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
- Authority
- CN
- China
- Prior art keywords
- toe
- shaft
- ankle joint
- parallel
- gear
- 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.)
- Pending
Links
- 210000001872 metatarsal bone Anatomy 0.000 claims abstract description 37
- 210000003371 toe Anatomy 0.000 claims abstract description 31
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 30
- 210000001255 hallux Anatomy 0.000 claims abstract description 25
- 210000002683 foot Anatomy 0.000 claims abstract description 16
- 210000001226 toe joint Anatomy 0.000 claims abstract description 10
- 244000309466 calf Species 0.000 claims abstract description 7
- 210000003423 ankle Anatomy 0.000 abstract description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明公开了仿人机器人两自由度并联高频机械足，属于仿人机器人领域。它包括跖骨、主动轴、踝关节轴、装设于踝关节轴上的齿轮B、装设于主动轴上的齿轮A、脚趾轴、装设于脚趾轴上的并联脚趾、趾关节电机和踝关节电机；跖骨包括相互平行装设的跖骨A和跖骨B；踝关节轴上装设有小腿杆；踝关节电机装设于跖骨B上，其输出轴与踝关节轴的一端相连，趾关节电机装设于跖骨B上，其输出轴与脚趾轴的一端相连；并联脚趾包括依次装设于脚趾轴上的大拇趾、二拇趾、三拇趾、四拇趾和小拇趾。本发明是一种结构合理、具有两个自由度和高频动态响应特性、并联模式的仿人机器人足。
The invention discloses a two-degree-of-freedom parallel high-frequency mechanical foot of a humanoid robot, which belongs to the field of humanoid robots. It includes metatarsals, drive shaft, ankle joint shaft, gear B mounted on the ankle shaft, gear A mounted on the drive shaft, toe shaft, parallel toes mounted on the toe shaft, toe joint motor and ankle Joint motor; metatarsals include metatarsal A and metatarsal B installed parallel to each other; calf rod is installed on the ankle joint shaft; ankle joint motor is installed on metatarsal bone B, and its output shaft is connected with one end of the ankle joint shaft; toe joint motor is installed It is located on the metatarsal bone B, and its output shaft is connected with one end of the toe shaft; the parallel toes include the big toe, the second big toe, the third big toe, the fourth big toe and the little big toe which are sequentially installed on the toe shaft. The invention is a humanoid robot foot with reasonable structure, two degrees of freedom, high-frequency dynamic response characteristics and parallel mode.
Description
技术领域technical field
本发明主要涉及仿人机器人领域，特指一种仿人机器人两自由度并联高频机械足。The invention mainly relates to the field of humanoid robots, in particular to a two-degree-of-freedom parallel high-frequency mechanical foot of a humanoid robot.
背景技术Background technique
随着科技的发展，仿人机器人逐渐成为机器人研究领域的一大热点，这类机器人市场前景广阔。由于人体结构复杂，要实现真正的仿人机器人具有相当大的难度，尤其是机械足的研究更为重要，这是因为仿人机器人在行走过程中，当足部与地面接触时，会产生相应的运动，容易导致机器人失去平衡。现有的机械足虽然具有一定的稳定性，但是由于采用的是串联结构，动态响应频率较低，难以实现真正的人足模仿。因此，设计一种并联模式动态响应较快的机械足具有十分重要的意义。With the development of science and technology, humanoid robots have gradually become a hot spot in the field of robot research, and the market prospect of this type of robots is broad. Due to the complex structure of the human body, it is quite difficult to realize a real humanoid robot, especially the research on the mechanical foot is more important, because when the humanoid robot walks, when the foot touches the ground, there will be corresponding movement, it is easy to cause the robot to lose its balance. Although the existing mechanical feet have certain stability, due to the series structure, the dynamic response frequency is low, and it is difficult to realize the real human foot imitation. Therefore, it is of great significance to design a mechanical foot with fast dynamic response in parallel mode.
发明内容Contents of the invention
本发明需解决的技术问题是：针对现有技术存在的技术问题，本发明提供一种结构合理、具有两个自由度和高频动态响应特性、并联模式的仿人机器人足。The technical problem to be solved by the present invention is: aiming at the technical problems existing in the prior art, the present invention provides a humanoid robot foot with reasonable structure, two degrees of freedom, high-frequency dynamic response characteristics, and parallel mode.
为了解决上述问题，本发明提出的解决方案为：一种仿人机器人两自由度并联高频机械足，它包括跖骨、主动轴、踝关节轴、装设于所述踝关节轴上的齿轮B、装设于所述主动轴上的齿轮A、脚趾轴、装设于所述脚趾轴上的并联脚趾、趾关节电机和踝关节电机。In order to solve the above problems, the solution proposed by the present invention is: a two-degree-of-freedom parallel high-frequency mechanical foot of a humanoid robot, which includes a metatarsal bone, a driving shaft, an ankle joint shaft, and a gear B installed on the ankle joint shaft. , the gear A installed on the driving shaft, the toe shaft, the parallel toes installed on the toe shaft, the toe joint motor and the ankle joint motor.
