CN111267140A - Ankle joint slewing mechanism and exoskeleton robot with same - Google Patents
Ankle joint slewing mechanism and exoskeleton robot with same Download PDFInfo
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- CN111267140A CN111267140A CN202010195944.4A CN202010195944A CN111267140A CN 111267140 A CN111267140 A CN 111267140A CN 202010195944 A CN202010195944 A CN 202010195944A CN 111267140 A CN111267140 A CN 111267140A
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- shaft section
- fastening
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The utility model relates to the technical field of robots, and provides an ankle joint rotating mechanism and an exoskeleton robot with the same, wherein the ankle joint rotating mechanism comprises a first connecting piece, a second connecting piece and a rotating shaft, the rotating shaft comprises a first shaft section and a second shaft section, the first shaft section and the second shaft section are of an integrated structure, and a preset included angle is formed between the first shaft section and the second shaft section; the first shaft section is connected with the first connecting piece and can be arranged in a rotating mode, and the second shaft section is connected with the second connecting piece and can be arranged in a rotating mode. This ankle joint slewing mechanism of disclosure can make the second connecting piece use first shaft section and second shaft section to rotate for first connecting piece as the axis through the axis of rotation, has realized the degree of freedom of two directions simultaneously through a part promptly, simple structure.
Description
Technical Field
The disclosure relates to the technical field of robots, in particular to an ankle joint rotating mechanism and an exoskeleton robot with the same.
Background
In the prior art, the two degrees of freedom of flexion and extension and inward/outward rotation at the ankle of the exoskeleton robot are realized by separating from top to bottom, namely, a plurality of parts are required to be matched, the design is complex, the occupied space is large, and meanwhile, the weight reduction of the exoskeleton robot is not facilitated.
Disclosure of Invention
It is a primary object of the present disclosure to overcome at least one of the above-mentioned drawbacks of the prior art and to provide an ankle joint rotation mechanism and an exoskeleton robot having the same.
According to a first aspect of the present invention, there is provided an ankle joint turning mechanism comprising:
a first connecting member;
a second connecting member;
the rotating shaft comprises a first shaft section and a second shaft section, the first shaft section and the second shaft section are of an integral structure, and a preset included angle is formed between the first shaft section and the second shaft section;
the first shaft section is connected with the first connecting piece and can be arranged in a rotating mode, and the second shaft section is connected with the second connecting piece and can be arranged in a rotating mode.
In one embodiment of the invention, the first shaft section comprises a first connecting end and a second connecting end, the first connecting piece is respectively connected with the first connecting end and the second connecting end, and the first shaft section is positioned between the first connecting pieces; and/or the presence of a gas in the gas,
the second shaft section comprises a third connecting end and a fourth connecting end, the second connecting piece is connected with the third connecting end and the fourth connecting end respectively, and the second shaft section is located between the second connecting pieces.
In one embodiment of the present invention, the ankle joint rotation mechanism further comprises:
the first fastening connecting piece penetrates through the first connecting piece and then is connected with the first shaft section, so that the first connecting piece is connected with the first shaft section through the first fastening connecting piece;
and the second fastening connecting piece passes through the second connecting piece and then is connected with the second shaft section, so that the second connecting piece is connected with the second shaft section through the second fastening connecting piece.
In one embodiment of the invention, the first shaft section is provided with a first through hole for the first fastening connecting piece to pass through, and the second shaft section is provided with a second through hole for the second fastening connecting piece to pass through;
the first fastening connecting piece is in interference fit with the first through hole, and the first connecting piece and the first fastening connecting piece are mutually and rotatably arranged; and/or the second fastening connecting piece is in interference fit with the second through hole, and the second connecting piece and the second fastening connecting piece are mutually rotatably arranged.
In one embodiment of the invention, the first fastening connector comprises a first end cap and a first connecting column, wherein a first bulge is arranged on the first connecting column, and the first bulge is in interference fit with the first through hole; and/or the second fastening connecting piece comprises a second end cap and a second connecting column, a second protrusion is arranged on the second connecting column, and the second protrusion is in interference fit with the second penetrating hole.
