CN112720564A - Bionic robot and swash plate type ankle joint thereof - Google Patents
Bionic robot and swash plate type ankle joint thereof Download PDFInfo
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- CN112720564A CN112720564A CN202011406627.9A CN202011406627A CN112720564A CN 112720564 A CN112720564 A CN 112720564A CN 202011406627 A CN202011406627 A CN 202011406627A CN 112720564 A CN112720564 A CN 112720564A
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 91
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 70
- 210000003423 ankle Anatomy 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 230000003592 biomimetic effect Effects 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 8
- 210000004907 gland Anatomy 0.000 claims description 6
- 230000009471 action Effects 0.000 description 4
- 210000002683 foot Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000000629 knee joint Anatomy 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
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- 238000012827 research and development Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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Abstract
The invention provides a bionic robot and a swash plate type ankle joint thereof. The swash plate transmission mechanism comprises a swash plate and two push rods, the swash plate is mounted on the power input shaft and provided with an inclined end face, and one ends of the two push rods are symmetrically abutted against the inclined end face of the swash plate, so that the power input shaft drives the rotary motion of the swash plate to be converted into the linear reciprocating motion of the push rods; the other ends of the two push rods are respectively connected with two end parts of a swinging transmission shaft through pivots, and the swinging transmission shaft is connected with the ankle support, so that the reciprocating motion of the push rods drives the swinging transmission shaft to swing, and the ankle support is driven to swing. The swash plate transmission mechanism of the embodiment of the invention utilizes the transmission characteristic that the swash plate pushes the push rod, and has self-locking property.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to a bionic robot and a swash plate type ankle joint thereof.
Background
The humanoid robot is an advanced development stage of robot technology, and reflects the research and development levels of the robot in the aspects of mechanics, motion, dynamics and the like. The humanoid robot has the advantages of strong obstacle crossing capability, omnibearing adjustment of the moving direction, strong terrain adaptability, good movement flexibility and high bearing capacity, is the best choice in a complex operation environment, and has wide application prospect.
The ankle joint part of the bionic robot is of great importance to the motion of the whole robot, and if the ankle joint part cannot simulate the forward lifting action and the left-right swinging action of the human ankle, the terrain adaptability of the bionic robot is greatly limited. Among the prior art, for realizing a plurality of degrees of freedom of bionic robot's ankle joint, generally can install driving motor between the ankle joint position, support and drive structure and install mostly in the ankle joint position, the ankle joint position produces great inertia at the in-process of walking, consequently need more powerful motor to drive, the inertia when can increase the weight at ankle joint position like this and walk, it is more obvious to the stationarity influence of motion, be unfavorable for the optimization of robot weight and structure.
Because each joint motion of robot needs to set up power structure or transmission, and some humanoid robots's ankle joint is for reducing weight, does not possess the rotational degree of freedom or only possesses the rotational degree of freedom of a direction generally, and this kind of structure only is applicable to the walking on the flat bottom surface, if meet with uneven bottom surface, if the ankle joint can't realize the swing of left and right direction and adjust, the nature or the walking is unstable very easily walked to the bionic robot, even the condition that falls down because the focus is unstable appears.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a biomimetic robot and a swash plate type ankle joint thereof, so as to obviate or mitigate one or more of the disadvantages in the related art.
The technical scheme of the invention is as follows:
a swash plate type ankle joint of a bionic robot comprises a power input shaft, a swash plate transmission mechanism, a swinging transmission shaft and an ankle support. The swash plate transmission mechanism comprises a swash plate and two push rods, the swash plate is mounted on the power input shaft and provided with an inclined end face, and one ends of the two push rods are symmetrically abutted against the inclined end face of the swash plate, so that the power input shaft drives the rotary motion of the swash plate to be converted into the linear reciprocating motion of the push rods; the other ends of the two push rods are respectively connected with two end parts of a swinging transmission shaft through pivots, and the swinging transmission shaft is connected with the ankle support, so that the reciprocating motion of the push rods drives the swinging transmission shaft to swing, and the ankle support is driven to swing.
