26 results about "Leg mechanism" patented technology

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 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 biomimetic miniature quadrupedal crawling robot includes a forebody, a hindbody, a front linked leg mechanism, a rear linked leg mechanism, a quadrupedal coupling drive mechanism, and a steering actuator. The quadrupedal coupling drive mechanism is located between the front and rear linked leg mechanisms, and the steering actuator is located between the forebody and hindbody. The robot's overall motion is achieved by only two motors: one motor for walking and the other for steering. Compared to traditional legged robots, this significantly reduces the number of motors used, effectively lowering the robot's control complexity and energy consumption. It can further reduce the robot's size and weight, and improve its ability to navigate narrow terrain. Compared to legged robots that use servo motors as joint actuators, the quadrupedal coupling reduces control complexity while avoiding gait errors in the fore and hind legs, reducing the weight and size of the quadrupeds, effectively improving motion stability and load-bearing capacity, and thus enhancing its adaptability to confined spaces.

This utility model relates to the field of cleaning equipment technology, specifically a sweeping robot with a wheel-leg structure. It includes a robot body and a wheel-leg mechanism. The wheel-leg mechanism includes an output device, a linkage assembly, and a set of wheels. The output device is mounted on the robot body. The linkage assembly includes a first link, a second link, and a third link. The output device includes a first motor, a connecting bracket, and a second motor. The first motor is mounted on the robot body, and the second motor is fixed to the connecting bracket. The first motor drives the connecting bracket to rotate the second motor. One end of the first link is connected to the connecting bracket, one end of the second link is hinged to the first link, and one end of the third link is connected to the drive end of the second motor, driving the third link to move the second link. This utility model allows for flexible movement and adaptability to different terrains, enabling faster coverage of the entire cleaning area during cleaning.

The application discloses a leg mechanism and a multi-legged robot, wherein the leg mechanism comprises a thigh skeleton, a shank skeleton, a transmission assembly and a locking assembly. The thigh skeleton has a connecting end for transmission connection to a body and a swing end opposite to the connecting end. The shank skeleton has a sole end and a joint end opposite to the sole end. The joint end is rotationally connected to the swing end, so that the shank skeleton has an outwardly unfolded walking state and an inwardly folded folding state. The transmission assembly is arranged on the thigh skeleton and has a transmission part linked with the shank skeleton. The locking assembly comprises a locking part arranged on the thigh skeleton and capable of relative movement with the thigh skeleton. When the shank skeleton is in the folding state, the locking part is limitedly matched with the transmission part to lock the shank skeleton, so that the situation that the motor needs to be continuously powered when the shank skeleton is locked in the folding state is avoided, and the energy consumption of the multi-legged robot is reduced, and the sustainable working time of the multi-legged robot is prolonged.

The application provides a multifunctional aerial work vehicle based on magnetic attraction transportation and relates to the technical field of aerial work vehicles.The aerial work vehicle comprises a vehicle chassis, a rotary table, telescopic arms, a work platform, a magnetic trolley and a material box;the vehicle chassis is provided with a supporting leg mechanism;the rotary table is rotationally connected to the vehicle chassis;a plurality of telescopic arms are arranged in sequence in a nested mode, and the first telescopic arm is connected to the rotary table;the work platform is arranged at the end of the last telescopic arm;the magnetic trolley is magnetically connected to the outer surface of each telescopic arm and can move relative to the outer surface;and the magnetic trolley is provided with the material box.The application integrates the aerial work platform, the material transportation and the hoisting function in the same device, realizes the rapid transportation of the material along the arm through the magnetic trolley, has the hoisting capacity in combination with the hook structure, and can independently or cooperatively work in three modes, effectively solves the problems of low cooperation efficiency and high safety risk of the traditional device, and improves the flexibility and work efficiency of the aerial work.

This invention discloses a multifunctional biomimetic robot for field exploration, comprising a body structure, a variable-radius slewing wheel-leg mechanism, a variable-stiffness connection mechanism, a flexible tail mechanism, and a front-end actuator. The body structure includes multiple base plates; the variable-stiffness connection mechanism includes multiple variable-stiffness connection components, with adjacent base plates connected by these components; the variable-radius slewing wheel-leg mechanism includes multiple variable-radius slewing wheel-leg components, each capable of both wheel-based and leg-based movement; the flexible tail mechanism possesses degrees of freedom for circumferential rotation and vertical bending; and the front-end actuator has obstacle removal and / or data acquisition functions. This design achieves high movement speed on flat terrain while simultaneously meeting the requirement for high obstacle-crossing capability on complex terrain. Furthermore, the body stiffness can be automatically adjusted, and the tail structure exhibits high controllability and flexibility.