In one embodiment of the present invention, the first projection extends in an axial direction of the first connecting post, the first projection is plural, and the plural first projections are provided in a circumferential direction of the first connecting post; and/or the second protrusion extends along the axial direction of the second connecting column, the second protrusions are multiple, and the second protrusions are arranged along the circumferential direction of the second connecting column.
In one embodiment of the invention, the first through hole has a first bottom wall, and the first fastening connecting piece is provided with a first threaded hole adapted to the first dismounting piece, so that the first dismounting piece is screwed into the first threaded hole until contacting with the first bottom wall, and the first dismounting piece is further screwed into the first fastening connecting piece until the first fastening connecting piece is ejected out of the first through hole; and/or the presence of a gas in the gas,
the second through hole is provided with a second bottom wall, and a second threaded hole matched with the second dismounting part is formed in the second fastening connecting part, so that the second dismounting part is screwed into the second threaded hole until contacting with the second bottom wall, and the second dismounting part is continuously screwed until the second fastening connecting part is ejected out of the second through hole.
In one embodiment of the invention, the first connecting pieces are provided with first connecting lugs, the first connecting lugs are arranged in pairs, the first fastening connecting pieces are arranged in pairs, two first fastening connecting pieces in pairs respectively penetrate through the corresponding first connecting lugs and then are connected with two ends of the first shaft section, and the first shaft section is positioned between the two first connecting lugs in pairs; and/or the presence of a gas in the gas,
the second connecting piece is provided with a second connecting lug, the second connecting lugs are arranged in pairs, the second fastening connecting pieces are arranged in pairs, two paired second fastening connecting pieces are connected with two ends of the second shaft section after penetrating through the corresponding second connecting lugs respectively, and the second shaft section is positioned between the two paired second connecting lugs.
In one embodiment of the invention, the axis of rotation is a cross axis of rotation.
According to a second aspect of the present invention, there is provided an exoskeleton robot comprising the ankle joint rotation mechanism described above.
The ankle joint rotating mechanism can enable the second connecting piece to rotate relative to the first connecting piece by taking the first shaft section and the second shaft section as axes through the rotating shaft, namely, the degree of freedom in two directions is realized through one part, and the ankle joint rotating mechanism is simple in structure.
Drawings
Various objects, features and advantages of the present disclosure will become more apparent from the following detailed description of preferred embodiments thereof, when considered in conjunction with the accompanying drawings. The drawings are merely exemplary illustrations of the disclosure and are not necessarily drawn to scale. In the drawings, like reference characters designate the same or similar parts throughout the different views. Wherein:
FIG. 1 is a schematic diagram of an ankle joint rotation mechanism according to an exemplary embodiment;
FIG. 2 is a schematic diagram illustrating a cross-sectional configuration of an ankle joint rotation mechanism in a first orientation according to an exemplary embodiment;
FIG. 3 is a partially enlarged schematic view of an ankle joint rotation mechanism of FIG. 2;
FIG. 4 is a schematic diagram illustrating a second directional cross-sectional configuration of an ankle rotation mechanism according to an exemplary embodiment;
FIG. 5 is a partial enlarged structural view of one of the ankle rotating mechanisms of FIG. 4;
FIG. 6 is a schematic illustration of a disassembled structure of an ankle joint rotation mechanism according to an exemplary embodiment;
FIG. 7 is a schematic diagram illustrating a first link of an ankle rotation mechanism according to an exemplary embodiment;
FIG. 8 is a schematic structural view illustrating a rotational shaft of an ankle joint rotation mechanism according to an exemplary embodiment;
FIG. 9 is a schematic diagram illustrating the configuration of the first fastening link or the second fastening link of an ankle joint rotation mechanism according to an exemplary embodiment.
