CN105620574A - Two-degree-of-freedom parallel high-frequency mechanical foot of humanoid robot - Google Patents
Two-degree-of-freedom parallel high-frequency mechanical foot of humanoid robot Download PDFInfo
- Publication number
- CN105620574A CN105620574A CN201510953952.XA CN201510953952A CN105620574A CN 105620574 A CN105620574 A CN 105620574A CN 201510953952 A CN201510953952 A CN 201510953952A CN 105620574 A CN105620574 A CN 105620574A
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- Prior art keywords
- toe
- metatarsal
- ankle joint
- shaft
- axle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a two-degree-of-freedom parallel high-frequency mechanical foot of a humanoid robot, and belongs to the field of humanoid robots. The two-degree-of-freedom parallel high-frequency mechanical foot comprises metatarsal bones, a driving shaft, an ankle joint shaft, a gear B arranged on the ankle joint shaft, a gear A arranged on the driving shaft, a toe shaft, parallel toes arranged on the toe shaft, a toe joint motor and an ankle joint motor, wherein the metatarsal bones comprise a metatarsal bone A and a metatarsal bone B which are parallel to each other; a shank rod is arranged on the ankle joint shaft; the ankle joint motor is arranged on the metatarsal bone B; an output shaft of the ankle joint motor is connected with one end of the ankle joint shaft; the toe joint motor is arranged on the metatarsal bone B; an output shaft of the toe joint motor is connected with one end of the toe shaft; and the parallel toes comprise a hallux, a second toe, a third toe, a fourth toe and a little toe which are sequentially arranged on the toe shaft. The two-degree-of-freedom parallel high-frequency mechanical foot of the humanoid robot is a humanoid robot foot which is reasonable in structure, has two degrees of freedom and high-frequency dynamic response characteristic, and is in a parallel mode.
Description
Technical field
The invention mainly relates to anthropomorphic robot field, refer in particular to a kind of anthropomorphic robot two-freedom parallel connection high frequency machinery foot.
Background technology
Along with the development of science and technology, anthropomorphic robot is increasingly becoming a big focus in robot research field, and this kind of robot market has a extensive future. Owing to organization of human body is complicated, will realizing real anthropomorphic robot and have sizable difficulty, especially the research of machinery foot is even more important, this is because anthropomorphic robot is in the process of walking, when foot and earth surface, corresponding motion can be produced, it is easy to cause robot disequilibrium. Although existing machinery foot has certain stability, but is cascaded structure due to what adopt, dynamic response frequency is relatively low, it is difficult to realizes real people and imitates enough. Therefore, a kind of paralleling model dynamic response of design machinery foot tool faster is of great significance.
Summary of the invention
The present invention need to solve the technical problem that: the technical problem existed for prior art, the present invention provide a kind of rational in infrastructure, there is the anthropomorphic robot foot of two degree of freedom and high frequency dynamic response characteristic, paralleling model.
In order to solve the problems referred to above, the solution that the present invention proposes is: a kind of anthropomorphic robot two-freedom parallel connection high frequency machinery foot, it includes metatarsal, driving shaft, ankle joint axle, the gear B being installed on described ankle joint axle, the gear A being installed on described driving shaft, toe axle, the toe in parallel being installed on described toe axle, toe joint motor and ankle joint motor.
Described metatarsal includes the metatarsal A installed and metatarsal B that is parallel to each other; Described driving shaft is parallel to described ankle joint axle, and both is installed between described metatarsal A, described metatarsal B; Described ankle joint axle is equiped with shank bar.
Described ankle joint motor is installed on described metatarsal B, and its output shaft is connected with one end of described ankle joint axle, and described toe joint motor is installed on described metatarsal B, and its output shaft is connected with one end of described toe axle.
Described toe in parallel includes the halluces, two big toes, three big toes, four big toes and the ear finger that are installed on described toe axle successively; The two ends of described toe axle are installed on described metatarsal A, described metatarsal B respectively through two bearings; The radius of described gear A is more than three times of described gear B radius.
The present invention compared with prior art, has the advantage that and beneficial effect:
(1) the anthropomorphic robot two-freedom parallel connection high frequency machinery foot of the present invention, is provided with toe joint motor and ankle joint motor, realizes toe and the rotation of shank bar, simple in construction respectively.
(2) the anthropomorphic robot two-freedom parallel connection high frequency machinery foot of the present invention, is additionally provided with gear A and gear B and the radius of the gear B that the radius of gear A is more than three times, rotates thus realizing speedup; It follows that present configuration is reasonable, have two degree of freedom and high frequency dynamic response characteristic, it is possible to the basic exercise attitude of simulation people's foot.
Accompanying drawing explanation
Fig. 1 is the structure sectional view of the anthropomorphic robot two-freedom parallel connection high frequency machinery foot of the present invention.
In figure, 1 shank bar; 2 metatarsal A; 3 metatarsal B; 4 toe axles; 51 3 big toes; 52 4 big toes; 53 ear finger; 54 2 big toes; 55 halluces; 6 driving shafts; 60 gear A; 7 ankle joint axles; 70 gear B; 8 bearings; 9 toe joint motors; 10 ankle joint motors.
Detailed description of the invention
Below with reference to the drawings and specific embodiments, the present invention is described in further detail.
