464 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.

The invention relates to the technical field of robots, in particular to a waist and hip integration mechanism and a humanoid robot. The waist turnover driving piece is arranged on the hip support; the two lateral extension driving pieces are oppositely arranged on the hip support, and the axes of the driving ends of the two lateral extension driving pieces coincide; the two side unfolding supports are connected to the driving ends of the side unfolding driving pieces correspondingly. The two pitching driving parts are respectively arranged on the side extension bracket; the two pitching supports are connected to the driving end of the pitching driving piece. The two hip turnover driving pieces are arranged on the pitching support, and the driving ends of the hip turnover driving pieces are connected with leg mechanisms of the humanoid robot. Nine degrees of freedom at the waist and hip joints of a traditional humanoid robot are optimized into seven degrees of freedom, the number of motors is reduced, the overall weight is reduced, high flexibility and maneuverability are kept, meanwhile, the cruising ability is improved, more space is vacated for the robot, and the lightweight design of the robot is achieved.

Disclosed is crawling device for underwater inspection robots used on dams. The crawling device includes at least one set of wheeled leg mechanisms, an angle adjusting mechanism and a length adjusting mechanism, wherein an upper end of the length adjusting mechanism is connected with a robot; the wheeled leg mechanism includes a shell, adhesion units and a crawling wheel arranged under the shell; the adhesion unit includes a suction cup, which is arranged under the shell and adheres to a dam surface through negative pressure suction; the length adjusting mechanism is used for adjusting a distance between the wheeled leg mechanism and a robot body; and the angle adjusting mechanism is used for adjusting an angle of the wheeled leg mechanism with respect to a horizontal dam surface.

A balance control method and apparatus (1600) for a wheel-legged robot (200), a device, and a storage medium. The method is executed by a computer device (101). An n-order inverted pendulum model as which the wheel-legged robot (200) is equivalently represented comprises: wheels (1016), n connecting rods and n rotating joints; first connecting rods (1026, 1110) are equivalently derived from at least two leg mechanisms (1022, 1024) of the wheel-legged robot (200), and the wheels (1016) are equivalently derived from moving wheels (1012, 1014) respectively connected to the at least two leg mechanisms (1022, 1024). The method comprises: step 1310, acquiring an actual state quantity of the wheel-legged robot (200) at a first moment; step 1320, calculating an equivalent state quantity at the first moment on the basis of the actual state quantity at the first moment; step 1330, establishing a sliding mode surface on the basis of the equivalent state quantity at the first moment; step 1340, determining a force and torque instruction of the whole body joint on the basis of a dynamic equation of the sliding mode surface and the equivalent state quantity at the first moment; and step 1350, at a second moment, respectively controlling the n rotating joints on the basis of the force and torque instruction. The method is adapted to a wheel-legged robot (200) in movement, facilitating improvement of the robustness of balance control.

The invention discloses a ball wheel moving device and a moving method thereof. The device comprises a machine body, a ball wheel mechanism, a leg mechanism and a control system. The spherical wheel mechanism comprises a spherical wheel and a first driving unit for driving the spherical wheel to rotate; the leg mechanism comprises a deformable connecting rod assembly and a second driving unit used for driving the connecting rod assembly to deform and rotate. The connecting rod assembly is hinged to the side face of the machine body and fixedly connected with the ball wheel mechanism. The control system is separately in electric signal connection with the ball wheel mechanism and the leg mechanism; through the rotation and deformation design of the leg mechanisms and the coordinated control of the control system on the ball wheel mechanisms and the leg mechanisms, an all-terrain self-adaptive composite transmission structure is formed, dynamic coupling of rolling driving and foot type obstacle crossing is achieved, the environmental adaptability, flexibility and operation reliability are improved, and the working efficiency is improved. And the problems of obstacle crossing instability and movement interruption of an existing device are solved, and the working efficiency under the complex terrain is remarkably improved.

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.

The utility model provides a crawling ladder aerial work platform, and relates to the technical field of aerial work equipment. The crawling ladder aerial work platform comprises a walking chassis, a lifting support and a work platform, the work platform is installed on the lifting support, a supporting frame is hinged to the walking chassis, a pitching driving mechanism is hinged to the walking chassis and used for adjusting the pitching angle of the supporting frame, and the lifting support is installed on the supporting frame. A first telescopic supporting leg mechanism and a second telescopic supporting leg mechanism are installed at the two opposite ends of the supporting frame correspondingly, and the first telescopic supporting leg mechanism and the second telescopic supporting leg mechanism can be supported on a working face through stretching and retracting. Based on the technical scheme, the crawling ladder aerial work platform can work on inclined working faces such as stairs.

