CN101038223A - Foot end pressure sensor of multi-foot robot - Google Patents

Foot end pressure sensor of multi-foot robot Download PDF

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Publication number
CN101038223A
CN101038223A CN 200710098710 CN200710098710A CN101038223A CN 101038223 A CN101038223 A CN 101038223A CN 200710098710 CN200710098710 CN 200710098710 CN 200710098710 A CN200710098710 A CN 200710098710A CN 101038223 A CN101038223 A CN 101038223A
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CN
China
Prior art keywords
foot
robot
erf
conversion
guide rod
Prior art date
Application number
CN 200710098710
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Chinese (zh)
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CN100487401C (en
Inventor
罗庆生
韩宝玲
赵小川
张杨
汪强
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北京理工大学
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Application filed by 北京理工大学 filed Critical 北京理工大学
Priority to CNB2007100987102A priority Critical patent/CN100487401C/en
Publication of CN101038223A publication Critical patent/CN101038223A/en
Application granted granted Critical
Publication of CN100487401C publication Critical patent/CN100487401C/en

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Abstract

The present invention is a robot foot end pressure sensor consisting of a foot end touch force mechanical transmission device, a signal converting and amplifying device and a shock absorbing device ERF current to sensitive materials. The foot end touch force mechanical transmission device which is positioned below the signal converting and amplifying device consists of two shock absorbing springs, two spring guide poles, a taper supporting pole, a liner plate, a gasket, etc. The shock of the contact force to the foot end of the robot is absorbed in a second level by the transmission device and can be reduced linearly to the normal sensing range of the pressure sensitive resistance. The signal converting and amplifying device includes a power supplying module, a signal measuring and converting module and a signal amplifying module, and can eliminate the influence of the change of the temperature and improve the stability of the sensor capability. The shock absorbing device adopts the ERF current to sensitive material and the ERF intelligent material can change its own state as the change of the intensity of electrical signals, thus, an effect of real time and self-adapting shock absorbing is realized.