In some embodiments, the swash plate comprises a power swash plate and a pressure swash plate, wherein the power swash plate is fixedly connected with the power input shaft, and the top end of the push rod abuts against the non-central position of the lower end surface of the pressure swash plate; and a bearing or a rolling body is arranged between the power swash plate and the pressure swash plate, and the power swash plate and the pressure swash plate can rotate relatively.
In some embodiments, the mutually facing end faces of the swash plate and the pressure swash plate each have a groove in which a plurality of circumferentially arranged rolling bodies are disposed.
In some embodiments, the top end of the push rod is provided with a half ball, the half ball is provided with a spherical part and a plane part, part of the spherical part is embedded into the spherical concave part of the push rod, and the plane part is abutted against the bottom surface of the pressure swash plate.
In some embodiments, the swash plate type ankle joint further comprises a guide cylinder body for limiting and guiding the push rod, the guide cylinder body is provided with two through holes for the push rod to penetrate through, and the guide cylinder body is installed at the tail end of the power input shaft through a gland and a connecting column.
In some embodiments, the swash plate ankle further comprises an ankle shell and a cross; the ankle joint comprises an ankle joint shell, a swash plate transmission mechanism, a cross shaft, a connecting rod and a connecting rod, wherein the ankle joint shell is internally provided with a cavity for accommodating the swash plate transmission mechanism, the upper part of the ankle joint shell is fixedly connected with a shank and a leg, and the lower part of the ankle joint shell is used for installing the cross shaft; the cross shaft comprises a first direction shaft and a second direction shaft which are vertical to each other and hollow, wherein two ends of the second direction shaft are connected to the lower portion of the ankle joint shell through bearings, and the first direction shaft is connected with the ankle support in a mutually rotatable mode.
In some embodiments, the ankle support comprises a support body and a support side plate, the support body has a rotating shaft, and the rotating shaft is arranged to penetrate through the first direction shaft of the cross shaft; the middle part of the rotating shaft is provided with a through hole for the swing transmission shaft to pass through.
In some embodiments, the middle part of the swinging transmission shaft is connected to the position of the through hole of the ankle support through a needle bearing.
In some embodiments, the swash plate ankle joint further comprises a motor and a harmonic reducer connected to the motor shaft, the harmonic reducer being connected to the top end of the power input shaft.
According to another aspect of the invention, a bionic robot is also provided, and the bionic robot comprises the swash plate type ankle joint.
According to the bionic robot and the inclined disc type ankle joint thereof disclosed by the embodiment of the invention, the obtained beneficial effects at least comprise that: the swash plate transmission mechanism of the embodiment of the invention has self-locking property due to the transmission characteristic that the swash plate pushes the push rod. In addition, the ankle joint utilizes the swash plate transmission mechanism, can realize controlling the ankle joint in the settlement swing angle of this rotation direction in a rotation cycle of swash plate, and the control mode is simple.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
It will be appreciated by those skilled in the art that the objects and advantages that can be achieved with the present invention are not limited to the specific details set forth above, and that these and other objects that can be achieved with the present invention will be more clearly understood from the detailed description that follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention. For purposes of illustrating and describing some portions of the present invention, corresponding parts of the drawings may be exaggerated, i.e., may be larger, relative to other components in an exemplary apparatus actually manufactured according to the present invention. In the drawings:
fig. 1 is a perspective view illustrating a swash plate type ankle joint according to an embodiment of the present invention.
Fig. 2 is an exploded view of a swash plate type ankle joint according to an embodiment of the present invention.
Fig. 3 is a perspective view illustrating a swash plate type ankle joint according to another embodiment of the present invention.
FIG. 4 is a cross-sectional view of a swash plate type ankle joint according to an embodiment of the present invention
Fig. 5 is a diagram illustrating a changed state after the wobble of the swash plate type ankle joint of fig. 4.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not so relevant to the present invention are omitted.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.
