CN203020441U - Quasi-man robot foot - Google Patents
Quasi-man robot foot Download PDFInfo
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- CN203020441U CN203020441U CN 201320030979 CN201320030979U CN203020441U CN 203020441 U CN203020441 U CN 203020441U CN 201320030979 CN201320030979 CN 201320030979 CN 201320030979 U CN201320030979 U CN 201320030979U CN 203020441 U CN203020441 U CN 203020441U
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Abstract
The utility model discloses a quasi-man robot foot which is provided with a quasi-man sole and a robot leg connected to the sole of the foot through an ankle joint, wherein the sole comprises toes, an arch body and a foot base plate; the toes are connected to the arch body through passive joints; the arch body comprises an arch upper part, an arch inner moving block and an arch lower part; flexible cushion blocks are arranged between the arch upper part and the arch inner moving block as well as between the arch inner moving block and the arch lower part; the arch upper part is hinged to the foot base plate; and the arch lower part is fixed on the foot base plate. The quasi-man robot foot is compact in structure; during walking, impact produced in a stage that the foot touches the ground can be buffered; when the foot leaves the ground, relatively large thrust is produced; and the quasi-man robot foot can walk on the complicated ground.
Description
Technical field
The utility model belongs to the Robotics field, is specifically related to a kind of humanoid robot pin.
Background technology
Robot is the intersect application of combination of the multidisciplinary and technology of of getting up of development in recent years, and humanoid robot has become one of study hotspot problem of robot field at present.The humanoid robot technology has been collected the sophisticated technology of the world today at a plurality of ambits such as electromechanics, material, computing machine, sensor, control technology, artificial intelligence, bionical science, cognitive science, psychology and theoretical linguisticses.The robot of present various move modes emerges in an endless stream, as robots such as wheeled robot, crawler types.
But humanoid robot has higher alerting ability and unique advantage, very low to the walking environmental requirement, can adapt to various ground and have the higher obstacle ability of going beyond, by development walking mechanism, the mechanism of can walking for the class people that medical rehabilitation mechanism provides a cover can serve disability patient (lower limb paralysis and amputee).
Like a raging fire to the research of humanoid robot both at home and abroad, as the ASIMO robot of Japan's development, the HUBO robot of Korea S's development, " converging virgin " robot of the development of China etc., but the soles of the humanoid robot great majority design of each research institution's announcement at present all do not have toe joint, the distinctive foot arc structure of nobody's pin, so produce thrust when the collision in the time of can not utilizing the variation of arch of foot to reduce pin during robot ambulation to land and less touch with the ground as the mankind, can not can be at the ground running of complexity as the mankind.
The utility model content
The technical matters that (one) will solve
The technical problems to be solved in the utility model is to provide a kind of compact conformation, can cushion the impact that the pin stage of contacting to earth produces during walking, produces larger thrust during less touch with the ground, and the humanoid robot pin that can walk on the ground of complexity.
(2) technical scheme
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is:
A kind of humanoid robot pin, have class people's sole and be connected to robot shank on sole by ankle-joint, described sole comprises toe, arch of foot body and sole, described toe is connected on described arch of foot body by passive joint, described arch of foot body includes arch of foot top, arch of foot internal motion piece, arch of foot bottom, be provided with flexible cushion block between described arch of foot top and arch of foot internal motion piece and between arch of foot internal motion piece and arch of foot bottom, described arch of foot upper articulation is on sole, and described arch of foot bottom is fixed on sole.
Be provided with flexible body in described arch of foot internal motion piece.
Described toe comprises front toe joint and the rear toe joint that is connected through the hinge, and also is connected with spring on described front toe joint and rear toe joint end face and causes described front toe joint and rear toe joint to be horizontal when not moving.
Described sole is provided with the first metal layer, flexible material layer, the second metal level from top to bottom successively, and described sole inside is provided with six-dimensional force/torque sensor.
The first metal layer top of described sole is provided with the joint connecting portion, described joint connecting portion is connected on the robot shank by three-degree of freedom ankle joint, thereby the naked joint of described three degree of freedom connects the motion of harmonic speed reducer driving joint by three servomotors by Timing Belt, realize respectively along continuous straight runs yawing rotation, vertical direction dipping and heaving and along horizontal rolling, the wherein dipping and heaving of vertical direction and along the move realization of horizontal rolling by middle contiguous block interlock.
Described toe has 4 groups.
