277 results about "Leg mechanism" patented technology

The invention discloses a full-size integrated humanoid robot which comprises a trunk mechanism, arm mechanisms arranged on the left side and the right side of the upper end of the trunk mechanism, a hip mechanism arranged at the lower end of the trunk mechanism and leg mechanisms arranged at the left end and the right end of the hip mechanism. The driving modules of the arm mechanisms and the leg mechanisms are mounted in the inner cavities of the corresponding curved-surface metal shells through bolts respectively; the hip mechanism comprises a hip assembly and hip curved surface shells installed on the front side and the rear side of the hip assembly. The hip assembly comprises a hip base connected with an output shaft of a trunk driving module of the trunk mechanism. Hip driving modules are symmetrically arranged at the left end and the right end of an inner cavity of the hip base; a control circuit board of the hip driving module is arranged on the top of the hip base through a fixing plate. On the basis of replacing a traditional shell and a skeleton with the curved metal shell, the size of the hip mechanism is reduced, the assembly steps are simplified, the light weight of the humanoid robot is achieved, and the requirement for structural strength is met.

According to the quadruped robot, four sets of leg mechanisms are symmetrically distributed on the two sides of a robot body, and each leg mechanism has a first deformation state and a second deformation state; when the four leg mechanisms are in the first deformation state, the quadruped robot is in a robot dog mode; when the four leg mechanisms are in the second deformation state, the positioning shafts of the hub assemblies are combined with the robot body, so that the quadruped robot is in a balance car mode; the driving mechanism is used for driving the leg mechanism to switch between a first deformation state and a second deformation state; the steering mechanism is mounted at the front end of the fuselage body; the handle mechanism is rotatably connected to the steering mechanism and can drive the steering mechanism to rotate so that the quadruped robot can steer in the balance car mode. According to the quadruped robot, the dual requirements of a user for a robot dog and a balance car can be met, in the balance car mode, the hub assemblies and the robot body are combined to form rigid support, and the motors at the joints of the leg mechanisms do not need to continuously provide loads.

The invention discloses a bionic robot with walking, jumping and taking-off functions and a movement method, and belongs to the technical field of robots. The robot comprises a control system, a flapping wing mechanism and two leg mechanisms. Each leg mechanism comprises a driving device I, an execution connecting rod mechanism and a buffer foot part, the buffer foot part is connected with the execution connecting rod mechanism, and the execution connecting rod mechanism is driven by the driving device I; the flapping wing mechanism comprises a driving device II, a transmission mechanism, wings and an empennage; the execution link mechanism is connected with the transmission mechanism, the wings and the empennage are respectively connected with the transmission mechanism, the transmission mechanism is driven by the driving device II, the control system is used for controlling the driving device I and the driving device II, and the motion modes comprise walking, jumping and flying. The multi-mode bird-simulating robot has a multi-mode bird-simulating motion function, can autonomously realize mode switching from land motion to air flight, and remarkably improves the motion performance of the robot.

An extended leg mechanism includes a first leg connecting rod and a second leg connecting rod, where the first leg connecting rod, a third leg connecting rod, the second leg connecting rod and a fourth leg connecting rod are pivotally connected in sequence; the third and fourth leg connecting rods are pivotally connected to an identical first footrest assembly; the first footrest assembly includes a vertical plate pivotally connected to the third and fourth leg connecting rods, and a top portion of the vertical plate is provided with a mounting plate, where the vertical plate is pivotally connected to first and second footrest connecting rods, the other end of the first and second footrest connecting rods is pivotally connected to an identical second footrest assembly, and the second footrest assembly, a third footrest connecting rod and the fourth leg connecting rod are pivotally connected in sequence.

The automatically retractable movable seat frame includes at least one stretching device, including a linkage mechanism, including a driving elastic member, a rotating rack, and a linkage rack, the driving elastic member being assembled between the rotating rack and the linkage rack; a leg mechanism, hinged to a front end of the linkage rack, a drag link being hinged between the rotating rack and the leg mechanism; a seat mechanism, hinged to a rear end of the leg mechanism; and a rotating mechanism, connected to the rotating rack, configured to drive the rotating rack to rotate, so that the stretching device is switched between a sitting position and a relaxing position, in which the driving elastic member stretches and retracts with the rotation of the rotating rack, and the rotating rack is driven to rotate, so that the leg mechanism is folded.

