A robot simulation ankle structure driven by a motor

Abstract

The application discloses a robot simulation ankle joint structure driven by a motor and relates to the field of mechanical arms, which comprises a mechanical shank support, rear and front instep parts located at the bottom of the mechanical shank support, wherein the front instep part is hingedly assembled at the front end of the rear instep part through a second positioning shaft, a connecting component is arranged between the rear instep part and the front instep part, and an ankle joint unit is arranged between the mechanical shank support and the rear instep part. In the application, the rear instep part and the front instep part can be adjusted in four directions (forward, backward, left and right) at the bottom of the mechanical shank support through the cooperation of the first rotating shaft and the second bevel gear in the adjusting box body and the two sets of second rotating shafts and first bevel gears, and the state of the simulation ankle joint can be adjusted. Under the action of the driving unit, the deflection positions of the rear instep part and the front instep part can be accurately positioned, thereby replacing the existing simple series driving, greatly saving the assembly space and enabling the mechanical arm to be flexibly moved in a narrow space.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, specifically to a robot-simulated ankle joint structure driven by an electric motor. Background Technology

[0002] Robotic arms or feet assembled through mechanical structures can mimic human operation and replace human workers in performing tasks. The elbow or ankle joints of these robotic arms or feet are directly driven by motors for directional adjustment. However, existing methods simply involve stacking motors for drive (simple series connection to achieve directional offset adjustment of the simulated joint, requiring stacked assembly space). The motors protrude too much from the main body of the robotic arm, making it suitable only for large-space construction scenarios and unsuitable for operation and processing in small spaces. They also have poor dynamic performance and are difficult to move flexibly in confined spaces. Summary of the Invention

[0003] The purpose of this invention is to provide a robot-simulated ankle joint structure driven by a motor, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a robot simulated ankle joint structure driven by a motor, comprising: a mechanical lower leg support, a hind foot portion and a forefoot portion located at the bottom of the mechanical lower leg support, wherein the forefoot portion is hinged to the front end of the hind foot portion via a second positioning shaft, a connecting component is provided between the hind foot portion and the forefoot portion, an ankle joint unit is provided between the mechanical lower leg support and the hind foot portion, the ankle joint unit enables the hind foot portion to have a four-way deflection function at the bottom of the mechanical lower leg support, and a drive unit is also provided between the mechanical lower leg support and the ankle joint unit; The ankle joint unit includes an adjustment box located between the mechanical calf support and the hindfoot. The adjustment box is rotatably fitted with a first rotating shaft, which is perpendicular to the second positioning shaft. The adjustment box is also rotatably fitted with two second rotating shafts, which are symmetrical about the first rotating shaft. One end of each of the two second rotating shafts extending into the adjustment box is fixedly fitted with a first bevel tooth, and the outer surface of the first rotating shaft is fixedly fitted with a second bevel tooth that meshes with both first bevel teeth.

[0005] Preferably, the first rotating shaft is fixedly provided with hangers at both ends, and the bottom of the hangers is fixedly provided with the rear foot part, and each of the second rotating shafts is rotatably assembled with the mechanical lower leg bracket away from the first bevel tooth.

[0006] Preferably, the drive unit includes a first motor and a second motor fixedly disposed inside the mechanical leg bracket, with the first motor and the second motor distributed vertically, their output ends facing away from each other, and both output ends parallel to the second rotating shaft. A first eccentric column is eccentrically fixed to the end of each second rotating shaft away from the first bevel gear. A second eccentric column is eccentrically fixed to the output ends of both the first motor and the second motor via a turntable. A second crank connecting rod is rotatably mounted between one set of the first eccentric columns and the second eccentric columns on the same side, and a first crank connecting rod is rotatably mounted between the other set of the first eccentric columns and the second eccentric columns. The distance between the axis of the second eccentric column and the axis of the output end of the first motor or the second motor is 'a', and the distance between the axis of the first eccentric column and the axis of the second rotating shaft is 'b', where a = b.

