34 results about "Thigh structure" patented technology

The invention discloses a wheel-leg hexapod robot with a suspension system. The wheel-leg hexapod robot comprises a machine body and six single leg structures; six single leg mechanisms are uniformly distributed in the circumferential direction of the machine body; each single leg structure comprises a heel joint, a hip joint and a knee joint, wherein each heel joint is connected with the machine body and is driven to rotate around a vertical Z axis through a motor; and each hip joint is connected with the corresponding heel joint through the suspension system. According to the suspension system, the shock-absorbing buffer effect in two directions can be achieved by using only one shock absorber. The hip joints and the knee joints are directly driven through the motor to rotate around a horizontal Y axis, and are connected through thigh structures; each knee joint is connected with the tail end of a shank structure and a wheeled locomotion mechanism is arranged at the tail end of each shank structure; and a foot end buffer mechanism is arranged at the front end of each shank. According to the wheel-leg hexapod robot with the suspension system, the integrity of the internal environment of the machine body in the motion process can be ensured, and meanwhile, the carrying capacity of the robot and the stability of the load in the motion process can be improved.

The invention relates to a multi-adaptive wheel and foot switching movable platform and belongs to a combined type movement mechanism. A rack body and shock absorption devices are hinged, thigh structures are connected with the shock absorption devices through rotary shafts, shank structures are connected with the thigh structures through shafts, and wheel type transmission mechanisms are connected with the thigh structures through main shafts placed in thigh sheet holes. The platform has the following beneficial effects that the movable platform is high in carrying capacity and has various advancing treads, and multiple innovation points exist in whole structural design; a foot type structure of the movable platform is high in ground adaptability and obstacle crossing capacity; a wheel type structure of the movable platform is good in flexibility, high in speed and efficiency and capable of achieving ground obstacle avoidance; and two motion states are independent of each other and donot affect each other, wheels and feet can be switched according to the terrain environment, and motion is stable.

The invention discloses a locust bounce imitation robot driven by memory alloy, which comprises a thigh structure, a shank structure, memory alloy springs, an energy storage torsion spring and a reset structure; the thigh structure consists of a support plate and support rods which are fixed at the two sides and the tail end of the support plate; the shank structure comprises a shank plate and supporting femora; the memory alloy springs are fixed at the two sides of the thigh structure; the front ends of the memory alloy springs are connected with the top of the shank plate through a heat insulation line; one end of the energy storage torsion spring is fixed with the front end of the thigh structure while the other end of the energy storage torsion spring is hinged with the top of the shank plate; the reset structure comprises a micro motor which is fixed at the bottom of a thigh support plate; a coil disc is fixed on a power output shaft of the motor; coil posts are arranged on the coil disc; a coil is fixed on one of the coil posts; the coil penetrates through a guiding hole on the thigh support plate so as to be fixed with median femora of shanks; upper femora of the shanks areprovided with elastic hooks; the thigh support plate is provided with a chute which is matched with the hooks in the aspect of end size; and the size of the tail part of the chute is increased to release the hooks buckled with the chute.

The invention belongs to the technical field of related exoskeleton, and discloses a wearable exoskeleton chair. The exoskeleton chair comprises a human body connecting assembly, a thigh structure assembly, a shank structure assembly and a sitting position supporting assembly, wherein the shank structure assembly is glidingly connected to the thigh structure assembly; two ends of the sitting position supporting assembly are correspondingly connected to the thigh structure assembly and the shank structure assembly; the sitting position height of the exoskeleton chair can be adjusted by adjusting the sitting position; the sitting position supporting assembly comprises a supporting rod, a positioning lug ring sliding block, a positioning pin, an eccentric wheel and a driving assembly; the driving assembly is arranged on the shank structure assembly, and an output shaft of the driving assembly is connected to the eccentric wheel; one end of the supporting rod is rotationally connected to the thigh structure assembly, and the other end of the supporting rod is rotationally connected to the positioning lug ring sliding block; the positioning pin is connected to the positioning lug ring sliding block and is glidingly connected to the eccentric wheel. The wearable exoskeleton chair is high in adaptability and cannot influence normal walking after being worn.

