the seat frame assembly, and the leg support assembly, to produce different swinging angles. The lifting mechanism drives the seat frame assembly to lift or lower. The foot support assembly is movable in a horizontal direction to protrude from the front section of the main frame.

The utility model provides a novel astronaut seat. The novel astronaut seat comprises a backrest assembly, a seat basin assembly, a leg support assembly, a foot support assembly, a headrest assembly, a connecting rod assembly and a handle unlocking assembly, one end of the chair basin assembly is connected with the backrest assembly through the first rotating node, and the other end of the chair basin assembly is connected with the leg support assembly through the fourth rotating node; one end of the connecting rod assembly is connected with the backrest assembly through the second rotating node, and the other end of the connecting rod assembly is connected with the leg support assembly through the third rotating node; and the handle unlocking assembly is arranged at the second rotating node and is used for relieving the rotation limitation of the second rotating node. Synchronous adjustment or locking of a plurality of joints can be achieved only by adjusting or locking one rotating joint, the stability and the convenience are high, and the requirements of astronauts for various seat postures in flight missions are met.

The invention relates to a humanoid robot leg structure which comprises thighs, knee joints, shanks, ankle joints and shanks. The thigh part comprises a first joint module motor and a second joint module motor; the knee joint comprises a first pull rod, a second pull rod and a connecting seat; the first joint module motor is connected with the connecting seat through the first pull rod; the shank part comprises a shank pull rod and a third joint module motor; the second joint module motor is connected with the foot through a second pull rod and a shank pull rod; the third joint module motor is connected with the foot through a shank pull rod; the foot part comprises a front support and a rear support which are connected through a foot support rotating shaft. Compared with the prior art, the humanoid robot has the advantages that the second joint module motor and the third joint module motor are located on the thigh portion and the shank portion respectively, symmetrical arrangement is not needed, module motors with larger size and torque can be arranged, and the motion ability of the humanoid robot is enhanced; the foot part comprises a front support and a rear support, and can adapt to different terrains.

A substructure for footwear can be produced. An inner half-shell of an intermediate layer forms a foot support and a lower, adhesion-promoting layer is produced by heating a mass, pressing the heated mass with the adhesion-promoting layer to form the inner half-shell which is then cooled. A sole area is foamed without demolding the half-shell in a mold part, wherein a press die is introduced into the mold part for pressing the mass with the adhesion-promoting layer. After removal of the press die a mold cavity is placed sealingly on the mold part, so that a cavity in the form of the sole region remains between the lower, adhesion-promoting layer and the mold cavity, into which a plastic is injected or foamed.

The utility model provides a leg support adjusting mechanism and an automobile seat. The leg support adjusting mechanism comprises a leg support assembly; the foot support assembly is connected to the leg support assembly in a turnover mode; the overturning driving assembly is connected to the leg support assembly and the foot support assembly and can drive the foot support assembly to overturn relative to the leg support assembly; wherein the overturning driving assembly comprises an overturning driving part and an overturning transmission structure, the overturning driving part is connected to the leg support assembly, and the overturning transmission structure can only transmit the driving action of the overturning driving part to the foot support assembly. According to the arrangement, through the arrangement of the overturning transmission structure, the driving action output by the overturning driving piece can be transmitted to the foot support assembly in a single direction, the action on the foot support assembly is prevented from being transmitted to the overturning driving piece, the structural stability is good, and locking of multiple different overturning angles of the foot support assembly is facilitated; and the use requirements of different users can be met.

The utility model discloses a bed body foot support of a digital fluoroscopy X-ray machine, which comprises a bottom plate, an examination bed arranged at the top of the bottom plate and a connecting frame arranged at one end of the examination bed, and further comprises a mounting plate arranged at one end of the connecting frame, a sliding opening is formed in the outer wall of the top of the mounting plate, and a sliding block is connected to the inner wall of the sliding opening in a sliding mode. According to the bed body foot support of the digital fluoroscopy X-ray machine, a patient can put two heels on the two foot supporting assemblies respectively, the fixing plate can be driven to ascend by a certain height through the lifting assembly when the legs need to be lifted, then the foot supporting assemblies and the feet of the patient are driven to ascend, the patient is helped to lift the legs, and therefore the patient can conveniently lift the legs. When the foot needs to be rotated to adjust the position of the ankle joint, the foot supporting assembly can be driven to rotate by a certain angle through the adjusting assembly, then the foot of a patient is driven to rotate by a certain angle, the position of the ankle joint is adjusted, the adjusted posture can be stably kept, and the shooting effect is ensured.

