Human vola-emulated mechanism with force-sensing ability
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A technology of perceptual ability and sole, applied in toys, motor vehicles, automatic toys, etc., can solve the problem of neglecting the movement function of the toe joint, and achieve the effect of light weight, compact structure and simple structure
Inactive Publication Date: 2007-05-23
HARBIN ENG UNIV
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The more successful and influential humanoid robots at home and abroad include the Asim robot of Japan’s Honda, the QRIO robot of Japan’s Sony Corporation, the Johnnie biped robot of the Applied Mechanics Laboratory of the Technical University of Munich, Germany, and the Beijing Institute of Technology’s robot. "Huitong" robot, but in these designs, the sole of the robot is generally designed as a rigid flat plate structure, ignoring the movement function of the toe joints in normal walking.
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Embodiment 1
[0030] With reference to Figures 1-3, this embodiment includes a forefoot 1, a rear foot 7, six force-sensing detection components, a rotating shaft connecting the forefoot and the rear foot and related transmission components, and the forefoot 1 has four force-sensing detection components c, d, e, f, four force-sensing detection components are symmetrically distributed on the outermost edge of the support surface; the rear foot 7 has two force-sensing detection components a, b and a connecting end seat 36 connected to the ankle joint , wherein, two force-sensing detection components a, b are symmetrically distributed on the rear side edge of the rear foot 7, and the connecting end seat 36 and the ankle joint tightening ring 30 are tightly connected by bolts 31; the six force The structures of the sensing and detecting components are the same. In order to avoid unnecessary repetition, a force sensing and detecting component a is described. The force sensing and detecting compon...
Embodiment 2
[0036] With reference to Figures 4, 5 and 6, this embodiment makes some changes on the basis of Embodiment 1, specifically, the timing belt 22 connecting the gears 23a and 23b in Embodiment 1 is removed, and the gear 23a and 23b are changed into gears 37a and 37b, and the synchronous belt transmission of the original embodiment 1 is changed into the gear transmission of said gears 37a and 37b meshing, and others are the same as embodiment 1.
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Abstract
The invention relates to a simulated sole with toe joint, which can detect the vertical pressure of sole, with simple structure, wherein it comprises front sole, back sole, sensitive detector, rotation axle connecting front and back soles, and relative transmitters. Each sensitive detector comprises one suspension beam, two stress plates, two bolts, one adjustable nut, one muffle, one guide block, one anti-impact polyester rubber block. The rotation axle and transmitters comprise rotation axle, bearing, bearing base, axial base, motor base, gear, synchronous tooth band, bolt, direct-current motor, speed reducer, and coder. The invention can simulate the toe motion of human, with small volume, light weight, and compact structure.
Description
(1) Technical field [0001] The invention belongs to the field of robot and machine manufacturing, and in particular relates to a humanoid foot sole mechanism with force perception capability. (2) Background technology [0002] In recent years, humanoid robots have aroused widespread interest of scholars at home and abroad, and have achieved amazing and great results, especially in simulating human actions, cooperating with humans, and language communication. The more successful and influential humanoid robots at home and abroad include the Asim robot of Japan’s Honda, the QRIO robot of Japan’s Sony Corporation, the Johnnie biped robot of the Applied Mechanics Laboratory of the Technical University of Munich, Germany, and the Beijing Institute of Technology’s robot. "Huitong" robot, but in these designs, the sole of the robot is generally designed to be simplified into a rigid flat structure, ignoring the movement function of the toe joints during normal walking. [0003] In...
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Application Information
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