The invention discloses a robot two-degree-of-freedom ankle joint structure module, which comprises a shank arm, a foot, a cross connecting shaft, a gear assembly and driving devices, the foot is arranged below the shank arm through the cross connecting shaft, and the longitudinal shaft part of the cross connecting shaft is rotationally connected with the foot. The gear assembly comprises a first bevel gear arranged on the longitudinal shaft part of the cross-shaped connecting shaft and two second bevel gears symmetrically arranged on the two sides of the lower end of the shank arm, the two second bevel gears are both in running fit with the shank arm, and the first bevel gear is meshed with the two second bevel gears. The two driving devices are symmetrically arranged on the two sides of the shank arm, the lower end of each driving device is connected with the second bevel gear on the same side, and the driving devices drive the two second bevel gears to rotate synchronously. A servo motor controls the rotation mode of the cross connecting shaft through the transmission mechanism and the bevel gear assembly, rotation of the foot around the transverse axis part or the longitudinal axis part of the cross connecting shaft is achieved, the posture of the foot is adjusted, the structure is simpler, the gravity center position is improved, and gait balance control is more stable.

    本发明公开一种机器人二自由度踝关节结构模块,包括小腿臂、足部、十字连接轴、齿轮组件及驱动装置,足部通过十字连接轴设在小腿臂的下方,十字连接轴的纵轴部分与足部转动相连。齿轮组件包括设在十字连接轴纵轴部分的锥齿轮一和对称设在小腿臂下端两侧的两个锥齿轮二,两个锥齿轮二均与小腿臂转动配合,锥齿轮一与两个锥齿轮二均啮合。驱动装置有两个,且对称设置在小腿臂两侧,各驱动装置的下端均与同侧的锥齿轮二相连,驱动装置带动两个锥齿轮二同步转动。本发明的伺服电机通过传动机构和锥齿轮组件控制十字连接轴转动方式,实现足部绕十字连接轴的横轴部分或纵轴部分转动,调节足部姿态,结构更简单,提高重心位置,步态平衡控制更稳定。


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    Title :

    Robot two-degree-of-freedom ankle joint structure module


    Additional title:

    一种机器人二自由度踝关节结构模块


    Contributors:
    CHEN TIANXIANG (author) / ZHANG RUI (author)

    Publication date :

    2022-01-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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