It is also noted herein that the term "coupled," if not specifically stated, may refer herein to not only a direct connection, but also an indirect connection in which an intermediate is present.
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals denote the same or similar parts, or the same or similar steps.
The embodiment of the invention provides a bionic robot and a swash plate type ankle joint thereof, and provides a transmission mechanism with an innovative design for the ankle joint of the bionic robot, so that the swinging action of the ankle joint is more stable.
In this embodiment, as shown in fig. 1 and 2, a swash plate type ankle joint (hereinafter may be simply referred to as an ankle joint) of an embodiment of the present invention includes a power input shaft 1, a swash plate transmission mechanism, a swing transmission shaft 4, an ankle support 5, and the like. The swash plate type ankle joint of the embodiment of the invention converts the rotary motion output by the power unit into linear motion by using the swash plate transmission mechanism and drives the swinging transmission shaft to swing in one direction, thereby driving the swinging motion of the ankle support or the foot.
The swash plate transmission mechanism of the embodiment of the invention has self-locking property due to the transmission characteristic that the swash plate pushes the push rod. In addition, the ankle joint utilizes the swash plate transmission mechanism, can realize controlling the ankle joint in the settlement swing angle of this rotation direction in a rotation cycle of swash plate, and the control mode is simple.
In some embodiments, the swash plate transmission mechanism may include a swash plate 2 and two push rods 3, wherein the swash plate 2 is mounted on the power input shaft 1, the swash plate 2 has an inclined end surface, and one ends of the two push rods 3 symmetrically abut against the inclined end surface of the swash plate 2, so that the rotary motion of the swash plate 2 driven by the power input shaft 1 is converted into the linear reciprocating motion of the push rods 3.
In some embodiments, the other ends of the two push rods 3 are respectively pivotally connected to two ends of the swing transmission shaft 4, and the swing transmission shaft 4 is connected to the ankle support 5, so that the linear reciprocating motion of the push rods 3 drives the swing transmission shaft 4 to swing, thereby driving the ankle support 5 to swing.
The swash plate type ankle joint provided by the embodiment of the invention adopts the swash plate transmission mechanism to drive the swing transmission shaft to swing in one rotation direction, so that the swing action of the ankle support or the foot is driven, and the swash plate type ankle joint has the advantages of simple structure, strong bearing capacity, good manufacturability and the like, and is suitable for being used as the ankle joint of the humanoid robot.
To reduce the frictional force of the swash plate transmission mechanism, as shown in fig. 2, the swash plate 2 of the embodiment of the present invention may include a swash plate 21 and a pressure swash plate 22. The swash plate 21 is fixedly connected to the power input shaft 1, and the tip end of the push rod 3 abuts against a non-central position of the lower end surface of the swash plate 22. A bearing or rolling body 23 is arranged between the power swash plate 21 and the pressure swash plate 22, and the power swash plate 21 and the pressure swash plate 22 can rotate relatively to reduce the friction force of the swash plate transmission mechanism and improve the transmission efficiency.
Alternatively, the swash plate 21 and the power input shaft 1 may be keyed to maintain synchronous rotation. The swash plate 21 is located above the swash plate 22, annular grooves are respectively processed on the lower end surface of the swash plate 21 and the upper end surface of the swash plate, and a plurality of rolling bodies 23 which are annularly arranged are arranged in the grooves. Further, the rolling elements 23 are integrally provided in the annular groove by a cage.
The pressure swash plate 22 and the power swash plate 21 of the above embodiment are separated by the bearing or the rolling element, so that surface contact is avoided, the contact area can be effectively reduced, and the friction force is reduced; the pressure swash plate can rotate relative to the power swash plate, so that the power transmission process is more stable.
