CN105691484B - Freedom degree parallel connection low frequency apery machinery foot - Google Patents
Freedom degree parallel connection low frequency apery machinery foot Download PDFInfo
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- CN105691484B CN105691484B CN201610093483.3A CN201610093483A CN105691484B CN 105691484 B CN105691484 B CN 105691484B CN 201610093483 A CN201610093483 A CN 201610093483A CN 105691484 B CN105691484 B CN 105691484B
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- 210000001872 metatarsal bone Anatomy 0.000 claims abstract description 50
- 210000002683 foot Anatomy 0.000 claims abstract description 20
- 210000003423 ankle Anatomy 0.000 claims abstract description 17
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 13
- 210000001226 toe joint Anatomy 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 6
- 210000003371 toe Anatomy 0.000 abstract description 20
- 210000000457 tarsus Anatomy 0.000 abstract description 16
- 230000033001 locomotion Effects 0.000 abstract description 13
- 210000001137 tarsal bone Anatomy 0.000 abstract description 7
- 210000001699 lower leg Anatomy 0.000 abstract description 6
- 210000001503 joint Anatomy 0.000 abstract description 4
- 210000004341 tarsal joint Anatomy 0.000 abstract 1
- 244000309464 bull Species 0.000 description 6
- 244000309466 calf Species 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Classifications
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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)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
- Toys (AREA)
Abstract
本发明公开了三自由度并联低频仿人机械足，属于仿人机器人领域。它包括机械小腿、跗骨、跖骨板A、跖骨板B、脚趾、踝关节、跗跖关节和趾关节；机械小腿与跗骨通过踝关节相连，跗骨与跖骨板A、跖骨板B通过跗跖关节相连，脚趾与跖骨板A、跖骨板B通过趾关节相连；跗骨的右端为U型，其左端为杆型；踝关节包括踝轴、主动轴A、大齿轮A、小齿轮A和电机A；跗跖关节包括跗骨轴、主动轴B、小齿轮B大齿轮B和电机B；趾关节包括趾轴、主动轴C、大齿轮C、小齿轮C和电机C。本发明是一种结构合理、具有三个运动自由度和低频响应特性、并联模式的仿人机器人足。
The invention discloses a three-degree-of-freedom parallel low-frequency humanoid mechanical foot, which belongs to the field of humanoid robots. It includes mechanical lower leg, tarsal bone, metatarsal plate A, metatarsal plate B, toes, ankle joint, tarsal metatarsal joint, and toe joint; the mechanical lower leg is connected to the tarsal bone through the ankle joint, and the tarsal bone is connected to the metatarsal plate A and metatarsal plate B through the tarsal joint. The metatarsal joints are connected, and the toes are connected with the metatarsal plate A and the metatarsal plate B through the toe joints; the right end of the tarsus is U-shaped, and the left end is rod-shaped; the ankle joint includes the ankle shaft, the driving shaft A, the large gear A, the pinion A and Motor A; tarsal metatarsal joint includes tarsal shaft, drive shaft B, pinion B, large gear B, and motor B; toe joint includes toe shaft, drive shaft C, large gear C, pinion C, and motor C. The invention is a humanoid robot foot with reasonable structure, three motion degrees of freedom, low-frequency response characteristics and parallel mode.
Description
技术领域technical field
本发明主要涉及仿人机器人领域，特指一种三自由度并联低频仿人机械足。The invention mainly relates to the field of humanoid robots, in particular to a three-degree-of-freedom parallel low-frequency humanoid mechanical foot.
背景技术Background technique
当前，仿人机器人的研究已经成为智能机器人领域中最为活跃的热点之一。这是因为仿人机器人与传统的机器人相比，能够更好地模拟人类的各种运动。在仿人机器人结构中，模仿人足的机械足设计尤为重要。为了更好地模拟人足的运动细节，机械足必须具有相当数量的自由度，以适应行走过程。现有的仿人机器人的机械足运动自由度偏少，难以模拟真实的人足行走细节。因此，设计一种慢速行走、模拟人足更加逼真的机械足具有一定的意义。At present, the research of humanoid robot has become one of the most active hotspots in the field of intelligent robot. This is because humanoid robots can better simulate the various movements of humans than traditional robots. In the structure of humanoid robot, the design of mechanical foot imitating human foot is particularly important. In order to better simulate the motion details of the human foot, the mechanical foot must have a considerable number of degrees of freedom to adapt to the walking process. Existing humanoid robots have less degrees of freedom in the movement of mechanical feet, and it is difficult to simulate the real walking details of human feet. Therefore, it is of certain significance to design a mechanical foot that walks slowly and simulates the human foot more realistically.
