Ankle joint driven by double tendons for humanoid robot

Abstract

A double-tendon-driven ankle joint for a humanoid robot comprises a shank support structure, an ankle joint shaft structure and an output driving support structure, the end of the ankle joint shaft structure is rotatably mounted on the shank support structure, and the output driving support structure is provided with an ankle joint shaft mounting part, a foot plate mounting part and two driving reel groove structures. The foot plate mounting part is located at the bottom of the output driving support structure and used for mounting the foot plate structure, the two driving reel groove structures are concentric and located on the two sides of the top of the output driving support structure, and the ankle joint shaft mounting part is located at the concentric shaft position of the two driving reel groove structures and used for mounting the foot plate structure. And the ankle joint shaft mounting part is used for mounting an ankle joint shaft structure. The device is simple in structure, convenient in motion control, low in motion inertia, low in manufacturing cost and stable in operation.

Description

Technical Field

[0001] This utility model relates to the technical field of humanoid robots, specifically to an ankle joint for humanoid robots driven by double tendons. Background Technology

[0002] In the prior art, patent document CN107756441A discloses an integrated humanoid robot ankle joint drive mechanism, including an ankle joint control unit, a lower leg assembly, an ankle joint pitch / rollover mechanism and detection unit, and a foot. The ankle joint control unit is connected to the ankle joint pitch / rollover and detection unit through the lower leg assembly, and the foot is connected to both the lower leg assembly and the ankle joint pitch / rollover and detection unit. The ankle joint control unit includes a first hydraulic servo valve, a second hydraulic servo valve, a first end cap, and a pressure sensor. The first hydraulic servo valve and the second hydraulic servo valve are installed on the upper end of the first end cap, and the pressure sensor is installed on the lower end of the first end cap. The first end cap is connected to the lower leg assembly.

[0003] The aforementioned technical solutions employ various hydraulic servo valves, resulting in an extremely complex and bulky ankle joint. While hydraulic drive enhances its load-bearing capacity, it significantly increases the moment of inertia, hindering the stability of the mechanism and increasing manufacturing costs and motion control complexity. Therefore, there is an urgent need for an ankle joint structure that, while possessing sufficient load-bearing capacity, is simple in structure, easy to control, has low moment of inertia, low manufacturing costs, and stable operation. Utility Model Content

[0004] To overcome the shortcomings of existing humanoid robot technology, this invention proposes a humanoid robot ankle joint driven by two tendons that is simple in structure, has sufficient load capacity, is easy to control, has low motion inertia, low manufacturing cost, and stable operation.

[0005] The specific technical solution is as follows:

[0006] An ankle joint driven by two tendons for a humanoid robot includes a lower leg support structure, an ankle joint axis structure, and an output drive support structure. The end of the ankle joint axis structure is rotatably mounted on the lower leg support structure. The output drive support structure is provided with an ankle joint axis mounting part, a foot plate mounting part, and two drive winding wheel groove structures. The foot plate mounting part is located at the bottom of the output drive support structure and is used to mount the foot plate structure. The two drive winding wheel groove structures are concentric and located on both sides of the top of the output drive support structure. The ankle joint axis mounting part is located at the concentric axis position of the two drive winding wheel groove structures and is used to mount the ankle joint axis structure.

[0007] Preferably, the device further includes a first drive motor and a second drive motor. The output ends of the first drive motor and the second drive motor are respectively connected to a first tendon cable drive transmission pair and a second tendon cable drive transmission pair. The first tendon cable drive transmission pair and the second tendon cable drive transmission pair are respectively connected to two drive winding wheel groove structures.

[0008] Preferably, both the first and second tendon cable drive transmission pairs consist of a chain or timing belt and non-elastic ropes connected to both ends of the chain or timing belt. The chain or timing belt cooperates with the sprocket or timing belt pulley, and the non-elastic ropes are sleeved on the corresponding drive winding wheel groove structure to form a rotary transmission system.

[0009] Preferably, non-elastic rope A and non-elastic rope B are respectively connected to both ends of the chain or timing belt, and the non-elastic rope A and non-elastic rope B are engaged in the output drive support structure.