所述跖骨包括相互平行装设的跖骨A和跖骨B；所述主动轴平行于所述踝关节轴，二者均装设于所述跖骨A、所述跖骨B之间；所述踝关节轴上装设有小腿杆。The metatarsals include metatarsals A and metatarsals B installed parallel to each other; the active axis is parallel to the axis of the ankle joint, both of which are installed between the metatarsals A and B; the axis of the ankle joint Top features calf bars.
所述踝关节电机装设于所述跖骨B上，其输出轴与所述踝关节轴的一端相连，所述趾关节电机装设于所述跖骨B上，其输出轴与所述脚趾轴的一端相连。The ankle joint motor is mounted on the metatarsal bone B, and its output shaft is connected to one end of the ankle joint shaft. The toe joint motor is mounted on the metatarsal bone B, and its output shaft is connected to one end of the toe shaft. connected at one end.
所述并联脚趾包括依次装设于所述脚趾轴上的大拇趾、二拇趾、三拇趾、四拇趾和小拇趾；所述脚趾轴的两端分别通过两轴承装设于所述跖骨A、所述跖骨B上；所述齿轮A的半径大于所述齿轮B半径的三倍。The parallel toes include the big toe, the second big toe, the third big toe, the fourth big toe and the little big toe which are installed on the toe shaft in sequence; on the metatarsal bone A and the metatarsal bone B; the radius of the gear A is greater than three times the radius of the gear B.
本发明与现有技术相比，具有如下优点和有益效果：Compared with the prior art, the present invention has the following advantages and beneficial effects:
(1)本发明的仿人机器人两自由度并联高频机械足，设有趾关节电机和踝关节电机，分别实现脚趾和小腿杆的转动，结构简单。(1) The two-degree-of-freedom parallel-connected high-frequency mechanical foot of the humanoid robot of the present invention is provided with a toe joint motor and an ankle joint motor to respectively realize the rotation of the toe and the calf bar, and has a simple structure.
(2)本发明的仿人机器人两自由度并联高频机械足，还设有齿轮A和齿轮B，且齿轮A的半径大于三倍的齿轮B的半径，从而实现增速转动；由此可知，本发明结构合理、具有两个自由度和高频动态响应特性，能够模拟人足的基本运动姿态。(2) The two-degree-of-freedom parallel high-frequency mechanical foot of the humanoid robot of the present invention is also provided with a gear A and a gear B, and the radius of the gear A is greater than three times the radius of the gear B, thereby realizing speed-up rotation; thus it can be seen , the invention has a reasonable structure, has two degrees of freedom and high-frequency dynamic response characteristics, and can simulate the basic movement posture of human feet.
附图说明Description of drawings
图1是本发明的仿人机器人两自由度并联高频机械足的结构剖视图。Fig. 1 is a structural cross-sectional view of a two-degree-of-freedom parallel high-frequency mechanical foot of a humanoid robot of the present invention.
图中，1—小腿杆；2—跖骨A；3—跖骨B；4—脚趾轴；51—三拇趾；52—四拇趾；53—小拇趾；54—二拇趾；55—大拇趾；6—主动轴；60—齿轮A；7—踝关节轴；70—齿轮B；8—轴承；9—趾关节电机；10—踝关节电机。In the figure, 1—calf shaft; 2—metatarsal bone A; 3—metatarsal bone B; 4—toe axis; 51—third big toe; 52—fourth big toe; 53—little big toe; 54—second big toe; 55—big toe Hallux; 6—driving shaft; 60—gear A; 7—ankle joint shaft; 70—gear B; 8—bearing; 9—toe joint motor; 10—ankle joint motor.
具体实施方式detailed description
以下将结合附图和具体实施例对本发明作进一步详细说明。The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
参见图1所示，本发明的仿人机器人两自由度并联高频机械足，包括跖骨、主动轴6、踝关节轴7、装设于踝关节轴7上的齿轮B70、装设于主动轴6上的齿轮A60、脚趾轴4、装设于脚趾轴4上的并联脚趾、趾关节电机9和踝关节电机10。Referring to Fig. 1, the humanoid robot two-degree-of-freedom parallel high-frequency mechanical foot of the present invention includes a metatarsal bone, a drive shaft 6, an ankle joint shaft 7, a gear B70 mounted on the ankle joint shaft 7, a gear B70 mounted on the drive shaft Gear A60 on the 6, the toe shaft 4, the parallel connection toe that is installed on the toe shaft 4, the toe joint motor 9 and the ankle joint motor 10.
