193 results about "Large legs" patented technology

The invention discloses a double-clutch variable-stiffness knee joint exoskeleton, and relates to the technical field of wearable lower limb exoskeletons.The double-clutch variable-stiffness knee joint exoskeleton comprises a gait sensing module arranged outside and a limb connecting arm module used for being connected with a human body, and an energy storage module is installed on one side of the limb connecting arm module; a sensor module is mounted on the other side of the limb connecting arm module; the limb connecting arm module comprises a limb connecting arm assembly I used for being connected with the thigh of the human body and a limb connecting arm assembly II used for being connected with the shank of the human body, the limb connecting arm assembly I and the limb connecting arm assembly II are each provided with a clutch unit, and the core speed increaser is installed between the limb connecting arm assembly I and the limb connecting arm assembly II. The energy storage module and the sensor module are arranged on the two sides of the core speed increaser, and the core speed increaser is connected with the energy storage module. The device has the advantages of compact structure, variable rigidity bandwidth and good motion adaptability, can realize high energy recovery efficiency in a multi-gait mode, and reduces the metabolic consumption of a human body.

An exoskeleton system comprising at least one leg actuator unit configured to be coupled to leg of a user, the leg actuator unit including: an upper arm and a lower arm that are rotatably coupled via a joint, the joint positioned at a knee of the user with the upper arm coupled about an upper leg portion of the user above the knee and with the lower arm coupled about a lower leg portion of the user below the knee, a leg-actuator-unit user interface comprising a plurality of input and feedback elements, and an actuator that extends between the upper arm and lower arms.

The invention discloses an exoskeleton device and a robot with the exoskeleton device, the exoskeleton device comprises a waist module and a plurality of limb modules, and at least one of the plurality of limb modules is connected to the waist module. The waist module is connected with at least one of the limb modules, so that when the exoskeleton device is arranged outside a user, the limb modules can be selectively connected for use according to requirements, when the exoskeleton device is arranged outside the user, the use requirements can be met, the exoskeleton device is simplified, and meanwhile the use efficiency of the exoskeleton device is improved. And the satisfaction degree of using the exoskeleton device by the user can be improved, and the use experience of the user is improved. In addition, in the specific using process, the thigh binding and the shank binding can also achieve modular design so as to be connected to different positions, and therefore the using requirements of different heights can be met.

The invention relates to the technical field of robots, in particular to a hybrid drive leg device and a humanoid robot. The leg device comprises a thigh assembly and a shank assembly. The thigh assembly comprises a first driving mechanism, a second driving mechanism, a thread shifting device and a pair of first structural plates. The first driving mechanism comprises a first motor, a first conical wheel, a first guide wheel and a first rope. The first motor drives the first conical wheel to rotate and drives the first structural plate to swing. The shank assembly comprises a pair of second structural plates, and the second driving mechanism is used for driving the second structural plates to swing. The thread shifting device drives the first rope to move in the axial direction of the first conical wheel and drives the second rope to move in the axial direction of the second conical wheel, so that the leg device can stably operate under the conditions of different gaits and loads. In addition, the leg device of the scheme comprises the elastic buffer piece and the hydraulic damper, the elastic buffer piece and the hydraulic damper can absorb impact force borne by the leg device in real time in the movement or landing impact process of the leg device, and the overall stability of the leg device is improved.

The low-inertia small robot leg structure comprises a first connecting piece, a second connecting piece and a shank, the first connecting piece is provided with a first joint motor, the first joint motor is connected with the second connecting piece, and the axis of the first joint motor is perpendicular to the axis of the second connecting piece; a second joint motor is arranged on the second connecting piece, and a thigh clamping plate is connected to the second joint motor; a third joint motor is arranged between the thigh clamping plates, the shanks are rotationally arranged between the bottoms of the thigh outer clamping plates and the thigh inner clamping plates to form knee joints, and connecting rods are rotationally connected between the positions, lower than the knee joints, of the shanks and the third joint motor. According to the leg compact structure design suitable for the small robot, the number of transmission mechanisms at the knee joints is reduced, the rotational inertia of the legs of the robot is reduced, the energy consumption intensity is reduced under the condition that the battery energy of the small robot is low, and the standby time of the small robot is prolonged.