The lower end surface of the swash plate 21 is an inclined end surface, both the upper and lower end surfaces of the swash plate 21 are inclined end surfaces, the inclined end surfaces refer to end surfaces having a certain inclination angle with an axis or a rotating shaft, and the size of the inclination angle and the maximum height difference of the joint position of the push rod 3 and the swash plate can be adjusted according to the swing angle of the ankle joint.
In some embodiments, to further reduce the friction of the swash plate transmission mechanism, the top end of the push rod 3 is provided with a half ball 31, the half ball 31 has a spherical portion and a planar portion, part of the spherical portion is embedded in the spherical recess of the push rod 3, and the planar portion abuts against the bottom surface of the pressure swash plate 22. The half ball 31 can roll along with the rotation of the swash plate in the spherical concave part of the push rod 3, so that the plane part of the half ball 31 always abuts against the bottom surface of the pressure swash plate 22, and universal connection is realized.
In specific implementation, the bottom end 32 of the push rod 3 is connected with the end of the swing transmission shaft 4 through a pivot or a pin shaft, and can rotate mutually. The upper half part of the push rod 3 can be a cylindrical structure, and the lower half part can be an arc-shaped plate structure, so that the strength is increased.
As shown in fig. 4 and 5, the swash plate type ankle joint according to the embodiment of the present invention further includes a guide post 71 for limiting and guiding the push rod 3, the guide post 71 has two through holes for the push rod 3 to pass through, and the guide post 71 is mounted at the end of the power input shaft 1 through a gland 72 and a connecting post 73.
Specifically, the end of the power input shaft 1 is inserted into the ankle joint housing 82, the outer peripheral surface of the end of the power input shaft 1 is keyed to the swash plate 21, the end face of the end of the power input shaft 1 is threaded, and the gland 72 has an end cap portion and a pin shaft portion, in which one end of the pin shaft is threaded and fastened to the threaded hole of the power input shaft 1 of the end cap.
In addition, the part of the lower end surface of the power swash plate 21 close to the central shaft is also provided with uniformly distributed threaded holes, the end part with larger diameter of the connecting column 73 is provided with uniformly distributed connecting holes, and the end with larger diameter of the connecting column 73 is propped against the lower end surface of the power swash plate 21 and is fixedly connected with the lower end surface of the power swash plate through screws or bolts. The end of the connecting post 73 having a smaller diameter is inserted into the pin shaft portion of the gland 72. In this embodiment, the outer peripheral surface of the connecting post 73 is connected to the inner peripheral surface of the guide post body 71 via a bearing. The lower portion of the guide cylinder 71 is capped by a bearing cap at a cap position adjacent to the gland 72.
In some embodiments, as shown in fig. 3 and 4, the swash plate ankle further comprises an ankle housing 82 and a cross 5. Wherein, the inside of the ankle joint housing 82 is provided with a cavity for accommodating a swash plate transmission mechanism, the upper part of the ankle joint housing 82 is used for fixedly connecting the shank 81, and the lower part of the ankle joint housing 82 is used for installing the cross shaft 5.
To achieve one or two rotational degrees of freedom of the ankle joint, the cross 5 of the embodiment of the present invention includes a first directional axis 51 and a second directional axis 52 that are perpendicular to each other and hollow. Wherein both ends of the second direction shaft 52 are coupled to the lower portion of the ankle joint housing 82 through bearings, and the first direction shaft 51 is coupled to the ankle support 6 in a mutually rotatable manner.
The ankle joint of embodiments of the present invention may have one or two rotational degrees of freedom, swinging in the anterior-posterior direction and/or swinging in the medial-lateral direction, respectively. For example, when the ankle brace swings about the first direction shaft 51 as a rotation center, the ankle joint can complete the swing motion in the medial-lateral direction. When the ankle joint swings about the second direction axis 2 as a rotation center, the ankle joint can complete the swing motion in the front-rear direction.
The ankle joint of embodiments of the present invention may have one or both of the aforementioned swash plate drive mechanisms for driving the swinging motion of the ankle joint in one or both rotational directions, respectively. To describe the structure of the ankle joint in further detail, the constitution and the connecting structure thereof will be described below with reference to a specific embodiment.
