3D-printed continuous carbon fiber biomimetic robotic ankle mechanism

Abstract

The application relates to the technical field of robots, and discloses a 3D printing continuous carbon fiber bionic robot ankle mechanism, which comprises a carbon fiber bionic talus, the inside of the top end of the carbon fiber bionic talus is provided with a transmission mechanism, the top of the carbon fiber bionic talus is rotationally connected with a support frame one on the side far away from the transmission mechanism, the top of the support frame one is rotationally connected with two ankle flexion and extension rotating discs, the support frame two is fixedly connected between the two ankle flexion and extension rotating discs, the inside of the support frame one is provided with a sliding groove, and the top of the carbon fiber bionic talus is fixedly connected with a carbon fiber bionic calcaneus. Through the synergistic effect of the ankle flexion and extension mechanism, the simulation joint torsion mechanism and the like, the movement mode of the human foot can be highly simulated, and the robot has better moving ability and adaptability in complex terrains such as rugged mountain roads, steps and the like.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a bionic robot ankle mechanism based on 3D-printed continuous carbon fiber. Background Technology

[0002] Bionic robots are intelligent machines that integrate bioscience and engineering technology. They are modeled after living organisms, mimicking their appearance and behavior. Through advanced sensors, they perceive their environment and respond to changes as flexibly as living organisms. Their drive systems simulate the musculoskeletal movements of living organisms, achieving lifelike actions. Bionic robots are widely used in medical, military, and scientific research fields, not only assisting humans in completing complex and dangerous tasks but also providing new avenues for exploring biological mysteries and advancing technological development. The ankle support system, enabling walking, is an indispensable part of bionic robots.

[0003] The existing bionic robot's ankle has a limited ability to simulate human foot movement, which makes it easy for the bionic robot to tip over when walking, especially in complex terrain such as rugged mountain roads and stairs. This results in insufficient mobility and adaptability of the bionic robot. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a bionic robot ankle mechanism based on 3D-printed continuous carbon fiber, which solves the problem of insufficient mobility and adaptability of bionic robots in existing technologies.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a foot and ankle mechanism based on 3D-printed continuous carbon fiber bionic robot, including a carbon fiber bionic talus. A transmission mechanism is located inside the top of the carbon fiber bionic talus. A support frame one is rotatably connected to the side of the top of the carbon fiber bionic talus away from the transmission mechanism. Two ankle flexion-extension rotating disks are rotatably connected to the top of the support frame one. A support frame two is fixedly connected between the two ankle flexion-extension rotating disks. A sliding groove is provided inside the support frame one. A carbon fiber bionic calcaneus is fixedly connected to the top of the carbon fiber bionic talus. A joint torsion sleeve is fixedly connected to the top of the carbon fiber bionic calcaneus. A spring damping mechanism is rotatably connected inside the joint torsion sleeve. A pneumatic silicone pad one is fixedly connected to the bottom of the carbon fiber bionic talus. A pneumatic silicone pad two is fixedly connected to the side of the bottom of the carbon fiber bionic talus away from the pneumatic silicone pad one.

[0006] Preferably, the transmission mechanism includes two stepper motors, with the exterior of the two stepper motors respectively disposed on both sides of the interior of the carbon fiber bionic talus. The output end of each stepper motor is fixedly connected to a connecting rotary joint, and the top of the connecting rotary joint is rotatably connected to a pneumatic transmission rod. The output end of the pneumatic transmission rod is rotatably connected to the outside of the ankle flexion and extension rotating disk.

[0007] Preferably, the spring damping mechanism includes a movable rod, the bottom of which is rotatably connected to the inside of the joint torsion sleeve, a mounting base plate is fixedly connected to the outer bottom end of the movable rod, a limit block is fixedly connected to the top of the movable rod, a sleeve is slidably connected to the outside of the movable rod, a mounting top plate is fixedly connected to the outside of the sleeve, and a shock-absorbing spring is sleeved on the outside of the sleeve.

