Two-degree-of-freedom ankle joint, artificial leg and robot
By designing a two-degree-of-freedom ankle joint and employing three rotational and damping structures, the problem of insufficient ankle joint flexibility in robots was solved, enabling flexible rotation of the foot in different directions and improving the flexibility of robot movements.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- ZHEJIANG BRAIN ENHANCE TECH CO LTD
- Filing Date
- 2025-04-22
- Publication Date
- 2026-05-08
AI Technical Summary
In existing technologies, the ankle joints of robots have low flexibility and cannot achieve rotational freedom, resulting in insufficient movement flexibility.
Design a two-degree-of-freedom ankle joint comprising three rotational structures and a damping structure. Through rotational connections in different directions and damping adjustment, the ankle joint achieves bidirectional rotational freedom. The joint includes a first rotational structure, a second rotational structure, and a third rotational structure, which rotate along the width and length directions of the foot, respectively, and the first and second damping structures provide damping adjustment.
It improves the flexibility of the ankle joint, enabling the foot to rotate flexibly in different directions, thus enhancing the robot's performance in actions such as standing, squatting, walking, and running.
Smart Images
Figure CN224206941U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, and in particular to a dual-degree-of-freedom ankle joint, prosthetic leg, and robot. Background Technology
[0002] In the field of prosthetics or robotics, joints are important components for displaying various postures, and the movement of the ankle joint plays an important role in actions such as standing, squatting, walking, and running.
[0003] In existing technologies, the lower leg and foot are rigidly connected, the ankle joint cannot move and has no degree of freedom of rotation, resulting in low flexibility of the ankle joint.
[0004] Therefore, existing technologies still need to be improved and developed. Utility Model Content
[0005] The technical problem to be solved by this utility model is to provide a dual-degree-of-freedom ankle joint, prosthetic leg and robot in view of the above-mentioned defects of the prior art, so as to solve the problem of low flexibility of the robot ankle joint in the prior art.
[0006] The technical solution adopted by this utility model to solve the technical problem is as follows:
[0007] A two-degree-of-freedom ankle joint, wherein it comprises:
[0008] First rotating structure;
[0009] The second rotating structure is rotatably connected to the first rotating structure;
[0010] The third rotating structure is rotatably connected to the second rotating structure;
[0011] Wherein, the rotation direction of the first rotating structure relative to the second rotating structure is the first direction, and the rotation direction of the third rotating structure relative to the second rotating structure is the second direction, and the first direction and the second direction are different directions.
[0012] The aforementioned dual-degree-of-freedom ankle joint, wherein the first rotational structure is configured to connect to a footplate, the first direction being the width direction of the footplate, and the second direction being the length direction of the footplate.
[0013] The aforementioned dual-degree-of-freedom ankle joint further includes:
[0014] The first damping structure is connected to the first rotating structure and the second rotating structure, respectively.
[0015] The aforementioned dual-degree-of-freedom ankle joint, wherein the rotation axes of the first rotation structure and the second rotation structure are the first axis;
[0016] The first damping structure includes:
[0017] The first elastic element and the second elastic element are located on both sides of the first axis, respectively.
[0018] The aforementioned dual-degree-of-freedom ankle joint further includes:
[0019] The second damping structure is connected to the second rotating structure and the third rotating structure, respectively.
[0020] The aforementioned two-degree-of-freedom ankle joint, wherein the second damping structure comprises:
[0021] Adjustable damping structure and / or non-adjustable damping structure;
[0022] The damping coefficient of the adjustable damping structure is adjustable.
[0023] The damping coefficient of the non-adjustable damping structure is not adjustable.
[0024] The aforementioned two-degree-of-freedom ankle joint, wherein the adjustable damping structure includes:
[0025] The damper is rotatably mounted on the third rotating structure;
[0026] The regulator is rotatably mounted on the third rotating structure;
[0027] The first linkage group is rotatably connected to the second rotating structure, the third rotating structure, and the damper, respectively;
[0028] The regulator is configured to adjust the damping of the damper.
[0029] The aforementioned two-degree-of-freedom ankle joint, wherein the non-adjustable damping structure comprises:
[0030] The third elastic element is connected to the second rotating structure and the third rotating structure respectively.
[0031] A prosthetic leg, wherein it includes a two-degree-of-freedom ankle joint as described in any of the above.
