Bionic ankle joint and robot

Abstract

The utility model relates to a bionic ankle joint and a robot. The bionic ankle joint comprises a connecting rod structure, an ankle support, a first rotating shaft, a second rotating shaft, a third rotating shaft, a first needle bearing assembly and a second needle bearing assembly, the first rotating shaft is rotationally connected with the connecting rod structure through the first needle bearing assembly, and the second rotating shaft is rotationally connected with the connecting rod structure through the second needle bearing assembly. The two ends of the third rotating shaft are rotationally connected with the ankle support, and the third rotating shaft is rotationally connected with the ankle support; the ankle support is used for being connected with a foot structure, the first rotating shaft and the third rotating shaft are used for being connected with a shank structure, and the first rotating shaft is perpendicular to the second rotating shaft and parallel to the third rotating shaft. The bionic ankle joint provided by the utility model has high load and high flexibility.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field more particularly, the utility model relates to a kind of bionic ankle joint and robot. BACKGROUND

[0002] When humanoid robot helps human to carry out actual handling and the like, it needs to have certain movement, balance and walking ability, and as the key part of humanoid robot contacting ground, ankle structure needs to be designed a bionic ankle joint with high load and flexibility. SUMMARY

[0003] One object of the utility model is to provide a new technical scheme of bionic ankle joint and robot to at least solve one of the problems in the background art.

[0004] According to the first aspect of the utility model, a kind of bionic ankle joint is provided, comprising:

[0005] Connecting rod structure and ankle support, first rotation shaft, second rotation shaft, third rotation shaft, first needle bearing assembly and second needle bearing assembly;

[0006] The first rotation shaft is rotatably connected with the connecting rod structure by the first needle bearing assembly, the second rotation shaft is rotatably connected with the connecting rod structure by the second needle bearing assembly, and the two ends thereof are rotatably connected with the ankle support, and the third rotation shaft is rotatably connected with the ankle support.

[0007] The ankle support is used to connect foot structure, the first rotation shaft and the third rotation shaft are used to connect calf structure respectively, and the first rotation shaft is perpendicular to the second rotation shaft and parallel to the third rotation shaft.

[0008] Optionally, first mounting hole and second mounting hole are provided on the connecting rod structure;

[0009] The first needle bearing assembly includes first bearing, second bearing and third bearing, the first bearing is interference-fitted in the first mounting hole, for bearing radial force, and the second bearing and the third bearing are respectively fitted at two ends of the first mounting hole, for bearing axial force.

[0010] The second needle bearing assembly includes fourth bearing, fifth bearing and sixth bearing, the third bearing is interference-fitted in the second mounting hole, for bearing radial force, and the fifth bearing and the sixth bearing are respectively fitted at two ends of the second mounting hole, for bearing axial force.

[0011] Optionally, the second bearing, the third bearing, the fifth bearing and the sixth bearing are all flange-structured needle thrust bearings.

[0012] Optionally, the first rotation shaft and the second rotation shaft are both shaft pins.

[0013] Optionally, the gap between the first rotation shaft and the first bearing and the first mounting hole, the gap between the second rotation shaft and the second bearing and the second mounting hole, and the gap between the second rotation shaft and the ankle support are all less than or equal to 0.01mm.

[0014] Optionally, the ankle support is provided with a first limiting part, and the end of the connecting rod structure close to the ankle support is provided with a first matching part, the shape of the first matching part matches the shape of the first limiting part to limit the rotation angle of the second rotation shaft.

[0015] Optionally, the end of the connecting rod structure away from the ankle support is provided with a second limiting part, and the calf structure is provided with a second matching part, the shape of the second matching part matches the shape of the second limiting part to limit the rotation angle of the first rotation shaft.

[0016] Optionally, the calf structure comprises a calf body and two linear actuators.

