CN105438310B - Anthropomorphic robot two-freedom parallel connection shock resistance machinery foot - Google Patents

Anthropomorphic robot two-freedom parallel connection shock resistance machinery foot Download PDF

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Publication number
CN105438310B
CN105438310B CN201510951924.4A CN201510951924A CN105438310B CN 105438310 B CN105438310 B CN 105438310B CN 201510951924 A CN201510951924 A CN 201510951924A CN 105438310 B CN105438310 B CN 105438310B
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China
Prior art keywords
metatarsal
rubber column
toe
spring
tension spring
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CN201510951924.4A
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Chinese (zh)
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CN105438310A (en
Inventor
班书昊
蒋学东
李晓艳
何云松
席仁强
徐然
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常州大学
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Priority to CN201510951924.4A priority Critical patent/CN105438310B/en
Publication of CN105438310A publication Critical patent/CN105438310A/en
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Publication of CN105438310B publication Critical patent/CN105438310B/en

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Abstract

The invention discloses a kind of anthropomorphic robot two-freedom shock resistance machinery foot in parallel, belong to anthropomorphic robot field.It includes metatarsal frame, instep plate, sole, toe in parallel, rubber column A, rubber column B, tension spring A, tension spring B, locking spring A and locking spring B;Rubber column A and rubber column B are installed between metatarsal frame and instep plate;The two ends of tension spring and tension spring B are installed in metatarsal frame, on instep plate respectively;Rubber column A and rubber column B are installed between tension spring A and tension spring B;Sole is the convex elastic sheet in middle part, and its two ends is connected by locking spring A, locking spring B with metatarsal frame respectively;Toe in parallel is installed on metatarsal frame by toe axle;Metatarsal frame installs mechanical shank by ankle axle;Metatarsal frame includes the metatarsal bar A and metatarsal bar B for the installing that is parallel to each other.The present invention is a kind of simple in construction, sufficient with two frees degree and shock resistance, the apery machine of paralleling model.

Description

Anthropomorphic robot two-freedom parallel connection shock resistance machinery foot

Technical field

The invention mainly relates to anthropomorphic robot field, a kind of anthropomorphic robot two-freedom shock resistance machinery in parallel is refered in particular to Foot.

Background technology

With the development of science and technology, the research of robot, especially anthropomorphic robot is had become in field in intelligent robotics One of focus the most active.Compared with traditional robot, anthropomorphic robot is closest with the mankind, is also suitable for the mankind Everyday environments.In anthropomorphic robot design, the design of machinery foot is particularly important.Existing anthropomorphic robot, which is expert at, passes by Cheng Zhong, when foot is contacted with ground, can produce corresponding vibration and impact, be easily caused robot disequilibrium.Tie enough The number of degrees of freedom of structure decides the complexity and design cost of its structure.Therefore, designing a kind of has the anti-of two frees degree The machinery foot of impact has certain value.

The content of the invention

The technical problem that the present invention need to be solved is:The technical problem existed for prior art, the present invention provides a kind of knot Structure is simple, sufficient with two frees degree and shock resistance, the apery machine of paralleling model.

In order to solve the above problems, solution proposed by the present invention is:A kind of anthropomorphic robot two-freedom parallel connection is anti- Impulse machine foot, it includes metatarsal frame, instep plate, sole, toe in parallel, rubber column A, rubber column B, tension spring A, tension Spring B, locking spring A and locking spring B.

The rubber column A and rubber column B are installed between the metatarsal frame and the instep plate;The tension spring and institute The two ends for stating tension spring B are installed in the metatarsal frame, on the instep plate respectively;The rubber column A and rubber column B dresses Between the tension spring A and tension spring B.

The sole is the convex elastic sheet in middle part, and its two ends passes through the locking spring A, the locking bullet respectively Spring B is connected with the metatarsal frame;The toe in parallel is installed on the metatarsal frame by toe axle;The metatarsal frame passes through ankle Axle is equiped with mechanical shank;The metatarsal frame includes the metatarsal bar A and metatarsal bar B for the installing that is parallel to each other.