[0032] A robot comprising a two-degree-of-freedom ankle joint as described in any of the above, or a prosthetic leg as described above.
[0033] Beneficial effects: The first and second rotating structures are rotatably connected, with the rotation direction being the first direction; the second and third rotating structures are rotatably connected, with the rotation direction being the second direction. Since the first and second directions are different, the entire ankle joint has two degrees of rotational freedom, resulting in greater flexibility for a dual-degree-of-freedom ankle joint. Attached Figure Description
[0034] Figure 1 This is a schematic diagram of the structure of the dual-degree-of-freedom ankle joint and footplate in an embodiment of this utility model.
[0035] Figure 2 This is a cross-sectional view of the two-degree-of-freedom ankle joint in an embodiment of this utility model.
[0036] Figure 3 This is a schematic diagram of the first rotating structure, the second rotating structure, the first damping structure, and the non-adjustable damping structure in an embodiment of this utility model.
[0037] Figure 4 This is a schematic diagram of the adjustable damping structure in an embodiment of this utility model.
[0038] Figure 5 This is a schematic diagram of the first rotating structure, the second rotating structure, the first damping structure, and the adjustable damping structure in an embodiment of this utility model.
[0039] Figure 6 This is a schematic diagram of the two-degree-of-freedom ankle joint rotating forward in the second direction in an embodiment of this utility model.
[0040] Figure 7 This is a schematic diagram of the two-degree-of-freedom ankle joint rotating backward along the second direction in an embodiment of this utility model.
[0041] Explanation of reference numerals in the attached figures:
[0042] 10. First rotating structure; 20. Second rotating structure; 30. Third rotating structure; 40. First damping structure; 41. First elastic element; 42. Second elastic element; 50. Adjustable damping structure; 51. Damper; 52. Adjuster; 53. First linkage group; 60. Non-adjustable damping structure; 70. Second linkage group; 80. Driver; 90. Foot plate. Detailed Implementation
[0043] To make the objectives, technical solutions, and advantages of this utility model clearer and more explicit, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.
[0044] Please also refer to Figures 1-6 This utility model provides some preferred embodiments of a two-degree-of-freedom ankle joint.
[0045] like Figure 1 As shown, the two-degree-of-freedom ankle joint includes:
[0046] First rotating structure 10;
[0047] The second rotating structure 20 is rotatably connected to the first rotating structure 10;
[0048] The third rotating structure 30 is rotatably connected to the second rotating structure 20;
[0049] Wherein, the rotation direction of the first rotating structure 10 relative to the second rotating structure 20 is the first direction, and the rotation direction of the third rotating structure 30 relative to the second rotating structure 20 is the second direction, and the first direction and the second direction are different directions.
[0050] Specifically, the dual-degree-of-freedom ankle joint has three rotational structures: a first rotational structure 10, a second rotational structure 20, and a third rotational structure 30. The first rotational structure 10 and the second rotational structure 20 are rotatably connected in the first direction; the second rotational structure 20 and the third rotational structure 30 are rotatably connected in the second direction. Since the first and second directions are different, the entire ankle joint has two degrees of rotational freedom, resulting in greater flexibility for the dual-degree-of-freedom ankle joint.
[0051] In a preferred embodiment of this utility model, please also refer to... Figure 1 , Figure 6 and Figure 7 The first rotating structure 10 is configured to connect to the foot plate 90, the first direction being the width direction of the foot plate 90, and the second direction being the length direction of the foot plate 90.
[0052] Specifically, the first rotating structure 10 can be connected to the foot plate 90, with the first direction being the width direction of the foot plate 90 and the second direction being the length direction of the foot plate 90. When the first rotating structure 10 and the second rotating structure 20 rotate relative to each other, the foot plate 90 rotates along the length direction. When the second rotating structure 20 and the third rotating structure 30 rotate relative to each other, the foot plate 90 rotates along the width direction.
[0053] In a preferred embodiment of this utility model, please also refer to... Figure 1 , Figure 3 and Figure 5 The dual-degree-of-freedom ankle joint further includes:
[0054] The first damping structure 40 is connected to the first rotating structure 10 and the second rotating structure 20 respectively.
