Angle limiting structure, mechanical ankle mechanism and humanoid robot

Abstract

The utility model discloses an angle limiting structure, a mechanical ankle mechanism and a humanoid robot, and relates to the technical field of robot design, the angle limiting structure comprises a walking assembly comprising a supporting piece and a walking piece; the rotating assembly is rotationally fixed to the supporting piece in the first direction and rotationally fixed to the walking piece in the second direction perpendicular to the first direction; and the driving assembly comprises a pair of driving pieces distributed in the third direction parallel to the first direction, and the pair of driving pieces are movably connected to the walking pieces correspondingly. The mechanical ankle mechanism has the advantages that the mechanical ankle mechanism is applied to the humanoid robot, so that the humanoid robot can simulate gaits of a person in the walking process, and the mechanical ankle mechanism is more balanced and stable compared with a mechanical ankle mechanism; and meanwhile, self-adaptive adjustment can be carried out according to various terrains on the basis that the bearing capacity and rigidity of the structure are stable, the static stable support of the structure is maintained, and the dynamic stable support between the structures is enhanced.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot design technical field, especially an angle limit structure, mechanical ankle mechanism and humanoid robot. BACKGROUND

[0002] In some existing robot designs, the driving structure of the lower leg often directly acts on the ankle joint, and the ankle is pushed forward and backward to turn over by a motor or other power device to simulate human gait.

[0003] However, due to the small contact area of the driving part at the connection with the ankle, a high local pressure will be generated when the force is applied, especially when the robot is under load or moving quickly; high pressure not only accelerates the wear of the material, but also may cause mechanical failure, reducing the service life and reliability of the robot, for example, when the robot runs on uneven ground and adjusts the adaptive angle, the local high pressure will cause the robot to be easily damaged in the form of human "sprain". SUMMARY

[0004] In view of the above technical problems of the prior art, the utility model is proposed.

[0005] The utility model aims at providing an angle limit structure, which aims to solve the problem of high local pressure caused by the small contact area of the driving part at the connection with the ankle of the existing robot.

[0006] To solve the above technical problems, the utility model provides the following technical scheme: an angle limit structure, which comprises a block-shaped component, a first support surface parallel to the horizontal ground in a first direction, a limit surface connected in an angle type with one side of the first support surface, and a second support surface fixedly connected in an angle type with one side of the limit surface.

[0007] The second support surface is a curved surface, the center of rotation of the limit surface and the center of the second support surface are consistent, the angle between the line connecting the contact part on the limit surface and the center of rotation of the limit surface and the horizontal plane is α, and α is not 0.

[0008] As a preferred scheme of the angle limit structure of the utility model, the angle α between the line connecting the contact part on the limit surface and the center of rotation of the limit surface and the horizontal plane is between 0 degrees and 45 degrees.

[0009] As a preferred scheme of the angle limit structure of the utility model, the angle α between the line connecting the contact part on the limit surface and the center of rotation of the limit surface and the horizontal plane is 20 degrees.

[0010] As a preferred scheme of the angle limit structure of the utility model, the limit surface is at least one group of plane or at least one group of curved surface matched with the limit object.

[0011] In summary, the angle limiting structure is suitable for various static and dynamic constrained objects, the curved surface design of the second supporting surface and the oblique arrangement of the limiting surface not only allow angle adjustment within a certain range to adapt to different working environments and requirements, but also take into account stability and safety by limiting the constrained object within a specific angle range, the form and size of the limiting surface are further limited within a specific angle range, which not only better adapts to the constrained objects with different shapes of contact surfaces and improves the stability of the limiting effect, but also actively increases the contact area of the limiting contact part and reduces the probability of local excessive pressure and easy damage.

[0012] Another object of the present application is to provide a mechanical ankle mechanism, which aims to solve the problem of easy damage at the connection between the driving component and the ankle structure of the existing robot calf.

[0013] To solve the above technical problems, the present application provides the following technical scheme: a mechanical ankle mechanism, which comprises a walking assembly, a supporting member, and a walking member fixedly connected to the first supporting surface on one side;

[0014] A rotating assembly is rotatably fixed to the supporting member in the second direction and rotatably fixed to the walking member in the third direction perpendicular to the second direction; and

[0015] A driving assembly comprises a pair of driving members distributed in the fourth direction parallel to the second direction, and the pair of driving members are movably connected to the walking member.

[0016] As a preferred scheme of the mechanical ankle mechanism of the present application, the rotating assembly comprises a first shaft arm arranged in the second direction and a second shaft arm arranged in the third direction;

[0017] The first shaft arm is rotatably fixed to the supporting member, and the second shaft arm is rotatably fixed to the walking member.

[0018] As a preferred scheme of the mechanical ankle mechanism of the present application, the rotating assembly comprises a central shaft, a first shaft arm arranged in the second direction, and a second shaft arm arranged in the third direction;

[0019] The first shaft arm can rotate relative to the central shaft, and the rotating assembly is rotatably fixed to the supporting member through the first shaft arm;

[0020] The second shaft arm can rotate relative to the central shaft, and the rotating assembly is rotatably fixed to the walking member through the second shaft arm.

[0021] As a preferred scheme of the mechanical ankle mechanism of the utility model, wherein: the first shaft arm is rotatably connected with the two sides of the support member through two sets of bearings at its two ends, and the two sets of bearings at the two ends of the second shaft arm are rotatably connected with the top of the walking member through the first limiting support and the second limiting support.

