CN100384598C - Foot mechanism with toe freedom for two-foot walking robot - Google Patents
Foot mechanism with toe freedom for two-foot walking robot Download PDFInfo
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- CN100384598C CN100384598C CNB2006100279710A CN200610027971A CN100384598C CN 100384598 C CN100384598 C CN 100384598C CN B2006100279710 A CNB2006100279710 A CN B2006100279710A CN 200610027971 A CN200610027971 A CN 200610027971A CN 100384598 C CN100384598 C CN 100384598C
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- driven wheel
- toe
- differential
- bevel gear
- foot
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Abstract
A foot mechanism with toe freedom for the walking two-leg robot is composed of a heel member with rubber bottom, a toe member with rubber bottom, a combination of encoder, speed-reduced DC motor and gear-type speed reducer, a motor base linked to said combination and heel member, active bevel gear connected to output axle of said speed reducer, driven bevel gear with axle linked to toe member, etc.
Description
Technical field
What the present invention relates to is the mechanism in a kind of Robotics field, specifically, is a kind of two-foot walking robot foot mechanism that comprises the toe free degree.
Background technology
The existing middle associated machine people shank mechanism of two-foot walking robot (or anthropomorphic robot) that relates to, mostly adopt 12 frees degree, be that two legs respectively has 6 frees degree, HRP-2 as field, Japanese river (Kawada) research and development, the ASIMO of Honda (Honda) research and development, the KHR-2 of Korea Advanced Institute of Science and Technology (KAIST) research and development.And to comprising 14 free degree designs of the toe free degree, also just done preliminary discussion abroad, and not further investigation, and different to the design of the foot mechanism that comprises the toe free degree, the design that neither one is concrete
Find by prior art documents, the Chinese patent publication number is CN1474738A, denomination of invention is: the leg formula moves the leg structure of walking robot, this technology discloses a kind of leg structure that comprises the two-foot walking robot of 12 frees degree, it changes the purpose that reaches stabilized walking by coordinating each free degree angle in the process of walking, this technology is ignored the free degree of two toes, though such structure does not influence the normal row stop ﹠ go function of robot, but it has limited the walking speed of robot, the continuity of walking step state etc.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of two-foot walking robot foot mechanism that comprises the toe free degree is provided.The present invention makes the walking posture of two-foot walking robot more approach the people by increasing the toe free degree, can realize the function of going down on one's kness, and has the stronger function of topping bar simultaneously under the situation that mechanism size, drive motors power are determined, faster the speed of travel.
The present invention is achieved by the following technical solutions, the present invention includes: driven wheel of differential, motor bearing, heel rubber bottom surface, gear reduction unit, encoder, DC speed-reducing, heel member, digit members, toe rubber bottom surface, driven wheel of differential axle, deep groove ball bearing, retainer ring, drive bevel gear, bevel gear pin key, set bolt, fixedly end cap, axle sleeve.Annexation between these parts is: heel member is connected with heel rubber bottom surface, digit members is connected with toe rubber bottom surface, encoder, DC speed-reducing, gear reduction unit combination back is connected with the motor bearing, the motor bearing is connected with heel member, the gear reduction unit output shaft is connected with drive bevel gear, driven wheel of differential is fixed on the driven wheel of differential axle by retainer ring, the driven wheel of differential axle by bolt and fixedly end cap be fixed on the digit members, the driven wheel of differential axle is located at heel member by deep groove ball bearing, and deep groove ball bearing is determined position at driven wheel of differential by axle sleeve.
Described deep groove ball bearing and heel member are interference fit.
Described deep groove ball bearing and driven gear shaft are interference fits.
Described DC speed-reducing is connected with the gear reduction unit coaxial line.
Described gear reduction unit is connected with the drive bevel gear coaxial line.
Described drive bevel gear and driven wheel of differential axis normal quadrature.
DC speed-reducing is passed to drive bevel gear by gear reduction unit with power, drive the given angle of drive bevel gear rotation, drive bevel gear is passed to driven wheel of differential by gear drive with this angle, because driven wheel of differential and digit members are connected and fixed, also just equal digit members and turned over given angle, thereby also just reached the purpose of controlling the toe component corner with DC speed-reducing.In whole foot structure design, drive bevel gear, gear reduction unit and DC speed-reducing coaxial line arranged in series, drive bevel gear axis and driven wheel of differential axis normal quadrature, in DC speed-reducing arrangement and the heel, structure is compact.
