Simulation robot shank mechanism

Abstract

According to the simulation robot shank mechanism, the upper portion of a shank structural part is connected between the lower portion of a knee joint power output structural part and the lower portion of a knee joint passive end structural part, the lower portion of the shank structural part is connected with an ankle cross shaft part, and the ankle cross shaft part is fixed to the upper portion of a foot plate assembly; the first ankle joint driving motor is fixed to the first motor mounting position, the power output end of the first ankle joint driving motor is connected with the upper portion of the first rocker arm swinging piece, and the lower portion of the first rocker arm swinging piece is connected with one side of the ankle connecting rod. The second ankle joint driving motor is fixed to the second motor installation position, the power output end of the second ankle joint driving motor is connected with the upper portion of the second rocker arm swinging piece, and the lower portion of the second rocker arm swinging piece is connected with the other side of the ankle connecting rod. The shank structure is high in overall layout compactness and high in joint integration degree, a large movement range of a robot can be achieved, and flexibility and universality are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and particularly relates to a calf mechanism of a simulation robot. Background Art

[0002] With the deepening of people's understanding of the intelligent nature of robot technology, robot technology has begun to continuously penetrate into various fields of human activities. Combining the application characteristics of these fields, people have developed various special robots and various intelligent robots with the abilities of perception, decision-making, action and interaction.

[0003] A robot is a machine device that automatically performs work. It can not only accept human commands, but also run pre-programmed programs, or act according to the principles and guidelines formulated by artificial intelligence technology. It is the product of the advanced integration of cybernetics, mechatronics, computers, materials and bionics, and has important uses in industries, medicine, agriculture, service industries, construction, and even military and other fields.

[0004] For a simulation robot, a reliable mechanical structure design is the premise to ensure the realization of the robot's software control or programmed actions. Especially for a humanoid biped robot, the weight distribution of the legs is an important factor affecting the robot's performance. The layout compactness, joint integration degree and versatility of the leg structure are also relatively crucial. How to design a calf mechanism of a simulation robot with a compact layout, high joint integration degree and strong flexibility has important application value. Content of the Utility Model

[0005] Therefore, the utility model provides a calf mechanism of a simulation robot, with a more compact structure layout, high joint integration degree and stronger flexibility.

[0006] To achieve the above object, the utility model provides the following technical solution: a calf mechanism of a simulation robot, comprising a calf assembly, an ankle assembly and a foot plate assembly; the calf assembly includes a knee joint power output structural member, a knee joint passive end structural member, a calf structural member, a first ankle driving motor, a second ankle driving motor, a first rocker swing member and a second rocker swing member; the ankle assembly includes an ankle cross shaft member and an ankle connecting rod.

[0007] A knee joint driving motor is arranged between the knee joint power output structural member and the knee joint passive end structural member; the power output end of the knee joint driving motor is connected to the knee joint power output structural member, and the other end of the knee joint driving motor is connected to the knee joint passive end structural member.

[0008] The upper part of the calf structural member is connected between the lower part of the knee joint power output structural member and the lower part of the knee joint passive end structural member. The lower part of the calf structural member is connected to the ankle cross shaft member, and the ankle cross shaft member is fixed above the foot plate assembly.

[0009] The calf structural member is formed with a first motor mounting position and a second motor mounting position. The first ankle driving motor is fixed at the first motor mounting position, and the power output end of the first ankle driving motor is connected to the upper part of the first rocker swinging member. The lower part of the first rocker swinging member is connected to one side of the ankle connecting rod.

[0010] The second ankle driving motor is fixed at the second motor mounting position, and the power output end of the second ankle driving motor is connected to the upper part of the second rocker swinging member. The lower part of the second rocker swinging member is connected to the other side of the ankle connecting rod.

[0011] As a preferred solution for the calf mechanism of the simulation robot, the orientation of the power output end of the first ankle driving motor is opposite to that of the power output end of the second ankle driving motor.

[0012] The length of the first rocker swinging member is greater than that of the second rocker swinging member.

[0013] As a preferred solution for the calf mechanism of the simulation robot, a foot plate adapter is provided at the lower end of the ankle connecting rod. The ankle cross shaft member is connected to the foot plate adapter, and the foot plate adapter is fixed above the foot plate assembly.

[0014] As a preferred solution for the calf mechanism of the simulation robot, a first hinge slot is formed at the lower end of the calf structural member, and a second hinge slot is formed on the foot plate adapter.

[0015] The ankle cross shaft member is formed with a transverse receiving groove and a longitudinal receiving groove. A transverse hinge portion is provided in the transverse receiving groove, and a longitudinal hinge portion is provided in the longitudinal receiving groove. The transverse hinge portion and the longitudinal hinge portion are distributed in a cross shape.

[0016] The transverse hinge portion is hinged to the first hinge slot, and the longitudinal hinge portion is hinged to the second hinge slot.

[0017] As a preferred solution for the calf mechanism of the simulation robot, the transverse hinge portion includes a first ankle transverse shaft needle bearing, a first ankle transverse shaft body, a left ankle transverse shaft gasket, a left ankle shaft end screw, a right ankle transverse shaft gasket, and a right ankle shaft end screw.

[0018] The first ankle transverse axis needle roller bearing is inside the transverse accommodation groove, and the first ankle transverse axis body passes through the centers of the first ankle transverse axis needle roller bearing, the left ankle transverse axis gasket, and the right ankle transverse axis gasket; the left ankle transverse axis gasket is filled on one side of the transverse accommodation groove, and the right ankle transverse axis gasket is filled on the other side of the transverse accommodation groove;

[0019] One end of the first ankle transverse axis body is exposed outside the left ankle transverse axis gasket, and the other end of the first ankle transverse axis body is exposed outside the right ankle transverse axis gasket; the first ankle transverse axis body of the first hinge slot and the transverse hinge part is hinged;

[0020] The left ankle shaft end screw connects one end of the first ankle transverse axis body, and the right ankle shaft end screw connects the other end of the first ankle transverse axis body.