The reference numerals are explained below:
10. a first connecting member; 11. a first connecting lug; 20. a second connecting member; 21. a second engaging lug; 30. a rotating shaft; 31. a first shaft section; 311. a first connection end; 312. a second connection end; 313. a first through hole; 314. a first bottom wall; 32. a second shaft section; 321. a third connection end; 322. a fourth connection end; 323. a second through hole; 324. a second bottom wall; 40. a first fastening connector; 41. a first end cap; 42. a first connecting column; 421. a first protrusion; 43. a first threaded hole; 50. a second fastening connector; 51. a second end cap; 52. a second connecting column; 521. a second protrusion; 53. a second threaded hole; 60. a second stripper.
Detailed Description
Exemplary embodiments that embody features and advantages of the present disclosure are described in detail below in the specification. It is to be understood that the disclosure is capable of various modifications in various embodiments without departing from the scope of the disclosure, and that the description and drawings are to be regarded as illustrative in nature, and not as restrictive.
In the following description of various exemplary embodiments of the disclosure, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various exemplary structures, systems, and steps in which aspects of the disclosure may be practiced. It is to be understood that other specific arrangements of parts, structures, example devices, systems, and steps may be utilized and structural and functional modifications may be made without departing from the scope of the present disclosure. Moreover, although the terms "over," "between," "within," and the like may be used in this specification to describe various example features and elements of the disclosure, these terms are used herein for convenience only, e.g., in accordance with the orientation of the examples in the figures. Nothing in this specification should be construed as requiring a specific three dimensional orientation of structures in order to fall within the scope of this disclosure.
An embodiment of the present invention provides an ankle rotating mechanism, referring to fig. 1 to 9, which includes: a first connecting member 10; a second connecting member 20; the rotating shaft 30 comprises a first shaft section 31 and a second shaft section 32, the first shaft section 31 and the second shaft section 32 are of an integral structure, and a preset included angle is formed between the first shaft section 31 and the second shaft section 32; the first shaft section 31 is connected to the first connecting member 10 and is rotatably disposed relative to the first connecting member, and the second shaft section 32 is connected to the second connecting member 20 and is rotatably disposed relative to the second connecting member.
The ankle joint rotation mechanism according to an embodiment of the present invention can rotate the second link 20 with respect to the first link 10 about the first shaft segment 31 and the second shaft segment 32 by the rotation shaft 30, that is, it can simultaneously realize two-directional degrees of freedom by one component, and has a simple structure.
In one embodiment, the first and second connecting members 10 and 20 are connected to the sole and the calf, respectively, such that the sole and the calf are connected through the first and second connecting members 10 and 20.
In one embodiment, the first and second connecting elements 10 and 20 are portions of the sole and lower leg, respectively.
In one embodiment, the rotating shaft 30 is composed of a first shaft section 31 and a second shaft section 32, and the first shaft section 31 and the second shaft section 32 are an integral structure, where the integral structure may be an integral structure, or may be an integral structure formed by combining at least two independent components, and this is not limited as long as it is ensured that the integral structure is an integral structure when in use.
In one embodiment, the axis of the first shaft segment 31 and the axis of the second shaft segment 32 intersect, and the preset included angle between the axes can be selected according to practical use, and can be an acute angle or a right angle, and the preset included angle is greater than 0.
In one embodiment, the second connecting member 20 rotates relative to the first connecting member 10, wherein one is the rotation of the second connecting member 20 relative to the second shaft section 32, and the second is the rotation of the first shaft section 31 driven by the second connecting member 20.
In one embodiment, as shown in fig. 1 and 8, the first shaft segment 31 includes a first connection end 311 and a second connection end 312, the first connection member 10 is connected with the first connection end 311 and the second connection end 312, respectively, and the first shaft segment 31 is located between the first connection members 10; and/or the second shaft segment 32 comprises a third connecting end 321 and a fourth connecting end 322, the second connecting element 20 is connected with the third connecting end 321 and the fourth connecting end 322, respectively, and the second shaft segment 32 is located between the second connecting elements 20.