[0007] Preferably, the connecting component includes a first positioning shaft rotatably mounted inside the forefoot portion, and a collar is rotatably sleeved on the outer surface of the first positioning shaft. A V-shaped guide wheel is also rotatably sleeved on the outer surface of the second positioning shaft. A straight cylindrical cavity is provided inside the rearfoot portion. A detachable end cap is provided at one end of the straight cylindrical cavity away from the forefoot portion. A limiting plate is slidably mounted inside the straight cylindrical cavity. A pull rope is provided between the limiting plate and the collar, and the pull rope is fixedly set with the collar. The pull rope is also located in the V-groove of the V-shaped guide wheel. A first spring is provided between the side of the limiting plate near the forefoot portion and the rearfoot portion, and the pull rope passes through the center of the first spring.

[0008] Preferably, the end of the pull rope away from the collar is rotatably provided with a threaded post, and the threaded post is threadedly assembled inside the limiting plate. The end of the threaded post away from the pull rope is provided with an internal hexagonal groove. At least one sliding block is fixedly provided on the outer surface of the limiting plate, and the inner wall of the straight cylinder cavity is provided with a straight groove for the sliding block to slide.

[0009] Preferably, a hollow box is fixedly provided at the bottom of both the heel and forefoot, and a foot pad is provided at the bottom of the hollow box. The foot pad is used to increase the friction between the bottom of the heel and forefoot and the contact surface. The foot pad is made of silicone or rubber material, and a disassembly and assembly component is provided between the hollow box and the foot pad on the same side.

[0010] Preferably, the disassembly and assembly components include a threaded rod rotatably assembled inside the hollow box body, and the threaded rod is parallel to the first rotating shaft. At least one set of insert rods is fixedly provided on the top of each foot pad, and the number of insert rods in each set is two. With the threaded rod as the center of symmetry, the insert rods are inserted into the interior of the hollow box body. Two arc-shaped limiting blocks are distributed on the outer surface of each insert rod inside the hollow box body, and the arc-shaped limiting blocks are fixedly provided to the hollow box body. A limiting strip is fixedly provided on the side of each arc-shaped limiting block near the threaded rod. A limiting component is also provided between the threaded rod and the insert rod.

[0011] Preferably, the limiting component includes a slider slidably mounted between the two limiting bars, a threaded sleeve block threadedly fitted on the outer surface of the threaded rod, and the upper and lower end faces of the threaded sleeve block slidingly fitting with the upper and lower end faces of the hollow box body, a limiting groove being formed inside the insert rod, a step block being fixedly provided at the end of the slider away from the threaded rod, and the step block being slidably embedded inside the limiting groove, a sleeve being hingedly provided on the side of the slider near the threaded rod, a connecting rod being slidably inserted inside the sleeve, the exposed end of the connecting rod being hinged to the threaded sleeve block, and a sleeve block being fixedly provided at the other end of the connecting rod, and a second spring being fixedly provided between the side of the sleeve block away from the connecting rod and the sleeve.

[0012] Preferably, the inclined surface of the step block faces upward, and the edge of the limiting groove near the slider is provided with a chamfer.

[0013] Preferably, one end of the threaded rod extends to the outside of the hollow box, and an insert is fixedly provided at the exposed end of the threaded rod. The end face of the insert has an internal hexagonal groove, a slotted groove, or a cross groove. The outer surface of the threaded rod has several positioning grooves distributed equidistantly in a circle. Two symmetrically distributed connecting plates are distributed on the outer side of the threaded rod, and the connecting plates are slidably assembled with the hollow box. A slide rod is fixedly provided at one end of the connecting plate that extends into the hollow box. The slide rod intersects the axis of the threaded rod perpendicularly. A brake pad that engages with the positioning groove is fixedly provided at one end of the slide rod near the threaded rod. The slide rod is axially slidably assembled inside the hollow box. A third spring is fixedly provided between the end of the connecting plate away from the threaded rod and the hollow box. A baffle is fixedly provided at the end of the connecting plate away from the slide rod, and the baffle slides and covers the end of the insert. An arc groove is provided on the side of the baffle near the center of the insert.

