CN103264734A - Sole ground touch sensing mechanism of legged robot - Google Patents
Sole ground touch sensing mechanism of legged robot Download PDFInfo
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- CN103264734A CN103264734A CN2013101397733A CN201310139773A CN103264734A CN 103264734 A CN103264734 A CN 103264734A CN 2013101397733 A CN2013101397733 A CN 2013101397733A CN 201310139773 A CN201310139773 A CN 201310139773A CN 103264734 A CN103264734 A CN 103264734A
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- switch pedestal
- sole
- shaped projection
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 51
- 230000008447 perception Effects 0.000 claims description 19
- 125000006850 spacer group Chemical group 0.000 claims description 16
- 210000005069 ears Anatomy 0.000 claims description 12
- 230000001815 facial effect Effects 0.000 claims description 5
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 230000035945 sensitivity Effects 0.000 abstract description 2
- 230000003139 buffering effect Effects 0.000 abstract 1
- 230000006870 function Effects 0.000 description 4
- 241000272165 Charadriidae Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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Abstract
The invention discloses a sole ground touch sensing mechanism of a legged robot. The sole ground touch sensing mechanism comprises a shank, a switch base, a sole, sole rubber, a foot rotating shaft, two microswitches and two restoring springs. The two microswitches are mounted on the bottom surface of the switch base. The sole is hinged with the switch base through the foot rotating shaft, and is capable of rotating around the foot rotating shaft and relative to the switch base. The two restoring springs are mounted between the front of the switch base and the sole and capable of providing restoring force. The sole rubber is mounted on the lower portion of the sole and capable of playing a role in buffering when the sole touches the ground. The shank is fixed with the switch base. The sole ground touch sensing mechanism is simple in structure, high in sensitivity and convenient to mount. The microswitches in a foot can be turned on when the sole touches the ground, and can be turned off when the foot is away from the ground; movement states of the robot are fed back to a control system timely, so that ground touch situations of the sole are judged sensitively by the control system; and real-time control performance of the legged robot is guaranteed.
Description
Technical field
The invention belongs to the Robotics field, relate to and touch end perception mechanism at the bottom of a kind of robot foot.
Background technology
In the last few years, along with the development of Robotics, people had higher requirement to the motion real-time perception ability of robot.For legged mobile robot, how to realize the quick jump of robot and the research focus that road-work has become the Robotics field.Can because the working environment complexity of legged mobile robot, the factor that influences its motion be more, and the sensitive perception vola state of contacting to earth be the key factor that legged mobile robot is realized real-time balance control wherein.At present, China's part robot adopts simple open loop control, as CN101370623 disclosed " legged mobile robot ", can guarantee under the low situation of trunk height with big stride walking, but the length of paces needs predetermined in advance, can not adapt to comparatively complicated condition of road surface; Some robot has adopted power/torque sensor to obtain power or moment information that robot lands, as " leg type mobile robot " of CN1860001, has namely adopted power sensor feedback leg movements state in design.Therefore but this class sensor is expensive, and also higher to the requirement of installing and use, and the perceptive mode that contacts to earth at the bottom of the improvement robot foot becomes the major issue of legged mobile robot mechanism design.
Summary of the invention
The objective of the invention is to propose a kind of legged mobile robot vola simple in structure, highly sensitive, easy for installation perception mechanism of contacting to earth.
