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A technology with a degree of freedom and a mechanical foot, which is applied in the field of humanoid robots, can solve the problems of less freedom of movement, lack of vibration reduction performance, and inability to adapt to the ground environment, and achieve the effect of simulation and vibration reduction characteristics and simple structure
Active Publication Date: 2018-02-02
上海韦航装备科技有限公司
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Although the existing humanoid mechanical foot realizes the walking function, it still has certain shortcomings: less freedom of movement, unable to simulate more complex human foot movements; lack of good vibration damping performance, unable to adapt to complex ground environments
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[0013] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0014] see figure 1 As shown, the hybrid shock-absorbing humanoid three-degree-of-freedom mechanical foot of the present invention includes a mechanical calf 1, tarsal rod A21, tarsal rod B22, tarsal rod C23, metatarsal rod A31, metatarsal rod B32, metatarsal rod C33, Mechanical toe 4, the shank spring 8 that connects mechanical shank 1 and tarsus bar A21, the ankle gear 51 that is installed on the tarsus bar B22, the ankle motor 52 that output shaft links to each other with ankle gear 51, and ankle gear 51 Ankle pinion gear 53 engaged with each other, large tarsus gear 61 installed on tarsus bar A21, tarsus motor 62 connected to tarsus large gear 61, tarsus pinion 63 meshed with tarsus large gear 61 , ankle shaft 24, tarsal hinge 25, metatarsal shaft 35, toe shaft 36, tarsal spring 9 connecting tarsal hinge 25 and metatarsal bar A31...
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Abstract
The invention discloses a series-parallel damping humanoid three-freedom-degree mechanical foot and belongs to the field of humanoid robots. The series-parallel damping humanoid three-freedom-degree mechanical foot comprises a mechanical shank, a tarsal bone rod A, a tarsal bone rod B, a tarsal bone rod C, a metatarsal bone rod A, a metatarsal bone rod B, a metatarsal bone rod C, a mechanical toe, a shank spring connecting the mechanical shank with the tarsal bone rod A, an ankle large gear, an ankle motor, an ankle small gear, a tarsal bone large gear, a tarsal bone motor, a tarsal bone small gear, an ankle shaft, a tarsal bone hinge, a metatarsal bone shaft, a toe shaft, a tarsal and metatarsal spring, a toe spring, a toe large gear, a toe small gear and a toe motor, wherein the ankle large gear, the ankle motor and the ankle small gear are arranged on the tarsal bone rod B. The ankle shaft is fixedly combined with the mechanical shank and provided with the ankle small gear. The metatarsal bone shaft is fixedly combined with the metatarsal bone rod A and provided with the ankle small gear. The toe shaft is fixedly combined with the mechanical toe and provided with the toe small gear. The mechanical foot is a humanoid mechanical foot which is simple in structure, has the three freedom degrees and a damping function 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 vibration-reduction humanoid three-degree-of-freedom mechanical foot. Background technique [0002] With the improvement of people's quality of life, the application of humanoid robots has received widespread attention. Currently, research on humanoid robots has become one of the hotspots in the field of intelligent robots. In order to better imitate human actions, humanoid robots need a mechanical foot with more degrees of freedom of movement to simulate human foot movements during walking. Although the existing humanoid mechanical foot realizes the walking function, it still has certain shortcomings: less freedom of movement, unable to simulate more complex human foot movements; lack of good vibration damping performance, unable to adapt to complex ground environments. Therefore, it is of great significance to design a mechanical foot with vibration reduction fu...
Claims
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