Disclosed are a foot rest assembly for a car child seat and a car child seat with a foot rest assembly. The foot rest assembly can be detachably mountable to the car child seat and can be adjustably mounted in a single insertion portion provided in the car child seat. The foot rest assembly may be foldable. The foot rest assembly may comprise a foot support section that is movable from a use position to an overload position.

The invention provides a humanoid robot single-leg gait transition action design and a control method thereof, and through an algorithm module of a finite-state machine and the single-leg gait transition action design, the problems of center-of-gravity shift and insufficient control precision of a biped robot during gait transition can be effectively solved. By means of the method, the gait control capacity of the robot in the complex environment is remarkably improved, especially in the single-foot supporting and single-leg jumping stage, the robot can be stably switched to the corresponding gait, and the possibility of inclination and unbalance is reduced.

Bladders for footwear uppers, footwear components and articles of footwear including the bladders, and / or methods of making and using such bladders are described. The bladders may include first and second thermoplastic elastomer sheets joined together by an outer perimeter bond. An interior chamber is defined between the thermoplastic elastomer sheets and inside the outer perimeter bond. The outer perimeter bond may be shaped such that the interior chamber forms: (i) a foot support chamber portion for supporting at least a portion of a plantar surface of a wearer's foot, and at least one of items (ii) and (iii) below, in which: item (ii) comprises a first side chamber portion (e.g., forming at least part of a first securing strap or a first footwear upper component), and item (iii) comprises a second side chamber portion (e.g., forming at least part of a first strap-engaging member or a second footwear upper component).

The invention relates to the field of robots, in particular to a humanoid robot. The humanoid robot comprises a foot module and a leg module. The foot module comprises a foot support, a protective cover and a protective bottom plate; the protective bottom plate comprises a buffer layer and a wear-resistant layer, the buffer layer is connected with the bottom of the foot support, and the wear-resistant layer is connected with the bottom of the buffer layer; the protective cover is connected with the protective bottom plate, and the protective cover covers the top of the foot support; the protective cover is provided with an opening, and the leg module penetrates through the opening to be connected with the foot support. According to the humanoid robot provided by the invention, the buffer layer is arranged at the bottom of the foot bracket to absorb vibration, so that the degree of upwards transmitting the vibration to ankle joints, shanks and even hip joints is reduced; the wear-resistant layer arranged at the bottom of the buffer layer has good wear resistance, so that the buffer layer is prevented from being damaged too early; and a protective cover arranged at the top of the buffer layer can protect the top surface of the foot bracket.

The utility model discloses an O-shaped seal ring automatic assembly equipment relates to mechanical automation equipment technical field, including work slide rail, transition temporary storage support claw, reclaiming and loading clamping jaw and assembly rack, transition temporary storage support claw includes mounting table and multi-foot support claw, mounting table is provided on the reclaiming station, multi-foot support claw is provided on mounting table, and the mounting table is provided with the mounting table. The multi-foot supporting claw comprises a plurality of supporting claws arranged at intervals in the circumferential direction, the material taking and charging clamping claw comprises a lifting hanging table and a multi-foot material taking claw, the lifting hanging table is movably hung on the working sliding rail, the multi-foot material taking claw is arranged on the lifting hanging table and comprises a plurality of outer hook claws arranged at intervals in the circumferential direction, and the outer hook claws are arranged on the lifting hanging table. The top connecting end of the outer hook claw is arranged on the lifting platform, and the bottom grabbing end of the supporting claw extends downwards and expands outwards in the radial direction. According to the automatic assembling equipment for the O-shaped sealing ring, the technical problem that in the prior art, the O-shaped sealing ring needs to be manually moved to a structure to be sealed, and consequently the assembling efficiency is low is solved.

