CN112720564B - Bionic robot and sloping cam plate type ankle joint thereof - Google Patents
Bionic robot and sloping cam plate type ankle joint thereof Download PDFInfo
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- CN112720564B CN112720564B CN202011406627.9A CN202011406627A CN112720564B CN 112720564 B CN112720564 B CN 112720564B CN 202011406627 A CN202011406627 A CN 202011406627A CN 112720564 B CN112720564 B CN 112720564B
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 92
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims abstract description 64
- 210000003423 ankle Anatomy 0.000 claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 22
- 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 4
- 238000000034 method Methods 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 210000002683 foot Anatomy 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000000629 knee joint Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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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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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The application provides a bionic robot and a sloping cam type ankle joint thereof. The swash plate transmission mechanism comprises a swash plate and two push rods, wherein the swash plate is arranged on the power input shaft, the swash plate is provided with inclined end faces, and one ends of the two push rods symmetrically lean against the inclined end faces of the swash plate, so that the rotary motion of the swash plate driven by the power input shaft is converted into linear reciprocating motion of the push rods; the other ends of the two push rods are respectively and pivotally connected with the two end parts of the swing transmission shaft, and the swing transmission shaft is connected with the ankle support, so that the reciprocating motion of the push rods drives the swing of the swing transmission shaft, and the ankle support is driven to swing. The swash plate transmission mechanism provided by the embodiment of the application utilizes the transmission characteristic that the swash plate pushes the push rod, and has self-locking property.
Description
Technical Field
The application relates to the field of bionic robots, in particular to a bionic robot and a sloping cam type ankle joint thereof.
Background
The humanoid robot is an advanced development stage of robot technology, and reflects the research and development level of the robot in various aspects such as mechanics, movement, dynamics and the like. The humanoid robot has strong obstacle crossing capability, omnibearing adjustment of moving direction, strong terrain adaptability, good movement flexibility and high bearing capacity, is the best choice in complex operation environment, and has wide application prospect.
The ankle joint part of the bionic robot is critical to the motion of the whole robot, and if the ankle joint part cannot simulate the motion of lifting the ankle part forwards and swinging the ankle part leftwards and rightwards, the terrain adaptability of the bionic robot is greatly limited. In the prior art, in order to realize a plurality of degrees of freedom of the ankle joint of the bionic robot, a driving motor is generally installed between ankle joint parts, and a supporting and driving structure is mostly installed at the ankle joint positions, so that the ankle joint parts generate larger rotational inertia in the walking process, and the motor with larger power is required to drive, so that the weight of the ankle joint parts and the rotational inertia in the walking process can be increased, the influence on the stability of the motion is obvious, and the optimization of the weight and the structure of the robot is not facilitated.
Because each joint motion of robot needs to set up power structure or transmission, still some humanoid robot's ankle joint is for lightening weight, does not generally possess the rotation degree of freedom or only possess the rotation degree of freedom of one direction, and this kind of structure only is applicable to walking on the flat bottom surface, if suffer from uneven bottom surface, the ankle joint is if can't realize the swing regulation of left and right directions, and the bionic robot is very easy to walk the appearance and is unnatural or walk unstably, appears because the unstable circumstances of falling down of focus even.
Disclosure of Invention
In view of the above, embodiments of the present application provide a bionic robot and a swash plate type ankle joint thereof, which obviate or ameliorate one or more of the disadvantages of the prior art.
The technical scheme of the application is as follows:
a swash plate type ankle joint of a bionic robot comprises a power input shaft, a swash plate transmission mechanism, a swing transmission shaft and an ankle support. The swash plate transmission mechanism comprises a swash plate and two push rods, wherein the swash plate is arranged on the power input shaft, the swash plate is provided with inclined end faces, and one ends of the two push rods symmetrically lean against the inclined end faces of the swash plate, so that the rotary motion of the swash plate driven by the power input shaft is converted into linear reciprocating motion of the push rods; the other ends of the two push rods are respectively and pivotally connected with the two end parts of the swing transmission shaft, and the swing transmission shaft is connected with the ankle support, so that the reciprocating motion of the push rods drives the swing of the swing transmission shaft, 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 is abutted against a non-center 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 surfaces of the power and pressure swash plates 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 sphere part and a plane part, part of the sphere part is embedded into the sphere concave part of the push rod, and the plane part is abutted with the bottom surface of the pressure swash plate.
