CN120022112B - Ankle joint, control method thereof, artificial leg and robot - Google Patents

Ankle joint, control method thereof, artificial leg and robot

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Publication number
CN120022112B
CN120022112B CN202510506993.8A CN202510506993A CN120022112B CN 120022112 B CN120022112 B CN 120022112B CN 202510506993 A CN202510506993 A CN 202510506993A CN 120022112 B CN120022112 B CN 120022112B
Authority
CN
China
Prior art keywords
foot
leg
connection structure
ankle joint
driving mechanism
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202510506993.8A
Other languages
Chinese (zh)
Other versions
CN120022112A (en
Inventor
韩璧丞
李晓
卢展
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Qiangnao Technology Co ltd
Original Assignee
Zhejiang Qiangnao Technology Co ltd
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Priority to CN202510506993.8A priority Critical patent/CN120022112B/en
Publication of CN120022112A publication Critical patent/CN120022112A/en
Application granted granted Critical
Publication of CN120022112B publication Critical patent/CN120022112B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/66—Feet; Ankle joints
    • A61F2/6607—Ankle joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2002/607—Lower legs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/66—Feet; Ankle joints
    • A61F2002/6614—Feet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/66—Feet; Ankle joints
    • A61F2002/6614—Feet
    • A61F2002/665—Soles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Prostheses (AREA)

Abstract

本发明公开了一种踝关节及其控制方法、假腿及机器人，踝关节包括：脚连接结构；腿连接结构，与所述脚连接结构转动连接；驱动机构，设置于所述腿连接结构，并与所述脚连接结构连接；归位机构，与所述驱动机构连接；所述驱动机构被配置为驱动所述脚连接结构相对于所述腿连接结构沿脚的前后方向转动；所述归位机构被配置为将所述脚连接结构回归初始位置。在行走过程中，真实的脚前后转动呈现不同姿态。本申请通过驱动机构驱动脚连接结构前后转动，并结合归位机构的回归作用，使得脚呈现不同姿态，本申请踝关节与真实的脚的踝关节更加接近，提高了踝关节和脚的仿生效果。

The present invention discloses an ankle joint and a control method thereof, a prosthetic leg and a robot. The ankle joint includes: a foot connection structure; a leg connection structure, which is rotatably connected to the foot connection structure; a driving mechanism, which is arranged on the leg connection structure and connected to the foot connection structure; a homing mechanism, which is connected to the driving mechanism; the driving mechanism is configured to drive the foot connection structure to rotate relative to the leg connection structure along the front-back direction of the foot; and the homing mechanism is configured to return the foot connection structure to its initial position. During walking, a real foot rotates back and forth to present different postures. The present application drives the foot connection structure to rotate back and forth through a driving mechanism, and combines the homing effect of the homing mechanism to make the foot present different postures. The ankle joint of the present application is closer to the ankle joint of a real foot, thereby improving the bionic effect of the ankle joint and the foot.

Description

Ankle joint, control method thereof, artificial leg and robot
Technical Field
The invention relates to the technical field of robots, in particular to an ankle joint, a control method thereof, a leg prosthesis and a robot.
Background
In the field of prostheses or robots, joints are an important component of various postures, and during each gait cycle of a person's walking, the motion of the ankle joint plays an indispensable role, and plays an important role in various postures of life such as walking, running, etc.
In the prior art, the ankle joint is mainly focused on the knee joint, and the lower leg and the foot plate are usually connected in a rigid mode, so that the bionic effect of the ankle joint is poor.
Accordingly, the prior art is still in need of improvement and development.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art, and provides an ankle joint, a control method thereof, a leg prosthesis and a robot, which aim to solve the problem of poor bionic effect of the ankle joint in the prior art.
The technical scheme adopted for solving the technical problems is as follows:
an ankle joint, comprising:
a foot connection structure;
A leg connecting structure rotatably connected with the foot connecting structure;
the driving mechanism is arranged on the leg connecting structure and is connected with the foot connecting structure;
The homing mechanism is connected with the driving mechanism;
wherein the driving mechanism is configured to drive the foot link structure to rotate in a front-rear direction of a foot with respect to the leg link structure;
The homing mechanism is configured to return the foot link structure to an initial position.