The legged mobile robot of the present invention vola perception mechanism of contacting to earth comprises that shank, switch pedestal, vola, vola rubber, foot rotating shaft, two micro-switchs and two recover springs; There is the U-shaped projection bottom surface of switch pedestal, be in the side that links to each other with the switch pedestal bottom surface on the base of U-shaped projection strip groove is arranged, the strip groove bottom is the anterior projection in U-shaped projection base, in the U-shaped projection spacer block is arranged, both sides and spacer block at U-shaped projection open end have the through hole that runs through, be positioned at U-shaped projection base one side in the bottom surface of switch pedestal and be provided with two vertical blind holes, two parallel both sides that are fastened on spacer block in the U-shaped projection of micro-switch; The front end of vola end face is provided with a projection, the forebody of projection is the inclined-plane, there are two on the projection perpendicular to the spring shrinkage pool of bottom surface, vola, have the rectangular through-hole of a fore-and-aft direction on the projection, the rear end of vola end face has two parallel ears prominent, on two ears are prominent shaft hole is arranged all, the anterior projection of switch pedestal is passed the rectangular through-hole in vola, vola end face projection latter half of inserted in the strip groove of switch pedestal, two upper ends of recovering spring are inserted respectively in two blind holes of switch pedestal, the lower end is inserted respectively in the spring shrinkage pool in vola, prominent two limits of U-shaped projection of switch pedestal and two spaces that spacer block forms inserted respectively of two ears in vola, the through hole on the prominent shaft hole of vola two ears and the U-shaped projection of switch pedestal and the spacer block is passed in the foot rotating shaft, foot roller end stubborn connected nut formation vola and switch pedestal are hinged, the end face of shank and switch pedestal is fixed, and vola rubber is fixed on the bottom, vola, and the driving lever of two micro-switchs is arranged in the facial planes place of vola end face.
When robot foot section contacts to earth, the vola will rotate around the foot rotating shaft, extruding is installed in the recovery spring of switch pedestal and front portion, vola, and then shake-up is installed in the micro-switch in the switch pedestal, make the micro-switch closure, the signal that foot is landed passes to control system by the hole that lead passes the shank centre.And when the foot built on stilts, the vola is recovered spring and is pushed, and discharges the extruding to micro-switch, comes back to initial position, touches end blackout.Vola rubber has reduced to land and has impacted damage to robot foot section, has prolonged the service life of foot.Simultaneously, this mechanism has also strengthened the sensitivity of robot foot section to landing and judging, has improved the real-time perception ability of robot.This perception mechanism is fit to be applied in the driving legged mobile robot of needs real-time perception function.
The legged mobile robot of the present invention vola perception mechanism of contacting to earth, simple in structure, highly sensitive, easy for installation.The present invention adopts the contact-sensing design of micro-switch, by the hinged vola of foot rotating shaft and switch pedestal, with the contact closure that in real time be converted into micro-switch of vola with ground.When vola rubber contacted to earth, vola compressing micro-switch made its closure, gives control system with the signal that contacts to earth in the vola; During vola rubber built on stilts, recover spring and can the vola be pushed away switch pedestal in the very first time again, remove the vola to the compressing of micro-switch, so micro-switch recovers state of nature, also that the vola is liftoff signal conveys to control system.This mechanism can make the sensitive situation of contacting to earth of judging the vola of control system, ensures the real-time controller performance of legged mobile robot; Vola rubber has buffer protection function to the vola simultaneously, has prolonged the service life of legged mobile robot.
Description of drawings
Fig. 1 is the section-drawing of perception mechanism of contacting to earth at the bottom of the robot foot;
Fig. 2 is that vola rubber structure block diagram is removed by the perception mechanism of contacting to earth at the bottom of the robot foot;
Fig. 3 is the switch pedestal bottom plan view of perception mechanism of contacting to earth at the bottom of the robot foot;
Fig. 4 is the block diagram of perception mechanism switch pedestal of contacting to earth at the bottom of the robot foot;
Fig. 5 is the vola block diagram of perception mechanism of contacting to earth at the bottom of the robot foot;
Fig. 6 is the micro-switch scheme drawing.