[0017] The lower end of the calf body is rotationally connected to both ends of the first rotation shaft, and the two linear actuators are arranged side by side along the extension direction of the first rotation shaft, the upper end of each linear actuator is hingedly connected to the upper end of the calf body through a fourth rotation shaft, and the lower end of each linear actuator is hingedly connected to both ends of the third rotation shaft.

[0018] Among them, the third rotation shaft and the fourth rotation shaft are both spherical auxiliary shafts.

[0019] Optionally, it further comprises a six-dimensional force sensor, the ankle support is fixedly connected with the foot structure through the six-dimensional force sensor, and the six-dimensional force sensor is used for detecting the force and torque transmitted by the foot structure to the ankle support.

[0020] According to the second aspect of the utility model, a robot is provided, which comprises the bionic ankle joint of the first aspect.

[0021] One technical effect of the utility model lies in that the connecting rod structure and the ankle support are arranged, the first rotation shaft and the third rotation shaft are respectively assembled thereon, and the second rotation shaft connecting the two is arranged, so that the calf structure and the foot structure can realize relative rotation in two directions, and the flexibility of the ankle joint is improved.

[0022] Further, the first rotation shaft and the second rotation shaft are connected through the first needle roller bearing assembly and the second needle roller bearing assembly, and the load capacity of the ankle joint is improved.

[0023] Other features of the present application, and their particular advantages, will be apparent from the following detailed description, together with the attached drawings, of a number of exemplary embodiments of the application. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings, which form a part of the specification, illustrate embodiments of the present application and, together with the description, serve to explain the principles of the present application.

[0025] Figure 1 is a connection structure schematic view of a bionic ankle joint of the present application.

[0026] Figure 2 is Figure 1 an exploded view.

[0027] Figure 3 is an assembly exploded view of the first rotation shaft and the second rotation shaft and the connecting rod structure of the present application.

[0028] Figure 4 is an assembly relationship sectional view of the first rotation shaft of the present application.

[0029] Figure 5 is an assembly relationship sectional view of the second rotation shaft of the present application.

[0030] Figure 6 is a matching schematic view of the first limiting part and the first matching part of the present application.

[0031] Figure 7 is a matching schematic view of the second limiting part and the second matching part of the present application.

[0032] BRIEF DESCRIPTION OF DRAWINGS

[0033] 1, connecting rod structure; 101, first matching part; 102, second limiting part; 103, first mounting hole; 104, second mounting hole; 2, ankle support; 201, first limiting part; 3, first rotation shaft; 301, first steel sleeve; 302, second steel sleeve; 4, second rotation shaft; 401, third steel sleeve; 402, fourth steel sleeve; 5, third rotation shaft; 6, first bearing; 7, second bearing; 8, third bearing; 9, fourth bearing; 10, fifth bearing; 11, sixth bearing; 12, lower leg main body; 121, second matching part; 13, linear actuator; 14, six-dimensional force sensor; 15, foot structure; 16, fourth rotation shaft. DETAILED DESCRIPTION

[0034] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of the components and steps set forth in the embodiments, numerical expressions, and numerical values are not limiting to the scope of the present application unless otherwise specifically stated.

[0035] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the present application or its application or uses.

[0036] Techniques and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the description.

[0037] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as a limitation. Thus, other examples of exemplary embodiments can have different values.

[0038] It should be noted that like reference numerals and letters refer to like items throughout the several views, and as such, no further discussions on them will be presented in the subsequent views.

[0039] As shown in Figures 1 to 7 According to the first aspect of the present application, a bionic ankle joint is provided, comprising: a connecting rod structure 1, a foot ankle support 2, a first rotation shaft 3, a second rotation shaft 4, a third rotation shaft 5, a first needle bearing assembly and a second needle bearing assembly; the first rotation shaft 3 is rotatably connected with the connecting rod structure 1 through the first needle bearing assembly, the second rotation shaft 4 is rotatably connected with the connecting rod structure 1 through the second needle bearing assembly, and both ends thereof are rotatably connected with the foot ankle support 2, and the third rotation shaft 5 is rotatably connected with the foot ankle support 2; the foot ankle support 2 is used for connecting a foot structure 15, the first rotation shaft 3 and the third rotation shaft 5 are respectively used for connecting a calf structure, and the first rotation shaft 3 is perpendicular to the second rotation shaft 4 and parallel to the third rotation shaft 5.