The ankle joint, wherein the ankle joint further comprises:
a motion sensor disposed on the leg link structure;
Wherein the motion sensor is configured to detect a motion state of the leg connection structure.
The ankle joint, wherein the driving mechanism comprises:
a first driving member disposed at the leg link structure;
the first connecting rod is connected with the output shaft of the first driving piece;
the second connecting rod is rotationally connected with the first connecting rod;
the third connecting rod is rotationally connected with the second connecting rod;
Wherein the third link is coupled to the foot link structure and rotates relative to the leg link structure.
The ankle joint, wherein the homing mechanism comprises:
a first elastic structure connected to the leg connecting structure and the first link, respectively;
wherein, the first elastic structure provides the elastic force that the first link returns.
The ankle joint, wherein the foot connecting structure comprises:
A first connection structure rotatably connected with the leg connection structure;
the second connecting structure is rotationally connected with the first connecting structure;
the second elastic structure is respectively connected with the first connecting structure and the second connecting structure;
Wherein the first connection structure rotates in a fore-aft direction of the foot relative to the leg connection structure;
The second connecting structure rotates relative to the first connecting structure along the left-right direction of the foot.
The ankle joint, wherein the ankle joint further comprises:
The damping mechanism is rotatably arranged on the leg connecting structure and is connected with the foot connecting structure.
The ankle joint, wherein the damping mechanism comprises:
The fourth connecting rod is rotationally connected with the foot connecting structure;
The fifth connecting rod is respectively and rotatably connected with the fourth connecting rod and the leg connecting structure;
the damping structure is rotatably arranged on the leg connecting structure and is rotatably connected with the fifth connecting rod;
The adjusting structure is rotatably arranged on the leg connecting structure and is connected with the damping structure;
wherein the adjustment structure is configured to adjust damping of the damping structure.
A leg prosthesis comprising an ankle joint as claimed in any one of the preceding claims.
A robot comprising an ankle joint as claimed in any one of the preceding claims, or a leg prosthesis as described above.
The ankle joint control method according to any one of the above, wherein the method comprises the steps of:
determining a motion state of the leg link structure based on the motion sensor, the motion state including a forward motion state and a steady state;
according to the forward movement state of the leg connecting structure, the foot connecting structure is controlled to rotate forwards through the driving mechanism, and after the leg connecting structure becomes stable, the foot connecting structure is controlled to rotate backwards through the driving mechanism.
The ankle joint control method, wherein the motion state further comprises a backward motion state, and the control method further comprises the following steps:
According to the backward movement state of the leg connecting structure, the foot connecting structure is controlled to rotate backward through the driving mechanism, and after the leg connecting structure becomes a stable state, the foot connecting structure is controlled to rotate forward through the driving mechanism.
The ankle joint control method, wherein the control method further comprises the following steps:
damping of the damping structure is controlled by the adjusting structure according to the motion state of the leg connecting structure.
The foot-rest walking device has the beneficial effects that in the walking process, the real foot rotates forwards and backwards to present different postures. According to the application, the driving mechanism drives the foot connecting structure to rotate forwards and backwards, and the return function of the return mechanism is combined, so that the foot presents different postures.
Drawings
Fig. 1 is a first structural schematic view of an ankle joint and foot plate structure in an embodiment of the present invention.
Fig. 2 is a second structural schematic view of an ankle joint and foot plate structure in accordance with an embodiment of the present invention.
Fig. 3 is an enlarged view of the ankle joint of fig. 2.
Fig. 4 is a first structural schematic diagram of the driving mechanism and the foot connecting structure in the embodiment of the invention.
Fig. 5 is a second structural schematic diagram of the driving mechanism and the foot connecting structure in the embodiment of the invention.
Fig. 6 is a side view of an ankle joint and foot plate configuration in an embodiment of the invention.
Fig. 7 is a cross-sectional view of an ankle joint in an embodiment of the invention.
Fig. 8 is a third structural schematic view of an ankle joint and foot plate structure in an embodiment of the present invention.
Fig. 9 is a cross-sectional view of an ankle joint in an embodiment of the invention.
