CN103264734B - Sole ground touch sensing mechanism of legged robot - Google Patents
Sole ground touch sensing mechanism of legged robot Download PDFInfo
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- CN103264734B CN103264734B CN201310139773.3A CN201310139773A CN103264734B CN 103264734 B CN103264734 B CN 103264734B CN 201310139773 A CN201310139773 A CN 201310139773A CN 103264734 B CN103264734 B CN 103264734B
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- vola
- switch pedestal
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- sole
- shaped projection
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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 robotics, relate at the bottom of a kind of robot foot and touch end sensing mechanisms.
Background technology
In the last few years, along with the development of Robotics, the motion real-time perception ability of people to robot is had higher requirement.For legged mobile robot, how to realize the study hotspot that the fast hop of robot and road-work have become robotics.Because the working environment of legged mobile robot is complicated, affect the many factors of its motion, and can sensitive perception plantar grade state be wherein the key factor that legged mobile robot realizes Real-time Balancing control.At present, China's part robot adopts simple opened loop control, disclosed in CN101370623 " legged mobile robot ", can walk when guaranteeing that trunk height is low with large stride, but the length of paces needs predetermined in advance, can not adapt to comparatively complicated condition of road surface; Some robot have employed power/torque sensor to the power obtaining robot and land or moment information, as " leg type mobile robot " of CN1860001, namely have employed force snesor feedback leg movements state in the design.But this kind of sensor is expensive, and also therefore higher to the requirement of installing and use, the perceptive mode that contacts to earth improved at the bottom of robot foot becomes the major issue of legged mobile robot mechanism design.
Summary of the invention
The object of the invention is to propose a kind of structure legged mobile robot plantar grade sensing mechanisms simple, highly sensitive, easy for installation.
Legged mobile robot plantar grade sensing mechanisms of the present invention comprises shank, switch pedestal, vola, vola rubber, foot rotating shaft, two micro-switchs and two recovery springs, there is U-shaped projection the bottom surface of switch pedestal, be in the side that to be connected with switch pedestal bottom surface on the base of U-shaped projection and have strip groove, strip groove bottom is that U-shaped projection base is anterior protruding, spacer block is had in U-shaped projection, the both sides and spacer block of U-shaped bump openings end there is the through hole run through, be positioned at side, U-shaped projection base in the bottom surface of switch pedestal and be provided with two vertical blind holes, two parallel both sides being fastened on spacer block in U-shaped projection of micro-switch, the front end of vola end face is provided with a projection, the forebody of projection is inclined-plane, projection there are two perpendicular to the spring shrinkage pool of bottom surface, vola, projection has the rectangular through-hole of a fore-and-aft direction, there are two parallel lugs the rear end of vola end face, two lugs all there is shaft hole, the front portion projection of switch pedestal passes the rectangular through-hole in vola, the latter half of of vola end face projection is inserted in the strip groove of switch pedestal, two upper ends of recovering spring are inserted in two blind holes of switch pedestal respectively, lower end is inserted in the spring shrinkage pool in vola respectively, two lugs in vola insert two spaces that U-shaped projection two limits of switch pedestal and spacer block are formed respectively, foot rotating shaft is through the through hole on vola two lug shaft hole and the U-shaped projection of switch pedestal and spacer block, foot roller end twist connected nut formed vola and switch pedestal hinged, the end face of shank and switch pedestal is fixed, vola rubber is fixed on bottom, vola, the driving lever of two micro-switchs is positioned at the middle plane place of vola end face.
When robot foot section contacts to earth, vola will rotate around foot rotating shaft, extruding is arranged on the recovery spring of switch pedestal and front portion, vola, and then touch the micro-switch be arranged in switch pedestal, micro-switch is closed, and the signal landed by foot passes to control system by wire through the hole in the middle of shank.And when foot leaves ground, vola being pushed by recovering spring, discharging the extruding to micro-switch, coming back to initial position, touch end blackout.Vola rubber reduces the damage of Ground shock waves to robot foot section, extends the service life of foot.Meanwhile, this mechanism also enhances robot foot section to the sensitivity judged that lands, and improves the real-time perception ability of robot.This sensing mechanisms is applicable to being applied in the driving legged mobile robot of needs real-time perception function.
Legged mobile robot plantar grade sensing mechanisms of the present invention, structure is simple, highly sensitive, easy for installation.The present invention adopts the contact-sensing of micro-switch to design, and by the hinged vola of foot rotating shaft and switch pedestal, the contact on vola and ground is converted into the closed of micro-switch in real time.When vola rubber contacts to earth, vola compressing micro-switch makes it close, by the signal of plantar grade to control system; When vola rubber leaves ground, recover spring and in the very first time, vola can be pushed away switch pedestal again, remove vola to the compressing of micro-switch, so micro-switch recovers state of nature, also signal liftoff for vola is conveyed to control system.This mechanism can make the situation of contacting to earth in the sensitive judgement vola of control system, ensures the real-time controller performance of legged mobile robot; Vola rubber has buffer protection function to vola simultaneously, extends the service life of legged mobile robot.
