The invention provides a multi-degree-of-freedom machine ankle and a driving method thereof. The multi-degree-of-freedom machine ankle comprises a profiling sole; the profiling shank is rotationally connected to the profiling sole through a first reversing adjusting mechanism; the two adjusting lead screws are symmetrically arranged on the two sides of the profiling sole in the width direction and arranged in the height direction of the profiling shank, one end of any adjusting lead screw is connected to the profiling sole through a second reversing adjusting mechanism, and the other end of any adjusting lead screw is rotationally connected to the profiling shank through a third reversing adjusting mechanism. According to the invention, the profiling shank and the profiling sole can perform multi-degree-of-freedom relative movement, so that not only is the movement flexibility higher, but also a stable supporting structure can be always kept on a special-shaped surface, and thus the application range of the robot is widened. Compared with a conventional mechanical ankle structure, the mechanical ankle structure has the advantages of being ingenious in structural design, higher in use flexibility, higher in moving stability, more accurate in adjusting precision and wider in use scene.

    本发明提供一种多自由度机器脚踝及其驱动方法,其包括:仿形脚掌;仿形小腿,仿形小腿通过第一换向调节机构转动连接于仿形脚掌;两个调节丝杠,两个调节丝杠对称排列于仿形脚掌宽度方向上的两侧,且均沿着仿形小腿的高度方向设置,任意调节丝杠的一端通过第二换向调节机构连接于仿形脚掌,另一端通过第三换向调节机构转动连接于仿形小腿。本发明中,仿形小腿和仿形脚掌之间可进行多自由度的相对移动,不仅使其具有更高的移动灵活性,还能使其能够在异形面上始终保持稳定的支撑结构够,进而提高其适用范围。相比于常规机械脚踝结构来说,本申请具有巧妙的结构设计、更高使用灵活性、更高移动稳定性、更精确的调节精度以及更广泛的使用场景。


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    Titel :

    Multi-degree-of-freedom machine ankle and driving method thereof


    Weitere Titelangaben:

    一种多自由度机器脚踝及其驱动方法


    Beteiligte:
    ZHANG XIAOFANG (Autor:in) / XIE BAOSHAN (Autor:in) / ZHAO YIYANG (Autor:in) / WANG BAOYU (Autor:in) / LIU XUN (Autor:in)

    Erscheinungsdatum :

    07.03.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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