The invention discloses a double-leg walking humanoid educational robot for infant teaching assistance. The double-leg walking humanoid educational robot for infant teaching assistance comprises an upper body structure, a waist board and a lower body structure. The upper body structure is a framework structure and comprises a main framework with the profile simulating the shape of the upper half body of a human body. The main framework comprises a head portion, shoulder portions and a chest-belly portion. The waist board is arranged horizontally, and the chest-belly portion in the upper body structure is connected with the waist board. The lower body structure is arranged in a bilateral symmetry mode, and comprises a thigh structure, a shank structure and a leg structure. The double-leg walking humanoid educational robot for infant teaching assistance can simulate human beings to walk, simulate the knee bending action in the walking process, and further simulate the action that the leg with the knee bent moves forwards while the other leg does not move forwards temporarily, the two legs can move forwards alternately, the humanoid degree is significantly improved compared with the prior art, the robot can more strongly attract the attention of infants for a longer time, a user can make related interpretation for the infants more conveniently, the interest of the infants in technologies is improved, and the scientific literacy of the infants is enhanced.

The invention discloses a biped-walking dining car pushing robot which comprises an upper body structure, a back, a lower body structure and a dining car, wherein the upper body structure comprises a main frame having an appearance simulating the shape of the upper body of a human body, and the main frame comprises a head part, shoulder parts and a chest part; the dining car comprises a framework body, three carrier layers are alternately arranged on the body uniformly from top to bottom, and wheels are arranged at four corners of the bottom of the body; a handrail is connected with the top of the rear part of the body; a double-stable dining delivery device is carried in every two carrier layers; and the lower body structure is arranged in a bilaterally symmetric manner, and comprises thigh structures, shank structures and foot structures. The biped-walking dining car pushing robot can simulate the human body to push the dining car and walk, simulate the knee bending action of the human body as well as simulate the action that the leg with a bent knee walks forward and the other leg does not walk temporarily, and is stable in dining delivery. The biped-walking dining car pushing robot has a relatively simple structure, is convenient to process and manufacture, has relatively low cost, and is suitable for restaurants for saving labor force and attracting more diners.

The invention belongs to the field of exoskeleton related technologies, and discloses a height-adjustable exoskeleton seat. The exoskeleton seat comprises a thigh and shank structure assembly and a sitting posture supporting assembly, wherein the thigh and shank structure assembly comprises a thigh structure assembly and a shank structure assembly which are connected rotatably; the length of the thigh structure assembly is changed by movement, the length of the shank structure assembly is changed by movement, and therefore, the height of the exoskeleton seat is adjusted; the sitting posture supporting assembly comprises a slide way baffle connected to the thigh structure assembly, an adjusting slider which is slidably connected to the slide way baffle, an upper supporting rod which is rotatably connected to the adjusting slider, a lower piston rod which is rotatably connected to the upper supporting rod and a supporting cylinder which is connected to the lower piston rod and the shankstructure assembly; and the supporting cylinder is used for driving the lower piston rod to move so as to drive the adjusting slider to slide along the slide way baffle, and thus, the sitting postureheight of the exoskeleton seat is adjusted. The height-adjustable exoskeleton seat is high in adaptability, high in flexibility and simple in structure.

The invention discloses a multi-degree of freedom active adjustment of sitting horizontal lower limb rehabilitation device. The device comprises a multi-degree of freedom structure for the left leg and a multi-degree of freedom structure for the right leg; each of the multi-degree of freedom structure for the left leg and the multi-degree of freedom structure for the right leg comprises a hip width adjustment slide table, a hip transmission structure, a retractable thigh structure, a retractable shank structure and a foldable foot structure; the foldable foot structure is hinged to a joint module output end of the retractable calf structure; the retractable calf structure is hinged to a joint module output end of the retractable thigh structure; the retractable thigh structure is hinged toan output end of the hip transmission structure; the hip transmission structure is fixed on the hip width adjustment slide table; the hip width adjustment slide table is fixed on a rehabilitation platform. The invention can realize the active rehabilitation training of the three joints of the hip, the knee and the ankle, can realize the real-time adjustment of the large and small legs and the hippart, the structure of the telescopic and adjusting device is simple, the rigidity is good, and the deformation is not easy.

