15 results about "Leg moving" patented technology

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

The utility model provides an adjustable footing structure and a household electrical appliance, the adjustable footing structure comprises a first footing assembly, the first footing assembly comprises a seat body, a support leg movably connected to the seat body along the height direction, and a driving part installed on the seat body and used for driving the support leg to move along the height direction; the fixing piece and the first bottom foot assembly are arranged at an interval, and the fixing piece is provided with a clamping groove; the driving rod is connected into the clamping groove, and the end, away from the fixing piece, of the driving rod is connected with the driving component. The driving rod extends from the first bottom foot assembly and is connected to the fixing piece, so that the driving rod can be adjusted at the position where the fixing piece is located so as to achieve height adjustment of the first bottom foot assembly, namely remote adjustment of the first bottom foot assembly can be achieved.

The present application belongs to the field of rehabilitation medical equipment motion control, and specifically relates to a lower limb rehabilitation training method for a servo driver, which comprises the following steps: 1) performing left and right leg step zero operation; 2) a controller converts a position instruction sent by an upper computer into a corresponding code disc value, and moves the left and right legs to a set step lower limit position; 3) when the start mode is started, the right leg is first lifted upward, and the left leg is maintained to be stationary until the left leg reaches the step lower limit position, and the right leg moves to the step upper limit position; 4) active-passive training: according to set motion data instructions, the next motion trajectory is planned when the left and right legs reach the step upper and lower limit positions; 5) whether a user has a spasm is judged by detecting a real-time current value; 6) the left and right legs continue to move along the motion trend until the lower limit position of the step is reached, and the motor is powered off. The present application is different from a mode of acquiring lower limb state information of a patient by means of a sensor, and can effectively reduce the cost through closed-loop control of the servo driver.

The utility model discloses a detection device for measuring floor tolerance performance based on simulation of furniture leg movement, which comprises a test platform (1), a bracket (2) is slidably connected onto the test platform (1), one side of the bracket (2) is connected with a driving piece (4) through a tension sensor (3), a vertical bearing rod (5) is slidably connected onto the bracket (2), and the bearing rod (5) is connected with a vertical bearing rod (6). The bottom of the bearing rod (5) extends to the position below the bracket (2) and is detachably connected with a footstand (11), a friction face (6) is formed at the bottom of the footstand (11), and the top of the bearing rod (5) is located above the bracket (2) and is detachably connected with a plurality of balancing weights (7). According to the utility model, the scraping of furniture legs on the surface of the floor after the furniture legs move can be simulated, so that the detection effect on the tolerance performance of the floor is improved.

The utility model relates to the technical field of rehabilitation training devices, in particular to a limb rehabilitation training bed which comprises a bed body and a training frame, a hand training rod and a leg training rod are slidably arranged on the training frame in the length direction of the bed body, and a hand moving part for driving the hand training rod to slide and a leg moving part for driving the leg training rod to slide are arranged on the training frame. First reels are rotationally arranged at the two ends of the hand training rod, hand pull ropes are wound around the first reels, handles are arranged on the hand pull ropes, hand rope winding pieces for driving the first reels to rotate are arranged on the hand training rod, second reels are rotationally arranged at the two ends of the leg training rod, leg pull ropes are wound around the second reels, and the first reels and the second reels are arranged on the leg training rod. A leg binding piece is arranged on the leg pull rope, the leg binding piece is used for fixing the leg pull rope to the leg of the patient, and a leg rope winding piece for driving the second winding wheel to rotate is arranged on the leg training rod. The rehabilitation training device has the effects of assisting the patient in early rehabilitation training and shortening the rehabilitation time.

A support leg stand with support legs capable of fully bouncing off is provided. Compared with the prior art, one end of a reinforcing rib in the present disclosure is rotatably connected to a support leg and the other end thereof is rotatably connected to a center column / locking assembly. In addition, a first elastic member is arranged between the reinforcing rib and the support leg. When a free end of the support leg is adapted to fit with the locking assembly, the first elastic member undergoes elastic deformation and generates a restoring force; when the locking assembly releases constraint, the free end of the support leg moves away from the center column under action of the restoring force and the support legs fully unfold. The ingenious design with the first elastic member allows the whole tripod to be completely bounced off, which is more convenient to use.

