Multi-degree-of-freedom machine ankle and driving method thereof

Abstract

The invention provides a multi-degree-of-freedom machine ankle and a driving method thereof. The multi-degree-of-freedom machine ankle comprises a profiling sole; the profiling shank is rotationally connected to the profiling sole through a first reversing adjusting mechanism; the two adjusting lead screws are symmetrically arranged on the two sides of the profiling sole in the width direction and arranged in the height direction of the profiling shank, one end of any adjusting lead screw is connected to the profiling sole through a second reversing adjusting mechanism, and the other end of any adjusting lead screw is rotationally connected to the profiling shank through a third reversing adjusting mechanism. According to the invention, the profiling shank and the profiling sole can perform multi-degree-of-freedom relative movement, so that not only is the movement flexibility higher, but also a stable supporting structure can be always kept on a special-shaped surface, and thus the application range of the robot is widened. Compared with a conventional mechanical ankle structure, the mechanical ankle structure has the advantages of being ingenious in structural design, higher in use flexibility, higher in moving stability, more accurate in adjusting precision and wider in use scene.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-degree-of-freedom mechanical structures, and in particular to a multi-degree-of-freedom machine ankle and a driving method thereof. Background Art

[0002] In the field of contemporary robotics, the design and performance of mechanical ankles play a vital role, which directly determines the mobility, stability and adaptability of robots. With the continuous development of robotics and the expansion of its application fields, the performance requirements for mechanical ankles are becoming higher and higher. Although the existing mechanical ankle technology has achieved certain results in imitating certain movement functions of human ankles, there are still technical bottlenecks in terms of flexibility and adaptability that cannot be ignored.

[0003] Most existing mechanical ankle designs rely on fixed mechanical structures, such as crank-connecting rod mechanisms and gear rack systems. These structures perform well in achieving simple flexion and extension movements, but are unable to simulate the complex three-dimensional movements of the human ankle. Due to the limitations of these mechanical structures, the robot's ability to move is severely restricted when facing diverse terrains and environments. For example, when walking on rough ground or operating in narrow spaces, existing mechanical ankles are difficult to provide sufficient flexibility and stability. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the problem of low flexibility of the ankle structure in the prior art and to provide a multi-degree-of-freedom machine ankle and a driving method thereof.

[0005] In order to solve the above technical problems, the present invention provides a multi-degree-of-freedom robot ankle, which includes: a contoured sole; a contoured calf, one end of the contoured calf is rotatably connected to the contoured sole through a first reversing adjustment mechanism; two adjusting screws, the two adjusting screws are symmetrically arranged on both sides of the contoured sole in the width direction, and are both arranged along the height direction of the contoured calf, one end of any adjusting screw is connected to the contoured sole through a second reversing adjustment mechanism, and the other end is rotatably connected to the contoured calf through a third reversing adjustment mechanism.

[0006] In one embodiment of the present invention, the first reversing adjustment mechanism includes two first universal joint forks and a first cross block, wherein one of the first universal joint forks is connected to the contoured sole and is rotatably connected to the first cross block around a first rotation center line, and the other first universal joint fork is connected to the contoured calf and is rotatably connected to the first cross block around a second rotation center line.

[0007] In one embodiment of the present invention, the first universal joint fork includes a first fixed plate and two first fork fingers, wherein the two first fork fingers are arranged at both ends of the first fixed plate and are both arranged perpendicular to the first fixed plate, wherein the first fixed plate is connected to the contoured sole of the foot or the contoured calf, and the two first fork fingers are respectively rotatably connected to the opposite sides of the first cross block.

[0008] In one embodiment of the present invention, any of the second reversing adjustment mechanisms includes two second universal joint forks and a second cross block, wherein one of the second universal joint forks is connected to the contoured sole and is rotatably connected to the second cross block around a third rotation center line, and the other second universal joint fork is connected to the contoured calf and is rotatably connected to the second cross block around a fourth rotation center line.

[0009] In one embodiment of the present invention, the second universal joint fork includes a second fixed plate and two second fork fingers, wherein the two second fork fingers are arranged at both ends of the second fixed plate and are both arranged perpendicular to the second fixed plate, wherein the second fixed plate is connected to the contoured sole of the foot or the contoured calf, and the two second fork fingers are respectively rotatably connected to the opposite sides of the second cross block.

