Modular ankle joint, bionic lower limb and robot

Abstract

The utility model discloses a modularization ankle joint, a bionic lower limb and a robot, the modularization ankle joint comprises a main shell, a damper is arranged in the main shell, and the damper is provided with an output rod which reciprocates in the axial direction; the sole connecting part is positioned at the lower end of the main shell and is rotationally connected with the main shell; one end of the connecting rod is rotationally connected with the output rod, the other end of the connecting rod is fixed to the sole connecting part, and the connecting rod is used for converting the linear motion of the output rod into rotation of the sole connecting part; the damper arranged in the main shell is matched with the output rod, active driving control over the sole connecting part is achieved, the connecting rod converts linear motion of the output rod into rotary motion of the sole connecting part, and a buffering response process similar to the ankle joint of the human body is formed. Compared with a traditional artificial limb structure depending on deformation of elastic materials such as carbon fibers, the structure is compact, transmission is clear, and stable rotation resistance output can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot joint structure technical field, especially in a kind of modularization ankle joint, bionic lower limbs and robot. BACKGROUND

[0002] The existing artificial limb ankle joint structure is mostly made of footboard of elastic material such as carbon fiber, and realizes buffering and supporting function by the elastic deformation of material.Although this structure can provide energy feedback to a certain extent, due to the lack of clear joint rotation center and controllable resistance output, it cannot simulate the characteristics of human ankle joint in gait process, especially in uphill, standing conversion and other non-stationary scenes, the structural stability is poor, the adaptability is insufficient, which leads to unstable gait of artificial limb user, and even there is the risk of falling. SUMMARY

[0003] The utility model discloses a kind of modularization ankle joint, bionic lower limbs and robot, to solve the problem that the existing artificial limb ankle joint cannot effectively provide similar buffering with human ankle joint in walking process.

[0004] To achieve the above object, the utility model provides a kind of modularization ankle joint, comprising:

[0005] Main shell, the damper is provided in the main shell, the output rod is provided on the damper and reciprocates along the axial direction;

[0006] Lower limb connecting portion, located at the upper end of the main shell, for connecting lower limb;

[0007] Palm connecting portion, located at the lower end of the main shell, is rotatably connected with the main shell;

[0008] Connecting rod, one end is rotatably connected with the output rod, and the other end is fixed on the palm connecting portion, for converting linear motion of the output rod into rotation of the palm connecting portion.

[0009] In some embodiments, the damper is inclined, and the damper is fixed in the main shell by a first positioning shaft;The axis of the first positioning shaft is located in the axial extension direction of the output rod.

[0010] In some embodiments, the main shell is provided with a second positioning shaft close to one end of the palm connecting portion, and one end of the connecting rod away from the output rod is rotatably arranged on the second positioning shaft;The palm connecting portion is rotatably connected with the main shell by the connecting rod arranged on the second positioning shaft.

[0011] In some embodiments, the main shell is provided with a receiving cavity corresponding to the damper, and the main shell is further provided with an opening in communication with the receiving cavity, the opening being close to one end of the instep connecting part, and the output rod passes through the opening and is rotationally connected with the connecting rod through the rotating shaft.

[0012] In some embodiments, the rotating shaft, the first positioning shaft and the second positioning shaft are arranged in parallel with each other.

[0013] The first positioning shaft and the rotating shaft are respectively located on two sides of the second positioning shaft, and the shaft centers of the first positioning shaft and the rotating shaft are respectively located on opposite sides in the axial extension direction of the output rod.

[0014] In some embodiments, the connecting rod is integrally formed with the instep connecting part.

[0015] In some embodiments, the connecting rod comprises first and second connecting arms arranged oppositely, the first and second connecting arms are respectively located on two sides of the output rod, and the first and second connecting arms are rotationally connected with the output rod through the rotating shaft penetrating the output rod.

[0016] In some embodiments, the lower end of the instep connecting part is provided with an instep joint.

[0017] Further, the utility model discloses a bionic lower limbs, including bionic lower limbs body and setting on the ankle joint of bionic lower limbs body, the ankle joint is above-mentioned modularized ankle joint.

[0018] Further, the utility model discloses a robot, including robot body and setting on the ankle joint of robot body, the ankle joint is above-mentioned modularized ankle joint.