The toe in parallel include being installed in successively halluces on the toe axle, two big toes, three big toes, four big toes and Small big toe;The middle part of the sole is touched with the metatarsal bridge joint, and the locking spring A and the spring B are in obvious stretching State.

The present invention compared with prior art, has the following advantages that and beneficial effect:

(1) anthropomorphic robot two-freedom of the invention shock resistance machinery foot in parallel, provided with toe axle and ankle axle, by simultaneously Connection toe is rotated relative to metatarsal frame, metatarsal frame simulates the sufficient elemental motion of people relative to the rotation of mechanical shank, structure letter It is single.

(2) anthropomorphic robot two-freedom of the invention shock resistance machinery foot in parallel, is additionally provided with rubber column A and rubber column B, And the sole of flexible deformation, the impulsive force in the external world can be absorbed well;It follows that the present invention it is simple in construction, With two frees degree and shock resistance and realize people foot elemental motion imitate.

Brief description of the drawings

Fig. 1 is the structure principle chart of the anthropomorphic robot two-freedom shock resistance machinery foot in parallel of the present invention.

Fig. 2 is the overlooking the structure diagram of the anthropomorphic robot two-freedom shock resistance machinery foot in parallel of the present invention.

In figure, 1-machinery shank;2-metatarsal frame;21-metatarsal bar A;22-metatarsal bar B;3-instep plate;4-sole Plate;5-parallel connection toe;50-toe axle;51-halluces;52-two big toes;53-three big toes;54-four big toes;55-small Big toe;6-rubber column A;7-rubber column B;8-tension spring A;9-tension spring B;10-ankle axle;11-locking spring A; 12-locking spring B.

Embodiment

The present invention is described in further detail below with reference to the drawings and specific embodiments.

With reference to Fig. 1 and Fig. 2, anthropomorphic robot two-freedom of the invention shock resistance machinery foot in parallel, including metatarsal frame 2, Instep plate 3, sole 4, toe 5 in parallel, rubber column A6, rubber column B7, tension spring A8, tension spring B 9, locking spring A11 With locking spring B12.

With reference to Fig. 1 and Fig. 2, rubber column A6 and rubber column B7 are installed between metatarsal frame 2 and instep plate 3;Tension spring A and The two ends of tension spring B 9 are installed in metatarsal frame 2, on instep plate 3 respectively;Rubber column A6 and rubber column B7 are installed in tension spring Between A8 and tension spring B 9;Sole 4 is the convex elastic sheet in middle part, and its two ends passes through locking spring A11, lock respectively Tight spring B 12 is connected with metatarsal frame 2;Toe 5 in parallel is installed on metatarsal frame 2 by toe axle 50;Metatarsal frame 2 passes through ankle axle 10 It is equiped with mechanical shank 1.

With reference to Fig. 1 and Fig. 2, metatarsal frame 2 includes the metatarsal bar A21 and metatarsal bar B22 for the installing that is parallel to each other;Toe 5 in parallel Including the halluces 51 being installed in successively on toe axle 50, two big toes 52, three big toes 53, four big toes 54 and small big toe 55;Sole The middle part of plate 4 is contacted with metatarsal frame 2, and locking spring A11 and spring B 12 are in obvious extended state.

Operation principle:Toe 5 in parallel is rotated around toe axle 50, realizes rotation of the toe 5 in parallel relative to metatarsal frame 2;Machine Tool shank 1 is rotated around ankle axle 10, realizes rotation of the metatarsal frame 2 relative to mechanical shank 1;Tension spring A8 and tension spring B 9 are logical Overstretching power is compressed tightly against instep plate 3 on rubber column A6 and rubber column B7, in the presence of the impulsive force of ground, on metatarsal frame 2 Impulsive force can be absorbed by rubber column A6 thereon and rubber column B7, realize shock resistance.