In some embodiments, the swash plate type ankle joint further comprises a guide column body for limiting and guiding the push rod, the guide column body is provided with two through holes for the push rod to pass through, and the guide column 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 joint further comprises an ankle joint housing and a cross; the ankle joint comprises an ankle joint shell, a lower joint and a cross shaft, wherein a cavity for accommodating the swash plate transmission mechanism is formed in the ankle joint shell, the upper part of the ankle joint shell is used for fixedly connecting shank legs, and the lower part of the ankle joint shell is used for installing the cross shaft; the cross axle comprises a first direction axle and a second direction axle which are perpendicular to each other and hollow, wherein two ends of the second direction axle are connected to the lower part of the ankle joint shell through bearings, and the first direction axle is connected with the ankle support in a mutually rotatable mode.
In some embodiments, the ankle support includes a support body having a swivel axis arranged to pass within a first directional axis of the cross; 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 swing transmission shaft is connected to 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 connected to the top end of the power input shaft.
According to another aspect of the present application, there is also provided a bionic robot including the aforementioned swash plate type ankle joint.
According to the bionic robot and the sloping cam type ankle joint thereof, the beneficial effects at least comprise: the swash plate transmission mechanism of the embodiment of the application has self-locking property because the transmission characteristic that the swash plate pushes the push rod is utilized. In addition, the ankle joint utilizes the sloping cam plate drive mechanism, can realize the settlement swing angle of control ankle joint in this direction of rotation in a rotation cycle of sloping cam plate, control mode is simple.
Additional advantages, objects, and features of the application 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 application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims thereof 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 application are not limited to the above-described specific ones, and that the above and other objects that can be achieved with the present application will be more clearly understood from the following detailed description.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate and together with the description serve to explain the application. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the application. Corresponding parts in the drawings may be exaggerated, i.e. made larger relative to other parts in an exemplary device actually manufactured according to the present application, for convenience in showing and describing some parts of the present application. In the drawings:
fig. 1 is a schematic perspective view of a swash plate type ankle joint according to an embodiment of the present application.
Fig. 2 is an exploded view of a swash plate type ankle joint according to an embodiment of the present application.
Fig. 3 is a perspective view illustrating a swash plate type ankle joint according to another embodiment of the present application.
FIG. 4 is a schematic cross-sectional view of a swash plate type ankle joint according to an embodiment of the present application
Fig. 5 is a view showing a change state of the swash plate type ankle joint shown in fig. 4 after swing.
Detailed Description
The present application will be described in further detail with reference to the following embodiments and the accompanying drawings, in order to make the objects, technical solutions and advantages of the present application more apparent. The exemplary embodiments of the present application and the descriptions thereof are used herein to explain the present application, but are not intended to limit the application.
It should be noted here that, in order to avoid obscuring the present application due to unnecessary details, only structures and/or processing steps closely related to the solution according to the present application are shown in the drawings, while other details not greatly related to the present application 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" may refer to not only a direct connection, but also an indirect connection in which an intermediate is present, unless otherwise specified.
Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar components, or the same or similar steps.
The embodiment of the application provides a bionic robot and a sloping cam type ankle joint thereof, so as to provide a transmission mechanism with innovative design for the ankle joint of the bionic robot, and enable the swing action of the ankle joint to be 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 the embodiment of the present application 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 application converts the rotary motion output by the power unit into linear motion by utilizing the swash plate transmission mechanism and drives the swing transmission shaft to swing in one direction, thereby driving the ankle support or foot to swing.
The swash plate transmission mechanism of the embodiment of the application has self-locking property because the transmission characteristic that the swash plate pushes the push rod is utilized. In addition, the ankle joint utilizes the sloping cam plate drive mechanism, can realize the settlement swing angle of control ankle joint in this direction of rotation in a rotation cycle of sloping cam plate, control mode is simple.
In some embodiments, the swash plate transmission mechanism may include a swash plate 2 and two push rods 3, the swash plate 2 being mounted on the power input shaft 1, the swash plate 2 having inclined end surfaces, one ends of the two push rods 3 being symmetrically abutted against the inclined end surfaces of the swash plate 2, so that the rotational movement of the swash plate 2 by the power input shaft 1 is converted into linear reciprocating movement of the push rods 3.