An exoskeleton system, including a right leg mechanism, a left leg mechanism, a hip frame mechanism, and an upper body mechanism. The hip frame mechanism is installed at a hip position of a user by four straps, and a battery pack and a control center are installed on a rear side of the hip frame mechanism. The right leg mechanism is rotatably connected to a right side of the hip frame mechanism. The left leg mechanism is rotatably connected to a left side of the hip frame mechanism. An elastic holding plate is arranged in the upper body mechanism. Six sections are arranged on an inner side of the holding plate and connected end to end.

The present application relates to the technical field of tunnel construction, and discloses a trestle structure for a telescopic trestle system, which comprises a main trestle, a middle support leg mechanism, a rear approach bridge, a telescopic front approach bridge, a telescopic sliding sleeve assembly, a plurality of approach bridge bodies three and approach bridge bodies two, a hydraulic jacking assembly one, a hydraulic jacking assembly two, a driving assembly two, and an auxiliary jacking mechanism arranged on the approach bridge body three. The telescopic walking wheel assembly in the auxiliary jacking mechanism can be driven to extend from the approach bridge body three under the driving of the adjusting assembly, and drive the approach bridge body three to rotate at a set angle around the hinge with the telescopic sliding sleeve assembly by a small torque. When the hydraulic jacking assembly two is not in contact with the approach bridge body three, the movable support is provided for the approach bridge body three, and when the approach bridge body three moves to the preset contact point, the subsequent movement of the approach bridge body three is supported by the hydraulic jacking assembly two, so that the output torque of the hydraulic jacking assembly two is effectively reduced, and the equipment cost and maintenance cost are reduced.

This utility model discloses a mechanical leg for a quadruped robot and a quadruped robot. The mechanical leg of a quadruped robot includes a lower leg mechanism, which includes a hollow foot pad mounting base. The top of the foot pad mounting base has a fixing post extending towards the bottom of the foot pad mounting base. The fixing post has a mounting hole with an opening at its top in a vertical direction. The foot pad mounting base includes an inner sidewall located on the side of the foot pad mounting base and an inner bottom wall located at the bottom of the foot pad mounting base. Multiple first support members are spaced apart between the fixing post and the inner sidewall, and multiple second support members are spaced apart between the fixing post and the inner bottom wall. The quadruped robot includes the mechanical leg of any of the above embodiments. The advantages of this utility model are: the foot pad mounting base adopts a hollow structure, and with the support members between the fixing post and the inner sidewall and inner bottom wall, the amount of material used is significantly reduced while ensuring structural strength.

This invention provides a scissor-type wheel-leg mechanism and a wheel-leg robot capable of bidirectional passive obstacle crossing, exhibiting both wheeled and legged mobility. The mechanism includes a drive unit, an inner hub, an outer hub, multiple wheel-leg units, and an elastic reset component. The drive unit consists of a rotary actuator, a rotating shaft, and two locking one-way bearings with opposite rotation directions. The inner and outer hubs are respectively mounted on corresponding one-way bearings, allowing for relative circumferential rotation upon encountering an obstacle. The wheel-leg units are evenly distributed circumferentially, containing paired, staggered frames and sequentially hinged three-stage scissor-fork assemblies. The relative rotation of the hubs drives the scissor-fork to extend and retract, achieving the switching between wheeled and legged states. The elastic reset component is located between adjacent wheel-leg units; in legged state, it stretches and stores energy, and after obstacle crossing, the energy release traction mechanism automatically resets it to wheeled state. The overall structure is symmetrical and compact, with no redundant components, facilitating miniaturized and lightweight design while ensuring stable movement and adaptive obstacle crossing capabilities.

This utility model discloses a lower limb rehabilitation training device, including a frame, a leg mechanism, and protective components. The leg mechanism comprises two identical sets, located on opposite sides of the frame. Each leg mechanism includes a drive rod, a third link, a fourth link, a first connector, a second connector, a pedal, and a driving component. A rotating shaft is rotatably mounted on one end of the drive rod, and the rotating shaft is rotatably mounted on the frame. The driving component controls the drive rod to rotate around the axis of the rotating shaft, which in turn drives the hinge of the third and fourth links to rotate, thereby controlling the movement of the first and second connectors. In conjunction with the fifth and sixth links, the pedal moves along a trajectory that most closely resembles the natural human gait, thus training the trainee to complete the natural human gait trajectory and improving the effectiveness of rehabilitation training. Furthermore, this application employs a multi-link structure, which provides stronger support, increases the load capacity and safety of the device, and, together with the protective components, provides comprehensive protection for the trainee.

