CN105730547B - Freedom degree parallel connection high frequency apery machinery foot - Google Patents
Freedom degree parallel connection high frequency apery machinery foot Download PDFInfo
- Publication number
- CN105730547B CN105730547B CN201610091854.4A CN201610091854A CN105730547B CN 105730547 B CN105730547 B CN 105730547B CN 201610091854 A CN201610091854 A CN 201610091854A CN 105730547 B CN105730547 B CN 105730547B
- Authority
- CN
- China
- Prior art keywords
- ankle
- toe
- joint
- metatarsal
- shank
- 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
- 210000003423 ankle Anatomy 0.000 claims abstract description 54
- 210000001872 metatarsal bone Anatomy 0.000 claims abstract description 35
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 31
- 210000001226 toe joint Anatomy 0.000 claims abstract description 30
- 210000003371 toe Anatomy 0.000 claims abstract description 28
- 210000002683 foot Anatomy 0.000 claims abstract description 15
- 210000004124 hock Anatomy 0.000 claims abstract description 9
- 210000001255 hallux Anatomy 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 2
- 210000003813 thumb Anatomy 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 8
- 210000001699 lower leg Anatomy 0.000 abstract description 4
- 210000000988 bone and bone Anatomy 0.000 description 4
- 238000004088 simulation Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects 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)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses freedom degree parallel connection high frequency apery machinery foot, belong to anthropomorphic robot field.It includes mechanical shank, shank, metatarsal, toe, high frequency ankle-joint, high frequency gambrel and toe joint；Metatarsal includes metatarsal A and metatarsal B, metatarsal A and metatarsal B installed parallels；Toe includes halluces, two big toes, three big toes, four big toes and small big toe；High frequency ankle-joint includes ankle-joint axle, ankle line shaft, ankle little gear A ankle little gears B, ankle gear wheel A ankle gear wheel B and ankle-joint motor；High frequency gambrel includes midtarsal joints axle, shank line shaft, instep little gear A, instep little gear B, instep gear wheel A, instep gear wheel B and shank motor；Toe joint includes toe joint axle and toe joint motor.The present invention is a kind of anthropomorphic robot foot of Three Degree Of Freedom rational in infrastructure, with high frequency motion response characteristic, paralleling model.
Description
Technical field
The invention mainly relates to anthropomorphic robot field, refers in particular to a kind of freedom degree parallel connection high frequency apery machinery foot.
Background technology
In field in intelligent robotics, anthropomorphic robot receives universal concern, because it can more preferable simulation
The various actions of the mankind, and certain guide effect is played in the development to life science.But existing anthropomorphic robot due to
The freedom of motion of its machinery foot is less, and moving equilibrium is not high, and the speed of travel is partially slow, therefore is difficult to adapt to mankind's daily life
Environment.In order to which more preferable simulation people walks enough, there need to be a kind of machinery that there are three freedoms of motion, can quickly walk of design
Foot.
The content of the invention
The technical problem that the present invention need to solve is：For technical problem existing for prior art, the present invention provides a kind of knot
The anthropomorphic robot foot of structure rationally, with high frequency motion response characteristic, the Three Degree Of Freedom of paralleling model.
In order to solve the above problems, solution proposed by the present invention is：A kind of freedom degree parallel connection high frequency apery machinery
Foot, it includes mechanical shank, shank, metatarsal, toe, high frequency ankle-joint, high frequency gambrel and toe joint；The metatarsal includes plantar
Bone A and metatarsal B, the metatarsal A and the metatarsal B installed parallels；The toe includes halluces, two big toes, three big toes, four thumbs
Toe and small big toe.
The present invention high frequency ankle-joint include ankle-joint axle, parallel to the ankle-joint axle ankle line shaft, be installed in institute
State the ankle little gear A on ankle-joint axle and ankle little gear B, the ankle gear wheel A and ankle gear wheel being installed on the ankle line shaft
B, the ankle-joint motor that its output shaft is connected with described ankle line shaft one end；The ankle little gear A, the ankle little gear B distinguish
Be meshed transmission with the ankle gear wheel A, the ankle gear wheel B；The mechanical shank is installed on the ankle-joint axle, and position
Between the ankle little gear A and the ankle little gear B；The both ends of the ankle line shaft, the both ends of the ankle-joint axle are logical
Bearing is crossed to be installed on the shank.
The high frequency gambrel include midtarsal joints axle, parallel to the midtarsal joints axle shank line shaft, be installed in
Instep little gear A and instep little gear B on the midtarsal joints axle, the instep gear wheel A and instep being installed on the shank line shaft
Gear wheel B, shank motor；The output shaft of the shank motor is connected with one end of the shank line shaft；A left side for the shank
End is installed on the midtarsal joints axle, and between the instep little gear A and the instep little gear B；The instep gear wheel A
It is meshed respectively with the instep little gear A and instep little gear B transmission with instep gear wheel B；The midtarsal joints axle and the shank
The both ends of line shaft are respectively installed on the metatarsal A, the metatarsal B.
