Ankle joint structure and robot

Abstract

The application discloses an ankle joint structure and a robot, which comprises a foot plate, a first motor and a second motor. The first motor and the second motor are fixed to form a motor assembly. The middle part of the foot plate is provided with a first connecting part. The two sides of the foot plate are respectively provided with a second connecting part and a third connecting part. The first connecting part, the second connecting part and the third connecting part form a triangular support structure. The first connecting part is connected with the motor assembly through a first connecting rod. The second connecting part is connected with the output shaft of the first motor through a second connecting rod. The third connecting part is connected with the output shaft of the second motor through a third connecting rod. The ankle joint structure is simple, has sufficient torque and bearing capacity, and can realize the movement requirements of a large-volume foot-type robot in multiple environments. The ankle joint structure of the robot is simple, has sufficient torque and bearing capacity, and can realize the movement requirements of a large-volume foot-type robot in multiple environments.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to an ankle joint structure and a robot. Background Technology

[0002] Currently, legged robots play an important role in society's production and daily life, and they are divided into bipedal and multipedal types. Due to their wide range of applications and strong adaptability, legged robots are receiving increasing attention. While the development of bipedal and multipedal robots is relatively rapid, their size is still concentrated below 30 centimeters. The main limitation is that robots cannot, like humans or animals, have flexible ankle joints to achieve stable foot contact with the ground and ensure smooth movement. Furthermore, maintaining flexibility while possessing sufficient torque and load-bearing capacity is key to further increasing the size of robots.

[0003] Traditional ankle joint structures use motors as actuators. Flexibility depends on the motor's responsiveness, torque depends on the motor's mass, and stability depends on the motor's lifespan. However, the motor's mass and size are considered limitations of the ankle joint. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an ankle joint structure that is simple, has sufficient torque and load-bearing capacity, and can meet the movement requirements of legged robots in various environments and with large volume.

[0005] The technical solution of the present invention is to provide an ankle joint structure, including a foot plate, a first motor, and a second motor; the first motor and the second motor are fixed to form a motor assembly; a first connection point is provided in the middle of the foot plate, and a second connection point and a third connection point are respectively provided on both sides of the foot plate; the first connection point, the second connection point, and the third connection point constitute a triangular support structure; the first connection point is connected to the motor assembly through a first connecting rod; the second connection point is connected to the output shaft of the first motor through a second connecting rod; and the third connection point is connected to the output shaft of the second motor through a third connecting rod.

[0006] By adopting the above structure, the ankle joint structure of the present invention has the following advantages compared with the prior art:

[0007] Because the foot plate and motor assembly of the ankle joint structure of the present invention are connected by a first link, a second link and a third link, the ankle joint structure is simple. The first motor can control one side of the foot plate and the second motor can control the other side of the foot plate, so that the ankle joint has two degrees of freedom. The motor assembly can be lifted onto the knee and the power is transmitted downward through the second link and the third link. The structure is simple, has sufficient torque and load-bearing capacity, and can meet the motion requirements of legged robots in multiple environments and large volumes.

[0008] As an improvement, the second motor is located below the first motor, and the first motor and the second motor are fixedly connected; the output shaft of the first motor faces opposite directions to the output shaft of the second motor. This structure is simple and easy to assemble.

[0009] As an improvement, the output shaft of the first motor faces to the right, and the output shaft of the second motor faces to the left. This design makes the overall structure more rational.

[0010] As an improvement, the housing of the first motor and the housing of the second motor are fixedly connected by a fixing plate. This structure is simple and easy to assemble.

[0011] As an improvement, the upper end of the first connecting rod is fixedly connected to the lower side of the housing of the second motor; a first connecting piece is provided at the first connection point in the middle of the foot plate, and the lower end of the first connecting rod is hinged to the first connecting piece via a hinge shaft. This structure is simple and easy to assemble.

[0012] As an improvement, a fourth connecting rod is provided on the output shaft of the first motor. One end of the fourth connecting rod is fixedly connected to the output shaft of the first motor, and the upper end of the second connecting rod is hinged to the other end of the fourth connecting rod via a hinge shaft. A second connecting member is provided on one side of the foot plate, and the lower end of the second connecting rod is hinged to the second connecting member via a hinge shaft. With this structure, rotation of the output shaft of the first motor will drive the fourth connecting rod to rotate, thereby lifting the second connecting rod upward and lifting one side of the foot plate upward.