The application provides a deformable wheel-leg amphibious quadruped robot and a motion control method thereof. The robot body adopts a symmetrical quadruped layout, each leg is a group of deformable wheel-leg mechanisms, the deformable wheel-leg mechanism adopts a reconfigurable five-link structure and can be switched between a wheel mode, a land leg mode and an aquatic leg mode; the robot further comprises coaxial nested transmission mechanisms for driving two active rods respectively, a control system for realizing mode switching and gait control, and an open water-filling buoyancy adjusting system for underwater operation. The application can meet the requirements of land rolling, land obstacle crossing and underwater propulsion, has the characteristics of compact structure, flexible mode switching and suitability for amphibious environment operation.

The utility model discloses a kind of all-terrain mobile robots for field environment monitoring and operation, including vehicle body, front wheel leg module, rear wheel leg module, steering module, leg lifting module, auxiliary wheel leg mechanism and damping mechanism.Both front wheel leg module and rear wheel leg module contain leg sleeve and wheel hub motor, steering module is built into leg sleeve to drive wheel hub motor steering;Leg lifting module is realized by swing rocker and servo cylinder to lift front and rear wheel leg;Auxiliary wheel leg mechanism is supported vehicle body by ball screw lifter control auxiliary roller;Damping mechanism uses double spring shock absorber to absorb impact.The utility model combines wheeled high-speed movement and foot type obstacle-crossing ability, through module cooperation to improve complex terrain passability, obstacle-crossing stability and steering flexibility, suitable for intelligent agriculture, emergency rescue and the like scene.

This utility model discloses a leg assembly for a quadruped robot and the quadruped robot itself, belonging to the field of quadruped robots. It solves the problem of significant wear between the sleeve and the support rod. The technical solution mainly includes a thigh mechanism and a lower leg mechanism. The lower leg mechanism includes a foot pad mounting base, a support rod, and a sleeve. The bottom end of the foot pad mounting base forms the foot end. The support rod is inserted into and fixedly connected to the foot pad mounting base. The thigh mechanism is hinged to the sleeve. A first protective sleeve is fixed to the outer periphery of the support rod. The sleeve is fitted onto the first protective sleeve and slides within it. The sleeve is elastically loaded and tends to slide away from the foot end. The first protective sleeve at least covers the sliding range of the sleeve. This utility model avoids direct contact between the support rod and the sleeve.

This utility model discloses a quadruped robot, belonging to the field of quadruped robots. It solves the problem of cumbersome and inefficient assembly of quadruped robots. The technical solution mainly includes a torso, four leg modules, and a control box for controlling the operation of the quadruped robot. The leg modules include a first motor, a second motor, a third motor, a thigh mechanism, a lower leg mechanism, and foot end pieces. The first motor is mounted on the torso, and its adapter is connected to a connecting component. The connecting component of the first motor is fitted onto the outside of the second motor. The connecting component of the second motor is fitted onto the outside of the adapter and the third motor. The third motor is fixedly connected to the thigh mechanism via the connecting component, and its adapter is connected to the lower leg mechanism via a connecting rod. The control box is installed inside the torso, and the first, second, and third motors are all electrically connected to the control box. This utility model is mainly used to improve the assembly and maintenance efficiency of quadruped robots.

The application discloses a complex terrain obstacle-crossing robot chassis, which is composed of front wheels driven by front drive motors and rear wheels driven by rear drive motors, and can move quickly on a flat ground; the front part of the chassis can be lifted along the edge of a step through the friction of a track, and the overall climbing obstacle-crossing capability is improved; a four-bar linkage mechanism driven by a joint motor is used to lift the rear wheels, and a rear leg mechanism is used to lift the track along the edge of the step, and the front wheels and the rear wheels are synchronously driven, so that the chassis can completely reach above the step; the advantages of the wheel type, the track type and the foot type are integrated, and the motion efficiency and the manufacturing cost are considered on the premise of guaranteeing the obstacle-crossing capability.

This utility model discloses a leg assembly and a quadruped robot, belonging to the field of quadruped robots. It solves the problem of complex and cumbersome disassembly due to strong coupling between the drive motor and the leg structure, which affects disassembly efficiency. The technical solution mainly includes a drive motor, a thigh mechanism, a lower leg mechanism, and foot ends. The drive motor is mounted on the top of the thigh mechanism, and the lower leg mechanism is rotatably connected to the thigh mechanism. The drive motor drives the lower leg mechanism to swing relative to the thigh mechanism. The output end of the drive motor is connected to a rudder arm that outputs torque. The rudder arm is hinged to the lower leg mechanism via a connecting rod. The thigh mechanism includes a detachably connected shell and end cap. The shell and end cap are spliced ​​and tightly fitted to the outer periphery of the drive motor to fix the drive motor relative to the thigh mechanism. This utility model is mainly used to achieve rapid disassembly of the drive motor and the thigh mechanism, reduce the risk of coupling failure, improve overall stability, and increase assembly and maintenance efficiency.