Accompanying drawing explanation
Fig. 1 is the section-drawing of robot plantar grade sensing mechanisms;
Fig. 2 is the structural perspective that robot plantar grade sensing mechanisms removes vola rubber;
Fig. 3 is the switch pedestal bottom plan view of robot plantar grade sensing mechanisms;
Fig. 4 is the block diagram of robot plantar grade sensing mechanisms switch pedestal;
Fig. 5 is the vola block diagram of robot plantar grade sensing mechanisms;
Fig. 6 is micro-switch schematic diagram.
In 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, recovery spring 13, driving lever 14, screw hole 15, projection 16, middle plane 17, lug 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.
Detailed description of the invention
The present invention is further illustrated below in conjunction with accompanying drawing.
With reference to Fig. 1-Fig. 6, legged mobile robot plantar grade sensing mechanisms of the present invention, comprising: shank 1, switch pedestal 2, vola 3, vola rubber 4, foot rotating shaft 5, two micro-switchs 12 and two recovery springs 13;
The bottom surface of switch pedestal 2 is (see Fig. 3, Fig. 4) there is U-shaped projection 25, be in the side that to be connected with switch pedestal 2 bottom surface on the base of U-shaped projection 25 and have strip groove 22, strip groove 22 bottom is U-shaped projection base anterior protruding 26, spacer block 27 is had in U-shaped projection 25, U-shaped projection 25 open end both sides and spacer block 27 there is the through hole 24 run through, be positioned at side, U-shaped projection 25 base in the bottom surface of switch pedestal 2 and be provided with two vertical blind holes 21, two parallel both sides being fastened on spacer block 27 in U-shaped projection 25 of micro-switch 12, can be welded and fixed, also can be as shown in the figure, on U-shaped projection 25 both sides, level offers fixed orifice 23, two bolts 6 are through the screw hole 15 of fixed orifice 23 with micro-switch 12 side, tighten at offside nut 9, switch pedestal 2 and micro-switch 12 are closely fixed.
The front end of vola 3 end face (see figure 5) is provided with a projection 16, the forebody of projection 16 is inclined-plane 29, projection 16 there are two perpendicular to the spring shrinkage pool 20 of bottom surface, vola 3, projection 16 has the rectangular through-hole 28 of a fore-and-aft direction, there are two parallel lugs 18 rear end of vola 3 end face, two lugs all there is shaft hole 19, shank 1 is fixed with the end face of switch pedestal 2, the rectangular through-hole 28 in vola 3 is passed in the front portion protruding 26 of switch pedestal 2, the latter half of of vola 3 end face projection 16 is inserted in the strip groove 22 of switch pedestal 2, two lugs 18 in vola 3 insert two spaces that U-shaped projection 25 two limits of switch pedestal 2 and spacer block 27 are formed respectively, foot rotating shaft 5 is through vola two lug 18 shaft hole 19 and the through hole 24 on U-shaped projection 25 and spacer block 27, twist connected nut 10 to form vola 3 hinged with switch pedestal 2 in foot rotating shaft 5 end, when vola 3 in the raw time, the roof of vola rectangular through-hole 28 contacts with the end face of the front portion projection 26 of switch pedestal 2, when vola 3 lands, the inclined-plane 29 of projection 16 forebody contacts with groove 22 roof of switch pedestal 2, as which limit the action radius of vola 3 relative to switch pedestal 2, makes the rotation that vola 3 can only be done among a small circle around foot rotating shaft 5.The driving lever 14 of two micro-switchs 12 is positioned at middle plane 17 place of vola 3 end face.Vola rubber 4 is fixed on bottom, vola 3 by screw 8, two upper ends of recovering spring 13 are inserted in two blind holes 21 of switch pedestal 2 respectively, lower end is inserted in the spring shrinkage pool 20 in vola respectively, recover spring 13 and can play buffer action when vola rubber 4 contacts to earth, alleviate the moment momentum between switch pedestal 2 and vola 3, increase the service life that end sensing mechanisms is touched in vola; Once vola rubber 4 kiss the earth, vola 3 will be driven to extrude and to recover spring 13, vola 3 is rotated around foot rotating shaft 5, so vola 3 middle plane 17 extrudes the driving lever 14 of micro-switch 12, make it close, circuit ON, pass on the information that machine leg contacts to earth; When vola rubber 4 leaves ground, recover spring 13 and recover former length, vola 3 is pushed away switch pedestal 2, remove the compressing to micro-switch 12 driving lever 14, information liftoff for machine leg is passed to control system, and then realize the function whether perception of machine leg contact to earth, and by signal Real-time Feedback to control system, make the situation of contacting to earth in the sensitive judgement vola of control system; There is buffer protection function in rubber 4 pairs of volas 3, vola simultaneously, and the injury that after avoiding test of many times, ground may be caused vola 3, substantially prolongs the service life of legged mobile robot.