[0010] In one embodiment of the present invention, the third reversing adjustment mechanism includes a mounting block and two assembly frames, wherein the mounting block is arranged on the contoured calf, and the two assembly frames are respectively fixed to the top of the two adjusting screws, and are both rotatably connected to the mounting block around a fifth rotation center line.

[0011] In one embodiment of the present invention, the mounting block is provided with two connection grooves, any of the connection grooves can be provided with a rotating shaft, the assembly frame is provided with a rotating sleeve, and the rotating sleeve is sleeved on the rotating shaft.

[0012] In one embodiment of the present invention, the adjusting screw includes a main body and a telescopic end, wherein the telescopic end is passed through the main body and can be telescopically moved along the length direction of the adjusting screw, wherein the telescopic end is connected to the second reversing mechanism, and the main body is connected to the third reversing adjustment mechanism.

[0013] In one embodiment of the present invention, the multi-degree-of-freedom robotic ankle further includes a control mechanism, and the two adjustment screws are respectively connected to the control mechanism by signals.

[0014] In one embodiment of the present invention, it is used to drive and control the above-mentioned multi-degree-of-freedom robot ankle, which includes: step S1, establishing a global fixed coordinate system and a dynamic coordinate system of the contoured calf in an initial state, and calibrating multiple reference points in the dynamic coordinate system, wherein the origin of the dynamic coordinate system is the center of the first reversing mechanism; step S2, driving the contoured calf by adjusting the lead screw telescopically, and monitoring the position change of the reference point in the global fixed coordinate system to obtain the adjusting lead screw driving amount; step S3, setting the parameters of the adjusting lead screw according to the adjusting lead screw driving amount to drive the contoured calf to move to the target position in conjunction with the contoured sole of the foot.

[0015] The above technical solution of the present invention has the following advantages compared with the prior art:

[0016] The multi-degree-of-freedom mechanical ankle and its driving method described in the present invention realize multi-dimensional flexible driving of the contoured sole and the contoured calf through the driving process of the adjusting screw, wherein the contoured calf and the contoured sole can perform multi-degree-of-freedom relative movement, thereby realizing a highly contoured simulation of the ankle structure, which not only has higher mobility flexibility, but also enables it to always maintain a stable supporting structure on the special-shaped surface, thereby greatly improving its scope of application. Compared with the conventional mechanical ankle structure at this stage, the present application has a more ingenious structural design, higher flexibility of use, higher mobility stability, more precise adjustment accuracy and a wider range of usage scenarios, providing new ideas for the innovative design of mechanical structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0018] Figure 1 is a schematic diagram of the three-dimensional structure of a multi-degree-of-freedom robotic ankle in a preferred embodiment of the present invention;

[0019] Figure 2 yes Figure 1 A schematic diagram of the three-dimensional structure of the multi-degree-of-freedom robotic ankle from another perspective is shown;

[0020] Figure 3 yes Figure 1 A schematic diagram of the three-dimensional structure of the contoured calf, contoured sole and first reversing mechanism in the multi-degree-of-freedom robot ankle;

[0021] Figure 4 yes Figure 3 The enlarged schematic diagram at A in the middle;

[0022] Figure 5 yes Figure 1 A schematic diagram of the three-dimensional structure of the first cross block and the first connecting axis in the multi-degree-of-freedom robot ankle;

[0023] Figure 6 yes Figure 1 A schematic diagram of the three-dimensional structure of the adjusting screw, the second reversing adjusting mechanism and the third reversing adjusting mechanism in the multi-degree-of-freedom machine ankle is shown;

[0024] Figure 7 yes Figure 6 Enlarged structural diagram at B in the middle.