参见图1所示，跖骨包括相互平行装设的跖骨A2和跖骨B3；主动轴6平行于踝关节轴7，二者均装设于跖骨A2、跖骨B3之间；踝关节轴7上装设有小腿杆1；踝关节电机10装设于跖骨B3上，其输出轴与踝关节轴7的一端相连，趾关节电机9装设于跖骨B3上，其输出轴与脚趾轴4的一端相连；并联脚趾包括依次装设于脚趾轴4上的大拇趾55、二拇趾54、三拇趾51、四拇趾52和小拇趾53；脚趾轴4的两端分别通过两轴承8装设于跖骨A2、跖骨B3上；齿轮A60的半径大于齿轮B70半径的三倍；踝关节电机10的低速转动转变为小腿杆1绕踝关节轴7的高速转动，实现了运动的高频特性。Referring to Fig. 1, the metatarsals include metatarsals A2 and metatarsals B3 installed parallel to each other; the drive shaft 6 is parallel to the ankle joint axis 7, both of which are installed between the metatarsals A2 and metatarsals B3; the ankle joint shaft 7 is equipped with Calf rod 1; ankle joint motor 10 is installed on metatarsal bone B3, its output shaft is connected with one end of ankle joint shaft 7, toe joint motor 9 is installed on metatarsal bone B3, and its output shaft is connected with one end of toe shaft 4; parallel connection The toes include the big toe 55, the second big toe 54, the third big toe 51, the fourth big toe 52 and the little big toe 53 which are installed on the toe shaft 4 in turn; the two ends of the toe shaft 4 are installed on the On metatarsal bone A2 and metatarsal bone B3; the radius of gear A60 is greater than three times of the radius of gear B70; the low-speed rotation of ankle joint motor 10 is transformed into the high-speed rotation of calf bar 1 around ankle joint axis 7, realizing the high frequency characteristic of motion.
工作原理：踝关节电机10带动装设于主动轴6上的齿轮A60转动，齿轮B70通过与齿轮A60相啮合，带动踝关节轴7和小腿杆1同步转动，实现跖骨A和跖骨B同步绕踝关节轴7的转动；趾关节电机9带动脚趾轴4转动，进而带动装设于脚趾轴4上的五根脚趾同步转动，实现五根脚趾绕脚趾轴4的同步转动。Working principle: the ankle joint motor 10 drives the gear A60 installed on the driving shaft 6 to rotate, and the gear B70 meshes with the gear A60 to drive the ankle joint shaft 7 and the calf rod 1 to rotate synchronously, so that the metatarsal bone A and the metatarsal bone B are synchronously wound around the ankle The rotation of the joint shaft 7; the toe joint motor 9 drives the toe shaft 4 to rotate, and then drives the five toes installed on the toe shaft 4 to rotate synchronously, realizing the synchronous rotation of the five toes around the toe shaft 4.
Claims (1)
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 |
|---|---|
| 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 (2)
| 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 |
| CN110916859B (en) * | 2019-12-27 | 2024-12-20 | 彭学松 | A bionic foot that simulates the rotation of foot joints |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205737786U (en) | A kind of walking robot | |
| CN104648515B (en) | Telescopic-leg energy-saving 2D under-actuated traveling device and control method thereof | |
| CN104512493B (en) | Control method of gear transmission halving upper body energy-saving passive walking device | |
| CN105346620B (en) | The energy-conservation walking leg mechanism of imitative ostrich hind limb motor functional characteristic | |
| CN105799806B (en) | A kind of three-dimensional apery walking device and its control method | |
| CN101565064A (en) | Walking mechanism of biped robot | |
| CN105015642A (en) | Semi-passive walker driven by single motor and steering control method thereof | |
| CN105620574A (en) | Two-degree-of-freedom parallel high-frequency mechanical foot of humanoid robot | |
| CN105620578A (en) | Shock-resistant four-degree-of-freedom parallel humanoid mechanical foot | |
| CN108639184B (en) | A new type of bionic joint mechanical leg | |
| CN105501325B (en) | Two-degree-of-freedom parallel vibration-absorbing mechanical foot for humanoid robot | |
| CN105752191B (en) | Anthropomorphic robot four-freedom hybrid high frequency machinery foot | |
| CN105584552B (en) | Anthropomorphic robot two-freedom parallel connection Low-Frequency Mechanical foot | |
| CN105620580B (en) | Anthropomorphic robot Three Degree Of Freedom series connection high frequency machinery foot | |
| CN204488997U (en) | Doublejointed hopping robot | |
| CN105730547B (en) | Freedom degree parallel connection high frequency apery machinery foot | |
| CN105584554B (en) | Anthropomorphic robot two-freedom series-parallel connection vibration damping machinery foot | |
| CN105730549B (en) | Series-parallel connection vibration damping apery Three Degree Of Freedom machinery foot | |
| CN202264836U (en) | Biped robot mechanism self-adaptive for walking and steering on ground | |
| CN105691484B (en) | Freedom degree parallel connection low frequency apery machinery foot | |
| CN105460101B (en) | Anthropomorphic robot two-freedom series connection high frequency machinery foot | |
| CN105730548A (en) | Vibration-reduction series-connection four-degree-of-freedom humanoid mechanical foot | |
| CN105667629B (en) | Anthropomorphic robot four-freedom hybrid Low-Frequency Mechanical foot | |
| CN105620581A (en) | Series-parallel high frequency three-degrees-of-freedom humanoid mechanical foot | |
| CN105438311A (en) | Two-degree-of-freedom series-parallel low-frequency mechanical foot of humanoid robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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 |
Application publication date: 20160601 |
|
| RJ01 | Rejection of invention patent application after publication |