The application relates to the technical field of intelligent robots, in particular to a multi-mode mobile robot, which comprises an upper hemisphere, a lower hemisphere, a driving system and a control system; the upper hemisphere comprises an upper shell which is arranged in a hemispherical shape, and the outer surface of the upper shell is provided with a water-dividing wing plate I; the lower hemisphere comprises a base, six walking legs and a control part; in the application, the angle of the six walking legs is adjusted through the control part, the six walking legs move on the ground to realize the movement of the walking legs on land; when the robot enters the water surface, the robot can float horizontally on the water surface due to the consistent weight of the upper hemisphere and the lower hemisphere; the upper part and the lower part are rotated through the driving system to realize walking on the water surface, and the multi-mode movement of the mobile robot is realized.

The utility model discloses a mechanical leg structure, which belongs to the field of robots and can improve the moving stability of a robot and enable the robot to be easier to fall down by arranging an auxiliary leg assembly 4 outside a thigh assembly 2 and a shank assembly 3, and can overcome the defects in the prior art. The mechanical leg structure comprises a thigh mounting seat 1, at least two thigh assemblies 2, at least two shank assemblies 3 and at least one auxiliary leg assembly 4, the thigh assembly 2 comprises a thigh main body 21 and a thigh driving unit 22; the shank assembly 3 comprises a shank main body 31, a shank driving unit 32 and a shank moving unit 33; the shank driving unit 32 comprises a shank motor assembly 321, a driving rod 322 and a connecting rod 323 which are connected in sequence; the auxiliary leg assembly 4 includes an auxiliary leg main body 41, an auxiliary leg driving unit 42, and an auxiliary leg moving unit 43.

The utility model discloses a leg mechanism of a robot, which belongs to the field of robots and can improve the moving stability of the robot and enable the robot to be easier to fall down by arranging an auxiliary leg assembly 4 outside a thigh assembly 2 and a shank assembly 3, and can overcome the defects in the prior art. The rehabilitation training device comprises a thigh mounting seat 1, at least two thigh components 2, at least two shank components 3 and at least one auxiliary leg component 4, the thigh assembly 2 comprises a thigh main body 21 and a thigh driving unit 22; the shank assembly 3 comprises a shank main body 31, a shank driving unit 32 and a shank moving unit 33; the auxiliary leg assembly 4 comprises an auxiliary leg main body 41, an auxiliary leg driving unit 42 and an auxiliary leg moving unit 43, an upper joint of the auxiliary leg main body 41 is installed on the thigh main body 21, the auxiliary leg moving unit 43 is arranged on a lower joint of the auxiliary leg main body 41, and the auxiliary leg driving unit 42 is installed on the thigh main body 21 and used for assisting the leg main body 41 to move around the thigh main body 21.

The truck-mounted forklift comprises a base, a bearing wheel mechanism and a first driving part, the bearing wheel mechanism comprises a fixing seat and walking supporting legs, the walking supporting legs are symmetrically and fixedly arranged on the fixing seat, the two walking supporting legs penetrate through limiting grooves respectively and extend to the outer side of the base, the first driving part is arranged on the base, and the first driving part is arranged on the base. The first driving piece drives the fixing base to move, so that the walking supporting legs move in the limiting grooves in the length direction of the limiting grooves. The first driving piece drives the bearing wheel mechanism to advance or retract with the frame as the center, manual pulling and pulling of the bearing wheel mechanism are avoided, the truck-mounted forklift can automatically go deep into a carriage or move out of the deep position of the carriage, potential safety hazards caused by manual operation are avoided, and the working efficiency of the truck-mounted forklift is improved. And the whole climbing process can be stable and uniform in speed through electric driving, and it is guaranteed that goods cannot be damaged.