The disclosure provides a motion control method and apparatus of a robot, a robot and a storage medium, wherein the robot is a wheel-foot composite robot, the wheel-foot composite robot comprises a robot body and four motion mechanisms arranged on the robot body, the four motion mechanisms comprise two rear rollers and two front leg mechanisms, and the method comprises: obtaining a to-be-performed task of the wheel-foot composite robot; determining a first motion task of a robot body, a second motion task of the two front leg mechanisms and a third motion task of the two rear rollers based on the to-be-performed task; and controlling the whole-body motion of the wheel-foot composite robot based on the first motion task, the second motion task and the third motion task.

The application discloses a novel mobile grabbing integrated bionic multi-legged robot, which comprises a front body provided with two leg parts and a rear body provided with four leg parts; the front body and the rear body are connected through a tension structure capable of being lifted and deformed; when a driving wire is driven to be tightened, the tension structure can be lifted and deformed upward; when the driving wire is loosened, the tension structure can be lowered and restored under the action of a reset spring; the front body and the tension structure move synchronously, so that the front body can be lifted and deformed or lowered and restored. When the front body is not lifted, the robot moves in a three-legged gait through six leg part mechanisms; when the front body is lifted, two leg parts of the front body serve as a mechanical arm, a steering wheel at a hip joint is used to realize a clamping function, the robot moves through four full leg parts of the rear body, and a four-legged gait is adopted, so that the robot can complete a carrying operation.

The invention discloses a leg motion control method and system for a flying type double-wheel-leg robot based on active-disturbance-rejection control, and the method comprises the following steps: S1, solving a five-connecting-rod kinematics calculation formula of the legs of the robot based on the geometrical relationship of a five-connecting-rod mechanism; s2, on the basis of the five-connecting-rod kinematics solution formula, virtual model control is utilized, and the mapping relation between the force of the working space and the joint torque is obtained; s3, solving a kinetic equation of a leg mechanism of the robot by utilizing a Lagrange equation; s4, constructing an active-disturbance-rejection control model based on the kinetic equation, and dynamically optimizing the active-disturbance-rejection control model by using an RBF neural network to obtain a robot leg control model; and S5, regulating and controlling the leg movement of the robot by using the robot leg control model.

The rigid-flexible coupling driving wheel leg switching spraying robot comprises a vehicle body, a mechanical arm spraying mechanism is rotationally connected to the top of the vehicle body, a left front leg mechanism and a right front leg mechanism are arranged at the front end of the vehicle body, and a left rear leg mechanism and a right rear leg mechanism are arranged at the rear end of the vehicle body; a front wheel steering mechanism and a rear wheel driving mechanism are arranged at the bottom of the vehicle body in the front-back direction, and the front wheel steering mechanism and the rear wheel driving mechanism are connected with a first wheel-leg switching mechanism and a second wheel-leg switching mechanism on the vehicle body correspondingly to achieve switching of wheel-leg modes of the spraying robot. According to the technical scheme, efficient adaptation in different working environments is achieved through the wheel leg switching mechanism, it is ensured that the robot can move at a high speed on the flat ground and has the excellent obstacle crossing capacity in the complex terrain, and the application performance and the working adaptation capacity of the robot in spraying operation are effectively improved.

A biaxially extensible and retractable wheel-leg mechanism for a vehicle includes a pantograph coupling limb assembly with a plurality of coupling limbs which are coupled together in an articulated manner. A wheel hub motor and a steering actuator operatively connected thereto are arranged on a first coupling limb, and the wheel hub motor is designed to rotate a vehicle wheel drivingly connected to the wheel hub motor. The steering actuator is designed to set a steering angle of the wheel of the vehicle. The wheel-leg mechanism additionally comprises a rotary drive for positioning the coupling limb, said rotary drive being drivingly arranged on a first joint between a second coupling limb and a third coupling limb. The rotary drive is designed to set a relative angular position between the coupling limbs coupled together in an articulated manner such that the position of the wheel hub motor relative to the rotary drive can be adjusted in the longitudinal direction and / or in the vertical direction of the vehicle.