The invention discloses a humanoid biped robot. The humanoid biped robot comprises thigh structures and two-degree-of-freedom quasi-man hip joint structures, wherein each thigh structure comprises a lightweight knee joint having large torque output, and each hip joint structure has large torque output. The lightweight knee joints are designed in the thigh structures, alternating-current servo electric push rods are designed and mounted in the thigh structures, large-torque-output single-degree-of-freedom movement of the lightweight knee joints is realized through transmission of crank-link mechanisms, the mass, centroid and rotational inertia of the thigh structures can be adjusted through adjustment of thigh counterweight units, and corresponding artificial shanks can be selected to be connected with the knee joints of the thigh structures according to experiment needs; the two-degree-of-freedom movement of the hip joint structures is realized through large-torque alternating-currentservo motors, the synchronous belt drive and parallel two-degree-of-freedom structures, and counterweights can be added to the hip joint structures to adjust the mass, centroid and rotational inertiaof the humanoid biped robot. The humanoid biped robot can be applied to relevant human gait research, detection and development of electromechanical lower limb products, and the like.

The invention provides a joint module and a robot leg. The joint module comprises a hip front steering engine, a knee front steering engine, a thigh structural member and a thigh connecting rod structure, wherein the hip front steering engine and the knee front steering engine are both arranged at a hip joint and are mutually fixed, output shafts of the hip front steering engine and the knee front steering engine are coaxially arranged, the thigh structural member is fixed to an output shaft of the hip front steering engine, the thigh connecting rod structure is fixed to an output shaft of the anterior knee steering engine, and the thigh connecting rod structure is used for driving the shank structural part to swing front and back. According to the joint module and the robot leg, the hip front steering engine and the knee front steering engine are arranged at the hip joint, the knee front steering engine does not need to be arranged at the knee joint, and the mass center of the joint module is increased. the output shaft of the hip front steering engine and the output shaft of the knee front steering engine are coaxially and fixedly arranged, so the structure is compact as much as possible, and the hip front steering engine and the knee front steering engine can support each other and correspondingly can bear larger bending moment.

The invention discloses a modular foot-type single leg and cycloid planning method based on a low reduction ratio motor technology. The invention relates to the technical field of driving walking propulsion devices. The method involves a foot-type single leg and a hip joint driving module, the foot-type single leg comprises a knee joint driving motor, a thigh structure module and a shank structuremodule, the knee joint driving motor is installed on one side at the top end of the thigh structure module, and the top end of the shank structure module is rotatably connected to the bottom end of the thigh structure module; in order to obtain an efficient, smooth and real-time adjustable shank foot end motion trail, a cycloid planning algorithm is adopted for the shank foot end motion trail. Amodular design concept is adopted, transmission mechanisms like the hip joint driving module, the knee joint driving motor and a planetary gear reducer are designed in a standardized and modular mode,and disassembly and replacement are easy.

The invention relates to the field of lower limb assistance exoskeletons, and particularly provides a lower limb assistance exoskeleton seat capable of being adjusted at multiple angles. The lower limb assistance exoskeleton seat is composed of a waist fixator and two supporting legs. Each supporting leg comprises a shank structure, a thigh structure, an internal movement assembly and a leg fixator. One end of each shank rod is connected to one end of a corresponding thigh shell, one end of each bearing rod is connected to the middle of the corresponding shank rod, and the other end of each bearing rod is connected with a shock absorber. The shock absorbers do linear movement in cavities, the cavities are embedded in the thigh shells, and the shank rods, the bearing rods and the shock absorbers jointly form a crank sliding block mechanism. The cavities are provided with clamping groove holes, adjusting buckles do linear movement in the cavities, and the adjusting buckles can be manually fixed to different positions in the cavities. The adjusting buckles can limit the movement distance of the shock absorbers, and therefore the rotating angles of the shank rods and the thigh shells are limited. The lower limb assistance exoskeleton can be adjusted at multiple angles so as to meet the requirements of a wearer for different sitting postures, and normal walking of the wearer is not affected after the wearer wears the lower limb assistance exoskeleton.