[0013] As an improvement, a fifth connecting rod is provided on the output shaft of the second motor. One end of the fifth connecting rod is fixedly connected to the output shaft of the second motor, and the upper end of the third connecting rod is hinged to the other end of the fifth connecting rod via a hinge shaft. A third connecting member is provided on the other side of the foot plate, and the lower end of the third connecting rod is hinged to the third connecting member via a hinge shaft. With this structure, rotation of the output shaft of the second motor will drive the fifth connecting rod to rotate, thereby lifting the fifth connecting rod upward and lifting the other side of the foot plate upward.

[0014] As an improvement, the footplate includes a footplate body and a connecting seat, with the connecting seat fixed to the upper surface of the footplate body; the first connecting point, the second connecting point, and the third connecting point are located on the upper surface of the connecting seat. With this structure, the connecting seat is used to connect with the first connecting point, the second connecting point, and the third connecting point, while the footplate body is used to support the ground, resulting in a more reasonable structural design.

[0015] As an improvement, the connecting seat includes a fixing part and a supporting part; the supporting part is connected to the upper end of the fixing part, and the lower end of the fixing part is fixedly connected to the foot plate body; the supporting part is in the shape of an "A", the first connection point is located in the middle of the supporting part, and the second and third connection points are respectively located on both sides of the supporting part. With this structure, the supporting part is in the shape of an "A", which is a reasonable design, saves materials, and can achieve a weight reduction effect.

[0016] The technical problem to be solved by the present invention is to provide a robot with a simple ankle joint structure, sufficient torque and load-bearing capacity, which can meet the movement requirements of a legged robot in multiple environments and large volumes.

[0017] The technical solution of the present invention is to provide a robot including the ankle joint structure described above, wherein the motor assembly of the ankle joint is disposed on the knee joint of the robot.

[0018] With the above structure, the robot of the present invention has the following advantages compared with the prior art:

[0019] Because the ankle joint structure of the robot of the present invention is connected to the foot plate and the motor assembly through a first link, a second link and a third link, the ankle joint structure is simple. The first motor can control one side of the foot plate and the second motor can control the other side of the foot plate, so that the ankle joint has two degrees of freedom. The motor assembly can be lifted to the knee and the power is transmitted downward through the second link and the third link. The structure is simple, has sufficient torque and load-bearing capacity, and can meet the movement requirements of legged robots in multiple environments and large volumes. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the ankle joint structure of the present invention.

[0021] Figure 2 This is a three-dimensional structural diagram of the ankle joint structure of the present invention from another angle.

[0022] The figure shows: 1. First motor, 2. Second motor, 3. Fixing plate, 4. Foot plate body, 5. Connecting seat, 501. Fixing part, 502. Supporting part, 6. First connecting piece, 7. Second connecting piece, 8. Third connecting piece, 9. First connecting rod, 10. Second connecting rod, 11. Fourth connecting rod, 12. Third connecting rod, 13. Fifth connecting rod. Detailed Implementation

[0023] To better understand this application, various aspects of this application will be described in more detail with reference to the accompanying drawings. It should be understood that these detailed descriptions are merely illustrative of exemplary embodiments of this application and are not intended to limit the scope of this application in any way. Throughout the specification, the same reference numerals refer to the same elements.

[0024] It should be noted that in this specification, the terms "first," "second," etc., are used only to distinguish one feature from another and do not imply any limitation on the features. Therefore, without departing from the guidance of this application, the first link discussed below may also be referred to as the second link.

[0025] In the accompanying drawings, the thickness, size, and shape of the objects have been slightly exaggerated for illustrative purposes. The drawings are for illustrative purposes only and are not drawn to scale.

[0026] It should also be understood that the terms "comprising," "including," "having," "containing," and "comprises" as used in this specification indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof. Furthermore, when expressions such as "...at least one" appear after a list of listed features, they modify the entire listed feature, not individual elements in the list.

[0027] like Figures 1 to 2 As shown, the ankle joint structure of the present invention includes a motor assembly and a foot plate.