[0008] Preferably, the limiting block is slidably connected inside the sleeve, and both the first pneumatic silicone pad and the second pneumatic silicone pad are equipped with foot pressure sensors.

[0009] Preferably, one end of the shock-absorbing spring is fixedly connected to the bottom of the mounting top plate, and the other end of the shock-absorbing spring is fixedly connected to the top of the mounting base plate.

[0010] Preferably, the output end of the pneumatic transmission rod is slidably connected inside the groove, and the bottom of the connecting rotary pair is rotatably connected to the top of the carbon fiber bionic talus.

[0011] Preferably, the second support frame is disposed between the two first support frames, and the joint torsion sleeve is disposed between the inner sides of the second support frame.

[0012] This invention provides a biomimetic robotic ankle mechanism based on 3D-printed continuous carbon fiber. It offers the following advantages:

[0013] 1. This invention, through the synergistic action of the ankle flexion and extension mechanism and the simulated joint torsion mechanism, can highly simulate the movement of the human foot, enabling the robot to have better mobility and adaptability in complex terrains such as rugged mountain roads and steps.

[0014] 2. This invention, through the design of a spring damping mechanism, foot pressure sensor, and pneumatic silicone pad, can effectively buffer vibration and impact, and at the same time adjust according to the ground pressure in real time, thereby improving the stability and safety of robot movement. Attached Figure Description

[0015] Figure 1 The three-dimensional representation of the present invention Figure 1 ;

[0016] Figure 2 The three-dimensional representation of the present invention Figure 2 ;

[0017] Figure 3 This is a schematic diagram of the pneumatic transmission rod in this invention;

[0018] Figure 4 This is a schematic diagram of the sleeve structure in this invention.

[0019] The components include: 1. Carbon fiber bionic talus; 2. Pneumatic silicone pad one; 3. Transmission mechanism; 301. Stepper motor; 302. Connecting rotating pair; 303. Pneumatic transmission rod; 4. Support frame one; 5. Support frame two; 6. Ankle flexion and extension rotating disc; 7. Slide groove; 8. Joint torsion sleeve; 9. Spring damping mechanism; 901. Movable rod; 902. Mounting base plate; 903. Limiting block; 904. Sleeve; 905. Mounting top plate; 906. Shock-absorbing spring; 10. Pneumatic silicone pad two; 11. Carbon fiber bionic calcaneus. Detailed Implementation

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see the appendix Figure 1 -Appendix Figure 4This invention provides a foot and ankle mechanism for a 3D-printed continuous carbon fiber biomimetic robot, including a carbon fiber biomimetic talus 1. A transmission mechanism 3 is located inside the top of the carbon fiber biomimetic talus 1. A support frame 4 is rotatably connected to the side of the top of the carbon fiber biomimetic talus 1 away from the transmission mechanism 3. Two ankle flexion and extension rotating disks 6 are rotatably connected to the top of the support frame 4 and are located within the support frame 5. Driven by a stepper motor 301 and a connecting rotating joint 302, the mechanism enables flexion and extension movements of the ankle, simulating the flexion and extension movements of the human foot. This makes the robot's walking, climbing, and other movements more biomechanically sound. A second support frame 5 is fixedly connected between the ankle flexion and extension rotating discs 6. Both the first support frame 4 and the second support frame 5 are made of 3D-printed continuous carbon fiber, providing a stable support structure for the entire ankle mechanism. They possess high strength and lightweight characteristics, capable of withstanding various loads during robot movement. The first support frame 4 has internal grooves 7. A carbon fiber bionic talus 1 is fixedly connected to the top of the carbon fiber bionic talus 1, and a joint torsion sleeve 8 is fixedly connected to the top of the carbon fiber bionic calcaneus 11, enabling torsional joint movement and increasing the flexibility of the ankle in different directions, allowing it to better adapt to complex terrain. The joint torsion sleeve 8 has an internal rotating connection with a spring damping mechanism 9, which provides cushioning and damping during robot movement, reducing vibration and impact, and improving the smoothness and comfort of movement. A pneumatic silicone pad 2 is fixedly connected to the bottom of the carbon fiber bionic talus 1, and a pneumatic silicone pad 2 10 is fixedly connected to the side of the bottom of the carbon fiber bionic talus 1 away from the pneumatic silicone pad 2. A support frame 2 5 is positioned between two support frames 1 4, and the joint torsion sleeve 8 is positioned between the inner sides of the support frame 2 5. Foot pressure sensors are located within the pneumatic silicone pads 1 2 and 2 10, enabling real-time sensing of foot pressure. The surface pressure information is fed back to the robot control system. At the same time, the pneumatic silicone pad can adaptively adjust according to the pressure changes, providing better grip and cushioning. The carbon fiber bionic talus 1 and carbon fiber bionic calcaneus 11 are both made of 3D printed continuous carbon fiber, which has similar mechanical properties and structural characteristics to human bones. It can effectively reduce the weight of the foot and ankle mechanism while ensuring sufficient strength, and better simulate the movement of human foot bones. By using 3D printed continuous carbon fiber to manufacture key components, the foot and ankle mechanism can achieve lightweight while ensuring high strength, reducing the overall load of the robot and improving energy utilization efficiency.

