Robot Shank Mechanism With Integrated Ankle Joint Layout
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Solution Overview
Problem
Existing simulation robot shank mechanisms lack a compact layout, high joint integration degree, and flexibility, which affects their performance and universality.
Innovation Solution
A simulation robot shank mechanism with a shank assembly, ankle assembly, and foot plate assembly, featuring a knee joint drive motor, ankle joint drive motors, rocker arm swing members, and hinge clamping grooves, allowing for a compact structure and high joint integration, enabling a large movement range and improved flexibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If the shank mechanism uses a traditional layout with separate motor mounting, then the structure is simple to manufacture, but the layout compactness and joint integration degree are poor
Solution Approach 1:
The patent integrates the motor mounting structure directly into the shank structural member by forming motor mounting positions (first motor mounting position and second motor mounting position) as integral parts of the shank structural member itself. This merging of the motor mounting function into the shank structure eliminates separate mounting components, achieves compact layout, and improves joint integration degree while maintaining manufacturing simplicity.
2Adaptability or versatility
If the shank mechanism integrates multiple joints and components, then the joint integration degree increases, but the manufacturing complexity increases
Solution Approach 1:
The shank structural member is designed as a multi-functional component that simultaneously serves as the structural support, the motor mounting base, and the connection element for both knee and ankle joints. The motor mounting positions are formed directly on the shank structural member, allowing it to accommodate multiple motors (first ankle joint drive motor and second ankle joint drive motor) while maintaining a unified structure that is easier to manufacture than separate components.
3Adaptability or versatility
If the rocker arm swing members have different lengths, then the movement range and flexibility improve, but the manufacturing precision requirements increase
Solution Approach 1:
The patent applies different lengths to the rocker arm swing members (first rocker arm swing member and second rocker arm swing member) based on their specific functional requirements. The first rocker arm swing member has a different length than the second, allowing each to be optimized for its particular movement direction and range. This local differentiation of dimensions enables tailored performance for each ankle joint direction while the overall structure maintains manufacturing feasibility through the integrated shank mounting positions.
Data Source
AI summary
Disclosed is a simulation robot shank mechanism, where an upper portion of a shank structural member is connected between a lower portion of a knee joint power output structural member and a lower portion of a knee joint passive end structural member, a lower portion of the shank structural member is connected to an ankle cross shaft member, and the ankle cross shaft member is fixed above a foot plate assembly; a first ankle joint drive motor is fixed to a first motor mounting position, a power output end of the first ankle joint drive motor is connected to an upper portion of a first rocker arm swing member, and a lower portion of the first rocker arm swing member is connected to one side of an ankle connecting rod.