27 results about "Thigh structure" patented technology

The invention discloses a wheel-legged cargo carrying robot. The robot comprises a robot body module, a thigh module, a shank module and a transmission mechanism. The thigh module comprises a thigh structure which is movably connected with the web plate. The shank module comprises a shank structure, and the shank structure comprises a shank skeleton, a hub motor, wheels and a damping suspension. And the lower leg skeleton is provided with a limiting and transmission bulge and is movably connected with the lower end of the thigh structure. The wheels are driven by hub motors and installed at the lower ends of the shank skeletons through damping hangers. The transmission mechanism comprises a first driving piece, a second driving piece, a crank rocker assembly and a connecting rod. The robot has a wheel type motion mode, a leg type motion mode and a wheel-leg composite motion mode, and mode switching and obstacle crossing walking are achieved by controlling the first driving part, the second driving part and the hub motor to act cooperatively. The modular and lightweight design is adopted, the terrain trafficability is remarkably enhanced, motion control is accurate and reliable, the structure is compact, and assembly and maintenance are convenient.

The invention relates to the technical field of robots, and discloses a mechanical leg structure and a robot, and the mechanical leg structure comprises a hip A-axis motor and a hip B-axis motor which are suitable for rotating around an A axis and a B axis respectively; the two-axis motor adapter is connected between the hip A-axis motor and the hip B-axis motor, and the hip A-axis motor and the hip B-axis motor are suitable for rotating around the two-axis motor adapter respectively; the hip B-axis motor structural part is connected with a hip B-axis motor, the hip B-axis motor is suitable for driving the hip B-axis motor structural part to rotate relative to the two-axis motor adapter, and the hip B-axis motor structural part is provided with a thigh hinge part; the thigh structural part is hinged to the thigh hinge part, and the thigh structural part is suitable for rotating around the C axis relative to the hip B-axis motor structural part; and the A shaft, the B shaft and the C shaft are concentric. According to the mechanical leg structure, the mechanical leg structure can freely rotate in multiple directions, interference points are fewer in the rotating process, and a larger rotating angle is achieved.

The invention discloses a lower limb rehabilitation auxiliary robot, which relates to the technical field of rehabilitation medical instruments and comprises a waist structure, a crotch structure, a leg structure, a knee joint structure, an ankle structure and a foot structure. The leg structure is provided with an upper plate, a lower plate and a leg limiting structure, the upper plate and the lower plate are arranged up and down, an inserting groove is formed in the lower end of the upper plate, the upper end of the lower plate is inserted into the inserting groove in a sliding fit mode, a clamping groove penetrating into the inserting groove is further formed in the upper plate, and the leg limiting structure is installed at the clamping groove and used for limiting relative sliding of the upper plate and the lower plate during locking. The leg structures and the waist structure have the functions of flexibly adjusting and locking the length and the width respectively, and SEA series elastic actuators in the knee joint structures provide an elastic receding interval within a certain range for a patient on the included angle parameters of the thigh structures and the shank structures. Full-parameter adaptation, safe elastic driving and efficient rehabilitation training of the body type of the patient can be achieved, and the device is suitable for full-process rehabilitation treatment of different dyskinesia patients.

The invention relates to the technical field of humanoid robots, and discloses a humanoid robot leg structure which comprises a hip structure and further comprises a thigh structure which comprises a rotating part and an extending part, the rotating part is connected with the hip structure, and the extending part is connected with the rotating part; the rotating part and the extending part are respectively used for driving the thigh to rotate and adjusting the length of the thigh; the knee structure is mounted on the extension part, can rotate relative to the thigh structure and can swing back and forth along the thigh structure; the shank structure is mounted on the knee structure and used for adjusting the length of the shank; the foot structure comprises an autorotation part, an adjusting part and a foot plate, the autorotation part is connected with the shank structure, the adjusting part is connected with the autorotation part, and the foot plate is connected with the adjusting part; according to the robot, more movement automation degrees, variable limb lengths and better bionic characteristics can be realized while compact structure and accurate control are ensured, and the movement performance and adaptive capacity of the robot are improved.

