Series-parallel shock-resistant humanoid three-degree-of-freedom mechanical foot

A technology of impact resistance and degree of freedom, applied in the field of humanoid robots, can solve the problems of weak resistance to external impact and less freedom of movement, etc., and achieve the effect of reasonable structure

Active Publication Date: 2016-06-01
上海韦航装备科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The mechanical feet of existing humanoid robots can walk, but they still have certain disadvantages: less freedom of movement and weak resistance to external shocks

Method used

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  • Series-parallel shock-resistant humanoid three-degree-of-freedom mechanical foot
  • Series-parallel shock-resistant humanoid three-degree-of-freedom mechanical foot

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Embodiment Construction

[0015] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0016] combine figure 1 and figure 2 , the hybrid impact-resistant humanoid three-degree-of-freedom mechanical foot of the present invention includes a mechanical lower leg 1, a sole plate 10, a tarsal frame hinged to the lower end of the mechanical lower leg 1, a metatarsal frame hinged to the tarsal frame, and a metatarsal frame Hinged parallel toes 7; the tarsal frame is a triangular frame composed of tarsal bar A31, tarsal bar B32, and tarsal bar C33; the metatarsal frame is a triangular frame made up of metatarsal bar A51, metatarsal bar B52, and metatarsal bar C53 The parallel toes 7 include the big toe 71 , the second big toe 72 , the third big toe 73 , the fourth big toe 74 and the little big toe 75 arranged on the toe shaft 70 in sequence.

[0017] combine figure 1 and figure 2 , A torsion spring A2 is installed between...

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Abstract

The invention discloses a series-parallel shock-resistant humanoid three-degree-of-freedom mechanical foot and belongs to the field of humanoid robots. The series-parallel shock-resistant humanoid three-degree-of-freedom mechanical foot comprises a mechanical shank, a sole board, a tarsal skeleton hinged to the lower end of the mechanical shank, a metatarsal skeleton hinged to the tarsal skeleton and parallel toes hinged to the metatarsal skeleton. The tarsal skeleton is a triangular frame composed of a tarsal bone rod A, a tarsal bone rod B and a tarsal bone rod C. The metatarsal skeleton is a triangular frame composed of a metatarsal bone rod A, a metatarsal bone rod B and a metatarsal bone rod C. The parallel toes comprise the big toe, the second toe, the third toe, the fourth toe and the small toe, all of which are sequentially arranged on a toe shaft. A torsion spring A is arranged between the mechanical shank and the tarsal bone rod B. A torsion spring B is arranged between the tarsal bone rod A and the metatarsal bone rod B. A torsion spring C is arranged between the parallel toes and the metatarsal bone rod A. The series-parallel shock-resistant humanoid three-degree-of-freedom mechanical foot is reasonable in structure, has the three degrees of motion freedom and shake resistance and is in a series-parallel mode.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a hybrid impact-resistant humanoid three-degree-of-freedom mechanical foot. Background technique [0002] With the advancement of science and technology and the research and development of new materials, humanoid robots in the field of intelligence have shown incomparable vitality. Compared with traditional robots, humanoid robots are the closest to humans. In the mechanical structure of a humanoid robot, the design of the mechanical foot is extremely important. It not only relates to the balance performance of the entire robot during walking, but also determines the fidelity of anthropomorphic movements. The mechanical feet of existing humanoid robots can walk, but they still have certain disadvantages: less freedom of movement and weaker ability to resist external impact. Therefore, it is of great significance to design a mechanical foot with three degrees of freedom of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 李晓艳班书昊蒋学东何云松席仁强徐然
Owner 上海韦航装备科技有限公司
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