610 results about "Large legs" patented technology

The invention relates to a hydraulically-driven four-foot robot which belongs to the field of robots. The robot comprises a machine body (1) and four legs arranged on the machine body, wherein each leg consists of a first hydraulic cylinder body (2), a first hydraulic cylinder telescopic rod (3), a first parallelogrammic I connecting rod (4), a first parallelogrammic II connecting rod (5), a pelvic part (6), a second hydraulic cylinder body (7), a second hydraulic cylinder telescopic rod (8), a second parallelogrammic I connecting rod (9), a second parallelogrammic II connecting rod (10), thighs (11), a third hydraulic cylinder body (12), a third hydraulic cylinder telescopic rod (13), a third parallelogrammic I connecting rod (14), a third parallelogrammic II connecting rod (15), a crus (16), a spring (17), telescopic feet (18) and a soles (19). A telescopic four-connecting-rod joint transmission mechanism based on a parallelogram is adopted by the joint design of the hydraulically-driven four-foot robot, the joint control is simplified, and the moving performance of the foot type robot joints is improved.

The invention discloses a pneumatic-muscle-driven exoskeleton assisting mechanism. One-arm members with four rotation freedom degrees are connected with both sides of the upper portion of a back support and are identical in structure. Each one-arm member comprises a shoulder joint part, an upper arm part, an elbow joint part and a forearm part which are connected successively. Two sides of the lower portion of the back support are connected with one-leg members with identical structures. Each one-leg members with identical structure comprises a hip joint part, a thigh part, a knee joint part, a shank part, an ankle joint part and a pressure shoe part. Each of the shoulder joint parts and the hip joint part has three rotation freedom degrees, and each of the elbow joint parts, the knee joint parts and the ankle joint parts has one rotation freedom degree. The exoskeleton assisting mechanism has 18 rotation freedom degrees altogether. The mechanism is simple in structure, low in weight, good in flexibility and capable of increasing wearer function power and being used in occasions of military actions, disaster relief, rescuing and the like, where human power is not enough to support required loads.

A waking mechanism of an under-actuated biped walking robot relates to the field of robots, in particular to the field of under-actuated biped walking robots. The robot comprises seven components: arms, an upper body, hip joints, laps , knee joints, lower legs, and feet; the robot has 10 degrees of freedom in all, wherein, only 3 degrees of freedom are driven, and the knee joints and the ankle joints are not driven; the two arms are respectively linked with the contralateral legs through a mechanical chaining mechanism; the hip-joints adopt an integrative linkage-driving hip-joint mechanism (6) which mainly comprises four components of a hip-joint device mounting plate (13) , an angular bisector link mechanism (15), a drive motor incomplete gear transmission mechanism (11), and a two-way drive mechanism (12); and the two feet of the robot adopt multi-mode elastic feet with double-layered structures. The waking mechanism of the under-actuated biped walking robot has a simple structure, and adopts a design of a flexible driving system with high energy efficient; and the consistent, natural and humanoid walking pace can be produced only by simple control.

A telescoping foldable chair having a skeleton having a pair of lower leg frames of U shape each having a pair of outer legs connected with a ground bar, a pair of upper leg frames of inverted U shape each having a pair of inner legs connected with a top cross bar respectively slidable contained in one of the outer legs, a front and a rear sets each having a pair of inner tubes respectively pivotally linked to the top cross bars, a pair of outer tubes respectively pivotally linked to one lower end of the outer leg frames, and a central link which pivotally connects free ends of the inner and outer tubes, and, a sitting cloth attached on the skeleton. The telescoping foldable chair has a strong structure yet small folded volume.

A purse with a tapered shape and selected adjustable stretch straps that allow the purse to be worn on around a thigh, calf or ankle underneath clothing. The purse has various secure pockets for holding items such as a cell phone, credit cards, lipstick, keys, cash, pens, make-up articles, feminine hygiene products or other items normally carried with the pockets.

The invention discloses a multi-rotator leg-wheeled multifunctional aerial robot and a motion planning method thereof. The robot comprises rotators A, B, C and D, rotator driving motors A, B, C and D, wall-climbing thighs A and B, wall-climbing legs A and B, hip joint driving motors A and B, knee joint driving motors A and B, a robot main body, a wall-surface running wheels A and B, a ground supporting rod, rotating supporting rods and a rigidity-strengthened ring. The motion planning process comprises the motion planning of the robot in flight state, the motion planning of the robot undergoing a change from the flight state to a wall climbing state, the motion planning of the robot in a wall climbing state, the motion planning of the robot crossing an obstacle during wall climbing, and the motion planning of the robot undergoing a change from the wall climbing state to the flight state. The robot realizes the fusion of a rotator type aircraft and a leg-wheeled movement mechanism, is simple in mechanical structure and easy to realize, and has the advantages of high stability, small volume, strong adaptability to wall surfaces, large obstacle crossing capacity, wide application range and the like.