The utility model discloses a thigh structure of a humanoid robot and the humanoid robot, belongs to the field of humanoid robots, solves the problem that two motors of the thigh structure are both mounted at the upper ends of thighs, and adopts the technical scheme that the thigh structure mainly comprises a thigh bracket and two motors, each motor comprises a shell, a driving unit, a control unit and a transmission unit, the driving units, the control units and the transmission units are mounted in the motors, first hinge ends are formed at the bottom ends of the thigh supports, second hinge ends are formed at the top ends of the thigh supports, mounting cavities are formed in the thigh supports, the shells of the motors are strip-shaped, and the two motors are laid in the length direction of the thigh supports. The transmission units are in transmission connection with an output shaft of the driving power source and used for outputting torque, the transmission unit of one motor is fixedly connected with the shank through a first hinge end, and the transmission unit of the other motor is fixedly connected with the crotch through a second hinge end. The internal space of the thigh structure is fully utilized, and the width of the top end of the thigh structure is reduced.

A robot thigh hip joint for tendon motion control comprises a thigh structure, a mounting shell structure, a thigh driving device, a first rotation driving device and a second rotation driving device, and the mounting shell structure is rotationally arranged at the top of the thigh structure; the mounting shell structure comprises a thigh driving mounting part, a first rotary driving mounting part and a second rotary driving mounting part, and the first rotary driving mounting part and the second rotary driving mounting part are arranged on the two sides of the thigh driving mounting part correspondingly. And the thigh driving device, the first rotary driving device and the second rotary driving device are respectively mounted in the thigh driving mounting part, the first rotary driving mounting part and the second rotary driving mounting part. The thigh hip joint can be accurately and stably driven to operate, the two opposite far-end driving motors can stably and cooperatively complete driving control work, and the two oppositely-arranged output shafts do not interfere with each other and independently operate to complete driving into control work.

The invention provides a control method and system for an intelligent mobile terminal and the intelligent mobile terminal, and the method comprises the steps: determining a virtual plane in a climbing process of the intelligent mobile terminal according to stair parameters; acquiring a knee joint angle calculated based on data detected by a knee joint motor, a pitch angle calculated based on data detected by an inertial measurement unit (IMU), and the length of a thigh structural member; calculating the distance between the seat and the virtual plane based on the angle and length of the knee joint; calculating an angle difference based on a difference between the distance and an expected distance; a knee joint motor is controlled to conduct angle adjustment according to the angle difference value, and the seat is adjusted to the target height; the hip joint motor is controlled to conduct angle adjustment according to the pitching angle, so that the seat and the ground are kept within a preset included angle range. According to the method, the comfort and safety of the target object carried by the intelligent mobile terminal in the stair climbing process can be improved.

The application belongs to the technical field of robots and relates to a leg structure of a humanoid robot and the humanoid robot, aiming to synchronously solve the problems of high processing cost of the existing thigh structure, easy shearing failure of the connecting fastener and influence on the appearance caused by exposure. The leg structure comprises an integrated rotary joint, a thigh structure, a lower leg structure and a bearing assembly. The arc-shaped first connecting end of the thigh structure is provided with interval protrusions, the first shell of the joint shell is provided with matching grooves in a split manner, the protrusions are embedded in the grooves and locked by the fasteners arranged along the joint rotation axis. The bearing assembly is arranged in the lower leg sleeve part and rotationally supported outside the second shell of the joint. The flange part is fixedly connected with the joint output flange, and the axial projection of the fastener is located in the sleeve part. The scheme considers the connection strength and appearance concealment, simplifies the processing and reduces the cost.