[0022] As a preferred scheme of the mechanical ankle mechanism of the utility model, wherein: the limiting surface corresponds to the outer surface of the first shaft arm, and the first shaft arm can contact the limiting surface when rotating relative to the walking member.

[0023] As a preferred scheme of the mechanical ankle mechanism of the utility model, wherein: the first shaft arm is symmetrically provided with a pair, and the walking member has two limiting surfaces corresponding to the pair of first shaft arms.

[0024] As a preferred scheme of the mechanical ankle mechanism of the utility model, wherein: the driving member includes a driving machine built in one side of the support member, an output disc fixedly connected with the center of the shaft of the driving machine, and a driving rod eccentrically movably connected with one end of the output disc.

[0025] The one end of the driving rod is connected with the first limiting support through a ball hinge, and the other end of the driving rod is eccentrically connected with the output disc through a ball hinge.

[0026] The beneficial effects of the mechanical ankle mechanism of the utility model are as follows: by driving a pair of driving members 401 to operate according to different setting modes in the embodiment, the angle limiting structure is limited within the angle range, thereby realizing fine adjustment of the turning angle of the robot walking member 202 in the front and back and left and right directions, ensuring that the walking member 202 can basically reach the stability of human walking while ensuring the stability and safety of the robot walking structure, avoiding excessive movement to cause mechanical damage to the rotating assembly 300 and damage the balance stability of the whole robot standing and / or walking, and ensuring that the robot can flexibly adjust the foot posture when encountering obstacles to adapt to complex terrain and maintain the stability of the robot walking; in combination with the flexible driving of the pair of driving members 401, the self-adaptability and balance stability of the mechanical ankle mechanism of the embodiment to various uneven and complex terrains are enhanced.

[0027] Another object of the utility model is to provide a humanoid robot, which aims to solve the problem that the existing robot is prone to structural damage after long-term use, resulting in loss of overall balance stability.

[0028] To solve the above technical problems, the utility model also provides the following technical scheme: a humanoid robot, which comprises a leg part, and the leg part adopts a mechanical ankle mechanism.

[0029] The humanoid robot has the advantages that the mechanical ankle mechanism is applied to the humanoid robot, the humanoid robot can simulate human gait during walking, is more balanced and stable compared with a machine, and can be self-adaptively adjusted according to various terrains on the basis of stable structure bearing capacity and rigidity, and static stability support of the structure itself and dynamic stability support between structures are maintained. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present utility model, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings.

[0031] Figure 1 It is the overall three-dimensional view of the first embodiment of the angle limiting structure in the present utility model.

[0032] Figure 2 It is the overall three-dimensional view of the second embodiment of the angle limiting structure in the present utility model.

[0033] Figure 3 It is the front view of the angle limiting structure in the present utility model.

[0034] Figure 4 It is the overall three-dimensional view of the mechanical ankle mechanism in the present utility model.

[0035] Figure 5 It is the schematic view of the rotating assembly and the driving assembly in the present utility model.

[0036] Figure 6 It is the enlarged schematic view of the A partial structure in the present utility model.

[0037] Figure 7 It is the enlarged schematic view of the B partial structure in the present utility model.

[0038] Figure 8 It is the specific structure schematic view of the rotating assembly in the present utility model.

[0039] Figure 9 It is the schematic view of the humanoid robot in the present utility model. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned purpose, features and advantages of the present utility model more obvious and easy to understand, the specific embodiments of the present utility model will be described in detail below with reference to the drawings in the specification.

[0041] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application, but the present application can also be implemented in other ways different from the description, and those skilled in the art can make similar generalizations without departing from the connotation of the present application, therefore the present application is not limited by the specific embodiments disclosed below.

[0042] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an embodiment that is independent of or mutually exclusive with other embodiments.

[0043] Embodiment 1

[0044] Reference Figures 1-3 For the first embodiment of the present application, the embodiment provides an angle limiting structure.

[0045] Specifically, the angle limiting structure comprises: a block-shaped component 100, comprising a first support surface 101 parallel to the horizontal ground in the first direction, a limiting surface 102 connected with the first support surface 101 at an angle, and a second support surface 103 fixedly connected with the limiting surface 102 at an angle;

[0046] The second support surface 103 is a curved surface, the center of rotation of the limiting surface 102 and the center of the second support surface 103 are consistent, the angle between the connecting line between the contact part on the limiting surface 102 and the center of rotation of the limiting surface 102 and the horizontal plane is α, and α is not 0.

[0047] The angle limiting structure in the embodiment, the core function is to control the movement range of an object through the limiting surface, and the object constrained by the limiting structure is in a static or moving state.

[0048] Among them, the static object can include the positioning of mechanical parts, for example, on the assembly line, some precision parts such as in the engine assembly process, the valve needs to be accurately installed on the cylinder head, in order to ensure the sealing and correct alignment between the valve and the cylinder head, the valve must be fixed at a certain angle, so that the subsequent fastening and calibration operation needs to be fixed at a certain angle for subsequent processing; the angle limiting structure can fix the parts through the limiting surface, ensure that it will not deviate due to external force, so as to ensure the processing precision; the static object can also include building components, for example, in the construction process, the temporary support structure needs to maintain a certain inclination angle to ensure the stability of the building; the angle limiting structure can be used to ensure that these support structures maintain a fixed angle during construction, to prevent collapse or displacement.

