CN105584554B - Anthropomorphic robot two-freedom series-parallel connection vibration damping machinery foot - Google Patents
Anthropomorphic robot two-freedom series-parallel connection vibration damping machinery foot Download PDFInfo
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- CN105584554B CN105584554B CN201510954270.0A CN201510954270A CN105584554B CN 105584554 B CN105584554 B CN 105584554B CN 201510954270 A CN201510954270 A CN 201510954270A CN 105584554 B CN105584554 B CN 105584554B
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- toe
- axis
- worm
- ankle
- bracket
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses anthropomorphic robot two-freedom series-parallel connection vibration damping machinery foot, belong to anthropomorphic robot field.It includes shank plate, ankle axis, toe axis, toe, shank spring, toe spring, toe joint power set and ankle-joint power set in parallel；Ankle axis can be freely rotated on shank plate, and toe axis can be freely rotated on shank plate；Toe in parallel includes halluces, two big toes, three big toes, four big toes and the small big toe being installed on toe axis；Toe joint power set include the second motor rack, the second motor, toe axis worm gear, the second worm bracket A, the second worm bracket B and the second worm screw；Ankle-joint power set include ankle axis worm gear, the first worm bracket A, the first worm bracket B, the first motor rack, the first motor and the first worm screw.The present invention is a kind of simple in structure, sufficient with two freedom of motion and vibration-damping function, the apery machine of series-parallel connection pattern.
Description
Technical field
The invention mainly relates to anthropomorphic robot field, refers in particular to a kind of anthropomorphic robot two-freedom series-parallel connection vibration damping machinery
Foot.
Background technology
With the development of science and technology, the research of anthropomorphic robot receives universal concern, and as in field in intelligent robotics
One of hot spot the most active.In the structure design of anthropomorphic robot, machinery foot design it is particularly important that, this is because apery
Robot in the process of walking, when foot is contacted with ground, can produce corresponding movement and vibration, so as to cause robot to lose
Go to balance.Therefore, a kind of machinery foot tool simple in structure, that there is vibration-damping function is designed to be of great significance.
The content of the invention
The technical problem that the present invention need to solve is：For technical problem existing in the prior art, the present invention provides a kind of knot
Structure is simple, has two freedom of motion and vibration-damping function, the anthropomorphic robot foot of series-parallel connection pattern.
To solve the above-mentioned problems, solution proposed by the present invention is：A kind of anthropomorphic robot two-freedom series-parallel connection subtracts
Shake mechanical foot, it includes shank plate, the ankle axis being installed on the shank plate and toe axis, the foot in parallel being installed on the toe axis
Toe, the connection shank plate and mechanical shank shank spring, be connected the parallel connection toe and the shank plate toe spring,
Drive the ankle-joint power set that toe joint power set, driving ankle axis that toe axis rotates rotate.
The ankle axis can be freely rotated on the shank plate, and the toe axis can be freely rotated on the shank plate；Institute
State halluces, two big toes, three big toes, four big toes and small big toe that toe in parallel includes being installed on the toe axis.
The toe joint power set include the second motor rack, the second motor being installed on second motor rack, dress
Toe axis worm gear on the toe axis, the second worm bracket A being installed on the shank plate and the second worm bracket B, with it is described
Toe axis worm gear is meshed the second worm screw of transmission；Second motor rack is installed on the second worm bracket A, second electricity
The output shaft of machine is connected with one end of second worm screw；The both ends of second worm screw are installed in described by two bearings respectively
On second worm bracket A, the second worm bracket B.
The ankle-joint power set include the ankle axis worm gear being installed on the ankle axis, are installed on the shank plate
First worm bracket A and the first worm bracket B, the first motor rack being installed on the first worm bracket A, is installed in first electricity
The first motor in rack, both ends are installed in first on the first worm bracket A and the first worm bracket B by two bearings respectively
Worm screw；The output shaft of first motor is connected with one end of first worm screw.
Compared with prior art, the present invention having the following advantages that and beneficial effect：
(1) anthropomorphic robot two-freedom series-parallel connection vibration damping of the invention machinery foot, equipped with toe spring and shank spring, energy
Enough vibrational energies effectively absorbed between parallel connection toe, shank plate and mechanical shank.