The utility model discloses a robot dog leg structure based on a joint module. The robot dog leg structure comprises a shoulder joint module, a frame, a knee joint module, a hip joint module, a thigh structure, a shank structure and a transmission shaft. The knee joint module and the hip joint module are arranged on the frame side by side, the output end of the knee joint module and the input end of the hip joint module are matched to be located on the same side, and the hip joint module and the knee joint module are both gear motors, so that the gear motors replace an existing motor acceleration and deceleration machine direct connection driving mode; the overall structure is simpler and is more compact in cooperation with the side-by-side arrangement mode, meanwhile, the transverse distance between the knee joint module and the hip joint module is closer, the space compactness is guaranteed, and meanwhile the transmission process is more stable due to the fact that the load ends of the knee joint module and the hip joint module are arranged in a separated mode.

The utility model discloses an exoskeleton knee joint structure capable of adapting to different leg widths, and aims to solve the problems that an existing exoskeleton knee joint structure supports a skeleton on one side, damage to a knee joint cannot be effectively reduced, even pain and even damage of the knee joint may occur, and a wrapping structure cannot adjust the width size or the adjusting process is complex. The device comprises thigh structures, bionic knee joints, shank structures and binding structures, the thigh structures and the shank structures are hinged through the bionic knee joints, and the binding structures are installed on the inner sides of the thigh structures and the inner sides of the shank structures; each binding structure comprises a BOA screw, a fixing steel wire, an inserting buckle, a fixed binding belt, a movable binding belt and a binding liner, the binding liners in the two binding structures are installed on the inner side of the thigh structure and the inner side of the shank structure respectively, and the fixed binding belts and the movable binding belts are fixed to the two sides of the binding liners respectively.

The utility model provides a thigh structure, a leg device and a humanoid robot, the thigh structure comprises a humanoid thigh shell and a thigh driving assembly, the humanoid thigh shell comprises an outer side shell, an inner side shell and a first covering body, the inner side shell is detachably connected to the outer side shell, and a first containing cavity is defined between the inner side shell and the outer side shell; a first through hole is formed in the outer surface of the inner side shell, the first through hole communicates with the interior and exterior of the first containing cavity, the first through hole is detachably covered with the first covering body, and the thigh driving assembly is installed in the first containing cavity and used for driving the thigh structure to rotate in the circumferential direction; an electrical wire of the thigh driving assembly is arranged close to the first through hole.

The utility model relates to the technical field of humanoid robots, disclose a humanoid robot lower body structure and humanoid robot thereof, including first driver, second driver, third driver, fourth driver, fifth driver, sixth driver, waist structure, thigh structure, shank structure and foot structure, waist structure includes waist first support, waist second support, waist third support, waist connecting block and two waist connecting rods, through using six drivers, divide into two groups, three in each group, realize lower body structure multidirectional flexible movement, make lower body structure flexible simulation human leg's action. The multi -freedom degree design can improve the adaptability and stability of humanoid robot significantly, solve the problem that the flexibility, reliability is deficient when humanoid robot is applied in complex environment.

A robot knee joint based on tendon motion control comprises a thigh structure, a shank structure and a knee joint rotating supporting shaft, the top of the shank structure is rotationally connected with the bottom of the thigh structure through the knee joint rotating supporting shaft, and one end of the joint rotating supporting shaft is fixedly installed at the top of the shank structure. At least one idle wheel wire coil is rotationally installed on the knee joint rotating supporting shaft, a knee joint output wire coil is further fixedly installed on the knee joint rotating supporting shaft, and the knee joint output wire coil is fixedly connected with the top of the shank structure. The shank structure is fixedly supported at the other end of the knee joint rotating supporting shaft through a knee joint output wire coil, and an encoder aligned with the knee joint rotating supporting shaft is further installed at the bottom of the thigh structure. The device is simple in structure and convenient to mount, demount and maintain subsequently, the idle wheel wire coils and the output wire coils do not interfere with each other, and stable operation can be achieved.