[0040] Specifically, in the present embodiment, the connecting rod structure 1 and the foot ankle support 2 are respectively used as components for connecting the calf structure and the foot structure 15, which can improve the convenience of connection. The connecting rod structure 1 can be designed as two vertically intersecting cylindrical structures as shown in Figure 3 , so as to facilitate the installation of the first rotation shaft 3 and the second rotation shaft 4, form a hinge shaft similar to a cross, and not interfere with the rotation movement of each other. The connecting rod structure can be made of steel material, further improving the structural rigidity.

[0041] In actual application, when the above ankle joint is applied to a humanoid robot, the extension direction of the first rotation shaft 3 is the left-right direction (with the robot itself as a reference), and the extension direction of the second rotation shaft 4 is the front-back direction. The calf structure is hinged with the first rotation shaft 3 and the third rotation shaft 5 respectively, the connecting rod structure 1 is hinged with the foot ankle support 2 through the second rotation shaft 4, and the foot structure 15 is fixedly connected on the foot ankle support 2, so that the calf structure can rotate relative to the foot ankle structure around the first rotation shaft 3 in the front-back direction, and can rotate relative to the foot ankle structure around the second rotation shaft 4 in the left-right direction, realizing the bionic effect of the ankle joint and improving the movement flexibility of the ankle joint.

[0042] In the above embodiment, the first rotating shaft 3 and the second rotating shaft 4 are connected by the first needle bearing assembly and the second needle bearing assembly respectively, wherein the needle bearing is a kind of roller bearing with cylindrical rollers, and the rollers are thin and long, which are usually called needles. The needle bearing has high load bearing capacity, and its structure is compact. When it is applied to the ankle joint, it can bear higher load, so that the whole ankle joint has high load capacity, and the bionic performance of the robot is improved. There are many types of needle bearings, and in the actual assembly process, the type and quantity can be designed according to the actual demand to further improve the axial and radial load capacity of each rotating shaft.

[0043] Optionally, as shown in Figures 3 to 5 , the connecting rod structure 1 is provided with a first mounting hole 103 and a second mounting hole 104; the first needle bearing assembly includes a first bearing 6, a second bearing 7 and a third bearing 8, the first bearing 6 is interference fitted in the first mounting hole 103, used to bear radial force, the second bearing 7 and the third bearing 8 are respectively fitted at both ends of the first mounting hole 103, used to bear axial force; the second needle bearing assembly includes a fourth bearing 9, a fifth bearing 10 and a sixth bearing 11, the third bearing 8 is interference fitted in the second mounting hole 104, used to bear radial force, the fifth bearing 10 and the sixth bearing 11 are respectively fitted at both ends of the second mounting hole 104, used to bear axial force.

[0044] Specifically, in the embodiment, as shown in Figure 3 and Figure 4 , the first needle bearing assembly includes three bearings, wherein the first bearing 6 adopts a needle bearing capable of bearing radial force (consistent with the radial direction of the first rotating shaft 3), and is interference fitted in the first mounting hole 103, which not only improves the radial load capacity, but also improves the assembly stability and reliability of the assembly of the first rotating shaft 3. Among them, the second bearing 7 and the third bearing 8 can bear axial force and are respectively fitted at both ends close to the first mounting hole 103. When the lower leg structure needs to be assembled on the first rotating shaft 3, the structure can be designed so that part of the structure is rotatably connected at both ends of the first rotating shaft 3 through the first steel sleeve 301 and the second steel sleeve 302, and the first steel sleeve 301 and the second steel sleeve 302 are respectively pressed on the second bearing 7 and the third bearing 8 at the same time, so as to tighten the assembly structure and compress the first needle bearing assembly, and improve the axial load capacity.