[0014] Compared with the prior art, the beneficial effects of the present invention are: In this invention, by adjusting the first rotating shaft and the second bevel gear inside the box, as well as the cooperation between the two sets of second rotating shafts and the first bevel gear, the heel and forefoot can be adjusted in four directions (forward, backward, left, and right) at the bottom of the mechanical lower leg support, mimicking the state of the ankle joint. Under the action of the drive unit, the directional position of the heel and forefoot can be accurately positioned, thus replacing the existing simple serial drive, which can greatly save assembly space, allowing the robotic arm to move flexibly in a narrow space and making it more adaptable. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the first crank connecting rod and the second crank connecting rod of the present invention; Figure 3 This is a schematic diagram of the discrete structure of the present invention; Figure 4 This is a schematic diagram of the internal structure of the adjustment box of the present invention; Figure 5 This is a schematic diagram of the structure of the heel and forefoot of the present invention; Figure 6 This is a schematic diagram of the internal structure of the hollow box in this invention; Figure 7 This is a schematic diagram of the arc-shaped limiting block and the insert rod structure of the present invention; Figure 8 For the present invention Figure 7 Enlarged view of point A in the middle; Figure 9 This is a schematic diagram showing the distribution of the baffle positions in this invention; Figure 10 For the present invention Figure 9 Enlarged view at point B in the middle; Figure 11 This is a schematic diagram showing the folded state of the heel and forefoot parts of the present invention.

[0016] In the diagram: 1. Mechanical lower leg support; 2. Adjustment box; 3. First rotating shaft; 4. Hanger; 5. Rear foot part; 6. Forefoot part; 7. Second rotating shaft; 8. First eccentric column; 9. First bevel gear; 10. Second bevel gear; 11. First motor; 12. Second motor; 13. Turntable; 14. Second eccentric column; 15. First crank connecting rod; 16. Second crank connecting rod; 17. First positioning shaft; 18. Collar; 19. Second positioning shaft; 20. V-shaped guide wheel; 21. Limiting plate; 22. 23. Threaded column; 24. Sliding block; 25. Straight groove; 26. Pull rope; 27. First spring; 28. Foot pad; 29. ​​Limiting groove; 30. Limiting strip; 31. Sliding block; 32. Step block; 33. Sleeve; 34. Connecting rod; 35. Second spring; 36. Positioning groove; 37. Connecting plate; 38. Sliding rod; 39. Brake pad; 40. Baffle; 41. Arc groove; 42. Third spring; 43. Hollow box; 44. Threaded rod; 45. Arc limiting block; 46. Threaded sleeve block; 47. Insert rod. Detailed Implementation

[0017] The technical solutions of 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.

[0018] Example 1: Please refer to Figures 1-11 The diagram shows a robot ankle joint structure driven by a motor, including: a mechanical lower leg support 1, a rear foot 5 and a forefoot 6 located at the bottom of the mechanical lower leg support 1, and the forefoot 6 is hinged to the front end of the rear foot 5 through a second positioning shaft 19. A connecting component is provided between the rear foot 5 and the forefoot 6. An ankle joint unit is provided between the mechanical lower leg support 1 and the rear foot 5. The ankle joint unit enables the rear foot 5 to have a four-way deflection function at the bottom of the mechanical lower leg support 1. A drive unit is also provided between the mechanical lower leg support 1 and the ankle joint unit. The ankle joint unit includes an adjustment box 2 located between the mechanical calf support 1 and the heel 5. The adjustment box 2 is rotatably equipped with a first rotating shaft 3, and the first rotating shaft 3 is perpendicular to the second positioning shaft 19. The adjustment box 2 is also rotatably equipped with two second rotating shafts 7, and the two second rotating shafts 7 are symmetrical about the first rotating shaft 3. One end of the two second rotating shafts 7 that extends into the adjustment box 2 is fixedly fitted with a first bevel tooth 9, and the outer surface of the first rotating shaft 3 is fixedly equipped with a second bevel tooth 10 that meshes with the two first bevel teeth 9.

[0019] The first rotating shaft 3 is fixedly provided with a hanger 4 at both the front and rear ends, and the bottom of the hanger 4 is fixedly provided with the rear foot part 5. Each second rotating shaft 7 is rotatably assembled with the mechanical lower leg bracket 1 away from the first bevel tooth 9.