The invention relates to an exoskeleton adaptation mechanism based on flexible and elastic suspension support. The exoskeleton adaptation mechanism is characterized by comprising a thigh structure assembly, an electric appliance driving assembly, a shank structure assembly, a binding connection assembly and a leg adaptation assembly; each of the thigh structure assembly and the shank structure assembly is divided into two parts, when a user wears the device, the part located on the inner side of the leg is marked as an inner side piece, and the part located on the outer side of the leg is marked as an outer side piece; the outer side part of the thigh structural component is connected with the fixed end of the electric appliance driving component, the outer side part of the shank structural component is connected with the output end of the electric appliance driving component, the inner side parts of the thigh structural component and the shank structural component are connected through pins and gaskets, and torque output by the electric appliance driving component is transmitted to the inner side parts from the outer side parts. The binding connecting assemblies are distributed on the front sides and the rear sides of the thigh structure assembly and the shank structure assembly and used for being fixed to the legs of the human body through flexible binding belts and providing stable supporting. The leg adaptation assembly is fixedly connected with the lower end of the inner side piece and the lower end of the outer side piece of the shank structure assembly, the leg adaptation assembly makes close contact with the rear side of the shank when worn, and it is ensured that the exoskeleton is matched with the human leg in different motion states.

A leg joint of a humanoid biped robot for tendon movement control comprises a waist joint supporting piece, a left leg structure and a right leg structure are installed on the two sides of the waist joint supporting piece through lateral joint components respectively, and each of the left leg structure and the right leg structure comprises a thigh structure, a shank structure and a movement control assembly part. The bottom of the thigh structure is rotationally connected with the top of the shank structure through a knee joint structure, a foot plate structure is rotationally installed at the bottom of the shank structure through an ankle joint structure, and the motion control assembly part is installed at the top of the thigh structure, connected with a tendon-imitating driving pull wire assembly and provided with an installation outer shell. A lateral joint connecting part is arranged on the installation outer shell and used for being connected with a lateral joint component. According to the invention, excellent dynamic performance, naturalness and flexibility can be realized, far-end driving is realized, the joint load and rotational inertia are small, the joint structure stability is high, and the required initial driving force is small, so that the power consumption is lower.

The application relates to the technical field of robots, and discloses a leg structure of a humanoid robot and the humanoid robot, and aims at the problem that an existing leg structure is limited by industry technical prejudice and cannot consider high bearing capacity, compactness, low cost and easy maintenance. The structure comprises a leg yaw joint, a knee joint, a bearing and a split type thigh structure member, the thigh structure member is spliced by a first leg structure member and a second leg structure member, and the two members enclose a knee joint mounting space; the knee joint is arranged in the mounting space, an output flange of the knee joint is fixed to one end of the thigh, the bearing is connected to a bearing fixing position of the thigh and the knee joint, and the leg yaw joint is perpendicular to a rotation axis of the knee joint. The application breaks the technical prejudice of an integrated skeleton structure, the split type design greatly reduces machining cost, simplifies assembly and maintenance, and realizes double support layout of the knee joint by relying on the split type thigh, which improves bearing rigidity, avoids uneven wear and tear, guarantees the overall compactness of the leg, and effectively solves the problem that multiple performances are difficult to consider.

The utility model relates to a humanoid model toy and a thigh structure thereof, the thigh structure comprises a hip and a thigh, and the hip is used for being connected with a waist joint of the humanoid model toy; the thigh is hinged with the hip part, so that the thigh can rotate relative to the hip part so as to be close to or far away from the other thigh of the humanoid model toy; the thigh structure further comprises a locking structure, and the locking structure is used for locking the thigh when the thigh rotates to the initial position. According to the technical scheme, when the thigh rotates relative to the hip to be close to the other thigh of the humanoid model toy, the inward bending action of the thigh can be achieved, and therefore the mobility and playability of the humanoid model toy are improved. In addition, the thigh is locked by arranging the locking structure, and the stability and safety of the thigh at the initial position can be kept.