[0049] The dynamic object can include a robot ankle joint, where the dynamic refers to the movement of the ankle part during the robot walking process; the design of the limiting surface can ensure that the ankle part does not exceed the preset safe range when rotating, thereby maintaining the stability of the robot when walking on uneven ground, and can also provide the optimal rotation angle of the ankle part for maintaining the stability of the robot walking; the dynamic object can also include components such as antennas and wings on spacecraft or aircraft, which need to be adjusted within a certain angle range during flight to meet different flight requirements, and the angle limiting structure can be used to control the movement range of these components to ensure that they do not exceed the safety limit during operation.

[0050] In the embodiment, the first support surface 101 extends in opposite directions on both sides, and the side of the limiting surface 102 not connected to the second support surface 103 extends in a direction away from the second support surface 103. The extension of the first support surface 101 and the extension of the limiting surface 102 can form an intersection with an angle.

[0051] Preferably, the second support surface 103 is a curved surface, and the center of rotation of the limiting surface 102 and the center of the second support surface 103 are consistent.

[0052] Preferably, the curved surface can better adapt to different shapes and sizes of the constrained object, thereby providing uniform support force and reducing the shaking or deviation of the constrained object; the curved surface support surface can disperse pressure according to the shape and weight distribution of the constrained object, which helps to reduce local stress concentration and prolong the service life of the angle limiting structure.

[0053] Preferably, the angle between the line connecting the contact part on the limiting surface 102 and the center of rotation of the limiting surface 102 and the horizontal plane is α, and α is not 0.

[0054] Preferably, the angle is not 0, that is, the limiting surface 102 is not parallel to the horizontal plane, but is arranged obliquely with respect to the constrained object; this oblique arrangement can provide more stable limiting effect for the static constrained object by increasing the friction between the constrained object and the limiting surface 102, thereby preventing unnecessary sliding; at the same time, for the dynamic constrained object, the oblique limiting surface 102 allows angle adjustment within a certain range, thereby providing flexible limiting adjustment space and ensuring stability and safety during dynamic operation.

[0055] In this embodiment, the design of the limiting surface 102 can adapt to the size and morphology of the constrained object, by adjusting to maximize the contact area, thereby reducing local pressure, reducing wear, and improving the carrying capacity and durability of the entire structure; regarding the specific morphology of the limiting surface 102, it can be a plane or a curved surface, and its configuration is flexible: it can be set on one side, or it can be symmetrically laid out on both sides, or it can be customized on multiple sides according to specific needs, to ensure that the limiting effect can accurately meet the needs of different constrained objects.

[0056] In summary, the angle limiting structure of the utility model, through the first supporting surface 101, the curved second supporting surface 103 and the adjustable limiting surface 102 on the block-shaped assembly 100, realizes the stable positioning and flexible angle adjustment of the constrained object, is suitable for static precision part positioning and dynamic robot joint and the like applications, and through the oblique arrangement and the curved surface design, the contact area and pressure distribution are optimized, and the structural durability and operation safety are enhanced.

[0057] Embodiment 2

[0058] Reference Figures 1-3 For the second embodiment of the utility model, the embodiment is based on the previous embodiment, but further, the included angle α is between 0 degrees and 45 degrees or is 20 degrees.

[0059] Specifically, the included angle α between the line connecting the contact part on the limiting surface 102 and the rotation center of the limiting surface 102 and the horizontal plane is between 0 degrees and 45 degrees.

[0060] Further, the included angle α between the line connecting the contact part on the limiting surface 102 and the rotation center of the limiting surface 102 and the horizontal plane is 20 degrees.

[0061] In this embodiment, the included angle α can actually be set to a specific angle according to the positioning needs of the constrained object. For a static constrained object, a larger included angle can provide stronger support and increase the friction between the constrained object, thereby preventing the constrained object from sliding or deviating due to external force. For a dynamic constrained object, the included angle α determines the angle range of the constrained object during movement. A smaller included angle can limit the movement range, while a larger included angle allows more extensive movement.

[0062] Among them, the setting of the included angle α will affect the flexibility and stability of the dynamic constrained object. A moderate included angle can ensure stability while allowing the constrained object to move freely within a certain range, which is crucial for robot joints or aircraft antennas that need to adjust angles to adapt to different environments.

[0063] The setting of the included angle a is also related to the safety of the dynamic constrained object during movement. An excessively large included angle can result in an excessively large movement range, thereby exceeding the safe operation range. An excessively small included angle can result in limited movement, thereby affecting the normal function of the constrained object.

[0064] In the embodiment, the angle range of the included angle a is further limited to meet the turning of the mechanical ankle joint in the front, rear, left and right directions within the angle range, so that the mechanical leg simulates the gait of a person and maintains the activity stability of the robot. The included angle a in the embodiment can be set to be between 0 degrees and 45 degrees or 20 degrees in two implementation manners.

[0065] Specifically, in the first implementation manner, the included angle a is set to be between 0 degrees and 45 degrees. The included angle a cannot be 0 degrees and can be maximally 45 degrees. Regardless of whether the angle limiting structure is arranged in the front-rear direction or the left-right direction, the maximum angle of turning in each direction is 45 degrees while maintaining stability. In the implementation manner, the maximum included angle of 45 degrees provides a relatively large movement range for the mechanical ankle joint, so that the mechanical leg can simulate a more complex and natural gait and adapt to different walking environments, especially limited environments that require a large turning angle.