FIG. 10 is a first schematic view of a damping mechanism and foot attachment arrangement in accordance with an embodiment of the present invention.
FIG. 11 is a second schematic view of a damping mechanism and foot attachment arrangement in accordance with an embodiment of the present invention.
Fig. 12 is a schematic structural view of a foot plate structure according to an embodiment of the present invention.
Fig. 13 is a schematic view of a foot plate structure in a toe-hooking state according to an embodiment of the invention.
Fig. 14 is a schematic view of the toe standing on the foot of the foot plate according to the embodiment of the invention.
Reference numerals illustrate:
10. The foot connecting structure, 11, the first connecting structure, 12, the second connecting structure, 13, the second elastic structure, 20, the leg connecting structure, 30, the driving mechanism, 31, the first driving piece, 32, the first connecting rod, 33, the second connecting rod, 34, the third connecting rod, 40, the homing mechanism, 51, the motion sensor, 52, the controller, 60, the damping mechanism, 61, the fourth connecting rod, 62, the fifth connecting rod, 63, the damping structure, 64, the adjusting structure, 641, the second driving piece, 642, the driving gear, 643, the driven gear, 70, the foot plate structure, 71, the back, 72, the palm, 73 and the heel.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear and clear, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to FIGS. 1-14, some embodiments of an ankle joint are provided.
As shown in fig. 1 to 2, the ankle joint of the present invention includes:
a foot connection structure 10;
a leg link structure 20 rotatably connected to the foot link structure 10;
a driving mechanism 30 provided to the leg link structure 20 and connected to the foot link structure 10;
a homing mechanism 40 connected to the driving mechanism 30;
Wherein the driving mechanism 30 is configured to drive the foot link structure 10 to rotate in a front-rear direction of the foot with respect to the leg link structure 20;
the homing mechanism 40 is configured to return the foot link structure 10 to an initial position.
Specifically, the foot link structure 10 is used to connect the foot plate structure 70, the leg link structure 20 is used to connect the leg structure, and the foot link structure 10 and the leg link structure 20 are rotated with each other, thereby changing the posture of the overall structure. The driving mechanism 30 is used to drive the foot link 10 to rotate relative to the leg link 20, specifically in the forward and backward direction of the foot. The homing mechanism 40 is configured to swivel the foot link structure 10 relative to the leg link structure 20 to return to an initial position where the central axis of the foot link structure 10 and the central axis of the leg link structure coincide, and the foot plate structure 70 and the leg structure are substantially in a vertical state.
In the natural state of the foot plate structure 70, the foot link structure 10 is in the initial position, with the central axis of the foot link structure 10 coincident with the central axis of the leg link structure. As shown in fig. 13, the foot plate structure 70 is in a toe-standing state after the driving mechanism 30 drives the foot connecting structure 10 to rotate toward the front of the foot, and as shown in fig. 14, the foot plate structure 70 is in a toe-standing state after the driving mechanism drives the foot connecting structure 10 to rotate toward the rear of the foot. The foot plate structure 70 is in either a toe-on state or a toe-on state, and after the driving mechanism 30 stops driving, the homing mechanism 40 will return the foot connecting structure 10 to the initial position, so that the foot connecting structure 10 assumes a natural state.
When walking, the first real foot is in a toe-off state when walking forward, after the first real foot touches the ground, the first real foot gradually returns to a natural state, when the second real foot is in a forward walking, the first real foot gradually changes from the natural state to a tiptoe state, and after the first real foot leaves the ground, the first real foot gradually returns to the natural state. As can be seen, during walking, the actual foot turns back and forth assuming different poses. According to the application, the driving mechanism 30 drives the foot connecting structure 10 to rotate forwards and backwards, and the return function of the return mechanism 40 is combined, so that the foot presents different postures.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 1-2, the ankle joint further includes:
A motion sensor 51 provided to the leg link structure 20;
Wherein the motion sensor 51 is configured to detect a motion state of the leg link structure 20.