[0020] The drive unit includes a first motor 11 and a second motor 12 fixedly installed inside the mechanical leg support 1. The first motor 11 and the second motor 12 are arranged vertically, and their output ends are arranged opposite to each other. The output ends of the first motor 11 and the second motor 12 are parallel to the second rotating shaft 7. A first eccentric column 8 is eccentrically fixed at the end of each second rotating shaft 7 away from the first bevel tooth 9. A second eccentric column 14 is eccentrically fixed at the output ends of the first motor 11 and the second motor 12 through the turntable 13. A second crank connecting rod 16 is rotatably assembled between one set of first eccentric columns 8 and second eccentric columns 14 on the same side, and a first crank connecting rod 15 is rotatably assembled between the other set of first eccentric columns 8 and second eccentric columns 14. The distance between the axis of the second eccentric column 14 and the axis of the output end of the first motor 11 or the second motor 12 is a, and the distance between the axis of the first eccentric column 8 and the axis of the second rotating shaft 7 is b, and a=b. When the outputs of the first motor 11 and the second motor 12 deflect the two second eccentric columns 14 synchronously and in the same direction in a mirror manner, the two first bevel gears 9 can also deflect synchronously and in the same direction through the transmission action of the first crank connecting rod 15 and the second crank connecting rod 16. At this time, the second bevel gear 10 is locked between the two first bevel gears 9. In this case, the two first bevel gears 9 will clamp the second bevel gear 10 and carry the adjusting box 2 to deflect around the second rotating shaft 7. When the output ends of the first motor 11 and the second motor 12 deflect the two second eccentric columns 14 synchronously in opposite directions, the transmission through the first crank connecting rod 15 and the second crank connecting rod 16 enables the two second rotating shafts 7 to also deflect the two first bevel gears 9 synchronously in opposite directions. At this time, the second bevel gears 10 deflect the first rotating shaft 3, the hanger 4, and the rear foot part 5. In this way, the angle orientation of the rear foot part 5 and the forefoot part 6 can be adjusted in four directions.

[0021] Example 2: Please refer to Figure 5This embodiment is a further explanation of the above embodiment. The connecting component includes a first positioning shaft 17 rotatably mounted inside the forefoot portion 6, and a collar 18 is rotatably sleeved on the outer surface of the first positioning shaft 17. A V-shaped guide wheel 20 is also rotatably sleeved on the outer surface of the second positioning shaft 19. A straight cylindrical cavity is provided inside the heel portion 5. A detachable end cap is provided at one end of the straight cylindrical cavity away from the forefoot portion 6. A limiting plate 21 is slidably mounted inside the straight cylindrical cavity. A pull rope 25 is provided between the limiting plate 21 and the collar 18. 5 and the collar 18 are fixedly set. The pull rope 25 is located in the V-groove of the V-shaped guide wheel 20. A first spring 26 is set between the side of the limiting plate 21 near the forefoot 6 and the rearfoot 5. The pull rope 25 passes through the center of the first spring 26. When the forefoot 6 and the rearfoot 5 are folded together, the collar 18 will pull the limiting plate 21 through the pull rope 25, thereby compressing the first spring 26. The reaction force generated by the compression of the first spring 26 can be used for the subsequent reset between the rearfoot 5 and the forefoot 6.

[0022] A threaded post 22 is rotatably provided at the end of the pull rope 25 away from the collar 18, and the threaded post 22 is threadedly fitted inside the limiting plate 21. The end of the threaded post 22 away from the pull rope 25 is provided with an internal hexagonal groove. By engaging the internal hexagonal groove with a wrench, the threaded post 22 can be turned. At least one sliding block 23 is fixedly provided on the outer surface of the limiting plate 21, and a straight groove 24 for sliding block 23 is opened on the inner wall of the straight cylinder cavity. The straight groove 24 restricts the sliding block 23, preventing the sliding block 23 from rotating inside the straight cylinder cavity. At this time, by rotating the threaded post 22, the position of the threaded post 22 inside the limiting plate 21 can be adjusted, that is, the first spring 26 can be compressed a certain distance in advance. Then, when the rear foot 5 and the forefoot 6 fold together, the reaction force generated is greater, making it easier for the two to reset. At the same time, when the first spring 26 experiences elastic fatigue and the elastic force is insufficient, the first spring 26 can also be compressed to ensure the reset elastic force in the later stage.

[0023] Example 3: Please refer to Figures 6-10 This embodiment is a further explanation of the above embodiment. Hollow boxes 42 are fixedly provided at the bottom of both the heel part 5 and the forefoot part 6, and foot pads 27 are provided at the bottom of the hollow boxes 42. The foot pads 27 are used to increase the friction between the bottom of the heel part 5 and the forefoot part 6 and the contact surface. The foot pads 27 are made of silicone and rubber. A disassembly and assembly component is provided between the hollow boxes 42 and the foot pads 27 on the same side. The foot pads 27 can be quickly replaced and disassembled through the disassembly and assembly component. Since the foot pads 27 are easily worn, they need to be replaced frequently.