[0021] As a preferred solution of the calf mechanism of the simulation robot, the longitudinal hinge part includes a second ankle transverse axis needle roller bearing, a second ankle transverse axis body, a front ankle transverse axis gasket, a front ankle shaft end screw, a rear ankle transverse axis gasket, and a rear ankle shaft end screw;

[0022] The second ankle transverse axis needle roller bearing is inside the longitudinal accommodation groove, and the second ankle transverse axis body passes through the centers of the second ankle transverse axis needle roller bearing, the front ankle transverse axis gasket, and the rear ankle transverse axis gasket; the front ankle transverse axis gasket is filled on one side of the longitudinal accommodation groove, and the rear ankle transverse axis gasket is filled on the other side of the longitudinal accommodation groove;

[0023] One end of the second ankle transverse axis body is exposed outside the front ankle transverse axis gasket, and the other end of the second ankle transverse axis body is exposed outside the rear ankle transverse axis gasket; the second ankle transverse axis body of the second hinge slot and the longitudinal hinge part is hinged;

[0024] The front ankle shaft end screw connects one end of the second ankle transverse axis body, and the rear ankle shaft end screw connects the other end of the second ankle transverse axis body.

[0025] As a preferred solution of the calf mechanism of the simulation robot, the first rocker swing part includes an ankle long connecting rod, a first ankle rocker swing part, a first spherical bearing, a first connecting rod pin shaft, and a second spherical bearing;

[0026] A first mounting hole is formed in the upper part of the ankle long connecting rod, a second mounting hole is formed in the lower part of the ankle long connecting rod, and the first ankle rocker swing part is connected to the first mounting hole through the first spherical bearing and the first connecting rod pin shaft; the second spherical bearing is connected to the second mounting hole, and the ankle long connecting rod is hinged to one side of the ankle connecting rod through the second spherical bearing.

[0027] As a preferred solution for the calf mechanism of the simulation robot, the first ankle rocker pendulum is formed with a first drive interface, and the first ankle rocker pendulum is connected to the power output end of the first ankle joint drive motor through the first drive interface.

[0028] As a preferred solution for the calf mechanism of the simulation robot, the second rocker swing member includes an ankle short link, a second ankle rocker pendulum, a third spherical bearing, a second link pin shaft, and a fourth spherical bearing;

[0029] A third mounting hole is formed in the upper part of the ankle short link, and a fourth mounting hole is formed in the lower part of the ankle short link. The second ankle rocker pendulum is connected to the third mounting hole through the third spherical bearing and the second link pin shaft; the fourth spherical bearing is connected to the fourth mounting hole, and the ankle short link is hinged to the other side of the ankle connecting rod through the fourth spherical bearing.

[0030] As a preferred solution for the calf mechanism of the simulation robot, the second ankle rocker pendulum is formed with a second drive interface, and the second ankle rocker pendulum is connected to the power output end of the second ankle joint drive motor through the second drive interface.

[0031] The beneficial effects of the present invention are as follows: it is provided with a calf assembly, an ankle assembly, and a foot plate assembly; the calf assembly includes a knee joint power output structural member, a knee joint passive end structural member, a calf structural member, a first ankle joint drive motor, a second ankle joint drive motor, a first rocker swing member, and a second rocker swing member; the ankle assembly includes an ankle cross shaft member and an ankle connecting rod; a knee joint drive motor is provided between the knee joint power output structural member and the knee joint passive end structural member; the power output end of the knee joint drive motor is connected to the knee joint power output structural member, and the other end of the knee joint drive motor is connected to the knee joint passive end structural member; the upper part of the calf structural member is connected between the lower part of the knee joint power output structural member and the lower part of the knee joint passive end structural member, and the lower part of the calf structural member is connected to the ankle cross shaft member, and the ankle cross shaft member is fixed above the foot plate assembly; the calf structural member is formed with a first motor mounting position and a second motor mounting position; the first ankle joint drive motor is fixed in the first motor mounting position, the power output end of the first ankle joint drive motor is connected to the upper part of the first rocker swing member, and the lower part of the first rocker swing member is connected to one side of the ankle connecting rod; the second ankle joint drive motor is fixed in the second motor mounting position, the power output end of the second ankle joint drive motor is connected to the upper part of the second rocker swing member, and the lower part of the second rocker swing member is connected to the other side of the ankle connecting rod. The overall layout of the calf structure of the present invention has strong compactness and high joint integration, can achieve a large movement range of the robot, and increases flexibility and versatility. Description of the Drawings

[0032] To more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary. For those of ordinary skill in the art, without creative efforts, other implementation drawings can also be obtained based on the provided drawings.

[0033] The structures, proportions, sizes, etc. shown in this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present utility model. Therefore, they do not have technical substantive significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects that the present utility model can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present utility model.

[0034] Figure 1 Stereoscopic schematic diagram of a simulation robot adopting the calf mechanism of the embodiment of the present utility model;

[0035] Figure 2 Stereoscopic schematic diagram of the calf mechanism of the simulation robot provided by the embodiment of the present utility model;

[0036] Figure 3 First - perspective stereoscopic schematic diagram of a part of the calf mechanism of the simulation robot provided by the embodiment of the present utility model;

[0037] Figure 4 Second - perspective stereoscopic schematic diagram of a part of the calf mechanism of the simulation robot provided by the embodiment of the present utility model;

[0038] Figure 5 Third - perspective stereoscopic schematic diagram of a part of the calf mechanism of the simulation robot provided by the embodiment of the present utility model;

[0039] Figure 6 Exploded schematic diagram of a part of the calf mechanism of the simulation robot provided by the embodiment of the present utility model;

[0040] Figure 7 Exploded schematic diagram of the ankle cross - shaft part of a part of the calf mechanism of the simulation robot provided by the embodiment of the present utility model.