Specifically, the leg link structure 20 is further configured with a motion sensor 51, the motion sensor 51 detecting a motion state of the leg link structure 20, the motion state including at least one of a forward motion state, a backward motion state, and a steady state. The leg link structure 20 is in a forward movement state when being lifted off the ground and being stepped forward, in a backward movement state when being lifted off the ground and being stepped backward, and in a stable state when being brought into contact with the ground. The motion state of the foot link 10 can be determined by the motion sensor 51, so that the driving mechanism 30 is controlled according to the motion state to drive the foot link 10 to rotate back and forth.
The ankle joint further includes a controller 52 electrically connected to the driving mechanism 30 and the motion sensor 51, respectively. The motion state sensed by the motion sensor 51 is acquired by the controller 52, and the driving mechanism 30 is controlled.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 3-6, the driving mechanism 30 includes:
a first driving member 31 provided to the leg link structure 20;
a first link 32 connected to an output shaft of the first driving member 31;
a second link 33 rotatably connected to the first link 32;
a third link 34 rotatably connected to the second link 33;
wherein the third link 34 is coupled to the foot link structure 10 and rotates relative to the leg link structure 20.
Specifically, the first driving member 31 drives the first link 32 to rotate and drives the second link 33 and the third link 34 to rotate, thereby driving the foot link structure 10 to rotate relative to the leg link structure 20 through the third link 34. The leg link structure 20 is provided with two ring structures which are sleeved outside the third link 34.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 3-5, the homing mechanism 40 includes:
a first elastic structure connected to the leg link structure 20 and the first link 32, respectively;
wherein the first elastic structure provides elastic force for returning the first link 32.
Specifically, the homing mechanism 40 adopts a first elastic structure connected to the leg link structure 20 and the first link 32, respectively. When the foot connecting structure 10 is positioned at the initial position relative to the leg connecting structure 20, the first elastic structure is in a natural state, and if the first driving piece 31 drives the first connecting rod 32 to rotate, the first elastic structure deforms, and the elastic force provided by the first elastic structure enables the first connecting rod 32 to return to the natural state. The first elastic structure may employ a torsion spring, and the torsion spring provides an elastic force when the first link 32 rotates clockwise or counterclockwise.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 1-4, the foot connecting structure 10 includes:
A first connection structure 11 rotatably connected to the leg connection structure 20;
a second connection structure 12 rotatably connected to the first connection structure 11;
a second elastic structure 13 connected to the first connection structure 11 and the second connection structure 12, respectively;
wherein the first connection structure 11 rotates in the fore-and-aft direction of the foot with respect to the leg connection structure 20, and the second connection structure 12 rotates in the left-and-right direction of the foot with respect to the first connection structure 11.
Specifically, the foot link structure 10 is divided into two parts, namely, a first link structure 11 and a second link structure 12, the first link structure 11 and the second link structure 12 are rotatably connected to each other, and the first link structure 11 is rotatably connected to the leg link structure 20. The second elastic structure 13 is disposed between the first connection structure 11 and the second connection structure 12, and the second elastic structure 13 provides an elastic force of returning the first connection structure 11 with respect to the second connection structure 12. The first connection structure 11 rotates in the left-right direction of the foot with respect to the second connection structure 12, and the first connection structure 11 rotates in the front-rear direction of the foot with respect to the leg connection structure 20. The foot plate structure 70 is movable within a range of angles relative to the leg structure by the elastic forces provided by the first and second elastic structures 13.
The mutual rotation connection part of the first connecting structure 11 and the second connecting structure 12 is provided with a rotation center shaft, the second elastic structure 13 is provided with two groups, the two groups of second elastic structures 13 are respectively positioned at two sides of the rotation center shaft, the first connecting structure 11 rotates leftwards relative to the second connecting structure 12 to force one group of second elastic structures 13 to deform, and the first connecting structure 11 rotates rightwards relative to the second connecting structure 12 to force the other group of second elastic structures 13 to deform.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 7 to 11, the ankle joint further includes:
the damping mechanism 60 is rotatably provided to the leg link structure 20 and is connected to the foot link structure 10.