The invention discloses a leg and wheel hybrid type hydraulic mechanical leg. The leg and wheel hybrid type hydraulic mechanical leg comprises a thigh hydraulic cylinder, a shank hydraulic cylinder, thigh rod plates installed in parallel, shank rod plates installed in parallel, main body connecting plates installed in parallel and thigh hydraulic cylinder connecting plates installed in parallel. A main body cylinder connecting pillar is arranged between a square main body fixing block of the main body connecting plates and a square main body fixing block of the thigh hydraulic cylinder connecting plates. The two main body connecting plates are hinged to the two thigh rod plates respectively. The two thigh rod plates are hinged to the two shank rod plates respectively. A thigh tail end rod parallel to the shank rod plates is fixed between the two shank rod plates through a square shank fixing block. The two ends of the thigh hydraulic cylinder are hinged to the position between the upper portions of the two thigh rod plates and the position between the bottoms of the two thigh hydraulic cylinder connecting plates. The two ends of the shank hydraulic cylinder are hinged to the position between the middles of the two shank rod plates and a side arm plate extending from the two thigh rod plates. According to the leg and wheel hybrid type hydraulic mechanical leg, the structure is simple, control is convenient due to the two hydraulic cylinders, quick switching between two proceeding modes can be guaranteed due to a wheel installed at the knee joint position, and the leg and wheel hybrid type hydraulic mechanical leg can be applied to a four-foot or six-foot robot.

The invention relates to a series humanoid robot, belonging to the robot field. The invention adopts a digital servo motor as a joint driving device; carbon fiber material is used to design a carbon fiber double-pipe structure and is used on structural parts such as backbone, big arm, small arm, thigh and calf; a similar joint frame type of structure is adopted to design a trunk so as to improve the structural intensity and stability; a pull spring mechanism is used to design a head buffer device so as to enhance the impact resistance of the head; finally a nineteen free DEG C series humanoid robot is realized, which is big in dimension, light in mass, strong in motion flexibility and has a head buffer mechanism. The invention solves the problems of the previous humanoid robot, the motor of which has too much load, is hard to control and is easily burn due to the overweight of the self structure, and provides an effective solution to the protection of the head when the robot falls down or is collided.

The present invention relates to a bionic robot movement structure capable of regulating four feet. It mainly includes top reference flat plate, four legs, four feet, driving device and sensing device, and is characterized by that on the top reference flat plate four symmetrical regulating grooves in which its four legs can be respectively moved are cut, between four legs and top reference flat plate the davit-mounting type structure is adopted, and the thighs and shanks can be respectively driven by their respective driving device and can be moved along their respective fulcrum. Said invention is simple in structure, and can have extensive application range.

The invention belongs to a wheels and feet dual-purpose mobile robot in a robot technical field. The invention adopts a movement mode of combined wheels and feet; two long sides of a bodywork are respectively provided with four legs of the same structure with the duel-purpose of wheels and feet; the inside of the bodywork is provided with two batteries which provide energy for an on-board computer, an interior camera and an extended plug-in. Each leg comprises a thigh and a lower leg, with a power input unit of two levels; and the wheel mode and the foot mode are switched through a clutch. A first motor is fixed on a bottom plate of the bodywork through an insulation seat; a first shaft is fixed on a side of the bodywork by a seat, and the interior camera is equipped inside the bodywork as eyes of the robot; the on-board computer is taken as a planning and controlling center of movement of the entire robot; a plurality pony wheels are taken as driven wheels of which the driven movement or rotating termination is controlled by an electromagnetic contracting brake. By carrying out modularization design, the invention guarantees the rapid and flexible movement of the robot, multiple movement manners, strong ground adaptability and changes of movement gesture aimed at special landforms, which is favorable to reduce energy consumption.

A portable pocket, the assembly comprising of a pocket that attaches to the arms, legs, thighs or waist of a wearer by means of an adjustable band. A zipper closes the opening of the pocket thereby protecting inserted items from loss or theft. The portable pocket in combination with the adjustable band is a miniature carrying compartment for transporting small quantities of small-sized items thereby eliminating the need to carry bulking purses, wallets, etc. and it does not interfere with freedom of movement.