This utility model relates to the field of toy technology and discloses a linkage device and an animal toy, comprising: a shell assembly having a front end and a rear end opposite to each other along a first direction; left and right front legs, including an integrally formed left front leg and a right front leg, the connection between the left front leg and the right front leg being rotatably connected to the front end via a first shaft; left and right hind legs, including an integrally formed left hind leg and a right hind leg, the connection between the left hind leg and the right hind leg being rotatably connected to the rear end via a second shaft; one end of a connecting rod is hinged to the left front leg and the other end is hinged to the right hind leg, and a circular hole is provided in the middle of the connecting rod; an eccentric wheel is connected to the output end of the drive assembly, the eccentric wheel is rotatably inserted into the circular hole and drives the connecting rod to swing through eccentric rotation, so as to achieve coordinated movements of the left front leg and right hind leg moving forward synchronously and the right front leg and left hind leg moving backward synchronously during crawling, or coordinated movements of the left front leg and right hind leg moving backward synchronously and the right front leg and left hind leg moving forward synchronously during crawling, so as to enhance the fun.

The simulation electric toy dog comprises a framework body sleeved in a simulation animal jacket, the framework body comprises a head part, a trunk part, legs and a tail, the head part, the legs and the tail can be movably connected to the corresponding positions of the trunk part respectively, a driving device is arranged in the framework body, and the driving device is connected with the driving device. The structure of the driving device is that firstly, the head and the tail are driven to move at the same time, after the head and the tail move for a set time, the head and the tail stop moving, and the two front legs and the two rear legs move up and down at the same frequency to form jumping type movement. After the jumping type movement reaches a set time, the two front legs and the two rear legs stop moving up and down, the head and the tail move at the same time, then the four legs move up and down, and the driving structure is cyclically repeated. The animal jumping toy has the advantages that the animal jumping action is simulated, the action is very vivid, and the entertainment effect is good.

The invention relates to the technical field of medical instruments and rehabilitation equipment, and discloses a wheelchair facilitating exercise and massage of a patient with leg injury, the wheelchair comprises a wheelchair and a cushion mounted on the wheelchair, and the wheelchair and the cushion are provided with a massage mechanism and an exercise mechanism; according to the invention, a patient can complete passive movement and massage physiotherapy in a sitting posture; the electric push rod drives the supporting leg plate to rotate in a reciprocating mode, the lower limbs are synchronously driven to conduct regular flexion and extension motion, continuous and scientific joint motion range training and muscle training on the wheelchair are achieved, and meanwhile the rolling massage function is integrated; a plurality of massage rollers are automatically driven by a gear rack and a chain transmission mechanism to perform synchronous reciprocating rolling massage on the shank part. According to the design, the physical therapy effect is exerted while the legs move, muscles can be effectively relaxed, stiffness and discomfort can be relieved, and local blood circulation is promoted.

The utility model relates to the field of child safety seats, and discloses a basket base and a child safety seat. The basket base comprises a base body, and a containing groove is formed in the bottom. The main supporting leg is movably arranged on the base body and moves between a storage position and a supporting position, when the main supporting leg is located at the storage position, the main supporting leg is stored in the storage groove, and when the main supporting leg is located at the supporting position, at least part of the main supporting leg is located outside the storage groove; the auxiliary supporting leg is movably arranged on the main supporting leg, a containing groove is formed in the lower side of the main supporting leg, the auxiliary supporting leg has a storage state and an extending state, in the storage state, the auxiliary supporting leg is located in the containing groove, and in the extending state, at least part of the auxiliary supporting leg moves out of the containing groove and is located at the bottom of the main supporting leg to support the main supporting leg. On the basis of angle adjustment of the main supporting leg, the adjustment angle of the main supporting leg can be further expanded through the auxiliary supporting leg, so that the angle adjustment range of the basket base is expanded, and the problems that the angle adjustment range of an existing child safety seat is limited, and the child safety seat is difficult to adapt to seats of different vehicles are solved.