Specifically, the elastic coefficient of the first elastic structure is smaller than that of the second elastic structure 13, and the foot plate structure 70 is not easy to rotate left and right, but is easier to rotate back and forth. The damping mechanism 60 is configured to provide resistance to forward and rearward rotation of the foot plate structure 70, resisting rotation of the foot link structure 10 relative to the leg link structure 20 in the forward and rearward direction of the foot.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 9-11, the damping mechanism 60 includes:
a fourth link 61 rotatably connected to the foot link structure 10;
a fifth link 62 rotatably connected to the fourth link 61 and the leg link structure 20, respectively;
a damping structure 63 rotatably provided to the leg link structure 20 and rotatably connected to the fifth link 62;
An adjustment structure 64 rotatably provided to the leg link structure 20 and connected to the damping structure 63;
Wherein the adjustment structure 64 is configured to adjust the damping of the damping structure 63.
Specifically, the damping mechanism 60 is a mechanism with adjustable damping, and specifically, the damping of the damping structure 63 is adjusted by the adjusting structure 64. When the foot link 10 and the leg link 20 are rotated with each other, the foot link 10 drives the fourth link 61 and the fifth link 62 to rotate, thereby driving the damping structure 63 to expand and contract, and providing resistance against the mutual rotation of the foot link 10 and the leg link 20.
In a preferred implementation of an embodiment of the present invention, as shown in fig. 9-10, the adjustment structure 64 includes:
a second driving part 641 rotatably provided to the leg link structure 20;
A driving gear 642 provided at an output shaft of the second driving element 641;
The driven gear 643 is disposed on the damping structure 63 and meshed with the driving gear 642.
Specifically, the driving gear 642 is driven to rotate by the second driving member 641 and the driven gear 643 is driven to rotate, thereby rotating the knob of the damping structure 63 to adjust the damping of the damping structure 63.
Based on the ankle joint according to any one of the above embodiments, the present invention further provides a preferred embodiment of a control method for an ankle joint.
The ankle joint control method of the embodiment of the invention comprises the following steps:
step S100, determining the motion state of the leg connecting structure based on the motion sensor, wherein the motion state comprises at least one of a forward motion state, a backward motion state and a stable state;
Step 200, controlling the foot connecting structure to rotate forwards through the driving mechanism according to the forward movement state of the leg connecting structure, and controlling the foot connecting structure to rotate backwards through the driving mechanism after the leg connecting structure is changed into a stable state.
Specifically, the motion state can be classified into a forward motion state of a larger acceleration and a backward motion state of a larger acceleration according to the magnitude of the acceleration, and a steady state of a smaller acceleration. The forward motion state of greater acceleration may also be a walking state of greater acceleration and a running state of greater acceleration.
The foot can walk forward, and the ankle joint needs to rotate the foot connection structure forward after the foot plate structure leaves the ground, so that the foot plate structure is in a toe-hooking state, and the heel of the foot can be conveniently grounded. After the foot plate structure touches the ground, the foot connecting structure is slowly rotated backwards, so that the foot plate structure is in a tiptoe standing state, and the tiptoe is convenient to contact the ground.
The control method further comprises the following steps:
And step S300, controlling the foot connecting structure to rotate backwards through the driving mechanism according to the backward movement state of the leg connecting structure, and controlling the foot connecting structure to rotate forwards through the driving mechanism after the leg connecting structure becomes a stable state.
Specifically, the foot can also walk backwards, and the ankle joint needs to rotate the foot connecting structure backwards after the foot plate structure is lifted off the ground, so that the foot plate structure is in a tiptoe standing state, and the later tiptoe is convenient to land. After the foot plate structure touches the ground, the foot connecting structure is slowly rotated forwards, so that the foot plate structure is in a toe hooking state, and the toe is convenient to leave the ground.
The control method further comprises the following steps:
and step 400, controlling the damping of the damping structure through the adjusting structure according to the motion state of the leg connecting structure.
Specifically, the damping of the damping structure may also be adjusted according to the motion state. In the running state, the damping structure adopts larger damping, so that impact of a body on an ankle joint is buffered conveniently, the foot plate structure is more stable during running, and the foot plate structure is not easy to fall down.
Based on the ankle joint according to any one of the embodiments described above, the invention also provides an embodiment of a leg prosthesis.