发明内容Contents of the invention
本发明需解决的技术问题是：针对现有技术存在的技术问题，本发明提供一种结构合理、具有三个运动自由度和低频响应特性、并联模式的仿人机器人足。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, three degrees of freedom of motion, low-frequency response characteristics, and parallel mode.
为了解决上述问题，本发明提出的解决方案为：一种三自由度并联低频仿人机械足，它包括机械小腿、跗骨、跖骨板A、跖骨板B、脚趾、踝关节、跗跖关节和趾关节；所述机械小腿与所述跗骨通过所述踝关节相连，所述跗骨与所述跖骨板A、跖骨板B通过所述跗跖关节相连，所述脚趾与所述跖骨板A、所述跖骨板B通过所述趾关节相连；所述跗骨的右端为U型，其左端为杆型。In order to solve the above problems, the solution proposed by the present invention is: a three-degree-of-freedom parallel low-frequency humanoid mechanical foot, which includes a mechanical shank, tarsus, metatarsal plate A, metatarsal plate B, toes, ankle joints, tarsal metatarsal joints and Toe joint; the mechanical shank is connected to the tarsus through the ankle joint, the tarsus is connected to the metatarsal plate A and the metatarsal plate B through the tarsal-metatarsal joint, and the toe is connected to the metatarsal plate A , The metatarsal plate B is connected through the toe joint; the right end of the tarsus is U-shaped, and the left end is rod-shaped.
所述踝关节包括装设于所述跗骨上的踝轴和主动轴A、装设于所述踝轴上的大齿轮A、装设于所述主动轴A上与所述大齿轮A相啮合的小齿轮A、与所述主动轴A一端相连的电机A；所述踝轴的两端均通过轴承装设于所述跗骨上；所述踝轴与所述主动轴A平行装设；所述机械小腿装设于所述踝轴上。The ankle joint includes an ankle shaft mounted on the tarsus and a drive shaft A, a large gear A mounted on the ankle shaft, a gear A mounted on the drive shaft A and the large gear A Engaged pinion A, motor A connected to one end of the drive shaft A; both ends of the ankle shaft are mounted on the tarsus through bearings; the ankle shaft and the drive shaft A are installed in parallel ; The mechanical lower leg is installed on the ankle shaft.
所述跗跖关节包括跗骨轴、主动轴B、装设于所述主动轴B上的小齿轮B、装设于所述跗骨轴上的大齿轮B、输出轴与所述主动轴B相连的电机B；所述跗骨轴平行于所述主动轴B装设，其两端均通过轴承分别装设于所述跖骨板A、所述跖骨板B上；所述主动轴B的两端分别装设于所述跖骨板A、所述跖骨板B上；所述大齿轮B与所述小齿轮B相啮合传动。The tarsal metatarsal joint includes a tarsal shaft, a driving shaft B, a pinion B mounted on the driving shaft B, a large gear B mounted on the tarsal shaft, an output shaft and the driving shaft B The connected motor B; the tarsus shaft is installed parallel to the drive shaft B, and its two ends are respectively installed on the metatarsal plate A and the metatarsal plate B through bearings; the two ends of the drive shaft B The ends are installed on the metatarsal plate A and the metatarsal plate B respectively; the large gear B is engaged with the small gear B for transmission.
所述趾关节包括趾轴、平行于所述趾轴的主动轴C、装设于所述趾轴上的大齿轮C、装设于所述主动轴C上与所述大齿轮C相啮合传动的小齿轮C、输出轴与所述主动轴C相连的电机C。The toe joint includes a toe shaft, a driving shaft C parallel to the toe shaft, a large gear C mounted on the toe shaft, and a large gear C mounted on the driving shaft C to engage with the large gear C for transmission The pinion C, the motor C whose output shaft is connected with the drive shaft C.
所述大齿轮A、所述大齿轮B的半径分别为所述小齿轮A、所述小齿轮B半径的三倍；所述大齿轮C的半径为所述小齿轮C半径的二倍；所述脚趾装设于所述趾轴的中部，所述跗骨的左端装设于所述跗骨轴上。The radii of the bull gear A and the bull gear B are three times the radius of the pinion A and the pinion B respectively; the radius of the bull gear C is twice the radius of the pinion C; The toes are mounted on the middle part of the toe shaft, and the left end of the tarsal bone is mounted on the tarsal shaft.
本发明与现有技术相比，具有如下优点和有益效果：Compared with the prior art, the present invention has the following advantages and beneficial effects:
(1)本发明的三自由度并联低频仿人机械足，设有踝关节、跗跖关节和趾关节，通过三个电机分别带动脚趾、跗骨、跖骨板A和跖骨板B、以及机械小腿之间的相对运动，能够模拟人足运动姿态。(1) The three-degree-of-freedom parallel low-frequency humanoid mechanical foot of the present invention is provided with ankle joints, tarsal metatarsal joints and toe joints, and three motors drive the toes, tarsal bones, metatarsal plate A and metatarsal plate B, and the mechanical calf respectively The relative movement between them can simulate the movement posture of human foot.
