The invention discloses a passive two-degree-of-freedom ankle joint structure simulating a crocodile foot. The passive two-degree-of-freedom ankle joint structure comprises a shank, a sole, a connecting mechanism, a plurality of side-sway tension springs and a plurality of pitching-sway tension springs, a connecting mechanism is arranged between the shank and the sole; the connecting mechanism is provided with a radial connecting shaft and an axial threaded shaft which are perpendicular to each other, the radial connecting shaft is connected with the shank and the connecting mechanism, and the axial threaded shaft is connected with the sole and the connecting mechanism; the two ends of the side-swaying tension spring are connected with the shank and the connecting mechanism respectively, and the side-swaying tension spring is used for controlling two-side swaying of the sole; the two ends of the pitching swing tension spring are connected with the foot sole and the connecting mechanism respectively, and the pitching swing tension spring is used for controlling pitching swing of the foot sole. After the structure is adopted, the crocodile-imitating robot is simple and compact, does not need a driver, has two passive degrees of freedom of side swinging and pitching swinging, and is highly bionic in appearance and function, and when the crocodile-imitating robot encounters concave-convex road conditions, the maximum contact area between the foot sole and the ground is always kept through automatic adjustment of the two rotating pairs of the ankle joints, and the stability is improved.
本发明公开了一种仿鳄鱼足部的被动两自由度踝关节结构,包括小腿、脚掌、连接机构、多个侧摆拉簧和多个俯仰摆拉簧;小腿和脚掌之间设有连接机构;连接机构设有相互垂直的径向连接轴和轴向螺纹轴,径向连接轴连接小腿与连接机构,轴向螺纹轴连接脚掌与连接机构;侧摆拉簧的两端分别连接小腿与连接机构,侧摆拉簧用于控制脚掌的两侧摆动;俯仰摆拉簧的两端分别连接脚掌与连接机构,俯仰摆拉簧用于控制脚掌的俯仰摆动。采用以上结构后,简单紧凑、无需驱动器,具有侧摆和俯仰摆的两被动自由度,外形和功能高度仿生,当仿鳄鱼机器人遇到凹凸路况时,通过踝关节的两转动副自动调节,使足底与地面始终保持最大的接触面积,提高稳定性。
Passive two-degree-of-freedom ankle joint structure simulating crocodile foot
一种仿鳄鱼足部的被动两自由度踝关节结构
2022-08-30
Patent
Elektronische Ressource
Chinesisch
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