CN105644651B - Four-degree-of-freedom parallel connection apery high frequency machinery foot - Google Patents

Abstract

The invention discloses a four-degree-of-freedom parallel humanoid high-frequency mechanical foot, which belongs to the field of humanoid robots. It includes toes, metatarsal plate A, metatarsal plate B, tarsal skeleton, toe power unit, metatarsal power unit, ankle shaft horizontal power unit and ankle shaft vertical power unit; toe power unit includes toe shaft and toe motor; metatarsal power unit includes tarsal Bone shaft, tarsal power shaft, pinion A, pinion B, bull gear A, bull gear B and tarsal motor; bull gear A, bull gear B mesh with pinion A, pinion B respectively; ankle shaft level The power unit includes an ankle main shaft A and an ankle motor A; the ankle shaft vertical power unit includes an ankle main shaft B, a bearing frame, an ankle motor B and bolts. The invention is a humanoid robot foot with reasonable structure, better imitation effect, high-frequency response characteristics, four degrees of freedom of movement, and parallel mode.

Description

Four-degree-of-freedom parallel humanoid high-frequency mechanical foot

technical field

The invention mainly relates to the field of humanoid robots, in particular to a four-degree-of-freedom parallel humanoid high-frequency mechanical foot.

Background technique

From the perspective of bionics, humanoid robots have the advantages of strong adaptability to the environment, flexible movements, etc., and have broader development prospects. In order to better imitate human motion, the humanoid mechanical foot needs to have enough degrees of freedom and high-frequency motion characteristics. Although the mechanical foot of the prior art realizes the walking function, it cannot simulate the motion details of human foot walking, let alone realize human-like fast walking. Therefore, there is an urgent need to design a high-frequency mechanical foot with four degrees of freedom to better imitate the foot movement posture of human walking.

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, better imitation effect, high-frequency response characteristics, four degrees of freedom of motion, and parallel mode. .

In order to solve the above problems, the solution proposed by the present invention is: a four-degree-of-freedom parallel humanoid high-frequency mechanical foot, which includes toes, metatarsal plate A, metatarsal plate B, tarsal frame, toe power unit, metatarsal power unit, ankle Shaft horizontal power unit and ankle shaft vertical power unit.

The toe power device includes two ends of the toe shaft installed on the metatarsal plate A and the metatarsal plate B respectively, and a toe motor installed on the metatarsal plate B and connected to one end of the toe shaft; The toe is mounted on the toe shaft.

The metatarsal power device includes a tarsal shaft and a tarsal power shaft that are respectively mounted on the metatarsal plate A and the metatarsal plate B through bearings at both ends, and a pinion A mounted on the tarsal shaft And the pinion B, the large gear A and the large gear B installed on the tarsal bone power shaft, the tarsal bone motor that is installed on the described metatarsal plate B and connected with one end of the tarsal bone power shaft; The radius of gear A and described bull gear B is the same, the radius of described pinion A and described pinion B is identical, and the radius of described bull gear A is five times of the radius of described pinion A; The bull gear A. The large gear B meshes with the pinion A and the pinion B respectively.

The ankle shaft horizontal power device includes an ankle main shaft A and an ankle motor A installed on the tarsus frame; the output shaft of the ankle motor A is connected to one end of the ankle main shaft A.

The vertical power device of the ankle shaft includes an ankle main shaft B, a bearing frame, an ankle motor B and bolts; both ends of the ankle main shaft B are respectively installed on the mechanical shank and the bearing frame through bearings; the ankle motor B Installed on the bearing frame shown, its output shaft is connected with one end of the ankle main shaft B; the two ends of the bolt are respectively connected with the bearing frame and the mechanical lower leg; the ankle main shaft A passes through the ankle shaft vertically Spindle B.

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

(1) The four-degree-of-freedom parallel humanoid high-frequency mechanical foot of the present invention is provided with a toe power device and a metatarsal power device, and the relative movement between the toe, the tarsal frame and the metatarsal plate can be realized through the rotation of the toe motor and the tarsal motor , thus simulating the movement posture of the human foot.

(2) The four-degree-of-freedom parallel humanoid high-frequency mechanical foot of the present invention is also provided with an ankle-axis horizontal power device and an ankle-axis vertical power device, through the movement of the ankle motor A and the ankle motor B, the mechanical calf and the foot are realized. Motion gesture simulation with two degrees of freedom.

(3) In addition, the four-degree-of-freedom parallel humanoid high-frequency mechanical foot of the present invention is also equipped with a double-gear meshing transmission, which realizes high-frequency response characteristics on the one hand, and increases the stability of motion on the other hand. It can be seen that the present invention has a reasonable structure, high-frequency response characteristics and four degrees of freedom of motion, and realizes better simulation of humanoid motion gestures.

Description of drawings

Fig. 1 is a structural cross-sectional view of the four-degree-of-freedom parallel humanoid high-frequency mechanical foot of the present invention.

