CN105620579B - Anthropomorphic robot four-freedom hybrid shock resistance machinery foot - Google Patents

Abstract

The invention discloses a four-degree-of-freedom mixed impact-resistant mechanical foot of a humanoid robot, which belongs to the field of humanoid robots. It includes mechanical calf, tarsal frame, ankle shaft A, ankle shaft B, metatarsal frame, toes, toe joints connecting toes and metatarsal frame, sole plate, two anti-compression rubber columns, two anti-resistance springs, installed on toes The torsional spring B between the metatarsal rod C and the torsion spring A installed between the tarsal rod C and the metatarsal rod A; the tarsal skeleton includes tarsal rod A, tarsal rod B and tarsal rod C, and the metatarsal skeleton includes Metatarsal rod A, metatarsal rod B, and metatarsal rod C; two tensile springs are installed on the outside of two compression rubber columns, and are always in a state of tension; the mechanical calf can rotate around the ankle axis A; the ankle axis B Orthogonal to the ankle axis A, the mechanical shank can achieve twisting motion around the ankle axis B. The invention is a humanoid robot foot with reasonable structure, impact resistance performance and mixed connection mode of four degrees of freedom of movement.

Description

Four-degree-of-freedom hybrid shock-resistant mechanical foot for humanoid robot

technical field

The invention mainly relates to the field of humanoid robots, in particular to a four-degree-of-freedom hybrid impact-resistant mechanical foot of a humanoid robot.

Background technique

As one of the hot spots in the field of intelligent robots, humanoid robots have structural characteristics more similar to humans, and have received widespread attention and attention. From the perspective of bionics, the prerequisite for realizing complex movements or postures of humans is the design of mechanical feet that imitate human feet. Although the mechanical foot of the prior art realizes a simple walking process, it cannot simulate the subtle movements of human beings when they encounter complex ground during walking, that is, they cannot resist the impact force generated during walking. Therefore, it is of great value to design a mechanical foot with four degrees of freedom of motion that can absorb impact energy through a hybrid structure.

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 reasonable structure, impact resistance, and four-degree-of-freedom mixed mode.

In order to solve the above problems, the solution proposed by the present invention is: a four-degree-of-freedom hybrid impact-resistant mechanical foot of a humanoid robot, which includes a mechanical lower leg, a tarsal frame, and an ankle axis A connecting the mechanical lower leg and the tarsal frame and ankle shaft B, metatarsal frame, toes, toe joints connecting the toes and the metatarsal frame, sole plate, two anti-compression rubber columns and two Tensile spring, torsion spring B installed between the toe and metatarsal bar C, torsion spring A installed between the tarsal bar C and metatarsal bar A.

Described tarsus skeleton comprises tarsal bone bar A, tarsal bone bar B and tarsal bone bar C; Described tarsal bone bar A, tarsal bone bar B, tarsal bone bar C and metatarsal bone bar A form parallelogram; Described metatarsal bone frame comprises metatarsal bone Rod A, metatarsal rod B and metatarsal rod C; the metatarsal rod A, metatarsal rod B and metatarsal rod C form a triangle; the two tension springs are installed on the outside of the two compression rubber columns, and always under tension.

The mechanical lower leg can rotate around the ankle axis A; the ankle axis B is orthogonal to the ankle axis A, and the mechanical lower leg can realize twisting motion around the ankle axis B; the tarsal rod C, the metatarsal rod A It is connected with the metatarsal rod C through a hinge A; the tarsal rod A is connected with the tarsal rod B through a hinge B; the metatarsal rod A, the metatarsal rod B and the tarsal rod B are connected by Hinge C connects.

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

(1) The four-degree-of-freedom hybrid impact-resistant mechanical foot of the humanoid robot of the present invention is provided with an ankle axis A, an ankle axis B, and a toe joint, and has four degrees of freedom of motion, which can highly imitate the motion posture of a human foot when walking.

(2) The four-degree-of-freedom hybrid shock-resistant mechanical foot of the humanoid robot of the present invention is also provided with tension springs and torsion springs for absorbing vibrations; at the same time, it is provided with compression-resistant rubber columns for absorbing the impact force from the ground . It can be seen that the present invention has a simple and reasonable structure, has impact resistance and four degrees of freedom of movement, and realizes a high degree of imitation of the movement posture of human feet when walking.

Description of drawings

Fig. 1 is a structural principle diagram of a four-degree-of-freedom hybrid anti-shock mechanical foot of a humanoid robot of the present invention.