In one embodiment, the first connecting member 10 is connected to both ends of the first shaft section 31, and the second connecting member 20 is connected to both ends of the second shaft section 32, so that the rotating shaft 30 can be stably connected to the first connecting member 10 and the second connecting member 20, the connection strength is ensured, and the stability of the second connecting member 20 on the first connecting member 10 is improved.
In one embodiment, as shown in fig. 1 and 2, the ankle joint rotation mechanism further comprises: the first fastening connecting piece 40 penetrates through the first connecting piece 10 and then is connected with the first shaft section 31, so that the first connecting piece 10 is connected with the first shaft section 31 through the first fastening connecting piece 40; and a second fastening connector 50, wherein the second fastening connector 50 is connected with the second shaft section 32 after passing through the second connector 20, so that the second connector 20 is connected with the second shaft section 32 through the second fastening connector 50. The first connecting piece 10 is hinged to the first shaft section 31, the second connecting piece 20 is hinged to the second shaft section 32, so that rotation of the first connecting piece 10 relative to the second connecting piece 20 is guaranteed, the first fastening connecting piece 40 and the second fastening connecting piece 50 both belong to a connecting part and a rotation auxiliary part, when the first fastening connecting piece 40 is fixedly connected with the first shaft section 31 in the circumferential direction, the first fastening connecting piece 40 is hinged to the first connecting piece 10, namely, the circumferential direction is relatively rotatable, and similarly, when the second fastening connecting piece 50 is fixedly connected with the second shaft section 32 in the circumferential direction, the second fastening connecting piece 50 is hinged to the second connecting piece 20, namely, the circumferential direction is relatively rotatable. Alternatively, when the first fastening connector 40 and the first shaft section 31 are relatively rotatable in the circumferential direction, the first fastening connector 40 and the first connector 10 are fixed in the circumferential direction, and similarly, when the second fastening connector 50 and the second shaft section 32 are relatively rotatable in the circumferential direction, the second fastening connector 50 and the second connector 20 are fixed in the circumferential direction.
In one embodiment, as shown in fig. 3, 4 and 5, the first and second connectors 10 and 20 are not in contact with the rotating shaft 30, and the first and second connectors 10 and 20 are connected to the rotating shaft 30 by the first and second fastening connectors 40 and 50, respectively.
In one embodiment, as shown in fig. 3 and 5, the first shaft segment 31 is provided with a first through hole 313 for the first fastening connector 40 to pass through, and the second shaft segment 32 is provided with a second through hole 323 for the second fastening connector 50 to pass through; the first fastening connector 40 is in interference fit with the first through hole 313, and the first connector 10 and the first fastening connector 40 are rotatably arranged; and/or the second fastening connector 50 is in interference fit with the second through hole 323, and the second connector 20 and the second fastening connector 50 are rotatably arranged with each other.
In one embodiment, when the first fastening connector 40 is in interference fit with the first through hole 313, the first fastening connector 10 and the first fastening connector 40 are in clearance fit, that is, it is required to ensure that the first fastening connector 10 rotates relative to the first fastening connector 40. When the second fastening connector 50 is in interference fit with the second through hole 323, the second connector 20 and the second fastening connector 50 are in clearance fit, that is, it is required to ensure that the second connector 20 rotates relative to the second fastening connector 50.
In one embodiment, as shown in fig. 9, the first fastening connector 40 includes a first end cap 41 and a first connecting column 42, a first protrusion 421 is disposed on the first connecting column 42, and the first protrusion 421 is in interference fit with the first through hole 313; and/or the second fastening connector 50 comprises a second end cap 51 and a second connecting column 52, a second protrusion 521 is arranged on the second connecting column 52, and the second protrusion 521 is in interference fit with the second through hole 323.
