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Flexible foot mechanism of humanoid robot

A humanoid robot and flexible foot technology, applied in the field of robotics, can solve problems such as the cylinder of the sole of the foot and the upper platen are stuck, achieve easy installation accuracy and reliability, prolong the service life, and improve the effect of absorption

Inactive Publication Date: 2011-09-28
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This mechanism ensures shock absorption in the vertical direction, but it is prone to jamming between the sole cylinder and the upper pressure plate

Method used

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  • Flexible foot mechanism of humanoid robot
  • Flexible foot mechanism of humanoid robot
  • Flexible foot mechanism of humanoid robot

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Embodiment Construction

[0016] Further illustrate the present invention below in conjunction with accompanying drawing.

[0017] With reference to accompanying drawing, the flexible foot mechanism of humanoid robot of the present invention comprises sole plate 1, and the bottom of sole plate 1 is pasted with antiskid damping pad 5, and the top of sole plate 1 is fixed with hollow cylinder 3, and hollow cylinder 3 Four cylinders 2 are evenly distributed on the outer peripheral wall of the cylinder, and each cylinder has a built-in shock-absorbing rubber pad 15. The shock-absorbing rubber pad 15 is composed of a large cylinder and a small cylinder that are coaxially connected. In the illustrated example, the shock-absorbing rubber pad 15 The bottom of the large cylinder of the shock rubber pad 15 has an internal thread hole, which is fixed with the sole plate 1 by screws 16. In order to make the flexible foot mechanism integrally firmer, a series of reinforcing ribs 13 can be distributed on the sole pla...

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Abstract

The invention discloses a flexible foot mechanism of humanoid robot. The bottom surface of a sole plate is provided with a skid-proof shock pad; a hollow cylinder is fixed above the sole plate; four cylinders are uniformly distributed on the outer circumferential wall of the hollow cylinder; a rubber shock pad and a six-dimensional force sensor base with a hollow cylinder and four lugs are arranged in each cylinder; the six-dimensional force sensor base is fixed with four cylinders through the rubber shock pad; the central cylinder of the six-dimensional force sensor base is put into the hollow cylinder; a lubricating washer is arranged on the contact surface between the six-dimensional force sensor base and the hollow cylinder; and the six-dimensional force sensor is installed in the six-dimensional force sensor base. With simple and compact integral structure, the flexible foot mechanism of the humanoid robot has double shock absorption effects through the sole plate and the rubber shock pad, is beneficial to absorbing the impact force vertical to the sole direction by the robot and prolonging the service life of the shock absorption material, is convenient to install and ensures the installation precision and reliability.

Description

technical field [0001] The invention relates to a flexible foot mechanism of a humanoid robot, which belongs to the technical field of robots. Background technique [0002] As the name suggests, a humanoid robot is a robot that imitates the skeleton structure of the human body. The biggest difference between it and other robots lies in its humanoid bipedal movement. From the perspective of bionics, it shows that humanoid robots have the advantages of strong ability to adapt to the environment and flexible movements. Therefore, they have broader application and development prospects. [0003] Stable walking is the key for a humanoid robot to achieve a high degree of flexibility. During the walking process of the robot, the reaction force of the ground to the robot is an important factor affecting the stability. This requires that the soles of the robot have the ability to conform to the ground and absorb the impact of the ground. When the robot lands unevenly, it is easy t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
Inventor 朱秋国熊蓉褚健
Owner ZHEJIANG UNIV
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