In one embodiment, the ankle support 6 comprises a support body 61 and a support side plate 62, wherein the support body 61 is used for connecting the cross shaft 5, the lower part of the support body is used for connecting the foot of the bionic robot, and the support side plate 62 is used for packaging the cross shaft 5 and supporting the whole ankle support. Specifically, the holder body 61 has a rotation shaft 610, and the rotation shaft 610 is arranged to be inserted into the first direction shaft 51 of the cross 5. Wherein, the middle part of the rotating shaft 51 is also provided with a through hole 611 for the swinging transmission shaft 4 to pass through.
In one embodiment, the middle portion of the swing transmission shaft 4 is connected to the position of the through hole 611 of the ankle support through a needle bearing. As shown in fig. 4, the through hole 611 of the ankle support has a larger diameter, and the swing transmission shaft 4 has a smaller diameter, so that one or two bearings, such as needle bearings, can be installed at the matching position of the two bearings to realize connection. Specifically, the through hole 611 of the rotating shaft 610 has a protruding collar at the middle position, the swing transmission shaft 4 has a protruding collar at one side of the middle portion (corresponding to the position of the outer circumferential side of the rotating shaft 610), and a groove at the other side of the middle portion symmetrically. One of the bearings can be axially positioned by a collar of the oscillating transmission shaft 4 and an annular ring of the through hole 611, and the other bearing can be axially positioned by an annular ring of the through hole 611 and a circlip installed at a groove of the oscillating transmission shaft 4.
The swash plate type ankle joint provided by the embodiment of the invention has the advantages that the structure is optimally designed, the composition structure is compact, and the swinging process of the ankle joint is stable.
In another embodiment, the swing transmission shaft 4 and the through hole 611 of the rotating shaft 610 may also be connected in a tight manner, so that the swing transmission shaft 4 drives the rotating shaft 610 (ankle support) to swing with the first direction shaft 51 as a rotation center.
In one embodiment, the joint of the first direction shaft 51 of the cross and the ankle support is provided with a bearing, and the joint of the second direction shaft 52 and the lower portion of the ankle joint housing 82 is also provided with a bearing, so as to reduce friction and make the swinging process more stable.
In the embodiment of the present invention, the swash plate type ankle joint further includes a motor 91 and a harmonic reducer 92 connected to the motor shaft, and the harmonic reducer 92 is connected to the top end of the power input shaft 1 to transmit the power of the motor to the power input shaft. In this embodiment, the power part of the swash plate type ankle joint, such as the motor 91 and the harmonic reducer 92, may be disposed at the knee joint position of the biomimetic robot, at the top end position of the shank leg stem, or on the thigh leg stem, and transmits the power to the swash plate transmission mechanism at the ankle joint position through the transmission mechanism. According to the embodiment of the invention, the power structure of the ankle joint is moved upwards to the position of the knee joint, the top end position of the shank leg or the position of the thigh, the weight of the ankle joint part is smaller, the rotational inertia generated when the ankle joint swings is effectively reduced, and the weight of the whole leg of the robot is favorably reduced.
In one embodiment, the swash plate push-pull self-locking type ankle joint mechanism is applied to an ankle swinging joint of a humanoid robot, and the working principle of the mechanism is that a motor drives a power input shaft to rotate through a harmonic reducer; the power input shaft and the power swash plate are connected together through a key. The power swash plate and the pressure swash plate are respectively provided with corresponding roller paths on the mutually facing end surfaces, the power swash plate is matched with the pressure swash plate through a whole circle of ball, and the pressure swash plate can rotate mutually with the power swash plate. The left side and the right side of the pressure swash plate are respectively provided with a push rod, the push rods are matched with the guide post bodies to guide, and the guide post bodies can rotate relatively. The lower end of the push rod is connected with the swing transmission shaft, the left push rod and the right push rod are respectively connected with one end of the swing transmission shaft, and the middle position of the swing transmission shaft is connected with the ankle support through a needle bearing.