Description

Foot end pressure sensor of multi-foot robot
Technical field
The present invention relates to a kind of pressure transducer that is applicable to that polypody robot foot end force signal is surveyed, belong to sensor technology.
Background technology
Gait and attitude when walking in order to adjust walking robot better, the polypody robot often obtains terrestrial information by sufficient end pressure sensor, and controls in real time according to these information.At present, shortcoming such as measurement range is narrow, damping performance is poor because of existing for common pressure transducer, be easy to damage, cost an arm and a leg can not be grafted directly to the foot end of polypody robot, has restricted the performance of polypody robot mobility.
Summary of the invention
The object of the present invention is to provide a kind of novel sufficient end pressure sensor that is applicable to the polypody robot.Characteristics such as this sensor has that volume is little, range is big, simple in structure, reliable in function, stable performance, damping performance are good, long service life.
In order to realize the foregoing invention purpose, this sensor comprises foot end touch mechanical transfer device, conversion of signals and multiplying arrangement and ERF electrorheological sensitive material isolation mounting.
Foot end touch mechanical transfer device is made up of upper spring guide rod, lower spring guide rod, secondary damping spring, circular cone support bar, backing plate and packing ring.Backing plate is connected with the foot cover by bolt on the boss of shank jacket casing; The circular cone support bar is connected with the lower spring guide rod with the vertical force conversion equipment respectively by foot end screw rod, connecting screw rod; The connecting screw rod stationary installation is used for fixing connecting screw rod; The one-level damping spring is fixed in the space between foot cover and the shank sleeve, and its bottom contacts with cylinder boss in the cover enough, is lined with packing ring between the top of one-level damping spring and the shank sleeve, reaches the purpose of one-level damping; Upper spring guide rod and lower spring guide rod can slide up and down in the shank sleeve, transmit the effect of power between the two by the secondary damping spring, and reaching the order of secondary damping, thereby the power on the sensor of will finally passing to is restricted to regulation 0 within the 5N scope.Conversion of signals and multiplying arrangement are to be fixed between the boss of upper spring guide rod and shank sleeve; ERF electrorheological sensitive material top is connected with the robot shank, and the bottom contacts with amplification module with conversion of signals.The foot end is elastomeric material, is enclosed within the bottom of shank sleeve.The foot cover links to each other by screw thread with the foot end.The vertical force conversion equipment is an aluminum material.
Conversion of signals and multiplying arrangement comprise supply module, signal measurement modular converter and signal amplification module.Supply module adopts constant current source power supply, has effectively eliminated influence of temperature variation.The signal measurement modular converter adopts the electric bridge of being made by monocrystalline silicon that voltage dependent resistor (VDR) constituted.Monocrystalline silicon has reliable operation, corrosion-resistant, characteristics such as antijamming capability is strong.When pressure passes to the signal measurement modular converter through holding touch mechanical transfer device enough, flexible sheet will produce deformation, forms positive and negative two strain regions, and corresponding variation also takes place the resistivity of voltage dependent resistor (VDR) simultaneously, cause the electric bridge imbalance, produce a current signal that is directly proportional with pressure.The signal amplification module has high impedance, has effectively avoided the output terminal ABSORPTION CURRENT from the signal measurement modular converter, under the situation of not destroying signal measurement modulus of conversion duty output signal is amplified.
Shock attenuation device adopts ERF electrorheological sensitive material, this material can be between liquid state and its solid-state properties fast transition, the response time is the ms magnitude; This transformation can be used simple electric field signal control; The energy level that control material consumes is low; Change show as apparent viscosity with electric field intensity continuously, stepless transformation, and be reversible fully; There is not the relative motion between mechanical component in the transformation system, has characteristics such as nothing is worn and torn, duty is soft, noise is low, the life-span is long.The output signal of conversion of signals and multiplying arrangement is delivered to ERF electrorheological sensitive material shock attenuation device, and the ERF intellectual material changes state with the power of electric signal, thereby receives effect real-time, the self-adaptation damping.
Advantage of the present invention: the mechanical driving device of (1) sensor is by the secondary damping, and touch that can the robot foot end is bigger tapers in the normal sensing range of force sensing resistance linearly, has increased the range of sensor; (2) conversion of signals and amplifying circuit have reliable operation, corrosion-resistant, antijamming capability by force, characteristics such as temperature influence not; (3) shock attenuation device adopts ERF electrorheological sensitive material, can change state with the power of electric signal, thereby receives effect real-time, the self-adaptation damping; (4) this pressure transducer adopts modular design, and simple in structure, reliable in function can be widely used in various polypody robot.
Description of drawings
Accompanying drawing 1 is the one-piece construction synoptic diagram of foot end pressure sensor of multi-foot robot.
Accompanying drawing 2 is circuit diagrams of conversion of signals and multiplying arrangement.
In the accompanying drawing, 1-conversion of signals and multiplying arrangement, 2-upper spring guide rod, 3-bolt, 4-lower spring guide rod, 5-shank sleeve, 6-backing plate, 7-packing ring, 8-foot cover, 9-secondary damping spring, 10-one-level damping spring, 11-circular cone support bar, 12-vertical force conversion equipment, 13-ERF electrorheological sensitive material, 14-electric bridge, 15-signal amplification module, the 16-supply module, 17-foot end screw rod, 18-connecting screw rod, 19-connecting screw rod stationary installation, 20-robot shank, 21-foot end.
Embodiment
The invention will be further described below in conjunction with accompanying drawing.
As shown in Figure 1, polypody robot foot end touch mechanical transfer device is made up of upper spring guide rod 2, lower spring guide rod 4, secondary damping spring 9, circular cone support bar 11, backing plate 6 and packing ring 7.Backing plate 6 is connected with foot cover 8 by bolt 3 on the boss of shank jacket casing 5; Circular cone support bar 11 is connected with lower spring guide rod 4 with vertical force conversion equipment 12 respectively by foot end screw rod 17, connecting screw rod 18; Connecting screw rod stationary installation 19 is used for fixing connecting screw rod; One-level damping spring 10 is fixed in the space between foot cover 8 and the shank sleeve 5, and its bottom contacts with cylinder boss in the cover 8 enough, is lined with packing ring 7 between the top of one-level damping spring 10 and the shank sleeve, reaches the purpose of one-level damping; Upper spring guide rod 2 and lower spring guide rod 4 can slide up and down in the shank sleeve, transmit the effect of power between the two by secondary damping spring 9, and reaching the order of secondary damping, thereby the power on the sensor of will finally passing to is restricted to regulation 0 within the 5N scope.Conversion of signals and multiplying arrangement 1 are to be fixed between the boss of upper spring guide rod 2 and shank sleeve 5; ERF electrorheological sensitive material 13 tops are connected with robot shank 20, and the bottom contacts with amplification module 1 with conversion of signals.Foot end 21 is an elastomeric material, is enclosed within the bottom of shank foot cover 8.Foot cover 8 and foot end 21 link to each other by screw thread.Vertical force conversion equipment 12 is alumina based material or plastics.
When the foot end 21 of polypody robot contacts with ground, touch is delivered to secondary damping spring 9 and one-level damping spring 10 by circular cone support bar 11, make it that deformation take place, thereby make the pressure that reaches in conversion of signals and the multiplying arrangement 1 in the normal sensing range of force sensing resistance.This pressure makes the flexible sheet of being made up of R1, R2, R3, R4 produce deformation, form positive and negative two strain regions, corresponding variation also takes place in the resistivity of voltage dependent resistor (VDR) simultaneously, causes conversion of signals electric bridge 14 imbalances, produces an electric signal that is directly proportional with pressure.Electric signal is by 15 outputs of the signal amplification module in conversion of signals and the multiplying arrangement 1, and one the tunnel imports AD converter and another road input ERF electrorheological sensitive material shock attenuation device 13.The electric signal of input ERF electrorheological sensitive material changes the state of sensitive material, thereby receives effect real-time, the self-adaptation damping.16 of supply modules are used for to conversion of signals and multiplying arrangement 1 power supply.
When the foot of polypody robot was held with surface separation, secondary damping spring 9 and one-level damping spring 10 reverted to original state, and flexible sheet also reverts to original state.This moment electric bridge 14 balances, no electric signal is exported, so the ERF electrorheological sensitive material 13 in the shock attenuation device also returns to original state.