[0024] The assembly and disassembly components include a threaded rod 43 rotatably mounted inside the hollow box 42, with the threaded rod 43 parallel to the first rotating shaft 3. At least one set of insert rods 46 are fixedly installed on the top of each foot pad 27, with two insert rods 46 in each set, symmetrically positioned with the threaded rod 43 as the center. The insert rods 46 are inserted into the interior of the hollow box 42. Two arc-shaped limiting blocks 44 are distributed on the outer surface of each insert rod 46 inside the hollow box 42, and the arc-shaped limiting blocks 44 are fixedly installed with the hollow box 42. A limiting strip 29 is fixedly installed on the side of each arc-shaped limiting block 44 near the threaded rod 43. A limiting component is also provided between the threaded rod 43 and the insert rod 46. When the insert rod 46 is inserted into the interior of the hollow box 42, the threaded rod 43 can drive the limiting component, allowing the limiting component to limit the insert rod 46 between the two arc-shaped limiting blocks 44, thereby completing the fixation of the foot pad 27.

[0025] The limiting components include a slider 30 slidably mounted between two limiting bars 29, a threaded sleeve block 45 threadedly fitted on the outer surface of the threaded rod 43, and the upper and lower end faces of the threaded sleeve block 45 slidingly fitting with the upper and lower end faces of the hollow box 42. A limiting groove 28 is opened inside the insert rod 46. A step block 31 is fixedly provided at the end of the slider 30 away from the threaded rod 43, and the step block 31 is slidably embedded in the limiting groove 28. A sleeve 32 is hingedly provided on the side of the slider 30 near the threaded rod 43. A connecting rod 33 is slidably inserted inside the sleeve 32. The exposed end of the connecting rod 33 is hinged to the threaded sleeve block 45, and a sleeve block is fixedly provided at the other end of the connecting rod 33. A second spring 34 is fixedly provided between the side of the sleeve block away from the connecting rod 33 and the sleeve 32. When the threaded rod 43 rotates and the threaded sleeve block 45 moves, the slider 30 can be pushed towards the insert rod 46 through the connecting rod 33 and the sleeve 32, so that the step block 31 can abut against the inside of the limiting groove 28.

[0026] The inclined surface of the step block 31 faces upward, and the edge of the limiting groove 28 near the slider 30 is provided with a chamfer. When the step block 31 moves into the limiting groove 28, the inclined surface of the step block 31 can press the insert rod 46 upward through the chamfer, thereby improving the tightness of the fit between the foot pad 27 and the bottom of the hollow box 42.

[0027] One end of the threaded rod 43 extends to the outside of the hollow box 42, and an insert is fixedly provided at the exposed end of the threaded rod 43. The end face of the insert has an internal hexagonal groove, a slotted groove, or a cross groove. Several positioning grooves 35 are circumferentially distributed on the outer surface of the threaded rod 43. Two symmetrically distributed connecting plates 36 are distributed on the outer side of the threaded rod 43, and the connecting plates 36 are slidably assembled with the hollow box 42. A sliding rod 37 is fixedly provided at one end of the connecting plate 36 that extends into the hollow box 42. The sliding rod 37 intersects the axis of the threaded rod 43 perpendicularly. A brake pad 38 that engages with the positioning groove 35 is fixedly provided at the end of the sliding rod 37 near the threaded rod 43. The sliding rod 37 is axially slidably assembled in the hollow box 42. Inside, a third spring 41 is fixedly installed between the end of the connecting plate 36 away from the threaded rod 43 and the hollow box 42. A baffle 39 is fixedly installed at the end of the connecting plate 36 away from the slide rod 37, and the baffle 39 slides and covers the end of the insert. An arc groove 40 is provided on the side of the baffle 39 near the center of the insert. When the wrench is engaged with the internal hexagonal groove, slotted groove, or cross groove in the insert, the two baffles 39 can be pushed outward through the arc groove 40. In fact, if the brake slab 38 is separated from the positioning groove 35, the positioning groove 35 is no longer restricted. Only then can the threaded rod 43 rotate. Otherwise, the threaded rod 43 will not be arbitrarily touched and rotated, thus ensuring the stability of the step block 31 in restricting the insert rod 46.