The utility model provides a low-cost knee-bending type mobile robot structure, which belongs to the technical field of robots and comprises a robot body, two groups of thigh structures are mounted on the lower wall surface of the robot body, and two groups of support leg structures are movably connected to the front wall surface of the robot body. The lower ends of the two thigh structures and the lower ends of the supporting leg structures are movably connected with shank structures. Each thigh structure comprises a thigh driving motor, a thigh upper shaft sleeve, a thigh inner side plate, a thigh outer side plate, a thigh lower shaft sleeve and a thigh rotating shaft; thigh driving motors are installed on the lower wall face of the robot body, and thigh inner side plates and thigh outer side plates are connected through thigh upper shaft sleeves and thigh lower shaft sleeves; in order to solve the problems that an existing knee bending type mobile robot body is high in manufacturing cost and inconvenient to maintain, the utility model provides an arm leg structure which has applicable strength, is light in structure, adopts conventional materials and is easy to machine.

The utility model discloses a leg rotation limit structure for a humanoid robot, which comprises a foot, a shank structure, a connecting piece and a thigh structure, by arranging the shank structure and the thigh structure, when the humanoid robot moves the legs, the shanks bend towards the right side, and the thigh structure is bent towards the right side. The first connecting rod drives the third connecting rod to move through the second connecting rod, the third connecting rod moves upwards by limiting the sliding block through the guide rod, when the shank bends towards the left side, the lower end face of the sliding block is attached to the trigger switch, and then the feedback control system stops rotation of the shank; the response speed and flexibility of the humanoid robot can be improved through electronic limiting, especially when the movement direction needs to be rapidly changed or complex actions need to be carried out.

This utility model relates to the field of humanoid robot technology, and discloses a humanoid robot leg structure and the humanoid robot thereof, including a first actuator, a second actuator, a third actuator, a fourth actuator, a thigh structure, a lower leg structure, a knee pivot, and an ankle pivot; the thigh structure includes a thigh support, a first link, a second link, and a first connecting block, and the lower leg structure includes a lower leg support and a third link; the multi-degree-of-freedom design can significantly improve the robot's adaptability and solve the problem of humanoid robots being unable to effectively maintain balance when walking on uneven or inclined ground. By placing the third actuator on the thigh support, the weight of the lower leg structure is reduced, and the overall inertial torque of the leg structure is reduced, solving the problem that when the foot drive device of the humanoid robot is directly connected to the foot, the foot drive device must be located at the end of the leg structure, resulting in excessive overall inertial torque and limited performance of the leg structure.

The application provides a hydraulic double-legged robot leg device with an oil pipe, and relates to the technical field of hydraulic bionic robots.The device comprises a double-leg connecting plate and two bionic legs connected below the double-leg connecting plate.The bionic legs comprise, from top to bottom, a hip joint, a thigh structure, a knee joint, a lower leg structure, an ankle joint, a foot structure and an internal oil circuit system.The application adopts full hydraulic drive, has better dynamic response and stronger driving force compared with electric drive, adopts full internal oil circuit design, avoids oil pipe scratching, damage and leakage in complex working conditions, and can be adapted to high-risk and extreme working environments.On the other hand, the application adopts high-low pressure oil circuit independent design, and a rotary joint is matched with a rotary oil feeding mechanism to realize the use of a drilling processing method to process a hydraulic oil circuit to replace a traditional soft tube oil supply, solve the problems of easy oil mixing, leakage, damage and pipeline winding of the soft tube oil supply, and make the oil circuit operation more stable and the service life greatly increased.

The invention relates to a leg structure of an amphibious garbage cleaning robot, and belongs to the technical field of amphibious garbage cleaning equipment. The robot leg structure comprises a mounting base, a thigh structural part, a shank structural part, a motor actuator and a foot end, a connecting piece is rotationally arranged on the mounting base, a base joint steering engine is arranged on the connecting piece, one end of the thigh structural part is connected with the connecting piece through a thigh steering engine, the other end of the thigh structural part is rotationally connected with one end of the shank structural part, and a shank steering engine is arranged between the thigh structural part and the shank structural part; the motor actuator is vertically arranged on the shank structural member, and the foot end is arranged at the end part of the motor actuator; by arranging the base joint steering engine, the thigh steering engine, the shank steering engine and the motor actuator, the motion modes of the leg structure of the robot can be efficiently switched in the water surface environment and the land environment, and the amphibious garbage cleaning robot can conveniently work in the amphibious environment.