The utility model relates to the technical field of waist stools, and discloses an adjustable waist stool strap structure for infants, which comprises a protective plate, a stool is mounted at the upper part of the front side of the protective plate, a protective strap is connected to the front side of the top of the stool, shoulder straps are mounted on the outer sides of connecting straps, first elastic bands are sewed at the rear parts of the shoulder straps, and a second elastic band is sewed at the rear parts of the first elastic bands. First buckles are mounted at the inner ends of the first elastic bands; the second elastic bands are sewn on the front side and the rear side of the strap, buttons are arranged on the front side and the rear side of the protecting band and the inner sides of the second elastic bands, a first binding band is connected to the lower portion of the left side of the strap, and a second binding band is connected to the lower portion of the right side of the strap. According to the adjustable waist stool strap structure for the infant, the second elastic band is separated from the button, so that the two legs of the infant can be changed into a free moving state, blood circulation of the legs can be improved, and the situation that the blood vessels on the inner sides of the thighs are possibly pressed by a diverging sitting posture is avoided.

This invention discloses an integrated chair for defecation assistance and pelvic floor muscle training in proctology, comprising a steel pipe support frame and a pelvic floor muscle monitoring device. The pelvic floor muscle monitoring device is fixedly installed inside the steel pipe support frame. Electrode plates are fixedly connected to the side of the pelvic floor muscle monitoring device via cables. A threaded support column is fixedly connected to the front of the steel pipe support frame. A bracket is provided in the middle of the steel pipe support frame. Connecting kits are fixedly connected to both sides of the bracket, and the connecting kits are sleeved on the threaded support column. A fecal storage box is provided below the bracket. A buttock pad is fixedly connected to the top of the bracket via a rubber ring. The buttock pad is hollow inside, and a small vibration motor is fixedly connected inside the buttock pad. By sliding the foot pedal between two front support plates, the foot pedal can be adjusted to a suitable height. The patient can step on the foot pedal, raising both knees and bringing the thighs closer to the abdomen, effectively reducing the anal angle and optimizing the angle between the rectum and anus, making defecation smoother.

This invention relates to a hydraulically driven humanoid robot pelvis, within the field of humanoid robots. It addresses the problems of complex structure and large size in existing hip joint pelvic structures. The pelvic support frame integrates printed hydraulic circuits. A lumbar joint base is mounted on one side of the pelvic support frame along its length. Two hip joint mounts are symmetrically mounted on either side of the pelvic support frame along its width, with the axis of the hip joint mounts aligned with the width of the pelvic support frame. The thickness of the pelvic support frame is less than the outer diameter of the hip joint mounts. A lumbar joint is mounted on the lumbar joint base and drives the pelvic skeleton to achieve posture adjustment. Each hip joint mount contains one hip joint, enabling roll and yaw movements. Each hip joint is connected to a thigh, and the pitch movement of the pelvic skeleton is achieved through the drive of a hydraulic cylinder on the thigh. This invention is applicable to robots that need to carry heavy objects or perform tasks requiring great strength.

The application discloses a kind of leapable wheel-foot mobile robots, belongs to mobile robot technical field, including body and active attitude control system, the two sides of body are equipped with four jumping motors, the output end of jumping motor is connected with adaptive shock absorbing leg, adaptive shock absorbing leg is equipped with travel assembly on the side away from body.The application is coordinated through active attitude control and adaptive shock absorbing leg, can real-time correct attitude in the process of jumping off ground, air adjustment and landing recovery, ensure that wheeled structure lands downward, realize wheel-foot mode stable switching, utilize thigh, lower leg connecting rod and rotating joint cooperation torsional spring, grade absorption impact energy in full stroke, reduce landing impact peak value and assist leg reset, can improve landing stability, the lower leg connecting rod of body same side adaptive shock absorbing leg is fixed in same travel assembly, realize wheel-foot structure and shock absorption system coordination.