(3) beneficial effect
the utility model is compared to prior art, has following beneficial effect: the toe that has four quilts to be dynamically connected on sole of the present utility model, in the time of can realizing walking as the people, toe is liftoff, the action that heel contacts to earth, each toe has two parts, be horizontal by spring straining, when being subjected to power upwards, toe can raise up, can adapt to the walking of complicated ground, especially designed the arch of foot of class people's pin, in the less touch with the ground stage, contact and be positioned at the elastic deformation of the flexible body of arch of foot internal motion piece inside with the flexible cushion block that is installed on the arch of foot downside by arch of foot internal motion piece, produce thrust, help walking, land the stage at pin, the elastic deformation that contacts and be positioned at the flexible body of arch of foot internal motion piece inside by arch of foot internal motion piece and the flexible cushion block that is installed on the arch of foot upside, the impact on buffering ground, sole is installed six-dimensional force/torque sensor simultaneously, realized the real-time detection of ground in the face of the pin antagonistic force, ankle-joint is by three driven by servomotor, realized the three-degree-of-freedom motion as mankind's ankle, whole mechanism structure is compact, during motion, energy consumption is less, improved the stability of walking.
Description of drawings
Fig. 1 is the perspective view of a kind of humanoid robot pin of the utility model embodiment.
Fig. 2 is the sole structural representation of a kind of humanoid robot pin of the utility model embodiment.
Fig. 3 is the sole structural representation of a kind of humanoid robot pin of the utility model embodiment.
Fig. 4 is the toe structure schematic diagram of a kind of humanoid robot pin of the utility model embodiment.
Fig. 5 is the robot shank structural representation of a kind of humanoid robot pin of the utility model embodiment.
Fig. 6 a is the initial standing state figure of a kind of humanoid robot pin of the utility model embodiment.
Fig. 6 b is the liftoff stage condition figure of sole of a kind of humanoid robot pin of the utility model embodiment.
Fig. 6 c is the sole of a kind of humanoid robot pin of the utility model embodiment stage condition figure that lands.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present utility model is described in further detail.Following examples are used for explanation the utility model, but are not used for limiting scope of the present utility model.
as extremely shown in Figure 5 in Fig. 1, a kind of humanoid robot pin, have class people's sole 6 and be connected to robot shank 7 on sole 6 by ankle-joint, described sole 6 comprises toe 1, arch of foot body 2 and sole 10, described toe 1 is connected on described arch of foot body 2 by passive joint, described arch of foot body 2 includes arch of foot top 2-1, arch of foot internal motion piece 2-3, arch of foot bottom 2-2, be provided with flexible cushion block 2-4 between described arch of foot top 2-1 and arch of foot internal motion piece 2-3 and between arch of foot internal motion piece 2-3 and arch of foot bottom 2-2, described arch of foot top 2-1 is articulated on sole 10, described arch of foot bottom 2-2 is fixed on sole 10.Be provided with flexible body 2-5 in described arch of foot internal motion piece 2-3.
When the robot motion, in the less touch with the ground stage, the elastic deformation that contacts with the flexible cushion block 2-4 that is positioned at the arch of foot downside by arch of foot internal motion piece 2-3 and be positioned at the flexible body 2-5 of arch of foot internal motion piece inside produces thrust, as shown in figure Fig. 6 b; Contact to earth the stage at pin, contact 2-4 with the flexible material that is positioned at the arch of foot upside and be positioned at the elastic deformation of the flexible body 2-5 of arch of foot internal motion piece inside by arch of foot internal motion piece 2-3, buffering ground is in the face of the impact of pin, as shown in Fig. 6 c.Six-dimensional force/torque sensor 11 is equipped with in sole 10 inside, detects in real time ground in the face of the robot antagonistic force, controls.
Described toe 1 comprises front toe joint 1-1 and the rear toe joint 1-2 that is connected through the hinge, and also is connected with spring 3 on described front toe joint 1-1 and rear toe joint 1-2 end face and causes described front toe joint 1-1 and rear toe joint 1-2 to be horizontal when not moving.When pin stepped down on level ground, two joints of toe 1 were in same plane under the traction of spring 3, overlapped with ground, as shown in Fig. 6 a; When pin stepped down on the ground of fritter projection, toe 1 can raise up, and had improved the stability of walking.
Described sole 10 is provided with the first metal layer 10-1, flexible material layer 10-2, the second metal level 10-3 from top to bottom successively, and described sole 10 inside are provided with six-dimensional force/torque sensor 11.
