CN105460101B - Anthropomorphic robot two-freedom series connection high frequency machinery foot - Google Patents
Anthropomorphic robot two-freedom series connection high frequency machinery foot Download PDFInfo
- Publication number
- CN105460101B CN105460101B CN201510955672.2A CN201510955672A CN105460101B CN 105460101 B CN105460101 B CN 105460101B CN 201510955672 A CN201510955672 A CN 201510955672A CN 105460101 B CN105460101 B CN 105460101B
- Authority
- CN
- China
- Prior art keywords
- joint
- ankle
- toe
- gear wheel
- metatarsal plate
- 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.)
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Links
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 39
- 210000001226 toe joint Anatomy 0.000 claims abstract description 39
- 210000001872 metatarsal bone Anatomy 0.000 claims abstract description 32
- 210000002683 foot Anatomy 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 5
- 210000003464 cuspid Anatomy 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 5
- 238000010276 construction Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000446313 Lamella Species 0.000 description 1
- 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
Abstract
The invention discloses anthropomorphic robot two-freedom series connection high frequency machinery foot, belong to anthropomorphic robot field.It includes metatarsal plate, it is installed in the upper cover plate above metatarsal plate, it is installed in the sole below metatarsal plate, the toe on metatarsal plate is installed in by toe joint hinge B, connect the ankle-joint hinge B of focile and metatarsal plate, toe joint little gear, toe joint gear wheel and ankle-joint gear wheel, ankle-joint little gear, toe joint motor and ankle-joint motor；Toe joint little gear is intermeshed with toe joint gear wheel and is driven；Toe joint gear wheel is installed on the output shaft of toe joint motor, and is installed in by toe joint hinge A on metatarsal plate；Ankle-joint gear wheel is intermeshed with ankle-joint little gear and is driven；Ankle-joint gear wheel is installed on the output shaft of ankle-joint motor, and is installed in by ankle-joint hinge A on metatarsal plate.The present invention is a kind of simple in construction, stable movement, the anthropomorphic robot foot of high frequency dynamic response with two frees degree.
Description
Technical field
The invention mainly relates to anthropomorphic robot field, a kind of anthropomorphic robot two-freedom series connection high frequency machinery is refered in particular to
Foot.
Background technology
With the development of science and technology, requirement of the people to quality of life is also constantly being lifted, so that anthropomorphic robot generation
Constantly expand for the field of human work.The design of anthropomorphic robot includes the apery research of many aspects, especially machinery foot
It is even more important.In the process of walking, more relative motion, therefore, anthropomorphic robot occur anthropomorphic robot for foot structure
Foot structure should have a number of free degree.Therefore, design is a kind of, and there is the machinery foot compared with lower-mobility to imitate people
Foot has certain practical 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, the anthropomorphic robot foot of stable movement, high frequency dynamic response with two frees degree.
In order to solve the above problems, solution proposed by the present invention is：A kind of anthropomorphic robot two-freedom series connection is high
Frequency machinery foot, it includes metatarsal plate, is installed in the upper cover plate above the metatarsal plate, is installed in the sole below the metatarsal plate
Plate, the toe on the metatarsal plate, the ankle-joint hinge of connection focile and the metatarsal plate are installed in by toe joint hinge B
B, is installed in the toe joint little gear on the toe, is installed in toe joint gear wheel and ankle-joint canine tooth on the metatarsal plate
Wheel, is installed in the ankle-joint little gear on the focile, toe joint motor and ankle-joint motor.
The radius of the toe joint little gear is much smaller than the radius of the toe joint gear wheel, the two intermeshing transmission；
The toe joint gear wheel is installed on the output shaft of the toe joint motor, and is installed in the plantar by toe joint hinge A
On hone lamella.
The radius of the ankle-joint gear wheel is more than three times of the ankle-joint little gear radius, and the two intermeshing is passed
It is dynamic；The ankle-joint gear wheel is installed on the output shaft of the ankle-joint motor, and is installed in by ankle-joint hinge A described
On metatarsal plate.
The present invention compared with prior art, has the following advantages that and beneficial effect：
(1) anthropomorphic robot two-freedom of the invention series connection high frequency machinery foot, provided with two groups of gear wheels and two groups of small teeth
Wheel, by the way that the large gear turn the small gear, realizes the high frequency characteristics rotated.
(2) anthropomorphic robot two-freedom of the invention series connection high frequency machinery foot, provided with two rotational freedoms, Neng Goumo
The principal character of anthropomorphic foot walking.It follows that simple in construction, stable movement of the invention, realizing by two rotational freedoms
High frequency dynamic response characteristic, it is achieved thereby that quick walking.
Brief description of the drawings
Fig. 1 is the structure sectional view of the anthropomorphic robot two-freedom series connection high frequency machinery foot of the present invention.
In figure, 1-focile；2-metatarsal plate；3-upper cover plate；4-sole；5-toe；6-toe joint gear wheel；
7-toe joint little gear；8-toe joint motor；9-toe joint hinge A；10-toe joint hinge B；11-ankle-joint canine tooth
Wheel；12-ankle-joint little gear；13-ankle-joint motor；14-ankle-joint hinge B；15-ankle-joint hinge A.
Embodiment
The present invention is described in further detail below with reference to the drawings and specific embodiments.