The utility model discloses a zero-gravity sitting sense sofa iron stand, which comprises a bottom frame, a stretching assembly and a driving assembly, the stretching assembly comprises a connecting rod mechanism, and a seat frame fixing plate, a backrest mounting frame and a foot support mounting frame which are connected through the connecting rod mechanism, and the driving assembly comprises a front large driving pipe and a rear driving pipe which are arranged in parallel; a driving mechanism is hinged to the rear driving pipe, the two ends of the rear driving pipe are movably installed on the connecting rod mechanisms on the two sides, the front large driving pipe is hinged to the output end of the driving mechanism, and the two ends of the front large driving pipe penetrate through the two seat frame fixing plates in a clearance mode and then are hinged to the connecting rod mechanisms on the corresponding sides. The front large driving pipe and the rear driving pipe are suitable for driving the stretching assembly to be adjusted through the driving mechanism, and when the stretching assembly stretches to the limiting position, the seat frame fixing plate forms an included angle of 15-25 degrees relative to the horizontal direction. The two ends of the driving mechanism are movably arranged, so that the structure is simplified, the manufacturing difficulty is reduced, and the production cost is saved while the angle between the seat and the horizontal direction is 15-25 degrees when the seat is in a lying posture state.

A system includes: a climate-controlled bench; a retractable shade positioned near the climate-controlled bench and including multiple foot supports coupled to the climate-controlled bench; and at least one tablet holder attached to a component of the climate-controlled bench. In some embodiments, the system instead, or in addition, includes at least one HVAC unit and at least one heater box, both of which are thermally and / or fluidly coupled to at least one other component of the system.

The outdoor chair comprises a connecting frame, a flexible chair cover and a supporting unit, the chair cover is unfolded by the supporting unit to form a chair back part and a chair seat part, a plurality of foot supports are detachably connected to the periphery of the bottom of the connecting frame, the connecting frame comprises two first connecting rods and two second connecting rods, and the two first connecting rods and the two second connecting rods are arranged at intervals in a surrounding mode. Connecting pieces are arranged between the adjacent first connecting rods and second connecting rods, each connecting piece is provided with two connecting sleeves, the first connecting rods or / and the second connecting rods are detachably connected with the connecting sleeves, the bottoms of the supporting units are detachably connected with the connecting pieces respectively, and supporting structures are arranged at the bottoms of the connecting pieces. The bottom faces of the supporting structures are located on the same plane and arranged in parallel. According to the outdoor chair disclosed by the utility model, a user can disassemble each foot bracket and take the bottom surface of each supporting structure as a supporting surface, so that the supporting stability of the outdoor chair is ensured, the outdoor chair is relatively good in practicability, and the user experience is improved.

The invention relates to the technical field of shoes, and discloses a foot self-adaptive support adjusting method based on a biomechanical model, which comprises the following steps: S1, foot biomechanical modeling: acquiring foot geometric data of a user through three-dimensional scanning, acquiring dynamic load parameters in combination with gait analysis, and constructing a personalized foot finite element model; s2, stress distribution calculation: sampling according to 0-100% phase intervals of 10% in a gait cycle; s3, material gradient design: determining a gradient material rigidity mapping relation according to Pmax distribution; and S4, realizing a self-adaptive structure: constructing a gradient sole structure through 3D printing. A high-shear-force area is judged through double threshold values, and a pressure gradient self-adaptive non-uniform honeycomb structure and configuration classification are arranged in the area, so that local deformation is dynamically regulated and controlled in a pedaling and stretching period and a landing period, and the effects of reducing a stress peak value of the high-shear area and reducing friction heat accumulation are achieved.

In a footrest (1) for a vehicle seat (2), comprising a foot support (3) which is movable from a non-use position to a use position, wherein the foot support (3) is movable during the movement from the non-use position to the use position, wherein an electric motor (4) is provided for driving the foot support (3), wherein the foot support (3) has the electric motor (4) centrally located on its underside, the electric motor (4) is to radially drive a transmission rod (5) and the foot support (3) is held on its underside by means of a receptacle (6), wherein the transmission rod (5) extends force-free through the receptacle (6), wherein the transmission rod (5) engages at its end in a transmission mechanism (7), wherein the transmission mechanism (7) is statically connected on one side to a vehicle seat connection (8) and dynamically connected on the other side to an overload protection device (9),wherein the transmission rod (5) passes through the overload protection (9) without force, wherein the overload protection (9) is force-transmittingly connected to the receptacle (6) of the foot support (3), wherein in an overload case the force-transmitting connection of the overload protection (9) from the gearbox (7) to the receptacle (6) is decoupled.

