CN110329390B - Humanoid mechanical foot - Google Patents
Humanoid mechanical foot Download PDFInfo
- Publication number
- CN110329390B CN110329390B CN201910651931.0A CN201910651931A CN110329390B CN 110329390 B CN110329390 B CN 110329390B CN 201910651931 A CN201910651931 A CN 201910651931A CN 110329390 B CN110329390 B CN 110329390B
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- Prior art keywords
- push rod
- plate
- toe
- connecting piece
- mechanical foot
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
A humanoid mechanical foot belongs to the technical field of robots. The human-simulated mechanical foot is high in flexibility and sufficient in stability. The utility model discloses a novel multi-functional shoe, including a connecting axle, a backplate, a toe board, a connecting axle top, the coaxial fixation of connecting axle is on the solid fixed bottom surface of a section of thick bamboo, the flexible outer end and the push rod connecting piece one end of flexible push rod are connected, and the stiff end of flexible push rod passes through solid fixed connection spare to be fixed on the solid fixed section of thick bamboo of shank, the heel board rear end rotates with the push rod connecting piece to be connected, the toe board rear end rotates with the backplate front end to be connected, fixed cover is equipped with three bearing one on the solid fixed section of thick. The invention can realize horizontal rotation and up-and-down rotation, realize the simulation of the foot movement of the human body, has high stability, further realizes shock absorption through the shock absorption rubber and enhances the stability.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a humanoid mechanical foot.
Background
With the progress of science and technology and the research and development of new materials, humanoid robots in the intelligent field show unparalleled vitality. Compared with the traditional robot, the humanoid robot is the closest to the human. In the mechanical structure of the humanoid robot, the design of mechanical feet is extremely important, and the design not only relates to the balance performance of the whole robot in the walking process, but also determines the reality of anthropomorphic actions.
However, the existing humanoid mechanical foot has the problems of insufficient flexibility and stability.
Disclosure of Invention
In view of the problems in the prior art, the invention aims to provide a humanoid mechanical foot with high flexibility and stability.
The technical scheme adopted by the invention is as follows: a humanoid mechanical foot comprises a leg fixing cylinder, a telescopic push rod, a fixing connecting piece, a push rod connecting piece, a connecting shaft, a heel plate, a back plate, a toe plate, a first three bearings and three telescopic pull rods; the utility model discloses a novel multi-functional shoe, including a connecting axle, a backplate, a toe board, a connecting axle top, the coaxial fixation of connecting axle is on the solid fixed bottom surface of a section of thick bamboo, the flexible outer end and the push rod connecting piece one end of flexible push rod are connected, and the stiff end of flexible push rod passes through solid fixed connection spare to be fixed on the solid fixed section of thick bamboo of shank, the heel board rear end rotates with the push rod connecting piece to be connected, the toe board rear end rotates with the backplate front end to be connected, fixed cover is equipped with three bearing one on the solid fixed section of thick.
The invention has the beneficial effects that:
the invention has convenient operation, the heel plate, the back plate and the toe plate form the foot of the mechanical foot, the horizontal rotation is realized through the telescopic push rod, the up-and-down rotation is realized through the three telescopic pull rods, and the flexible rotation is realized among the heel plate, the back plate and the toe plate, thereby realizing the simulation of the foot movement of the human body, having large contact area, flexible use and high stability, and further realizing the shock absorption through the shock absorption rubber and enhancing the stability.
Drawings
FIG. 1 is an isometric view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is an isometric view of the back plate of the present invention;
FIG. 5 is a front view of the back plate of the present invention;
FIG. 6 is a side view of the backing plate of the present invention;
FIG. 7 is an isometric view of the heel plate of the present invention;
FIG. 8 is a front view of the present invention;
FIG. 9 is an isometric view of the fixed connection of the present invention;
FIG. 10 is an isometric view of the push rod connector of the present invention;
FIG. 11 is an internal schematic view of a heel plate, backboard or toe board of the present invention;
FIG. 12 is a bottom view of the heel, backboard or toe board of the present invention;
wherein: 1-a leg fixing cylinder; 2, bearing one; 3-fixing the connecting piece; 3-1-L rod; 4-a telescopic push rod; 5-a push rod connector; 5-1-sleeve; 5-2-struts; 6-connecting shaft; 7-heel plate; 7-1-collar; 8-a telescopic pull rod; 9-a back plate; 10-a crawler belt; 11-a drive motor; 12-a belt drive; 13-toe board; 14-cushion rubber; 15-a through hole; 16-shaft seat; 17-articulated shaft.