The present invention is by the mode of Bevel Gear Transmission, make DC speed-reducing axis and toe mechanism pivot center perpendicular quadrature, help the arrangement of DC speed-reducing, digit members compares near 1: 1 with the length dimension of heel member kiss the earth, both pivot centers approach the center of digit members, robot also has enough Area of bearing when having guaranteed like this that heel member is liftoff, the rotational angle range of digit members can reach 0～20 °, both sides in digit members and heel member all are connected with the rubber bottom surface respectively, when the sole kiss the earth, has the shock-absorbing effect, simultaneously because the rubber bottom surface just is connected the both sides of digit members and heel member, avoided whole sole kiss the earth, thus also just stronger to the adaptive capacity of uneven ground.
Description of drawings
Fig. 1 is a structural front view of the present invention
Fig. 2 is a structure vertical view of the present invention
The specific embodiment
As depicted in figs. 1 and 2, the present invention includes: driven wheel of differential 9, motor bearing 15, heel rubber bottom surface 1, gear reduction unit 2, encoder 3, DC speed-reducing 4, heel member 5, digit members 6, toe rubber bottom surface 7, driven wheel of differential axle 16, deep groove ball bearing 17, retainer ring 8, drive bevel gear 14, bevel gear pin key 10, set bolt 11, fixedly end cap 12, axle sleeve 13.
With the annexation between the upper-part be: be connected by screw between heel member 5 and the heel rubber bottom surface 1, be connected by screw between digit members 6 and the toe rubber bottom surface 7, encoder 3, DC speed-reducing 4, gear reduction unit 2 combination backs are connected with motor bearing 15 screws, motor bearing 15 is connected with heel member 5 screws, gear reduction unit 2 output shafts are connected with drive bevel gear 14 screws, driven wheel of differential 9 is fixed on the driven wheel of differential axle 16 by retainer ring 8 and bevel gear pin key 10, driven wheel of differential axle 16 by set bolt 11 and fixedly end cap 12 be fixed on the digit members 6, driven wheel of differential axle 16 is located at heel member 5 by deep groove ball bearing 17, and deep groove ball bearing 17 is determined position at driven wheel of differential axle 16 by axle sleeve 13.
Described deep groove ball bearing 17 is an interference fit with heel member 5.
Described deep groove ball bearing 17 is an interference fits with driven wheel of differential axle 16.
Described DC speed-reducing 4 is connected with gear reduction unit 2 coaxial lines.
Described gear reduction unit 2 is connected with drive bevel gear 14 coaxial lines.
Described drive bevel gear 14 and driven wheel of differential 9 axis normal quadratures.
Described digit members 6 compares near 1: 1 with the length dimension of heel member 5 kiss the earths.
The pivot center of described digit members 6 and heel member 5 is in the center of digit members 6.
Claims (5)
1. two-foot walking robot foot structure that comprises the toe free degree, comprise: driven wheel of differential (9), motor bearing (15), heel rubber bottom surface (1), gear reduction unit (2), encoder (3), DC speed-reducing (4), heel member (5), digit members (6), toe rubber bottom surface (7), driven wheel of differential axle (16), deep groove ball bearing (17), retainer ring (8), drive bevel gear (14), bevel gear pin key (10), set bolt (11), fixing end cap (12), axle sleeve (13), it is characterized in that: heel member (5) is connected with heel rubber bottom surface (1), digit members (6) is connected with toe rubber bottom surface (7), encoder (3), DC speed-reducing (4), gear reduction unit (2) combination back is connected with motor bearing (15), motor bearing (15) is connected with heel member (5), gear reduction unit (2) output shaft is connected with drive bevel gear (14), driven wheel of differential (9) is fixed on the driven wheel of differential axle (16) by retainer ring (8) and bevel gear pin key (10), driven wheel of differential axle (16) by set bolt (11) and fixedly end cap (12) be fixed on the digit members (6), driven wheel of differential axle (16) is located at heel member (5) by deep groove ball bearing (17), and deep groove ball bearing (17) is determined position in driven wheel of differential axle (16) by axle sleeve (13).
2. the two-foot walking robot foot structure that comprises the toe free degree according to claim 1 is characterized in that, described deep groove ball bearing (17) is an interference fits with driven wheel of differential axle (16).
3. the two-foot walking robot foot structure that comprises the toe free degree according to claim 1 is characterized in that, described DC speed-reducing (4) is connected with gear reduction unit (2) coaxial line.
4. according to claim 1 or the 3 described two-foot walking robot foot structures that comprise the toe free degree, it is characterized in that described gear reduction unit (2) is connected with drive bevel gear (14) coaxial line.