(2) anthropomorphic robot two-freedom series-parallel connection vibration damping of the invention machinery foot, is additionally provided with the toe that driving toe axis rotates and closes
Save power set, the ankle-joint power set that driving ankle axis rotates, the first motor and the second motor obtain toe axis and ankle axis respectively
Rotation so that effectively imitate people's foot athletic posture.It follows that the configuration of the present invention is simple, there are two freedom of motion
With vibration-damping function and realize posture when people walks enough imitate.
Brief description of the drawings
Fig. 1 is the structure principle chart of the anthropomorphic robot two-freedom series-parallel connection vibration damping machinery foot of the present invention.
Fig. 2 is the toe structure schematic diagram in parallel of the present invention.
In figure, 1-machinery shank；10-ankle axis；20-the first motor；21-the first motor rack；22-the first worm bracket
A；23-the first worm bracket B；24-the first worm screw；25-ankle axis worm gear；3-parallel connection toe；30-toe axis；31-halluces；
32-two big toes；33-three big toes；34-four big toes；35-small big toe；40-the second motor；41-the second motor rack；42—
Second worm bracket A；43-the second worm bracket B；44-the second worm screw；45-toe axis worm gear；5-shank plate；6-shank spring；
7-toe spring；8-bearing.
Embodiment
The present invention is described in further detail below with reference to the drawings and specific embodiments.
Referring to shown in Fig. 1 and Fig. 2, anthropomorphic robot two-freedom series-parallel connection vibration damping of the invention machinery is sufficient, including shank plate
5th, the ankle axis 10 and toe axis 30 that are installed on shank plate 5, the toe in parallel 3, connection shank plate 5 and the machinery that are installed on toe axis 30
The toe joint power that toe spring 7, the driving toe axis 30 of the shank spring 6 of shank 1, connection toe 3 in parallel and shank plate 5 rotate
The ankle-joint power set that device, driving ankle axis 10 rotate.
Referring to shown in Fig. 1 and Fig. 2, ankle axis 10 can be freely rotated on shank plate 5, and toe axis 30 can be on shank plate 5 freely
Rotate；Toe 3 in parallel includes halluces 31, two big toes 32, three big toes 33, four big toes 34 and the small big toe being installed on toe axis 30
35。
Referring to shown in Fig. 1 and Fig. 2, toe joint power set include the second motor rack 41, are installed on the second motor rack 41
The second motor 40, the toe axis worm gear 45, the second worm bracket A42 and second that is installed on shank plate 5 that are installed on toe axis 10
Worm bracket B43, the second worm screw 44 of the transmission that is meshed with toe axis worm gear 45；Second motor rack 41 is installed in the second worm bracket A42
On, the output shaft of the second motor 40 is connected with one end of the second worm screw 44；The both ends of second worm screw 44 are filled by two bearings 8 respectively
On the second worm bracket A42, the second worm bracket B43.
Referring to shown in Fig. 1 and Fig. 2, ankle-joint power set include the ankle axis worm gear 25 being installed on ankle axis 10, are installed in
The first worm bracket A22 and the first worm bracket B23 on shank plate 5, the first motor rack 21 being installed on the first worm bracket A22,
The first motor 20 being installed on the first motor rack 21, both ends are installed in the first worm bracket A22 and first by two bearings 8 respectively
The first worm screw 24 on worm bracket B23；The output shaft of first motor 20 is connected with one end of the first worm screw 24.
Operation principle：Second motor 40 drives the second worm screw 44 to rotate, and then drives toe axis worm gear 45, toe axis 30 and installing
In the rotation of the toe in parallel 3 on toe axis 30；First motor 20 drives the first worm screw 24 to rotate, and then drives 25 He of toe axis worm gear
The synchronous rotation of mechanical shank 1；Toe 3 in parallel is in rotation process, if the vibrational energy in the external world is run into, by toe spring
7 elastic deformation is absorbed；Mechanical shank 1 is in rotation process, and extraneous vibrational energy is by the elastic deformation institute of shank spring 6
Absorb.