Therefore, when the power input shaft rotates, the power swash plate is driven to rotate, the power swash plate pushes the push rods on the left side and the right side to reciprocate up and down, and the push rods reciprocate up and down to drive the left side and the right side of the swinging transmission shaft to swing up and down, so that the ankle support is driven to swing left and right, and the movement function is realized.
According to another aspect of the invention, a bionic robot is also provided, and the bionic robot comprises the swash plate type ankle joint.
According to the bionic robot and the inclined disc type ankle joint thereof disclosed by the embodiment of the invention, the obtained beneficial effects at least comprise that:
(1) the swash plate transmission mechanism of the embodiment of the invention has self-locking property due to the transmission characteristic that the swash plate pushes the push rod. In addition, the ankle joint utilizes the swash plate transmission mechanism, can realize controlling the ankle joint in the settlement swing angle of this rotation direction in a rotation cycle of swash plate, and the control mode is simple.
(2) The power swash plate and the pressure swash plate which are included in the swash plate of the embodiment of the invention can rotate relatively, so that the friction force of the swash plate transmission mechanism is reduced, and the transmission efficiency is improved.
(3) The top end of the push rod provided by the embodiment of the invention is provided with the semispherical ball, and the semispherical ball can roll along with the rotation of the swash plate in the spherical concave part of the push rod, so that the plane part of the semispherical ball always abuts against the bottom surface of the pressure swash plate, power can be stably transmitted, and universal connection is realized.
(4) The inclined disc type ankle joint provided by the embodiment of the invention has the advantages of simple structure, strong bearing capacity, good manufacturability and the like, and is suitable for being used as an ankle joint of a humanoid robot.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments in the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made to the embodiment of the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A swash plate type ankle joint of a bionic robot is characterized by comprising a power input shaft, a swash plate transmission mechanism, a swinging transmission shaft and an ankle support;
the swash plate transmission mechanism comprises a swash plate and two push rods, the swash plate is mounted on the power input shaft and provided with an inclined end face, and one ends of the two push rods are symmetrically abutted against the inclined end face of the swash plate, so that the power input shaft drives the rotary motion of the swash plate to be converted into the linear reciprocating motion of the push rods;
the other ends of the two push rods are respectively connected with two end parts of a swinging transmission shaft through pivots, and the swinging transmission shaft is connected with the ankle support, so that the reciprocating motion of the push rods drives the swinging transmission shaft to swing, and the ankle support is driven to swing.
2. The swash plate type ankle joint of the biomimetic robot according to claim 1, wherein the swash plate comprises a power swash plate and a pressure swash plate, wherein the power swash plate is fixedly connected with the power input shaft, and the top end of the push rod abuts against a non-central position of a lower end surface of the pressure swash plate;
and a bearing or a rolling body is arranged between the power swash plate and the pressure swash plate, and the power swash plate and the pressure swash plate can rotate relatively.
3. The swashplate ankle joint of a biomimetic robot according to claim 2, wherein the mutually facing end surfaces of the power swashplate and the pressure swashplate each have a groove in which a plurality of circumferentially arranged rolling elements are disposed.
4. The swash plate type ankle joint of the biomimetic robot according to claim 2, wherein the top end of the push rod is provided with a half ball, the half ball is provided with a spherical portion and a planar portion, part of the spherical portion is embedded in the spherical recess portion of the push rod, and the planar portion is abutted against the bottom surface of the swash plate.
5. The swash plate type ankle joint of the bionic robot according to claim 1, further comprising a guide cylinder for limiting and guiding the push rod, wherein the guide cylinder is provided with two through holes for the push rod to penetrate through, and the guide cylinder is installed at the tail end of the power input shaft through a gland and a connecting column.