In some embodiments, the other ends of the two push rods 3 are respectively and pivotally connected with the two ends of the swing transmission shaft 4, and the swing transmission shaft 4 is connected with the ankle support 5, so that the linear reciprocating motion of the push rods 3 drives the swing of the swing transmission shaft 4, and thus drives the swing of the ankle support 5.
The swash plate type ankle joint provided by the embodiment of the application adopts the swash plate transmission mechanism to drive the swing transmission shaft to swing in one rotation direction, so that the ankle joint drives the ankle support or the foot to swing, 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 friction of the swash plate transmission mechanism, as shown in fig. 2, the swash plate 2 of the embodiment of the present application may include a power swash plate 21 and a pressure swash plate 22. Wherein, power sloping cam plate 21 and power input shaft 1 fixed connection, the non-central position of the lower terminal surface of pressure sloping cam plate 22 is in the butt of the top of push rod 3. And a bearing or a 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 relatively rotate so as to reduce the friction force of a swash plate transmission mechanism and improve the transmission efficiency.
Alternatively, the power swash plate 21 and the power input shaft 1 may be connected by a key to maintain synchronous rotation. The power swash plate 21 is located above the pressure swash plate 22, annular grooves are respectively formed in the lower end face of the power swash plate 21 and the upper end face of the pressure swash plate, and a plurality of rolling bodies 23 which are arranged in a circumferential direction are arranged in the grooves. Further, the rolling bodies 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 body, 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 smoother.
In addition, the lower end face of the power swash plate 21 is an inclined end face, and both the upper end face and the lower end face of the power swash plate 21 are inclined end faces, wherein the inclined end faces refer to that the end faces have 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 friction of the swash plate drive mechanism, the top end of the push rod 3 is provided with a half ball 31, the half ball 31 having a spherical portion and a planar portion, a portion of the spherical portion being embedded in a spherical recess of the push rod 3, the planar portion abutting against the bottom surface of the 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 particular, the bottom end 32 of the push rod 3 is connected to the end of the swing transmission shaft 4 by a pivot or a pin, so that the push rod and the end can rotate relative to each other. The upper half of the push rod 3 may be a cylindrical structure, and the lower half may be an arc-shaped plate structure to increase strength.
As shown in fig. 4 and 5, the swash plate type ankle joint according to the embodiment of the present application further includes a guide post body 71 for limiting and guiding the push rod 3, the guide post body 71 having two through holes through which the push rod 3 is inserted, and the guide post body 71 being installed at the end of the power input shaft 1 through a pressing cover 72 and a connection post 73.
Specifically, the tip end of the power input shaft 1 extends into the ankle joint housing 82, the outer peripheral surface of the tip end of the power input shaft 1 is keyed to the power swash plate 21, the end face of the tip end of the power input shaft 1 is provided with a threaded hole, the gland 72 is provided with an end cap portion and a pin portion, one end of the pin is provided with external threads, and the pin is fastened to the threaded hole of the power input shaft 1 of the end cap.
In addition, the lower end face of the power swash plate 21 is also provided with uniformly distributed threaded holes near the central shaft, the end part of the connecting column 73 with larger diameter is provided with uniformly distributed connecting holes, and the end of the connecting column 73 with larger diameter is abutted against the lower end face of the power swash plate 21 and fixedly connected through screws or bolts. The smaller diameter end of the connecting post 73 is inserted into the pin shaft portion of the gland 72. In this embodiment, the outer peripheral surface of the connection post 73 is connected to the inner peripheral surface of the guide post body 71 by a bearing. The lower portion of the guide post 71 is capped by a bearing cap at a position near the cap portion of the cap 72.
In some embodiments, as shown in fig. 3 and 4, the swash plate type ankle joint further includes an ankle joint housing 82 and a cross 5. Wherein, the inside of ankle joint casing 82 has the cavity that is used for holding sloping cam plate drive mechanism, and the upper portion of ankle joint casing 82 is used for fixed connection shank leg 81, and the lower part of ankle joint casing 82 is used for installing cross axle 5.