As shown in fig. 1 and 2, the leg prosthesis of the present invention includes an ankle joint according to any one of the embodiments described above. The leg prosthesis further comprises a foot plate structure 70 and a leg structure. The foot attachment structure 10 is connected to the foot plate structure 70 and the leg structure is connected to the leg attachment structure 20. As shown in fig. 12, the foot plate structure 70 includes:
A back 71 connected to the foot connecting structure 10;
a palm 72 connected to the back 71;
a heel 73 connected to the back 71;
wherein the heel 72 and the heel 73 are spaced apart from each other.
Specifically, the back 71 is specifically connected with the second connecting structure 12. The back 71 has a certain strength and is deformable, and when the palm 72 is landed and the heel 73 is separated from the ground during running and running, the back 71 is bent, and the distance between the palm 72 and the heel 73 is increased. The foot is more stable by being supported by the palm 72.
Based on the ankle joint according to any one of the above embodiments, the present invention further provides a robot embodiment.
The robot of the invention comprises an ankle joint according to any of the embodiments described above or a leg prosthesis according to any of the embodiments described above.
It is to be understood that the invention is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.

Claims (11)

1.一种踝关节，其特征在于，包括：1. An ankle joint, comprising: 脚连接结构；Foot connection structure; 腿连接结构，与所述脚连接结构转动连接；a leg connection structure, rotatably connected to the foot connection structure; 驱动机构，设置于所述腿连接结构，并与所述脚连接结构连接；a driving mechanism, disposed on the leg connection structure and connected to the foot connection structure; 归位机构，与所述驱动机构连接；a homing mechanism connected to the driving mechanism; 其中，所述驱动机构被配置为驱动所述脚连接结构相对于所述腿连接结构沿脚的前后方向转动；wherein the driving mechanism is configured to drive the foot connection structure to rotate relative to the leg connection structure along the front-back direction of the foot; 所述归位机构被配置为将所述脚连接结构回归初始位置；The homing mechanism is configured to return the foot connection structure to an initial position; 所述脚连接结构包括：The foot connection structure includes: 第一连接结构，与所述腿连接结构转动连接；a first connecting structure, rotatably connected to the leg connecting structure; 第二连接结构，与所述第一连接结构转动连接；a second connecting structure, rotatably connected to the first connecting structure; 第二弹性结构，分别连接所述第一连接结构、所述第二连接结构；a second elastic structure, connecting the first connecting structure and the second connecting structure respectively; 其中，所述第一连接结构相对于所述腿连接结构沿脚的前后方向转动；wherein the first connecting structure rotates relative to the leg connecting structure in the front-to-back direction of the foot; 所述第二连接结构相对于所述第一连接结构沿脚的左右方向转动；The second connecting structure rotates relative to the first connecting structure along the left and right direction of the foot; 所述第一连接结构和所述第二连接结构相互转动连接处具有转动中心轴，所述第二弹性结构有两组，两组所述第二弹性结构分别位于所述转动中心轴的两侧。The rotational connection between the first connecting structure and the second connecting structure has a rotation center axis. The second elastic structure has two groups, and the two groups of the second elastic structures are respectively located on both sides of the rotation center axis. 2.根据权利要求1所述的踝关节，其特征在于，所述踝关节还包括：2. The ankle joint according to claim 1, characterized in that the ankle joint further comprises: 运动传感器，设置于所述腿连接结构；a motion sensor, disposed on the leg connection structure; 其中，所述运动传感器被配置为检测所述腿连接结构的运动状态。Wherein, the motion sensor is configured to detect the motion state of the leg connection structure. 3.