The invention discloses a bionic mechanical clamping jaw for an aircraft. The bionic mechanical clamping jaw comprises a base, a driving assembly, a collecting mechanism, a leg mechanism and a jaw mechanism. A driving assembly and a collecting mechanism are arranged on the base; leg mechanisms are symmetrically arranged at the left and right ends of the bottom of the base, and claw mechanisms are installed at the bottoms of the leg mechanisms. The base is used for connecting the ornithopter and the leg mechanism; the driving assembly is used for driving the claw mechanism to move; the collecting mechanism is used for collecting the claw part mechanism through a collecting steering engine on the collecting mechanism; the leg mechanism is used for a middle carrier and a core buffer component for force transmission in the grabbing process. And the claw mechanism completes object grabbing and object loosening through tensioning and loosening movement. According to the invention, the adaptability and operation capability of the flapping-wing air vehicle for executing grabbing and carrying tasks in a complex environment can be further improved.

The invention belongs to the technical field of robots, and discloses a leg mechanism and a humanoid robot. The leg mechanism comprises a waist support and two leg units, the independent leg units are designed for the humanoid robot, a hip module, a leg module and a foot module are designed, the hip module comprises a hip support, a fixing support and a first driving part, and the leg module and the foot module are assembled on the hip support. The first driving piece is fixed to the fixing support and is in transmission connection with the hip support, so that when the first driving piece drives the hip support to rotate, the leg module can be driven to rotate relative to the waist support, and the movement capacity of the leg module is guaranteed; the fixing support of the leg unit is detachably connected with the waist support, and the fixing support is detached from the waist support, so that the whole leg unit can be independently detached, the leg detaching difficulty is effectively reduced, and the maintenance convenience is improved.

The invention relates to the technical field of pipeline detection, and provides a spiral and leg type dual-drive pipeline detection robot which comprises driving joints, a cabin body, a three-axis differential mechanism and a controller. The driving joint comprises a telescopic leg mechanism, a spiral driving mechanism and a wheel type support; the three-shaft differential mechanism is arranged in an inner cavity of the spiral driving mechanism body and can change the direction of the wheel type support in a self-adaptive mode so as to adapt to the change of the trend of a pipe wall, and the controller is used for monitoring the motion state of the robot, calculating the differential speed between wheels and adjusting the rotation angle of gears of the differential mechanism. Therefore, the robot can stably change the direction during pipe bending. According to the robot, two driving modes of spiral driving and leg type driving are combined, the risk of motion interference and robot damage can be reduced through a spiral driving three-axis differential mechanism structure in a curve, when the robot encounters an obstacle, leg type driving is switched, the robot crosses the obstacle, self-adaptive adjustment of the robot on the pipeline environment is achieved through intelligent control, and the robot is more intelligent. And the operation efficiency and the safety are improved.

The invention discloses a rigid-flexible coupled walking robot leg mechanism and a walking robot. The walking robot is provided with a walking robot leg mechanism, and the walking robot leg mechanism comprises a shank driving motor (4) and a shank driving connecting rod (7); the shank driving motor is assembled and connected with a thigh component (6), a crank connecting piece (5) is installed at the driving end of the shank driving motor and provided with a crank end (51), one end of the shank driving connecting rod is assembled and connected with the crank end, and the other end of the shank driving connecting rod is assembled and connected with the portion, close to the upper end, of a shank component (8) through a rotating pair. The shank driving connecting rod is an elastic connecting rod. The shank driving connecting rod serves as a structural part to transmit motion and also serves as an elastic component to play a role of an elastic plate spring, external loads are buffered through structural elastic deformation, the structural characteristics of bones, muscles and ligaments of an organism can be simulated, and a leg mechanism has good passive compliance.

A linkage mechanism (10) for a wooden floor type reclining seat unit provides enhanced backrest support, reduces shirt pull, and reduces minimum wall clearance. The linkage mechanism (10) may include a seat mounting rail (62) indirectly coupled to the backrest bracket (76), where the backrest bracket (76) pivots about projecting pivot points (101) located forward and above the backrest bracket (76) when the seating unit is collapsed. The linkage mechanism (10) has a reduced mechanism height allowing it to be used on high leg mechanisms with shorter pivot coupling links between the base plate (12), the seat mounting rail (62) and the backrest bracket (76).