[0041] In the figure, 1. calf component; 2. ankle component; 3. foot plate component; 4. knee joint power output structural member; 5. knee joint passive end structural member; 6. calf structural member; 7. first ankle joint drive motor; 8. second ankle joint drive motor; 9. first rocker swing member; 10. second rocker swing member; 11. ankle cross shaft member; 12. ankle connecting rod; 13. knee joint drive motor; 14. first motor mounting position; 15. second motor mounting position; 16. foot plate adapter; 17. first hinge slot; 18. second hinge slot; 19. transverse receiving groove; 20. longitudinal receiving groove; 21. transverse hinge portion; 22. longitudinal hinge portion; 23. first ankle horizontal shaft needle bearing; 24. first ankle horizontal shaft body; 25. left ankle horizontal shaft gasket; 26. left ankle shaft end screw; 27. right ankle horizontal shaft gasket; 28. right ankle shaft end screw; 29. second ankle horizontal shaft needle bearing; 30. second ankle horizontal shaft body; 31. front ankle horizontal shaft gasket; 32. front ankle shaft end screw; 33. rear ankle horizontal shaft gasket; 34. rear ankle shaft end screw; 35. ankle long connecting rod; 36. first ankle rocker swing member; 37. first spherical bearing; 38. first connecting rod pin shaft; 39. second spherical bearing; 40. first drive interface; 41. ankle short connecting rod; 42. second ankle rocker swing member; 43. third spherical bearing; 44. second connecting rod pin shaft; 45. fourth spherical bearing; 46. second drive interface. Detailed implementation manners

[0042] The following specific embodiments illustrate the implementation manners of the present utility model. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model.

[0043] In order to fully disclose the simulation robot calf mechanism of the embodiments of the present utility model, the following content describes the simulation robot adopting the calf mechanism of the embodiments of the present utility model:

[0044] See Figure 1 , the simulation robot adopting the calf mechanism of the embodiments of the present utility model is provided with a head mechanism, a torso mechanism, a left arm mechanism, a right arm mechanism, a hip mechanism, a left leg mechanism and a right leg mechanism;

[0045] Among them, the head mechanism is connected to the upper end of the torso mechanism, and the head mechanism has 2 degrees of freedom of movement: the head mechanism rotates and pitches relative to the torso mechanism;

[0046] Among them, the left-arm mechanism is connected to the left side of the torso mechanism. The left-arm mechanism has 4 degrees of freedom of motion: the left-arm mechanism rotates relative to the torso mechanism, the left-arm mechanism pitches relative to the torso mechanism, the upper arm of the left-arm mechanism rotates, and the elbow of the left-arm mechanism swings forward.

[0047] Among them, the right-arm mechanism is connected to the right side of the torso mechanism. The right-arm mechanism has 4 degrees of freedom of motion: the right-arm mechanism rotates relative to the torso mechanism, the right-arm mechanism pitches relative to the torso mechanism, the upper arm of the right-arm mechanism rotates, and the elbow of the right-arm mechanism swings forward.

[0048] Among them, the hip mechanism is connected to the lower end of the torso mechanism. The hip mechanism has 1 degree of freedom of motion: the hip mechanism rotates relative to the torso mechanism.

[0049] Among them, the left-leg mechanism is connected to the left side of the hip mechanism. The left-leg mechanism has 6 degrees of freedom of motion: the left-leg mechanism swings forward, swings laterally, rotates, the knee swings forward, the ankle swings forward, and the ankle swings laterally.

[0050] Among them, the right-leg mechanism is connected to the right side of the hip mechanism. The right-leg mechanism has 6 degrees of freedom of motion: the right-leg mechanism swings forward, swings laterally, rotates, the knee swings forward, the ankle swings forward, and the ankle swings laterally.

[0051] Among them, the driving motors of the head mechanism, torso mechanism, left-arm mechanism, right-arm mechanism, hip mechanism, left-leg mechanism, and right-leg mechanism are all powered by the battery pack, and at the same time, the main controller controls the actions of the head mechanism, torso mechanism, left-arm mechanism, right-arm mechanism, hip mechanism, left-leg mechanism, and right-leg mechanism, so as to realize the rotation and pitching motion of the head mechanism relative to the torso mechanism, realize the rotation motion of the left-arm mechanism relative to the torso mechanism, the pitching motion of the left-arm mechanism relative to the torso mechanism, the rotation of the upper arm of the left-arm mechanism, and the forward swing of the elbow of the left-arm mechanism; realize the rotation motion of the right-arm mechanism relative to the torso mechanism, the pitching motion of the right-arm mechanism relative to the torso mechanism, the rotation of the upper arm of the right-arm mechanism, and the forward swing of the elbow of the right-arm mechanism; realize the rotation motion of the hip mechanism relative to the torso mechanism; the rotation of the hip mechanism relative to the left-leg mechanism; the rotation of the hip mechanism relative to the right-leg mechanism; realize the forward swing, lateral swing, rotation, knee forward swing, ankle forward swing, and ankle lateral swing motions of the left-leg mechanism; realize the forward swing, lateral swing, rotation, knee forward swing, ankle forward swing, and ankle lateral swing motions of the right-leg mechanism.

[0052] Among them, a binocular camera is installed at the top of the head mechanism. Through the head rotation drive motor and the head pitch drive motor, the rotation and pitch movements of the head binocular camera can be realized. Among them, the head rotation drive motor that controls the rotation of the binocular camera is fixed inside the trunk frame of the trunk mechanism. The output flange of the head rotation drive motor is connected to the fixed end of the head pitch drive motor that controls the pitch of the binocular camera. The output flange of the head pitch drive motor that controls the pitch of the binocular camera is connected to the camera mounting assembly to realize the movement of the binocular camera.

[0053] Among them, the left arm rotation drive motor inside the trunk frame can drive the left arm pitch drive motor, the left upper arm, the left elbow rotation drive motor, the left elbow swing drive motor and the left lower arm to rotate. The left arm pitch drive motor can drive the left upper arm, the left elbow rotation drive motor, the left elbow swing drive motor and the left lower arm to pitch. The left elbow rotation drive motor can drive the left elbow swing drive motor and the left lower arm to rotate. The left elbow swing drive motor can drive the left lower arm to swing. The right arm rotation drive motor inside the trunk frame can drive the right arm pitch drive motor, the right upper arm, the right elbow rotation drive motor, the right elbow swing drive motor and the right lower arm to rotate. The right arm pitch drive motor can drive the right upper arm, the right elbow rotation drive motor, the right elbow swing drive motor and the right lower arm to pitch. The right elbow rotation drive motor can drive the right elbow swing drive motor and the right lower arm to rotate. The right elbow swing drive motor can drive the right lower arm to swing. The waist rotation drive motor can drive the hip structure to rotate through the hip flange. The left leg swing drive motor inside the hip structure can drive the entire left leg mechanism to swing. The right leg swing drive motor inside the hip structure can drive the entire right leg mechanism to swing.