[0025] Explanation of the reference numerals in the specification: 100, contoured sole; 200, contoured calf; 300, adjusting screw; 310, main body; 320, telescopic end; 400, first reversing adjustment mechanism; 410, first universal joint fork; 411, first fixed plate; 412, first interdigital finger; 420, first cross block; 430, first connecting shaft; 500, second reversing adjustment mechanism; 510, second universal joint fork; 511, second fixed plate; 512, second interdigital finger; 520, second cross block; 600, third reversing adjustment mechanism; 610, assembly frame; 611, rotating sleeve; 620, mounting block; 621, rotating shaft; 1001, first rotation center line; 1002, second rotation center line; 1003, third rotation center line; 1004, fourth rotation center line; 1005, fifth rotation center line. DETAILED DESCRIPTION

[0026] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0027] Embodiment 1

[0028] See also Figure 1 and Figure 2 As shown, this embodiment provides a multi-degree-of-freedom robot ankle, which includes: a contoured sole 100; a contoured calf 200, one end of which is rotatably connected to the contoured sole 100 through a first reversing adjustment mechanism 400; two adjusting screws 300, which are symmetrically arranged on both sides of the contoured sole 100 in the width direction, and are both arranged along the height direction of the contoured calf 200, one end of any adjusting screw 300 is connected to the contoured sole 100 through a second reversing adjustment mechanism 500, and the other end is rotatably connected to the contoured calf 200 through a third reversing adjustment mechanism 600.

[0029] The multi-degree-of-freedom mechanical ankle described in this embodiment realizes multi-dimensional flexible driving of the contoured sole 100 and the contoured calf 200 through the driving process of the adjusting screw 300, wherein the contoured calf 200 and the contoured sole 100 can perform multi-degree-of-freedom relative movement, thereby realizing a highly contoured simulation of the ankle structure, which not only has higher mobility flexibility, but also enables it to always maintain a stable supporting structure on the special-shaped surface, thereby greatly improving its scope of application. Compared with the conventional mechanical ankle structure at this stage, the present application has a more ingenious structural design, higher flexibility of use, higher mobility stability, more precise adjustment accuracy and a wider range of usage scenarios, providing new ideas for the innovative design of bionic mechanical structures.

[0030] See also Figure 3 and Figure 4 As shown, in this embodiment, the contoured sole 100 is used to support the contoured shank 200. In order to reduce its overall mass, it can be set as a hollow structure. The contoured shank 200 can move with multiple degrees of freedom relative to the contoured sole 100, and the adjusting screw 300 is used to provide driving force for the contoured shank 200. Further, in order to achieve flexible adjustment between the contoured shank 200 and the contoured sole 100, a first reversing adjustment mechanism 400 is set between the two in this embodiment. Specifically, the first reversing adjustment mechanism 400 includes two first universal joint forks 410 and a first cross block 420, one of the first universal joint forks 410 is connected to the contoured sole 100 and is rotatably connected to the first cross block 420 around a first rotation center line 1001, and the other first universal joint fork 410 is connected to the contoured shank 200 and is rotatably connected to the first cross block 420 around a second rotation center line 1002. Furthermore, the first universal joint fork 410 in this embodiment includes a first fixing plate 411 and two first interdigits 412, wherein the two first interdigits 412 are arranged at both ends of the first fixing plate 411 and are arranged perpendicular to the first fixing plate 411, wherein the first fixing plate 411 is connected to the contoured sole 100 or the contoured calf 200, and the two first interdigits 412 are respectively rotatably connected to the opposite sides of the first cross block 420. The first rotation center line 1001 passes through the two first interdigits 412 in one first universal joint fork 410 and passes through the center of the first cross block 420, and the second rotation center line 1002 passes through the two first interdigits 412 in another first universal joint fork 410 and passes through the center of the first cross block 420. Specifically, see Figure 5 As shown, in this embodiment, the first cross block 420 and the first universal joint fork 410 are both rotatably connected via the first connecting shaft 430 .

[0031] In this embodiment, the adjusting screw 300 is a linear drive structure, which includes a main body 310 and a telescopic end 320, wherein the telescopic end 320 is inserted into the main body 310 and can be telescopically moved along the length direction of the adjusting screw 300, wherein the telescopic end 320 is connected to the second reversing mechanism, and the main body 310 is connected to the third reversing adjustment mechanism 600. In order to convert the linear driving effect of the adjusting screw 300 into a multi-dimensional universal drive for the contoured calf 200 and the contoured sole 100, the second reversing adjustment mechanism 500 and the third reversing adjustment mechanism 600 are respectively provided in this embodiment, wherein the second reversing adjustment mechanism 500 is connected between the adjusting screw and the contoured sole 100, and the third reversing adjustment mechanism 600 is connected between the adjusting screw 300 and the contoured calf 200.