[0022] The transmission mechanism 3 includes two stepper motors 301, which are respectively disposed on the outer sides of the carbon fiber bionic talus 1. The output ends of the stepper motors 301 are fixedly connected to a connecting rotary joint 302. A pneumatic transmission rod 303 is rotatably connected to the top of the connecting rotary joint 302. Force is transmitted through pneumatic transmission to assist ankle movement. The pneumatic pressure can be adjusted according to different movement needs to achieve different movement modes. The output end of the pneumatic transmission rod 303 is rotatably connected to the outer side of the ankle flexion-extension rotating disk 6, and slidably connected to the inside of the slide groove 7. The bottom of the carbon fiber bionic talus 1 is rotatably connected to the top of the carbon fiber bionic talus 1. When the carbon fiber bionic talus 1 is rotated, the stepper motor 301 is activated. After the output end of the stepper motor 301 rotates, it drives the connecting rotating joint 302 to rotate. After the connecting rotating joint 302 rotates, it can adjust the tilt of the pneumatic transmission rod 303, which in turn drives the carbon fiber bionic talus 1 to rotate, thus realizing the rotation of the carbon fiber bionic talus 1. When jumping or walking, the pneumatic transmission rod 303 is activated. The output end of the pneumatic transmission rod 303 extends and drives the carbon fiber bionic talus 1 to rotate downward, thus realizing jumping or walking.

[0023] The spring damping mechanism 9 includes a movable rod 901, the bottom of which is rotatably connected to the inside of the joint torsion sleeve 8. A mounting base plate 902 is fixedly connected to the outer bottom end of the movable rod 901. A limit block 903 is fixedly connected to the top of the movable rod 901. A sleeve 904 is slidably connected to the outside of the movable rod 901. A mounting top plate 905 is fixedly connected to the outside of the sleeve 904. A shock-absorbing spring 906 is sleeved on the outside of the sleeve 904. The limit block 903 is slidably connected inside the sleeve 904. A pneumatic silicone pad 2 is connected to a pneumatic... Each silicone pad 210 is equipped with a foot pressure sensor. One end of the shock-absorbing spring 906 is fixedly connected to the bottom of the mounting top plate 905, and the other end of the shock-absorbing spring 906 is fixedly connected to the top of the mounting base plate 902. When shock absorption is performed, the sleeve 904 moves downward, which can drive the mounting top plate 905 to move downward. This allows the sleeve 904 to slide outside the movable rod 901, and the mounting top plate 905 can compress the shock-absorbing spring 906, thereby utilizing the elasticity of the shock-absorbing spring 906 to perform shock absorption.