Among the figure, shank 1, switch pedestal 2, vola 3, vola rubber 4, foot rotating shaft 5, bolt 6, screw 8, nut 9, nut 10, micro-switch 12, recover that spring 13, driving lever 14, screw hole 15, projection 16, middle facial planes 17, ear are prominent 18, shaft hole 19, spring shrinkage pool 20, blind hole 21, strip groove 22, fixed orifice 23, through hole 24, U-shaped projection 25, anterior projection 26, spacer block 27, rectangular through-hole 28, inclined-plane 29.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
With reference to Fig. 1-Fig. 6, the legged mobile robot of the present invention vola perception mechanism of contacting to earth comprises: shank 1, switch pedestal 2, vola 3, vola rubber 4, foot rotating shaft 5, two micro-switchs 12 and two recover springs 13;
Fig. 3 (is seen in the bottom surface of switch pedestal 2, Fig. 4) U-shaped projection 25 is arranged, be in the side that links to each other with switch pedestal 2 bottom surfaces on the base of U-shaped projection 25 strip groove 22 is arranged, strip groove 22 bottoms are the anterior projection 26 in U-shaped projection base, spacer block 27 is arranged in the U-shaped projection 25, on U-shaped projection 25 open end both sides and the spacer block 27 through hole 24 that runs through is arranged, be positioned at U-shaped projection 25 bases one side in the bottom surface of switch pedestal 2 and be provided with two vertical blind holes 21, two micro-switch 12 parallel both sides that are fastened on spacer block 27 in the U-shaped projection 25, can weld fixing, also can be as shown in the figure, offer fixed orifice 23 in U-shaped projection 25 both sides levels, two bolts 6 pass the screw hole 15 of fixed orifice 23 and micro-switch 12 sides, tighten with nut 9 at offside, switch pedestal 2 and micro-switch 12 is closely fixing.
The front end of vola 3 end face (see figure 5)s is provided with a projection 16, the forebody of projection 16 is inclined-plane 29, there are two on the projection 16 perpendicular to the spring shrinkage pool 20 of 3 bottom surfaces, vola, have the rectangular through-hole 28 of a fore-and-aft direction on the projection 16, there are two parallel ears prominent 18 rear end of vola 3 end faces, on two ears are prominent shaft hole 19 is arranged all, shank 1 is fixed with the end face of switch pedestal 2, anterior projection 26 rectangular through-hole 28 of passing vola 3 of switch pedestal 2, vola 3 end face projections 16 latter half of inserted in the strip groove 22 of switch pedestal 2, two ears in vola 3 prominent 18 are inserted 25 two limits of U-shaped projection of switch pedestal 2 and two spaces that spacer block 27 forms respectively, the through hole 24 on prominent 18 shaft holes 19 of vola two ears and U-shaped projection 25 and the spacer block 27 is passed in foot rotating shaft 5, twist connected nut 10 formation volas 3 in foot rotating shaft 5 ends hinged with switch pedestal 2, when vola 3 in the raw the time, the roof of vola rectangular through-hole 28 contacts with the end face of the anterior projection 26 of switch pedestal 2; When vola 3 landed, the inclined-plane 29 of projection 16 forebodys contacted with groove 22 roofs of switch pedestal 2, has so limited the action radius of vola 3 with respect to switch pedestal 2, made vola 3 do among a small circle rotations around foot rotating shaft 5.The driving lever 14 of two micro-switchs 12 is arranged in facial planes 17 places of vola 3 end faces.Vola rubber 4 is fixed on 3 bottoms, vola by screw 8, two upper ends of recovering spring 13 are inserted respectively in two blind holes 21 of switch pedestal 2, the lower end is inserted respectively in the spring shrinkage pool 20 in vola, recover spring 13 and can when vola rubber 4 contacts to earth, play buffer action, alleviate the moment momentum between switch pedestal 2 and the vola 3, increase the service life that end perception mechanism is touched in the vola; In case rubber 4 kiss the earths in vola will drive vola 3 extruding and recover spring 13, and vola 3 is rotated around foot rotating shaft 5, so the driving lever 14 of facial planes 17 extruding micro-switchs 12 in the vola 3 makes its closure, circuit is connected, the information of passing on the machine leg to contact to earth; When vola rubber 4 built on stilts, recover spring 13 and recover former length, vola 3 is pushed away switch pedestal 2, releasing is to the compressing of micro-switch 12 driving levers 14, the information that the machine leg is liftoff passes to control system, and then realize the function whether perception of machine leg contacts to earth, and signal is fed back to control system in real time, make the sensitive situation of contacting to earth of judging the vola of control system; Simultaneously there is buffer protection function in 4 pairs of volas 3 of rubber, vola, and the injury of having avoided ground after the test of many times to cause vola 3 has prolonged service life of legged mobile robot greatly.
