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Robot foot mechanism with flexible joint

A technology of flexible joints and robots, which is applied in the field of robots, can solve problems such as inability to effectively reduce vibrations, and achieve the effects of smooth and natural gait, stable landing, and convenient manufacturing

Active Publication Date: 2011-09-14
小卡运动科技(南通)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This type of shock absorbing device has the following disadvantages. When the vibration is applied to the heel or toe of the robot, it cannot effectively reduce the vibration generated.

Method used

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  • Robot foot mechanism with flexible joint
  • Robot foot mechanism with flexible joint
  • Robot foot mechanism with flexible joint

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Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0024] The present invention will be further described below in conjunction with accompanying drawing.

[0025] Such as figure 1 Shown, the present invention comprises the toe plate 1c that the front edge bends upwards, the heel plate 1a that rear edge bends upwards, the sole plate 1b that is arranged between the toe plate 1c and the heel plate 1a, flexible hinge 5, spring plate 14, heel reducer Shock device (13 bearings, 14 spring plates, 15 damping shock absorbers), six-dimensional force sensing device (8 six-dimensional force moment seat, 9 six-dimensional force moment sensor) and ankle support seat 7.

[0026] The toe plate 1c is connected to the sole plate 1b through a flexible hinge 5, and the sole plate 1b is connected to the heel plate 1a through a spring plate 14;

[0027] The six-dimensional force-moment device is placed on the sole plate 1b, and the sole plate 1b on both sides of the six-dimensional force-moment sensing device is equipped with a heel damping device...

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Abstract

The invention relates to a robot foot mechanism with flexible joints. The existing robot has poor foot impact adsorbing effect. The robot foot mechanism comprises toe plates, heel plates, sole plates, flexible hinges, spring plates, heel vibration attenuation devices, a six-dimensional force moment sensing device and an ankle support seat, wherein the toe plates and the sole plates are connected by the flexible hinges; the sole plates are connected with the heel plates by the spring plates; the bottom surfaces of the toe plates, the sole plates and the heel plates are provided with rubber layers; the flexible hinges, the spring plates and the vibration attenuation devices are all symmetrically arranged along the proceeding direction; each flexible hinge is formed by connecting two flexibly deformed rectangular rings and is formed by cutting and processing the whole line; each rectangular ring is provided with a groove vertical to the proceeding direction for adsorbing deformation; and the thickness of the middle of the spring plates is less than the thickness of two ends. In the robot foot mechanism, a humanoid robot can walk more stably by increasing the degree of freedom of passive toes, and the tread of the humanoid robot is more stable and natural.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a robot foot mechanism with flexible joints. Background technique [0002] A humanoid robot is a kind of robot closest to human beings, and its biggest feature is that it can walk like a human being. It is the most human-like intelligent robot that has the shape of a human, and has mobility, operation, associative memory, learning ability, emotional communication, social ability, and partial human experience. Compared with wheeled or tracked robots, humanoid robots have a flexible walking system and can walk on two feet, which determines their incomparable advantages in work: good flexibility, wide working space, and mobile "blind spots" Small size, low energy consumption, convenient up and down steps, high ability to overcome obstacles, and can adapt to this kind of ground. Therefore, humanoid robots have broader development prospects. [0003] The key technology of a humanoid rob...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 周建军陈骏李秀梅
Owner 小卡运动科技(南通)有限公司
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