A robot includes a torso structure, a head structure, robotic arms, gripper structures, and a chassis driving structure. The torso structure includes a lower leg assembly, a thigh assembly, and a thoracic cavity assembly. A first torso motor, a second torso motor, and a third torso motor enable a multi-joint rotation within a plane formed by a first direction and a second direction. A fourth torso motor drives the thoracic cavity assembly to rotate relative to the thigh assembly around an output shaft of the fourth torso motor within a plane formed by the second direction and a third direction. Two opposite sides of the end of the thoracic cavity assembly facing away from the thigh assembly are provided with the robotic arms respectively, and the gripper structures are securely mounted at tail ends of the robotic arms respectively.

This invention provides a variable stiffness actuator, a knee exoskeleton, and a control method for the variable stiffness actuator, belonging to the field of rehabilitation robot technology. The variable stiffness actuator includes a variable stiffness component, which consists of a zero-length frame hinged four-bar linkage, an elastic link assembly, a stiffness adjustment mechanism, and a T-screw assembly. The input and output disks have coaxial rotation centers. The elastic link assembly includes a linear spring and a Bowden wire. The T-screw assembly is used to change the geometric configuration parameters of the four-bar linkage, achieving stepless adjustment of the stiffness range. The knee exoskeleton includes a rotation drive assembly, a thigh assembly, a lower leg assembly, and the variable stiffness actuator. The control method includes establishing a stiffness model, real-time estimation of human-machine interaction torque, compliant control based on gait phase, and adjustment of the stiffness mode. This invention achieves stepless stiffness reconfiguration over a wide range and structural lightweighting, enabling precise compliant control without the need for torque sensors.

This invention relates to the field of robotics, specifically to a hybrid-driven leg device and a humanoid robot. The leg device includes a thigh assembly and a lower leg assembly. The thigh assembly includes a first drive mechanism, a second drive mechanism, a cable puller, and a pair of structural plates. The first drive mechanism includes a first motor, a first conical wheel, a first guide wheel, and a first rope. The first motor drives the first conical wheel to rotate and causes the first structural plate to swing. The lower leg assembly includes a pair of second structural plates, and the second drive mechanism is used to drive the second structural plates to swing. The cable puller drives the first rope to move axially along the first conical wheel and the second rope to move axially along the second conical wheel, enabling the leg device to operate stably under different states and load conditions. Furthermore, the leg device of this solution includes an elastic buffer and a hydraulic damper, both of which can absorb the impact force received by the leg device in real time during movement or landing impact, improving its overall stability.

The utility model relates to the technical field of demonstration robots, in particular to an action demonstration robot for non-genetic culture learning, which comprises an upper limb mechanism and a head mechanism mounted at the upper end of the upper limb mechanism, a lower limb mechanism is mounted at the lower end of the upper limb mechanism and used for action switching, and the lower limb mechanism comprises thigh components mounted on two sides of the lower end of the upper limb mechanism; the crus assembly comprises a crus connecting piece arranged below the thigh assembly, a crus upper steering engine is installed at the upper end in the crus connecting piece and rotationally connected with the lower end of the thigh assembly, the output end of the crus upper steering engine is fixedly connected with the lower end of the thigh assembly, and a crus lower steering engine is installed at the lower end in the crus connecting piece; the foot assembly comprises a foot connecting piece rotationally mounted at the lower end of the lower shank steering engine, and a foot steering engine is rotationally mounted at the lower end of the foot connecting piece; through the thigh assembly, the shank assembly, the foot assembly and the moving assembly, the performance posture and the moving state can be quickly switched, and both the artistic performance and the stage scheduling efficiency are considered.