The toe joint includes toe joint axle and toe joint motor；The both ends of the toe joint axle are installed in the plantar respectively
On bone A and the metatarsal B, the output shaft of the toe joint motor is connected with one end of the toe joint axle；The toe installing
In on the toe joint axle.
The present invention compared with prior art, has the following advantages that and beneficial effect：
(1) freedom degree parallel connection high frequency apery of the invention machinery foot, provided with ankle gear wheel A and ankle gear wheel B, passes through two
Individual gear wheel parallel drive, the parallel kinematic and high frequency motion response characteristic of ankle-joint are realized, it is quick enough can effectively to imitate people
Walking characteristics.
(2) freedom degree parallel connection high frequency apery of the invention machinery foot, is additionally provided with high frequency gambrel and toe joint, realizes
The motion of the Three Degree Of Freedom of mechanical foot.It follows that the present invention is rational in infrastructure, has high frequency motion response characteristic and three freely
Degree, realize effective imitation of the quick walking movement posture of people's foot.
Brief description of the drawings
Fig. 1 is the structure principle chart of the freedom degree parallel connection high frequency apery machinery foot of the present invention.
In figure, 1-mechanical shank；2-shank；31-metatarsal A；32-metatarsal B；41-halluces；42-two big toes；
43-three big toes；44-four big toes；45-small big toe；50-ankle-joint axle；51-ankle little gear A；52-ankle little gear B；
53-ankle line shaft；54-ankle gear wheel A；55-ankle gear wheel B；56-ankle-joint motor；60-midtarsal joints axle；61-instep
Little gear A；62-instep little gear B；63-shank line shaft；64-instep gear wheel A；65-instep gear wheel B；66-shank electricity
Machine；70-toe joint axle；71-toe joint motor.
Embodiment
The present invention is described in further detail below with reference to the drawings and specific embodiments.
Freedom degree parallel connection high frequency apery machinery foot shown in Figure 1, of the invention, including mechanical shank 1, shank 2, plantar
Bone, toe, high frequency ankle-joint, high frequency gambrel and toe joint；Metatarsal includes metatarsal A31 and metatarsal B32, metatarsal A31 and metatarsal
B32 installed parallels.
Shown in Figure 1, toe includes halluces 41, two big toes 42, three big toes 43, four big toes 44 and small big toe 45；It is high
Frequency ankle-joint include ankle-joint axle 50, parallel to ankle-joint axle 50 ankle line shaft 53, the ankle that is installed on ankle-joint axle 50 it is small
Gear A 51 and ankle little gear B52, the ankle gear wheel A54 being installed on ankle line shaft 53 and ankle gear wheel B55, its output shaft with
The connected ankle-joint motor in the one end of ankle line shaft 53；Ankle little gear A51, ankle little gear B52 are big with ankle gear wheel A54, ankle respectively
Gear B 55 is meshed transmission；Mechanical shank 1 is installed on ankle-joint axle 50, and positioned at ankle little gear A51 and ankle little gear B52
Between；The both ends of ankle line shaft 53, the both ends of ankle-joint axle 50 are installed on shank 2 by bearing.
Shown in Figure 1, high frequency gambrel includes midtarsal joints axle 60, the shank line shaft parallel to midtarsal joints axle 60
63rd, the instep little gear A61 and instep little gear B62 that are installed on midtarsal joints axle 60, the instep being installed on shank line shaft 63 are big
Gear A 64 and instep gear wheel B65, shank motor 66；The output shaft of shank motor 66 is connected with one end of shank line shaft 63；Instep
The left end of bone 2 is installed on midtarsal joints axle 60, and between instep little gear A61 and instep little gear B62；Instep gear wheel A64
It is meshed respectively with instep little gear A61 and instep little gear B62 transmission with instep gear wheel B65；Midtarsal joints axle 60 and shank power
The both ends of axle 63 are respectively installed on metatarsal A31, metatarsal B32.
Shown in Figure 1, toe joint includes toe joint axle 70 and toe joint motor 71；The both ends of toe joint axle 70 fill respectively
On metatarsal A31 and metatarsal B32, the output shaft of toe joint motor 71 is connected with one end of toe joint axle 70；Toe is installed in
On toe joint axle 70.
Operation principle：Ankle-joint motor 56 drives ankle line shaft 53 to rotate, and passes through ankle gear wheel A54 and ankle gear wheel
B55 drives ankle little gear A51 and ankle little gear B52 synchronous axial systems respectively, and then drives ankle-joint axle 50 and mechanical shank 1 relative
Rotated in shank 2；Shank motor 66 drives shank line shaft 63 to rotate, and is driven by instep gear wheel A64 and instep gear wheel B65
Instep little gear A61 and instep little gear B62 synchronous axial systems, and then drive midtarsal joints axle 60 and shank 2 to be rotated relative to metatarsal；Toe
Joint motor 71 rotates, and drives toe joint axle 70 to rotate, and then drives toe to be moved relative to metatarsal.