[0028] Working Principle: To address uneven ground surfaces, when the mechanical lower leg support 1, carrying the rear foot 5 and forefoot 6, lands, the tilt angle of the rear foot 5 and forefoot 6 is adaptively adjusted based on the landing position via the coordinated action of the second motor 12 and the first motor 11. When the first motor 11 and the second motor 12 drive the two turntables 13 to move synchronously in opposite directions, the first rotating shaft 3 can deflect the rear foot 5 and forefoot 6 to the left or right. Furthermore, when the first motor 11 and the second motor 12 drive the two turntables 13... When rotating synchronously in the same direction, the two second rotating shafts 7 can deflect the adjustment box 2, the rear foot part 5, and the front foot part 6 at the front and rear angles. Through the fine-tuning of the offset in four directions, the mechanical lower leg support 1 can stand stably on the ground with the support of the rear foot part 5 and the front foot part 6. Through the assembly method of the structure in this solution, the space occupied by the robotic arm can be minimized, allowing the robotic arm to work flexibly in narrow spaces. Through the cooperation of the first bevel tooth 9 and the second bevel tooth 10, the adjustment can be effectively mimicked by the ankle joint.

[0029] The foot pads 27 on the bottom of the heel 5 and forefoot 6 are used to increase the friction between the two and the ground to prevent slippage during operation. Since the foot pads 27 are in frequent contact with the ground and are prone to wear, the position of the threaded sleeve block 45 can be adjusted by rotating the threaded rod 43, so that the slider 30, along with the step block 31, can press against or separate the connecting plate 36, thus enabling the foot pads 27 to be replaced quickly.

[0030] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0031] 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 robot-simulated ankle joint structure driven by a motor, characterized in that, include: A mechanical calf support (1) is located at the bottom of the mechanical calf support (1) with a rear foot part (5) and a forefoot part (6). The forefoot part (6) is hinged to the front end of the rear foot part (5) via a second positioning shaft (19). A connecting component is provided between the rear foot part (5) and the forefoot part (6). An ankle joint unit is provided between the mechanical calf support (1) and the rear foot part (5). The ankle joint unit enables the rear foot part (5) to have a four-way deflection function at the bottom of the mechanical calf support (1). A drive unit is also provided between the mechanical calf support (1) and the ankle joint unit. The ankle joint unit includes an adjustment box (2) located between the mechanical calf support (1) and the hindfoot part (5). The adjustment box (2) is rotatably equipped with a first rotating shaft (3). The adjustment box (2) is also rotatably equipped with two second rotating shafts (7), which are symmetrical about the first rotating shaft (3). One end of the two second rotating shafts (7) extending into the adjustment box (2) is fixedly sleeved with a first bevel tooth (9). The outer surface of the first rotating shaft (3) is fixedly equipped with a second bevel tooth (10) that meshes with the two first bevel teeth (9). Hollow boxes (42) are fixedly provided at the bottom of both the heel (5) and the forefoot (6), and foot pads (27) are provided at the bottom of the hollow boxes (42). The foot pads (27) are used to increase the friction between the bottom of the heel (5) and the forefoot (6) and the contact surface. The foot pads (27) are made of silicone and rubber. A disassembly and assembly component is provided between the hollow boxes (42) and the foot pads (27) on the same side. The disassembly and assembly components include a threaded rod (43) rotatably assembled inside the hollow box (42), and the threaded rod (43) is parallel to the first rotating shaft (3). At least one set of insert rods (46) is fixedly provided on the top of each foot pad (27). The number of insert rods (46) in each set is two. With the threaded rod (43) as the center of symmetry, the insert rods (46) are inserted into the interior of the hollow box (42). There are two arc-shaped limiting blocks (44) distributed on the outer surface of each insert rod (46) inside the hollow box (42). The arc-shaped limiting blocks (44) are fixedly provided with the hollow box (42). Each arc-shaped limiting block (44) is fixedly provided with a limiting strip (29) on the side of the threaded rod (43). A limiting component is also provided between the threaded rod (43) and the insert rod (46). The limiting component includes a slider (30) slidably mounted between the two limiting bars (29), a threaded sleeve block (45) threadedly fitted on the outer surface of the threaded rod (43), a limiting groove (28) opened inside the insert rod (46), a step block (31) fixedly provided at one end of the slider (30) away from the threaded rod (43), and the step block (31) slidably fitted inside the limiting groove (28), a sleeve (32) hingedly provided on one side of the slider (30) near the threaded rod (43), a connecting rod (33) slidably inserted inside the sleeve (32), the exposed end of the connecting rod (33) hinged to the threaded sleeve block (45), and a sleeve block fixedly provided at the other end of the connecting rod (33), and a second spring (34) fixedly provided between the side of the sleeve block away from the connecting rod (33) and the sleeve (32). One end of the threaded rod (43) extends to the outside of the hollow box (42), and an insert is fixedly provided at the exposed end of the threaded rod (43). The end face of the insert is provided with an internal hexagonal groove, a slotted groove, or a cross groove. Several positioning grooves (35) are provided on the outer surface of the threaded rod (43) in a circumferentially equidistant manner. Two symmetrically distributed connecting plates (36) are distributed on the outer side of the threaded rod (43), and the connecting plates (36) are slidably assembled with the hollow box (42). A slide rod (37) is fixedly provided at one end of the connecting plate (36) that extends into the hollow box (42). (37) A brake pad (38) that fits into the positioning groove (35) is fixedly provided at one end near the threaded rod (43). The slide rod (37) is axially slidably assembled inside the hollow box (42). A third spring (41) is fixedly provided between the end of the connecting plate (36) away from the threaded rod (43) and the hollow box (42). A baffle (39) is fixedly provided at the end of the connecting plate (36) away from the slide rod (37). The baffle (39) slides and covers the end of the insert. An arc groove (40) is provided on the side of the baffle (39) near the center of the insert.