[0032] See also Figure 6 and Figure 7 As shown, any of the second reversing adjustment mechanisms 500 in this embodiment includes two second universal joint forks 510 and a second cross block 520, wherein one of the second universal joint forks 510 is connected to the contoured sole 100 and is rotationally connected to the second cross block 520 around the third rotation center line 1003, and the other second universal joint fork 510 is connected to the contoured calf 200 and is rotationally connected to the second cross block 520 around the fourth rotation center line 1004. Specifically, the second universal joint fork 510 includes a second fixing plate 511 and two second fork fingers 512, wherein the two second fork fingers 512 are disposed at both ends of the second fixing plate 511 and are both disposed perpendicular to the second fixing plate 511, wherein the second fixing plate 511 is connected to the contoured sole 100 or the contoured calf 200, and the two second fork fingers 512 are rotationally connected to opposite sides of the second cross block 520, respectively. Likewise, the second cross block 520 and the second universal joint fork 510 are both rotatably connected via the second connecting shaft.

[0033] In this embodiment, the third reversing adjustment mechanism 600 includes a mounting block 620 and two assembly frames 610, wherein the mounting block 620 is arranged on the contoured calf 200, and the two assembly frames 610 are respectively fixed to the tops of the two adjusting screws 300, and are both rotatably connected to the mounting block 620 around the fifth rotation center line 1005. The mounting block 620 and the assembly frame 610 rotate relative to each other, thereby realizing the relative rotation between the contoured calf and the adjusting screw 300. Further, see Figure 6As shown, the mounting block 620 in this embodiment is provided with two connection grooves, any of which can be provided with a rotating shaft 621, and the assembly frame is provided with a rotating sleeve 611, which is sleeved on the rotating shaft 621. The rotating shaft 621 is preferably a spherical rotating shaft 621 to provide a multi-dimensional rotating connection structure.

[0034] The multi-degree-of-freedom robot ankle in this embodiment also includes a control mechanism, and the two adjustment screws 300 are respectively connected to the control mechanism by signal. During the actual movement process, the operator can adjust the above structure in real time through the control mechanism, thereby improving the flexibility of the use of the robot ankle, and can also preset parameters through the control mechanism, thereby improving the automation of the robot ankle.

[0035] Embodiment 2

[0036] This embodiment provides a multi-degree-of-freedom robotic ankle driving method, which is used to drive and control the multi-degree-of-freedom robotic ankle described in Embodiment 1, and includes:

[0037] Step S1, establishing a global fixed coordinate system and a dynamic coordinate system of the contoured calf in an initial state, and calibrating a plurality of reference points in the dynamic coordinate system, wherein the origin of the dynamic coordinate system is the center of the first reversing mechanism;

[0038] Step S2, driving the contoured calf by adjusting the lead screw to extend and retract, and monitoring the position change of the reference point in the global fixed coordinate system to obtain the driving amount of the adjusting lead screw;

[0039] Step S3, setting parameters of the adjusting screw by the driving amount of the adjusting screw to drive the contoured calf and the contoured sole to move to the target position.

[0040] Further, in step S1, the contoured calf and the contoured sole are arranged perpendicular to each other in the initial state, and the origin of the fixed coordinate system is set on the contoured calf; in step S2, the rotation amount of any of the adjusting screws around the X axis in the fixed coordinate system is set to θx, and the rotation amount around the Y axis is set to θy, then the posture matrix R of the contoured calf can be obtained as:

[0041]

[0042] Thereby, the real-time coordinates of the two centers of the second reversing mechanisms can be obtained, and the actual length of the adjusting screw can be calculated in the dynamic coordinate system.

[0043] In summary, the multi-degree-of-freedom mechanical ankle and its driving method described in the present invention realize multi-dimensional flexible driving of the contoured sole and contoured calf through the driving process of the adjusting screw, wherein the contoured calf and the contoured sole can perform multi-degree-of-freedom relative movement, thereby realizing a highly contoured simulation of the ankle structure, which not only has higher mobility flexibility, but also enables it to always maintain a stable supporting structure on the special-shaped surface, thereby greatly improving its scope of application. Compared with the conventional mechanical ankle structure at this stage, the present application has a more ingenious structural design, higher flexibility of use, higher mobility stability, more precise adjustment accuracy and a wider range of usage scenarios, providing new ideas for the innovative design of mechanical structures.