[0066] In the second implementation manner, the included angle a is set to be 20 degrees. The included angle a cannot be 0 degrees and can be maximally 20 degrees. Regardless of whether the angle limiting structure is arranged in the front-rear direction or the left-right direction, the maximum angle of turning in each direction is 20 degrees while maintaining stability. In the implementation manner, the maximum included angle of 20 degrees provides a human ankle movable angle range for the mechanical ankle joint, so as to fully simulate the gait of a person. Not only can the stability degree of the human gait walking be achieved, but also the risk of increased wear and damage to the mechanical ankle joint due to the decline in structural strength after stress concentration of the mechanical ankle joint due to an excessively large movable angle range can be avoided. At the same time, the complexity of the overall structure and driving design of the robot due to the excessively large movable angle range of the mechanical ankle joint can be avoided.

[0067] In summary, the angle limiting structure of the utility model can further accurately limit the value or value range of the included angle a between the connecting line between the contact portion on the limiting surface 102 and the rotation center of the limiting surface 102 and the horizontal plane. The angle limiting structure can not only meet the limiting needs of different static or dynamic constrained objects in actual application scenarios, but also can make the effect of different static or dynamic constrained objects themselves be optimally exhibited.

[0068] Embodiment 3

[0069] Reference Figures 1-3For the third embodiment of the utility model, the embodiment is based on the previous embodiment, but further, the implementation of the limiting surface 102 is limited to two kinds of plane and curved surface.

[0070] Specifically, the limiting surface 102 is at least one group of plane or at least one group of curved surface matched with the limiting object.

[0071] In the embodiment, whether the constrained object is static or dynamic, when one or more faces of the constrained object are regular geometric shapes such as square, circle and rectangle, the plane limiting surface is always applicable, and when one or more faces of the constrained object are irregular geometric shapes such as arc surface and curved surface, the curved surface limiting surface can make the contact part thereof more conform to the constrained object, increase the contact area, uniformly bear stress and reduce the abrasion of the contact part between the angle limiting structure and the constrained object.

[0072] Preferably, based on the further limitation of the included angle α in the embodiment 1 and the embodiment 2, further increasing the radial width of the limiting surface 102 in the embodiment can further expand the contact area between the angle limiting structure and the constrained object, reduce the pressure intensity of the stressed part and reduce the abrasion degree between the angle limiting structure and the constrained object.

[0073] In summary, the angle limiting structure of the utility model is suitable for various static and dynamic constrained objects, through the curved surface design of the second support surface 103 and the oblique arrangement of the limiting surface 102, not only the angle adjustment in a certain range is allowed to adapt to different working environments and requirements, but also the stability and safety are simultaneously considered through the limitation of the constrained object in a specific angle range, through further limiting the form and size of the limiting surface under a specific included angle range, not only the constrained object with different shape contact surfaces can be better adapted to improve the stability effect of the limiting, but also the contact area of the limiting contact part can be actively increased to reduce the probability of local excessive stress and easy damage.

[0074] Embodiment 4

[0075] Reference Figure 4 For the fourth embodiment of the utility model, the embodiment is based on the embodiment 1 to the embodiment 3, and the utility model provides a mechanical ankle mechanism.

[0076] The mechanical ankle mechanism comprises a walking assembly 200, a support piece 201 and a walking piece 202 fixedly connected with the first support surface 101 on one side,

[0077] A rotating assembly 300 is rotatably fixed to the support piece 201 in a second direction and rotatably fixed to the walking piece 202 in a third direction perpendicular to the second direction; and

[0078] The driving assembly 400 includes a pair of driving members 401 distributed in a fourth direction parallel to the second direction, and the pair of driving members 401 are movably connected to the walking member 202, respectively.

[0079] In this embodiment, the walking assembly 200 is actually an integrated module of the robot lower limbs, covering all structures from below the knee joint to the ground contact, which is specifically divided into the support member 201 representing the lower leg structure and the walking member 202 directly interacting with the ground.

[0080] The support member 201 not only provides necessary structural support, but also connects the power transmission and motion control of the robot lower leg, ensuring the stability and flexibility of the robot during movement. The walking member 202 is the embodiment of the foot sole, directly contacting the ground, and bearing the functions of weight bearing, propulsion, and adapting to different ground conditions. The walking member 202 enables the robot to efficiently move on various terrains, including but not limited to flat ground, slopes, rough or slippery surfaces.

[0081] In this embodiment, the rotating assembly 300 is actually the ankle joint in the robot lower limbs, which is the connection point between the support member 201 and the walking member 202. The rotating assembly 300 enables the walking member 202 to complete forward, backward, left, and right flipping actions by rotating within the space range defined by the angle limiting structure. The amplitude of these flipping actions is within a preset, limited angle range, further realizing the spatial displacement of the support member 201 and the walking member 202 and adapting to obstacles that the walking member 202 can contact, such as uneven ground: the robot needs to adjust the angle of the foot sole to maintain balance and prevent falling; stairs: the robot needs to raise the foot sole and flip upward to overcome the height difference and smoothly move up and down the stairs; narrow passages: when passing through narrow spaces, the robot needs to move laterally, achieving this through the lateral flipping ability of the walking member 202; slopes: when walking on slopes, the robot needs to adjust the front and rear angles of the foot sole to adapt to the inclination angle and prevent sliding; soft ground: such as sand, the flipping and uniform pressure distribution of the walking member 202 can prevent the robot from sinking and maintain forward movement;

[0082] In the embodiment, the turning angle range of the walking piece 202 in the front, rear, left and right directions can reach the maximum turning angle of 45 degrees that the walking piece 202 can theoretically complete in the embodiment 2, and the maximum turning angle is preferably set to the maximum movable angle of the human ankle of 20 degrees in the embodiment 2 to simulate the gait of a person. The stability degree of the human gait walking can be achieved, the structural strength of the rotating assembly 300 after the stress concentration caused by the excessively large movable angle range can be avoided, the risk of increasing wear and damage of the rotating assembly 300 can be avoided, and the complexity of the overall structure and driving design of the robot caused by the excessively large movable angle range of the walking piece 202 can be avoided.