[0054] Among them, for the left leg swing drive motor and the right leg swing drive motor, a clamping structure can be connected to the hip structure. The clamping structure fixes the left leg swing drive motor and the right leg swing drive motor inside the hip structure through bolts. The hip mechanism drives the cross-leg drive assembly to swing through the leg swing drive motor, and the cross-leg drive motor of the cross-leg drive assembly can drive the thigh assembly and the calf assembly to move outward. The cross-leg drive motor is fixed through the cross-swing output structure and the cross-swing passive end structure, and power is output through the cross-swing output structure. The leg rotation drive motor can drive the leg rotation power output structure between the cross-swing output structure and the cross-swing passive end structure to rotate, thereby driving the leg extension, the knee joint drive motor and the lower calf assembly as a whole to rotate.

[0055] Among them, the knee joint drive motor can drive the calf assembly to swing back and forth. The knee joint drive motor is fixed through the knee joint passive end structural member and the knee joint power output structural member, and the knee joint drive motor drives the calf structural member to swing back and forth through the knee joint power output structural member. The first ankle joint drive motor drives the ankle assembly to swing through the first rocker swing member, and the second ankle joint drive motor drives the ankle assembly to swing through the second rocker swing member. Among them, the lower parts of the first rocker swing member and the second rocker swing member swing relative to the ankle connecting rod, and the calf structural member swings relative to the ankle cross shaft member. When the first ankle joint drive motor drives the first rocker swing member and the second ankle joint drive motor drives the second rocker swing member in the same direction, the ankle cross shaft member swings forward relative to the calf structural member. When the first ankle joint drive motor drives the first rocker swing member and the second ankle joint drive motor drives the second rocker swing member in the opposite direction, the ankle cross shaft member swings laterally relative to the calf structural member. Among them, the ankle assembly can drive the foot plate assembly to perform corresponding forward swing and lateral movement.

[0056] Based on the above simulation robot developed by the applicant:

[0057] See Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 The embodiment of the present utility model provides a calf mechanism of a simulation robot, including a calf assembly 1, an ankle assembly 2 and a foot plate assembly 3; the calf assembly 1 includes a knee joint power output structural member 4, a knee joint passive end structural member 5, a calf structural member 6, a first ankle joint drive motor 7, a second ankle joint drive motor 8, a first rocker swing member 9 and a second rocker swing member 10; the ankle assembly 2 includes an ankle cross shaft member 11 and an ankle connecting rod 12;

[0058] Among them, a knee joint drive motor 13 is provided between the knee joint power output structural member 4 and the knee joint passive end structural member 5; the power output end of the knee joint drive motor 13 is connected to the knee joint power output structural member 4, and the other end of the knee joint drive motor 13 is connected to the knee joint passive end structural member 5;

[0059] Among them, the upper part of the calf structural member 6 is connected between the lower part of the knee joint power output structural member 4 and the lower part of the knee joint passive end structural member 5, the lower part of the calf structural member 6 is connected to the ankle cross shaft member 11, and the ankle cross shaft member 11 is fixed above the foot plate assembly 3;

[0060] Among them, the calf structural member 6 is formed with a first motor mounting position 14 and a second motor mounting position 15; the first ankle joint drive motor 7 is fixed in the first motor mounting position 14, the power output end of the first ankle joint drive motor 7 is connected to the upper part of the first rocker swing member 9, and the lower part of the first rocker swing member 9 is connected to one side of the ankle connecting rod 12;

[0061] Among them, the second ankle joint drive motor 8 is fixed at the second motor mounting position 15. The power output end of the second ankle joint drive motor 8 is connected to the upper part of the second rocker swing member 10, and the lower part of the second rocker swing member 10 is connected to the other side of the ankle connecting rod 12;

[0062] Among them, a foot plate adapter 16 is provided at the lower end of the ankle connecting rod 12. The ankle cross shaft member 11 is connected to the foot plate adapter 16, and the foot plate adapter 16 is fixed above the foot plate assembly 3.

[0063] Specifically, the knee joint drive motor 13 is fixed through the knee joint passive end structural member 5 and the knee joint power output structural member 4. The knee joint drive motor 13 drives the calf structural member 6 to swing back and forth through the knee joint power output structural member 4. The first ankle joint drive motor 7 drives the ankle joint assembly 2 to swing through the first rocker swing member 9, and the second ankle joint drive motor 8 drives the ankle joint assembly 2 to swing through the second rocker swing member 10. Among them, the lower parts of the first rocker swing member 9 and the second rocker swing member 10 swing relative to the ankle connecting rod 12, and the calf structural member 6 swings relative to the ankle cross shaft member 11. When the first ankle joint drive motor 7 drives the first rocker swing member 9 and the second ankle joint drive motor 8 drives the second rocker swing member 10 in the same direction, the ankle cross shaft member 11 swings forward relative to the calf structural member 6. When the first ankle joint drive motor 7 drives the first rocker swing member 9 and the second ankle joint drive motor 8 drives the second rocker swing member 10 in the opposite direction, the ankle cross shaft member 11 swings laterally relative to the calf structural member 6. Among them, the ankle joint assembly 2 can drive the foot plate assembly 3 to perform corresponding forward swing and lateral movement.

