CN105752193A - Three-freedom-degree series vibration-reducing mechanical humanoid robot foot - Google Patents
Three-freedom-degree series vibration-reducing mechanical humanoid robot foot Download PDFInfo
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- CN105752193A CN105752193A CN201610094513.2A CN201610094513A CN105752193A CN 105752193 A CN105752193 A CN 105752193A CN 201610094513 A CN201610094513 A CN 201610094513A CN 105752193 A CN105752193 A CN 105752193A
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- shank
- metatarsal
- joint
- toe
- torsionspring
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- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a three-freedom-degree series vibration-reducing mechanical humanoid robot foot, and belongs to the field of humanoid robots.The foot comprises toes, a metatarsal bone, a tarsal bone, a toe joint, a first torsion spring, a tarsometatarsal joint, a second torsion spring, an ankle joint, a third torsion spring, a tarsal skeleton, an instep and an arch-shaped foot sole; the arch-shaped foot sole is installed on the lower surface of the tarsal skeleton; the metatarsal bone is installed in front of the middle of the tarsal skeleton; when the second torsion spring is located in a mechanical balance state, the included angle between the metatarsal bone and the tarsal bone is 150 degrees; when the third torsion spring is located in a mechanical balance state, a shank bone is in a vertical state and forms a 120-degree included angle with the tarsal bone; the toes and the metatarsal bone can freely rotate with the help of the toe joint; the metatarsal bone and the tarsal bone can freely rotate with the help of the tarsometatarsal joint; the shank bone can freely rotate relative to the tarsal bone around the ankle joint.The humanoid robot foot is simple in structure, has three motion freedom degrees and a vibration reducing function 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 vibration damping machinery foot.
Background technology
21 century is the epoch of robot, therefore studies robot, especially anthropomorphic robot and is significant.Anthropomorphic robot is different from conventional machines people, and it needs to imitate better the compound movement of the mankind, and therefore the Design of Mechanical Structure of anthropomorphic robot becomes considerably complicated.In anthropomorphic robot structure, the design of machinery foot is even more important, and it not only to realize stably walking, and also has and has certain vibration-damping function, to adapt to the rough and uneven in surface of ground.Existing machinery foot freedom of motion is less, it is impossible to real simulation people walks enough.Therefore, design and a kind of there is relatively multiple degrees of freedom, can the machinery foot of adaptive damping mean a great.
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 freedoms of motion and vibration-damping function, 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 vibration damping machinery foot, and it includes toe, metatarsal, shank, the described toe of connection and the toe joint of described metatarsal and torsionspring A, is connected described metatarsal and the tarsometatarsal joint of described shank and torsionspring B, the ankle joint being connected described shank and focile and torsionspring C, shank frame, instep surface and arch sole.
Described shank frame is that the alloy material that rigidity is big, proportion is little makes；Described instep surface is the thin plate that nonmetallic materials make；Described arch sole is upper convex sheet metal；Described instep surface is installed on the upper surface of described shank frame, and faces upward tiltedly along 30 degree；Described arch sole is installed on the lower surface of described shank frame；Described metatarsal is installed in the middle part dead ahead of described shank frame.
When the torsional deflection of described torsionspring A is zero, described toe is with described metatarsal on the same line；When described torsionspring B is in mechanical balance, the angle between described metatarsal and described shank is 150 degree；When described torsionspring C is in mechanical balance, described focile is in vertical state, and is become 120 degree of angles with described shank.
Described toe and described metatarsal can be freely rotatable by described toe joint；Described metatarsal and described shank can be freely rotatable by described tarsometatarsal joint；Described focile can be freely rotatable relative to described shank around described ankle joint.
The present invention compared with prior art, has the advantage that and beneficial effect:
(1) the anthropomorphic robot Three Degree Of Freedom series connection vibration damping machinery foot of the present invention, is provided with torsionspring A, torsionspring B and torsionspring C, respectively the motion of toe, metatarsal and shank can be carried out vibration damping.
(2) the anthropomorphic robot Three Degree Of Freedom series connection vibration damping machinery foot of the present invention, is additionally provided with toe joint, tarsometatarsal joint and ankle joint, for realizing three freedoms of motion of machinery foot；It follows that present configuration is reasonable, have three freedoms of motion and vibration-damping function, it is possible to simulate athletic posture when people walks enough and damping behavior well.
Accompanying drawing explanation
Fig. 1 is the structure principle chart of the anthropomorphic robot Three Degree Of Freedom series connection vibration damping machinery foot of the present invention.
In figure, 1 toe；2 metatarsals；3 shanks；4 fociles；5 metatarsal framves；6 arch soles；7 instep surfaces；8 toe joints；9 torsionspring A；10 tarsometatarsal jointes；11 torsionspring B；12 ankle joint；13 torsionspring C.
Detailed description of the invention
Below with reference to the drawings and specific embodiments, the present invention is described in further detail.
Shown in Figure 1, the anthropomorphic robot Three Degree Of Freedom series connection vibration damping machinery foot of the present invention, including toe 1, metatarsal 2, shank 3, the toe joint 8 connecting toe 1 and metatarsal 2 and torsionspring A9, the tarsometatarsal joint 10 being connected metatarsal 2 and shank 3 and torsionspring B11, the ankle joint 12 being connected shank 3 and focile 4 and torsionspring C13, shank frame 5, instep surface 7 and arch sole 6；Shank frame 5 is that the alloy material that rigidity is big, proportion is little makes；The thin plate that instep surface 7 makes for nonmetallic materials；Arch sole 6 is upper convex sheet metal.