[0083] Specifically, the rotating assembly 300 is fixed to the support piece 201 in the second direction and is fixed to the walking piece 202 in the third direction perpendicular to the second direction. The second direction corresponds to the left and right aspect turning of the robot's soles, and in this description, the side adjacent to the two soles is the inner side, and the other side is the outer side. The third direction corresponds to the front and rear aspect turning of the robot's soles. In the first embodiment, the rotating assembly 300 is integrally fixed, and in the second embodiment, the rotating assembly 300 is arranged in pairs and is movably connected between the pairs.

[0084] In the first embodiment, compared with the second embodiment, the structural rigidity and strength of the rotating assembly 300 as a whole are relatively strong, so that the probability and degree of mechanical wear of the rotating assembly 300 are relatively low to maintain the long-term stable use of the mechanical ankle mechanism, but the adjustment of the angle of the walking piece 202 in the front and rear and left and right aspect turning is relatively limited, and the degree of targeted and fine adjustment of the angle is relatively low.

[0085] In the second embodiment, compared with the first embodiment, the rotating assemblies 300 are movably connected between the pairs, and the structural rigidity and strength are relatively low, but the adjustment of the angle of the walking piece 202 in the front and rear and left and right aspect turning is relatively flexible, and the degree of targeted and fine adjustment of the angle is relatively high. According to the details of the actual terrain and / or obstacles, the fine adjustment in a small range in the corresponding direction can be made to better adapt to the terrain to improve the balance stability of the mechanical ankle mechanism.

[0086] Specifically, the driving assembly 400 includes a pair of driving members 401 distributed in a fourth direction parallel to the second direction, and the pair of driving members 401 are respectively movably connected to the walking member 202; the fourth direction is such that the pair of driving members 401 respectively have the same and / or different distances from the rotating assembly 300 in the vertical direction, so as to ensure that the pair of driving members 401 can respectively drive the rotating assembly 300 to complete rotation in the second direction and the third direction in different operation modes.

[0087] Among them, the pair of driving members 401 are all preferentially pre-set with a certain adaptive stroke range, so as to meet that when the driving member 401 is not actively controlled, the robot walking member 202 can passively make the driving member 401 complete a stroke in a certain range and direction through the force transmission of the rotating assembly 300, so as to enable the walking member 202 to adapt to various types of uneven terrains to a certain extent, and maintain the balance stability of itself and the whole robot when standing and / or walking.

[0088] Specifically, the pair of driving members 401 are actually parts of mechanical ankle driving and connection to other structures, and can be arranged inside or outside the support member 201. In the embodiment, the pair of driving members 401 are preferentially arranged inside the support member 201, so as to realize the wrapping design of the driving assembly 400, and further realize the protection of the driving assembly 400, while avoiding the instability of the support member 201 and the whole mechanical ankle mechanism caused by the knocking of the driving assembly 400, and the abrasion and knocking injury of various organisms including humans caused by the driving assembly 400. Therefore, in the embodiment, the driving assembly 400 with the wrapping design can effectively enhance the operation stability of the mechanical ankle mechanism.

[0089] Specifically, by driving the pair of driving members 401 to synchronously and uniformly operate in a certain range, the rotating assembly 300 is driven to rotate in the third direction to complete a stroke in a corresponding range. Since the rotating assembly 300 is limited by the angle limiting structure, the rotating assembly 300 can drive the walking member 202 to complete a rollover in a certain angle in the front and back directions, so as to enable the robot to complete the forward and backward movements. By actually adjusting the stroke range of the synchronous and uniform operation of the two groups of driving members 401, the fine adjustment of the rollover angle of the robot walking member 202 in the front and back directions is achieved.

[0090] By driving the pair of driving members 401 to independently operate within a certain range of stroke, including one group of driving members 401 operating while the other group of driving members 401 not operating, the two groups of driving members 401 synchronously operate in different directions to drive the rotating assembly 300 to rotate in the first direction to complete the stroke within the corresponding range. Since the rotating assembly 300 is limited by the walking member 202, the rotating assembly 300 can drive the walking member 202 to complete a certain angle of lateral turning in the left and right directions. By specifically adjusting the stroke range of the two groups of driving members 401 when they are independently operated, the lateral turning angle of the robot walking member 202 in the left and right directions is finely adjusted.

[0091] In summary, by driving the pair of driving members 401 to operate according to different setting modes in the embodiment, the lateral turning angle of the robot walking member 202 in the front and back directions and the left and right directions is finely adjusted within the angle range limited by the angle limiting structure. The stability and safety of the robot walking structure are ensured by limiting the turning angle to ensure that the walking member 202 can basically reach the stability of human walking, avoiding excessive movement to cause mechanical damage to the rotating assembly 300 and destroy the balance stability of the entire robot when standing and / or walking. The robot can also flexibly adjust the foot posture to adapt to complex terrain when encountering obstacles, maintaining the stability of the robot when walking. Combined with the flexible driving of the pair of driving members 401, the self-adaptability and balance stability of the mechanical ankle mechanism of the embodiment to various uneven and complex terrains are enhanced.