[0019] In the utility model, through the cooperation of the damper arranged in the main shell and the output rod, active driving control of the instep connecting part is realized, the linear motion of the output rod is converted into the rotary motion of the instep connecting part by the connecting rod, and a similar buffer response process to the human ankle joint is formed.Compared with the traditional prosthesis structure relying on the deformation of carbon fiber and other elastic materials, the structure has the following beneficial effects: compact structure, clear transmission, stable rotary resistance output can be realized; the output direction of the damper is consistent with the rotary path of the instep connecting part, the force transmission path is clear, and the buffer effect is natural; the dynamic support and pressure relief behavior of the ankle joint in gait can be more realistically simulated; the overall modular design also facilitates users to switch various insteps or lower limbs, facilitates the disassembly and replacement of parts, and improves the maintainability and adaptability of the system; the overall structure of the utility model can realize the humanoid ankle buffering behavior, and is suitable for various application scenarios such as prostheses, rehabilitation equipment and bionic robots. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 Figure 3 is a side view of the modular ankle joint of the present application;

[0021] Figure 2 Figure 4 is a cross-sectional view of the modular ankle joint of the present application;

[0022] Figure 3 Figure 5 is a schematic diagram of the overall structure of the modular ankle joint of the present application;

[0023] BRIEF DESCRIPTION OF THE DRAWINGS

[0024]

[0025] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0026] The embodiments of the present application will be described below in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0027] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0028] It should also be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or can have a middle element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or can have a middle element.

[0029] In addition, the description of "first", "second", etc. in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person skilled in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection required by the present application.

[0030] Referring to Figures 1 to 3 The present invention provides a modular ankle joint 100, comprising:

[0031] A main housing 1 is provided with a damper 11 in the main housing 1, and an output rod 111 is provided on the damper 11 for axial reciprocating motion;

[0032] The lower limb connecting portion 2 is located at the upper end of the main housing 1 and is used to connect the lower limbs;

[0033] The sole connecting portion 3 is located at the lower end of the main housing 1 and is rotatably connected to the main housing 1;

[0034] The connecting rod 4 has one end rotatably connected to the output rod 111 and the other end fixed to the sole connecting part 3 , and is used to convert the linear motion of the output rod 111 into the rotation of the sole connecting part 3 .

[0035] In this embodiment, the main shell 1 is the main structure of the modular ankle joint 100, and a lower limb connection part 2 is provided at the upper end thereof for connecting the modular ankle joint 100 with an external prosthesis or lower limb structure to realize the overall assembly of the prosthetic system; the lower end of the main shell 1 forms a rotating pair connection through the sole connection part 3, and the sole connection part 3 is used to install the prosthetic foot plate and is the output end that finally contacts the ground.

[0036] A damper 11 is housed within the main housing 1. In this embodiment, the damper 11 utilizes a hydraulic structure, housing a throttling mechanism and a motor. By adjusting the opening of the throttling mechanism, the output damping is dynamically adjusted, providing a buffering effect tailored to varying load conditions and a stable damping response under external forces. The damper 11 is equipped with an output rod 111, which can reciprocate linearly along the axial direction to output the force response within the damper 11.

[0037] One end of the connecting rod 4 is rotationally connected to the output rod 111 via the rotating shaft 5, and the other end is fixedly connected to the sole connecting portion 3. The connecting rod 4 is used to convert the linear motion of the output rod 111 of the damper 11 into the rotational motion of the sole connecting portion 3 around the main housing 1, thereby indirectly controlling the rotation angle and force of the ankle joint.

[0038] During use, when the sole of the foot is displaced by force, connecting rod 4 drives output rod 111 axially, throttling the hydraulic oil within damper 11 to create resistance and provide cushioning. Conversely, the linear motion output by damper 11 drives rotation of foot connector 3 via connecting rod 4, providing a mechanical response that matches the gait rhythm. This structure creates a simple transmission path and, in conjunction with hydraulic damper 11, achieves biomimetic cushioning without the need for a complex electronic control system. Its modular design facilitates assembly and disassembly, offering compact structure, smooth operation, and strong adaptability, making it suitable for a variety of scenarios, including prosthetics, rehabilitation assistive devices, and bionic robots.

[0039] Furthermore, the damper 11 is arranged at an angle, and the damper 11 is fixed in the main housing 1 via a first positioning shaft 12 ; the axis of the first positioning shaft 12 is located in the axial extension direction of the output rod 111 .

[0040] In this embodiment, the damper 11 is tilted relative to the length of the main housing 1 to better align the motion of its output rod 111 with the rotational path of the foot connector 3, thereby improving transmission efficiency and responsiveness. To ensure stable positioning of the damper 11 within the main housing 1, it is mounted within the main housing 1 via a first positioning shaft 12. The axis of the first positioning shaft 12 aligns with the axial extension of the output rod 111, thereby maintaining the linear accuracy and symmetry of the output path.