Detailed Description
As shown in fig. 1 to 12, a humanoid mechanical foot comprises a leg fixing cylinder 1, a telescopic push rod 4, a fixing connecting piece 3, a push rod connecting piece 5, a connecting shaft 6, a heel plate 7, a back plate 9, a toe plate 13, three bearings I2 and three telescopic pull rods 8; the utility model discloses a leg fixing device, including a leg fixing cylinder, push rod connecting piece 5, connecting axle 6, telescopic push rod 4, flexible connecting rod 5, flexible push rod connecting piece 5, flexible connecting rod 4, flexible drive push rod connecting piece 5 is rotated around 6 horizontal directions of connecting axle, thereby makes imitative people's mechanical foot rotate about can, and the stiff end of telescopic push rod 4 passes through fixed connection 3 to be fixed on leg fixing cylinder 1, it is connected to rotate with push rod connecting piece 5 with 7 rear ends of heel plate, 9 rear ends of backplate are connected with 7 front ends of heel plate rotation, toe plate 13 rear end is connected with 9 front ends of backplate rotation, fixed cover is equipped with three bearing one 2 on the fixed section of thick bamboo of leg 1, all be connected through flexible pull rod 8 between heel plate 7, backplate 9 and the toe plate 13 and the bearing one 2 that corresponds. The action of the bearing I2 enables the telescopic pull rod 8 to rotate along with the heel plate 7, the back plate 9 and the toe plate 13.
The heel plate 7, the back plate 9 and the toe plate 13 are respectively used for simulating the heel part, the instep part and the toe part of a human foot, the heel plate 7 rotates left and right along with the push rod connecting piece 5 and rotates up and down around the push rod connecting piece 5 through the telescopic pull rod 8, the free rotation of the foot of a human is simulated, the back plate 9 and the toe plate 13 rotate up and down through the telescopic pull rod 8, and the motion of each part of the foot when the human walks can be simulated.
The three bearings I2 are arranged up and down, the bearing I2 positioned at the uppermost end in the three bearings I2 corresponds to the toe board 13, and the bearing I2 positioned at the lowermost end corresponds to the heel board 7, so that the three telescopic pull rods 8 are arranged up and down, and no conflict exists between every two telescopic pull rods.
The telescopic push rod 4 and the three telescopic pull rods 8 are electric telescopic rods. Electric telescopic handle is prior art outsourcing spare, realizes flexible, easy to assemble and use through electric power.
As shown in fig. 1 to 6, the humanoid robot foot further comprises two caterpillar tracks 10, two driving motors 11 and two belt transmission mechanisms 12; the crawler belts 10 are installed on the left side and the right side of the back plate 9, the two driving motors 11 are fixed on the back plate 9, and the two driving motors 11 drive the corresponding crawler belts 10 to move back and forth through the belt transmission mechanisms 12. When the humanoid mechanical foot is installed on the robot body, when the robot does not need to move up and down in a stair-type manner or does not need to walk like a human, the rapid movement on a smooth road surface can be realized through the crawler belt 10. The track links on track 10 increase friction and can increase the stability of the humanoid mechanical foot. At the same time, the rear end of the heel plate 7 and the front end of the toe plate 13 are both inclined upward, and the legs of the robot operate to shift the center of gravity of the robot to the backboard 9.
The track 10 and its manner of installation are prior art. The driving roller and the driven roller of the caterpillar 10 are respectively installed on the corresponding side surfaces of the back plate 9.
The belt transmission mechanism 12 comprises a belt, a driving belt wheel and a driven belt wheel, the driving belt wheel is fixedly sleeved on an output shaft of the driving motor 11, the driven belt wheel is fixedly sleeved on a driving roller of the crawler belt 10, and the driving belt wheel and the driven belt wheel are connected through belt transmission.
As shown in fig. 11, the humanoid mechanical foot further comprises three shock-absorbing rubbers 14, the heel plate 7, the back plate 9 and the toe plate 13 are provided with inner cavities, and the inner cavities of the heel plate 7, the back plate 9 and the toe plate 13 are filled with the shock-absorbing rubbers 14. The shock-absorbing rubber 14 has the function of providing shock absorption for the humanoid mechanical foot.
