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CN-224223932-U - Ankle structure for humanoid robot and humanoid robot

CN224223932UCN 224223932 UCN224223932 UCN 224223932UCN-224223932-U

Abstract

The utility model relates to an ankle structure for a humanoid robot and the humanoid robot, wherein the ankle structure comprises a shank body, a first joint module, a second joint module, a first rotating wheel, a second rotating wheel, a third rotating wheel and a third rotating wheel, wherein the first fixed end of the first joint module is fixedly connected with the shank body, the second fixed end of the second joint module is fixedly connected with the shank body, the first rotating wheel is connected with a first output end of the first joint module, the second rotating wheel is connected with a second output end of the second joint module, the ankle joint assembly comprises a pitching part and a tilting part, the third rotating wheel is fixedly connected with the pitching part, the third rotating wheel is connected with the first rotating wheel through a first transmission piece, the first rotating reversing piece is fixedly connected with the tilting part, the second rotating reversing piece is meshed with the first rotating reversing piece, the fourth rotating wheel is fixedly connected with the second rotating reversing piece, and the fourth rotating wheel is connected with the second rotating wheel through the second transmission piece.

Inventors

  • Request for anonymity
  • Request for anonymity
  • Request for anonymity
  • Request for anonymity

Assignees

  • 深圳赛博格机器人有限公司

Dates

Publication Date
20260512
Application Date
20250708

Claims (10)

  1. 1. An ankle structure for a humanoid robot, the ankle structure comprising: a shank body (10); A first joint module (20), the first fixed end (201) of which is fixedly connected with the shank body (10); a second joint module (30), the second fixed end (301) of which is fixedly connected with the shank body (10); A first rotating wheel (40) connected with a first output end (202) of the first joint module (20); The second rotating wheel (50) is connected with a second output end (302) of the second joint module (30); an ankle joint assembly (60) comprising a pitch section (601) and a roll section (602); A third rotating wheel (80) fixedly connected with the pitching section (601), and the third rotating wheel (80) is connected with the first rotating wheel (40) via a first transmission member (90); a first rotation direction-changing member (130) fixedly connected to the side-tilting portion (602); a second rotary reversing element (140) meshed with the first rotary reversing element (130); And a fourth rotating wheel (150) fixedly connected with the second rotating reversing piece (140), wherein the fourth rotating wheel (150) is connected with the second rotating wheel (50) through a second transmission piece (160).
  2. 2. Ankle structure for humanoid robot according to claim 1, characterized in that the shank body (10) is configured such that its lateral width gradually decreases from far from the foot (70) to near the foot (70).
  3. 3. The ankle structure for a humanoid robot according to claim 1, wherein a first escape groove (102) is formed on the calf body (10), the first escape groove (102) being for escaping the roll portion (602) during a pitching motion.
  4. 4. The ankle structure for a humanoid robot according to claim 1, wherein a second escape groove (6021) is formed on the roll portion (602), the second escape groove (6021) being used for the roll portion (602) to escape an end portion (103) of the lower leg body (10) near the foot portion (70) during the roll motion.
  5. 5. The ankle structure for a humanoid robot according to any one of claims 1 to 4, wherein the first rotation direction changing member (130) is a worm wheel and the second rotation direction changing member (140) is a worm.
  6. 6. The ankle structure for a humanoid robot according to any one of claims 1 to 4, wherein the first rotating wheel (40) and the third rotating wheel (80) are each one of a synchronizing wheel, a sprocket, or a friction wheel, the corresponding first transmission member (90) is one of a timing belt, a chain, or a belt, and The second rotating wheel (50) and the fourth rotating wheel (150) are one of synchronous wheels, chain wheels or friction wheels, and the corresponding second transmission piece (160) is one of synchronous belts, chains or belts.
  7. 7. Ankle structure for humanoid robots according to any one of claims 1 to 4, characterized in that in the extension direction of the calf body (10), the first joint module (20) and the second joint module (30) are laid side by side, and the axial direction of the first joint module (20) and the axial direction of the second joint module (30) are both perpendicular to the extension direction.
  8. 8. Ankle structure for humanoid robots according to any one of claims 1 to 4, characterized in that the first joint module (20) and the second joint module (30) are configured such that the axial directions thereof coincide and the axial directions thereof are perpendicular to the extending direction of the calf body (10).
  9. 9. The ankle structure for a humanoid robot according to claim 7, wherein a limiting hole (101) for mounting the first joint module (20) and the second joint module (30) is formed in the calf body (10), an axial direction of the limiting hole (101) is perpendicular to the extending direction, and the first output end (202) and the second output end (302) are exposed from the limiting hole (101).
  10. 10. A humanoid robot, characterized in that it comprises an ankle structure for a humanoid robot according to any one of claims 1 to 9.