[0041] Furthermore, a second positioning shaft 13 is provided at one end of the main shell 1 close to the sole connecting part 3, and the end of the connecting rod 4 facing away from the output rod 111 is rotatably provided on the second positioning shaft 13; the sole connecting part 3 is rotatably connected to the main shell 1 through the connecting rod 4 provided on the second positioning shaft 13.

[0042] The sole connecting part 3 forms a rotating secondary structure with the main housing 1 through the connecting rod 4, so that the sole connecting part 3 can rotate relatively around the main housing 1, thereby realizing the bionic swinging movement of the ankle joint.

[0043] In this structure, the sole connecting portion 3 is not directly connected to the main housing 1 through an independent shaft, but is indirectly connected to the main housing 1 through the connecting rod 4 around the second positioning axis 13. This structural design has the following advantages:

[0044] On the one hand, the connecting rod 4, as an intermediate component, not only undertakes the force transmission function, but also participates in support and restriction, making the entire rotation path more compact in space and suitable for modular integration;

[0045] On the other hand, this connection method can avoid repeated arrangement of the shaft 5 structure between the main housing 1 and the sole connecting portion 3, reducing structural complexity and assembly difficulty;

[0046] In addition, the connection through the connecting rod 4 can form a reasonable force arm distribution between the connection point of the revolving pair and the output rod 111, which is conducive to the accurate transmission of the damping response and the stable control of the foot angle.

[0047] Therefore, compared with directly connecting the sole connecting part 3 to the main shell 1 through other independent shafts, the solution adopted in this embodiment has better effects in terms of space utilization, structural integration and mechanical conduction consistency.

[0048] Furthermore, the main housing 1 defines a housing cavity 14 corresponding to the damper 11. An opening 15 communicating with the housing cavity 14 is also provided at one end of the main housing 1 near the sole connection portion 3. The output rod 111 passes through the opening 15 and is rotatably connected to the connecting rod 4 via the rotating shaft 5. To protect internal components and facilitate the placement of the damper 11 and its output rod 111, the main housing 1 defines a housing cavity 14 corresponding to the damper 11 to provide installation space.

[0049] The provision of opening 15 not only allows the output rod 111 to pass through for axial movement, but also reserves the necessary space for the rotational movement of the output rod 111 and the connecting rod 4 during operation. Because the connecting rod 4 and the output rod 111 form a revolute joint, the output rod 111 swings within a certain angular range during rotation. The opening 15 effectively avoids the rotational path of the output rod 111 and the connecting rod 4, preventing interference or structural restrictions during movement.

[0050] Furthermore, the rotating shaft 5, the first positioning axis 12 and the second positioning axis 13 are arranged parallel to each other; the rotating shaft 5, the first positioning axis 12 and the second positioning axis 13 are arranged parallel to each other to ensure that the overall structure has a consistent rotation direction and symmetrical layout in three-dimensional space, which is conducive to motion coordination and mechanical symmetry.

[0051] The first positioning shaft 12 and the rotating shaft 5 are respectively located on both sides of the second positioning shaft 13 , and the axes of the first positioning shaft 12 and the rotating shaft 5 are respectively located on two opposite sides in the axial extension direction of the output rod 111 .

[0052] The first positioning shaft 12 and the rotating shaft 5 are respectively located on both sides of the second positioning shaft 13, and the axes of the two are respectively located on opposite sides of the axial extension direction of the output rod 111, thereby forming a complete and balanced transmission structure path between the output rod 111, the connecting rod 4 and the sole connecting part 3, avoiding the occurrence of unbalanced loading and movement jamming.

[0053] Furthermore, the connecting rod 4 and the sole connection portion 3 are integrally formed. This one-piece structure effectively avoids the accumulation of tolerances associated with multi-component assembly, improving the precision and strength of each connection. Furthermore, the structural integrity is enhanced, fixing the spatial relative relationship of the revolving pair, and improving transmission stability and service life. Furthermore, the one-piece component simplifies processing, manufacturing, maintenance, and replacement, facilitating modular assembly and subsequent maintenance.

[0054] Furthermore, the connecting rod 4 includes a first connecting arm 41 and a second connecting arm 42 that are arranged opposite to each other. The first connecting arm 41 and the second connecting arm 42 are respectively located on both sides of the output rod 111 and are rotatably connected to the output rod 111 via a rotating shaft 5 that passes through the output rod 111.

