CN105584554B - Anthropomorphic robot two-freedom series-parallel connection vibration damping machinery foot - Google Patents

Abstract

The invention discloses a two-degree-of-freedom hybrid vibration-damping mechanical foot of a humanoid robot, which belongs to the field of humanoid robots. It includes tarsal plate, ankle shaft, toe shaft, parallel toe, calf spring, toe spring, toe joint power unit and ankle power unit; the ankle shaft can rotate freely on the tarsal plate, and the toe shaft can rest on the tarsal plate Free rotation; parallel toes include big toe, second big toe, third big toe, fourth big toe and little big toe installed on the toe shaft; toe joint power device includes second motor frame, second motor, toe shaft worm gear , the second worm frame A, the second worm frame B and the second worm; the ankle joint power device includes the ankle shaft worm gear, the first worm frame A, the first worm frame B, the first motor frame, the first motor and the first worm . The invention is a humanoid robot foot with simple structure, two degrees of freedom of movement, damping function and mixed mode.

Description

Two-degree-of-freedom hybrid vibration-absorbing mechanical foot for humanoid robot

technical field

The invention mainly relates to the field of humanoid robots, in particular to a two-degree-of-freedom hybrid vibration-damping mechanical foot of a humanoid robot.

Background technique

With the development of science and technology, the research of humanoid robots has received widespread attention and has become one of the most active hot spots in the field of intelligent robots. In the structural design of the humanoid robot, the design of the mechanical foot is particularly important, because when the humanoid robot walks, when the foot touches the ground, it will generate corresponding motion and vibration, which will cause the robot to lose its balance. Therefore, it is of great significance to design a mechanical foot with simple structure and vibration-damping function.

Contents of the invention

The technical problem to be solved by the present invention is: aiming at the technical problems existing in the prior art, the present invention provides a humanoid robot foot with simple structure, two degrees of freedom of movement, vibration damping function, and mixed mode.

In order to solve the above problems, the solution proposed by the present invention is: a two-degree-of-freedom hybrid shock-absorbing mechanical foot of a humanoid robot, which includes a tarsal plate, an ankle shaft and a toe shaft installed on the tarsal plate, Parallel toes installed on the toe shaft, calf springs connecting the tarsal plate and mechanical shank, toe springs connecting the parallel toes and the tarsal plate, toe joint power devices that drive the toe shaft to rotate, An ankle power unit that drives the rotation of the ankle shaft.

The ankle shaft can freely rotate on the tarsal plate, and the toe shaft can freely rotate on the tarsal plate; the parallel toes include a big toe, a second thumb, toe, third toe, fourth toe and little toe.

The toe joint power device includes a second motor frame, a second motor mounted on the second motor frame, a toe shaft worm gear mounted on the toe shaft, a toe shaft worm gear mounted on the tarsus plate The second worm frame A and the second worm frame B, and the second worm meshed with the toe shaft worm gear transmission; the second motor frame is installed on the second worm frame A, the second motor The output shaft is connected with one end of the second worm; the two ends of the second worm are respectively installed on the second worm frame A and the second worm frame B through two bearings.

The ankle joint dynamic device includes an ankle shaft worm gear mounted on the ankle shaft, a first worm frame A and a first worm frame B mounted on the tarsus plate, and a first worm frame B mounted on the first worm The first motor frame on the frame A, the first motor mounted on the first motor frame, and the two ends of the first motor mounted on the first worm frame A and the first worm frame B respectively through two bearings A worm; the output shaft of the first motor is connected to one end of the first worm.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

(1) The two-degree-of-freedom hybrid shock-absorbing mechanical foot of the humanoid robot of the present invention is provided with a toe spring and a calf spring, which can effectively absorb the vibration energy between the parallel toes, the tarsus plate and the mechanical calf.

(2) The two-degree-of-freedom hybrid shock-absorbing mechanical foot of the humanoid robot of the present invention is also provided with a toe joint power device that drives the toe shaft to rotate, an ankle joint power device that drives the ankle shaft to rotate, the first motor and the second motor are respectively The rotation of the toe axis and the ankle axis is obtained, so as to effectively imitate the movement posture of the human foot. It can be seen that the present invention has a simple structure, has two degrees of freedom of movement and a vibration damping function, and realizes posture imitation of human feet when walking.

Description of drawings

Fig. 1 is a structural schematic diagram of a two-degree-of-freedom hybrid vibration-damping mechanical foot of a humanoid robot of the present invention.

Fig. 2 is a schematic diagram of the parallel toe structure of the present invention.

In the figure, 1—mechanical calf; 10—ankle shaft; 20—the first motor; 21—the first motor frame; 22—the first worm frame A; 23—the first worm frame B; 24—the first worm; 25— Ankle shaft worm gear; 3—parallel toe; 30—toe shaft; 31—big toe; 32—second hallux; 33—third hallux; 34—fourth hallux; 35—little hallux; 40—second motor; 41—second motor frame; 42—second worm frame A; 43—second worm frame B; 44—second worm; 45—toe shaft worm gear; 5—tarsal plate; 6—calf spring; 7—toe spring ; 8—bearing.