The application relates to a single-leg mechanism of a foot-type robot with high jumping ability, which comprises a thigh assembly, a shank assembly, a foot plate, a shank driving device, and a foot plate driving device. The first end of the shank assembly is hinged to the second end of the thigh assembly; the foot plate is hinged to the second end of the shank assembly; the shank driving device comprises a shank driver arranged on the thigh assembly and a stroke amplification device driven by the output end of the shank driver; the output end of the stroke amplification device is hinged to the shank and amplifies the displacement stroke of the output end of the shank driver; the foot plate driving device comprises a motor arranged on the thigh assembly, a driving energy storage device driven by the output shaft of the motor, and a foot plate linkage assembly connected between the output end of the driving energy storage device and the foot plate and keeping the rotation angle between the foot plate and the ground when the shank assembly and the thigh assembly rotate. The shank assembly and the foot plate of the robot are designed to be light in weight, so that the robot can realize high gravity center arrangement, reduce the inertia of the shank assembly part of the robot, and greatly improve the jumping height of the robot.

The utility model discloses a sitting posture self-adaption thigh adduction training device which comprises a frame body, a counter-balanced carriage is arranged on one side of the frame body, a seat is arranged on the other side of the frame body, one end of the seat abuts against the middle of one side of the counter-balanced carriage, a backrest is hinged to the other side of the seat, and the other side of the seat is provided with a backrest. The middle of one side of the backrest is connected with the upper surface of the seat through an elastic cushion, the outer side of the vertical rod is fixedly connected with an adjusting disc, the top end of the vertical rod is fixedly connected with a supporting rod, the other end of the supporting rod is fixedly connected with an inward-retracting check block, and the interior of the adjusting disc is rotationally connected with a wire coil. And the wire coils are rotationally connected to the middle parts of the vertical rods through ratchet wheels. The fitness equipment is more fit with the back of the body of a trainee, can be more suitable for being used by a body builder, and is convenient and quick.

An exosuit leg gripping system may include an upper leg grip configured to encircle a thigh of a person wearing the exosuit leg gripping system, a lower leg grip configured to encircle a shank of a person wearing the exosuit leg gripping system, an upper leg grip connection interface carried by the upper leg grip, and a lower leg grip connection interface carried by the lower leg grip. The upper leg grip connection interface is configured to releasably connect the upper leg grip to a thigh link of an exosuit drive system. The shank link connection interface is configured to releasably connect the lower leg grip to a shank link of an exosuit drive system.

The utility model relates to the technical field of sock performance testing, in particular to a walking simulation sock performance testing device which comprises a rack, a pavement base is arranged on a table top of the rack, a connecting frame is fixedly connected to the upper portion of the front end of the rack, and a motor is fixedly installed at the left end of the connecting frame. The output end of the motor is connected with a double-throw crankshaft through a coupler, the double-throw crankshaft is connected with two thigh rods through shaft pins, the ends, away from the double-throw crankshaft, of the two thigh rods are connected with shank rods through shaft pins, and the ends, away from the thigh rods, of the two shank rods are provided with combined samples; the rear ends of the two shank rods are connected with connecting rods through shaft pins, and pulleys are arranged on the upper portion of the left end and the upper portion of the right end of the rack. According to the sock performance testing device capable of simulating walking, the walking action of a human body can be simulated through linkage of a mechanical structure, so that the testing result has more practical significance.

To provide a doll body with high amusement.SOLUTION: A main body portion 8 including a torso portion 10 and a leg portion 20 connected to the torso portion 10, the main body portion 8 being configured to be capable of taking an upright state and a seated state, the leg portion 20 including a first part 21 (upper leg) and a second part 22 (lower leg) connected to the first part 21, the first part 21 is configured to be rotatable within a range of a first angle (θ 1) with respect to the torso part 10, and the second part 22 is configured to be rotatable within a range of a second angle (θ 2) smaller than the first angle (θ 1) with respect to the first part 21.SELECTED DRAWING: Figure 1