In one embodiment, the first end cap 41 is located on a side of the first connecting member 10 away from the first shaft segment 31, a portion of the first connecting post 42 passes through the first connecting member 10 such that the first protrusion 421 is in interference fit with the first through hole 313, an outer diameter of the first end cap 41 is larger than an outer diameter of the first connecting post 42, and the first end cap 41 belongs to a stopper and can limit a length of the first connecting post 42 extending into the first through hole 313. Correspondingly, the second end cap 51 is located on one side of the second connecting piece 20 far away from the second shaft section 32, the second protrusion 521 and the second through hole 323 are in interference fit after part of the second connecting column 52 penetrates through the second connecting piece 20, the outer diameter of the second end cap 51 is larger than that of the second connecting column 52, the second end cap 51 belongs to a stop part, and the length of the second connecting column 52 extending into the second through hole 323 can be limited.
In one embodiment, the first protrusion 421 extends along the axial direction of the first connection post 42, the first protrusion 421 is plural, and the plural first protrusions 421 are arranged along the circumferential direction of the first connection post 42; and/or the second protrusion 521 extends along the axial direction of the second connecting column 52, the second protrusion 521 is multiple, and the multiple second protrusions 521 are arranged along the circumferential direction of the second connecting column 52. The arrangement of the plurality of first protrusions 421 and the plurality of second protrusions 521 may ensure stability of connection.
In one embodiment, as shown in fig. 3, 5 and 6, the first through hole 313 has a first bottom wall 314, and the first fastening connector 40 is provided with a first threaded hole 43 adapted to the first dismounting member, so that the first dismounting member is screwed into the first threaded hole 43 until contacting the first bottom wall 314, and the screwing of the first dismounting member is continued until the first fastening connector 40 is ejected out of the first through hole 313; and/or the second through hole 323 is provided with a second bottom wall 324, and the second fastening connector 50 is provided with a second threaded hole 53 adapted to the second dismounting member 60, so that the second dismounting member 60 is screwed into the second threaded hole 53 until contacting the second bottom wall 324, and the second dismounting member 60 is screwed into the second fastening connector 50 until the second fastening connector 50 is ejected out of the second through hole 323. The first fastening connector 40 and the second fastening connector 50 can be detached by the first detaching element and the second detaching element 60, respectively, and when the first fastening connector 40 and the second fastening connector 50 are the same structure, the first detaching element and the second detaching element 60 can be the same component, and screws can be used.
In one embodiment, as shown in fig. 1 and 7, the first connecting member 10 is provided with first connecting lugs 11, the first connecting lugs 11 are arranged in pairs, the first fastening connecting members 40 are arranged in pairs, two first fastening connecting members 40 in a pair respectively penetrate through the corresponding first connecting lugs 11 and then are connected with two ends of the first shaft section 31, and the first shaft section 31 is located between the two first connecting lugs 11 in a pair; and/or the second connecting piece 20 is provided with second connecting lugs 21, the second connecting lugs 21 are arranged in pairs, the second fastening connecting pieces 50 are arranged in pairs, two paired second fastening connecting pieces 50 respectively penetrate through the corresponding second connecting lugs 21 and then are connected with two ends of the second shaft section 32, and the second shaft section 32 is positioned between the two paired second connecting lugs 21.
In one embodiment, the first connecting post 42 is composed of two cylindrical sections, the large cylindrical section is connected to the first end cap 41, the small cylindrical section is provided with the first protrusion 421, and the first connecting lug 11 is provided with the first end cap 41 and a through hole matched with the large cylindrical section. Correspondingly, the second connecting column 52 is composed of two cylindrical sections, the large cylindrical section is connected with the second end cap 51, the small cylindrical section is provided with a second protrusion 521, and the second connecting lug 21 is provided with a through hole matched with the second end cap 51 and the large cylindrical section.
In one embodiment, two first through holes 313 are respectively disposed at two ends of the first shaft section 31, the two first through holes 313 are disposed at intervals, two second through holes 323 are respectively disposed at two ends of the second shaft section 32, the two second through holes 323 are disposed at intervals, that is, the middle portion of the rotating shaft 30 is a solid portion, and has 4 through holes independently distributed at four ends thereof, the two first through holes 313 correspond to the two first fastening connection members 40, and the two second through holes 323 correspond to the two second fastening connection members 50.
