Low-frequency series-connection humanoid four-degrees-of-freedom mechanical foot

A technology of degrees of freedom and mechanical feet, applied in the field of humanoid robots, can solve the problems of less movement of the mechanical feet, not conforming to the movement characteristics of human feet, etc., and achieve the effect of reasonable structure

Inactive Publication Date: 2016-06-15
CHANGZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The mechanical feet of existing humanoid robots have too little movement and do not conform to the movement characteristics of human feet

Method used

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  • Low-frequency series-connection humanoid four-degrees-of-freedom mechanical foot
  • Low-frequency series-connection humanoid four-degrees-of-freedom mechanical foot

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Embodiment Construction

[0012] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0013] see figure 1 and figure 2 As shown, the low-frequency serial humanoid four-degree-of-freedom mechanical foot of the present invention includes toes 4, metatarsal rods 3, tarsal rods 2, toe shafts 50 connecting metatarsal rods 3 and toes 4, and connecting tarsal rods 2 and metatarsal rods 3. Tarsus axis 60, ankle joint axis A70 connecting tarsus bar 2 and mechanical calf 1, ankle joint axis B80 perpendicular to ankle joint axis A70, two bolts 84, flange 81, installed on metatarsal bar 3 The toe motor 53 on the top, the toe pinion 52 installed on the toe motor 53 output shaft, the toe gear 51 installed on the toe shaft 50 and the toe pinion 52 meshing transmission, installed on one end of the tarsus bar 2 The tarsus motor 63, the tarsus pinion gear 62 installed on the tarsus motor 63 output shaft, the tarsus large gear 61 inst...

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Abstract

The invention discloses a low-frequency series-connection humanoid four-degrees-of-freedom mechanical foot and belongs to the field of humanoid robots. The low-frequency series-connection humanoid four-degrees-of-freedom mechanical foot comprises a toe, a metatarsal bone rod, a tarsal bone rod, a toe shaft connecting the metatarsal bone rod with the toe, a tarsal bone shaft connecting the tarsal bone rod with the metatarsal bone rod, an ankle joint shaft A connecting the metatarsal bone rod with a mechanical shank, an ankle joint shaft B, two bolts, a flange plate, a toe motor arranged on the metatarsal bone rod, a toe small gear arranged on an output shaft of the toe motor, a toe large gear in meshing transmission with the toe small gear, a tarsal bone motor arranged at one end of the tarsal bone rod, a tarsal bone small gear arranged on an output shaft of the tarsal bone motor, a tarsal bone large gear, an ankle motor A, an ankle motor B, an ankle small gear and an ankle large gear. The low-frequency series-connection humanoid four-degrees-of-freedom mechanical foot is a series-connection mode humanoid robot foot which is reasonable in structure and more lifelike in motion performance and has four degrees of freedom and low-frequency performance.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a low-frequency serial humanoid four-degree-of-freedom mechanical foot. Background technique [0002] At present, the research on humanoid robots has received widespread attention and has become one of the most active hotspots in the field of intelligent robots. In order to better adapt to the daily life environment of human beings, humanoid robots must have mechanical feet that are closer to human beings, so that during the walking process, the robot can produce movements similar to human walking and control the balance of the entire robot. The mechanical feet of existing humanoid robots have too little motion, which does not conform to the motion characteristics of human feet. Therefore, it is meaningful to design a mechanical foot with four degrees of freedom of motion and low-speed walking. Contents of the invention [0003] The technical problem to be solved by the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 班书昊蒋学东李晓艳何云松席仁强徐然
Owner CHANGZHOU UNIV
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