[0064] Among them, the orientation of the power output end of the first ankle joint drive motor 7 is opposite to the orientation of the power output end of the second ankle joint drive motor 8; the length of the first rocker swing member 9 is greater than the length of the second rocker swing member 10. Thus, when the first ankle joint drive motor 7 drives the first rocker swing member 9 and the second ankle joint drive motor 8 drives the second rocker swing member 10 in the same direction, the ankle cross shaft member 11 swings forward relative to the calf structural member 6. When the first ankle joint drive motor 7 drives the first rocker swing member 9 and the second ankle joint drive motor 8 drives the second rocker swing member 10 in the opposite direction, the ankle cross shaft member 11 swings laterally relative to the calf structural member 6. And the structures of the first ankle joint drive motor 7, the second ankle joint drive motor 8, the first rocker swing member 9 and the second rocker swing member 10 are more compact and have stronger movement flexibility.

[0065] See Figure 6 and Figure 7, in this embodiment, a first hinge slot 17 is formed at the lower end of the calf structural member 6, and a second hinge slot 18 is formed on the foot plate adapter 16; the ankle cross shaft member 11 is formed with a transverse receiving groove 19 and a longitudinal receiving groove 20, the transverse receiving groove 19 is provided with a transverse hinge portion 21, and the longitudinal receiving groove 20 is provided with a longitudinal hinge portion 22; the transverse hinge portion 21 and the longitudinal hinge portion 22 are distributed in a cross shape; the transverse hinge portion 21 is hinged to the first hinge slot 17; the longitudinal hinge portion 22 is hinged to the second hinge slot 18.

[0066] Specifically, the first hinge slot 17 and the transverse hinge portion 21 play a role in connecting the calf structural member 6 and the ankle cross shaft member 11, and the calf structural member 6 rotates relative to the transverse hinge portion 21 of the ankle cross shaft member 11 through the first hinge slot 17. The second hinge slot 18 and the longitudinal hinge portion 22 play a role in connecting the foot plate adapter 16 and the ankle cross shaft member 11, and the foot plate adapter 16 rotates relative to the longitudinal hinge portion 22 of the ankle cross shaft member 11 through the second hinge slot 18. The transverse hinge portion 21 and the longitudinal hinge portion 22 form a cross-shaped ankle cross shaft member 11 through the transverse receiving groove 19 and the longitudinal receiving groove 20, with a more compact structure and stronger flexibility in movement.

[0067] In this embodiment, the transverse hinge portion 21 includes a first ankle transverse shaft needle bearing 23, a first ankle transverse shaft body 24, a left ankle transverse shaft gasket 25, a left ankle shaft end screw 26, a right ankle transverse shaft gasket 27, and a right ankle shaft end screw 28; the first ankle transverse shaft needle bearing 23 is inside the transverse receiving groove 19, and the first ankle transverse shaft body 24 passes through the centers of the first ankle transverse shaft needle bearing 23, the left ankle transverse shaft gasket 25, and the right ankle transverse shaft gasket 27; the left ankle transverse shaft gasket 25 is filled on one side of the transverse receiving groove 19, and the right ankle transverse shaft gasket 27 is filled on the other side of the transverse receiving groove 19; one end of the first ankle transverse shaft body 24 is exposed outside the left ankle transverse shaft gasket 25, and the other end of the first ankle transverse shaft body 24 is exposed outside the right ankle transverse shaft gasket 27; the first hinge slot 17 is hinged to the first ankle transverse shaft body 24 of the transverse hinge portion 21; the left ankle shaft end screw 26 connects one end of the first ankle transverse shaft body 24, and the right ankle shaft end screw 28 connects the other end of the first ankle transverse shaft body 24.

[0068] Specifically, the first ankle transverse axis needle roller bearing 23 is sleeved inside the transverse accommodation groove 19, and the first ankle transverse axis body 24 is sleeved inside the first ankle transverse axis needle roller bearing 23. Meanwhile, a left ankle transverse axis gasket 25 and a right ankle transverse axis gasket 27 are respectively sleeved on the left and right sides of the transverse accommodation groove 19. After the lower part of the calf structural member 6 is connected to the first ankle transverse axis body 24 through the first hinge card slot 17, the calf structural member 6 is limited by the left ankle shaft end screw 26 and the right ankle shaft end screw 28, so that the rotation of the first ankle transverse axis body 24 relative to the transverse accommodation groove 19 can be realized, and further the rotation of the calf structural member 6 relative to the transverse hinge portion 21 of the ankle cross shaft member 11 through the first hinge card slot 17 can be realized.

[0069] In this embodiment, the longitudinal hinge portion 22 includes a second ankle transverse axis needle roller bearing 29, a second ankle transverse axis body 30, a front ankle transverse axis gasket 31, a front ankle shaft end screw 32, a rear ankle transverse axis gasket 33, and a rear ankle shaft end screw 34. The second ankle transverse axis needle roller bearing 29 is located inside the longitudinal accommodation groove 20, and the second ankle transverse axis body 30 passes through the centers of the second ankle transverse axis needle roller bearing 29, the front ankle transverse axis gasket 31, and the rear ankle transverse axis gasket 33. The front ankle transverse axis gasket 31 is filled on one side of the longitudinal accommodation groove 20, and the rear ankle transverse axis gasket 33 is filled on the other side of the longitudinal accommodation groove 20. One end of the second ankle transverse axis body 30 is exposed outside the front ankle transverse axis gasket 31, and the other end of the second ankle transverse axis body 30 is exposed outside the rear ankle transverse axis gasket 33. The second hinge card slot 18 is hinged to the second ankle transverse axis body 30 of the longitudinal hinge portion 22. The front ankle shaft end screw 32 is connected to one end of the second ankle transverse axis body 30, and the rear ankle shaft end screw 34 is connected to the other end of the second ankle transverse axis body 30.

[0070] Specifically, the second ankle transverse axis needle roller bearing 29 is sleeved inside the longitudinal accommodation groove 20, and the second ankle transverse axis body 30 is sleeved inside the second ankle transverse axis needle roller bearing 29. Meanwhile, a front ankle transverse axis gasket 31 and a rear ankle transverse axis gasket 33 are respectively sleeved on the front and rear sides of the longitudinal accommodation groove 20. After the foot plate adapter 16 is connected to the second ankle transverse axis body 30 through the second hinge card slot 18, the foot plate adapter 16 is limited by the front ankle shaft end screw 32 and the rear ankle shaft end screw 34, so that the rotation of the second ankle transverse axis body 30 relative to the longitudinal accommodation groove 20 can be realized, and further the rotation of the foot plate adapter 16 relative to the longitudinal hinge portion 22 of the ankle cross shaft member 11 through the second hinge card slot 18 can be realized.

