CN105752192A - Three-freedom-degree series low-frequency mechanical humanoid robot foot - Google Patents
Three-freedom-degree series low-frequency mechanical humanoid robot foot Download PDFInfo
- Publication number
- CN105752192A CN105752192A CN201610094059.0A CN201610094059A CN105752192A CN 105752192 A CN105752192 A CN 105752192A CN 201610094059 A CN201610094059 A CN 201610094059A CN 105752192 A CN105752192 A CN 105752192A
- Authority
- CN
- China
- Prior art keywords
- metatarsal
- shank
- axle
- toe
- shaft
- 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.)
- Pending
Links
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 a three-freedom-degree series-connection low-frequency mechanical humanoid robot foot, and belongs to the field of humanoid robots.The foot comprises a mechanical shank, a tarsal bone, a metatarsal bone, toes, a metatarsal skeleton, an arch-shaped foot sole, an instep plate, an ankle shaft, a tarsal shaft and a toe shaft; the two ends of the tarsal bone are each provided with a notch and connected with the metatarsal bone and the mechanical shank through the tarsal shaft and the ankle shaft respectively; a thin plate with a certain radian is adopted as the arch-shaped foot sole, the arch-shaped foot sole is installed at the bottom of the metatarsal skeleton, and the instep plate is installed on the top of the metatarsal skeleton; the metatarsal bone is installed on the metatarsal skeleton and connected with the toes in a hinged mode through the toe shaft; the ankle shaft, the tarsal shaft and the toe shaft are installed in parallel.The humanoid robot foot is reasonable in structure, has three freedom degrees and the low-frequency characteristic and is in a series mode.
Description
Technical field
The invention mainly relates to anthropomorphic robot field, refer in particular to a kind of anthropomorphic robot Three Degree Of Freedom series connection Low-Frequency Mechanical foot.
Background technology
Along with the development of science and technology, the demand for anthropomorphic robot strengthens day by day.Existing anthropomorphic robot volume is big, weight is big, power is owed flexibly, it is impossible to reach anthropomorphic state action.Wherein, imitating the machinery foot of people's foot in the process of walking, when foot and earth surface, corresponding vibration being produced, thus causing robot disequilibrium.Existing machinery foot is owing to freedom of motion is less, structure is excessively simple, thus cannot imitate the compound movement of people's foot.Therefore, design a kind of machinery foot tool with three degree of freedom to be of great significance.
Summary of the invention
The present invention need to solve the technical problem that: the technical problem existed for prior art, the present invention provide a kind of rational in infrastructure, there is the anthropomorphic robot foot of three degree of freedom and characteristics of low-frequency, series model.
In order to solve the problems referred to above, the solution that the present invention proposes is: a kind of anthropomorphic robot Three Degree Of Freedom series connection Low-Frequency Mechanical foot, it includes machinery shank, shank, metatarsal, toe, metatarsal frame, arch sole, instep plate, ankle axle, shank axle and toe axle；The two ends of described shank are equipped with recess, and are connected with described metatarsal, described machinery shank respectively through described shank axle, described ankle axle；Described arch sole is the thin plate with certain radian, is installed in the bottom of described metatarsal frame, and described instep plate is installed in the top of described metatarsal frame；Described metatarsal is installed on described metatarsal frame, and by described toe axle and the described toe company of strand mutually.
The ankle axle of the present invention and described shank axle, described toe axle installed parallel；Described toe can rotate relative to toe axle described in described sole of the foot backbone winding；Described shank relative to described metatarsal frame, can rotate around described shank axle；Described machinery shank relative to described shank, can rotate around described ankle axle；Described metatarsal frame is that rigidity occurs the alloy material of elastic deformation to make more greatly, hardly.
The present invention compared with prior art, has the advantage that and beneficial effect:
(1) the anthropomorphic robot Three Degree Of Freedom series connection Low-Frequency Mechanical foot of the present invention, is provided with ankle axle, toe axle and shank axle, it is possible to realize the relative motion between shank, metatarsal, toe, it is possible to simulate the slight movement of human foot more truly.