The first metal layer 10-1 top of described sole 10 is provided with joint connecting portion 12, described joint connecting portion 12 is connected on robot shank 7 by three-degree of freedom ankle joint, thereby the naked joint of described three degree of freedom connects the motion of harmonic speed reducer driving joint by three servomotors by Timing Belt, realize respectively along continuous straight runs yawing rotation, vertical direction dipping and heaving and along horizontal rolling, the wherein dipping and heaving of vertical direction and along the move realization of horizontal rolling by middle contiguous block 9 interlocks.Described toe 1 has 4 groups.
The ankle-joint of robot foot of the present utility model has three degree of freedom, can realize respectively as people's ankle arthrosis along continuous straight runs yawing rotation, vertical direction dipping and heaving and along horizontal rolling.Wherein, motor 4-1 is by drive pulley 8-1 and harmonic speed reducer 5-1, realize the yawing rotation of sole 6 along continuous straight runs of robot, motor 4-2 is by drive pulley 8-2 and harmonic speed reducer 5-2, realize that the sole 6 of robot is in the dipping and heaving of vertical direction, motor 4-3 realizes that by drive pulley 8-3 and harmonic speed reducer 5-3 the sole 6 of robot is along horizontal rolling.Harmonic speed reducer 5-2 and 5-3 are by middle contiguous block 9, and the drive robot foot realizes the dipping and heaving of vertical direction and along horizontal rolling, harmonic speed reducer 5-1 directly is connected with sole 6, realizes the yawing rotation of along continuous straight runs.
The moving process of robot: represent the initial standing state of robot as Fig. 6 a, the sole 6 of robot contacts fully with ground; The liftoff stage that represents the sole 6 of robot as Fig. 6 b, motor 4-2 vertically lifts the robot sole by belt pulley 8-2 and harmonic speed reducer 5-2, sole 10 is liftoff, only have toe 1 to contact to earth this moment, wherein arch of foot internal motion piece 2-3 contacts with the flexible cushion block 2-4 that is positioned at the arch of foot downside, and by the elastic deformation of the flexible body 2-5 in arch of foot internal motion piece, produce thrust, help robot ambulation; The landing the stage of sole 6 that represents robot as Fig. 6 c, contact with the flexible cushion block 2-4 that is positioned at the arch of foot upside by arch of foot internal motion piece 2-3, flexible body 2-5 in extruding arch of foot internal motion piece 2-3, elastic deformation by flexible body, cushioned the impact of ground in the face of sole, and the real-time detection of the six-dimensional force/torque sensor 11 by being installed on sole 10 in the face of the antagonistic force of robot, is adjusted the speed of travel of robot and stride etc. with obtaining timely.
The above is only preferred implementation of the present utility model; should be understood that; for those skilled in the art; under the prerequisite that does not break away from the utility model know-why; can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (6)
1. humanoid robot pin, have class people's sole and be connected to robot shank on sole by ankle-joint, it is characterized in that: described sole comprises toe, arch of foot body and sole, described toe is connected on described arch of foot body by passive joint, described arch of foot body includes arch of foot top, arch of foot internal motion piece, the arch of foot bottom, be provided with flexible cushion block between described arch of foot top and arch of foot internal motion piece and between arch of foot internal motion piece and arch of foot bottom, described arch of foot upper articulation is on sole, described arch of foot bottom is fixed on sole.
2. humanoid robot pin according to claim 1, is characterized in that: be provided with flexible body in described arch of foot internal motion piece.
3. humanoid robot pin according to claim 1 and 2, it is characterized in that: described toe comprises front toe joint and the rear toe joint that is connected through the hinge, and also is connected with spring on described front toe joint and rear toe joint end face and causes described front toe joint and rear toe joint to be horizontal when not moving.
4. humanoid robot pin according to claim 3, it is characterized in that: described sole is provided with the first metal layer, flexible material layer, the second metal level from top to bottom successively, and described sole inside is provided with six-dimensional force/torque sensor.
5. a kind of humanoid robot pin according to claim 3, it is characterized in that: the first metal layer top of described sole is provided with the joint connecting portion, described joint connecting portion is connected on the robot shank by three-degree of freedom ankle joint, thereby the naked joint of described three degree of freedom connects the motion of harmonic speed reducer driving joint by three servomotors by Timing Belt, realize respectively the yawing rotation of along continuous straight runs, the dipping and heaving of vertical direction and along horizontal rolling, the wherein dipping and heaving of vertical direction and along the move realization of horizontal rolling by the interlock of middle contiguous block.