The invention provides a supporting leg system and an engineering machine. The supporting leg system comprises a supporting leg box, the supporting leg mechanism comprises a first supporting leg arm, a second supporting leg arm, a rotary driving part and a telescopic driving part, the first supporting leg arm is hinged to the supporting leg box, and the second supporting leg arm is arranged in the first supporting leg arm in a penetrating mode; the rotation driving piece and the telescopic driving piece are both electrically connected with the controller, and the controller is configured to obtain a supporting leg control instruction; under the condition that the supporting leg control instruction is obtained, the rotation driving part is controlled to drive one arm of the supporting leg to rotate relative to the supporting leg box according to the supporting leg control instruction; acquiring an avoiding angle range, a driving angle range and a current angle of one arm of the landing leg; when it is determined that the current angle is within the avoiding angle range, the telescopic driving part is shut down; and under the condition that the current angle is determined to be within the driving angle range, the telescopic driving part is controlled to perform telescopic driving according to the current angle. The safety of the landing leg system can be improved while the large span is achieved.

The invention discloses a bionic walking device for a paddy field, and belongs to the technical field of agricultural machinery. The walking device comprises a rack, a transmission mechanism, a power system and four mechanical legs, the lower portions of the two sides of the rack are each provided with two mechanical legs, and each mechanical leg comprises a leg mechanism and a sole assembly; a power system is arranged on the machine frame and transmits power to the leg mechanisms through a transmission mechanism, and lifting and falling of the leg mechanisms are achieved. The foot sole assembly comprises a supporting palm, a middle toe and two side toes, when the leg mechanism drives the supporting palm to fall, the side toes on the two sides are opened, the contact area with mud soil is increased, and the walking device is prevented from sinking; when the leg mechanism drives the supporting palm to lift up, the side toes on the two sides contract, and the resistance between the foot sole and mud soil is reduced. The problems that a common walking mechanism is large in walking resistance and difficult to turn in the muddy soil environment of the paddy field, the soil environment of the paddy field is damaged, and seedlings are pressed and damaged are solved.

The utility model discloses an extended anti-pinch leg mechanism and an extension device. The extension type anti-pinch leg mechanism comprises a first leg connecting rod, a second leg connecting rod pivoted to the first leg connecting rod, a third leg connecting rod pivoted to the second leg connecting rod, a fourth leg connecting rod pivoted to the third leg connecting rod, a third leg connecting rod pivoted to the fourth leg connecting rod, a large footrest mounting piece pivoted to the first footrest connecting rod, and a small footrest mounting piece pivoted to the first footrest connecting rod. The large footrest mounting piece, the first footrest connecting rod, the second footrest connecting rod and the small footrest mounting piece form a quadrilateral structure, a baffle is arranged at the front end of the large footrest mounting piece, a protruding portion is arranged at the rear end of the first footrest connecting rod, and the protruding portion is in pivot joint with a third footrest connecting rod through a first shaft. The rear end of the third footrest connecting rod is pivoted with a fourth leg connecting rod through a second shaft, and the outer side of the second shaft is sleeved with a lining located between the third footrest connecting rod and the fourth leg connecting rod. The problem that certain potential safety hazards exist in the prior art is solved.

The application provides a support leg device, a chassis and an aerial work machine. The support leg device comprises a support leg mechanism, a sliding mechanism and a scissor-type telescopic jib. The support leg mechanism comprises a fixed support leg and a telescopic support leg arranged in a telescopic manner. The fixed support leg is provided with a first sliding groove. The sliding mechanism comprises a driving sliding block movably connected to the first sliding groove and a transmission connection assembly transmissionally connected between the telescopic support leg and the driving sliding block. The transmission connection assembly is used for converting the telescoping force of the telescopic support leg into the driving force of the driving sliding block sliding in the first sliding groove. The scissor-type telescopic jib comprises a fixed arm section and a driving arm section arranged in a cross manner. The fixed arm section is fixedly connected to the fixed support leg. The driving arm section is fixedly connected to the driving sliding block. The support leg device provided by the application can realize the horizontal telescoping action and the vertical telescoping action of the support leg device by using only one set of driving oil cylinders. Meanwhile, the horizontal telescoping action and the vertical telescoping action can be performed synchronously, which greatly improves the unfolding and contraction efficiency of the support leg device.