The utility model discloses a massager with detachable shank sleeves, which relates to the technical field of massagers and comprises three leg sleeves, the tops of the leg sleeves are fixedly connected with connecting cloth, the front ends of the leg sleeves are fixedly connected with nylon magic cloth, and the rear ends of the leg sleeves are fixedly connected with non-woven fabrics. The front end of the leg sleeve is fixedly connected with a protective sleeve, the inner wall of the protective sleeve is movably sleeved with an inflation mechanism, and the inflation mechanism comprises a second inflation pipe. According to the massager with the detachable shank sleeve, the face of the non-woven fabric is tightly attached to the shank, then the powerful hook-and-loop fastener is adhered to the nylon hook-and-loop fastener, and due to the fact that the whole face of the nylon hook-and-loop fastener is the hook-and-loop fastener, the range of the thread gluing area is greatly enlarged, and the massage effect is good. The appearance of the leg sleeve is designed to be in a fan-shaped unfolding mode with a certain radian, the leg sleeve has good attaching degree and wrapping performance on the shank or the thigh, and the comfort level and the experience feeling of the patient are greatly improved.

A robot comprises a wheel-footed bimodal mechanical leg having a driving apparatus, a thigh unit, and a calf unit. A joint end of the thigh unit is hingedly connected to a joint end of the calf unit by a rotary shaft. The driving apparatus is connected to the rotary shaft by a transmission apparatus. The calf unit comprise a locking mechanism. The robot can operate in a footed mode and a wheeled mode. In the footed mode, the calf units and the rotary shafts in n mechanical legs are fixedly connected to each other, where n is an integer that is at least two. In the wheeled mode, the calf units and the rotary shafts in at least two wheel-footed bimodal mechanical legs are rotatably connected to each other.

The application provides a flexible assisted lower limb motion robot, and relates to the field of motion robots, which comprises a thigh motion assembly, a shank motion assembly and a foot connecting assembly, the shank motion assembly is located below the thigh motion assembly, and the foot connecting assembly is located below the shank motion assembly, the motor in the thigh motion assembly controls the contraction and release of each rope, cooperates with the tensioning mechanism, realizes the lifting and lowering of the thigh belts on both sides, and assists in motion; the driving muscle in the shank motion assembly simulates the natural motion process, provides power, and drives the shank belt to move through the rope, so that the shank motion is realized; through the cooperation of the rope and the pulley set in the shank assembly, the distance between the sliding table and the sliding table support is adjusted, the freedom degree in the lower limb motion can be met to a large extent, and through the flexible connection of the spring and the foot connecting frame, the flexible adaptation of the foot to the leg during walking is realized.

The utility model discloses a lower limb exercise device for orthopedic nursing, which relates to the technical field of orthopedic nursing and comprises a base, a support rod is fixedly mounted on the upper surface of the base, a bedplate is fixedly mounted at the top of the support rod, a training component and an adjusting component are arranged on one side of the bedplate, and the training component comprises a groove formed in one side of the bedplate. A rotating plate is rotationally connected into the groove through a rotating shaft, an opening is formed in one side of the rotating plate, two rotating plates are rotationally connected into the opening through rotating shafts, and a fixing belt is fixedly installed on one side of each rotating plate. According to the lower limb exercising device for orthopedic nursing, the training assembly is arranged, the tension training strength between the two legs can be adjusted in the using process, therefore, the tension of the legs can be conveniently adjusted in the using process, muscles on the inner sides of the thighs are prevented from being damaged in the training process, and the training effect of the lower limb exercising device is improved. Meanwhile, the training intensity can be adjusted according to training effect requirements.

The invention relates to the technical field of advanced robot structures and driving, and discloses a half-horse robot leg structure integrated with a rapid tensioning mechanism, which comprises a thigh supporting component, a driving belt wheel assembly, a driven belt wheel assembly, a synchronous belt and a tensioning mechanism, the driving assembly mounting hole and the driven assembly mounting hole are formed in the thigh supporting component and are connected through a synchronous belt; the tensioning mechanism comprises a fixed base, an ejection screw, a tensioning sliding support and a tensioning wheel assembly. The fixed base is arranged in the thigh supporting component, a sliding hole is formed in the fixed base, the tensioning sliding support is arranged in the sliding hole in a sliding mode, the tensioning wheel assembly is connected with the tensioning sliding support, the ejection screw is in threaded connection with the tensioning sliding support, and the head of the ejection screw abuts against the thigh supporting component and right faces the tensioning mechanism maintenance hole. The ejection screw is rotated through the tensioning mechanism maintenance hole, the tensioning wheel assembly can be driven to move, and therefore the synchronous belt is tensioned or loosened.