[0010] Preferably, a set of locking slots is provided on both sides of the output drive support structure. Each set of locking slots consists of a fixed locking slot and an adjusting locking hole. The fixed locking slot and the adjusting locking hole are respectively located at both ends of the output drive support structure and correspond to the positions of the two drive winding wheel slot structures. A fixed locking head structure is provided at the end of all non-elastic ropes A, and the fixed locking head structure cooperates with the corresponding fixed locking slot. A tension adjusting locking head structure is provided at the end of all non-elastic ropes B, and the tension adjusting locking head structure cooperates with the corresponding adjusting locking hole.

[0011] Preferably, the grooves of the two drive winding wheels have the same diameter.

[0012] Preferably, the lower leg support structure has two opposing rotating support ears at its bottom, and the two ends of the ankle joint shaft structure are rotatably mounted in the two rotating support ears through a bearing structure.

[0013] Preferably, the ankle joint axis structure consists of a first half-axis structure and a second half-axis structure. Bearing stop plates are provided at one end of both the first and second half-axis structures to limit the bearing structure. A shaft positioning sleeve structure is provided on both sides of the ankle joint axis mounting portion. The ends of the first and second half-axis structures respectively cooperate with the two shaft positioning sleeve structures. Screw mounting holes are formed around the axis at the ends of the first and second half-axis structures. A corresponding through-hole group is formed around the axis in the ankle joint axis mounting portion. Connecting fastening screw structures are provided in the screw mounting hole groups. These connecting fastening screw structures pass through the through-hole groups to connect the opposite ends of the first and second half-axis structures, thereby securing the first and second half-axis structures to both sides of the ankle joint axis mounting portion.

[0014] Preferably, the foot plate mounting part consists of two side-flipping hinge ears.

[0015] The beneficial effects of this utility model are as follows: the designed output drive support structure connects the lower leg support structure and the foot plate structure respectively, and completes the rotation control of the ankle joint axis structure. Its structure is simple and stable in operation. Furthermore, the dual drive winding wheel groove structure can be driven by dual drive motors, thus providing sufficient load capacity. Moreover, the drive is performed at the distal end through the tendon rope drive transmission pair, resulting in low motion inertia, low manufacturing cost, and simple motion control mode. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the robot's leg according to this utility model.

[0017] Figure 2 This is a schematic diagram of the cross-sectional structure of the knee joint axis in this utility model.

[0018] Figure 3 This is a schematic diagram of the installation of the overall transmission connection of this utility model.

[0019] Figure 4 This is a side view of the output drive support structure in this utility model.

[0020] Explanation of reference numerals in the attached drawings: 1. Lower leg support structure; 2. Ankle joint axis structure; 3. Output drive support structure; 4. Foot plate structure; 5. First drive motor device; 6. Second drive motor device;

[0021] Ankle joint axis mounting part 31; foot plate mounting part 32; drive winding wheel groove structure 33;

[0022] First tendon chord drive pair 51; Second tendon chord drive pair 61; Non-elastic rope A511; Non-elastic rope B512.

[0023] Rotating support ear 11; first half-shaft structure 21; second half-shaft structure 22; fixed slot 34; adjusting hole 35; fixed head structure 513; tension adjusting head structure 514. Detailed Implementation

[0024] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0025] In the description of this utility model, it should be noted that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0026] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or a connection through an intermediate medium; or they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0027] Example:

[0028] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown: A humanoid robot with a double-tendon driven ankle joint is provided with a lower leg support structure 1, an ankle joint shaft structure 2, an output drive support structure 3, a foot plate structure 4, a first drive motor device 5, and a second drive motor device 6. The end of the ankle joint shaft structure 2 is rotatably mounted on the lower leg support structure 1. The output drive support structure 3 is provided with an ankle joint shaft mounting part 31, a foot plate mounting part 32, and two drive winding wheel groove structures 33. The foot plate mounting part 32 is located at the bottom of the output drive support structure 3 and is used to mount the foot plate structure 4. The foot plate mounting part 32 is composed of two side-flipping hinge ears, which facilitates the side flipping of the foot plate structure 4. The ankle joint shaft mounting part 31 is used to mount the ankle joint shaft structure 2.

