165 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 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 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 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.

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.

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 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.

The present application relates to nursing robot technical field, specifically to a load adaptive sharing type nursing robot and motion method. Including upper limb mechanism, left leg mechanism, right leg mechanism and foot base; The foot base includes left walking mechanism, right walking mechanism and screw slide group installed in the left walking mechanism and the right walking mechanism, and the screw slide group is used to drive the relative sliding of the left walking mechanism and the right walking mechanism to be staggered;The screw slide group includes a driving motor installed in the left walking mechanism, a synchronous pulley set, a screw and a sliding block, and the sliding block is installed with the right walking mechanism through a connecting piece. When the nursing robot holds the patient, the driving motor drives the sliding block to move on the screw, so that the right walking mechanism is staggered relative to the left walking mechanism, the support span is expanded, the carrying capacity and the anti-overturning stability of the whole machine are enhanced, the stability of the patient in the dynamic transfer process is ensured, the safety and reliability of the operation process are further ensured, and the practicability of the device is enhanced.

The utility model discloses a pin shearing mechanism of an inductance plate penetrating machine, which comprises a front guide rail, a rear guide rail, a sliding block connecting plate and a pin shearing upper plate, the sliding block connecting plate slides along the front guide rail and the rear guide rail, the pin shearing upper plate is fixed above the sliding block connecting plate, a pressing air cylinder is arranged on the pin shearing upper plate, and a driving end of the pressing air cylinder is connected with an upper pressing block. A wire position plate is fixed to the middle of the pin shearing upper plate, the front end and the rear end of the wire position plate are movably connected with wire pin pressing plates, a lifting plate is arranged between the pin shearing upper plate and the sliding block connecting plate and moves in the vertical direction, pulling plates transversely move on the two sides of the lifting plate, tool bits are slidably connected to the pulling plates, and side edge pressing blocks are elastically connected to the tool bits. And the side edge pressing blocks are inserted into the inner sides of the wire foot pressing plates. According to the pin shearing mechanism of the inductor plate penetrating machine, an inductor is pressed, pins on the inductor are clamped, straightened and then sheared to be flush, the machining process is rapid and accurate, efficiency is improved, the flatness of the pins of the inductor is guaranteed, and labor cost is saved.

The application relates to a low-energy-consumption hexapod robot based on nonlinear rope geometric constraints and a foot end linearization compensation method thereof, and relates to the field of robot design. In order to solve the problem that the robot leg makes circular arc motion with the hip joint as the center, resulting in transverse displacement of the foot end and affecting the motion precision of the robot, the leg mechanism is arranged on both sides of the fuselage in six pairs and is symmetrically arranged left and right, three leg mechanisms on the same side are sequentially arranged from front to back and are arranged as front legs, middle legs and rear legs, each leg mechanism comprises a thigh, a shank and a foot which are sequentially connected, the thigh is rotatably installed on the fuselage through a hip joint shaft, the thigh and the shank are rotatably connected through a knee joint shaft, and the thigh and the shank form an inverted V shape, and the shank is a telescopic leg; the hip joint driving mechanism can drive the thigh to rotate around the Z axis to control the front and back swing of the thigh; the knee joint driving mechanism can transmit power in the process of the front and back swing of the thigh, convert the rotary motion of the thigh into the extension and contraction motion of the shank, and correct the motion track of the foot end.

The utility model discloses a movable concrete spreader which comprises a vehicle body crawler chassis, a hydraulic supporting leg mechanism, a supporting stand column and a distributing pipe, two balance weight frames are arranged on the left side and the right side of a vehicle body, the distributing pipe comprises a vertical pipe, a middle pipe, a transition pipe and an outlet pipe, and the supporting stand column is connected with a rotating pipe through a first swivel joint. The outlet end of the vertical pipe penetrates through the top of the rotating pipe to be connected with the inlet end of a middle pipe, the middle pipe is arranged along the supporting cross beam, the outlet end of the middle pipe is connected with the inlet end of a transition pipe, the transition pipe penetrates through the outlet end of the end of the supporting cross beam to be connected with a second rotating connector, and the outlet end of the transition pipe is connected with the inlet end of an outlet pipe. The inlet end of the outlet pipe is embedded in the hoop, the hoop is connected with the second swivel joint, and the hoop and the extension beam are integrally formed. Multi-directional concrete pouring is achieved through unfolding, folding and rotating of the material distributing pipe, movement of the material distributing machine is achieved through the crawler chassis, the configuration frame is moved downwards, and the situation that the whole machine is heavy in the upper portion and light in the lower portion is avoided.