[0055] Specifically, a first damping structure 40 is disposed between the first rotating structure 10 and the second rotating structure 20. The first damping structure 40 provides resistance to the rotation between the first rotating structure 10 and the second rotating structure 20. Under the action of the first damping structure 40, the rotation between the first rotating structure 10 and the second rotating structure 20 is hindered, which helps to maintain the attitude of the first rotating structure 10 and the second rotating structure 20, or helps to controllably adjust the attitude of the first rotating structure 10 and the second rotating structure 20.
[0056] In a preferred embodiment of this utility model, please also refer to... Figure 1 , Figure 3 and Figure 5 The rotation axes of the first rotating structure 10 and the second rotating structure 20 are the first axis.
[0057] Specifically, the axis of rotation of the first rotating structure 10 and the second rotating structure 20 is the first axis. The first rotating structure 10 and the second rotating structure 20 can be rotatably connected by a rotating shaft, and the central axis of the rotating shaft is the first axis.
[0058] In a preferred embodiment of this utility model, please also refer to... Figure 1 , Figure 3 and Figure 5 The first damping structure 40 includes:
[0059] The first elastic element 41 and the second elastic element 42 are located on both sides of the first axis, respectively.
[0060] Specifically, the first damping structure 40 has at least one first elastic element 41 and at least one second elastic element 42. The first elastic element 41 and the second elastic element 42 are located on both sides of the first axis, for example, the first elastic element 41 is located on the left side of the first axis and the second elastic element 42 is located on the right side of the first axis. When the second rotating structure 20 rotates to the left, the first elastic element 41 is deformed by pressure; when the second rotating structure 20 rotates to the right, the second elastic element 42 is deformed by pressure.
[0061] In a preferred embodiment of this utility model, please also refer to... Figure 1 , Figure 2 and Figure 4 The dual-degree-of-freedom ankle joint further includes:
[0062] The second damping structure is connected to the second rotating structure 20 and the third rotating structure 30, respectively.
[0063] Specifically, a second damping structure is disposed between the second rotating structure 20 and the third rotating structure 30. The second damping structure provides resistance to the rotation between the second rotating structure 20 and the third rotating structure 30. Under the action of the second damping structure, the rotation between the second rotating structure 20 and the third rotating structure 30 is hindered, which helps to maintain the attitude of the second rotating structure 20 and the third rotating structure 30, or helps to controllably adjust the attitude of the second rotating structure 20 and the third rotating structure 30.
[0064] In a preferred embodiment of this utility model, please also refer to... Figure 1 , Figure 2 and Figure 4 The second damping structure includes:
[0065] Adjustable damping structure 50 and / or non-adjustable damping structure 60;
[0066] The damping coefficient of the adjustable damping structure 50 is adjustable; the damping coefficient of the non-adjustable damping structure 60 is not adjustable.
[0067] Specifically, the second damping structure can be an adjustable damping structure 50 or a non-adjustable damping structure 60. The damping coefficient of the adjustable damping structure 50 can be adjusted, while the damping coefficient of the non-adjustable damping structure 60 cannot be adjusted.
[0068] In a preferred embodiment of this utility model, please also refer to... Figure 2 , Figure 4 and Figure 5 The adjustable damping structure 50 includes:
[0069] The damper 51 is rotatably mounted on the third rotating structure 30;
[0070] Adjuster 52 is rotatably mounted on the third rotating structure 30;
[0071] The first link assembly 53 is rotatably connected to the second rotating structure 20, the third rotating structure 30, and the damper 51, respectively;
[0072] The regulator 52 is configured to adjust the damping of the damper 51.
[0073] Specifically, the damper 51 provides resistance, and the adjuster 52 adjusts the damping of the damper 51. When the second rotating structure 20 and the third rotating structure 30 rotate relative to each other, the damper 51 is extended or retracted through the first link group 53, thereby enabling the damper 51 to resist the relative rotation of the second rotating structure 20 and the third rotating structure 30. The first link group 53 has at least two links that are rotatably connected in sequence. For example, the first link group 53 includes: a first link and a second link; the first link is rotatably connected to the third rotating structure 30, the damper 51, and the second link respectively; the second link is rotatably connected to the first link and the second rotating structure 20 respectively.
[0074] In a preferred embodiment of this utility model, please also refer to... Figure 1 and Figure 3 The non-adjustable damping structure 60 includes:
[0075] The third elastic element is connected to the second rotating structure 20 and the third rotating structure 30 respectively.