The invention discloses a bionic cockroach robot based on a double-four link mechanism; the robot comprises six groups of the same feet, and upper connecting plates and lower connecting plates used for connecting the feet together. The configuration of the feet adopts the double-four link mechanism, and three steering gears drive the double-four link mechanism to respectively simulate the motion of the hip, thigh and calf joints of a cockroach. The bionic cockroach robot advances in a tripod gait way so as to realize the tripod gait motion. In order to improve the bearing capability of the robot and simultaneously put the three steering gears on the feet so as to improve the rigidity and the stability of the whole robot, the invention uses the plane four-link mechanism in the design of the configuration of the feet, can achieve the amplification of force and motion, reduce the requirements on the driving capability of the steering gears, and improves the load capability of the robot. From the perspective of bionics, the bionic cockroach robot which adopts the multi-link structural design is reasonable.

The invention discloses a multifunctional leg-wheel-combined mobile robot which comprises six leg assemblies of the same structure and a body assembly. Each leg assembly comprises a waist joint, a hip joint and a knee joint, installation of steering engines is achieved through the joints by using steering engine fixing frames, and rotary connection of thighs and shanks is completed. A three-wheel wheeling mode is adopted, the structure is arranged at the bottom of the body assembly, and a walking structure of the robot is formed by six walking legs evenly distributed on the periphery of a body, wherein the six walking legs are of the same structure. The robot can achieve leg-type movement of the six legs and wheel-type movement of three wheels independently and can further achieve the movement mode that the wheels and the legs help one another; the situations that the wheels slide down a slope and the legs pull the wheels to climb the slope can be achieved; meanwhile multi-leg operations such as a clamping operation and a carrying operation can be achieved.

The invention relates to a bionic leg with three-dimensional force perception and spatial surface self-adaptive ability, which belongs to the field of application of robot technology. The bionic leg comprises a robot base (1), a hip joint, a thigh (3), a knee joint, a crus and a foot, wherein the hip joint comprises a No.I hip joint control actuator (2), a hip joint control actuator bracket (4) and a No.II hip joint control actuator (5); the knee joint comprises a knee joint control actuator (7) and a knee joint control actuator bracket (6); the crus comprises a connecting plate (8) and a three-dimensional force sensor (9); and the foot comprises a return spring (10), a globe joint and a sole (14). The bionic leg can be applied to the integrated design of a human leg part of multiple degrees of freedom microminiature leg-type robot which has three-dimensional contact force detection and the ability of a self-adaptive spatial surface adhesion sole.

The invention discloses an exoskeleton carrying power-assisted robot which comprises a back bracket, a central controller, exoskeleton upper limb components and exoskeleton lower limb components, wherein the central controller is fixedly mounted on the rear side of the back bracket; the two lower limb components of the same structures are respectively mounted on two sides of the back bracket; hip joint power devices are mounted at connections of the back bracket of a waist power-assisted robot and exoskeleton lower limbs; and shoulder joint power devices are mounted at exoskeleton shoulders. The hip joint power devices and the shoulder joint power devices consist of transmission devices, harmonic reducers, disk type motors and angle sensors; the angle sensors are used for measuring angle values of joints, and the central control device controls the corresponding joints to move according to the measured angle values; the exoskeleton lower limbs comprise exoskeleton thighs, exoskeleton shoes and expansion and retraction devices and can achieve a certain supporting effect on the back bracket; and exoskeleton upper limbs comprise exoskeleton upper arms, exoskeleton lower arms and elbow joint self-locking mechanisms.

The invention provides a hydraulic driving four-footed robot with a space hybrid leg structure. The hydraulic drive space four-footed robot is composed of a rack and space hybrid legs which are symmetrical in structure; each hybrid leg comprises three hydraulic driving oil cylinders, a leg rack, a swing rod, a connection rod, thighs, shanks and feet; each hybrid leg is provided with three drivingdegrees of freedom; the hydraulic driving oil cylinder A drives the whole leg to carry out side swing movement; and the hydraulic driving oil cylinder B and the hydraulic driving oil cylinder C are capable of cooperatively driving the feet to carry out plane parallel movement output in the plane of a leg mechanism. The feet are connected through buffering so that vibration absorption, energy storage and reutilization can be finished in a striding period. Four legs are symmetrically distributed or equidirectionally distributed so that an omnibearing movement of the robot can be realized through a certain tread. The hydraulic driving four-footed robot with the space hybrid leg structure provided by the invention is simple in structure, easy to control and high in kinematic accuracy, has a high-speed response capability and a high bearing capability, and is applicable to high-speed and high-load transportation work and dangerous environment work under complicated non-structure topographic conditions in the wild.