In one embodiment, the rotating shaft 30 is a cross rotating shaft. The first shaft section 31 and the second shaft section 32 form a cross shape, and the second connector 20 is stably disposed on the first connector 10 by the first fastening connector 40, the second fastening connector 50, and the rotation shaft 30, and can secure the rotation of the second connector 20 with respect to the first connector 10.
The ankle joint rotation mechanism of one embodiment of the present invention is composed of a lower leg (the second link 20 is a part of the lower leg); the sole of the foot (to which the first connecting member 10 belongs to a part); two first fastening links 40 and two second fastening links 50 and a cross rotating shaft (rotating shaft 30). The two second fastening connecting pieces 50 penetrate through the shanks to be in interference fit with the cross-shaped rotating shaft, the two first fastening connecting pieces 40 penetrate through the soles to be in interference fit with the cross-shaped rotating shaft, and during operation, the shanks can rotate along the axes of the first fastening connecting pieces 40 and can also rotate along the axes of the second fastening connecting pieces 50. A certain gap is reserved between the matching surfaces of the two second fastening connecting pieces 50 and the lower leg, so that the cross-shaped rotating shaft and the lower leg can rotate relatively; a certain gap is left between the two first fastening connectors 40 and the matching surface of the sole so as to facilitate the relative rotation between the cross-shaped rotating shaft and the sole. When the screw is removed, the screw (the second removing member 60) is screwed into the second fastening connector 50 until the screw contacts with the bottom surface of the cross rotating shaft, the screw is screwed in continuously, the second fastening connector 50 is ejected out under the action of the thread friction force, and the first fastening connector 40 can be removed in the same way.
The ankle joint rotating mechanism of one embodiment of the invention can simultaneously realize the degrees of freedom in two directions of flexion and extension and inward/outward rotation at the same position.
An embodiment of the invention also provides an exoskeleton robot, which comprises the ankle joint rotating mechanism.
In one embodiment, the first link 10 and the second link 20 are connected to the sole and the lower leg, respectively, i.e. the first link 10 and the second link 20 belong to an adapter part, and the sole and the lower leg of the exoskeleton robot are connected through an ankle joint rotation mechanism.
In one embodiment, the first link 10 and the second link 20 are part of the sole and lower leg, respectively, i.e. the sole and lower leg of the exoskeleton robot are directly connected.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and exemplary embodiments be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (10)
1. An ankle knuckle turning mechanism characterized by comprising:
a first connecting member (10);
a second connecting member (20);
the rotating shaft (30) comprises a first shaft section (31) and a second shaft section (32), the first shaft section (31) and the second shaft section (32) are of an integral structure, and a preset included angle is formed between the first shaft section (31) and the second shaft section (32);
the first shaft section (31) is connected with the first connecting piece (10) and can be arranged in a rotating mode, and the second shaft section (32) is connected with the second connecting piece (20) and can be arranged in a rotating mode.
2. The ankle knuckle turning mechanism according to claim 1, wherein the first shaft segment (31) comprises a first connection end (311) and a second connection end (312), the first connection member (10) being connected to the first connection end (311) and the second connection end (312), respectively, the first shaft segment (31) being located between the first connection members (10); and/or the presence of a gas in the gas,
the second shaft section (32) comprises a third connecting end (321) and a fourth connecting end (322), the second connecting piece (20) is connected with the third connecting end (321) and the fourth connecting end (322) respectively, and the second shaft section (32) is located between the second connecting pieces (20).
3. The ankle rotation mechanism according to claim 1, further comprising:
the first fastening connecting piece (40) penetrates through the first connecting piece (10) and then is connected with the first shaft section (31), so that the first connecting piece (10) is connected with the first shaft section (31) through the first fastening connecting piece (40);
and the second fastening connector (50) penetrates through the second connector (20) and then is connected with the second shaft section (32), so that the second connector (20) is connected with the second shaft section (32) through the second fastening connector (50).