A multifunctional mining roadway repairing machine comprises a frame, an electrical system is mounted at the top end of the frame, a walking mechanism is mounted at the bottom end of the frame, supporting leg mechanisms are arranged on the two sides of the walking mechanism, a supporting seat is slidably connected to one side of the electrical system, a sliding assembly is arranged between the supporting seat and the frame, and a rotary table is rotatably connected to the top end of the supporting seat through a rotary driving device. A driving arm linkage assembly is hinged to the top end of the rotary table, a manipulator mechanism is hinged to the end, away from the rotary table, of the driving arm linkage assembly and comprises a first mounting base, the top end of the first mounting base is hinged to the driving arm linkage assembly, and a second mounting base is arranged at the bottom end of the first mounting base. A first rotating mechanism is arranged between the second mounting base and the first mounting base, a clamping assembly is arranged at the bottom end of the second mounting base, and a second rotating mechanism is arranged between the clamping assembly and the second mounting base. The working range is expanded, the flexibility of the manipulator is improved, and the working efficiency of roadway repair is improved.

The application discloses a wheel-leg mechanism and relates to the technical field of wheel-leg vehicles.The wheel-leg mechanism comprises a wheel group mechanism, a thigh assembly, a shank assembly, a connecting rod transmission assembly and a linear driving mechanism, one end of the shank assembly is connected with the wheel group mechanism, the other end of the shank assembly is hingedly connected with the thigh assembly, the thigh assembly and the shank assembly are respectively connected with the linear driving mechanism through the connecting rod transmission assembly, and the linear driving mechanism and the connecting rod transmission assembly are respectively connected with a vehicle body.The wheel-leg mechanism has the advantages of small size, compact structure, suitability for both wheel type and leg type movement modes, realization of small end inertia and large movement range, arrangement of most of the weight mechanism on the upper end and the middle of the thigh, simple structure and space saving.

This utility model provides a prefabricated box-type substation enclosure structure, including a substation body and multiple support leg mechanisms. Multiple mounting rings are horizontally fixedly connected to the bottom end of the inner surface of the substation body, and the multiple support leg mechanisms are respectively fixedly connected to the bottom ends of the mounting rings. This prefabricated box-type substation enclosure structure, by setting multiple support leg mechanisms, allows for individual adjustment of the multiple support leg structures. During adjustment, the height of each support leg can be adjusted by rotating the threaded sleeve. Furthermore, during actual installation, because the rotating seat at the bottom of the threaded sleeve rotates horizontally while the connecting seat rotates vertically, a structure similar to a caster wheel is formed, adapting to various road surfaces. This makes installation more convenient and ensures the enclosure remains level during later use, thereby improving the practicality of the substation.

The present invention discloses a leg device and engineering machinery. The leg device includes a leg mechanism and an unlocking mechanism. The leg mechanism includes a leg assembly and a foot assembly provided on the leg assembly. The leg assembly is provided with an extension locking portion. The unlocking mechanism includes a locking piece and an unlocking drive assembly. The unlocking drive assembly is provided on the telescopic drive end of the foot assembly and is connected to the locking piece. The unlocking drive assembly is used to drive the locking piece to lock the extension locking portion when the telescopic drive end is extended, and to drive the locking piece to unlock the extension locking portion when the telescopic drive end is retracted. The leg assembly does not need to be manually locked and unlocked. The unlocking drive assembly is driven by the telescopic movement of the telescopic drive end of the foot assembly, so that the unlocking drive assembly drives the locking piece to automatically lock and unlock the leg assembly. This omits operating steps, saves operating time, and is convenient and quick to operate.

Disclosed in the present application are an automatically retractable movable seat frame and a sofa. The automatically retractable movable seat frame comprises at least one extension device, which comprises: a linkage mechanism comprising an elastic driving member, a rotary bracket and a linkage bracket, the elastic driving member being assembled between the rotary bracket and the linkage bracket; a leg mechanism hinged to a front end of the linkage bracket, wherein a traction connecting rod member is hinged between the rotary bracket and the leg mechanism; a seat mechanism, which is hinged to a rear end of the leg mechanism; and a rotating mechanism, which is connected to the rotary bracket, and is configured to drive the rotary bracket to rotate, such that the extension device is switched between a sitting-posture state and a TV-posture state. The elastic driving member can extend and retract along with the rotation of the rotary bracket, and when the rotary bracket rotates to a predetermined position, the elastic driving member can drive the rotary bracket to rotate, thereby retracting the leg mechanism.