This invention provides a six-legged adsorption robot and its control method for inspecting offshore wind turbine blades. The robot comprises a double-layered body structure and a biomimetic single-leg structure. The double-layered body structure includes an upper and lower body, each equipped with a motion control system and a vacuum adsorption system. The vacuum adsorption system, in conjunction with a three-step gait, achieves alternating adsorption and vacuum breaking. The motion control system coordinates the robot's walking, turning, posture adjustment, and adsorption functions. The biomimetic single-leg structure includes a thigh, a middle leg, and a lower leg, corresponding to the hip, knee, and ankle joints, respectively. Each leg has three rotational degrees of freedom driven by a servo motor. Springs at the upper and lower parts of the lower leg are compressed to provide preload. The lower leg end is connected to a vacuum suction cup via a fisheye bearing, reducing the impact of landing and providing a passive rotational degree of freedom to adapt to stable adsorption on surfaces with varying curvature. This invention features lightweight structure, strong adaptability to surfaces with varying curvature, high control precision, and safety and reliability.

This is a description of a sitting device. It consists of a base and a seat connected to the base such that it pivots around a seat axis. The seat axis is horizontal and orthogonal to the depth direction of the seat. The connection that allows the seat to pivot about the base is positioned against the seat such that the seat pivots forward in a sagittal plane when a user sits on it. The seat of the sitting device can also be elastically biased to rotate backward in the sagittal plane. The sitting device also comprises a lumbar support, which rotates with the seat, and a support pad, designed to support the user’s upper thighs, with the pad connected to front portion of the seat. The lumbar support is positioned such that it rests against the user’s back, by their lumbar vertebrae, when the device is in use.

The embodiment of the invention provides a control method and device of a wheel-foot robot and the wheel-foot robot. The wheel-foot robot comprises a leg unit composed of a thigh and a shank, and the control method comprises the steps that an initialization instruction is obtained; in response to the initialization instruction, the included angle between the thigh and the shank is adjusted to be a first target included angle, and the first target included angle is that the gravity center of the robot falls into the supporting polygon. In the embodiment of the invention, the static balance state is set as the posture that the thigh and the shank form the first target included angle, and the gravity center of the robot is located in the supporting polygon; in the posture, the gravity center of the robot is lower, balance is easier to keep, and spontaneous toppling is not prone to occurring. Moreover, from the static balance posture to the dynamic motion, the joint adjustment amplitude and time required for transition from the static state to the dynamic state are reduced, so that the robot can respond to a moving instruction with lower energy consumption and shorter delay, and unification of static stability and dynamic agility is realized.

The utility model discloses a leg structure of a robot, which belongs to the field of robots and can improve the moving stability of the robot and enable the robot to be easier to fall down by arranging an auxiliary leg component 4 outside a thigh component 2 and a shank component 3, and can overcome the defects in the prior art. The rehabilitation training device comprises a thigh mounting seat 1, at least two thigh components 2, at least two shank components 3 and at least one auxiliary leg component 4, the thigh assembly 2 comprises a thigh main body 21 and a thigh driving unit 22; the shank assembly 3 comprises a shank main body 31, a shank driving unit 32 and a shank moving unit 33; the auxiliary leg assembly 4 comprises an auxiliary leg main body 41, an auxiliary leg driving unit 42 and an auxiliary leg moving unit 43; a lower joint of the thigh main body 21 is provided with a connecting shaft 211; an upper joint of the auxiliary leg main body 41 is mounted on the connecting shaft 211; the auxiliary leg driving unit 42 comprises an auxiliary motor assembly 421, an auxiliary driving rod 422 and an auxiliary connecting rod 423 which are connected in sequence.