[0044] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A multi-degree-of-freedom robotic ankle, characterized in that: include: contoured feet; A contoured calf, one end of which is rotatably connected to the contoured sole of the foot via a first reversing adjustment mechanism; Two adjusting screws are symmetrically arranged on both sides of the contoured sole in the width direction, and are both set along the height direction of the contoured calf. One end of any adjusting screw is connected to the contoured sole through a second reversing adjustment mechanism, and the other end is rotatably connected to the contoured calf through a third reversing adjustment mechanism.

2. The multi-degree-of-freedom robotic ankle according to claim 1, characterized in that: The first reversing adjustment mechanism includes two first universal joint forks and a first cross block, wherein one of the first universal joint forks is connected to the contoured sole and is rotatably connected to the first cross block around a first rotation center line, and the other first universal joint fork is connected to the contoured calf and is rotatably connected to the first cross block around a second rotation center line.

3. The multi-degree-of-freedom robotic ankle according to claim 2, characterized in that: The first universal joint fork includes a first fixed plate and two first fork fingers, wherein the two first fork fingers are arranged at both ends of the first fixed plate and are both arranged perpendicular to the first fixed plate, wherein the first fixed plate is connected to the contoured sole of the foot or the contoured calf, and the two first fork fingers are respectively rotatably connected to the opposite sides of the first cross block.

4. The multi-degree-of-freedom robotic ankle according to claim 1, characterized in that: Any of the second reversing adjustment mechanisms includes two second universal joint forks and a second cross block, wherein one of the second universal joint forks is connected to the contoured sole and is rotatably connected to the second cross block around a third rotation center line, and the other second universal joint fork is connected to the contoured calf and is rotatably connected to the second cross block around a fourth rotation center line.

5. The multi-degree-of-freedom robotic ankle according to claim 4, characterized in that: The second universal joint fork includes a second fixed plate and two second fork fingers, wherein the two second fork fingers are arranged at both ends of the second fixed plate and are both arranged perpendicular to the second fixed plate, wherein the second fixed plate is connected to the contoured sole of the foot or the contoured calf, and the two second fork fingers are respectively rotatably connected to the opposite sides of the second cross block.

6. The multi-degree-of-freedom robotic ankle according to claim 1, characterized in that: The third reversing adjustment mechanism includes a mounting block and two assembly frames, wherein the mounting block is arranged on the contoured calf, and the two assembly frames are respectively fixed to the tops of the two adjusting screws and are both rotatably connected to the mounting block around a fifth rotation center line.

7. The multi-degree-of-freedom robotic ankle according to claim 6, characterized in that: The mounting block is provided with two connecting grooves, any of which can be provided with a rotating shaft, and the assembly frame is provided with a rotating sleeve, which is sleeved on the rotating shaft.

8. The multi-degree-of-freedom robotic ankle according to claim 1, characterized in that: The adjusting screw includes a main body and a telescopic end, wherein the telescopic end is inserted into the main body and can be telescopically moved along the length direction of the adjusting screw, wherein the telescopic end is connected to the second reversing mechanism, and the main body is connected to the third reversing adjustment mechanism.

9. The multi-degree-of-freedom robotic ankle according to claim 1, characterized in that: The multi-degree-of-freedom robotic ankle also includes a control mechanism, and the two adjustment screws are respectively connected to the control mechanism by signals.

10. A multi-degree-of-freedom robot ankle driving method, characterized in that: Used to drive and control the multi-degree-of-freedom robotic ankle described in any one of claims 1 to 9, comprising: Step S1, establishing a global fixed coordinate system and a dynamic coordinate system of the contoured calf in an initial state, and calibrating a plurality of reference points in the dynamic coordinate system, wherein the origin of the dynamic coordinate system is the center of the first reversing mechanism; Step S2, driving the contoured calf by adjusting the lead screw to extend and retract, and monitoring the position change of the reference point in the global fixed coordinate system to obtain the driving amount of the adjusting lead screw; Step S3, setting parameters of the adjusting screw by the driving amount of the adjusting screw to drive the contoured calf and the contoured sole to move to the target position.

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