The utility model relates to the technical field of cylindrical supporting legs, in particular to an upper die cylindrical supporting leg locking structure which comprises a first steel plate, the lower end of the first steel plate is fixedly connected with a plurality of first connecting plates and a plurality of second connecting plates, and the first connecting plates and the second connecting plates are of an integrated structure. Notches are formed in the multiple first connecting plates and the multiple second connecting plates, the lower ends of the multiple first connecting plates and the lower ends of the multiple second connecting plates are jointly and fixedly connected with a second steel plate, the lower end of the second steel plate is movably connected with twelve supporting leg mechanisms, and six of the twelve supporting leg mechanisms form a group. A plurality of first through holes are formed in the upper end of the first steel plate. According to the locking structure for the cylindrical supporting leg of the upper die, batch preparation in advance is facilitated, material use is reduced, freight is reduced, part assembly and disassembly are more convenient, and after-sale is more convenient.

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 embodiment of the application provides a hook separating robot and a hook separating robot system, the hook separating robot is suitable for being clamped and connected on a ladder of a train compartment, and comprises a clamping and fixing device, the clamping and fixing device comprises a clamping and fixing base assembly, a leg mechanism assembly, a clamping arm assembly and a tilting mechanism assembly, the leg mechanism assembly is arranged at a middle position of the clamping and fixing base assembly; the clamping and fixing base assembly is provided with the clamping arm assembly; the tilting mechanism assembly is arranged on the clamping and fixing base assembly; a hook separating device is connected to the tilting mechanism assembly; when the clamping and fixing device is connected to the ladder, the bottom of the leg mechanism assembly abuts against the bottom plate of the ladder, the two clamping arm assemblies are respectively clamped and connected with the side edges of the ladder, and the hook separating device can perform a hook separating operation on the train compartment. In the technical scheme of the application, the hook separating robot moving with the train compartment can easily and accurately separate the train hooks, the operation efficiency is high, and the safety is good.

This application belongs to the field of wearable robot technology, specifically providing a mechanical load-bearing exoskeleton system based on ground reaction force self-triggering. The exoskeleton system includes an upper body mechanism, a thigh mechanism, a knee joint mechanism, a lower leg mechanism, and a foot mechanism. The knee joint mechanism includes a knee joint support, a locking component, and a transmission assembly. When the foot mechanism touches the ground and the sole of the foot is compressed and deformed by the ground reaction force, the thigh mechanism slides downward relative to the knee joint support. The transmission assembly drives the locking component to slide towards the thigh mechanism and connect with it, thereby locking the knee joint mechanism. The compression deformation of the sole of the foot caused by the ground reaction force is used as a trigger signal to automatically trigger the locking of the knee joint mechanism. The knee joint mechanism can lock at any reasonable angle, so that when the wearer is going up or down slopes, climbing stairs, or bending their knees for cover, the exoskeleton system can still effectively assist the human body in bearing the load by locking the knee joint mechanism.

A mechanical leg, and a robot and a control method therefor. The mechanical leg (100) comprises a first leg mechanism (10), a second leg mechanism (20), and a driving mechanism (30), wherein the second leg mechanism (20) can linearly move relative to the first leg mechanism (10), and the driving mechanism (30) is configured to be capable of driving the first leg mechanism (10) and the second leg mechanism (20) to integrally rotate relative to a body (200), and driving the second leg mechanism (20) to linearly move relative to the first leg mechanism (10), so as to assist a robot (1000) in keeping self-balance when traveling or standing.

A self-leveling six-degree-of-freedom quasi-zero stiffness vibration isolation platform, comprising a base platform, a working platform and a plurality of leg mechanisms with quasi-zero stiffness characteristics arranged therebetween, wherein: the two ends of the leg mechanism are connected through a universal joint between the base platform and the working platform to realize spatial six-degree-of-freedom wide-band vibration isolation. The present application uses a nonlinear gradually hard positive stiffness structure to modulate a negative stiffness structure to design a passive quasi-zero stiffness structure and an active quasi-zero stiffness structure. The rated load of the active quasi-zero stiffness vibration isolation structure is proportional to the current size. The passive quasi-zero stiffness structure and the active quasi-zero stiffness structure are combined. By adjusting the rated load of the active quasi-zero stiffness structure, the self-leveling function of the vibration isolation platform under different loads is realized. The passive quasi-zero stiffness structure is beneficial to provide the carrying capacity and reliability of the vibration isolation platform. Compared with the existing six-degree-of-freedom quasi-zero stiffness vibration isolation platform, the present application has a large carrying capacity, high reliability, is not sensitive to the vibration isolation load, and can realize the self-leveling of the working platform under different loads, which not only ensures the excellent low-frequency vibration isolation performance of itself, but also ensures that the vibration isolation object can work normally.