[0071] In this embodiment, the first rocker swing member 9 includes an ankle long link 35, a first ankle rocker swing member 36, a first spherical bearing 37, a first link pin shaft 38 and a second spherical bearing 39; a first mounting hole is formed in the upper part of the ankle long link 35, and a second mounting hole is formed in the lower part of the ankle long link 35. The first ankle rocker swing member 36 is connected to the first mounting hole through the first spherical bearing 37 and the first link pin shaft 38; the second spherical bearing 39 is connected to the second mounting hole, and the ankle long link 35 is hinged to one side of the ankle connecting rod 12 through the second spherical bearing 39; the first ankle rocker swing member 36 is formed with a first drive interface 40, and the first ankle rocker swing member 36 is connected to the power output end of the first ankle joint drive motor 7 through the first drive interface 40; the second rocker swing member 10 includes an ankle short link 41, a second ankle rocker swing member 42, a third spherical bearing 43, a second link pin shaft 44 and a fourth spherical bearing 45; a third mounting hole is formed in the upper part of the ankle short link 41, and a fourth mounting hole is formed in the lower part of the ankle short link 41. The second ankle rocker swing member 42 is connected to the third mounting hole through the third spherical bearing 43 and the second link pin shaft 44; the fourth spherical bearing 45 is connected to the fourth mounting hole, and the ankle short link 41 is hinged to the other side of the ankle connecting rod 12 through the fourth spherical bearing 45; the second ankle rocker swing member 42 is formed with a second drive interface 46, and the second ankle rocker swing member 42 is connected to the power output end of the second ankle joint drive motor 8 through the second drive interface 46.

[0072] Specifically, the power output end of the first ankle joint drive motor 7 drives the first ankle rocker arm 36 through the first drive interface 40. The first ankle rocker arm 36 is hinged to the ankle long link 35 through the first spherical bearing 37, the first connecting rod pin shaft 38, so that the upper end of the ankle long link 35 can be driven to swing by the first ankle rocker arm 36. At the same time, the lower end of the ankle long link 35 is hinged to the ankle connecting rod 12 through the second spherical bearing 39, and the lower end of the ankle long link 35 can swing relative to the ankle connecting rod 12 during the swinging process. At the same time, the power output end of the second ankle joint drive motor 8 drives the second ankle rocker arm 42 through the second drive interface 46. The second ankle rocker arm 42 is hinged to the ankle short link 41 through the third spherical bearing 43, the second connecting rod pin shaft 44, so that the upper end of the ankle short link 41 can be driven to swing by the second ankle rocker arm 42. At the same time, the lower end of the ankle short link 41 is hinged to the ankle connecting rod 12 through the fourth spherical bearing 45, and the lower end of the ankle short link 41 can swing relative to the ankle connecting rod 12 during the swinging process. Among them, the first ankle joint drive motor 7 and the second ankle joint drive motor 8 operate simultaneously during the movement of the calf mechanism. The rotation directions of the first ankle joint drive motor 7 and the second ankle joint drive motor 8 can be controlled to be the same or opposite. That is, when the first ankle joint drive motor 7 drives the first rocker arm swing member 9 and the second ankle joint drive motor 8 drives the second rocker arm swing member 10 in the same direction, the ankle cross shaft member 11 makes a forward swing movement relative to the calf structure member 6. When the first ankle joint drive motor 7 drives the first rocker arm swing member 9 and the second ankle joint drive motor 8 drives the second rocker arm swing member 10 in the opposite direction, the ankle cross shaft member 11 makes a side swing movement relative to the calf structure member 6.