(2) the anthropomorphic robot Three Degree Of Freedom series connection Low-Frequency Mechanical foot of the present invention, rational in infrastructure, have three degree of freedom and characteristics of low-frequency, and achieves the motion simulation of human foot.
Accompanying drawing explanation
Fig. 1 is the front view of the anthropomorphic robot Three Degree Of Freedom series connection Low-Frequency Mechanical foot of the present invention.
Fig. 2 is the top view of the anthropomorphic robot Three Degree Of Freedom series connection Low-Frequency Mechanical foot of the present invention.
In figure, 1 machinery shank；2 shanks；3 metatarsals；4 toes；5 metatarsal framves；6 ankle axles；7 shank axles；8 toe axles；9 arch soles；10 instep plates.
Detailed description of the invention
Below with reference to the drawings and specific embodiments, the present invention is described in further detail.
Referring to shown in Fig. 1 and Fig. 2, the anthropomorphic robot Three Degree Of Freedom series connection Low-Frequency Mechanical foot of the present invention, including machinery shank 1, shank 2, metatarsal 3, toe 4, metatarsal frame 5, arch sole 9, instep plate 10, ankle axle 6, shank axle 7 and toe axle 8；The two ends of shank 2 are equipped with recess, and are connected with metatarsal 3, machinery shank 1 respectively through shank axle 7, ankle axle 6；Arch sole 9 is the thin plate with certain radian, is installed in the bottom of metatarsal frame 5, and instep plate 10 is installed in the top of metatarsal frame 5.
Referring to shown in Fig. 1 and Fig. 2, metatarsal 3 is installed on metatarsal frame 5, and by toe axle 8 with toe 4 phase strand even；Ankle axle 6 and shank axle 7, toe axle 8 installed parallel；Toe 4 can rotate around toe axle 8 relative to metatarsal frame 5；Shank 2 can rotate around shank axle 7 relative to metatarsal frame 5；Machinery shank 1 can rotate around ankle axle 6 relative to shank 2；Metatarsal frame 5 is that rigidity occurs the alloy material of elastic deformation to make more greatly, hardly.
Operation principle: toe 4 and metatarsal 3 can relatively rotate by toe axle 8, it is achieved the first rotational freedom；Shank 2 and metatarsal 3 can realize relatively rotating by shank axle 7, it is achieved the second rotational freedom；Machinery shank 1 can relatively rotate by ankle axle 6 with shank 2, it is achieved three-rotational-freedom.
Claims (1)
1. anthropomorphic robot Three Degree Of Freedom series connection Low-Frequency Mechanical foot, it is characterised in that: include machinery shank (1), shank (2), metatarsal (3), toe (4), metatarsal frame (5), arch sole (9), instep plate (10), ankle axle (6), shank axle (7) and toe axle (8)；The two ends of described shank (2) are equipped with recess, and are connected with described metatarsal (3), described machinery shank (1) respectively through described shank axle (7), described ankle axle (6)；Described arch sole (9) is the thin plate with certain radian, is installed in the bottom of described metatarsal frame (5), and described instep plate (10) is installed in the top of described metatarsal frame (5)；Described metatarsal (3) is installed on described metatarsal frame (5), and by described toe axle (8) and described toe (4) company of strand mutually；Described ankle axle (6) and described shank axle (7), described toe axle (8) installed parallel；Described toe (4) can rotate around described toe axle (8) relative to described metatarsal frame (5)；Described shank (2) can rotate around described shank axle (7) relative to described metatarsal frame (5)；Described machinery shank (1) can rotate around described ankle axle (6) relative to described shank (2)；Described metatarsal frame (5) occurs the alloy material of elastic deformation to make more greatly, hardly for rigidity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610094059.0A CN105752192A (en) | 2016-02-19 | 2016-02-19 | Three-freedom-degree series low-frequency mechanical humanoid robot foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610094059.0A CN105752192A (en) | 2016-02-19 | 2016-02-19 | Three-freedom-degree series low-frequency mechanical humanoid robot foot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105752192A true CN105752192A (en) | 2016-07-13 |