[0045] Similarly, as shown in Figure 3 and Figure 5As shown, the second needle bearing assembly also includes three bearings. Among them, the fourth bearing 9 is a needle bearing capable of bearing radial force (consistent with the radial direction of the second rotating shaft 4) and is interference-fitted in the second mounting hole 104, which not only improves the radial load capacity, but also improves the assembly stability and reliability of the assembly of the second rotating shaft 4. Among them, the fifth bearing 10 and the sixth bearing 11 can bear axial force and are respectively assembled at both ends close to the second mounting hole 104. When it is necessary to assemble the connecting rod structure 1 and the ankle support through the second rotating shaft 4, the two ends of the second rotating shaft 4 can be rotatably connected to the ankle support through the third steel sleeve 401 and the fourth steel sleeve 402 respectively, and the third steel sleeve 401 and the fourth steel sleeve 402 are pressed on the fifth bearing 10 and the sixth bearing 11 respectively, so as to tighten the assembly structure and compress the second needle bearing assembly, thereby improving the axial load capacity at this position.

[0046] In the above embodiment, the second bearing 7, the third bearing 8, the fifth bearing 10 and the sixth bearing 11 are all needle thrust bearings with flange structure. They are assembled at both ends of the first mounting hole 103 and the second mounting hole 104 by pressing the steel sleeves, which not only improves the axial load capacity of the first rotating shaft 3 and the second rotating shaft 4, but also improves the integration of the whole structure. The first needle bearing assembly and the second needle bearing assembly adopt the same design, so that the parts can be replaced, reducing the types of parts and the production cost, and being suitable for mass production.

[0047] Optionally, as shown in the figure, Figures 3 to 5 The first rotating shaft 3 and the second rotating shaft 4 are both shaft pins.

[0048] Specifically, in this embodiment, the first rotating shaft 3 and the second rotating shaft 4 are both in the form of pin shaft structure, which can connect different parts together as a connecting piece, so that the two can work together to transfer force and motion, and improve the motion stability of the whole ankle joint.

[0049] Optionally, the gap between the first rotating shaft 3 and the first bearing 6 and the first mounting hole 103, the gap between the second rotating shaft 4 and the second bearing 7 and the second mounting hole 104, and the gap between the second rotating shaft 4 and the ankle support 2 are all less than or equal to 0.01 mm.

[0050] Specifically, in the embodiment, the gaps between the first rotating shaft 3 and the first bearing 6 and the first mounting hole 103, the gaps between the second rotating shaft 4 and the second bearing 7 and the second mounting hole 104, and the gap between the second rotating shaft 4 and the ankle support 2 are all in a sliding fit, with the gap controlled within 0.01 mm, so as to eliminate the shaking amount between the connecting components and increase the rigidity. In addition, in actual application, the fit between the first rotating shaft 3 at the upper end of the connecting rod structure 1 and the lower leg structure is also in a sliding fit, with the gap controlled within 0.01 mm, so as to further eliminate the connecting rigidity between the ankle joint and the lower leg structure, eliminate the shaking amount, and improve the stability and coordination of the entire lower limb during walking.

[0051] Optionally, as shown in Figure 6 , the ankle support 2 is provided with a first limiting part 201, and the connecting rod structure 1 is provided with a first matching part 101 at one end close to the ankle support 2, and the shape of the first matching part 101 matches that of the first limiting part 201, so as to limit the rotation angle of the second rotating shaft 4.

[0052] Specifically, in actual application, when the ankle joint is connected between the lower leg structure and the foot structure 15, the lower leg structure has certain angle limitation when rotating relative to the foot structure 15 in the front-back direction and the left-right direction, so as to improve the bionic performance. The first limiting part 201 is arranged on the ankle support 2, and the first matching part 101 is arranged on the connecting rod structure 1, so that the rotation angle of the second rotating shaft 4 is limited within a certain range.