6. humanoid robot pin according to claim 3, it is characterized in that: described toe has 4 groups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320030979 CN203020441U (en) | 2013-01-17 | 2013-01-17 | Quasi-man robot foot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320030979 CN203020441U (en) | 2013-01-17 | 2013-01-17 | Quasi-man robot foot |
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| CN203020441U true CN203020441U (en) | 2013-06-26 |
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| CN 201320030979 Expired - Lifetime CN203020441U (en) | 2013-01-17 | 2013-01-17 | Quasi-man robot foot |
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Cited By (30)
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|---|---|---|---|---|
| CN103738428A (en) * | 2013-12-27 | 2014-04-23 | 天津科技大学 | Human-like biped robot foot structure |
| CN103802907A (en) * | 2013-01-17 | 2014-05-21 | 常州先进制造技术研究所 | Humanoid robot feet |
| CN104590417A (en) * | 2014-12-26 | 2015-05-06 | 合肥工业大学 | Foot of humanoid robot and control method thereof |
| CN105460101A (en) * | 2015-12-17 | 2016-04-06 | 常州大学 | Humanoid robot two-degree-of-freedom series high-frequency mechanical foot |
| CN105599820A (en) * | 2015-12-17 | 2016-05-25 | 常州大学 | Two-freedom-degree mixed-connection high-frequency mechanical foot of human-simulated robot |
| CN105620578A (en) * | 2016-02-19 | 2016-06-01 | 常州大学 | Shock-resistant four-degree-of-freedom parallel humanoid mechanical foot |
| CN105620574A (en) * | 2015-12-17 | 2016-06-01 | 常州大学 | Two-degree-of-freedom parallel high-frequency mechanical foot of humanoid robot |
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| CN105620576A (en) * | 2016-02-19 | 2016-06-01 | 常州大学 | Three-degree-of-freedom parallel damping humanoid mechanical foot |
| CN105620581A (en) * | 2016-02-19 | 2016-06-01 | 常州大学 | Series-parallel high frequency three-degrees-of-freedom humanoid mechanical foot |
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| CN107128398A (en) * | 2017-06-09 | 2017-09-05 | 黄国彬 | Two leg walking robot's multi-joint leg structure |
| CN107651040A (en) * | 2017-10-29 | 2018-02-02 | 吉林大学 | A kind of bionical tensioning buffering ankle system |
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2013
- 2013-01-17 CN CN 201320030979 patent/CN203020441U/en not_active Expired - Lifetime
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| CN103738428A (en) * | 2013-12-27 | 2014-04-23 | 天津科技大学 | Human-like biped robot foot structure |
| CN104590417A (en) * | 2014-12-26 | 2015-05-06 | 合肥工业大学 | Foot of humanoid robot and control method thereof |
| CN106364587B (en) * | 2014-12-26 | 2018-07-27 | 合肥工业大学 | A kind of control method of humanoid robot foot section |
| CN106364587A (en) * | 2014-12-26 | 2017-02-01 | 合肥工业大学 | Control method for foot of humanoid robot |
| CN105460101A (en) * | 2015-12-17 | 2016-04-06 | 常州大学 | Humanoid robot two-degree-of-freedom series high-frequency mechanical foot |
| CN105599820A (en) * | 2015-12-17 | 2016-05-25 | 常州大学 | Two-freedom-degree mixed-connection high-frequency mechanical foot of human-simulated robot |
| CN105620574A (en) * | 2015-12-17 | 2016-06-01 | 常州大学 | Two-degree-of-freedom parallel high-frequency mechanical foot of humanoid robot |
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| CN105730549B (en) * | 2016-02-19 | 2018-02-02 | 常州大学 | Series-parallel connection vibration damping apery Three Degree Of Freedom machinery foot |
| CN105752191B (en) * | 2016-02-19 | 2018-06-29 | 常州大学 | Anthropomorphic robot four-freedom hybrid high frequency machinery foot |
| CN105620577B (en) * | 2016-02-19 | 2018-03-06 | 常州大学 | Series-parallel connection shock resistance apery Three Degree Of Freedom machinery foot |
| CN107128398A (en) * | 2017-06-09 | 2017-09-05 | 黄国彬 | Two leg walking robot's multi-joint leg structure |
| CN107651040A (en) * | 2017-10-29 | 2018-02-02 | 吉林大学 | A kind of bionical tensioning buffering ankle system |
| CN108482510A (en) * | 2018-03-23 | 2018-09-04 | 吉林大学 | With auxiliary side-swing mechanism without knee under-actuated bionic double feet walking machine |
| CN108482510B (en) * | 2018-03-23 | 2019-10-18 | 吉林大学 | With auxiliary side-swing mechanism without knee under-actuated bionic double feet walking machine |
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