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Two-freedom-degree parallel-serial damping mechanical foot of humanoid robot

A technology of humanoid robot and degree of freedom, which is applied in the field of humanoid robot, can solve problems such as robot losing balance, and achieve the effect of simple structure

Active Publication Date: 2016-05-18
CHANGZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the structural design 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 generate corresponding motion and vibration, which will cause the robot to lose balance

Method used

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  • Two-freedom-degree parallel-serial damping mechanical foot of humanoid robot
  • Two-freedom-degree parallel-serial damping mechanical foot of humanoid robot

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Embodiment Construction

[0014] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0015] see figure 1 and figure 2 As shown, the humanoid robot two-degree-of-freedom hybrid shock-absorbing mechanical foot of the present invention includes a tarsal plate 5, an ankle shaft 10 and a toe shaft 30 installed on the tarsal plate 5, and a toe shaft installed on the toe shaft 30. Parallel toe 3, calf spring 6 connecting tarsal plate 5 and mechanical calf 1, toe spring 7 connecting parallel toe 3 and tarsal plate 5, toe joint power device driving toe shaft 30 to rotate, ankle driving ankle shaft 10 to rotate Joint power unit.

[0016] see figure 1 and figure 2 As shown, the ankle shaft 10 can rotate freely on the tarsal plate 5, and the toe shaft 30 can freely rotate on the tarsal plate 5; the parallel toes 3 include a big toe 31 and a second big toe 32 mounted on the toe shaft 30 , the third big toe 33, the fourth bi...

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Abstract

The invention discloses a two-freedom-degree parallel-serial damping mechanical foot of a humanoid robot and belongs to the field of humanoid robots. The two-freedom-degree parallel-serial damping mechanical foot comprises a tarsal bone plate, an ankle shaft, a toe shaft, a parallel toe, a shank spring, a toe spring, a toe joint power device and an ankle joint power device. The ankle shaft can rotate freely on the tarsal bone plate and the toe shaft can rotate freely on the tarsal bone plate. The parallel toe comprises a big toe, a middle toe, a third toe, a fourth toe and a little toe, all of which are arranged on the toe shaft. The toe joint power device comprises a second motor frame, a second motor, a toe shaft worm wheel, a second worm frame A, a second worm frame B and a second worm. The ankle joint power device comprises an ankle shaft worm wheel, a first worm frame A, a second worm frame B, a first motor frame, a first motor and a first worm. The mechanical foot of the humanoid robot is simple in structure, has the two motion freedom degrees and the damping function and is in a parallel-serial mode.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a two-degree-of-freedom hybrid vibration-damping mechanical foot of a humanoid robot. Background technique [0002] With the development of science and technology, the research of humanoid robots has received widespread attention and has become one of the most active hot spots in the field of intelligent robots. In the structural design 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 generate corresponding motion and vibration, which will cause the robot to lose its balance. Therefore, it is of great significance to design a mechanical foot with simple structure and vibration-damping function. Contents of the invention [0003] The technical problem to be solved by the present invention is: aiming at the technical problems existing in the prior art, the pre...

Claims

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Application Information

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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 UNIV
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