The invention relates to the field of humanoid robots and provides a leg structure and a humanoid robot. The leg structure comprises a thigh structural part, a foot plate structural part, two ankle joint drivers, a shank structural part and two linkage assemblies, wherein the two ankle joint drivers are symmetrically fixed on the inner side of the thigh structural member, and each ankle joint driver is provided with an outward output end and an inward tail end; one end of the shank structural part is rotationally connected to tail ends of the two ankle joint drivers, and the other end of the shank structural part is universally and rotationally connected to the foot plate structural part; the two linkage assemblies are movably connected between output ends of the two ankle joint drivers and the foot plate structural part respectively. According to the leg structure, the two ankle joint drivers participating in forming the ankle joint are symmetrically fixed in the thigh structural part close to the knee joint and far away from the ankle side, so the mass center of the leg structure can be effectively improved, the rotational inertia of the leg structure can be effectively reduced, and torque requirements of the drivers of all joint parts of the leg structure can be correspondingly reduced.

The invention discloses a wearable exoskeleton enhanced lower limb suit which may include a waist structure, a thigh structure, a calf structure and a foot structure which are connected in sequence; the waist structure comprises a connecting block, and symmetrically arranged curved rods are horizontally movably connected with the two ends of the connecting block, and the end of each curved rod ishorizontally movably connected with an inverted "L" shaped rod, and the bottom of the inverted "L" shape rod is vertically movably connected with the top of the thigh structure; the bottom of the thigh structure is vertically and rotatably connected to the top of the calf structure, and the bottom of the calf structure is movably connected with the foot structure by a ball head joint bearing. Thewearable exoskeleton enhanced lower limb suit makes human body comfortable to wear and flexible to move, is obvious in assisting force, guides human body to move, strengthens the human body function,and improves the human body's ability in a variety of operations or sports.

The invention discloses a locust bouncing imitating device which comprises leg devices and a power device. Each leg device comprises a thigh structure, a shank structure and a bouncing structure; eachthigh structure comprises a thigh bone and a thigh connecting block, one end of the thigh bone is fixed to the thigh connecting block, and the other end of the thigh bone is fixed to the power device; each shank structure comprises a shank bone, a shank connecting block and a foot end, one end of the shank bone is fixed to the shank connecting block, and the other end of the shank bone is connected with the foot end; a sliding block is arranged on each shank bone in a sliding manner; each shank connecting block and the corresponding thigh connecting block are connected through a joint; and the power device comprises a driving device, an outer shell and an inner shell, the inner shell is fixed on a shaft in the outer shell, and the driving device is connected with the shaft. The locust bouncing imitating device can cross higher terrain obstacles and can face complex terrains easily, the obstacle crossing problem is solved, and great convenience is brought to various detection tasks.

The invention belongs to the field of bio-robots, and discloses a hydraulic driving flexible robot joint which comprises a thigh structure, a thigh-crus connecting frame and a crus structure. The thigh structure comprises a thigh body frame, a cylinder seat, a hydraulic cylinder, a movable frame, a guide shaft and a compression spring. The crus structure comprises a crus body frame, a guide rail and a slide block. The crus body frame is hinged to the thigh body frame. The guide rail is installed on the crus body frame. The slide block is installed on the guide rail. One end of the thigh-crus connecting frame is hinged to the thigh body frame, and the other end of the thigh-crus connecting frame is hinged to the slide block. In addition, the thigh-crus connecting frame is hinged to the end, away from the hydraulic cylinder, of the guide shaft. The hydraulic driving flexible robot joint can adapt to changes of external loads, have the bionic flexible characteristic and force arm characteristics, meet motion requirements of a robot, and can effectively reduce the total weight, achieve lightweight and improve the motion efficiency.