4. The ankle joint rotation mechanism according to claim 3, wherein the first shaft section (31) is provided with a first through hole (313) for the first fastening connection member (40) to pass through, and the second shaft section (32) is provided with a second through hole (323) for the second fastening connection member (50) to pass through;
the first fastening connecting piece (40) is in interference fit with the first through hole (313), and the first connecting piece (10) and the first fastening connecting piece (40) are rotatably arranged mutually; and/or the second fastening connecting piece (50) is in interference fit with the second through hole (323), and the second connecting piece (20) and the second fastening connecting piece (50) are mutually rotatably arranged.
5. The ankle joint rotation mechanism according to claim 4, wherein the first fastening connector (40) comprises a first end cap (41) and a first connecting column (42), the first connecting column (42) is provided with a first protrusion (421), and the first protrusion (421) is in interference fit with the first through hole (313); and/or the second fastening connecting piece (50) comprises a second end cap (51) and a second connecting column (52), a second protrusion (521) is arranged on the second connecting column (52), and the second protrusion (521) is in interference fit with the second penetrating hole (323).
6. The ankle knuckle turning mechanism according to claim 5, wherein said first projection (421) extends in an axial direction of said first connecting post (42), said first projection (421) being plural, said first projections (421) being provided in a circumferential direction of said first connecting post (42); and/or the second protrusions (521) extend along the axial direction of the second connecting column (52), the second protrusions (521) are multiple, and the second protrusions (521) are arranged along the circumferential direction of the second connecting column (52).
7. The ankle knuckle turning mechanism according to any one of claims 4 to 6, characterized in that the first through hole (313) has a first bottom wall (314), and the first fastening connector (40) is provided with a first threaded hole (43) for fitting with a first stripper, so that the first stripper is screwed into the first threaded hole (43) until contacting the first bottom wall (314), and is screwed further until the first fastening connector (40) is ejected out of the first through hole (313); and/or the presence of a gas in the gas,
the second through hole (323) is provided with a second bottom wall (324), a second threaded hole (53) matched with a second dismounting part (60) is formed in the second fastening connecting piece (50), so that the second dismounting part (60) is screwed into the second threaded hole (53) until contacting with the second bottom wall (324), and the second dismounting part (60) is screwed continuously until the second fastening connecting piece (50) is ejected out of the second through hole (323).
8. The ankle knuckle turning mechanism according to any one of claims 3 to 6, wherein the first connecting piece (10) is provided with first connecting lugs (11), the first connecting lugs (11) are arranged in pairs, the first fastening connecting pieces (40) are arranged in pairs, two first fastening connecting pieces (40) in a pair are respectively connected with two ends of the first shaft section (31) after passing through the corresponding first connecting lugs (11), and the first shaft section (31) is located between two first connecting lugs (11) in a pair; and/or the presence of a gas in the gas,
the second connecting piece (20) is provided with a second connecting lug (21), the second connecting lug (21) is arranged in pairs, the second fastening connecting pieces (50) are arranged in pairs, the second fastening connecting pieces (50) penetrate through the second connecting lug (21) correspondingly and then are connected with two ends of the second shaft section (32), and the second shaft section (32) is located between the second connecting lug (21) in pairs.
9. The ankle knuckle turning mechanism according to claim 1, wherein the turning shaft (30) is a cross turning shaft.
10. An exoskeleton robot comprising the ankle joint rotation mechanism of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010195944.4A CN111267140A (en) | 2020-03-19 | 2020-03-19 | Ankle joint slewing mechanism and exoskeleton robot with same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010195944.4A CN111267140A (en) | 2020-03-19 | 2020-03-19 | Ankle joint slewing mechanism and exoskeleton robot with same |
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| CN111267140A true CN111267140A (en) | 2020-06-12 |
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| CN202010195944.4A Pending CN111267140A (en) | 2020-03-19 | 2020-03-19 | Ankle joint slewing mechanism and exoskeleton robot with same |
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Application publication date: 20200612 |