根据权利要求2所述的踝关节，其特征在于，所述驱动机构包括：3. The ankle joint according to claim 2, wherein the driving mechanism comprises: 第一驱动件，设置于所述腿连接结构；a first driving member, disposed on the leg connection structure; 第一连杆，与所述第一驱动件的输出轴连接；a first connecting rod connected to the output shaft of the first driving member; 第二连杆，与所述第一连杆转动连接；a second connecting rod, rotatably connected to the first connecting rod; 第三连杆，与所述第二连杆转动连接；a third connecting rod, rotatably connected to the second connecting rod; 其中，所述第三连杆与所述脚连接结构连接，并相对于腿连接结构转动。Wherein, the third connecting rod is connected to the foot connecting structure and rotates relative to the leg connecting structure. 4.根据权利要求3所述的踝关节，其特征在于，所述归位机构包括：4. The ankle joint according to claim 3, wherein the homing mechanism comprises: 第一弹性结构，分别与所述腿连接结构、所述第一连杆连接；a first elastic structure, connected to the leg connection structure and the first connecting rod respectively; 其中，所述第一弹性结构提供所述第一连杆回归的弹性力。The first elastic structure provides elastic force for returning the first connecting rod. 5.根据权利要求2所述的踝关节，其特征在于，所述踝关节还包括：5. The ankle joint according to claim 2, characterized in that the ankle joint further comprises: 阻尼机构，转动设置于所述腿连接结构，并与所述脚连接结构连接。The damping mechanism is rotatably arranged on the leg connecting structure and connected to the foot connecting structure. 6.根据权利要求5所述的踝关节，其特征在于，所述阻尼机构包括：6. The ankle joint according to claim 5, wherein the damping mechanism comprises: 第四连杆，与所述脚连接结构转动连接；a fourth connecting rod, rotatably connected to the foot connecting structure; 第五连杆，分别与所述第四连杆、所述腿连接结构转动连接；a fifth connecting rod, rotatably connected to the fourth connecting rod and the leg connecting structure; 阻尼结构，转动设置于所述腿连接结构，并与所述第五连杆转动连接；a damping structure, rotatably disposed on the leg connection structure and rotatably connected to the fifth connecting rod; 调节结构，转动设置于所述腿连接结构，并与所述阻尼结构连接；an adjusting structure, rotatably disposed on the leg connecting structure and connected to the damping structure; 其中，所述调节结构被配置为调节所述阻尼结构的阻尼。Wherein, the adjustment structure is configured to adjust the damping of the damping structure. 7.一种假腿，其特征在于，其包括如权利要求1至6中任意一项所述的踝关节。7. An artificial leg, characterized in that it comprises the ankle joint according to any one of claims 1 to 6. 8.一种机器人，其特征在于，其包括如权利要求1至6中任意一项所述的踝关节，或权利要求7所述的假腿。8. A robot, characterized in that it comprises the ankle joint according to any one of claims 1 to 6, or the prosthetic leg according to claim 7. 9.一种如权利要求2至6任意一项所述的踝关节的控制方法，其特征在于，包括步骤：9. A method for controlling an ankle joint according to any one of claims 2 to 6, characterized in that it comprises the steps of: 基于运动传感器，确定腿连接结构的运动状态；所述运动状态包括：向前运动状态和稳定状态；Determining the motion state of the leg connection structure based on the motion sensor; the motion state includes: a forward motion state and a stable state; 根据所述腿连接结构的向前运动状态，通过驱动机构控制脚连接结构向前转动，并在所述腿连接结构变为稳定状态后，通过所述驱动机构控制所述脚连接结构向后转动。According to the forward movement state of the leg connection structure, the foot connection structure is controlled by the driving mechanism to rotate forward, and after the leg connection structure becomes a stable state, the foot connection structure is controlled by the driving mechanism to rotate backward. 10.根据权利要求9所述的踝关节的控制方法，其特征在于，所述运动状态还包括：向后运动状态；所述控制方法还包括：10. The ankle joint control method according to claim 9, wherein the motion state further comprises: a backward motion state; and the control method further comprises: 根据所述腿连接结构的向后运动状态，通过驱动机构控制脚连接结构向后转动，并在所述腿连接结构变为稳定状态后，通过所述驱动机构控制所述脚连接结构向前转动。According to the backward movement state of the leg connection structure, the foot connection structure is controlled by the driving mechanism to rotate backward, and after the leg connection structure becomes a stable state, the foot connection structure is controlled by the driving mechanism to rotate forward. 11.根据权利要求9所述的踝关节的控制方法，其特征在于，所述控制方法还包括：11. The ankle joint control method according to claim 9, further comprising: 根据所述腿连接结构的运动状态，通过调节结构控制阻尼结构的阻尼。According to the movement state of the leg connection structure, the damping of the damping structure is controlled by adjusting the structure.
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