Robot Ankle Cross-Shaft Layout for Compact Flexible Joints
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Solution Overview
Problem
Existing simulation robot ankle mechanisms lack a compact layout, high joint integration degree, and flexibility, which affects their performance and universality.
Innovation Solution
A simulation robot ankle mechanism featuring an ankle assembly with transverse and longitudinal accommodating grooves and hinge portions, a shank assembly, and hinge clamping grooves, utilizing needle roller bearings and shaft gaskets for enhanced compactness and flexibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If traditional ankle mechanism structure is used, then the structure is simple to manufacture, but the layout compactness and joint integration degree are poor
Solution Approach 1:
The patent merges multiple functional components into integrated assemblies. The ankle cross shaft member combines transverse and longitudinal accommodating grooves with hinge portions, integrating multiple joints and support functions into a single compact structure, thereby improving layout compactness while maintaining manufacturability
Solution Approach 2:
The ankle cross shaft member serves multiple functions simultaneously: it provides transverse and longitudinal support, accommodates multiple hinge portions, and integrates bearing surfaces. This multi-functionality reduces the number of separate components needed, achieving compact layout without excessive complexity
2Adaptability or versatility
If high joint integration degree is achieved, then the movement range increases, but the manufacturing complexity increases
Solution Approach 1:
The ankle mechanism is segmented into distinct functional modules: ankle cross shaft member, ankle connecting rod, shank assembly, and foot plate adapter. Each module can be manufactured and assembled separately, reducing overall manufacturing complexity while enabling high joint integration degree and extended movement range through modular configuration
Solution Approach 2:
The design nests multiple functional elements within each other: hinge portions are nested within accommodating grooves, needle roller bearings are nested within hinge portions, and gaskets are nested between mating surfaces. This nesting approach achieves compact integration without proportionally increasing manufacturing complexity
3Ease of operation
If compact structure layout is implemented, then the flexibility improves, but the ease of assembly and maintenance deteriorates
Solution Approach 1:
The segmented modular design allows the ankle mechanism to be disassembled into manageable components for maintenance and repair. Each module can be independently accessed, inspected, and replaced, maintaining flexibility while improving serviceability despite the compact integrated layout
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The ankle mechanism achieves a more compact structure with high joint integration, allowing for a larger movement range and improved flexibility and universality.
Implementation Method 1
the transverse hinge portion includes a first ankle transverse shaft needle roller bearing and a first ankle transverse shaft body; the first ankle transverse shaft needle roller bearing is located inside the transverse accommodating groove
Data Source
AI summary
Disclosed is a simulation robot ankle mechanism, including an ankle assembly, where the ankle assembly includes an ankle cross shaft member and an ankle connecting rod; a transverse accommodating groove and a longitudinal accommodating groove are formed in the ankle cross shaft member, the transverse accommodating groove is provided with a transverse hinge portion, and the longitudinal accommodating groove is provided with a longitudinal hinge portion; the transverse hinge portion and the longitudinal hinge portion are distributed in a cross shape; a shank assembly is arranged above the ankle assembly, and the shank assembly includes a shank structural member; a foot plate adapter is arranged at a lower end of the ankle connecting rod; a first hinge clamping groove is formed at a lower end of the shank structural member, and a second hinge clamping groove is formed in the foot plate adapter.