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Two-degree-of-freedom hybrid low-frequency mechanical foot for humanoid robot

A technology of humanoid robot and degrees of freedom, applied in the field of humanoid robot, can solve problems such as poor stability and complex structure, and achieve the effect of stable movement and reasonable structure

Active Publication Date: 2017-08-01
CHANGZHOU XIAOGUO INFORMATION SERVICES
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing humanoid mechanical feet have complex structures or poor stability

Method used

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  • Two-degree-of-freedom hybrid low-frequency mechanical foot for humanoid robot
  • Two-degree-of-freedom hybrid low-frequency mechanical foot for humanoid robot
  • Two-degree-of-freedom hybrid low-frequency mechanical foot for humanoid robot

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Embodiment Construction

[0016] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0017] combine figure 1 , figure 2 , image 3 with Figure 4 , the two-degree-of-freedom hybrid low-frequency mechanical foot of a humanoid robot of the present invention includes an arched metatarsal 2, an arched sole plate 3, an ankle joint shaft 10, a low-frequency drive device 5, a toe shaft 40, and a toe 4; the arched metatarsal 2 is convex in the middle The elastic metal rod is equipped with a toe shaft 40 and an ankle joint shaft 10 at its two ends respectively.

[0018] combine figure 1 , figure 2 , image 3 with Figure 4 , the mechanical lower leg 1 is connected to the arcuate metatarsal bone 2 through the ankle joint shaft 10, and the toe 4 is connected to the arcuate metatarsal bone 2 through the toe shaft 40; 4 includes the big toe 41, the second big toe 42, the third big toe 43, the fourth big toe 44 and the li...

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Abstract

The invention discloses a two-degree-of-freedom series-parallel low-frequency mechanical foot of a humanoid robot and belongs to the field of humanoid robots. The two-degree-of-freedom series-parallel low-frequency mechanical foot comprises a bow-shaped metatarsal bone, a bow-shaped foot bottom rod, an ankle joint shaft, a low-frequency driving device, a toe shaft and a toe. The bow-shaped metatarsal bone is an elastic metal rod of which the middle protrudes upwards. The toe shaft and the ankle joint shaft are installed at the two ends of the bow-shaped metatarsal bone respectively. A mechanical crus is connected with the bow-shaped metatarsal bone though the ankle joint shaft. The toe is connected with the bow-shaped metatarsal bone through the toe shaft. The shape of the bow-shaped foot bottom rod is similar to that of the bow-shaped metatarsal bone and the bow-shaped foot bottom rod is installed at the bottom of the bow-shaped metatarsal bone. The toe comprises a big hallux, a second hallux, a third hallux, a fourth hallux and a small hallux which are sequentially installed on the toe shaft. The two ends of the angle joint shaft are installed on the bow-shaped metatarsal bone and a Z-shaped frame through two bearings respectively. The Z-shaped frame is installed on the bow-shaped metatarsal bone. The series-parallel modal humanoid mechanical foot is reasonable in structure and stable in movement, and has the characteristics of two degrees of freedom and low-frequency response.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a two-degree-of-freedom hybrid low-frequency mechanical foot of a humanoid robot. Background technique [0002] Robots can help people get rid of heavy labor or simple repetitive labor, and replace people to work in dangerous environments such as radiation. Therefore, researching robots has certain practical value. In order to better serve human beings, humanoid robots have received extensive attention. In the mechanical part of the humanoid robot, the design of the mechanical foot is particularly important, because when the humanoid robot walks, when the foot touches the ground, it will produce corresponding movements. Existing humanoid mechanical feet have complex structures or poor stability. Therefore, it is of great significance to design a mechanical foot with fewer degrees of freedom and better stability. Contents of the invention [0003] The technical problem t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 班书昊蒋学东李晓艳何云松席仁强徐然
Owner CHANGZHOU XIAOGUO INFORMATION SERVICES