To achieve one or two degrees of rotational freedom of the ankle joint, the cross 5 of the embodiment of the present application includes a first direction shaft 51 and a second direction shaft 52 which are perpendicular to each other and hollow. Wherein, both ends of the second direction shaft 52 are connected to the lower portion of the ankle housing 82 through bearings, and the first direction shaft 51 is rotatably connected to the ankle support 6.
The ankle joint of embodiments of the present application may have one or two degrees of rotational freedom, swing in a fore-aft direction and/or swing in a medial-lateral direction, respectively. For example, when the ankle support swings about the first direction axis 51 as a rotation center, the ankle joint can swing in the medial-lateral direction. When the ankle joint swings about the second direction axis 2 as a rotation center, the ankle joint can perform a forward and backward swinging motion.
The ankle joint of the embodiment of the application can be provided with one or two sloping cam plate transmission mechanisms which are respectively used for driving the ankle joint to swing in one or two rotation directions. To describe the structure of the ankle joint in further detail, the composition and connection thereof will be described below in connection with one specific embodiment.
In one embodiment, the ankle support 6 includes a support body 61 and a support side plate 62, wherein the support body 61 is used for connecting the cross 5, the lower part is used for connecting the foot of the bionic robot, and the support side plate 62 is used for packaging the cross 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 penetrated into the first direction shaft 51 of the cross 5. The middle part of the rotating shaft 51 is also provided with a through hole 611 for the swing transmission shaft 4 to pass through.
In one embodiment, the middle part 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 hole diameter of the through hole 611 of the ankle support is larger, the hole diameter of the swing transmission shaft 4 is smaller, and one or two bearings, such as needle bearings, can be arranged at the matching position of the two bearings to realize connection. Specifically, the through hole 611 of the rotation shaft 610 has a convex annular ring in the middle, and the swing transmission shaft 4 has a convex collar on one side (corresponding to the position on the outer peripheral side of the rotation shaft 610) in the middle and a groove on the other side in the symmetrical position. One of the bearings may be axially positioned by the collar of the swing transmission shaft 4 and the annular ring of the through hole 611, and the other bearing may be axially positioned by the annular ring of the through hole 611 and the circlip mounted at the groove of the swing transmission shaft 4.
The inclined disc type ankle joint provided by the embodiment of the application has the advantages that the structure is optimally designed, the composition structure is compact, and the ankle joint swinging process is stable.
In another embodiment, the swing transmission shaft 4 and the through hole 611 of the rotating shaft 610 may be connected in a tensioning manner, so that the swing transmission shaft 4 drives the rotating shaft 610 (ankle support) to swing around the first direction shaft 51 as a rotation center.
In one embodiment, the joint between the first direction shaft 51 of the cross and the ankle support is provided with a bearing, and the joint between the second direction shaft 52 and the lower portion of the ankle housing 82 is also provided with a bearing, so as to reduce friction and make the swing process smoother.
In the embodiment of the present application, the swash plate type ankle joint further includes a motor 91 and a harmonic reducer 92 connected to a motor shaft, the harmonic reducer 92 being connected to the top end of the power input shaft 1, and transmitting 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 provided at the knee joint position of the bionic robot, may be provided at the top end position of the shank, may be provided at the thigh, and may be a swash plate transmission mechanism that transmits power to the ankle joint position through a transmission mechanism. According to the embodiment of the application, the power structure of the ankle joint is moved upwards to the knee joint position, the top end position of the shank or the thigh position, and the weight of the ankle joint is small, so that the moment of inertia generated when the ankle joint swings is effectively reduced, and the weight of the leg of the whole robot is reduced.
In one embodiment, the sloping cam plate push-pull self-locking ankle joint mechanism is applied to the ankle outer swing joint of the humanoid robot, and the working principle 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 by a key. The power swash plate and the pressure swash plate are respectively provided with corresponding rollaway nest on the end surfaces facing each other, the power swash plate is matched with the pressure swash plate through the whole circle of balls, and the pressure swash plate can mutually rotate with the power swash plate. The left side and the right side of the pressure sloping cam plate are respectively provided with a push rod, the push rods are guided by being matched with the guide cylinder, and the guide cylinder can relatively rotate. 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 the needle roller bearing.