[0073] In summary, the embodiment of the present utility model is provided with a calf assembly 1, an ankle assembly 2 and a foot plate assembly 3; the calf assembly 1 includes a knee joint power output structural member 4, a knee joint passive end structural member 5, a calf structural member 6, a first ankle joint driving motor 7, a second ankle joint driving motor 8, a first rocker swing member 9 and a second rocker swing member 10; the ankle assembly 2 includes an ankle cross shaft member 11 and an ankle connecting rod 12; a knee joint driving motor 13 is provided between the knee joint power output structural member 4 and the knee joint passive end structural member 5; the power output end of the knee joint driving motor 13 is connected to the knee joint power output structural member 4, and the other end of the knee joint driving motor 13 is connected to the knee joint passive end structural member 5; the upper part of the calf structural member 6 is connected between the lower part of the knee joint power output structural member 4 and the lower part of the knee joint passive end structural member 5, and the lower part of the calf structural member 6 is connected to the ankle cross shaft member 11, and the ankle cross shaft member 11 is fixed above the foot plate assembly 3; the calf structural member 6 is formed with a first motor mounting position 14 and a second motor mounting position 15; the first ankle joint driving motor 7 is fixed in the first motor mounting position 14, the power output end of the first ankle joint driving motor 7 is connected to the upper part of the first rocker swing member 9, and the lower part of the first rocker swing member 9 is connected to one side of the ankle connecting rod 12; the second ankle joint driving motor 8 is fixed in the second motor mounting position 15, the power output end of the second ankle joint driving motor 8 is connected to the upper part of the second rocker swing member 10, and the lower part of the second rocker swing member 10 is connected to the other side of the ankle connecting rod 12. The knee joint driving motor 13 is fixed through the knee joint passive end structural member 5 and the knee joint power output structural member 4, and the knee joint driving motor 13 drives the calf structural member 6 to swing back and forth through the knee joint power output structural member 4. The first ankle joint driving motor 7 drives the ankle assembly 2 to swing through the first rocker swing member 9, and the second ankle joint driving motor 8 drives the ankle assembly 2 to swing through the second rocker swing member 10. Among them, the lower parts of the first rocker swing member 9 and the second rocker swing member 10 swing relative to the ankle connecting rod 12, and the calf structural member 6 swings relative to the ankle cross shaft member 11. When the first ankle joint driving motor 7 drives the first rocker swing member 9 and the second ankle joint driving motor 8 drives the second rocker swing member 10 in the same direction, the ankle cross shaft member 11 swings forward relative to the calf structural member 6. When the first ankle joint driving motor 7 drives the first rocker swing member 9 and the second ankle joint driving motor 8 drives the second rocker swing member 10 in the opposite direction, the ankle cross shaft member 11 swings laterally relative to the calf structural member 6. Among them, the ankle assembly 2 can drive the foot plate assembly 3 to perform corresponding forward swing and lateral movement. The first hinge slot 17 and the transverse hinge part 21 play a role in connecting the calf structural member 6 and the ankle cross shaft member 11, and the calf structural member 6 rotates relative to the transverse hinge part 21 of the ankle cross shaft member 11 through the first hinge slot 17.The second articulated card slot 18 and the longitudinal articulated part 22 play a role in connecting the foot plate adapter 16 and the ankle cross shaft part 11. The foot plate adapter 16 rotates relative to the longitudinal articulated part 22 of the ankle cross shaft part 11 through the second articulated card slot 18. The transverse articulated part 21 and the longitudinal articulated part 22 form the cross-shaped ankle cross shaft part 11 through the transverse accommodation groove 19 and the longitudinal accommodation groove 20, with a more compact structure and stronger movement flexibility. The second ankle transverse shaft needle bearing 29 is sleeved inside the longitudinal accommodation groove 20, and the second ankle transverse shaft body 30 is sleeved inside the second ankle transverse shaft needle bearing 29. At the same time, the front ankle transverse shaft gasket 31 and the rear ankle transverse shaft gasket 33 are respectively sleeved on the front and rear sides of the longitudinal accommodation groove 20. After the foot plate adapter 16 is connected to the second ankle transverse shaft body 30 through the second articulated card slot 18, the foot plate adapter 16 is limited by the front ankle shaft end screw 32 and the rear ankle shaft end screw 34, so that the rotation of the second ankle transverse shaft body 30 relative to the longitudinal accommodation groove 20 can be realized, and further the rotation of the foot plate adapter 16 relative to the longitudinal articulated part 22 of the ankle cross shaft part 11 through the second articulated card slot 18 can be realized. The power output end of the first ankle joint drive motor 7 drives the first ankle rocker arm 36 through the first drive interface 40. The first ankle rocker arm 36 is articulated through the first spherical bearing 37, the first connecting rod pin shaft 38 and the ankle long connecting rod 35, and thus can drive the upper end of the ankle long connecting rod 35 to swing through the first ankle rocker arm 36. At the same time, the lower end of the ankle long connecting rod 35 is articulated with the ankle connecting rod 12 through the second spherical bearing 39, and the lower end can swing relative to the ankle connecting rod 12 during the swinging process of the ankle long connecting rod 35. At the same time, the power output end of the second ankle joint drive motor 8 drives the second ankle rocker arm 42 through the second drive interface 46. The second ankle rocker arm 42 is articulated through the third spherical bearing 43, the second connecting rod pin shaft 44 and the ankle short connecting rod 41, and thus can drive the upper end of the ankle short connecting rod 41 to swing through the second ankle rocker arm 42. At the same time, the lower end of the ankle short connecting rod 41 is articulated with the ankle connecting rod 12 through the fourth spherical bearing 45, and the lower end can swing relative to the ankle connecting rod 12 during the swinging process of the ankle short connecting rod 41. Among them, the first ankle joint drive motor 7 and the second ankle joint drive motor 8 operate simultaneously during the movement of the calf mechanism, and the rotation directions of the first ankle joint drive motor 7 and the second ankle joint drive motor 8 can be controlled to be the same or opposite. That is, when the first ankle joint drive motor 7 drives the first rocker arm swing part 9 and the second ankle joint drive motor 8 drives the second rocker arm swing part 10 in the same direction, the ankle cross shaft part 11 performs a forward swing movement relative to the calf structure part 6. When the first ankle joint drive motor 7 drives the first rocker arm swing part 9 and the second ankle joint drive motor 8 drives the second rocker arm swing part 10 in the opposite direction, the ankle cross shaft part 11 performs a side swing movement relative to the calf structure part 6. The overall layout of the calf structure of the present utility model has strong compactness and high joint integration, can realize a large movement range of the robot, and increases flexibility and versatility.

[0074] Although the present utility model has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made thereto based on the present utility model, which will be obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present utility model fall within the scope of protection required by the present utility model.

Claims

1. A simulated robot calf mechanism, characterized in that: The invention comprises a calf assembly (1), an ankle assembly (2) and a foot assembly (3); the calf assembly (1) comprises a knee joint power output structure (4), a knee joint passive end structure (5), a calf structure (6), a first ankle joint drive motor (7), a second ankle joint drive motor (8), a first rocker arm swing member (9) and a second rocker arm swing member (10); the ankle assembly (2) comprises an ankle cross shaft member (11) and an ankle connecting rod (12); A knee joint drive motor (13) is provided between the knee joint power output structural component (4) and the knee joint passive end structural component (5); the power output end of the knee joint drive motor (13) is connected to the knee joint power output structural component (4), and the other end of the knee joint drive motor (13) is connected to the knee joint passive end structural component (5); The upper part of the calf structure (6) is connected between the lower part of the knee joint power output structure (4) and the lower part of the knee joint passive end structure (5), the lower part of the calf structure (6) is connected to the ankle cross axis (11), and the ankle cross axis (11) is fixed above the foot plate assembly (3); The calf structure (6) is formed with a first motor mounting position (14) and a second motor mounting position (15); the first ankle joint drive motor (7) is fixed to the first motor mounting position (14), the power output end of the first ankle joint drive motor (7) is connected to the upper part of the first rocker arm swing member (9), and the lower part of the first rocker arm swing member (9) is connected to one side of the ankle connecting rod (12); The second ankle joint drive motor (8) is fixed to the second motor mounting position (15), the power output end of the second ankle joint drive motor (8) is connected to the upper part of the second rocker arm swing member (10), and the lower part of the second rocker arm swing member (10) is connected to the other side of the ankle connecting rod (12).