6. The swashplate ankle joint of a biomimetic robot of claim 1, further comprising an ankle joint housing and a cross;
the ankle joint comprises an ankle joint shell, a swash plate transmission mechanism, a cross shaft, a connecting rod and a connecting rod, wherein the ankle joint shell is internally provided with a cavity for accommodating the swash plate transmission mechanism, the upper part of the ankle joint shell is fixedly connected with a shank and a leg, and the lower part of the ankle joint shell is used for installing the cross shaft;
the cross shaft comprises a first direction shaft and a second direction shaft which are vertical to each other and hollow, wherein two ends of the second direction shaft are connected to the lower portion of the ankle joint shell through bearings, and the first direction shaft is connected with the ankle support in a mutually rotatable mode.
7. The swash plate type ankle joint of the biomimetic robot according to claim 6, wherein the ankle support includes a support body and a support side plate, the support body having a rotation shaft arranged to penetrate through a first direction axis of the cross shaft;
the middle part of the rotating shaft is provided with a through hole for the swing transmission shaft to pass through.
8. The swash plate type ankle joint of the biomimetic robot as claimed in claim 7, wherein the middle portion of the swing transmission shaft is connected to a through hole of the ankle support through a needle bearing.
9. The swash plate type ankle joint of the biomimetic robot according to claim 1, further comprising a motor and a harmonic reducer connected with a motor shaft, wherein the harmonic reducer is connected with a top end of the power input shaft.
10. A biomimetic robot comprising a swash plate type ankle joint according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011406627.9A CN112720564B (en) | 2020-12-04 | 2020-12-04 | Bionic robot and sloping cam plate type ankle joint thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011406627.9A CN112720564B (en) | 2020-12-04 | 2020-12-04 | Bionic robot and sloping cam plate type ankle joint thereof |
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| CN112720564A true CN112720564A (en) | 2021-04-30 |
| CN112720564B CN112720564B (en) | 2023-11-24 |
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| US20050167167A1 (en) * | 2003-03-31 | 2005-08-04 | Susumu Miyazaki | Leg type movable robot |
| CN101208542A (en) * | 2005-05-20 | 2008-06-25 | 谢夫勒两合公司 | Swash plate mechanism |
| JP2011098425A (en) * | 2009-11-09 | 2011-05-19 | Kawada Kogyo Kk | Leg for human type walking robot |
| CN102793596A (en) * | 2012-07-25 | 2012-11-28 | 中国人民解放军空军航空医学研究所 | Dynamic knee joint, dynamic ankle joint prosthesis and dynamic lower-limb prosthesis |
| CN108482510A (en) * | 2018-03-23 | 2018-09-04 | 吉林大学 | With auxiliary side-swing mechanism without knee under-actuated bionic double feet walking machine |
| CN108789451A (en) * | 2018-08-29 | 2018-11-13 | 杭州厚谋创意设计有限公司 | A kind of industry tracks flaw detection robot |
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2020
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| US20050167167A1 (en) * | 2003-03-31 | 2005-08-04 | Susumu Miyazaki | Leg type movable robot |
| CN101208542A (en) * | 2005-05-20 | 2008-06-25 | 谢夫勒两合公司 | Swash plate mechanism |
| JP2011098425A (en) * | 2009-11-09 | 2011-05-19 | Kawada Kogyo Kk | Leg for human type walking robot |
| CN102793596A (en) * | 2012-07-25 | 2012-11-28 | 中国人民解放军空军航空医学研究所 | Dynamic knee joint, dynamic ankle joint prosthesis and dynamic lower-limb prosthesis |
| CN108482510A (en) * | 2018-03-23 | 2018-09-04 | 吉林大学 | With auxiliary side-swing mechanism without knee under-actuated bionic double feet walking machine |
| CN108789451A (en) * | 2018-08-29 | 2018-11-13 | 杭州厚谋创意设计有限公司 | A kind of industry tracks flaw detection robot |
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| CN112720564B (en) | 2023-11-24 |
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