When the power input shaft rotates, the power swash plate is driven to rotate, the push rods at the left side and the right side are pushed to reciprocate up and down by the power swash plate, the push rods reciprocate up and down to drive the left side and the right side of the swing transmission shaft to swing up and down, and accordingly the ankle support is driven to swing left and right, and the movement function is achieved.
According to another aspect of the present application, there is also provided a bionic robot including the aforementioned swash plate type ankle joint.
According to the bionic robot and the sloping cam type ankle joint thereof, the beneficial effects at least comprise:
(1) The swash plate transmission mechanism of the embodiment of the application has self-locking property because the transmission characteristic that the swash plate pushes the push rod is utilized. In addition, the ankle joint utilizes the sloping cam plate drive mechanism, can realize the settlement swing angle of control ankle joint in this direction of rotation in a rotation cycle of sloping cam plate, control mode is simple.
(2) The power swash plate and the pressure swash plate which are included in the swash plate can relatively rotate, so that friction force of a swash plate transmission mechanism is reduced, and transmission efficiency is improved.
(3) The top end of the push rod of the embodiment of the application is provided with the half ball, and the half 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 half ball is always propped against the bottom surface of the pressure swash plate, the power can be stably transmitted, and the universal connection is realized.
(4) The sloping cam type ankle joint of the embodiment of the application 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.
In this disclosure, 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.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, and various modifications and variations can be made to the embodiments of the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (8)
1. The swash plate type ankle joint of the bionic robot is characterized by comprising a power input shaft, a swash plate transmission mechanism, a swing transmission shaft and an ankle support;
the swash plate transmission mechanism comprises a swash plate and two push rods, wherein the swash plate is arranged on the power input shaft, the swash plate is provided with inclined end faces, and one ends of the two push rods symmetrically lean against the inclined end faces of the swash plate, so that the rotary motion of the swash plate driven by the power input shaft is converted into linear reciprocating motion of the push rods;
the other ends of the two push rods are respectively and pivotally connected with the two ends of the swing transmission shaft, and the swing transmission shafts are connected with the ankle support, so that the reciprocating motion of the push rods drives the swing transmission shafts to swing, and the ankle support is driven to swing;
the sloping cam type ankle joint also comprises an ankle joint shell and a cross shaft;
the ankle joint comprises an ankle joint shell, a lower joint and a cross shaft, wherein a cavity for accommodating the swash plate transmission mechanism is formed in the ankle joint shell, the upper part of the ankle joint shell is used for fixedly connecting shank legs, 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 perpendicular to each other and hollow, wherein two ends of the second direction shaft are connected to the lower part of the ankle joint shell through bearings, and the first direction shaft is connected with the ankle support in a mutually rotatable mode;
the ankle support comprises a support body and support side plates, wherein the support body is provided with a rotating shaft, and the rotating shaft is arranged to penetrate through a 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.
2. The swash plate type ankle joint of the bionic 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 is abutted against a non-center position of the lower end face 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 swash plate type ankle joint of the bionic robot according to claim 2, wherein the mutually facing end surfaces of the power swash plate and the pressure swash plate are each provided with a groove, and a plurality of rolling bodies arranged in a circumferential direction are arranged in the grooves.
4. The swash plate type ankle joint of the bionic 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 sphere portion and a plane portion, the sphere portion of the half ball is embedded into the sphere concave portion of the push rod, and the plane portion is abutted against the bottom surface of the pressure swash plate.
5. The swash plate type ankle joint of the bionic robot according to claim 1, further comprising a guide post body for limiting and guiding the push rod, wherein the guide post body is provided with two through holes for the push rod to pass through, and the guide post body is installed at the tail end of the power input shaft through a gland and a connecting post.
6. The swash plate type ankle joint of the bionic robot according to claim 1, wherein the middle part of the swing transmission shaft is connected to the through hole of the ankle support through a needle bearing.
7. The swash plate type ankle joint of the bionic 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 the top end of the power input shaft.
8. A bionic robot comprising the swash plate type ankle joint according to any one of claims 1 to 7.
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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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| 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 CN112720564A (en) | 2021-04-30 |
| CN112720564B true CN112720564B (en) | 2023-11-24 |
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| CN101208542A (en) * | 2005-05-20 | 2008-06-25 | 谢夫勒两合公司 | Swash plate mechanism |
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