Claims (1)
1. legged mobile robot vola perception mechanism of contacting to earth is characterized in that comprising: shank (1), switch pedestal (2), vola (3), vola rubber (4), foot rotating shaft (5), two micro-switchs (12) and two recover springs (13); There is U-shaped projection (25) bottom surface of switch pedestal (2), be in the side that links to each other with switch pedestal (2) bottom surface on the base of U-shaped projection (25) strip groove (22) is arranged, strip groove (22) bottom is the anterior projection in U-shaped projection base (26), spacer block (27) is arranged in the U-shaped projection (25), both sides and spacer block (27) at U-shaped projection (25) open end have the through hole (24) that runs through, be positioned at U-shaped projection (25) base one side in the bottom surface of switch pedestal (2) and be provided with two vertical blind holes (21), the parallel both sides that are fastened on spacer block (27) in the U-shaped projection (25) of two micro-switchs (12); The front end of vola (3) end face is provided with a projection (16), the forebody of projection (16) is inclined-plane (29), there are two on the projection (16) perpendicular to the spring shrinkage pool (20) of bottom surface, vola (3), have the rectangular through-hole (28) of a fore-and-aft direction on the projection (16), there are two parallel ears dash forward (18) rear end of vola (3) end face, on two ears are prominent shaft hole (19) is arranged all, the rectangular through-hole (28) that the anterior projection (26) of switch pedestal (2) is passed vola (3), vola (3) end face projection (16) latter half of inserted in the strip groove (22) of switch pedestal (2), two upper ends of recovering spring (13) are inserted respectively in two blind holes (21) of switch pedestal (2), the lower end is inserted respectively in the spring shrinkage pool (20) in vola, two ears in vola (3) prominent (18) are inserted (25) two limits of U-shaped projection of switch pedestal (2) and two spaces that spacer block (27) forms respectively, the through hole (24) on prominent (18) shaft hole (19) of vola two ears and the U-shaped projection of switch pedestal (2) (25) and the spacer block (27) is passed in foot rotating shaft (5), it is hinged with switch pedestal (2) that connected nut (10) formation vola (3) is twisted in foot rotating shaft (5) end, shank (1) is fixed with the end face of switch pedestal (2), vola rubber (4) is fixed on bottom, vola (3), and the driving lever (14) of two micro-switchs (12) is arranged in the facial planes (17) of vola (3) end face and locates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310139773.3A CN103264734B (en) | 2013-04-22 | 2013-04-22 | Sole ground touch sensing mechanism of legged robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310139773.3A CN103264734B (en) | 2013-04-22 | 2013-04-22 | Sole ground touch sensing mechanism of legged robot |
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| CN103264734A true CN103264734A (en) | 2013-08-28 |
| CN103264734B CN103264734B (en) | 2015-06-17 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816766A (en) * | 2015-04-26 | 2015-08-05 | 北京航空航天大学 | Foot earth contact detection mechanism suitable for legged robot |
| CN105171776A (en) * | 2015-09-21 | 2015-12-23 | 北京航空航天大学 | Multi-foot robot flexible foot system capable of detecting contact condition between foot and ground |