In the figure, 1—mechanical lower leg; 20—ankle axis A; 21—ankle axis B; 31—tarsal bone rod A; 32—tarsal bone rod B; 33—tarsal bone rod C; 34—torsion spring A; 41—metatarsal bone Rod A; 42—metatarsal rod B; 43—metatarsal rod C; 5—toe; 60—toe joint; 61—torsion spring B; 7—hinge A; 8—hinge B; 9—hinge C; 10—tension spring ; 11—compressive rubber column; 12—sole plate.

detailed description

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

Referring to Fig. 1, the humanoid robot four-degree-of-freedom hybrid impact-resistant mechanical foot of the present invention includes a mechanical shank 1, a tarsal frame, an ankle axis A20 and an ankle axis B21 connecting the mechanical shank 1 and the tarsal frame, a metatarsal frame, and a toe 5. Connect the toe joint 60 of the toe 5 and the metatarsal frame, the sole plate 12, two anti-compression rubber columns 11 and two tensile springs 10 installed between the sole plate 12 and the tarsal frame, installed between the toe 5 and the tarsal frame The torsion spring B61 between the metatarsal bar C43 and the torsion spring A34 installed between the tarsal bar C33 and the metatarsal bar A41.

Referring to shown in Fig. 1, tarsal skeleton comprises tarsal bone bar A31, tarsal bone bar B32 and tarsal bone bar C33; Tarsal bone bar A31, tarsal bone bar B32, tarsal bone bar C33 and metatarsal bone bar A41 form parallelogram; Metatarsal skeleton comprises metatarsal bone Rod A41, metatarsal rod B42 and metatarsal rod C43; metatarsal rod A41, metatarsal rod B42 and metatarsal rod C43 form a triangle; two tensile springs 10 are installed on the outside of two compression rubber columns 11, and are always under tension. power state.

As shown in Figure 1, the mechanical lower leg 1 can rotate around the ankle axis A20; the ankle axis B21 is orthogonal to the ankle axis A20, and the mechanical lower leg 1 can realize twisting motion around the ankle axis B21; the tarsal rod C33, the metatarsal rod A41 and the metatarsal rod C43 The tarsus rod A31 is connected to the tarsus rod B32 through a hinge B8; the metatarsal rod A41, the metatarsal rod B42 and the tarsal rod B32 are connected through a hinge C9.

Working principle: the toe 5 can rotate around the toe joint 60, the tarsal frame can rotate around the metatarsal frame, the mechanical calf 1 can rotate around the ankle axis A20, and can twist around the ankle axis B21 at the same time; the torsion spring A60 and the torsion spring B61 respectively absorb the movement process In the vibration, when the compression rubber column 11 is elastically deformed, it can absorb the impact force from the ground.

Claims (1)

1. anthropomorphic robot four-freedom hybrid shock resistance machinery foot, it is characterised in that：Including mechanical shank (1), shank frame, connect Connect the mechanical shank (1) and the ankle axle A (20) and ankle axle B (21) of the shank frame, metatarsal frame, toe (5), be connected the pin The toe joint (60) of toe (5) and the metatarsal frame, sole (12), it is installed between the sole (12) and the shank frame Two resistance to compression rubber columns (11) and two tension springs (10), the shank framves include shank bar A (31), shank bar B (32) With shank bar C (33)；The shank bar A (31), shank bar B (32), shank bar C (33) and metatarsal bar A (41) compositions parallel four Side shape；The metatarsal frame includes metatarsal bar A (41), metatarsal bar B (42) and metatarsal bar C (43)；The metatarsal bar A (41), metatarsal Bar B (42) and metatarsal bar C (43) composition triangles；It is installed in the torsionspring B between the toe (5) and metatarsal bar C (43) (61), it is installed in the torsionspring A (34) between the shank bar C (33) and the metatarsal bar A (41)；Two tension bullets Spring (10) is installed in the outside of two resistance to compression rubber columns (11), and all the time in stretching stress；The mechanical shank (1) it can be rotated around ankle axle A (20)；The ankle axle B (21) is orthogonal to the ankle axle A (20), and the mechanical shank (1) can be around ankle axle B (21) realizes twist motion；The shank bar C (33), the metatarsal bar A (41) and the metatarsal bar C (43) pass through hinge A (7) it is connected；The shank bar A (31) is connected with the shank bar B (32) by hinge B (8)；It is the metatarsal bar A (41), described It is connected between metatarsal bar B (42) and the shank bar B (32) by hinge C (9).