[0055] The connecting rod 4 includes a first connecting arm 41 and a second connecting arm 42 that are arranged opposite to each other. The two connecting arms are respectively located on both sides of the output rod 111, and are rotationally connected to the output rod 111 through a rotating shaft 5 that passes through the output rod 111; a double-arm connection method similar to a clamping type is formed, which not only improves the stability of the output connection, but also provides better axial restriction and support when the output rod 111 swings, which helps to maintain the working accuracy of the rotating substructure.

[0056] Furthermore, a sole joint 31 is provided at the lower end of the sole connecting portion 3 for connecting to the prosthetic foot. By providing a standardized sole joint 31, modular replacement and personalized adaptation can be achieved to meet the needs of different users and different scenarios for the selection of prosthetic foot types.

[0057] In other embodiments, a bionic lower limb is provided, comprising a bionic lower limb body and an ankle joint disposed on the bionic lower limb body, wherein the ankle joint is the aforementioned modular ankle joint 100. This bionic lower limb can achieve a natural response to foot posture and gait rhythm through the ankle joint structure, further improving the stability, comfort, and dynamic adaptability of the bionic prosthesis.

[0058] In other embodiments, a robot is provided, comprising a robot body and an ankle joint disposed on the robot body, wherein the ankle joint is the aforementioned modular ankle joint 100. The introduction of this structure can endow the robot with mechanical behavior capabilities more similar to those of human joints, enabling it to have greater flexibility and adaptability in complex terrain, autonomous walking, or human-machine interaction scenarios.

[0059] The modular ankle joint 100 provided by the present invention is not only suitable for prosthetic limbs and rehabilitation equipment, but also has the potential to be expanded to bionic robot systems, and has good engineering feasibility and industrialization prospects.

[0060] The above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the manner in which the present invention may be implemented. Those skilled in the art will readily appreciate that other variations or modifications based on the above description are possible. This list of all possible embodiments is not exhaustive. Any obvious variations or modifications arising from the technical solution of the present invention remain within the scope of protection of the present invention.

Claims

1. A modular ankle joint, characterized in that: include: A main housing, wherein a damper is disposed in the main housing and an output rod that reciprocates in the axial direction is disposed on the damper; a lower limb connecting portion, located at the upper end of the main housing and used for connecting the lower limb; a sole connection portion, located at the lower end of the main housing and rotatably connected to the main housing; A connecting rod has one end rotatably connected to the output rod and the other end fixed to the sole connecting portion, and is used to convert the linear motion of the output rod into the rotation of the sole connecting portion.

2. The modular ankle joint according to claim 1, characterized in that The damper is arranged at an angle and is fixed in the main housing via a first positioning shaft; the axis of the first positioning shaft is located in the axial extension direction of the output rod.

3. The modular ankle joint according to claim 2, characterized in that A second positioning shaft is provided at one end of the main shell close to the sole connecting part, and the end of the connecting rod away from the output rod is rotatably provided on the second positioning shaft; the sole connecting part is rotatably connected to the main shell through the connecting rod provided on the second positioning shaft.

4. The modular ankle joint according to claim 3, characterized in that The main shell is provided with a receiving cavity corresponding to the damper, and an end of the main shell close to the sole connecting part is also provided with an opening connected to the receiving cavity. The output rod passes through the opening and is rotatably connected to the connecting rod through a rotating shaft.

5. The modular ankle joint according to claim 4, characterized in that The rotating shaft, the first positioning shaft and the second positioning shaft are arranged parallel to each other; The first positioning shaft and the rotating shaft are respectively located on both sides of the second positioning shaft, and the axis centers of the first positioning shaft and the rotating shaft are respectively located on opposite sides in the axial extension direction of the output rod.

6. The modular ankle joint according to claim 4, characterized in that The connecting rod and the sole connecting portion are integrally formed.

7. The modular ankle joint according to claim 6, characterized in that The connecting rod includes a first connecting arm and a second connecting arm that are arranged opposite to each other. The first connecting arm and the second connecting arm are respectively located on both sides of the output rod and are rotatably connected to the output rod via the rotating shaft that passes through the output rod.

8. The modular ankle joint according to claim 1, wherein: The lower end of the sole connecting part is provided with a sole joint.

9. A bionic lower limb, comprising a bionic lower limb body and an ankle joint arranged on the bionic lower limb body, characterized in that: The ankle joint is the modular ankle joint according to any one of claims 1 to 8.

10. A robot comprising a robot body and an ankle joint provided on the robot body, characterized in that: The ankle joint is the modular ankle joint according to any one of claims 1 to 8.

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