The application relates to the technical field of bridge construction, in particular to a swivel ball hinge steel framework for bridge swivel construction, which comprises a lower bearing platform and an upper bearing platform arranged on the lower bearing platform; a ball hinge mechanism, which comprises a first support frame arranged in the lower bearing platform, a mounting table arranged on the end surface of the first support frame, a lower ball hinge table arranged on the end surface of the mounting table, a pin shaft sleeved in the lower ball hinge table and an upper ball hinge table arranged on the end surface of the lower ball hinge table; a slide way mechanism, which comprises a second support table sleeved in the lower bearing platform and a slide table surface arranged on the end surface of the second support table; a supporting leg mechanism, which comprises a supporting leg cylinder arranged on the end surface of the slide table surface; a sand box mechanism, which comprises a sand box cylinder arranged on the end surface of the slide table surface; and a traction mechanism, which comprises a traction cable arranged outside the upper bearing platform.

The invention discloses a wheel-leg combined multi-mode robot based on spherical tire design and a control method thereof.The wheel-leg combined multi-mode robot comprises a cargo storage box, four wheel-leg mechanisms are arranged at the bottom of the cargo storage box, and each wheel-leg mechanism comprises a swing arm assembly and a rolling assembly; the rolling assembly comprises a tire frame connected with the swing arm assembly, a ball tire rotationally installed on the tire frame and a driving motor fixedly installed on the tire frame, and a motor shaft of the driving motor is in linkage connection with the ball tire and used for driving the ball tire to rotate. The obstacle crossing ability is remarkably improved, the flexibility and maneuverability are higher, and the requirements of complex terrains and diversified tasks can be met.

The application discloses a kind of intelligent sorting equipment for logistics storage, belong to logistics storage automation field, it includes two groups of side support frame, the bottom of two groups of side support frame is fixedly installed with two groups of adjustable leg mechanism, two groups of driving roller are rotatably connected between two groups of side support frame, the outer surface of two groups of driving roller is drivingly connected with conveyor belt, the top of two groups of side support frame is fixedly installed with stand, the top of two groups of stand is fixedly installed with horizontal plate, the bottom of horizontal plate is fixedly installed with 3D vision camera and laser range finder, laser range finder is located at the side of 3D vision camera, the side of a group of side support frame is fixedly installed with several groups of vertical rods, the top of vertical rod is fixedly installed with independent controller;The application has simple structure, the accurate positioning of special-shaped package is realized by the three-dimensional profile identification technology of 3D vision camera, the quick sorting is completed using electric push rod, the special-shaped package sorting success rate is greatly improved, and the sorting efficiency is improved.

The application discloses a wheel-leg separated four-legged robot and a control method thereof, which comprises a body, four wheel-leg separated hybrid wheel-leg mechanisms symmetrically arranged on the left and right sides of the body, wherein each hybrid wheel-leg mechanism comprises a first motor, a second motor, a first clutch, a second clutch, a wheel, a transmission box and a parallel leg; the first motor is a double-output-shaft motor; the output shaft of the second motor is connected with the first motor through the parallel leg; one end of the output shaft of the first motor is connected with the parallel leg through the second clutch, and the other end is connected with the input end of the transmission box through the first clutch; and the output end of the transmission box is connected with the wheel. The wheel-leg separated four-legged robot has three control modes, can simultaneously have the characteristics of high speed and high efficiency of a wheeled robot and strong adaptability and good obstacle surmounting capability of a legged robot, can surmount obstacles through the coordination between the hybrid wheel-leg mechanisms, and greatly improves the terrain adaptability and working efficiency of the robot.

This utility model discloses the leg mechanism of a quadruped robot and the quadruped robot itself, belonging to the field of quadruped robots. It solves the problem of the top of the foot pad mounting base easily cracking under high-speed operation. The technical solution mainly includes a support rod and a foot pad mounting base. The top of the foot pad mounting base has a mounting hole for inserting the support rod, and the bottom of the foot pad mounting base is connected to a foot pad to form a foot end. The support rod is at least partially inserted into the mounting hole and fixedly connected to the foot pad mounting base. The top of the foot pad mounting base has a reinforcing structure to enhance the strength of the top of the mounting hole. This utility model mainly enhances the strength of the top of the foot pad mounting base through the reinforcing structure, which helps to extend the service life of the foot pad mounting base.