(2)本发明的三自由度并联低频仿人机械足，还设有三对大、小齿轮，三个电机分别通过主动轴A、主动轴B和主动轴C实现运动的低频特性。由此可知，本发明结构合理、具有三个运动自由度和低频响应特性，能够有效模拟人足在低速行走时的运动姿态和响应特性。(2) The three-degree-of-freedom parallel low-frequency anthropomorphic mechanical foot of the present invention is also provided with three pairs of large and small gears, and the three motors realize the low-frequency characteristics of motion through the driving shaft A, driving shaft B and driving shaft C respectively. It can be seen that the present invention has a reasonable structure, has three degrees of freedom of motion and low-frequency response characteristics, and can effectively simulate the movement posture and response characteristics of human feet when walking at low speed.
附图说明Description of drawings
图1是本发明的三自由度并联低频仿人机械足的结构原理图。Fig. 1 is a structural principle diagram of the three-degree-of-freedom parallel low-frequency humanoid mechanical foot of the present invention.
图中，1—机械小腿；20—踝轴；21—主动轴A；22—大齿轮A；23—小齿轮A；24—电机A；3—跗骨；40—跗骨轴；41—主动轴B；42—大齿轮B；43—小齿轮B；44—电机B；51—跖骨板A；52—跖骨板B；60—趾轴；61—主动轴C；62—大齿轮C；63—小齿轮C；64—电机C；7—脚趾；8—轴承。In the figure, 1—mechanical calf; 20—ankle shaft; 21—driving shaft A; 22—big gear A; 23—pinion A; 24—motor A; 3—tarsal bone; 40—tarsal shaft; 41—drive Shaft B; 42—big gear B; 43—pinion B; 44—motor B; 51—metatarsal plate A; 52—metatarsal plate B; 60—toe shaft; 61—driving shaft C; 62—big gear C; 63 —pinion C; 64—motor C; 7—toe; 8—bearing.
具体实施方式detailed description
以下将结合附图和具体实施例对本发明作进一步详细说明。The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
参见图1所示，本发明的三自由度并联低频仿人机械足，包括机械小腿1、跗骨3、跖骨板A51、跖骨板B52、脚趾7、踝关节、跗跖关节和趾关节；机械小腿1与跗骨3通过踝关节相连，跗骨3与跖骨板A51、跖骨板B52通过跗跖关节相连，脚趾7与跖骨板A51、跖骨板B52通过趾关节相连。Referring to Fig. 1, the three-degree-of-freedom parallel low-frequency humanoid mechanical foot of the present invention includes mechanical shank 1, tarsus 3, metatarsal plate A51, metatarsal plate B52, toes 7, ankle joints, tarsal metatarsal joints and toe joints; The calf 1 is connected with the tarsus 3 through the ankle joint, the tarsus 3 is connected with the metatarsal plate A51 and the metatarsal plate B52 through the tarsal-metatarsal joint, and the toe 7 is connected with the metatarsal plate A51 and the metatarsal plate B52 through the toe joint.
参见图1所示，跗骨3的右端为U型，其左端为杆型；踝关节包括装设于跗骨3上的踝轴20和主动轴A21、装设于踝轴20上的大齿轮A22、装设于主动轴A21上与大齿轮A22相啮合的小齿轮A23、与主动轴A21一端相连的电机A24；踝轴20的两端均通过轴承8装设于跗骨3上；踝轴20与主动轴A21平行装设；机械小腿1装设于踝轴20上。Referring to Fig. 1, the right end of the tarsal bone 3 is U-shaped, and the left end is rod-shaped; the ankle joint includes an ankle shaft 20 mounted on the tarsal bone 3, a drive shaft A21, and a large gear mounted on the ankle shaft 20. A22, the pinion A23 that is installed on the driving shaft A21 and the gear wheel A22 meshed with the motor A24 connected to one end of the driving shaft A21; the two ends of the ankle shaft 20 are installed on the tarsus 3 through the bearing 8; the ankle shaft 20 is installed parallel to the drive shaft A21; the mechanical lower leg 1 is installed on the ankle shaft 20.