Claims (1)
1. a legged mobile robot plantar grade sensing mechanisms, comprise: shank (1), vola (3), vola rubber (4), characterized by further comprising switch pedestal (2), foot rotating shaft (5), two micro-switchs (12) and two recoveries spring (13), there is U-shaped projection (25) bottom surface of switch pedestal (2), be in the side that to be connected with switch pedestal (2) bottom surface on the base of U-shaped projection (25) and have strip groove (22), strip groove (22) bottom is U-shaped projection base anterior protruding (26), spacer block (27) is had in U-shaped projection (25), the both sides of U-shaped projection (25) open end and spacer block (27) have the through hole (24) run through, be positioned at U-shaped projection (25) side, base in the bottom surface of switch pedestal (2) and be provided with two vertical blind holes (21), two parallel both sides being fastened on spacer block (27) in U-shaped projection (25) of micro-switch (12), the front end of vola (3) end face is provided with a projection (16), the forebody of projection (16) is inclined-plane (29), projection (16) there are two perpendicular to the spring shrinkage pool (20) of vola (3) bottom surface, projection (16) has the rectangular through-hole (28) of a fore-and-aft direction, there are two parallel lugs (18) rear end of vola (3) end face, two lugs all there is shaft hole (19), the front portion projection (26) of switch pedestal (2) is through the rectangular through-hole (28) of vola (3), the latter half of of vola (3) end face projection (16) is inserted in the strip groove (22) of switch pedestal (2), two upper ends of recovering spring (13) are inserted in two blind holes (21) of switch pedestal (2) respectively, lower end is inserted in the spring shrinkage pool (20) in vola respectively, two lugs (18) in vola (3) insert two spaces that U-shaped projection (25) two limits of switch pedestal (2) and spacer block (27) are formed respectively, foot rotating shaft (5) is through vola two lug (18) shaft hole (19) and the through hole (24) on switch pedestal (2) U-shaped projection (25) and spacer block (27), 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 vola (3) bottom, the driving lever (14) of two micro-switchs (12) is positioned at middle plane (17) place of vola (3) end face.
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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
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| CN103264734A CN103264734A (en) | 2013-08-28 |
| CN103264734B true CN103264734B (en) | 2015-06-17 |
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| CN201310139773.3A Active CN103264734B (en) | 2013-04-22 | 2013-04-22 | Sole ground touch sensing mechanism of legged robot |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816766B (en) * | 2015-04-26 | 2017-02-01 | 北京航空航天大学 | Foot earth contact detection mechanism suitable for legged robot |
| CN105171776B (en) * | 2015-09-21 | 2017-09-26 | 北京航空航天大学 | A kind of detectable foot contacts the multi-foot robot flexible foot system of situation with ground |
| 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 |
| 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 |
| CN109398529B (en) * | 2018-12-13 | 2024-01-05 | 杭州云深处科技有限公司 | Robot sole |
| CN211761669U (en) * | 2020-01-23 | 2020-10-27 | 广州视源电子科技股份有限公司 | Robot foot end module and robot |
| 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 |
| CN113696995B (en) * | 2021-09-17 | 2023-03-31 | 哈尔滨工业大学 | Lunar surface foot type robot high-performance walking foot with landing buffering function |
| CN114313047B (en) * | 2022-01-06 | 2023-04-07 | 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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| CN101570219A (en) * | 2009-06-08 | 2009-11-04 | 南京航空航天大学 | Bionic leg with three-dimensional force perception and spatial surface self-adaptive ability |
| CN102211627A (en) * | 2011-04-27 | 2011-10-12 | 浙江大学 | Four-leg robot mechanism based on bionic design |
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| CN202413981U (en) * | 2012-01-19 | 2012-09-05 | 浙江大学 | Flat bottom foot structures of multi-foot walking robot |
| CN102717847A (en) * | 2012-06-28 | 2012-10-10 | 中国科学院自动化研究所 | Leg-foot mechanism with low rotational inertia configuration for four-footed robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US8914151B2 (en) * | 2011-07-05 | 2014-12-16 | The State Of Oregon Acting By And Through The State Board Of Higher Education On Behalf Of Oregon State University | Apparatus and method for legged locomotion integrating passive dynamics with active force control |
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| CN101570219A (en) * | 2009-06-08 | 2009-11-04 | 南京航空航天大学 | Bionic leg with three-dimensional force perception and spatial surface self-adaptive ability |
| CN102211627A (en) * | 2011-04-27 | 2011-10-12 | 浙江大学 | Four-leg robot mechanism based on bionic design |
| 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 |
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