Ankle joint driving structure device for anthropomorphic robot

Abstract

The present invention relates to the robot technology. The ankle joint driving structure device consists of three parts including ankle joint transverse roll driving system ankle joint elevation driving system, and support The transverse roll driving system consists of motor and linkage drivnig mechanism. The elevation driving system consists of motor, reduction mechanism and lead screw nut-block mechanism. The support is a frame structure with transverse roll direction and elevation direction joint shafts. The ankel joint driving structure device is simple in structure and easy to manufacture and assembly.

Description

technical field [0001] The invention relates to an ankle joint transmission structure device of an anthropomorphic robot, which belongs to the technical field of anthropomorphic robots. Background technique [0002] The leg structure is an important part of an anthropomorphic robot, and its design is one of the key technologies of an anthropomorphic robot, because it has a great influence on the energy efficiency of the whole anthropomorphic robot. To realize the anthropomorphic function, the anthropomorphic robot must carry its own energy. Since the weight and volume of the anthropomorphic robot are limited, the energy carried is also limited in weight and volume, so it can only use its limited energy to complete the job. In order to obtain longer distance humanoid walking and longer working hours, the only way is to improve the efficiency of walking legs, and the rational design of leg structure is an important and effective way to improve efficiency. [0003] In the rese...

AI Technical Summary

Problems solved by technology

However, the anthropomorphic robot ankle joint transmission structure device has many irregular surfaces and surfaces to be processed, the structure is relatively complex, the required manufacturing, processing and assembly precision requirements are high, there are certain technical difficulties, and there are too many parts, which is not conducive to Assembly and disassembly

The driving motor device 15 for joint movement in the ankle roll direction is embedded in the ankle joint device. The assembly scheme of the harmonic gear reducer for joint transmission in the ankle roll and pitch directions requires, on the one hand, the volume of the drive motor and the harmonic gear reducer to be as large as possible. Small and light as possible, even in Japan, these need to be customized, on the other hand, the bending strength of the ankle joint transmission structure device is also reduced. In order to meet the required strength, it is inevitable to need high-performance materials such as high strength-to-weight ratio and high quality casting technology

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