Detailed ways

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

Referring to Fig. 1 and shown in Fig. 2, the humanoid robot two-degree-of-freedom hybrid shock-absorbing mechanical foot of the present invention comprises a tarsal plate 5, an ankle shaft 10 and a toe shaft 30 installed on the tarsal plate 5, and a The parallel toe 3 on the toe shaft 30, the calf spring 6 connecting the tarsal plate 5 and the mechanical calf 1, the toe spring 7 connecting the parallel toe 3 and the tarsal plate 5, the toe joint power device that drives the toe shaft 30 to rotate, and the drive The ankle joint power device that the ankle shaft 10 rotates.

1 and 2, the ankle shaft 10 can rotate freely on the tarsal plate 5, and the toe shaft 30 can freely rotate on the tarsal plate 5; the parallel toes 3 include the big toe mounted on the toe shaft 30 31. Second hallux 32, third hallux 33, fourth hallux 34 and little hallux 35.

Referring to Fig. 1 and shown in Fig. 2, the power device of the toe joint comprises a second motor frame 41, a second motor 40 mounted on the second motor frame 41, a toe shaft worm gear 45 mounted on the toe shaft 10, a The second worm frame A42 and the second worm frame B43 on the tarsus plate 5, and the second worm 44 engaged with the toe shaft worm wheel 45 for transmission; the second motor frame 41 is installed on the second worm frame A42, and the second The output shaft of the motor 40 is connected with one end of the second worm 44; the two ends of the second worm 44 are installed on the second worm frame A42 and the second worm frame B43 through two bearings 8 respectively.

Referring to Fig. 1 and shown in Fig. 2, the ankle joint power device comprises the ankle shaft worm gear 25 installed on the ankle shaft 10, the first worm frame A22 and the first worm frame B23 installed on the tarsus plate 5, and the The first motor frame 21 on the first worm frame A22, the first motor 20 installed on the first motor frame 21, and the two ends are respectively installed on the first worm frame A22 and the first worm frame B23 through two bearings 8 The first worm 24 on the top; the output shaft of the first motor 20 is connected with one end of the first worm 24 .

Working principle: the second motor 40 drives the second worm 44 to rotate, and then drives the toe shaft worm gear 45, the toe shaft 30 and the parallel toe 3 installed on the toe shaft 30 to rotate; the first motor 20 drives the first worm 24 to rotate, and then Drive the synchronous rotation of the toe shaft worm gear 25 and the mechanical shank 1; during the rotation of the parallel toe 3, if the external vibration energy is encountered, it will be absorbed by the elastic deformation of the toe spring 7; during the rotation of the mechanical shank 1, the external vibration energy The vibration energy is absorbed by the elastic deformation of the shank spring 6 .

Claims (1)

1. The two-degree-of-freedom hybrid shock-absorbing mechanical foot of a humanoid robot is characterized in that: it comprises a tarsal plate (5), an ankle shaft (10) and a toe shaft (30) installed on the tarsal plate (5). ), a parallel toe (3) installed on the toe shaft (30), a shank spring (6) connecting the tarsal plate (5) and a mechanical shank (1), connecting the parallel toe (3) With the toe spring (7) of the tarsal bone plate (5), the toe joint power device that drives the toe shaft (30) to rotate, the ankle joint power device that drives the ankle shaft (10) to rotate; the ankle shaft (10) can Rotate freely on the tarsal plate (5), the toe shaft (30) can freely rotate on the tarsal plate (5); the parallel toe (3) includes a toe shaft ( 30) the big toe (31), the second big toe (32), the third big toe (33), the fourth big toe (34) and the little big toe (35); the toe joint power device includes the second motor frame (41), the second motor (40) installed on the second motor frame (41), the toe shaft worm gear (45) installed on the toe shaft (30), the toe shaft worm gear (45) installed on the tarsus The second worm frame A (42) and the second worm frame B (43) on the bone plate (5), the second worm (44) engaged with the toe shaft worm wheel (45) for transmission; the second motor The frame (41) is installed on the second worm frame A (42), and the output shaft of the second motor (40) is connected with one end of the second worm (44); the second worm (44 ) are respectively mounted on the second worm frame A (42) and the second worm frame B (43) through two bearings (8); 10) The ankle shaft worm gear (25) on the tarsus plate (5) is installed on the first worm frame A (22) and the first worm frame B (23), which is installed on the first worm frame The first motor frame (21) on the frame A (22), the first motor (20) installed on the first motor frame (21), and the two ends are installed on the The first worm frame A (22) is connected with the first worm (24) on the first worm frame B (23); the output shaft of the first motor (20) is connected with one end of the first worm (24).