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CN-224206941-U - Ankle joint, artificial leg and robot with double degrees of freedom

CN224206941UCN 224206941 UCN224206941 UCN 224206941UCN-224206941-U

Abstract

The utility model discloses a dual-freedom-degree ankle joint, a false leg and a robot, wherein the dual-freedom-degree ankle joint comprises a first rotating structure; the device comprises a first rotating structure, a second rotating structure, a third rotating structure and a third rotating structure, wherein the first rotating structure is connected with the first rotating structure in a rotating way, the third rotating structure is connected with the second rotating structure in a rotating way, the rotating direction of the first rotating structure relative to the second rotating structure is a first direction, the rotating direction of the third rotating structure relative to the second rotating structure is a second direction, and the first direction and the second direction are different directions. The first rotating structure is rotationally connected with the second rotating structure, the rotating direction is a first direction, the second rotating structure is rotationally connected with the third rotating structure, and the rotating direction is a second direction. The first direction and the second direction are different directions, so that the whole ankle joint has two rotational degrees of freedom, and the flexibility of the ankle joint with two degrees of freedom is higher.

Inventors

  • HAN BICHENG
  • LI XIAO
  • LU ZHAN

Assignees

  • 浙江强脑科技有限公司

Dates

Publication Date
20260508
Application Date
20250422

Claims (10)

  1. 1. A dual degree of freedom ankle joint, comprising: A first rotating structure; The second rotating structure is rotationally connected with the first rotating structure; The third rotating structure is rotationally connected with the second rotating structure; The rotating direction of the first rotating structure relative to the second rotating structure is a first direction, the rotating direction of the third rotating structure relative to the second rotating structure is a second direction, and the first direction and the second direction are different directions.
  2. 2. The dual degree of freedom ankle joint of claim 1 wherein the first rotating structure is configured to engage a foot plate, the first direction being a width direction of the foot plate and the second direction being a length direction of the foot plate.
  3. 3. The two degree of freedom ankle joint of claim 1 wherein the two degree of freedom ankle joint further comprises: and the first damping structure is respectively connected with the first rotating structure and the second rotating structure.
  4. 4. The dual degree of freedom ankle joint of claim 3 wherein the axes of rotation of the first and second rotational structures are first axes; the first damping structure includes: The first elastic element and the second elastic element are respectively positioned at two sides of the first axis.
  5. 5. The two degree of freedom ankle joint of claim 1 wherein the two degree of freedom ankle joint further comprises: and the second damping structure is respectively connected with the second rotating structure and the third rotating structure.
  6. 6. The two degree of freedom ankle joint of claim 5 wherein the second damping structure comprises: an adjustable damping structure and/or a non-adjustable damping structure; Wherein the damping coefficient of the adjustable damping structure is adjustable; The damping coefficient of the non-adjustable damping structure is not adjustable.
  7. 7. The dual degree of freedom ankle joint of claim 6 wherein the adjustable damping structure comprises: The damper is rotationally arranged on the third rotating structure; the regulator is rotationally arranged on the third rotating structure; the first connecting rod group is respectively connected with the second rotating structure, the third rotating structure and the damper in a rotating way; wherein the regulator is configured to regulate damping of the damper.
  8. 8. The dual degree of freedom ankle joint of claim 6 wherein the non-adjustable damping structure comprises: and the third elastic element is respectively connected with the second rotating structure and the third rotating structure.
  9. 9. Leg prosthesis comprising a two degree of freedom ankle joint according to any of claims 1 to 8.
  10. 10. A robot comprising a two degree of freedom ankle joint according to any one of claims 1 to 8, or a leg prosthesis according to claim 9.

Description

Ankle joint, artificial leg and robot with double degrees of freedom Technical Field The utility model relates to the technical field of robots, in particular to a double-degree-of-freedom ankle joint, a leg prosthesis and a robot. Background In the field of prostheses or robots, joints are important components for exhibiting various postures, and motions of ankle joints play an important role in actions such as standing, squatting, walking, running and the like. In the prior art, the lower leg and the foot plate are rigidly connected, the ankle joint cannot move, and the ankle joint has no rotational freedom degree, so that the flexibility of the ankle joint is lower. Accordingly, the prior art is still in need of improvement and development. Disclosure of utility model The utility model aims to solve the technical problems of the prior art, provides a double-degree-of-freedom ankle joint, a leg prosthesis and a robot, and aims to solve the problem of lower flexibility of the robot ankle joint in the prior art. The technical scheme adopted for solving the technical problems is as follows: a two-degree-of-freedom ankle joint, comprising: A first rotating structure; The second rotating structure is rotationally connected with the first rotating structure; The third rotating structure is rotationally connected with the second rotating structure; The rotating direction of the first rotating structure relative to the second rotating structure is a first direction, the rotating direction of the third rotating structure relative to the second rotating structure is a second direction, and the first direction and the second direction are different directions. The ankle joint with two degrees of freedom is characterized in that the first rotating structure is configured to be connected with the foot plate, the first direction is the width direction of the foot plate, and the second direction is the length direction of the foot plate. The two-degree-of-freedom ankle joint, wherein the two-degree-of-freedom ankle joint further comprises: and the first damping structure is respectively connected with the first rotating structure and the second rotating structure. The two-degree-of-freedom ankle joint comprises a first rotating structure, a second rotating structure and a first connecting structure, wherein the rotating axes of the first rotating structure and the second rotating structure are first axes; the first damping structure includes: The first elastic element and the second elastic element are respectively positioned at two sides of the first axis. The two-degree-of-freedom ankle joint, wherein the two-degree-of-freedom ankle joint further comprises: and the second damping structure is respectively connected with the second rotating structure and the third rotating structure. The dual degree of freedom ankle joint, wherein the second damping structure comprises: an adjustable damping structure and/or a non-adjustable damping structure; Wherein the damping coefficient of the adjustable damping structure is adjustable; The damping coefficient of the non-adjustable damping structure is not adjustable. The dual degree of freedom ankle joint, wherein the adjustable damping structure comprises: The damper is rotationally arranged on the third rotating structure; the regulator is rotationally arranged on the third rotating structure; the first connecting rod group is respectively connected with the second rotating structure, the third rotating structure and the damper in a rotating way; wherein the regulator is configured to regulate damping of the damper. The dual degree of freedom ankle joint, wherein the non-adjustable damping structure comprises: and the third elastic element is respectively connected with the second rotating structure and the third rotating structure. A leg prosthesis comprising a two degree of freedom ankle joint as claimed in any one of the preceding claims. A robot comprising a two degree of freedom ankle joint as claimed in any one of the preceding claims, or a leg prosthesis as claimed in any one of the preceding claims. The rotary mechanism has the beneficial effects that the first rotary structure is rotationally connected with the second rotary structure, the rotary direction is the first direction, and the second rotary structure is rotationally connected with the third rotary structure, and the rotary direction is the second direction. The first direction and the second direction are different directions, so that the whole ankle joint has two rotational degrees of freedom, and the flexibility of the ankle joint with two degrees of freedom is higher. Drawings FIG. 1 is a schematic view of a two-degree-of-freedom ankle joint and foot plate according to an embodiment of the present utility model. Fig. 2 is a cross-sectional view of a two-degree-of-freedom ankle joint in an embodiment of the utility model. FIG. 3 is a schematic diagram of the first rotary structure, the second rotary struct