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Four-degree-of-freedom parallel humanoid high-frequency mechanical foot

A technology with a degree of freedom and a mechanical foot, which is applied in the field of humanoid robots, can solve problems such as the inability to achieve human-like fast walking and the inability to simulate the details of human foot movement, and achieve the effects of high-frequency response characteristics, reasonable structure, and increased stability

Active Publication Date: 2016-06-08
CHANGZHOU XIAOGUO INFORMATION SERVICES
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Although the mechanical foot of the prior art realizes the walking function, it cannot simulate the movement details of human foot walking, let alone realize human-like fast walking

Method used

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  • Four-degree-of-freedom parallel humanoid high-frequency mechanical foot

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Embodiment Construction

[0015] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0016] see figure 1 As shown, the four-degree-of-freedom parallel humanoid high-frequency mechanical foot of the present invention includes toe 4, metatarsal plate A31, metatarsal plate B32, tarsal frame 2, toe power device, metatarsal power device, ankle shaft horizontal power device and ankle shaft vertical powerplant.

[0017] see figure 1 As shown, the toe power device includes two ends of the toe shaft 80 installed on the metatarsal plate A31 and the metatarsal plate B32 respectively, a toe motor 81 installed on the metatarsal plate B32 and connected to one end of the toe shaft 80; the toe 4 is installed on the On the toe shaft 80; the toe motor 81 drives the toe shaft 80 to rotate, and then drives the toes 4 to move around the metatarsal plate A31 and the metatarsal plate B32.

[0018] see figure 1 As shown, the metatarsal p...

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Abstract

The invention discloses a four-degree-of-freedom parallel humanoid high-frequency mechanical foot and belongs to the field of humanoid robots. The mechanical foot comprises toes, a metatarsus plate A, a metatarsus plate B, a tarsal frame, a toe power device, a metatarsus power device, an ankle shaft horizontal power device and an ankle shaft vertical power device. The toe power device comprises a toe shaft and a toe motor. The metatarsus power device comprises a tarsal shaft, a tarsal power shaft, a small gear A, a small gear B, a big gear A, a big gear B and a tarsal motor. The big gear A is engaged with the small gear A, and the big gear B is engaged with the small gear B. The ankle shaft horizontal power device comprises an ankle spindle A and an ankle motor A. The ankle shaft vertical power device comprises an ankle spindle B, a bearing bracket, an ankle motor B and bolts. The four-degree-of-freedom parallel humanoid high-frequency mechanical foot is reasonable in structure and better in imitation effect, and has the high-frequency response characteristic, four degrees of freedom of motion and a parallel mode.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a four-degree-of-freedom parallel humanoid high-frequency 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. In order to better imitate human motion, the humanoid mechanical foot needs to have enough degrees of freedom and high-frequency motion characteristics. Although the mechanical foot of the prior art realizes the walking function, it cannot simulate the motion details of human foot walking, let alone realize human-like fast walking. Therefore, there is an urgent need to design a high-frequency mechanical foot with four degrees of freedom to better imitate the foot movement posture of human walking. Contents of the invention [0003] The technical problem to be solved by the present invention is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 班书昊李晓艳蒋学东何云松席仁强谭邹卿
Owner CHANGZHOU XIAOGUO INFORMATION SERVICES
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