2. The robot simulated ankle joint structure driven by a motor according to claim 1, characterized in that: The first rotating shaft (3) is fixedly provided with a hanger (4) at both ends, and the bottom of the hanger (4) is fixedly provided with the rear foot part (5). Each second rotating shaft (7) is rotatably assembled with the mechanical calf support (1) away from the first bevel tooth (9).

3. The robot simulated ankle joint structure driven by a motor according to claim 2, characterized in that: The drive unit includes a first motor (11) and a second motor (12) fixedly installed inside the mechanical leg support (1). The output ends of the first motor (11) and the second motor (12) are arranged opposite to each other, and the output ends of the first motor (11) and the second motor (12) are parallel to the second rotating shaft (7). Each second rotating shaft (7) has a first eccentric column (8) eccentrically fixed at one end away from the first bevel tooth (9). The output ends of the first motor (11) and the second motor (12) are eccentrically fixed with a second eccentric column (14) through a turntable (13). A second crank connecting rod (16) is rotatably assembled between one set of the first eccentric columns (8) and the second eccentric columns (14) on the same side, and a first crank connecting rod (15) is rotatably assembled between the other set of the first eccentric columns (8) and the second eccentric columns (14).

4. The robot simulated ankle joint structure driven by a motor according to claim 2, characterized in that: The connecting component includes a first positioning shaft (17) rotatably mounted inside the forefoot part (6), and a collar (18) is rotatably sleeved on the outer surface of the first positioning shaft (17). A V-shaped guide wheel (20) is also rotatably sleeved on the outer surface of the second positioning shaft (19). A straight cylinder cavity is provided inside the rearfoot part (5). A limiting plate (21) is slidably mounted inside the straight cylinder cavity. A pull rope (25) is provided between the limiting plate (21) and the collar (18). The pull rope (25) and the collar (18) are fixedly set. The pull rope (25) is located in the V-groove of the V-shaped guide wheel (20). A first spring (26) is provided between the side of the limiting plate (21) near the forefoot part (6) and the rearfoot part (5).

5. The robot simulated ankle joint structure driven by a motor according to claim 4, characterized in that: The end of the pull rope (25) away from the collar (18) is rotatably provided with a threaded post (22), and the threaded post (22) is threadedly fitted inside the limiting plate (21). The end of the threaded post (22) away from the pull rope (25) is provided with an internal hexagonal groove. At least one sliding block (23) is fixedly provided on the outer surface of the limiting plate (21), and the inner wall of the straight cylinder cavity is provided with a straight groove (24) for the sliding block (23) to slide.

6. The robot simulated ankle joint structure driven by a motor according to claim 1, characterized in that: The inclined surface of the step block (31) is tilted upwards, and the edge of the limiting groove (28) near the slider (30) is provided with a chamfer.

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