As shown in fig. 12, a plurality of through holes 15 are formed on the bottom surfaces of the heel plate 7, the back plate 9 and the toe plate 13, each through hole 15 on the heel plate 7, the back plate 9 and the toe plate 13 is communicated with the inner cavity thereof, and the damping rubber 14 in the heel plate 7, the back plate 9 and the toe plate 13 is filled in the corresponding inner cavity and the plurality of through holes 15 at the same time. The damping rubber 14 is exposed out of the through holes 15, so that the damping rubber 14 can damp and increase friction force, walking and moving of the humanoid mechanical foot are facilitated, and stability is improved.
As shown in fig. 10, the push rod connector 5 comprises a sleeve 5-1 and two struts 5-2; the sleeve 5-1 is rotatably sleeved on the connecting shaft 6 through a bearing II, the two supporting rods 5-2 are symmetrically arranged on the left side and the right side of the sleeve 5-1, and one ends of the two supporting rods 5-2 are fixedly connected with the outer side face of the sleeve 5-1.
The fixed connecting piece 3 comprises two L rods 3-1, the two L rods 3-1 are vertically arranged, one ends of the two L rods 3-1 are vertically and fixedly connected, and the other ends of the two L rods 3-1 are respectively fixedly connected with the telescopic outer ends of the telescopic push rods 4 and the rear side face of the leg fixing barrel 1.
The telescopic outer end of the telescopic push rod 4 is connected with the other end of one of the support rods 5-2, and the telescopic push rod 4 pushes the other end of the support rod 5-2 (namely one end of the push rod connecting piece 5) to rotate around the connecting shaft 6, so that the left-right rotation of the humanoid mechanical foot is realized.
As shown in fig. 7 and 8, two lantern rings 7-1 are arranged at the rear end of the heel plate 7, and the two lantern rings 7-1 are rotatably sleeved on the two support rods 5-2. The heel plate 7 is connected with the two supporting rods 5-2 in a rotating way.
As shown in fig. 1 to 8, axle seats 16 are respectively mounted on the heel plate 7, the back plate 9, the toe plate 13 and the first three bearings 2, a hinge shaft 17 is rotatably mounted on each axle seat 16, and two ends of each of the three telescopic pull rods 8 are connected with the corresponding hinge shaft 17. The rotary connection of the two ends of the telescopic pull rod 8 is realized.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A humanoid mechanical foot is characterized in that: comprises a leg fixing cylinder (1), a telescopic push rod (4), a fixing connecting piece (3), a push rod connecting piece (5), a connecting shaft (6), a heel plate (7), a back plate (9), a toe plate (13), three bearings I (2) and three telescopic pull rods (8); the push rod connecting piece (5) is horizontally and rotatably arranged on the connecting shaft (6), the upper end of the connecting shaft (6) is coaxially fixed on the bottom surface of the leg fixing cylinder (1), the telescopic outer end of the telescopic push rod (4) is connected with one end of a push rod connecting piece (5), the fixed end of the telescopic push rod (4) is fixed on the leg fixing cylinder (1) through a fixed connecting piece (3), the rear end of the heel plate (7) is rotationally connected with the push rod connecting piece (5), the rear end of the back plate (9) is rotationally connected with the front end of the heel plate (7), the rear end of the toe board (13) is rotationally connected with the front end of the back board (9), the leg fixing cylinder (1) is fixedly sleeved with three bearings I (2), the heel plate (7), the back plate (9) and the toe plate (13) are connected with the corresponding bearing I (2) through a telescopic pull rod (8), the push rod connecting piece (5) comprises a sleeve (5-1) and two supporting rods (5-2); the sleeve (5-1) is rotatably sleeved on the connecting shaft (6), the two supporting rods (5-2) are symmetrically arranged on the left side and the right side of the sleeve (5-1), one ends of the two supporting rods (5-2) are fixedly connected with the outer side face of the sleeve (5-1), the rear end of the heel plate (7) is provided with two lantern rings (7-1), and the two lantern rings (7-1) are rotatably sleeved on the two supporting rods (5-2).
2. The humanoid mechanical foot of claim 1, characterized in that: the telescopic push rod (4) and the three telescopic pull rods (8) are electric telescopic rods.
3. The humanoid mechanical foot of claim 1, characterized in that: the humanoid mechanical foot also comprises two tracks (10), two driving motors (11) and two belt transmission mechanisms (12); crawler belts (10) are installed on the left side and the right side of the back plate (9), the two driving motors (11) are fixed on the back plate (9), and the two driving motors (11) drive the corresponding crawler belts (10) to move back and forth through belt transmission mechanisms (12).