Family
ID=56330546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610094059.0A Pending CN105752192A (en) | 2016-02-19 | 2016-02-19 | Three-freedom-degree series low-frequency mechanical humanoid robot foot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105752192A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007007798A (en) * | 2005-07-01 | 2007-01-18 | Toyota Motor Corp | Jumping robot |
| 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 |
| CN203328874U (en) * | 2013-06-27 | 2013-12-11 | 王尚银 | Artificial human limb |
-
2016
- 2016-02-19 CN CN201610094059.0A patent/CN105752192A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4277671B2 (en) * | 2003-12-10 | 2009-06-10 | トヨタ自動車株式会社 | Walking robot and its foot device |
| JP2007007798A (en) * | 2005-07-01 | 2007-01-18 | Toyota Motor Corp | Jumping robot |
| CN203020441U (en) * | 2013-01-17 | 2013-06-26 | 常州先进制造技术研究所 | Quasi-man robot foot |
| CN203328874U (en) * | 2013-06-27 | 2013-12-11 | 王尚银 | Artificial human limb |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106364587A (en) | Control method for foot of humanoid robot | |
| CN101157373A (en) | Anklebone of robot | |
| CN105620578B (en) | Shock resistance four-degree-of-freedom parallel connection apery machinery foot | |
| CN105030486A (en) | Walking-aiding exoskeleton power-free mechanical foot | |
| CN105752192A (en) | Three-freedom-degree series low-frequency mechanical humanoid robot foot | |
| CN105620580A (en) | Three-degrees-of-freedom series high-frequency mechanical foot for humanoid robot | |
| CN105730549B (en) | Series-parallel connection vibration damping apery Three Degree Of Freedom machinery foot | |
| CN102895051B (en) | Below-knee prosthesis provided with power ankle | |
| CN105438311B (en) | Anthropomorphic robot two-freedom series-parallel connection Low-Frequency Mechanical foot | |
| CN105752190A (en) | Anti-impact in-series four-freedom-degree human-simulated mechanical foot | |
| CN105730548A (en) | Vibration-reduction series-connection four-degree-of-freedom humanoid mechanical foot | |
| CN105620581A (en) | Series-parallel high frequency three-degrees-of-freedom humanoid mechanical foot | |
| CN105620579A (en) | Four-degrees-of-freedom series-parallel impact resistant mechanical foot for humanoid robot | |
| CN105752193A (en) | Three-freedom-degree series vibration-reducing mechanical humanoid robot foot | |
| CN105539629B (en) | Four-degree-of-freedom parallel connection apery Low-Frequency Mechanical foot | |
| CN105752191B (en) | Anthropomorphic robot four-freedom hybrid high frequency machinery foot | |
| CN105691484A (en) | Three-freedom-degree parallel low-frequency humanoid mechanical foot | |
| CN105667625A (en) | Four-degree-of-freedom humanoid parallel-connection vibration-reduction mechanical foot | |
| CN105438310B (en) | Anthropomorphic robot two-freedom parallel connection shock resistance machinery foot | |
| CN105644651B (en) | Four-degree-of-freedom parallel connection apery high frequency machinery foot | |
| CN105667627B (en) | Freedom degree parallel connection shock resistance apery machinery foot | |
| CN105620577A (en) | Series-parallel shock-resistant humanoid three-degree-of-freedom mechanical foot | |
| CN105620576A (en) | Three-degree-of-freedom parallel damping humanoid mechanical foot | |
| CN105667626B (en) | Anthropomorphic robot Three Degree Of Freedom series connection shock resistance machinery foot | |
| CN105667628A (en) | Low-frequency series-connection humanoid four-degrees-of-freedom mechanical foot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160713 |