Claims (1)
1. anthropomorphic robot two-freedom series-parallel connection vibration damping machinery foot, it is characterised in that：Including shank plate (5), it is installed in the instep
Ankle axis (10) and toe axis (30) on hone lamella (5), the toe in parallel (3) being installed on the toe axis (30), the connection shank
The shank spring (6) of plate (5) and mechanical shank (1), the toe spring for be connected toe (3) in parallel and the shank plate (5)
(7), the ankle-joint power set that toe joint power set, driving ankle axis (10) that toe axis (30) rotates rotate are driven；The ankle
Axis (10) can be freely rotated on the shank plate (5), and the toe axis (30) can be freely rotated on the shank plate (5)；Institute
State halluces (31), two big toes (32), three big toes (33), four thumbs that toe in parallel (3) includes being installed on the toe axis (30)
Toe (34) and small big toe (35)；The toe joint power set include the second motor rack (41), are installed in second motor rack
(41) the second motor (40) on, the toe axis worm gear (45) being installed on the toe axis (30), be installed in the shank plate (5)
On the second worm bracket A (42) and the second worm bracket B (43), the second worm screw of the transmission that is meshed with the toe axis worm gear (45)
(44)；Second motor rack (41) is installed on the second worm bracket A (42), the output shaft of second motor (40) with
One end of second worm screw (44) is connected；The both ends of second worm screw (44) are installed in described by two bearings (8) respectively
On second worm bracket A (42), the second worm bracket B (43)；The ankle-joint power set include being installed on the ankle axis (10)
Ankle axis worm gear (25), the first worm bracket A (22) and the first worm bracket B (23) being installed on the shank plate (5), are installed in
The first motor rack (21) on the first worm bracket A (22), the first motor being installed on first motor rack (21)
(20), both ends are installed in the first worm bracket A (22) and first on the first worm bracket B (23) by two bearings (8) respectively
Worm screw (24)；The output shaft of first motor (20) is connected with one end of first worm screw (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510954270.0A CN105584554B (en) | 2015-12-17 | 2015-12-17 | Anthropomorphic robot two-freedom series-parallel connection vibration damping machinery foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510954270.0A CN105584554B (en) | 2015-12-17 | 2015-12-17 | Anthropomorphic robot two-freedom series-parallel connection vibration damping machinery foot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105584554A CN105584554A (en) | 2016-05-18 |
| CN105584554B true CN105584554B (en) | 2018-05-04 |
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ID=55924535
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510954270.0A Active CN105584554B (en) | 2015-12-17 | 2015-12-17 | Anthropomorphic robot two-freedom series-parallel connection vibration damping machinery foot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105584554B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112009592B (en) * | 2020-09-14 | 2021-07-09 | 常州大学 | Machine foot capable of being used for walking of soft soil robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB518258A (en) * | 1939-04-26 | 1940-02-21 | J E Hanger And Company Ltd | An ankle joint for use in connection with an artificial foot |
| US2475373A (en) * | 1947-12-11 | 1949-07-05 | John G Catranis | Three-part artificial foot(lateral motion and ankle rotation) |
| GB628958A (en) * | 1945-02-07 | 1949-09-08 | Mario Capella Valenti | Improvements relating to artificial limbs |
| EP2135588A2 (en) * | 2005-11-29 | 2009-12-23 | Touch Emas Limited | Prostheses with mechanically operable digit members |
| CN101912320A (en) * | 2010-08-24 | 2010-12-15 | 北京大学 | Dynamic below-knee artificial limb containing flexible dynamic ankle joints and toe joints |
| CN103802907A (en) * | 2013-01-17 | 2014-05-21 | 常州先进制造技术研究所 | Humanoid robot feet |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5913902A (en) * | 1996-09-30 | 1999-06-22 | Geible; Harry F. | Artificial foot that enables Limp-free walking |
| GB201114264D0 (en) * | 2011-08-18 | 2011-10-05 | Touch Emas Ltd | Improvements in or relating to prosthetics and orthotics |
-
2015
- 2015-12-17 CN CN201510954270.0A patent/CN105584554B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB518258A (en) * | 1939-04-26 | 1940-02-21 | J E Hanger And Company Ltd | An ankle joint for use in connection with an artificial foot |
| GB628958A (en) * | 1945-02-07 | 1949-09-08 | Mario Capella Valenti | Improvements relating to artificial limbs |
| US2475373A (en) * | 1947-12-11 | 1949-07-05 | John G Catranis | Three-part artificial foot(lateral motion and ankle rotation) |
| EP2135588A2 (en) * | 2005-11-29 | 2009-12-23 | Touch Emas Limited | Prostheses with mechanically operable digit members |
| CN101912320A (en) * | 2010-08-24 | 2010-12-15 | 北京大学 | Dynamic below-knee artificial limb containing flexible dynamic ankle joints and toe joints |
| CN103802907A (en) * | 2013-01-17 | 2014-05-21 | 常州先进制造技术研究所 | Humanoid robot feet |
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| Publication number | Publication date |
|---|---|
| CN105584554A (en) | 2016-05-18 |
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