Shown in Figure 1, the anthropomorphic robot two-freedom parallel connection high frequency machinery foot of the present invention, including metatarsal, driving shaft 6, ankle joint axle 7, the gear B 70 being installed on ankle joint axle 7, the gear A 60 being installed on driving shaft 6, toe axle 4, the toe in parallel being installed on toe axle 4, toe joint motor 9 and ankle joint motor 10.
Shown in Figure 1, metatarsal includes the metatarsal A2 installed and metatarsal B3 that is parallel to each other; Driving shaft 6 is parallel to ankle joint axle 7, and both is installed between metatarsal A2, metatarsal B3; Ankle joint axle 7 is equiped with shank bar 1; Ankle joint motor 10 is installed on metatarsal B3, and its output shaft is connected with one end of ankle joint axle 7, and toe joint motor 9 is installed on metatarsal B3, and its output shaft is connected with one end of toe axle 4; Toe in parallel includes halluces 55, two big toe 54, three big toe 51, four big toe 52 and the ear finger 53 that are installed on toe axle 4 successively; The two ends of toe axle 4 are installed on metatarsal A2, metatarsal B3 respectively through two bearings 8; The radius of gear A 60 is more than three times of gear B 70 radius; The high-speed rotation being changed into shank bar 1 around ankle joint axle 7 that slowly runs of ankle joint motor 10, it is achieved that the high frequency characteristics of motion.
Operation principle: ankle joint motor 10 drives the gear A 60 being installed on driving shaft 6 to rotate, gear B 70, by being meshed with gear A 60, drives ankle joint axle 7 and shank bar 1 synchronous axial system, it is achieved metatarsal A and metatarsal B synchronizes the rotation around ankle joint axle 7; Toe joint motor 9 drives toe axle 4 to rotate, and then drives and be installed in five toe synchronous axial system on toe axle 4, it is achieved five toes are around the synchronous axial system of toe axle 4.
Claims (1)
1. anthropomorphic robot two-freedom parallel connection high frequency machinery foot, it is characterised in that: include metatarsal, driving shaft (6), ankle joint axle (7), the gear B (70) being installed on described ankle joint axle (7), the gear A (60) being installed on described driving shaft (6), toe axle (4), the toe in parallel being installed on described toe axle (4), toe joint motor (9) and ankle joint motor (10); Described metatarsal includes the metatarsal A (2) installed and metatarsal B (3) that is parallel to each other; Described driving shaft (6) is parallel to described ankle joint axle (7), and both is installed between described metatarsal A (2), described metatarsal B (3); Described ankle joint axle (7) is equiped with shank bar (1); Described ankle joint motor (10) is installed on described metatarsal B (3), its output shaft is connected with one end of described ankle joint axle (7), described toe joint motor (9) is installed on described metatarsal B (3), and its output shaft is connected with one end of described toe axle (4); Described toe in parallel includes the halluces (55), two big toes (54), three big toes (51), four big toes (52) and the ear finger (53) that are installed on described toe axle (4) successively; The two ends of described toe axle (4) are installed on described metatarsal A (2), described metatarsal B (3) respectively through two bearings (8); The radius of described gear A (60) is more than three times of described gear B (70) radius.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510953952.XA CN105620574A (en) | 2015-12-17 | 2015-12-17 | Two-degree-of-freedom parallel high-frequency mechanical foot of humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510953952.XA CN105620574A (en) | 2015-12-17 | 2015-12-17 | Two-degree-of-freedom parallel high-frequency mechanical foot of humanoid robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105620574A true CN105620574A (en) | 2016-06-01 |
Family
ID=56036009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510953952.XA Pending CN105620574A (en) | 2015-12-17 | 2015-12-17 | Two-degree-of-freedom parallel high-frequency mechanical foot of humanoid robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105620574A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110916859A (en) * | 2019-12-27 | 2020-03-27 | 彭学松 | Bionic foot for simulating rotation of foot joint |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001062448A1 (en) * | 2000-02-25 | 2001-08-30 | Bandai Co., Ltd. | Unit set for robot |
| JP2003236799A (en) * | 2002-02-20 | 2003-08-26 | Minoru Sasaki | Resist film forming method by spray coating, and resist film forming device by using the method |
| JP2007007798A (en) * | 2005-07-01 | 2007-01-18 | Toyota Motor Corp | Jumping robot |
| CN203020441U (en) * | 2013-01-17 | 2013-06-26 | 常州先进制造技术研究所 | Quasi-man robot foot |
| CN103738428A (en) * | 2013-12-27 | 2014-04-23 | 天津科技大学 | Human-like biped robot foot structure |
-
2015
- 2015-12-17 CN CN201510953952.XA patent/CN105620574A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001062448A1 (en) * | 2000-02-25 | 2001-08-30 | Bandai Co., Ltd. | Unit set for robot |
| JP2003236799A (en) * | 2002-02-20 | 2003-08-26 | Minoru Sasaki | Resist film forming method by spray coating, and resist film forming device by using the method |
| JP2007007798A (en) * | 2005-07-01 | 2007-01-18 | Toyota Motor Corp | Jumping robot |
| CN203020441U (en) * | 2013-01-17 | 2013-06-26 | 常州先进制造技术研究所 | Quasi-man robot foot |
| CN103738428A (en) * | 2013-12-27 | 2014-04-23 | 天津科技大学 | Human-like biped robot foot structure |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110916859A (en) * | 2019-12-27 | 2020-03-27 | 彭学松 | Bionic foot for simulating rotation of foot joint |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160601 |