Claims (4)

1, a kind of pressure transducer that is applicable to polypody robot foot end is characterized in that: this sensor comprises foot end touch mechanical transfer device, conversion of signals and multiplying arrangement (1) and ERF electrorheological sensitive material shock attenuation device (13); Touch mechanical transfer device is in the bottom of conversion of signals and multiplying arrangement (1), and ERF electrorheological sensitive material shock attenuation device is on the top of conversion of signals and multiplying arrangement (1).
2, foot end pressure sensor of multi-foot robot as claimed in claim 1 is characterized in that: the mechanical transfer device is made up of upper spring guide rod (2), lower spring guide rod (4), secondary damping spring (9), circular cone support bar (11), backing plate (6) and packing ring (7); Backing plate (6) is connected by bolt (3) foot cover (8) on the boss of shank jacket casing (5); Circular cone support bar (11) is connected with lower spring guide rod (4) with vertical force conversion equipment (12) respectively by foot end screw rod (17), connecting screw rod (18); Connecting screw rod stationary installation (19) is used for fixing connecting screw rod; One-level damping spring (10) is fixed in the space between sufficient cover (8) and the shank sleeve (5), and its bottom contacts with cylinder boss in the foot cover (8), is lined with packing ring (7) between the top of one-level damping spring (10) and the shank sleeve; Upper spring guide rod (2) and lower spring guide rod (4) slide up and down in the shank sleeve.
3, foot end pressure sensor of multi-foot robot as claimed in claim 1 is characterized in that: shock attenuation device (13) is made up of ERF electrorheological sensitive material.
4, foot end pressure sensor of multi-foot robot as claimed in claim 1 is characterized in that: conversion of signals and multiplying arrangement (1) comprise supply module (16), signal measurement modular converter (14) and signal amplification module (15).
CNB2007100987102A 2007-04-25 2007-04-25 Foot end pressure sensor of multi-foot robot CN100487401C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNB2007100987102A CN100487401C (en) 2007-04-25 2007-04-25 Foot end pressure sensor of multi-foot robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNB2007100987102A CN100487401C (en) 2007-04-25 2007-04-25 Foot end pressure sensor of multi-foot robot

Publications (2)

Publication Number Publication Date
CN101038223A true CN101038223A (en) 2007-09-19
CN100487401C CN100487401C (en) 2009-05-13

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102288336A (en) * 2011-07-21 2011-12-21 中国科学院自动化研究所 Dual-threshold detecting system and method for ground contact force of polypod robot
CN102556198A (en) * 2011-12-29 2012-07-11 浙江大学 Six-foot walking robot
CN102556202A (en) * 2012-02-20 2012-07-11 上海交通大学 Robot foot with buffering function
CN102765434A (en) * 2012-07-03 2012-11-07 上海交通大学 Leg buffer structure of walker
CN103303388A (en) * 2013-07-08 2013-09-18 北京理工大学 Omni directional and self-adaptation elastic foot of four-footed robot
CN105716752A (en) * 2016-01-19 2016-06-29 东南大学 Detection system for acting force on human body imposed by wearable device
CN108072464A (en) * 2017-11-30 2018-05-25 东南大学 Slide touch sensor in a kind of imitation human finger end
CN109269706A (en) * 2018-10-26 2019-01-25 东南大学 A kind of view-based access control model sensor legged type robot foot end multi-dimensional force sensing device

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104034452B (en) * 2014-07-01 2016-09-21 重庆材料研究院有限公司 Shear strain formula pressure transducer

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102288336A (en) * 2011-07-21 2011-12-21 中国科学院自动化研究所 Dual-threshold detecting system and method for ground contact force of polypod robot
CN102288336B (en) * 2011-07-21 2012-11-14 中国科学院自动化研究所 Dual-threshold detecting system and method for ground contact force of polypod robot
CN102556198A (en) * 2011-12-29 2012-07-11 浙江大学 Six-foot walking robot
CN102556202A (en) * 2012-02-20 2012-07-11 上海交通大学 Robot foot with buffering function
CN102765434A (en) * 2012-07-03 2012-11-07 上海交通大学 Leg buffer structure of walker
CN102765434B (en) * 2012-07-03 2014-08-06 上海交通大学 Leg buffer structure of walker
CN103303388A (en) * 2013-07-08 2013-09-18 北京理工大学 Omni directional and self-adaptation elastic foot of four-footed robot
CN103303388B (en) * 2013-07-08 2016-01-20 北京理工大学 The comprehensive self adaptation elastic foot of quadruped robot
CN105716752A (en) * 2016-01-19 2016-06-29 东南大学 Detection system for acting force on human body imposed by wearable device
CN108072464A (en) * 2017-11-30 2018-05-25 东南大学 Slide touch sensor in a kind of imitation human finger end
CN108072464B (en) * 2017-11-30 2019-10-29 东南大学 A kind of imitation human finger end sliding touch sensor
CN109269706A (en) * 2018-10-26 2019-01-25 东南大学 A kind of view-based access control model sensor legged type robot foot end multi-dimensional force sensing device

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