In the figure, 1—mechanical lower leg; 2—tarsal skeleton; 31—metatarsal plate A; 32—metatarsal plate B; 4—toe; 5—bearing; 60—ankle spindle A; 61—ankle motor A; 62—ankle spindle B ;63—bearing frame; 64—ankle motor B; 65—bolt; 70—tarsal shaft; 71—pinion A; 72—pinion B; 73—tarsal power shaft; 74—big gear A; 75—big Gear B; 76—tarsal motor; 80—toe shaft; 81—toe motor.

detailed description

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

1, the four-degree-of-freedom parallel humanoid high-frequency mechanical foot of the present invention includes toe 4, metatarsal plate A31, metatarsal plate B32, tarsal frame 2, toe power unit, metatarsal power unit, ankle shaft horizontal power unit and Ankle shaft vertical power unit.

Referring to shown in Fig. 1, toe power device comprises the toe shaft 80 that two ends are installed on the metatarsal plate A31 and the metatarsal plate B32 respectively, is installed on the metatarsal plate B32 and is connected with the toe motor 81 of one end of the toe shaft 80; Installed on the toe shaft 80; the toe motor 81 drives the toe shaft 80 to rotate, and then drives the toes 4 to move around the metatarsal plate A31 and the metatarsal plate B32.

Referring to Fig. 1, the metatarsal power device includes a tarsal shaft 70 and a tarsal power shaft 73 which are installed on the metatarsal plate A31 and the metatarsal plate B32 respectively through bearings at both ends, and a pinion gear mounted on the tarsal shaft 70. A71 and pinion B72, the large gear A74 and the large gear B75 installed on the tarsus power shaft 73, the tarsus motor 76 that is installed on the metatarsal plate B32 and links to each other with the tarsus power shaft 73 one end; the large gear A74 and the large gear The radius of the gear B75 is the same, the radius of the pinion A71 and the pinion B72 are the same, and the radius of the large gear A74 is five times the radius of the small gear A71; the large gear A74 and the large gear B75 mesh with the small gear A71 and the small gear B72 respectively The tarsal motor 76 drives the tarsal shaft 70 to rotate, and drives the large gear A74 and the large gear B75 installed on the tarsal power shaft 73 to rotate through the pinion A71 and the pinion B72, and then drives the tarsal frame 2 to move around the metatarsal plate .

Referring to shown in Fig. 1, the ankle shaft horizontal power device comprises the ankle main shaft A60 and the ankle motor A61 installed on the tarsus frame 2; the output shaft of the ankle motor A61 is connected with one end of the ankle main shaft A60; the ankle motor A61 drives the ankle main shaft A60 to move , and then drive the mechanical lower leg 1 to rotate relative to the tarsal frame 2 .

Referring to Fig. 1, the vertical power device of the ankle shaft comprises an ankle main shaft B62, a bearing frame 63, an ankle motor B64 and a bolt 65; The motor B64 is mounted on the shown bearing frame 63, and its output shaft is connected with one end of the ankle main shaft B62; the two ends of the bolt 65 are respectively connected with the bearing frame 63 and the mechanical shank 1; the ankle main shaft A60 passes through the ankle main shaft B62 vertically; the ankle motor B64 Drive the ankle main shaft B62 to rotate, and then drive the ankle main shaft A60 to rotate, so as to realize the torsional movement of the mechanical lower leg 1 around its own axis direction relative to the tarsal frame 2 .

Claims (1)

1. The four-degree-of-freedom parallel humanoid high-frequency mechanical foot is characterized in that it includes toes (4), metatarsal plate A (31), metatarsal plate B (32), tarsal frame (2), toe power unit, and metatarsal power unit , ankle shaft horizontal power unit and ankle shaft vertical power unit; the toe power unit includes a toe shaft (80) with two ends mounted on the metatarsal plate A (31) and the metatarsal plate B (32) respectively, A toe motor (81) that is installed on the metatarsal plate B (32) and connected to one end of the toe shaft (80); the toe (4) is installed on the toe shaft (80); the The metatarsal power device comprises a tarsal bone shaft (70) and a tarsal bone power shaft (73) respectively mounted on the metatarsal bone plate A (31) and the described metatarsal bone plate B (32) through bearings at both ends. The pinion A (71) and pinion B (72) on the tarsus shaft (70), the bull gear A (74) and the bull gear B (75) installed on the tarsus power shaft (73) ), a tarsal motor (76) that is installed on the metatarsal plate B (32) and connected to one end of the tarsal power shaft (73); the large gear A (74) and the large gear B (75 ) have the same radius, the pinion A (71) and the pinion B (72) have the same radius, and the bull gear A (74) has five times the radius of the pinion A (71) ; The bull gear A (74), the bull gear B (75) are meshed with the pinion A (71) and the pinion B (72) respectively; An ankle main shaft A (60) and an ankle motor A (61) on the tarsal frame (2); the output shaft of the ankle motor A (61) is connected to one end of the ankle main shaft A (60); the Ankle shaft vertical power unit includes ankle main shaft B (62), bearing frame (63), ankle motor B (64) and bolt (65); on the lower leg (1) and the bearing frame (63); the ankle motor B (64) is mounted on the bearing frame (63), and its output shaft is connected to one end of the ankle main shaft B (62); Both ends of the bolt (65) are respectively connected to the bearing frame (63) and the mechanical lower leg (1); the ankle main axis A (60) passes through the ankle main axis B (62) vertically.