| CN105216903A (en) * | 2015-10-09 | 2016-01-06 | 杭州南江机器人股份有限公司 | Legged mobile robot leg structure |
| CN107472394A (en) * | 2017-09-15 | 2017-12-15 | 杭州南江机器人股份有限公司 | A kind of robot, which contacts to earth, perceives sole structure |
| CN107628140A (en) * | 2017-11-10 | 2018-01-26 | 吉林大学 | A kind of bionic mechanical foot |
| CN108082327A (en) * | 2018-01-23 | 2018-05-29 | 杭州云深处科技有限公司 | Robot foot bottom based on force snesor |
| CN109398529A (en) * | 2018-12-13 | 2019-03-01 | 杭州云深处科技有限公司 | A kind of robot foot bottom |
| CN112373596A (en) * | 2020-11-12 | 2021-02-19 | 腾讯科技（深圳）有限公司 | Bionic mechanical foot device and bionic machine |
| WO2021147612A1 (en) * | 2020-01-23 | 2021-07-29 | 广州视源电子科技股份有限公司 | Robot foot-end module and robot |
| CN113696995A (en) * | 2021-09-17 | 2021-11-26 | 哈尔滨工业大学 | Lunar surface foot type robot high-performance walking foot with landing buffering function |
| CN114313047A (en) * | 2022-01-06 | 2022-04-12 | 奇弩(中国)有限公司 | Multi-foot wall-climbing robot and electromagnetic adsorption type foot end structure thereof |
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| US20130013111A1 (en) * | 2011-07-05 | 2013-01-10 | Jonathan Hurst | Apparatus and method for legged locomotion integrating passive dynamics with active force control |
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| CN102211627A (en) * | 2011-04-27 | 2011-10-12 | 浙江大学 | Four-leg robot mechanism based on bionic design |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816766A (en) * | 2015-04-26 | 2015-08-05 | 北京航空航天大学 | Foot earth contact detection mechanism suitable for legged robot |
| CN105171776A (en) * | 2015-09-21 | 2015-12-23 | 北京航空航天大学 | Multi-foot robot flexible foot system capable of detecting contact condition between foot and ground |
| CN105216903A (en) * | 2015-10-09 | 2016-01-06 | 杭州南江机器人股份有限公司 | Legged mobile robot leg structure |
| CN105216903B (en) * | 2015-10-09 | 2018-07-03 | 杭州南江机器人股份有限公司 | Legged mobile robot leg structure |
| CN107472394A (en) * | 2017-09-15 | 2017-12-15 | 杭州南江机器人股份有限公司 | A kind of robot, which contacts to earth, perceives sole structure |
| CN107628140A (en) * | 2017-11-10 | 2018-01-26 | 吉林大学 | A kind of bionic mechanical foot |
| CN107628140B (en) * | 2017-11-10 | 2023-10-27 | 吉林大学 | Bionic mechanical foot |
| CN108082327B (en) * | 2018-01-23 | 2023-08-29 | 杭州云深处科技有限公司 | Robot sole based on force sensor |
| CN108082327A (en) * | 2018-01-23 | 2018-05-29 | 杭州云深处科技有限公司 | Robot foot bottom based on force snesor |
| CN109398529A (en) * | 2018-12-13 | 2019-03-01 | 杭州云深处科技有限公司 | A kind of robot foot bottom |
| CN109398529B (en) * | 2018-12-13 | 2024-01-05 | 杭州云深处科技有限公司 | Robot sole |
| WO2021147612A1 (en) * | 2020-01-23 | 2021-07-29 | 广州视源电子科技股份有限公司 | Robot foot-end module and robot |
| CN112373596A (en) * | 2020-11-12 | 2021-02-19 | 腾讯科技（深圳）有限公司 | Bionic mechanical foot device and bionic machine |
| CN112373596B (en) * | 2020-11-12 | 2024-04-19 | 腾讯科技（深圳）有限公司 | Bionic mechanical foot device and bionic machinery |
| CN113696995A (en) * | 2021-09-17 | 2021-11-26 | 哈尔滨工业大学 | Lunar surface foot type robot high-performance walking foot with landing buffering function |
| CN114313047A (en) * | 2022-01-06 | 2022-04-12 | 奇弩(中国)有限公司 | Multi-foot wall-climbing robot and electromagnetic adsorption type foot end structure thereof |
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| CN103264734B (en) | 2015-06-17 |
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