[0029] The two drive winding wheel groove structures 33 are concentric and have the same diameter. The two drive winding wheel groove structures 33 are located on the top sides of the output drive support structure 3. The ankle joint shaft mounting part 31 is located on the concentric axis of the two drive winding wheel groove structures 33. The specific structure of the drive winding wheel groove structure 33 is composed of annular recesses set on both sides of the top of the output drive support structure 3, and annular baffles installed on the side of the annular recesses by screws. The annular recesses are integrally manufactured with other parts of the output drive support structure 3, such as the ankle joint shaft mounting part 31 and the foot plate mounting part 32. This facilitates processing and manufacturing, makes the structure more compact and stable, and facilitates winding within a small space design range.

[0030] A first tendon cable drive pair 51 and a second tendon cable drive pair 61 are respectively connected to the output ends of the first drive motor device 5 and the second drive motor device 6. The first tendon cable drive pair 51 and the second tendon cable drive pair 61 are respectively connected to the two drive winding wheel groove structures 33.

[0031] The first tendon cable drive pair 51 and the second tendon cable drive pair 61 both consist of a chain or synchronous belt and non-elastic ropes connected to both ends of the chain or synchronous belt. The chain or synchronous belt cooperates with a sprocket or synchronous belt pulley, and the non-elastic ropes are sleeved on the corresponding drive winding wheel groove structure 33 to form a rotary transmission system. Furthermore, non-elastic ropes A511 and B512 are respectively connected to both ends of the chain or synchronous belt, and non-elastic ropes A511 and B512 are respectively engaged in the output drive support structure 3.

[0032] On both sides of the output drive support structure 3, there is a set of locking slots. Each set of locking slots consists of a fixed locking slot 34 and an adjusting locking hole 35. The fixed locking slot 34 and the adjusting locking hole 35 are respectively located at the two ends of the output drive support structure 3 and correspond to the positions of the two drive winding wheel slot structures 33. At the end of all non-elastic ropes A511, there is a fixed locking head structure 513, which cooperates with the corresponding fixed locking slot 34. At the end of all non-elastic ropes B512, there is a tension adjusting locking head structure 514, which cooperates with the corresponding adjusting locking hole 35.

[0033] Two opposing rotating support ears 11 are provided at the bottom of the lower leg support structure 1. The two ends of the ankle joint shaft structure 2 are rotatably installed in the two rotating support ears 11 through the bearing structure. The ankle joint shaft structure 2 is composed of a first half-shaft structure 21 and a second half-shaft structure 22. Bearing stop plates are provided at one end of the first half-shaft structure 21 and the second half-shaft structure 22 to limit the bearing structure.

[0034] A shaft positioning sleeve structure is provided on both sides of the ankle joint shaft mounting part 31. The ends of the first half-shaft structure 21 and the second half-shaft structure 22 respectively cooperate with the two shaft positioning sleeve structures. The ends of the first half-shaft structure 21 and the second half-shaft structure 22 are provided with screw mounting holes around the shaft. The ankle joint shaft mounting part 31 is provided with corresponding through holes around the shaft. A connecting fastening screw structure is provided in the screw mounting hole group. The connecting fastening screw structure passes through the through hole group to connect the opposite ends of the first half-shaft structure 21 and the second half-shaft structure 22 together, so that the first half-shaft structure 21 and the second half-shaft structure 22 are respectively fastened to both sides of the ankle joint shaft mounting part 31.

[0035] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims.