Shown in Figure 1, instep surface 7 is installed on the upper surface of shank frame 5, and faces upward tiltedly along 30 degree；Arch sole 6 is installed on the lower surface of shank frame 5；Metatarsal 2 is installed in the middle part dead ahead of shank frame 5.
Shown in Figure 1, when the torsional deflection of torsionspring A9 is zero, toe 1 is with metatarsal 2 on the same line；When torsionspring B11 is in mechanical balance, the angle between metatarsal 2 and shank 3 is 150 degree；When torsionspring C13 is in mechanical balance, focile 4 is in vertical state, and with 120 degree of angles of shank 3 one-tenth；Toe 1 and metatarsal 2 can be freely rotatable by toe joint 8；Metatarsal 2 and shank 3 can be freely rotatable by tarsometatarsal joint 10；Focile 4 can be freely rotatable relative to shank 3 around ankle joint 12.
Operation principle: toe 1 can be freely rotatable around the toe joint 8 being installed on metatarsal 2, it is achieved the first degree of freedom of motion, the vibrational energy run in walking process can be twisted spring A9 and absorb；Metatarsal 2 can be freely rotatable around the tarsometatarsal joint 10 being installed on shank 3, it is achieved the second degree of freedom of motion, the vibrational energy run in walking process can be twisted spring B 11 and absorb；Shank 3 can be freely rotatable around the ankle joint 12 being installed on focile 4, it is achieved the Three Degree Of Freedom of motion, vibrational energy therebetween can be twisted spring C and sponge.
Claims (1)
1. anthropomorphic robot Three Degree Of Freedom series connection vibration damping machinery foot, it is characterized in that: include toe (1), metatarsal (2), shank (3), connect toe joint (8) and the torsionspring A (9) of described toe (1) and described metatarsal (2), connect tarsometatarsal joint (10) and the torsionspring B (11) of described metatarsal (2) and described shank (3), connect ankle joint (12) and the torsionspring C (13) of described shank (3) and focile (4), shank frame (5), instep surface (7) and arch sole (6)；The alloy material that described shank frame (5) is big for rigidity, proportion is little makes；The thin plate that described instep surface (7) makes for nonmetallic materials；Described arch sole (6) is upper convex sheet metal；Described instep surface (7) is installed on the upper surface of described shank frame (5), and faces upward tiltedly along 30 degree；Described arch sole (6) is installed on the lower surface of described shank frame (5)；Described metatarsal (2) is installed in the middle part dead ahead of described shank frame (5)；When the torsional deflection of described torsionspring A (9) is zero, described toe (1) is with described metatarsal (2) on the same line；When described torsionspring B (11) is in mechanical balance, the angle between described metatarsal (2) and described shank (3) is 150 degree；When described torsionspring C (13) is in mechanical balance, described focile (4) is in vertical state, and is become 120 degree of angles with described shank (3)；Described toe (1) and described metatarsal (2) can be freely rotatable by described toe joint (8)；Described metatarsal (2) and described shank (3) can be freely rotatable by described tarsometatarsal joint (10)；Described focile (4) can be freely rotatable relative to described shank (3) around described ankle joint (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610094513.2A CN105752193A (en) | 2016-02-19 | 2016-02-19 | Three-freedom-degree series vibration-reducing mechanical humanoid robot foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610094513.2A CN105752193A (en) | 2016-02-19 | 2016-02-19 | Three-freedom-degree series vibration-reducing mechanical humanoid robot foot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105752193A true CN105752193A (en) | 2016-07-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610094513.2A Pending CN105752193A (en) | 2016-02-19 | 2016-02-19 | Three-freedom-degree series vibration-reducing mechanical humanoid robot foot |
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| CN (1) | CN105752193A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112319650A (en) * | 2020-11-11 | 2021-02-05 | 武汉理工大学 | Umbrella-shaped all-terrain foot mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04122586A (en) * | 1990-09-12 | 1992-04-23 | Honda Motor Co Ltd | Leg type mobile robot and walk control device therefor |
| CN101244729A (en) * | 2008-03-26 | 2008-08-20 | 西北工业大学 | Structure of robot simulating leg jump of kangaroo |
| 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 |
| CN103738428A (en) * | 2013-12-27 | 2014-04-23 | 天津科技大学 | Human-like biped robot foot structure |
| JP2015074050A (en) * | 2013-10-09 | 2015-04-20 | 和博 松江 | Ankle joint mechanism for robot |
-
2016
- 2016-02-19 CN CN201610094513.2A patent/CN105752193A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04122586A (en) * | 1990-09-12 | 1992-04-23 | Honda Motor Co Ltd | Leg type mobile robot and walk control device therefor |
| CN101244729A (en) * | 2008-03-26 | 2008-08-20 | 西北工业大学 | Structure of robot simulating leg jump of kangaroo |
| 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 |
| JP2015074050A (en) * | 2013-10-09 | 2015-04-20 | 和博 松江 | Ankle joint mechanism for robot |
| CN103738428A (en) * | 2013-12-27 | 2014-04-23 | 天津科技大学 | Human-like biped robot foot structure |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112319650A (en) * | 2020-11-11 | 2021-02-05 | 武汉理工大学 | Umbrella-shaped all-terrain foot mechanism |
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Application publication date: 20160713 |