The invention belongs to the field of exoskeleton robots, and particularly relates to a wearable protective machine armor exoskeleton. Comprising a protection device, a back frame mechanism, a waist and hip support and two leg mechanisms. The back frame mechanism comprises a Y-shaped back frame, a back assisting mechanism and an artificial spine; the back power assisting mechanism comprises a back driving motor, a torque sensor and a force bearing waist rod; the two groups of leg mechanisms comprise foot end wearing parts; the lower portion of the Y-shaped back frame is connected with an artificial spine through a spherical hinge, the back frame mechanism is installed on the waist-hip support, the back assisting mechanism is installed on the waist-hip support through a force bearing waist rod, the two sets of leg mechanisms are symmetrically installed on the waist-hip support, and the protection device is hung on the Y-shaped back frame. Through the back driving motor and the torque sensor, assistance from bending to a vertical state of the back is realized; load generated by the back power assisting mechanism is transmitted to the ground through the hip joint and the lower limb exoskeleton through the force bearing waist rod.

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 invention relates to a supporting leg mechanism in an ultra-low bridge girder erection machine and the bridge girder erection machine, and belongs to the technical field of bridge construction equipment.The supporting leg mechanism comprises a frame assembly which comprises an upper cross beam, a lower cross beam and a telescopic supporting column connecting the upper cross beam and the lower cross beam; the hanging assembly comprises a hanging beam frame which is transversely and slidably connected with the upper cross beam, and the hanging beam frame and the upper cross beam at least partially coincide in the height direction. Due to the fact that the hanging beam frame and the upper cross beam are transversely connected in a sliding mode and at least partially coincide in the height direction, the hanging beam frame can serve as a transverse moving beam, the main beam can be arranged closer to the upper cross beam, and the vertical height of the middle supporting leg mechanism is greatly reduced; the distance between the upper cross beam and the lower cross beam can be closer to the distance between the top face and the bottom face of the main beam, so that the trafficability of the box girder under the height limit is higher, the box girder can adapt to more narrow working conditions and can work under the lower limit condition, and a new solution is provided for box girder erection under the ultra-low limit.

The invention discloses an integrated reconstruction multi-foot closed chain platform. The platform comprises a right rear leg mechanism (A), a right front leg mechanism (B), a left front leg mechanism (C), a left rear leg mechanism (D) and a trunk (E), each leg group mechanism is driven by a stepping motor; four electric push rods are arranged on the trunk and are rotationally connected with the trunk, so that the pitching posture of the trunk can be realized, and meanwhile, each electric push rod can drive the leg group to reconstruct and deform through a telescopic push rod; the reconstruction deformation of the leg group has two modes, and the closed chain legs can realize supporting and climbing in different modes; multiple reconstruction strategies of the front leg and the rear leg of a single four-foot unit are coupled under single power, reconstruction of the front leg comprises changes of the angle and the length at the same time, high obstacle crossing capacity is achieved, reconstruction of the rear leg conducts angle compensation for deflection of the horizontal angle of the platform, and rapid and efficient walking in the climbing obstacle crossing process is achieved.

The present invention discloses a novel closed-chain octapod robot, belonging to the field of closed-chain legged robots; it includes a frame, four walking leg assemblies, and a driving mechanism; the walking leg assembly includes a gear transmission mechanism, a deformable octapod leg mechanism, and several connecting pieces, the gear transmission mechanism includes a first gear set and a second gear set, the driving mechanism includes an adjustment servo installed on the walking leg assembly, and also includes a driving motor installed on the frame and a one-to-four belt transmission mechanism; the driving motor and the adjustment servo drive the octapod leg mechanism to swing back and forth, and the four groups of octapod leg mechanisms coordinate with each other to enable the octapod robot mechanism to perform walking actions. The present invention selects a closed-chain octapod structure as the walking mechanism of the legged robot. This solution has the advantages of few driving numbers, low energy consumption, large overall stiffness, and strong load capacity, and is an important research field for the innovation of the leg configuration of bionic robots.

A quadruped robot, comprising a body (5), a head (3), leg mechanisms and foot mechanisms (8). The head (3) is arranged at the front part of the body (5); the leg mechanisms at least comprise front leg mechanisms (1) close to the head (3) and rear leg mechanisms (2) far away from the head, the front leg mechanisms (1) and the rear leg mechanisms (2) being separately and rotatably connected to the body (5); each foot mechanism (8) is rotatably connected to a leg mechanism, a limiting structure (9) being formed between the foot mechanism (8) and the leg mechanism, and the limiting structure (9) being used for restricting rotation of the foot mechanism (8). Upward supporting force applied to the foot mechanisms (8) by the ground can be transmitted to the leg mechanisms, and thus the leg mechanisms can share the upward supporting force, so that the foot mechanisms (8) do not need to bear all the supporting force applied by the ground, and further the leg mechanisms can be in contact with the ground without provision of a large rotational torque, thereby reducing requirements for the rotational torque of the foot mechanisms (8).