Claims (1)
1. freedom degree parallel connection high frequency apery machinery foot, it is characterised in that：Including mechanical shank (1), shank (2), metatarsal, pin
Toe, high frequency ankle-joint, high frequency gambrel and toe joint；The metatarsal includes metatarsal A (31) and metatarsal B (32), the metatarsal A
(31) with metatarsal B (32) installed parallel；The toe includes halluces (41), two big toes (42), three big toes (43), four thumbs
Toe (44) and small big toe (45)；The high frequency ankle-joint includes ankle-joint axle (50), the ankle parallel to the ankle-joint axle (50)
Line shaft (53), the ankle little gear A (51) being installed on the ankle-joint axle (50) and ankle little gear B (52), be installed in it is described
Ankle gear wheel A (54) and ankle gear wheel B (55), its output shaft and described ankle line shaft (53) one end phase on ankle line shaft (53)
Ankle-joint motor even；The ankle little gear A (51), the ankle little gear B (52) respectively with the ankle gear wheel A (54), institute
Ankle gear wheel B (55) is stated to be meshed transmission；The mechanical shank (1) is installed on the ankle-joint axle (50), and positioned at described
Between ankle little gear A (51) and the ankle little gear B (52)；The both ends of the ankle line shaft (53), the ankle-joint axle (50)
Both ends be installed in by bearing on the shank (2)；The high frequency gambrel includes midtarsal joints axle (60), parallel to institute
State the shank line shaft (63) of midtarsal joints axle (60), the instep little gear A (61) being installed on the midtarsal joints axle (60) and
Instep little gear B (62), the instep gear wheel A (64) being installed on the shank line shaft (63) and instep gear wheel B (65), shank electricity
Machine (66)；The output shaft of the shank motor (66) is connected with one end of the shank line shaft (63)；A left side for the shank (2)
End is installed on the midtarsal joints axle (60), and between the instep little gear A (61) and the instep little gear B (62)；
The instep gear wheel A (64) and instep gear wheel B (65) are meshed with the instep little gear A (61) and instep little gear B (62) respectively
Transmission；The both ends of the midtarsal joints axle (60) and the shank line shaft (63) are respectively installed in the metatarsal A (31), institute
State on metatarsal B (32)；The toe joint includes toe joint axle (70) and toe joint motor (71)；The two of the toe joint axle (70)
End is installed on the metatarsal A (31) and the metatarsal B (32) respectively, output shaft and the toe of the toe joint motor (71)
One end of joint shaft (70) is connected；The toe is installed on the toe joint axle (70).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610091854.4A CN105730547B (en) | 2016-02-19 | 2016-02-19 | Freedom degree parallel connection high frequency apery machinery foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610091854.4A CN105730547B (en) | 2016-02-19 | 2016-02-19 | Freedom degree parallel connection high frequency apery machinery foot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105730547A CN105730547A (en) | 2016-07-06 |
| CN105730547B true CN105730547B (en) | 2017-12-05 |
Family
ID=56245995
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610091854.4A Active CN105730547B (en) | 2016-02-19 | 2016-02-19 | Freedom degree parallel connection high frequency apery machinery foot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105730547B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3900959B2 (en) * | 2002-02-15 | 2007-04-04 | セイコーエプソン株式会社 | Legged mobile robot and control method thereof |
| JP4277671B2 (en) * | 2003-12-10 | 2009-06-10 | トヨタ自動車株式会社 | Walking robot and its foot device |
| CN203020441U (en) * | 2013-01-17 | 2013-06-26 | 常州先进制造技术研究所 | Quasi-man robot foot |
| CN105292297A (en) * | 2015-11-21 | 2016-02-03 | 吉林大学 | Bionic foot capable of improving gait naturality and stability of biped robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008126332A (en) * | 2006-11-17 | 2008-06-05 | Toyota Motor Corp | Structure of leg of biped robot |
| JP5578556B2 (en) * | 2010-07-08 | 2014-08-27 | 独立行政法人産業技術総合研究所 | Legs for humanoid walking robot and their legs |
-
2016
- 2016-02-19 CN CN201610091854.4A patent/CN105730547B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3900959B2 (en) * | 2002-02-15 | 2007-04-04 | セイコーエプソン株式会社 | Legged mobile robot and control method thereof |
| JP4277671B2 (en) * | 2003-12-10 | 2009-06-10 | トヨタ自動車株式会社 | Walking robot and its foot device |
| CN203020441U (en) * | 2013-01-17 | 2013-06-26 | 常州先进制造技术研究所 | Quasi-man robot foot |
| CN105292297A (en) * | 2015-11-21 | 2016-02-03 | 吉林大学 | Bionic foot capable of improving gait naturality and stability of biped robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105730547A (en) | 2016-07-06 |
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Effective date of registration: 20220216 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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Effective date of registration: 20240407 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 |