Anthropomorphic robot two-freedom series connection high frequency machinery foot shown in Figure 1, of the invention, including metatarsal plate 2, installing
Upper cover plate 3 in the top of metatarsal plate 2, is installed in the sole 4 of the lower section of metatarsal plate 2, metatarsal is installed in by toe joint hinge B10
Toe 5 on plate 2, the ankle-joint hinge B14 of connection focile 1 and metatarsal plate 2, is installed in the toe joint little gear on toe 5
7, toe joint gear wheel 6 and ankle-joint gear wheel 11 on metatarsal plate 2 are installed in, the small tooth of ankle-joint being installed on focile 1
Wheel 12, toe joint motor 8 and ankle-joint motor 13.
Shown in Figure 1, the radius of toe joint little gear 7 is much smaller than the radius of toe joint gear wheel 6, the two intermeshing
Transmission；Toe joint gear wheel 6 is installed on the output shaft of toe joint motor 8, and is installed in metatarsal plate 2 by toe joint hinge A9
On；The radius of ankle-joint gear wheel 11 is more than three times of the radius of ankle-joint little gear 12, the two intermeshing transmission；Ankle-joint is big
Gear 11 is installed on the output shaft of ankle-joint motor 13, and is installed in by ankle-joint hinge A15 on metatarsal plate 2.
Operation principle：Ankle-joint motor 13 is rotated, and drives ankle-joint gear wheel 11 to rotate, and then drives ankle-joint little gear
12 and focile 1 relative to the quick rotation of metatarsal plate 2；Toe joint motor 8 is rotated, and drives toe joint gear wheel 6 to rotate, and then band
Dynamic toe joint little gear 7 and the synchronous axial system of toe 5；Because the radius of gear wheel is much larger than the radius of little gear so that metatarsal plate 2
There is high frequency response characteristic with toe 5, so as to improve the movement velocity of mechanical foot.
Claims (1)
1. anthropomorphic robot two-freedom series connection high frequency machinery foot, including metatarsal plate (2), are installed in above the metatarsal plate (2)
Upper cover plate (3), be installed in the sole (4) below the metatarsal plate (2), be installed in by toe joint hinge B (10) described
Toe (5) on metatarsal plate (2), connection focile (1) and the ankle-joint hinge B (14) of the metatarsal plate (2), are installed in described
Toe joint little gear (7) on toe (5), is installed in toe joint gear wheel (6) and ankle-joint canine tooth on the metatarsal plate (2)
Take turns (11), be installed in the ankle-joint little gear (12) on the focile (1), toe joint motor (8) and ankle-joint motor (13)；
It is characterized in that：The radius of the toe joint little gear (7) is much smaller than the radius of the toe joint gear wheel (6), and the two is mutual
Engaged transmission；The toe joint gear wheel (6) is installed on the output shaft of the toe joint motor (8), and is cut with scissors by toe joint
Chain A (9) is installed on the metatarsal plate (2)；The radius of the ankle-joint gear wheel (11) is more than the ankle-joint little gear
(12) three times of radius, the two intermeshing transmission；The ankle-joint gear wheel (11) is installed in the ankle-joint motor (13)
Output shaft on, and be installed in by ankle-joint hinge A (15) on the metatarsal plate (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510955672.2A CN105460101B (en) | 2015-12-17 | 2015-12-17 | Anthropomorphic robot two-freedom series connection high frequency machinery foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510955672.2A CN105460101B (en) | 2015-12-17 | 2015-12-17 | Anthropomorphic robot two-freedom series connection high frequency machinery foot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105460101A CN105460101A (en) | 2016-04-06 |
| CN105460101B true CN105460101B (en) | 2017-10-20 |
Family
ID=55598372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510955672.2A Active CN105460101B (en) | 2015-12-17 | 2015-12-17 | Anthropomorphic robot two-freedom series connection high frequency machinery foot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105460101B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100384598C (en) * | 2006-06-22 | 2008-04-30 | 上海交通大学 | Foot mechanism with toe freedom for two-foot walking robot |
| CN100469540C (en) * | 2007-04-27 | 2009-03-18 | 清华大学 | Underactuated drive finger device of imitating cascaded connection of hand of robot |
| FR2930905B1 (en) * | 2008-05-09 | 2010-10-01 | Bia | ANKLE FOR HUMANOIDE ROBOT |
| CN203020441U (en) * | 2013-01-17 | 2013-06-26 | 常州先进制造技术研究所 | Quasi-man robot foot |
| CN104260801B (en) * | 2014-10-20 | 2016-05-18 | 哈尔滨工业大学 | A kind of walking of the legged type robot heavy grade towards hard mountain environment foot |
-
2015
- 2015-12-17 CN CN201510955672.2A patent/CN105460101B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105460101A (en) | 2016-04-06 |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220215 Address after: 213164 407-2-6 room C, Tianan Digital City, 588 Changwu South Road, Wujin high tech Industrial Development Zone, Changzhou, Jiangsu Patentee after: CHANGZHOU XIAOGUO INFORMATION SERVICES Co.,Ltd. Address before: Gehu Lake Road Wujin District 213164 Jiangsu city of Changzhou province No. 1 Patentee before: CHANGZHOU University |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240401 Address after: Room 601, building 1, Meili neighborhood committee, panhuang sub district office, Yandu District, Yancheng City, Jiangsu Province Patentee after: Yancheng Yanxi Urban Development and Construction Co.,Ltd. Country or region after: China Address before: 213164 407-2-6 room C, Tianan Digital City, 588 Changwu South Road, Wujin high tech Industrial Development Zone, Changzhou, Jiangsu Patentee before: CHANGZHOU XIAOGUO INFORMATION SERVICES Co.,Ltd. Country or region before: China |