[0053] For example Figure 6 , the first limiting part 201 is designed as a boss structure, and the first matching part 101 is designed as a groove structure with a certain width range in the left-right direction, so that when the lower leg structure rotates around the second rotating shaft 4 under the driving of the connecting rod structure 1, it can be limited within a certain range, for example, about ±25°, thereby improving the stability and coordination of the lower limb operation. Compared with the limiting structure in the prior art, the first limiting part 201 and the first matching part 101 are both located inside the ankle joint, which not only improves the design aesthetics, but also does not cause interference with external structures or wire harnesses, thereby improving the reliability of the limiting.

[0054] Optionally, as shown in Figure 7 , the connecting rod structure 1 is provided with a second limiting part 102 at one end away from the ankle support 2, and the lower leg structure is provided with a second matching part 121, and the shape of the second matching part 121 matches that of the second limiting part 102, so as to limit the rotation angle of the first rotating shaft 3.

[0055] Specifically, in this embodiment, the second limiting portion 102 on the connecting rod structure 1 cooperates with the second matching portion 121 on the calf structure, allowing the calf structure to rotate within a set range, for example, 60° to -21° (front and back) about the first rotation axis 3 in the front-to-back direction relative to the foot structure 15, further improving the stability and coordination of the lower limb movement. Compared to the limiting structures in the prior art, the second limiting portion 102 and the second matching portion 121 are also located inside the ankle joint, which not only improves the design aesthetics but also prevents interference with external structures or wiring harnesses, thereby improving the reliability of the limit.

[0056] Alternatively, as Figures 1 to 2 As shown, the calf structure includes a calf body 12 and two linear actuators 13; the lower end of the calf body 12 is rotatably connected to the two ends of the first rotating shaft 3, and the two linear actuators 13 are arranged side by side along the extension direction of the first rotating shaft 3, and their upper ends are respectively hinged to the upper end of the calf body 12 through the fourth rotating shaft 16, and their lower ends are respectively hinged to the two ends of the third rotating shaft 5; wherein, the third rotating shaft 5 and the fourth rotating shaft 16 are both spherical secondary axes.

[0057] Specifically, in this embodiment, the lower end of the calf body 12 is connected to the two ends of the first rotating shaft 3, the upper ends of the two linear actuators 13 are connected to the upper end of the calf body 12 via the fourth rotating shaft 16, and the lower ends are respectively connected to the ankle support 2 via the third rotating shaft 5, so that when the two linear actuators 13 are extended or shortened at the same time, the calf body 12 can be pitched relative to the foot structure 15 in the front-to-back direction, that is, it rotates around the first rotating shaft 3; when the two linear actuators 13 are extended and shortened at the same time, the calf body 12 can be rotated in the left-right direction relative to the foot structure 15, that is, it rotates around the second rotating shaft 4.

[0058] Among them, the setting of the linear actuator 13 improves the bionic performance of ankle joint movement while realizing the above-mentioned movement function. It has a compact structure and high execution efficiency, and meets the heavy-load requirements of the ankle joint.

[0059] Alternatively, as Figure 2 As shown, it also includes: a six-dimensional force sensor 14, the ankle support 2 is fixedly connected to the foot structure 15 through the six-dimensional force sensor 14, and the six-dimensional force sensor 14 is used to detect the force and torque transmitted to the ankle support 2 by the foot structure 15.

[0060] Specifically, the six-dimensional force sensor 14 is a sensor capable of measuring three force components and three moments at the same time, which is usually made based on the strain gauge principle or the piezoelectric effect principle, and when applied to the ankle joint, it can transmit the force and moment of the ground borne by the foot structure 15 to the control module, thereby controlling the relative movement between the lower leg structure and the foot structure 15, and improving the accuracy of the ankle joint movement. Wherein, the ankle support 2 can be directly fixedly connected with the foot structure 15 through the six-dimensional force sensor 14.

[0061] According to the second aspect of the present application, with reference to Figures 1 to 2 , a robot is provided, comprising the bionic ankle joint of the first aspect.

