Anti-impact in-series four-freedom-degree human-simulated mechanical foot

Abstract

The invention discloses an anti-impact in-series four-freedom-degree human-simulated mechanical foot, and belongs to the field of human-simulated robots. The mechanical foot comprises a sole plate, an arch-shaped skeleton, a tarsal bone plate, a metatarsal bone rod, a toe, a tarsal bone rod and an ankle joint power device, wherein the arch-shaped skeleton and the tarsal bone plate are installed on the sole plate, the metatarsal bone rod is installed in the middle of the tarsal bone plate, the toe is connected with the left end of the metatarsal bone rod through a toe shaft, the tarsal bone rod is installed at the right end of the metatarsal bone rod through a tarsometatarsal shaft, and the ankle joint power device is used for connecting the metatarsal bone rod and a mechanical shank. The toe shaft is connected with an output shaft of a motor A, and the tarsometatarsal shaft is connected with an output shaft of a motor B; long rubber pillars and short rubber pillars are sequentially installed from middle to outer side between the arch-shaped skeleton and the sole plate; certain gaps are reserved between the upper portions of the long rubber pillars and the upper portions of the short rubber pillars and the lower bottom surface of the arch-shaped skeleton; the ankle joint power device comprises an ankle shaft A, an ankle shaft B, a flange plate, a motor C and screws. The anti-impact in-series four-freedom-degree human-simulated mechanical foot is reasonable in structure, has four motion freedom degrees and an anti-impact function, and is in a series mode.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to an impact-resistant serial four-degree-of-freedom humanoid mechanical foot. Background technique [0002] From the perspective of bionics, humanoid robots have the advantages of strong adaptability to the environment, flexible movements, etc., and have broader development prospects. For humanoid robots to achieve a high degree of flexibility and simulate more complex movements and postures of humans, stable walking is the key, that is, the structural design of the mechanical foot is particularly important. In the process of walking, the robot in the prior art is often subjected to a certain impact force due to uneven ground, which seriously affects the service life of the material. Therefore, it is of great value to design a multi-degree-of-freedom mechanical foot that can resist external impact. Contents of the invention [0003] The technical problem to be solved by th...

AI Technical Summary

Problems solved by technology

In the process of walking, the robot in the prior art is often subjected to a certain impact force due to the uneven ground, which seriously affects the service life of the material

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