[0092] Embodiment 5

[0093] Referring to Figure 4 , Figure 6 and Figure 8 , this embodiment is based on the previous embodiment, but further, the rotating assembly 300 can be rotatably connected to the support member 201 and the walking member 202 in two implementation modes.

[0094] Specifically, the rotating assembly 300 includes a first shaft arm 301 arranged in the second direction and a second shaft arm 302 arranged in the third direction.

[0095] The first shaft arm 301 is rotatably fixed to the support member 201, and the second shaft arm 302 is rotatably fixed to the walking member 202.

[0096] Further, the rotating assembly 300 includes a central shaft 303, a first shaft arm 301 arranged in the second direction, and a second shaft arm 302 arranged in the third direction.

[0097] The first shaft arm 301 can rotate relative to the central shaft 303, and the rotating assembly 300 is rotatably fixed to the support member 201 by the first shaft arm 301.

[0098] The second shaft arm 302 can rotate relative to the central shaft 303, and the rotating assembly 300 is fixed to the walking piece 202 through the second shaft arm 302.

[0099] Further, the first shaft arm 301 is rotatably connected to the two sides of the support 201 through two groups of bearings 304 at the two ends of the first shaft arm 301, and the two groups of bearings 304 at the two ends of the second shaft arm 302 are rotatably connected to the top of the walking piece 202 through the first limiting bracket 305 and the second limiting bracket 306.

[0100] It should be noted that in the first embodiment, the first shaft arm 301 and the second shaft arm 302 are fixedly connected as an integrated structure, and the first shaft arm 301 and the second shaft arm 302 are two independent whole bodies, and the two are perpendicular to each other; in the second embodiment, the first shaft arm 301 and the second shaft arm 302 each include two independent components, the two independent components of the first shaft arm 301 are rotatably fixed to the two sides of the central shaft 203 through two groups of bearings 204, and the two independent components of the first shaft arm 301 are arranged in the same direction, and the two independent components of the second shaft arm 302 are the same, and the first shaft arm 301 and the second shaft arm 302 are perpendicular to each other.

[0101] Specifically, in the first embodiment, when driving a pair of driving pieces 401 to synchronously and synchronously rotate within a certain range, the two ends of the second shaft arm 302 can be driven to perform a side turning action in the front and back directions with the first shaft arm 301 as the rotation axis, in this embodiment, the inner rings of the two groups of bearings 204 at the two ends of the first shaft arm 301 are fixedly connected, and the outer rings of the two groups of bearings 204 are fixedly arranged on the two sides of the support 201, therefore, the passive rotation of the first shaft arm 301 can successfully drive the walking piece 202 to rotate in the corresponding direction and within the range; when driving a pair of driving pieces 401 to independently rotate within a certain range, the two ends of the first shaft arm 301 can be driven to perform a side turning action in the left and right directions with the second shaft arm 302 as the rotation axis, in this embodiment, the inner rings of the two groups of bearings 204 at the two ends of the second shaft arm 302 are fixedly connected, and the outer rings of the two groups of bearings 204 are fixedly arranged on the two sides of the walking piece 202, therefore, the passive rotation of the second shaft arm 302 can successfully drive the walking piece 202 to rotate in the corresponding direction and within the range;

[0102] In the second embodiment, no matter which way the pair of driving members 401 operates, the two independent parts of the first shaft arm 301 and the second shaft arm 302 can not only realize the front-back and left-right side turning actions in the first embodiment, but also further adjust the side turning angles in the front-back and left-right directions based on the four sets of bearings 204 connected to the central shaft 203 at the same time, so that the walking member 202 can better adapt to the terrain and perform more stably.

[0103] Embodiment 6

[0104] With reference to Figure 1 , Figure 2 and Figure 8 , the sixth embodiment of the utility model is based on the previous embodiment, but further, a limiting surface 102 capable of reducing the probability of mechanical wear of the rotating assembly 300 is arranged.

[0105] Specifically, the limiting surface 102 corresponds to the outer surface of the first shaft arm 301, and the first shaft arm 301 can contact the limiting surface 102 when rotating relative to the walking member 202.

[0106] It should be noted that the angle limiting structure in this embodiment actually affects the left-right side turning stability, which can be a separately added supporting structure or a protruding structure integrally arranged with the walking member 202.

[0107] Preferably, the limiting surface 102 in this embodiment can be adjusted according to the size and shape of the first shaft arm 301 to increase the contact area as much as possible, reduce the pressure at the contact position, reduce the probability of mechanical wear, and increase the load capacity and long-term stability of the structure.

[0108] Specifically, when the outer surface of the first shaft arm 301 is a smooth curved surface, the limiting surface 102 can be arranged as a wide plane to increase the contact area, make the stress at the contact position more uniform, avoid local concentrated pressure, and the plane is relatively easy to process. The limiting surface 102 can also be arranged as a curved surface, which has stronger wrapping and can be as closely matched as possible with the outer surface of the first shaft arm 301, so as to better absorb mechanical vibration. The wider the width of the curved surface, the better the positive effect. Compared with the plane, the curved surface is not easy to process, but it does not need to be arranged as wide as the plane. When the outer surface of the first shaft arm 301 is a single or multi-surface plane, the limiting surface 102 arranged as a curved surface also has better application effect.

