Humanoid robot four-degrees-of-freedom series-parallel-connection low-frequency mechanical foot

A humanoid robot and degrees of freedom technology, applied in the field of humanoid robots, can solve the problems of less degrees of freedom, reduced stability when walking, and inability to simulate the subtle movements of human feet, and achieve the effect of prolonging motion life and having a simple and reasonable structure.

Active Publication Date: 2016-06-15
爱豆贝思(江苏)人工智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The mechanical feet in the prior art have less freedom of movement and cannot simulate the subtle movements of human feet when walking, which in turn reduces the stability of walking

Method used

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  • Humanoid robot four-degrees-of-freedom series-parallel-connection low-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 and figure 2 As shown, the humanoid robot four-degree-of-freedom hybrid low-frequency mechanical foot of the present invention includes a U-shaped tarsal frame 3, an ankle joint axis A20, a calf rotation power device installed on the ankle joint axis A20, and a U-shaped tarsal The rotating shaft 30 of skeleton 3 left ends, the low-frequency power unit B8 that is installed in U-shaped tarsus frame 3 right-hand sides, metatarsal plate 5, the low-frequency power unit A4 that is installed on the metatarsal plate 5 and stepper motor A6, toe shaft 60, install Parallel toes on toe axis 60.

[0017] see figure 1 and figure 2 As shown, the parallel toes include the big toe 71, the second big toe 72, the third big toe 73, the fourth big toe 74, and the little big toe 75 which are sequentially installed on the toe shaft...

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Abstract

The invention discloses a humanoid robot four-degrees-of-freedom series-parallel-connection low-frequency mechanical foot and belongs to the field of humanoid robots. The humanoid robot four-degrees-of-freedom series-parallel-connection low-frequency mechanical foot comprises a U-shaped tarsal bone frame, an ankle joint shaft A, a shank rotary power device, a rotary shaft, a low-frequency power device B, a metatarsal bone plate, a low-frequency power device A, a stepping motor A, a toe shaft and a parallel connection toe. The structure of the low-frequency power device A is completely the same as that of the low-frequency power device B. The low-frequency power device A and the low-frequency power device B each comprises a worm bracket B, a worm bracket A, a worm, a U-shaped frame, a stepping motor B and worm wheel. The worm wheel in the low-frequency power device A is arranged on the rotary shaft. The worm wheel in the low-frequency power device B is arranged on the ankle joint shaft A. The shank rotary power device comprises an ankle joint shaft B, an ankle motor A, a flange plate and a bolt. The ankle joint shaft A perpendicularity passes through the ankle joint shaft B. The humanoid robot four-degrees-of-freedom series-parallel-connection low-frequency mechanical foot is a series-parallel-connection mode humanoid mechanical foot which is reasonable in structure and highly human-simulated, and has four degrees of freedom of motion and low-frequency motion performance.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a four-degree-of-freedom hybrid low-frequency mechanical foot of a humanoid robot. Background technique [0002] From the perspective of bionics, the study of humanoid robots is of great significance. The structure of a humanoid robot generally includes a mechanical head, a mechanical hand, a mechanical foot, and a torso. The number of degrees of freedom of movement of the mechanical foot determines the degree of imitation of anthropomorphic actions. The mechanical foot in the prior art has less freedom of movement and cannot simulate the subtle movements of the human foot when walking, which in turn reduces the stability of walking. Therefore, it is of great significance to design a mechanical foot with four degrees of freedom of motion. Contents of the invention [0003] The technical problem to be solved by the present invention is: aiming at the technical problems ex...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 李晓艳班书昊蒋学东何云松席仁强谭邹卿
Owner 爱豆贝思(江苏)人工智能科技有限公司
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