Claims (1)

1. anthropomorphic robot two-freedom parallel connection shock resistance machinery foot, including metatarsal frame (2), instep plate (3), sole (4), simultaneously Join toe (5), rubber column A (6), rubber column B (7), tension spring A (8), tension spring B (9), locking spring A (11) and locking Spring B (12);The toe in parallel (5) is installed on the metatarsal frame (2) by toe axle (50);The metatarsal frame (2) is led to Cross ankle axle (10) and be equiped with mechanical shank (1);The metatarsal frame (2) includes the metatarsal bar A (21) and metatarsal for the installing that is parallel to each other Bar B (22);The toe in parallel (5) include being installed in successively halluces (51) on the toe axle (50), two big toes (52), Three big toes (53), four big toes (54) and small big toe (55);It is characterized in that:The rubber column A (6) and rubber column B (7) are installed in Between the metatarsal frame (2) and the instep plate (3);The two ends of the tension spring A and the tension spring B (9) are filled respectively On the metatarsal frame (2), the instep plate (3);The rubber column A (6) and the rubber column B (7) are installed in described anti- Draw between spring A (8) and tension spring B (9);The sole (4) is the convex elastic sheet in middle part, and its two ends leads to respectively The locking spring A (11), the locking spring B (12) is crossed with the metatarsal frame (2) to be connected;The middle part of the sole (4) Contacted with the metatarsal frame (2), the locking spring A (11) and the spring B (12) are in obvious extended state.
CN201510951924.4A 2015-12-17 2015-12-17 Anthropomorphic robot two-freedom parallel connection shock resistance machinery foot CN105438310B (en)

Priority Applications (1)

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CN201510951924.4A CN105438310B (en) 2015-12-17 2015-12-17 Anthropomorphic robot two-freedom parallel connection shock resistance machinery foot

Applications Claiming Priority (1)

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CN201510951924.4A CN105438310B (en) 2015-12-17 2015-12-17 Anthropomorphic robot two-freedom parallel connection shock resistance machinery foot

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CN105438310B true CN105438310B (en) 2017-09-08

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Citations (6)

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CN1883994A (en) * 2006-07-10 2006-12-27 东北大学 Human-imitating double-foot robot artificial leg
CA2494363C (en) * 2002-08-22 2009-04-28 Victhom Human Bionics, Inc. Positioning of lower extremities artificial proprioceptors
CN102189556A (en) * 2011-05-18 2011-09-21 中国计量学院 Pneumatic muscle flexible elbow joint device with buffer spring and flexible shaft sleeves
CN202624435U (en) * 2012-06-18 2012-12-26 杭州电子科技大学 Flexible-landing humanoid robot foot mechanism
CN103802907A (en) * 2013-01-17 2014-05-21 常州先进制造技术研究所 Humanoid robot feet
CN203780643U (en) * 2013-12-27 2014-08-20 天津科技大学 Robot foot structure

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6562075B2 (en) * 2001-03-30 2003-05-13 Barry W. Townsend Prosthetic foot with tunable performance
US7637959B2 (en) * 2004-02-12 2009-12-29 össur hf Systems and methods for adjusting the angle of a prosthetic ankle based on a measured surface angle

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2494363C (en) * 2002-08-22 2009-04-28 Victhom Human Bionics, Inc. Positioning of lower extremities artificial proprioceptors
CN1883994A (en) * 2006-07-10 2006-12-27 东北大学 Human-imitating double-foot robot artificial leg
CN102189556A (en) * 2011-05-18 2011-09-21 中国计量学院 Pneumatic muscle flexible elbow joint device with buffer spring and flexible shaft sleeves
CN202624435U (en) * 2012-06-18 2012-12-26 杭州电子科技大学 Flexible-landing humanoid robot foot mechanism
CN103802907A (en) * 2013-01-17 2014-05-21 常州先进制造技术研究所 Humanoid robot feet
CN203780643U (en) * 2013-12-27 2014-08-20 天津科技大学 Robot foot structure

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* Cited by examiner, † Cited by third party
Title
仿人机器人平地行走步态规划与仿真;陈赛旋等;《机械设计》;20141231;第31卷(第12期);第31-36页 *

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