[0109] Embodiment 7

[0110] With reference to Figure 1 , Figure 2 and Figure 8For the seventh embodiment of the utility model, this embodiment is based on the previous embodiment, but further, the limiting surface 102 capable of limiting the activity angle range of the rotating assembly 300 is arranged.

[0111] Specifically, the first shaft arm 301 is symmetrically arranged in a pair, and the walking piece 202 has two limiting surfaces 102 corresponding to the pair of first shaft arms 301.

[0112] It should be noted that the limiting surface 102 in the embodiment can be arranged on one side or on both sides, and the actual needs of the robot mechanical ankle are adaptively adjusted.

[0113] Preferably, the limiting surface 102 in the embodiment is symmetrically arranged and corresponds to the symmetrically arranged first shaft arm 301. When the robot bears a large load or needs to walk on uneven ground, the double-sided limiting surface 102 can provide additional stability and control, reduce the risk of accidental deviation, and more accurately control the robot movement, reduce position error, and in a variable environment or a scene where the robot needs to adapt to multiple terrains, the double-sided limiting surface 102 can provide more extensive adaptability and flexibility.

[0114] Specifically, when the robot is walking or carrying heavy objects, the symmetric limiting surface 102 and the shaft arm can ensure that the stress on both sides is balanced, avoiding structural distortion or damage caused by excessive stress on one side; for example, if the robot is walking on uneven ground, the symmetric limiting surface 102 can ensure that even if one side encounters higher resistance, the other side can provide corresponding support, thereby maintaining the overall stability and balance.

[0115] In high-speed motion or fast-turning scenarios, the symmetric limiting surface 102 and the shaft arm can improve the dynamic stability of the robot; for example, when a racing robot is turning at high speed, the symmetric structure can reduce lateral sliding and maintain the control force and stability of the vehicle during turning.

[0116] In high-load or high-torque applications, the symmetric limiting surface 102 and the shaft arm can enhance the rigidity of the structure and reduce deformation; for example, when an industrial robot needs to lift heavy objects, the symmetric limiting surface and the shaft arm can ensure that the structure does not significantly deform due to the load, maintaining the integrity and safety of the structure.

[0117] In the robot control system, the symmetric limiting surface 102 and the shaft arm can simplify the control algorithm, as the control parameters on both sides can remain consistent, reducing the complexity of the algorithm; for example, when the robot needs to explore unknown terrain, the symmetric structure can simplify the attitude control and obstacle avoidance algorithm, improving the response speed and efficiency of the system.

[0118] The symmetrical design makes the maintenance and replacement of components more simple; for example, when repairing or upgrading the robot, the symmetrical limit surface 102 and shaft arm can use the same spare parts, reducing inventory costs, while simplifying the maintenance process and shortening downtime;

[0119] During the design stage, the symmetrical structure can optimize the use of materials and reduce waste; for example, through calculation and analysis, the designer can determine the optimal size and shape of the symmetrical component to achieve maximum structural strength and performance with the least amount of material.

[0120] Preferably, based on the symmetrical arrangement of the limit surface 102 in this embodiment, the range of angular movement between the outer surface of the first shaft arm 301 and the corresponding limit surface 102 is preferably between 0 and 20 degrees. This angle corresponds to the actual range of movement of the human ankle on both sides in a single direction. Although the range of this angle in this embodiment can actually reach 45 degrees on one side, 20 degrees can already satisfy the basic balance and stability adjustment of gait, and the overall design and structure is relatively economical and suitable. In addition, the combination of the shape and size of the limit surface 102 in Embodiment 3 and the symmetrical arrangement in this embodiment can additionally increase the load capacity and flexibility of the rotating assembly 300. Although 45 degrees can meet the needs of some high-difficulty movements and larger terrain, 45 degrees requires more complex structure rigidity, strength, and overall robot design and structure. Therefore, this embodiment preferably uses 0 to 20 degrees as the single-side rollover angle range of the left and right sides of the walking piece 202.

[0121] Embodiment 8

[0122] Reference Figures 4-7 For the eighth embodiment of the present application, this embodiment is based on the previous embodiment, but further, a driving member 401 is provided.

[0123] The driving member 401 includes a driving machine 401a built into one side of the support member 201, an output disc 401b fixedly connected with the driving machine 401a as the center, and a driving rod 401c eccentrically connected at one end to the output disc 401b.

[0124] Further, one end of the driving rod 401c is connected to the first limit bracket 205 through a ball hinge, and the other end of the driving rod 401c is eccentrically connected to the output disc 401b through a ball hinge.

[0125] It should be noted that the two ends of the two groups of driving rods 401c are respectively fixedly connected to the ball hinges through a group of connecting shafts, which increases the balance stability of the driving structure, thereby more stably driving the walking piece 202 to flip.

[0126] Preferably, the two groups of driving machines 401a are correspondingly moved when the walking piece 202 is subjected to external force, so that the walking piece 202 automatically conforms to the external terrain environment, and the passive compliance effect of the walking piece 202 is achieved.

[0127] Specifically, when the two groups of driving machines 401a are simultaneously driven to rotate clockwise, the output discs 401b are synchronously and uniformly rotated, the driving rods 401c which are eccentrically connected with the output discs 401b have a tendency to operate upward, so that the walking piece 202 is upwardly turned at the front side, and vice versa.