[0062] Specifically, the bionic ankle joint provided in the first aspect of the present application has the advantages of high load, high stiffness and high flexibility, so that when it is applied to a humanoid robot, the movement flexibility and heavy load capacity of the lower limb system of the robot can be improved, the overall bionic performance of the robot is improved, and it is more suitable for being put into carrying or other human work.

[0063] The differences between the various embodiments are mainly described in the above embodiments, and the optimization features different between the various embodiments can be combined to form a better embodiment as long as they are not contradictory. Considering the brevity of the writing, it will not be repeated here.

[0064] Although some specific embodiments of the present application have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration, and are not intended to limit the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A bionic ankle joint, characterized in that, The application relates to a bionic ankle joint. The first rotating shaft is rotatably connected with the connecting rod structure through the first needle bearing assembly, the second rotating shaft is rotatably connected with the connecting rod structure through the second needle bearing assembly, and the two ends of the second rotating shaft are rotatably connected with the ankle support, and the third rotating shaft is rotatably connected with the ankle support. The ankle support is used for connecting a foot structure, the first rotating shaft and the third rotating shaft are used for connecting a lower leg structure respectively, and the first rotating shaft is perpendicular to the second rotating shaft and parallel to the third rotating shaft. The connecting rod structure is provided with a first mounting hole and a second mounting hole.

2. The bionic ankle joint according to claim 1, characterized in that, The first needle bearing assembly comprises a first bearing, a second bearing and a third bearing, the first bearing is interference-fitted in the first mounting hole and used for bearing radial force, and the second bearing and the third bearing are respectively arranged at the two ends of the first mounting hole and used for bearing axial force. The second needle bearing assembly comprises a fourth bearing, a fifth bearing and a sixth bearing, the third bearing is interference-fitted in the second mounting hole and used for bearing radial force, and the fifth bearing and the sixth bearing are respectively arranged at the two ends of the second mounting hole and used for bearing axial force. The second bearing, the third bearing, the fifth bearing and the sixth bearing are all flange-structured needle thrust bearings.

3. The bionic ankle joint according to claim 2, characterized in that, The first rotating shaft and the second rotating shaft are both shaft pins.

4. The bionic ankle joint according to claim 2 or 3, characterized in that, The gaps between the first rotating shaft and the first bearing and the first mounting hole, the gaps between the second rotating shaft and the second bearing and the second mounting hole, and the gap between the second rotating shaft and the ankle support are all less than or equal to 0.01 mm.

5. The bionic ankle joint according to claim 2, characterized in that, The ankle support is provided with a first limiting part, one end of the connecting rod structure close to the ankle support is provided with a first matching part, the first matching part is matched with the shape of the first limiting part, so as to limit the rotation angle of the second rotating shaft.

6. The bionic ankle joint according to claim 1, characterized in that, One end of the connecting rod structure away from the ankle support is provided with a second limiting part, the lower leg structure is provided with a second matching part, the second matching part is matched with the shape of the second limiting part, so as to limit the rotation angle of the first rotating shaft.

7. The bionic ankle joint according to claim 1, characterized in that, The lower leg structure comprises a lower leg main body and two straight linear actuators.

8. The bionic ankle joint according to claim 1, characterized in that, The lower end of the lower leg main body is rotatably connected with the two ends of the first rotating shaft, the two straight linear actuators are arranged side by side along the extension direction of the first rotating shaft, the upper ends of the two straight linear actuators are hingedly connected with the upper end of the lower leg main body through fourth rotating shafts, and the lower ends of the two straight linear actuators are hingedly connected with the two ends of the third rotating shaft. The third rotating shaft and the fourth rotating shaft are both spherical pair shafts. The application further relates to a six-dimensional force sensor.

9. The bionic ankle joint according to claim 1, characterized in that, The application further relates to a bionic ankle joint. The application further relates to a bionic ankle joint.

10. A robot, characterized in that ​

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