CN105438310B - Anthropomorphic robot two-freedom parallel connection shock resistance machinery foot - Google Patents
Anthropomorphic robot two-freedom parallel connection shock resistance machinery foot Download PDFInfo
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- 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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- metatarsal
- rubber column
- toe
- spring
- tension spring
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Abstract
Description
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)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510951924.4A CN105438310B (en) | 2015-12-17 | 2015-12-17 | Anthropomorphic robot two-freedom parallel connection shock resistance machinery foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510951924.4A CN105438310B (en) | 2015-12-17 | 2015-12-17 | Anthropomorphic robot two-freedom parallel connection shock resistance machinery foot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105438310A CN105438310A (en) | 2016-03-30 |
| CN105438310B true CN105438310B (en) | 2017-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
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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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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 |
Family Cites Families (2)
| 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 |
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2015
- 2015-12-17 CN CN201510951924.4A patent/CN105438310B/en active IP Right Grant
Patent Citations (6)
| 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 |
Non-Patent Citations (1)
| Title |
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| 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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| CN105438310A (en) | 2016-03-30 |
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