2. The simulation robot calf mechanism according to claim 1, characterized in that: The power output end of the first ankle joint drive motor (7) is oriented in the opposite direction to the power output end of the second ankle joint drive motor (8); The length of the first rocker arm swinging member (9) is greater than the length of the second rocker arm swinging member (10).

3. The simulation robot calf mechanism according to claim 1, characterized in that: A foot plate adapter (16) is provided at the lower end of the ankle connecting rod (12), the ankle cross axis (11) is connected to the foot plate adapter (16), and the foot plate adapter (16) is fixed above the foot plate assembly (3).

4. The simulation robot calf mechanism according to claim 3, characterized in that: The lower end of the calf structure (6) is formed with a first hinge slot (17), and the foot plate adapter (16) is formed with a second hinge slot (18); The ankle cross shaft member (11) is formed with a transverse receiving groove (19) and a longitudinal receiving groove (20); the transverse receiving groove (19) is provided with a transverse hinge portion (21), and the longitudinal receiving groove (20) is provided with a longitudinal hinge portion (22); the transverse hinge portion (21) and the longitudinal hinge portion (22) are distributed in a cross shape; The transverse hinged portion (21) is hinged to the first hinged slot (17); and the longitudinal hinged portion (22) is hinged to the second hinged slot (18).

5. The simulation robot calf mechanism according to claim 4, characterized in that: The transverse hinge part (21) comprises a first ankle transverse axis needle bearing (23), a first ankle transverse axis body (24), a left ankle transverse axis washer (25), a left ankle axis end screw (26), a right ankle transverse axis washer (27) and a right ankle axis end screw (28); The first ankle transverse axis needle bearing (23) is located inside the transverse receiving groove (19), and the first ankle transverse axis body (24) passes through the center of the first ankle transverse axis needle bearing (23), the center of the left ankle transverse axis gasket (25), and the center of the right ankle transverse axis gasket (27); the left ankle transverse axis gasket (25) is filled on one side of the transverse receiving groove (19), and the right ankle transverse axis gasket (27) is filled on the other side of the transverse receiving groove (19); One end of the first ankle transverse axis body (24) is exposed on the outside of the left ankle transverse axis pad (25), and the other end of the first ankle transverse axis body (24) is exposed on the outside of the right ankle transverse axis pad (27); the first hinge slot (17) is hinged to the first ankle transverse axis body (24) of the transverse hinge portion (21); The left ankle axis end screw (26) is connected to one end of the first ankle transverse axis body (24), and the right ankle axis end screw (28) is connected to the other end of the first ankle transverse axis body (24).

6. The simulation robot calf mechanism according to claim 4, characterized in that: The longitudinal hinge part (22) comprises a second ankle transverse axis needle bearing (29), a second ankle transverse axis body (30), an anterior ankle transverse axis washer (31), an anterior ankle axis end screw (32), a posterior ankle transverse axis washer (33) and a posterior ankle axis end screw (34); The second ankle transverse axis needle bearing (29) is located inside the longitudinal receiving groove (20), and the second ankle transverse axis body (30) passes through the center of the second ankle transverse axis needle bearing (29), the center of the anterior ankle transverse axis gasket (31), and the center of the posterior ankle transverse axis gasket (33); the anterior ankle transverse axis gasket (31) is filled on one side of the longitudinal receiving groove (20), and the posterior ankle transverse axis gasket (33) is filled on the other side of the longitudinal receiving groove (20); One end of the second ankle transverse axis body (30) is exposed on the outside of the front ankle transverse axis pad (31), and the other end of the second ankle transverse axis body (30) is exposed on the outside of the rear ankle transverse axis pad (33); the second hinge slot (18) and the second ankle transverse axis body (30) of the longitudinal hinge part (22) are hinged; The anterior ankle axis end screw (32) is connected to one end of the second ankle transverse axis body (30), and the posterior ankle axis end screw (34) is connected to the other end of the second ankle transverse axis body (30).

7. The simulation robot calf mechanism according to claim 1, characterized in that: The first rocker arm swing member (9) comprises an ankle length link (35), a first ankle rocker arm swing member (36), a first spherical bearing (37), a first link pin (38) and a second spherical bearing (39); A first mounting hole is formed at the upper portion of the ankle-length link (35), and a second mounting hole is formed at the lower portion of the ankle-length link (35); the first ankle rocker arm (36) is connected to the first mounting hole via the first spherical bearing (37) and the first link pin (38); the second spherical bearing (39) is connected to the second mounting hole, and the ankle-length link (35) is hinged to one side of the ankle connecting rod (12) via the second spherical bearing (39).

8. The simulation robot calf mechanism according to claim 7, characterized in that: The first ankle rocker arm swing member (36) is formed with a first drive interface (40), and the first ankle rocker arm swing member (36) is connected to the power output end of the first ankle joint drive motor (7) through the first drive interface (40).

9. The simulation robot calf mechanism according to claim 1, characterized in that: The second rocker arm swing member (10) comprises an ankle short link (41), a second ankle rocker arm swing member (42), a third spherical bearing (43), a second link pin (44) and a fourth spherical bearing (45); A third mounting hole is formed at the upper portion of the ankle short link (41), and a fourth mounting hole is formed at the lower portion of the ankle short link (41); the second ankle rocker arm (42) is connected to the third mounting hole via the third spherical bearing (43) and the second link pin (44); the fourth spherical bearing (45) is connected to the fourth mounting hole, and the ankle short link (41) is hinged to the other side of the ankle connecting rod (12) via the fourth spherical bearing (45).

10. The simulation robot calf mechanism according to claim 9, characterized in that: The second ankle rocker arm swing member (42) is formed with a second drive interface (46), and the second ankle rocker arm swing member (42) is connected to the power output end of the second ankle joint drive motor (8) through the second drive interface (46).

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