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 utility model relates to the field of winding hitching legs of inductors, in particular to a hitching leg mechanism, which is provided with a plurality of coil clamping heads surrounding a flat coil and pins winding the initial section and the tail section of the flat coil on a framework. The wire cutting and clamping device and the second multi-axis movement assembly are added to the hitching leg mechanism, the second multi-axis movement assembly provides a function of moving in multiple directions, and the purpose of successfully transferring the magnetic core is achieved; the wire shearing and clamping device comprises a clamping part and a clamping jaw, a space for a flat coil to pass through is reserved in a spaced mode, after the clamping part clamps a magnetic core, a blade arranged at the position, close to the space, of the clamping jaw gets close to the clamping part through the clamping jaw to cut off the flat coil in the space, and therefore the purpose of shearing while transferring is achieved. An additional cutting mechanism is omitted, and the production time of products is shortened.

The invention relates to the technical field of four-wheel vehicles, in particular to an all-terrain wheel-leg vehicle which solves the problem that in the prior art, a wheel-leg mechanism cannot be steered and folded at the same time, the all-terrain wheel-leg vehicle comprises a vehicle body and the wheel-leg mechanism, a wheel-leg rotating mechanism and a steering transmission mechanism are arranged on the vehicle body, and the wheel-leg mechanism is connected with the wheel-leg rotating mechanism through an L-shaped connecting piece. The wheel leg rotating mechanism is connected with the vertical part of the L-shaped connecting piece, the wheel leg mechanism is rotationally connected with the transverse part of the L-shaped connecting piece, and the steering transmission mechanism penetrates through the vertical part of the L-shaped connecting piece to be connected with the wheel leg mechanism. The swing folding vehicle has the advantages that the L-shaped connecting piece is arranged between the wheel-leg mechanism and the vehicle body, the wheel-leg mechanism is rotationally connected with the L-shaped connecting piece, the wheel-leg rotating mechanism drives the wheel-leg mechanism to swing front and back through the L-shaped connecting piece, and it is guaranteed that the vehicle has the swing folding function; and the wheel leg mechanism can also perform wheel steering under the condition that the wheel leg mechanism can be folded, so that the functionality of the vehicle is improved.

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.

The invention discloses an amphibious bionic robot in the technical field of bionic robots. The amphibious bionic robot comprises a head mechanism, a leg mechanism, a tail mechanism and a chest power mechanism. The head mechanism is connected to the front end of the chest power mechanism, the tail mechanism is connected to the rear end of the front end of the chest power mechanism, and the leg mechanism is connected to the side edge of the chest power mechanism. The chest power mechanism is used for driving the leg mechanism to achieve the walking function of the amphibious bionic robot and driving the tail mechanism to achieve the swimming function of the amphibious bionic robot. According to the amphibious biomimetic robot, the land propelling device and the water propelling device are integrated, and the amphibious biomimetic robot has the advantage of land and water motion integration, is good in environmental adaptability and amphibious motion performance and has the advantages of being simple in structure, easy to control, flexible, light, handy and high in motion stability.

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 relates to the technical field of special vehicle manufacturing, in particular to a crawler-type fork crane which comprises a vehicle body, and a crawler assembly is arranged on the lower portion of the vehicle body. The fork lifting device is mounted on one side of the vehicle body, and the fork lifting device is used for driving goods to do lifting motion; the hoisting device is rotationally mounted at the upper end of the vehicle body and is used for driving the cargoes to move in different directions and to ascend and descend in a larger amplitude; the supporting leg mechanism comprises a plurality of supporting legs, the supporting legs can stretch out and draw back in the vertical direction, the lower end faces of the supporting legs are connected with air bags, and each supporting leg is provided with an air pump for inflating and deflating the air bags. The fork crane has the advantages that the operation steps of the fork crane during operation are simplified, and then the efficiency of engineering operation is greatly improved.

The invention discloses a high-smoothness self-adaptive closed-chain multi-foot walking platform. The high-smoothness self-adaptive closed-chain multi-foot walking platform is composed of a, b, c and d four-foot units (A, B, C and D) and a connecting frame (E), wherein the four-foot units (A, B, C and D) are completely identical. Each four-foot unit is driven by a single motor to walk, the platform compensates displacement fluctuation in the vertical direction and speed fluctuation in the walking direction when the platform moves through the transmission design of non-circular gears in gear boxes in the four-foot units, and high smoothness and high stability of walking of the platform are achieved. A cam system is designed, a leg mechanism self-adaptive reconstruction module is built, and the platform is endowed with passive obstacle crossing ability. The high-smoothness self-adaptive closed-chain multi-legged walking platform can realize detection and exploration tasks on complex road surfaces such as mountainous regions, and is richer in walking gaits and higher in terrain adaptability.

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).