Simulation robot ankle mechanism

A simulation robot ankle mechanism, comprising an ankle assembly (1),

• wherein the ankle assembly (1) comprises an ankle cross shaft member (2), and an ankle connecting rod (3);
• a transverse accommodating groove (4) and a longitudinal accommodating groove (5) are formed in the ankle cross shaft member (2), the transverse accommodating groove (4) is provided with a transverse hinge portion (6), and the longitudinal accommodating groove (5) is provided with a longitudinal hinge portion (7);
• and the transverse hinge portion (6) and the longitudinal hinge portion (7) are distributed in a cross shape;
• a shank assembly (8) is arranged above the ankle assembly (1), and the shank assembly (8) comprises a shank structural member (9);
• a foot plate adapter (10) is arranged at a lower end of the ankle connecting rod (3);
• a first hinge clamping groove (11) is formed at a lower end of the shank structural member (9), and a second hinge clamping groove (12) is formed in the foot plate adapter (10);
• the transverse hinge portion (6) is hinged to the first hinge clamping groove (11);
• the longitudinal hinge portion (7) is hinged to the second hinge clamping groove (12);
• the transverse hinge portion (6) comprises a first ankle transverse shaft needle roller bearing (13) and a first ankle transverse shaft body (14);
• the first ankle transverse shaft needle roller bearing (13) is located inside the transverse accommodating groove (4);
• and
• the longitudinal hinge portion (7) comprises a second ankle transverse shaft needle roller bearing (19) and a second ankle transverse shaft body (20);
• the second ankle transverse shaft needle roller bearing (19) is located inside the longitudinal accommodating groove (5).