4. The humanoid mechanical foot of claim 1, characterized in that: the humanoid mechanical foot further comprises three shock-absorbing rubbers (14), inner cavities are formed in the heel plate (7), the back plate (9) and the toe plate (13), and the inner cavities of the heel plate (7), the back plate (9) and the toe plate (13) are filled with the shock-absorbing rubbers (14).
5. The humanoid mechanical foot of claim 4, characterized in that: a plurality of through-holes (15) have all been seted up with the bottom surface of board (7), backplate (9) and toe board (13), all communicate with its inner chamber with every through-hole (15) on board (7), backplate (9) and toe board (13), fill corresponding inner chamber and a plurality of through-hole (15) simultaneously with damping rubber (14) in board (7), backplate (9) and toe board (13).
6. The humanoid mechanical foot of claim 1, characterized in that: all install axle bed (16) on with board (7), backplate (9), toe board (13) and three bearing (2), every all rotate on axle bed (16) and install articulated shaft (17), three flexible pull rod (8) both ends all are connected with articulated shaft (17) that correspond.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910651931.0A CN110329390B (en) | 2019-07-18 | 2019-07-18 | Humanoid mechanical foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910651931.0A CN110329390B (en) | 2019-07-18 | 2019-07-18 | Humanoid mechanical foot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110329390A CN110329390A (en) | 2019-10-15 |
| CN110329390B true CN110329390B (en) | 2021-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910651931.0A Expired - Fee Related CN110329390B (en) | 2019-07-18 | 2019-07-18 | Humanoid mechanical foot |
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| Country | Link |
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| CN (1) | CN110329390B (en) |
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| CN108820066A (en) * | 2018-06-28 | 2018-11-16 | 吉林大学 | A kind of mechanical foot of adjustable passive stabilization |
| CN109018061A (en) * | 2018-07-24 | 2018-12-18 | 武汉大学 | One kind being based on the bionic passive foot system of flexibility |
| CN208498645U (en) * | 2018-06-07 | 2019-02-15 | 长安大学 | A kind of quadruped robot hind leg system ankle-joint and sole |
| CN109625119A (en) * | 2019-02-21 | 2019-04-16 | 北京钢铁侠科技有限公司 | It is a kind of to put sufficient peace and convert lower limb structure completely |
Family Cites Families (1)
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| US20070043449A1 (en) * | 2005-03-31 | 2007-02-22 | Massachusetts Institute Of Technology | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
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2019
- 2019-07-18 CN CN201910651931.0A patent/CN110329390B/en not_active Expired - Fee Related
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| CN205524548U (en) * | 2016-01-14 | 2016-08-31 | 燕山大学 | Bionical climbing robot based on ballista device |
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| CN206984164U (en) * | 2017-06-09 | 2018-02-09 | 黄国彬 | Two leg walking robot's multi-joint leg structure |
| CN208498645U (en) * | 2018-06-07 | 2019-02-15 | 长安大学 | A kind of quadruped robot hind leg system ankle-joint and sole |
| CN108820066A (en) * | 2018-06-28 | 2018-11-16 | 吉林大学 | A kind of mechanical foot of adjustable passive stabilization |
| CN109018061A (en) * | 2018-07-24 | 2018-12-18 | 武汉大学 | One kind being based on the bionic passive foot system of flexibility |
| CN109625119A (en) * | 2019-02-21 | 2019-04-16 | 北京钢铁侠科技有限公司 | It is a kind of to put sufficient peace and convert lower limb structure completely |
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| CN110329390A (en) | 2019-10-15 |
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Address after: No.42-1, District 4, Chaoyang new village, Tinghu District, Yancheng City, Jiangsu Province 224600 Applicant after: Guo Siyu Address before: 150000 Heilongjiang Province, Harbin city Nangang District Fuhua District D5 building 1301 room Applicant before: Guo Siyu |
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Effective date of registration: 20210309 Address after: 519-23, science and Technology Park, Harbin University of technology, No.52 Xuefu Road, Nangang District, Harbin City, Heilongjiang Province Applicant after: Harbin Shoujie Intelligent Technology Co.,Ltd. Address before: 224600 no.42-1, District 4, Chaoyang new village, Tinghu District, Yancheng City, Jiangsu Province Applicant before: Guo Siyu |
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