The utility model discloses a leg structure of a humanoid robot and the humanoid robot, belongs to the field of humanoid robots, solves the problem that the sizes of a motor and a control unit are limited due to the fact that the motor is fixed at the upper ends of a thigh structure and a shank structure, and adopts the technical scheme that the leg structure mainly comprises a crotch, the thigh structure, the shank structure and a foot end piece, the thigh structure comprises a thigh support, two motors are installed on the thigh support, the shank structure comprises a shank support, a motor is installed on the shank support, a shell of each motor is in a long strip shape, the control unit comprises a plurality of circuit boards, the circuit boards are stacked in the shell in the length direction of the shell, and a first installation cavity is formed in the thigh support. The two motors on the thigh support are both fixed in the first installation cavity, the shank support is provided with a second installation cavity, the motor of the shank support is fixed in the second installation cavity, and a transmission unit of the motor is fixedly connected with the foot end piece. The utility model is mainly used for enabling the motor to have a larger installation space.

A robot leg mechanism and a robot. The leg mechanism comprises a hip rotation servo (13), a first connecting member (14), a thigh structural member (15), a shank structural member (19), an anterior hip servo (16), an anterior knee servo (17), and a first linkage structure (18); the hip rotation servo (13) is used for driving the thigh structural member (15) to rotate; the anterior hip servo (16) is used for driving the thigh structural member (15) to swing back and forth; the anterior knee servo (17) is used for driving the shank structural member (19) to swing back and forth relative to the thigh structural member (15); a motion output end of the hip rotation servo (13) is fixedly connected to the first connecting member (14); the anterior hip servo (16) and the anterior knee servo (17) are both arranged on the thigh structural member (15); a motion output end of the anterior hip servo (16) is fixedly connected to the first connecting member (14); and a motion output end of the anterior knee servo (17) is transmittingly connected to the shank structural member (19) by means of the first linkage structure (18). The anterior knee servo is arranged on the thigh structural member, raising the center of gravity of the leg structure, and reducing the torque requirements for the servo, thereby improving the response speed of a robot.

The application relates to a robot bionic knee joint mechanism and belongs to the field of robot multi-freedom bionic mechanisms; a thigh structure component is vertically placed; a gear connecting rod component is installed at the bottom end of the thigh structure component; a driving gear component and a transmission gear connecting rod component are both arranged around the gear connecting rod component; the transmission gear connecting rod component and the driving gear component are both in meshing cooperation with the thigh structure component; the top of a shank structure component is in butt joint with the transmission gear connecting rod component; the transmission gear connecting rod component is in meshing rotation with the thigh structure component, thereby driving the shank structure component to move in translation relative to the thigh structure component; the two ends of a rotary connecting rod component are respectively in butt joint with the driving gear component and the middle part of the shank structure component; the driving gear component is in meshing rotation with the thigh structure component, thereby driving the shank structure component to rotate relative to the thigh structure component through the rotary connecting rod component; the application overcomes the problems of poor motion matching, complex composition, large volume and complex control of the knee joint bionic mechanism.

The joint self-alignment rope-driven knee joint exoskeleton based on bionic design comprises a thigh structure, the thigh structure is connected with one end of an exoskeleton body structure, the other end of the exoskeleton body structure is movably hinged to a shank structure, and the exoskeleton body structure comprises a rack structure; the rack structure is provided with a bionic rolling joint mechanism used for simulating the motion trail of a knee joint of a human body and a high-rigidity cable driving transmission mechanism used for providing assistance. Multi-feedback is combined for real-time hierarchical control, limitation on natural movement of a human body is reduced, a rolling gear transmission structure is adopted in an exoskeleton body structure, human-machine joint dislocation is remarkably reduced, a high-rigidity cable is used for driving a transmission system, light weight and high compliance are achieved, convenience is provided for use of the human body, and the exoskeleton is suitable for popularization and application. The harm to a human body is reduced.