The invention provides a joint unit module and a leg robot, the joint unit module comprises a hip steering engine, a hip side steering engine, a hip front steering engine, a knee front steering engine, a thigh connecting rod structure, a thigh structural member, a first fixing frame and a second fixing frame, the hip steering engine, the hip side steering engine, the hip front steering engine and the knee front steering engine are all arranged at a hip joint; one end of the thigh connecting rod structure is fixed to an output shaft of the anterior knee steering engine, an output shaft of the hip steering engine is fixedly connected with the first fixing frame, a shell of the hip steering engine is fixed to the first fixing frame, an output shaft of the hip steering engine is fixedly connected with the second fixing frame, and the anterior hip steering engine and the anterior knee steering engine are both fixedly arranged on the second fixing frame. According to the joint unit module and the leg robot, on one hand, the structure of the joint steering engine is more concentrated, the structure is more compact, and the needed installation space is smaller, and on the other hand, the knee front steering engine is arranged to be high, the mass center of the leg robot can be increased, and the torque needed by the steering engine is reduced.

The application provides a boosted exoskeleton for a knee joint. The boosted exoskeleton comprises a thigh structure, a shank structure, a link structure and a gear structure arranged on the link structure; the thigh structure is movably connected with the shank structure through the link structure; an energy storage assembly is arranged on the thigh structure; the gear structure comprises a driving wheelset rotating along with the link structure, an intermediate wheelset for driving the energy storage assembly to store energy and a locking mechanism for limiting the intermediate wheelset to rotate along a preset direction; the driving wheelset is in transmission connection with the intermediate wheelset; the locking mechanism comprises a lock component, ratchets, a driving wheel, a first ratchet mechanism and a locking wheel; the lock component rotates along with the driving wheelset; the ratchets are arranged at a movable end of the lock component and are used for limiting the locking wheel to rotate along a preset direction; the driving wheel is in engaged connection with the middle wheelset and is in transmission connection with the locking wheel through the first ratchet mechanism; and the first ratchet mechanism is used for driving the locking wheel to reversely rotate along the preset direction. The device provided by the application can achieve automatic locking after knee bending without providing boost.

The invention provides a direct drive type humanoid biped robot, including two groups of symmetrical single-leg structures, wherein the single-leg structure comprises a two-degree-of-freedom hip jointthigh structure, a thigh and shank structure containing a single-degree-of-freedom knee joint and an under-actuated ankle joint structure; the two-degree-of-freedom hip joint thigh structure is connected with the thigh and shank structure containing the single-degree-of-freedom knee joint; and the thigh and shank structure containing the single-degree-of-freedom knee joint is connected with the under-actuated ankle joint structure. According to the invention, a micro linear motor directly driving moving part is used so that a swing guide rod mechanism is formed; the structure is simple and compact, efficiency is high, the overall size is small, the weight is light, parts are easy to machine, and the cost is low; the robot comprises a pair of two-degree-of-freedom hip joint thigh structures, a pair of single-degree-of-freedom knee joint thigh and shank structures and a pair of under-actuated ankle joint structures, that is, the whole robot is controlled by six motors, and a single legis controlled by only three motors, so that the robot is simple and convenient to control.

The invention provides a leg structure and a humanoid robot, the leg structure comprises a thigh structural member, a shank structural member rotationally connected with the thigh structural member, a knee lead screw assembly and a knee connecting rod, the knee lead screw assembly is arranged on the thigh structural member, one end of the knee connecting rod is rotationally connected to the linear motion end of the knee lead screw assembly, and the other end of the knee connecting rod is rotationally connected to the linear motion end of the knee lead screw assembly; the other end of the knee connecting rod is rotationally connected to the shank structural part. According to the leg structure and the humanoid robot, the knee lead screw assemblies are arranged on the thigh structural parts, the mass center of the leg structure is increased, and the rotational inertia of the leg structure is reduced. Meanwhile, a lead screw in the knee lead screw assembly has the effect of increasing the force, under the condition that the same knee joint torque is output, the needed torque is smaller, the smaller and lighter knee lead screw assembly can be used, and the weight of the leg structure is reduced. In addition, by arranging the knee connecting rod, the stroke of the lead screw can be reduced, and a large motion angle of the knee joint can be achieved in a limited leg space.