[0028] The motor assembly includes a first motor 1 and a second motor 2. The second motor 2 is located below the first motor 1. The housings of the first motor 1 and the second motor 2 are fixedly connected by a fixing plate 3. The fixing plate 3 can be welded to the housings of the first motor 1 and the second motor 2 respectively. The output shaft of the first motor 1 faces to the right, i.e., the right side of the robot; the output shaft of the second motor 2 faces to the left, i.e., the left side of the robot.

[0029] The footplate includes a footplate body 4 and a connecting seat 5, with the connecting seat 5 fixed to the upper surface of the footplate body 4. The connecting seat 5 includes a fixing part 501 and a supporting part 502. The fixing part 501 is columnar, and the supporting part 502 is fixed to the upper end of the fixing part 501; the lower end of the fixing part 501 is fixedly connected to the footplate body 4. The supporting part 502 is in the shape of an "A" shape, with a first connecting point in the middle and a second and third connecting points at its two ends. The first, second, and third connecting points form a triangular support structure, meaning that connecting the first, second, and third connecting points end-to-end creates a triangular structure that provides stable support.

[0030] The first connection point is connected to the motor assembly via a first connecting rod 9. The first connecting rod 9 has an inverted triangular structure, with a larger upper end and a smaller lower end. The upper end of the first connecting rod 9 is fixed to the lower side of the housing of the second motor 2. A first connecting member 6 is provided at the middle of the support part 502 at the first connection point. The first connecting member 6 includes two first connecting posts, which stand opposite each other. The upper end of each first connecting post has a hinge shaft hole. The lower end of the first connecting rod 9 also has a hinge shaft hole. The lower end of the first connecting rod 9 is hinged to the two first connecting posts via a hinge shaft. The hinge shaft is cross-shaped, with its front and rear ends respectively fitted into the hinge shaft holes of the two first connecting posts. The left and right ends of the hinge shaft are hinged into the hinge shaft hole at the lower end of the first connecting rod 9.

[0031] The second connection is connected to the output shaft of the first motor 1 via a second connecting rod 10. A fourth connecting rod 11 is provided on the output shaft of the first motor 1, one end of which is fixedly connected to the output shaft of the first motor 1, i.e., fixed by screws. The upper end of the second connecting rod 10 is hinged to the other end of the fourth connecting rod 11 via a hinge shaft. A second connecting member 7 is provided on the right side of the foot plate. The upper end of the second connecting member 7 has a receiving groove, and both the front and rear side walls of the receiving groove have hinge shaft holes. The lower end of the second connecting rod 10 has another receiving groove, and both the left and right side walls of the receiving groove have hinge shaft holes. The lower end of the second connecting rod 10 is hinged to the second connecting member 7 via a hinge shaft. The hinge shaft is shaped like a cross. The hinge shaft is housed in the receiving groove of the second connector 7 and the receiving groove of the second connecting rod 10. The front end and the rear end of the hinge shaft are respectively sleeved in the hinge shaft holes of the front side wall and the rear side wall of the second connector 7. The left end and the right end of the hinge shaft 14 are hinged in the hinge shaft holes of the left side wall and the right side wall of the lower end of the second connecting rod 10.

[0032] The third connection is connected to the output shaft of the second motor 2 via a third connecting rod 12. A fifth connecting rod 13 is provided on the output shaft of the second motor 2, one end of which is fixedly connected to the output shaft of the second motor 2, i.e., fixed with screws. The upper end of the third connecting rod 12 is hinged to the other end of the fifth connecting rod 13 via a hinge shaft. A third connecting piece 8 is provided on the left side of the foot plate, and the lower end of the third connecting rod 12 is hinged to the third connecting piece 8 via a hinge shaft. The connection structure between the fifth connecting rod 13 and the second motor 2 is the same as the connection structure between the fourth connecting rod 11 and the first motor 1, and will not be described again here. The connection structure between the third connecting rod 12 and the fifth connecting rod 13 is the same as the connection structure between the second connecting rod 10 and the fourth connecting rod 11, and will not be described again here. The connection structure between the third connecting rod 12 and the third connecting piece 8 is the same as the connection structure between the second connecting rod 10 and the second connecting piece 7, and will not be described again here.

[0033] Please elaborate on the working process of the ankle joint structure:

[0034] The main principle is that the motor rotates to control the connecting rod, which in turn controls the connecting seat, ultimately affecting the spatial angle of the foot plate.