The invention discloses an explosion-proof wheel-foot switching hydraulic quadruped robot, and relates to the technical field of specialized robots. The problems that an existing robot suitable for a high-risk anti-explosion scene is not essentially reliable in anti-explosion performance, unreasonable in power distribution, single in motion mode, difficult to consider load and terrain adaptive capacity and insufficient in operation continuity are solved. The robot comprises a robot trunk, four symmetrically-arranged leg mechanisms and a hydraulic driving system, a battery module and the distributed hydraulic driving system are integrated in the trunk in the lengthwise direction, and the battery module is provided with a central hydraulic channel used for communicating two sets of hydraulic module oil ways symmetrically arranged on the front side and the rear side of the battery module; the thigh skeleton is integrally formed through 3D printing, the ribs also serve as hydraulic oil channels, and the shank is a foot type or wheel type module capable of being rapidly switched. The electric spark risk is eliminated from the source through hydraulic driving, the distributed power distribution and wheel-foot dual-mode design is combined, and the electric vehicle is compact in structure, anti-explosion and safe and has the high load capacity and the all-terrain adaptive capacity.

The application discloses a wheel-foot switching robot power switching module, a leg part and a robot, and the power switching module comprises a camshaft module and a central rotating shaft module; power is provided by a first power source to drive the camshaft module and the central rotating shaft module to cooperate to realize switching between a first working position and a second working position; when the first working position is reached, the camshaft module is in contact with the central rotating shaft module, power is provided by a second power source to enable a wheeled mechanism and a lower leg mechanism installed on the central rotating shaft module to obtain power; when the second working position is reached, the camshaft module is separated from the central rotating shaft module, power is provided by a second power source of the wheel-foot robot to enable the wheeled mechanism installed on the central rotating shaft module to obtain power and the lower leg mechanism to lose power. The thigh motor is used as the first power source to provide power, and then the camshaft module and the central rotating shaft module are combined in a skillful manner, so that power transmission under different working positions is realized.

The invention relates to the technical field of robots, and provides a leg mechanism of a quadruped robot and the quadruped robot. The leg mechanism of the quadruped robot comprises a leg base, a thigh connecting rod, a shank connecting rod, a first linear driving assembly and a first linkage mechanism, and the thigh connecting rod is rotationally connected to the leg base; the shank connecting rod is rotationally connected to the thigh connecting rod; the first linear driving assembly comprises a first linear driving part and a first output part, and the first linear driving part is used for driving the first output part to do reciprocating linear motion; the first linkage mechanism is used for converting linear motion of the first output part into rotary motion of the thigh connecting rod relative to the leg base. Linear motion is output through the first linear driving assembly, continuous thrust and peak thrust far exceeding the same-volume rotating motor can be provided, the linear motion is converted into rotating swing through the first linkage mechanism, finally, the output torque far exceeds the output torque of the same-volume rotating motor, and the load capacity of the leg mechanism is greatly improved.

The present application belongs to the field of exoskeleton robots, and particularly relates to a wearable protective exoskeleton. The protective exoskeleton comprises a protective device, a back frame mechanism, a waist-hip support and two sets of leg mechanisms. The back frame mechanism comprises a Y-shaped back frame, a back assisting mechanism and an artificial spine. The back assisting mechanism comprises a back driving motor, a torque sensor and a load-bearing waist rod. The two sets of leg mechanisms comprise foot end wearable components. The Y-shaped back frame is connected with the artificial spine through a spherical hinge below the Y-shaped back frame. The back frame mechanism is installed on the waist-hip support. The back assisting mechanism is installed on the waist-hip support through the load-bearing waist rod. The two sets of leg mechanisms are symmetrically installed on the waist-hip support. The protective device is hung on the Y-shaped back frame. The back driving motor and the torque sensor are used to realize the assistance of the back bending to the upright state. The load generated by the back assisting mechanism is transmitted to the ground through the hip joint and the lower limb exoskeleton through the load-bearing waist rod.

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.