[0024] Working principle: When the carbon fiber bionic talus 1 is rotated, the stepper motor 301 is activated. After the output end of the stepper motor 301 rotates, it drives the connecting rotary joint 302 to rotate. After the connecting rotary joint 302 rotates, it can adjust the tilt of the pneumatic transmission rod 303, which in turn drives the carbon fiber bionic talus 1 to rotate, thus realizing the rotation of the carbon fiber bionic talus 1. When jumping or walking, the pneumatic transmission rod 303 is activated. The output end of the pneumatic transmission rod 303 extends and drives the carbon fiber bionic talus 1 to rotate downward, thus realizing jumping or walking.

[0025] When vibration reduction is performed, the sleeve 904 moves downward, which in turn drives the mounting plate 905 to move downward. This allows the sleeve 904 to slide outside the movable rod 901, and the mounting plate 905 can compress the damping spring 906, thereby utilizing the elasticity of the damping spring 906 to perform vibration reduction.

[0026] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A biomimetic robotic foot and ankle mechanism based on 3D-printed continuous carbon fiber, comprising a carbon fiber biomimetic talus (1), characterized in that, The top of the carbon fiber bionic talus (1) is equipped with a transmission mechanism (3). Two support frames (4) are rotatably connected to the side of the top of the carbon fiber bionic talus (1) away from the transmission mechanism (3). An ankle flexion-extension rotating disc (6) is rotatably connected to the top of the support frame (4). A support frame (5) is fixedly connected between the two ankle flexion-extension rotating discs (6). A groove (7) is provided inside the support frame (4). A carbon fiber bionic calcaneus (11) is fixedly connected to the top of the carbon fiber bionic talus (1). The top of the carbon fiber bionic calcaneus (11) is fixedly connected to a joint torsion sleeve (8), and the inside of the joint torsion sleeve (8) is rotatably connected to a spring damping mechanism (9). The bottom of the carbon fiber bionic talus (1) is fixedly connected to a pneumatic silicone pad one (2), and the bottom of the carbon fiber bionic talus (1) away from the pneumatic silicone pad one (2) is fixedly connected to a pneumatic silicone pad two (10). The second support frame (5) is set between the two first support frames (4), and the joint torsion sleeve (8) is set between the inner sides of the second support frame (5). The transmission mechanism (3) includes two stepper motors (301). The two stepper motors (301) are respectively disposed on the outside of the carbon fiber bionic talus (1) on both sides. The output end of the stepper motor (301) is fixedly connected to a connecting rotating pair (302). The top of the connecting rotating pair (302) is rotatably connected to a pneumatic transmission rod (303). The output end of the pneumatic transmission rod (303) is rotatably connected to the outside of the ankle flexion and extension rotating disk (6). The output end of the pneumatic transmission rod (303) is slidably connected to the inside of the slide groove (7). The bottom of the connecting rotating pair (302) is rotatably connected to the top of the carbon fiber bionic talus (1). The spring damping mechanism (9) includes a movable rod (901), the bottom of which is rotatably connected to the inside of the joint torsion sleeve (8), a mounting base plate (902) is fixedly connected to the bottom of the movable rod (901), a limit block (903) is fixedly connected to the top of the movable rod (901), a sleeve (904) is slidably connected to the outside of the movable rod (901), a mounting top plate (905) is fixedly connected to the outside of the sleeve (904), and a shock-absorbing spring (906) is sleeved on the outside of the sleeve (904).

2. The 3D-printed continuous carbon fiber biomimetic robot ankle mechanism according to claim 1, characterized in that, The limiting block (903) is slidably connected inside the sleeve (904), and foot pressure sensors are provided inside both the pneumatic silicone pad one (2) and the pneumatic silicone pad two (10).

3. The 3D-printed continuous carbon fiber bionic robot ankle mechanism according to claim 1, characterized in that, One end of the shock-absorbing spring (906) is fixedly connected to the bottom of the mounting top plate (905), and the other end of the shock-absorbing spring (906) is fixedly connected to the top of the mounting base plate (902).

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