Claims

1. An ankle joint for a humanoid robot driven by two tendons, characterized in that: The device includes a calf support structure (1), an ankle joint shaft structure (2), and an output drive support structure (3). The end of the ankle joint shaft structure (2) is rotatably mounted on the calf support structure (1). The output drive support structure (3) is provided with an ankle joint shaft mounting part (31), a foot plate mounting part (32), and two drive winding wheel groove structures (33). The foot plate mounting part (32) is located at the bottom of the output drive support structure (3) and is used to mount the foot plate structure (4). The two drive winding wheel groove structures (33) are concentric and located on both sides of the top of the output drive support structure (3). The ankle joint shaft mounting part (31) is located at the concentric axis position of the two drive winding wheel groove structures (33) and is used to mount the ankle joint shaft structure (2).

2. The ankle joint of the humanoid robot driven by double tendons according to claim 1, characterized in that: It also includes a first drive motor device (5) and a second drive motor device (6). The output ends of the first drive motor device (5) and the second drive motor device (6) are respectively connected to a first tendon cable drive transmission pair (51) and a second tendon cable drive transmission pair (61). The first tendon cable drive transmission pair (51) and the second tendon cable drive transmission pair (61) are respectively connected to two drive winding wheel groove structures (33).

3. The ankle joint of the humanoid robot driven by double tendons according to claim 2, characterized in that: The first tendon cable drive pair (51) and the second tendon cable drive pair (61) are both composed of a chain or a timing belt and a non-elastic rope connected to both ends of the chain or timing belt. The chain or timing belt cooperates with the sprocket or timing belt pulley, and the non-elastic rope is sleeved on the corresponding drive winding wheel groove structure (33) to form a rotary transmission system.

4. The ankle joint of the humanoid robot driven by double tendons according to claim 3, characterized in that: Non-elastic rope A (511) and non-elastic rope B (512) are respectively connected to both ends of the chain or timing belt, and the non-elastic rope A (511) and non-elastic rope B (512) are locked in the output drive support structure (3).

5. The ankle joint of the humanoid robot driven by double tendons according to claim 4, characterized in that: On both sides of the output drive support structure (3), a set of slots is provided. The set of slots consists of a fixed slot (34) and an adjusting slot (35). The fixed slot (34) and the adjusting slot (35) are respectively located at the two ends of the output drive support structure (3) and correspond to the positions of the two drive winding wheel slot structures (33). A fixed head structure (513) is provided at the end of all non-elastic ropes A (511). The fixed head structure (513) cooperates with the corresponding fixed slot (34). A tension adjusting head structure (514) is provided at the end of all non-elastic ropes B (512). The tension adjusting head structure (514) cooperates with the corresponding adjusting slot (35).

6. The ankle joint of the humanoid robot driven by double tendons according to claim 1, characterized in that: The two drive winding wheel groove structures (33) have the same diameter.

7. The ankle joint of the humanoid robot driven by double tendons according to any one of claims 1-6, characterized in that: The lower leg support structure (1) has two opposing rotating support ears (11) at its bottom, and the two ends of the ankle joint shaft structure (2) are rotatably installed in the two rotating support ears (11) through a bearing structure.

8. The ankle joint of the humanoid robot driven by double tendons according to claim 5, characterized in that: The ankle joint axis structure (2) is composed of a first half-axis structure (21) and a second half-axis structure (22). A bearing stop plate is provided at one end of the first half-axis structure (21) and the second half-axis structure (22) to limit the bearing structure. Both sides of the ankle joint shaft mounting part (31) are provided with shaft positioning sleeve structures. The ends of the first half-shaft structure (21) and the second half-shaft structure (22) are respectively engaged with the two shaft positioning sleeve structures. The ends of the first half-shaft structure (21) and the second half-shaft structure (22) are provided with screw mounting hole groups around the shaft center. The ankle joint shaft mounting part (31) is provided with corresponding through hole groups around the shaft center. A connecting fastening screw structure is provided in the screw mounting hole group. The connecting fastening screw structure passes through the through hole group to connect the opposite ends of the first half-shaft structure (21) and the second half-shaft structure (22) together, and makes the first half-shaft structure (21) and the second half-shaft structure (22) respectively fastened to both sides of the ankle joint shaft mounting part (31).

9. The ankle joint of a humanoid robot driven by two tendons according to claim 1 or 8, characterized in that: The foot plate mounting part (32) consists of two side-flipping hinge ears.

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