The invention relates to a humanoid robot control method and device, computer equipment and a storage medium. The method comprises the steps that an expected zero moment point of a humanoid robot is obtained; judging whether the expected zero moment point is in a double-foot supporting domain or not; if the expected zero moment point is not in the double-foot supporting domain, obtaining an adjusting track, an adjusting force and an adjusting moment; and enabling the humanoid robot to move according to the adjusting track, the adjusting force and the adjusting moment so as to enable the expected zero moment point to return to the double-foot supporting domain. Adjustment can be carried out when the expected zero moment point of the humanoid robot exceeds the two-foot supporting domain, and toppling of the humanoid robot is prevented.

The invention discloses O-shaped sealing ring automatic assembling equipment, and relates to the technical field of mechanical automation equipment, the O-shaped sealing ring automatic assembling equipment comprises a working sliding rail, a transition temporary storage supporting claw, a material taking and charging clamping claw and an assembling rack, the transition temporary storage supporting claw comprises a mounting table and a multi-leg supporting claw, the mounting table is arranged on a material storing and taking station, and the multi-leg supporting claw is arranged on the mounting table; the multi-foot supporting claw comprises a plurality of supporting claws arranged at intervals in the circumferential direction, the material taking and charging clamping claw comprises a lifting hanging table and a multi-foot material taking claw, the lifting hanging table is movably hung on the working sliding rail, the multi-foot material taking claw is arranged on the lifting hanging table and comprises a plurality of outer hook claws arranged at intervals in the circumferential direction, and the outer hook claws are arranged on the lifting hanging table. The top connecting end of the outer hook claw is arranged on the lifting platform, and the bottom grabbing end of the supporting claw extends downwards and expands outwards in the radial direction. According to the automatic assembling equipment for the O-shaped sealing ring, the technical problem that in the prior art, the O-shaped sealing ring needs to be manually moved to a to-be-sealed structure, and consequently the assembling efficiency is low is solved.

The prone position three-step body position pad comprises a head supporting frame, a thoracico-abdominal supporting frame and a leg supporting frame which are sequentially arranged, and the head supporting frame and the thoracico-abdominal supporting frame are connected through an adjusting device so that the height and the inclination angle of the head supporting frame can be adjusted; a plurality of air bags attached to the table top are arranged on the thoracico-abdominal supporting frame side by side, and the pressure of each air bag is independently adjusted through a micro pump so that local protruding or sinking can be achieved. The chest and abdomen supporting frame and the leg supporting frame are connected through a lifting device so that the height of the leg supporting frame can be adjusted. Through the arrangement of the adjusting device, the height and angle of the head supporting frame can be controlled, and through the arrangement of the lifting device, the height of the foot supporting frame can be adjusted, so that the requirements of multiple body positions of the newborn are met; the multiple air bags are arranged on the thoracico-abdominal supporting frame, different thoracico-abdominal areas of the newborn can be supported in a differentiated mode, and the adaptability to diseases of the newborn is improved.

The disclosure includes a breastfeeding pillow comprising a head portion configured to support a head of a baby, a tail portion located opposite the head portion and configured to support at least one leg of the baby, a middle portion located between the head portion and the tail portion, the middle portion configured to support a torso of the baby, and a foot support extending from an end of the tail portion, the foot support configured to receive at least one foot of the baby.

The invention provides a gait trigger control method and an exoskeleton power assisting device, and relates to the technical field of wearable robotics.The method comprises the steps that original data representing user movement and postures are collected through a multi-modal sensing unit, the multi-modal sensing unit comprises an inertial measurement unit, a plantar pressure sensor, a hip joint encoder and a knee joint angle sensor; original data collected by the multi-mode sensing unit is sorted and then transmitted to the signal processing unit, and the signal processing unit carries out noise reduction and extracts characteristic signals; the extracted feature signals are transmitted to a control unit, and the control unit recognizes the gaits of the user according to the feature signals and generates control instructions corresponding to the gaits; according to the gait trigger control method, the control instruction is transmitted to the assistance execution unit, the assistance execution unit outputs the assistance torque or the foot support supporting force corresponding to the control instruction to complete gait trigger control, and the use convenience of the exoskeleton assistance device can be improved through the gait trigger control method.