8 results about "Thigh structure" patented technology

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 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 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.

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.

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 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.