Description

Ankle structure for humanoid robot and humanoid robot Technical Field The utility model relates to the technical field of humanoid robots, in particular to an ankle structure for a humanoid robot and the humanoid robot. Background The lower limb movement system of a humanoid robot generally includes joint parts such as hip joints, knee joints, and ankle joints. The ankle joint is used as a core component for supporting and adjusting gait, and the freedom degree configuration, the movement range and the structural rigidity of the ankle joint directly determine the walking posture stability, the dynamic balance capability and the complex terrain adaptability of the humanoid robot. At present, the ankle joint of the humanoid robot mostly adopts a double-freedom-degree design, and can realize pitching motion and rolling motion. However, there are also significant limitations to existing ankle designs. For example, the small angular range of pitching motion results in a limited ability to adjust the foot contact angle with the ground during dynamic motions of the humanoid robot up and down slopes, across obstacles, and the like. Moreover, the angle range of the side swing movement is small, so that when the humanoid robot encounters irregular terrains such as broken stones and step edges, the foot cannot quickly adjust the varus or valgus angle to compensate the landing head of the terrains. In the above-described case, the motion stability of the humanoid robot is severely affected. Disclosure of utility model This section provides a general summary of the utility model, and is not a comprehensive disclosure of its full scope or all of its features. The utility model aims to provide an ankle structure for a humanoid robot, which can improve the movement range of an ankle joint, and the humanoid robot. In order to achieve the above object, according to an aspect of the present utility model, there is provided an ankle structure for a humanoid robot, the ankle structure comprising: A shank body; the first fixed end of the first joint module is fixedly connected with the shank body; the second fixed end of the second joint module is fixedly connected with the shank body; the first rotating wheel is connected with a first output end of the first joint module; The second rotating wheel is connected with a second output end of the second joint module; an ankle joint assembly including a pitch portion and a roll portion; the third rotating wheel is fixedly connected with the pitching part and is connected with the first rotating wheel through a first transmission piece; the first rotating reversing piece is fixedly connected with the side tilting part; the second rotating reversing piece is meshed with the first rotating reversing piece; and the fourth rotating wheel is fixedly connected with the second rotating reversing piece, wherein the fourth rotating wheel is connected with the second rotating wheel through a second transmission piece. Optionally, in some embodiments, the calf body is configured to taper in lateral width from away from the foot to near the foot. Optionally, in some embodiments, a first relief groove is formed in the calf body for relieving the roll during pitching motion. Optionally, in some embodiments, a second relief groove is formed in the roll portion for relieving an end of the calf body adjacent the foot during roll motion. Optionally, in some embodiments, the first rotational diverter is a worm gear and the second rotational diverter is a worm. Alternatively, in some embodiments, the first and third rotating wheels are each one of a timing wheel, a sprocket, or a friction wheel, the respective first transmission member is one of a timing belt, a chain, or a belt, and The second rotating wheel and the fourth rotating wheel are one of synchronous wheels, chain wheels or friction wheels, and the corresponding second transmission piece is one of synchronous belts, chains or belts. Optionally, in some embodiments, in the extending direction of the calf body, the first joint module and the second joint module are arranged side by side, and an axial direction of the first joint module and an axial direction of the second joint module are both perpendicular to the extending direction. Optionally, in some embodiments, the first joint module and the second joint module are configured such that the axial directions of both coincide and the axial directions of both are perpendicular to the extending direction of the calf body. Optionally, in some embodiments, a limiting hole for installing the first joint module and the second joint module is formed in the calf body, an axis direction of the limiting hole is perpendicular to the extending direction, and the first output end and the second output end are exposed from the limiting hole. According to another aspect of the present utility model, there is provided a humanoid robot including the ankle structure for the humanoid robot in any one of the for