参见图1所示，跗跖关节包括跗骨轴40、主动轴B41、装设于主动轴B41上的小齿轮B43、装设于跗骨轴40上的大齿轮B42、输出轴与主动轴B41相连的电机B44；跗骨轴40平行于主动轴B41装设，其两端均通过轴承8分别装设于跖骨板A51、跖骨板B52上；主动轴B41的两端分别装设于跖骨板A51、跖骨板B52上；大齿轮B42与小齿轮B43相啮合传动。Referring to Fig. 1, the tarsal metatarsal joint includes a tarsal shaft 40, a driving shaft B41, a pinion B43 mounted on the driving shaft B41, a large gear B42 mounted on the tarsal shaft 40, an output shaft and the driving shaft B41 The connected motor B44; the tarsus shaft 40 is installed parallel to the driving shaft B41, and its two ends are respectively installed on the metatarsal plate A51 and the metatarsal plate B52 through the bearing 8; the two ends of the driving shaft B41 are respectively installed on the metatarsal plate A51 , On the metatarsal bone plate B52; the large gear B42 is meshed with the pinion B43 for transmission.
参见图1所示，趾关节包括趾轴60、平行于趾轴60的主动轴C61、装设于趾轴60上的大齿轮C62、装设于主动轴C61上与大齿轮C62相啮合传动的小齿轮C63、输出轴与主动轴C61相连的电机C64；大齿轮A22、大齿轮B42的半径分别为小齿轮A23、小齿轮B43半径的三倍；大齿轮C62的半径为小齿轮C63半径的二倍；脚趾7装设于趾轴60的中部，跗骨3的左端装设于跗骨轴40上。Referring to Fig. 1, the toe joint includes a toe shaft 60, a drive shaft C61 parallel to the toe shaft 60, a large gear C62 mounted on the toe shaft 60, and a transmission gear mounted on the drive shaft C61 that engages with the large gear C62. The motor C64 that pinion C63, output shaft are connected to drive shaft C61; The radius of bull gear A22, bull gear B42 is three times of the radius of pinion A23, pinion B43 respectively; The radius of bull gear C62 is two times of the radius of pinion C63 times; the toe 7 is installed in the middle of the toe shaft 60, and the left end of the tarsus 3 is installed on the tarsal shaft 40.
工作原理：电机A24带动主动轴A21和小齿轮A23转动，进而带动大齿轮A22和踝轴20低速转动，从而实现机械小腿1与跗骨3之间的相对运动；电机B44带动主动轴B41和小齿轮B43转动，进而带动大齿轮B42和跗骨轴40低速转动，从而实现跗骨3与跖骨板A51、跖骨板B52之间的相对运动；电机C64带动主动轴C61和小齿轮C63转动，进而带动大齿轮C62和趾轴60转动，从而实现脚趾7与跖骨板A51、跖骨板B52之间的相对运动。Working principle: The motor A24 drives the driving shaft A21 and the pinion A23 to rotate, and then drives the large gear A22 and the ankle shaft 20 to rotate at a low speed, thereby realizing the relative movement between the mechanical calf 1 and the tarsus 3; the motor B44 drives the driving shaft B41 and the small gear. The gear B43 rotates, and then drives the large gear B42 and the tarsal shaft 40 to rotate at a low speed, thereby realizing the relative movement between the tarsus 3 and the metatarsal plate A51, and the metatarsal plate B52; the motor C64 drives the driving shaft C61 and the pinion C63 to rotate, and then drives The large gear C62 and the toe shaft 60 rotate, thereby realizing the relative movement between the toe 7 and the metatarsal plate A51 and the metatarsal plate B52.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3900959B2 (en) * | 2002-02-15 | 2007-04-04 | セイコーエプソン株式会社 | Legged mobile robot and control method thereof |
| JP4277671B2 (en) * | 2003-12-10 | 2009-06-10 | トヨタ自動車株式会社 | Walking robot and its foot device |
| CN203020441U (en) * | 2013-01-17 | 2013-06-26 | 常州先进制造技术研究所 | Quasi-man robot foot |
| CN105292297A (en) * | 2015-11-21 | 2016-02-03 | 吉林大学 | Bionic foot capable of improving gait naturality and stability of biped robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5578556B2 (en) * | 2010-07-08 | 2014-08-27 | 独立行政法人産業技術総合研究所 | Legs for humanoid walking robot and their legs |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3900959B2 (en) * | 2002-02-15 | 2007-04-04 | セイコーエプソン株式会社 | Legged mobile robot and control method thereof |
| JP4277671B2 (en) * | 2003-12-10 | 2009-06-10 | トヨタ自動車株式会社 | Walking robot and its foot device |
| CN203020441U (en) * | 2013-01-17 | 2013-06-26 | 常州先进制造技术研究所 | Quasi-man robot foot |
| CN105292297A (en) * | 2015-11-21 | 2016-02-03 | 吉林大学 | Bionic foot capable of improving gait naturality and stability of biped robot |
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