[0076] Specifically, the third elastic element is connected to the second rotating structure 20 and the third rotating structure 30 respectively, providing resistance to the rotation between the second rotating structure 20 and the third rotating structure 30.
[0077] In a preferred embodiment of this utility model, please also refer to... Figure 1 and Figure 3 The third elastic element is connected to the second rotating structure 20 via the second connecting rod group 70. The second rotating structure 20 is equipped with a driver 80, and the output shaft of the driver 80 is connected to the second connecting rod group 70.
[0078] Specifically, when the second rotating structure 20 and the third rotating structure 30 rotate relative to each other, they drive the second linkage group 70 to rotate, causing the third elastic element to deform. The driver 80 can drive the second linkage group 70 to rotate, actively driving the second rotating structure 20 to rotate relative to the third rotating structure 30. The second linkage group 70 has at least two links that are rotatably connected in sequence. For example, the second linkage group 70 includes: a third link and a fourth link; the third link is connected to the output shaft of the driver 80 and rotatably connected to the fourth link; the fourth link is rotatably connected to the fourth link and the second rotating structure 20 respectively.
[0079] Based on the dual-degree-of-freedom ankle joint of any of the above embodiments, the present invention also provides a prosthetic leg, including the dual-degree-of-freedom ankle joint described in any of the above embodiments, as specifically as described above.
[0080] The prosthetic leg provided by this utility model has all the above-mentioned beneficial effects because it is equipped with a dual-degree-of-freedom ankle joint as described in any of the above technical solutions, which will not be repeated here.
[0081] Based on any of the above embodiments, the present invention also provides a robot including the dual-degree-of-freedom ankle joint or prosthetic leg described in any of the above embodiments, as specifically as described above.
[0082] The robot provided by this utility model has all the above-mentioned beneficial effects because it is equipped with a dual-degree-of-freedom ankle joint or prosthetic leg as described in any of the above technical solutions, which will not be repeated here.
[0083] It should be understood that the application of this utility model is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.
Claims
1. A dual-degree-of-freedom ankle joint, characterized in that, It includes: First rotating structure; The second rotating structure is rotatably connected to the first rotating structure; The third rotating structure is rotatably connected to the second rotating structure; Wherein, the rotation direction of the first rotating structure relative to the second rotating structure is the first direction, and the rotation direction of the third rotating structure relative to the second rotating structure is the second direction, and the first direction and the second direction are different directions.
2. The dual-degree-of-freedom ankle joint according to claim 1, characterized in that, The first rotating structure is configured to connect to a foot plate, wherein the first direction is the width direction of the foot plate and the second direction is the length direction of the foot plate.
3. The dual-degree-of-freedom ankle joint according to claim 1, characterized in that, The dual-degree-of-freedom ankle joint also includes: The first damping structure is connected to the first rotating structure and the second rotating structure, respectively.
4. The dual-degree-of-freedom ankle joint according to claim 3, characterized in that, The rotation axes of the first rotating structure and the second rotating structure are the first axis; The first damping structure includes: The first elastic element and the second elastic element are located on both sides of the first axis, respectively.
5. The dual-degree-of-freedom ankle joint according to claim 1, characterized in that, The dual-degree-of-freedom ankle joint also includes: The second damping structure is connected to the second rotating structure and the third rotating structure, respectively.
6. The dual-degree-of-freedom ankle joint according to claim 5, characterized in that, The second damping structure includes: Adjustable damping structure and / or non-adjustable damping structure; The damping coefficient of the adjustable damping structure is adjustable. The damping coefficient of the non-adjustable damping structure is not adjustable.
7. The dual-degree-of-freedom ankle joint according to claim 6, characterized in that, The adjustable damping structure includes: The damper is rotatably mounted on the third rotating structure; The regulator is rotatably mounted on the third rotating structure; The first linkage group is rotatably connected to the second rotating structure, the third rotating structure, and the damper, respectively; The regulator is configured to adjust the damping of the damper.
8. The dual-degree-of-freedom ankle joint according to claim 6, characterized in that, The non-adjustable damping structure includes: The third elastic element is connected to the second rotating structure and the third rotating structure respectively.
9. A prosthetic leg, characterized in that, It includes a two-degree-of-freedom ankle joint as described in any one of claims 1 to 8.
10. A robot, characterized in that, It includes a dual-degree-of-freedom ankle joint as described in any one of claims 1 to 8, or a prosthetic leg as described in claim 9.