35 results about "Thigh structure" patented technology

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 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 present invention provides a direct-drive humanoid bipedal robot, which includes a single-leg structure, the single-leg structure is two groups of symmetrical single-leg structures, and the single-leg structure includes a two-degree-of-freedom hip joint thigh structure, A thigh-calf structure containing a single-degree-of-freedom knee joint and an underactuated ankle-joint structure, the two-degree-of-freedom hip-joint thigh structure is connected to a thigh-calf structure containing a single-degree-of-freedom knee joint, and the thigh structure containing a single-degree-of-freedom knee joint The calf structure is connected with the underactuated ankle joint structure. The invention uses a micro linear motor to directly drive the moving parts to form a swing guide rod mechanism. The structure is simple and compact, and the efficiency is high. The overall size is small, the weight is light, the parts are easy to process, and the cost is low. Low, the present invention includes a pair of two-degree-of-freedom hip joint thigh structures, a pair of single-degree-of-freedom knee joint thigh and calf structures, and a pair of underactuated ankle joint structures, that is, the whole is controlled by six motors, and each leg is controlled by only three Motor control, simple and convenient control.

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.

A walker for use by a mobility impaired disabled user. The walker supports the user while moving them through a set of movements correlating to a walking motion. The walker includes an exoskeleton, a power source in the form of a battery pack or other similar onboard power pack together with its associated power supply cables, and a control systemThe exoskeleton includes a rigid pelvic support member including a pelvic harness and a pair of leg structures. Each of the leg structures comprise an upper leg structural member, a lower leg structural member, a foot member, a main hip actuator, a knee actuator and a main foot actuator.

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 belongs to the technical field of exoskeleton, and discloses a height-adjustable exoskeleton seat. The exoskeleton seat includes a thigh structure assembly and a sitting posture support assembly. The thigh structure assembly includes a thigh structure assembly that is rotatably connected and The calf structure assembly; the thigh structure assembly changes its own length by moving, and the calf structure assembly changes its own length by moving, thereby realizing the height adjustment of the exoskeleton seat; the sitting posture support assembly includes slideway baffles connected to the thigh structure assembly, The adjustment slider slidably connected to the slideway baffle, the upper support rod rotatably connected to the adjustment slider, the lower piston rod rotatably connected to the upper support rod, and the support cylinder connected to the lower piston rod and the lower leg structural components; The cylinder is used to drive the lower piston rod to move, and then drive the adjustment slider to slide along the slideway baffle, thereby realizing the adjustment of the sitting height of the exoskeleton seat. The invention has strong adaptability, high flexibility and simple structure.