5. the two-foot walking robot foot structure that comprises the toe free degree according to claim 1 is characterized in that, described drive bevel gear (14) and driven wheel of differential (9) axis normal quadrature.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100279710A CN100384598C (en) | 2006-06-22 | 2006-06-22 | Foot mechanism with toe freedom for two-foot walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100279710A CN100384598C (en) | 2006-06-22 | 2006-06-22 | Foot mechanism with toe freedom for two-foot walking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1895856A CN1895856A (en) | 2007-01-17 |
| CN100384598C true CN100384598C (en) | 2008-04-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100279710A Expired - Fee Related CN100384598C (en) | 2006-06-22 | 2006-06-22 | Foot mechanism with toe freedom for two-foot walking robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN100384598C (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101618549B (en) * | 2009-07-31 | 2011-12-07 | 北京航空航天大学 | Novel flexible foot system of human-imitated robot |
| CN102622936B (en) * | 2012-01-29 | 2014-08-20 | 上海交通大学 | Parallel experimental device for six-degree-of-freedom gait simulation |
| CN105460101B (en) * | 2015-12-17 | 2017-10-20 | 常州大学 | Anthropomorphic robot two-freedom series connection high frequency machinery foot |
| CN105438309B (en) * | 2015-12-17 | 2017-07-14 | 常州大学 | Anthropomorphic robot two-freedom series-parallel connection shock resistance machinery foot |
| CN105584552B (en) * | 2015-12-17 | 2018-06-12 | 常州大学 | Anthropomorphic robot two-freedom parallel connection Low-Frequency Mechanical foot |
| CN105599820A (en) * | 2015-12-17 | 2016-05-25 | 常州大学 | Two-freedom-degree mixed-connection high-frequency mechanical foot of human-simulated robot |
| CN105620578B (en) * | 2016-02-19 | 2017-10-20 | 常州大学 | Shock resistance four-degree-of-freedom parallel connection apery machinery foot |
| CN105752190B (en) * | 2016-02-19 | 2017-10-20 | 常州大学 | Shock resistance series connection four-degree-of-freedom apery machinery foot |
| CN105667627B (en) * | 2016-02-19 | 2017-09-08 | 常州大学 | Freedom degree parallel connection shock resistance apery machinery foot |
| CN105539629B (en) * | 2016-02-19 | 2017-11-10 | 常州大学 | Four-degree-of-freedom parallel connection apery Low-Frequency Mechanical foot |
| CN105667626B (en) * | 2016-02-19 | 2017-09-08 | 常州大学 | Anthropomorphic robot Three Degree Of Freedom series connection shock resistance machinery foot |
| CN105620580B (en) * | 2016-02-19 | 2017-10-20 | 常州大学 | Anthropomorphic robot Three Degree Of Freedom series connection high frequency machinery foot |
| CN105667628A (en) * | 2016-02-19 | 2016-06-15 | 常州大学 | Low-frequency series-connection humanoid four-degrees-of-freedom mechanical foot |
| CN109568079A (en) * | 2018-11-23 | 2019-04-05 | 河海大学常州校区 | A kind of wearable type lower limb power-assisting robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1996022859A1 (en) * | 1995-01-27 | 1996-08-01 | Cubero Samuel Nacion Jr | Space truss integrated-construction robot |
| CN1293607A (en) * | 1999-01-28 | 2001-05-02 | 索尼公司 | Joint device for robot device and leg-walking robot device |
| CN1410230A (en) * | 2002-11-14 | 2003-04-16 | 华中科技大学 | Multifeet walking robot and its control device |
| CN1586966A (en) * | 2004-09-09 | 2005-03-02 | 上海交通大学 | Foot structure of four foot walking robot with foot float support |
| WO2005025814A1 (en) * | 2003-09-12 | 2005-03-24 | Tmsuk Co., Ltd. | Lower body module for two-legged walking robot |
-
2006
- 2006-06-22 CN CNB2006100279710A patent/CN100384598C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1996022859A1 (en) * | 1995-01-27 | 1996-08-01 | Cubero Samuel Nacion Jr | Space truss integrated-construction robot |
| CN1293607A (en) * | 1999-01-28 | 2001-05-02 | 索尼公司 | Joint device for robot device and leg-walking robot device |
| CN1410230A (en) * | 2002-11-14 | 2003-04-16 | 华中科技大学 | Multifeet walking robot and its control device |
| WO2005025814A1 (en) * | 2003-09-12 | 2005-03-24 | Tmsuk Co., Ltd. | Lower body module for two-legged walking robot |
| CN1586966A (en) * | 2004-09-09 | 2005-03-02 | 上海交通大学 | Foot structure of four foot walking robot with foot float support |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1895856A (en) | 2007-01-17 |
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Granted publication date: 20080430 Termination date: 20110622 |