[0128] When one group of driving machines 401a is arbitrarily driven to rotate clockwise, the output disc 401b on the same side is synchronously and uniformly rotated, and the driving rod 401c which is eccentrically connected with the output disc 401b has a tendency to operate upward; since the driving machine 401a on the other side is not rotated or is reversely and correspondingly rotated, the driving rod 401c which has the tendency to operate upward is simultaneously upwardly turned at one side of the left and right sides, and vice versa.

[0129] Embodiment 9

[0130] With reference to Figure 9 As the ninth embodiment of the utility model, the embodiment is based on the embodiments 1~8, and the embodiment provides a humanoid robot.

[0131] The leg part adopts the mechanical ankle mechanism in the embodiments 4~8.

[0132] In summary, the mechanical ankle mechanism in the above embodiments is applied to the existing humanoid robot in the form of a leg part, so that the humanoid robot can basically meet the requirements of simulating human gait during walking, is more balanced and stable compared with a machine, can be self-adaptively adjusted according to various terrains on the basis of stable structure bearing capacity and rigidity, maintains the static stability of the structure itself and enhances the dynamic stability between structures, and in addition, the driving assembly 400 in the wrapping design makes the humanoid robot more human-like in appearance, and ensures that the humanoid robot can be more smooth and stable when simulating some actions of a human.

Claims

1. An angle limiting structure, characterized in that: include, The block component (100) includes a first support surface (101) parallel to the horizontal ground in a first direction, a limiting surface (102) connected at an angle to one side of the first support surface (101), and a second support surface (103) fixedly connected at an angle to one side of the limiting surface (102). The second support surface (103) is a curved surface. The rotation center of the limiting surface (102) and the center of the second support surface (103) are the same. The angle between the line connecting the contact part on the limiting surface (102) and the rotation center of the limiting surface (102) and the horizontal plane is α, where α is not 0.

2. The angle limiting structure as described in claim 1, characterized in that: The angle α between the line connecting the contact portion on the limiting surface (102) and the rotation center of the limiting surface (102) and the horizontal plane is between 0 degrees and 45 degrees.

3. The angle limiting structure as described in claim 1, characterized in that: The angle α between the line connecting the contact portion on the limiting surface (102) and the rotation center of the limiting surface (102) and the horizontal plane is 20 degrees.

4. The angle limiting structure as described in claim 1, characterized in that: The limiting surface (102) is at least one set of planes or at least one set of curved surfaces that fit the limiting object.

5. A mechanical ankle mechanism, characterized in that: Including the angle limiting structure as described in any one of claims 1 to 4; and, The walking assembly (200) includes a support member (201) and a walking member (202) whose side is fixedly connected to the first support surface (101). A rotating assembly (300) is rotatably fixed to the support member (201) in a second direction and rotatably fixed to the walking member (202) in a third direction perpendicular to the second direction. as well as, The drive assembly (400) includes a pair of drive members (401) distributed in a fourth direction parallel to the second direction, and the pair of drive members (401) are respectively movably connected to the walking member (202).

6. The mechanical ankle mechanism as described in claim 5, characterized in that: The rotating assembly (300) includes a first shaft arm (301) disposed in a second direction and a second shaft arm (302) disposed in a third direction. The first shaft arm (301) is rotatably fixed to the support member (201), and the second shaft arm (302) is rotatably fixed to the walking member (202).

7. The mechanical ankle mechanism as described in claim 5, characterized in that: The rotating assembly (300) includes a central shaft (303), a first shaft arm (301) disposed in a second direction, and a second shaft arm (302) disposed in a third direction. The first shaft arm (301) is capable of rotating relative to the central shaft (303), and the rotating assembly (300) is rotatably fixed to the support member (201) via the first shaft arm (301); The second shaft arm (302) is capable of rotating relative to the central shaft (303), and the rotating assembly (300) is rotatably fixed to the traveling member (202) via the second shaft arm (302).

8. The mechanical ankle mechanism as described in claim 6 or 7, characterized in that: The first shaft arm (301) is rotatably connected to both sides of the support member (201) via two sets of bearings (304) at its two ends. The two sets of bearings (304) at both ends of the second shaft arm (302) are rotatably connected to the top of the walking member (202) via a first limiting bracket (305) and a second limiting bracket (306).

9. The mechanical ankle mechanism as described in claim 6 or 7, characterized in that: The limiting surface (102) corresponds to the outer surface of the first shaft arm (301), and the first shaft arm (301) can contact the limiting surface (102) when it rotates relative to the walking member (202).

10. The mechanical ankle mechanism as described in claim 6 or 7, characterized in that: The first shaft arm (301) is symmetrically arranged in a pair, and the walking member (202) has two limiting surfaces (102) corresponding to the pair of first shaft arms (301).

11. The mechanical ankle mechanism as described in claim 8, characterized in that: The drive unit (401) includes a drive motor (401a) built into one side of the support (201), an output disk (401b) fixedly connected to the axis of the drive motor (401a) as the center, and a drive rod (401c) eccentrically connected to the output disk (401b) at one end. One end of the drive rod (401c) is connected to the first limiting bracket (305) via a ball joint, and the other end of the drive rod (401c) is eccentrically connected to the output disk (401b) via a ball joint.

12. A humanoid robot, characterized in that: Includes a leg, which employs a mechanical ankle mechanism as described in any one of claims 5, 6, 7, and 11.

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