[0035] The rotation of the first motor 1 drives the fourth link 11 to rotate, which in turn drives the second link 10 to lift / lower. The second link 10 pulls / pushes the connecting seat 5, with its point of action being the support part 502. In summary, the first motor 1 controls the position of the front connection point in the connecting seat 5. The rotation of the second motor 2 drives the fifth link 13 to rotate, which in turn drives the third link 12 to lift / lower. The third link 12 pulls / pushes the connecting seat 5, with its point of action being the support part 502. In summary, the second motor 2 controls the position of the left connection point in the connecting seat 5. The first link 9 is connected to the connecting seat 5 via a universal rotating component with a "+" shaped hinge shaft. Its point of action is the support part 502, specifically the central rotating shaft hole. In summary, the first link 9 controls the position of the middle connection point in the connecting seat 5. The three positions of the front, left, and middle connection points determine the spatial position of the support part 502. Furthermore, it controls the spatial position of the connecting seat 5. The connecting seat 5 connects to the foot plate body 4, controlling the spatial state of the foot plate body 4.

[0036] In summary, the first motor 1 and the second motor 2 control the spatial position of the footplate body 4, thereby controlling the robot's support state.

[0037] The present invention also discloses a robot including the ankle joint structure described above, wherein the motor assembly of the ankle joint is disposed on the knee joint of the robot.

Claims

1. An ankle joint structure, characterized in that: It includes a foot plate, a first motor and a second motor; the first motor and the second motor are fixed to form a motor assembly; a first connection part is provided in the middle of the foot plate, and a second connection part and a third connection part are respectively provided on both sides of the foot plate; the first connection part, the second connection part and the third connection part form a triangular support structure; the first connection part is connected to the motor assembly through a first connecting rod; the second connection part is connected to the output shaft of the first motor through a second connecting rod; the third connection part is connected to the output shaft of the second motor through a third connecting rod; the first connecting rod is an inverted triangular structure, the upper end of the first connecting rod is large and the lower end is small, and the upper end of the first connecting rod is fixed on the lower side of the housing of the second motor; The second motor is located below the first motor and the first motor is fixedly connected to the second motor; the orientation of the output shaft of the first motor is opposite to the orientation of the output shaft of the second motor; the output shaft of the first motor faces right, and the output shaft of the second motor faces left; The foot plate includes a foot plate body and a connecting seat, and the connecting seat is fixed on the upper surface of the foot plate body; the first connection part, the second connection part and the third connection part are provided on the upper surface of the connecting seat; The connecting seat includes a fixing part and a supporting part; the supporting part is connected to the upper end of the fixing part, and the lower end of the fixing part is fixedly connected to the foot plate body; the supporting part is in a "human" shape, the first connection part is provided in the middle of the supporting part, and the second connection part and the third connection part are respectively provided on both sides of the supporting part; A fourth connecting rod is provided on the output shaft of the first motor, one end of the fourth connecting rod is fixedly connected to the output shaft of the first motor, and the upper end of the second connecting rod is hinged to the other end of the fourth connecting rod through a hinge shaft; a second connecting member is provided on one side of the foot plate, and the lower end of the second connecting rod is hinged to the second connecting member through a hinge shaft; A fifth connecting rod is provided on the output shaft of the second motor, one end of the fifth connecting rod is fixedly connected to the output shaft of the second motor, and the upper end of the third connecting rod is hinged to the other end of the fifth connecting rod through a hinge shaft; a third connecting member is provided on the other side of the foot plate, and the lower end of the third connecting rod is hinged to the third connecting member through a hinge shaft.

2. The ankle joint structure according to claim 1, characterized in that: The housing of the first motor and the housing of the second motor are fixedly connected through a fixing plate.

3. The ankle joint structure according to claim 1, characterized in that: The upper end of the first connecting rod is fixedly connected to the lower side of the housing of the second motor; a first connecting member is provided at the first connection part in the middle of the foot plate, and the lower end of the first connecting rod is hinged to the first connecting member through a hinge shaft.

4. A robot, characterized in that: It includes an ankle joint structure according to any one of claims 1 to 3, and the motor assembly of the ankle joint is provided on the knee joint of the robot.

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