CN104816766A - Foot earth contact detection mechanism suitable for legged robot - Google Patents
Foot earth contact detection mechanism suitable for legged robot Download PDFInfo
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- CN104816766A CN104816766A CN201510202675.9A CN201510202675A CN104816766A CN 104816766 A CN104816766 A CN 104816766A CN 201510202675 A CN201510202675 A CN 201510202675A CN 104816766 A CN104816766 A CN 104816766A
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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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Abstract
The invention discloses a foot earth contact detection mechanism suitable for a legged robot. The foot earth contact detection mechanism suitable for the legged robot is characterized in that an inner thread copper pillar (5) is installed on an A connection rod (1C) of a foot strut (1), a spring (4) sleeves a B connection rod (1D) of the foot strut (1), and is located between the inner thread copper pillar (5) and a fixing seat (3), an A copper pillar (6) and a B copper pillar (7) are installed on the fixing seat (3), the A copper pillar (6) is connected with a positive pole of a 5V power source, the B copper pillar (7) is connected with a signal detection input/output port, the fixing seat (3) is installed on the lower portion of a connection seat (2), and a B connection rod (1D) of the foot strut (1) passes through an A center through hole of the connection seat (2), and then is connected with a nut (8) through a thread. The foot earth contact detection mechanism suitable for the legged robot achieves a contact switch function through electric signal connections and disconnections of the A copper pillar (6), the B copper pillar (7) and the inner thread copper pillar (5) , and thereby detects earth contact and lifting status of a foot of the legged robot in real time.
Description
Technical field
The present invention relates to the foot unit of legged mobile robot, more particularly, refer to that a kind of foot being applicable to legged mobile robot contacts to earth testing agency.
Background technology
The leg that legged mobile robot comprises trunk and is connected with trunk.Legged mobile robot main at present mainly contains biped robot, quadruped robot, six biped robots and eight biped robots.Each leg comprises multiple connecting rod.Adjacent connecting rod is linked together by joint thus can move.
Volume the 1st phase January the 28th in 2006 " robot ROBOT ", exercise question name is called " Review Study of legged mobile robot ", author Liu Jing, Zhao Xiaoguang, Tan Min.The article pointed out that the health of legged mobile robot is separated with ground, the advantage of this physical construction is, the health of robot can move evenly and need not consider the placement location of ground degree of roughness and leg.The Walking Gait Planning Algorithm of legged mobile robot based on thought be: the leg end position in a coordinate system of known machine people, ask the joint angle in each joint of leg.After joint angle is determined, just can the gait pattern of construction robot.The mode of described legged mobile robot gait determines the comformability of robot to landform.High level controller is for realizing the gesture stability of legged mobile robot, motion control and gait planning.
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 focus that different action becomes its research.Because the working environment of legged mobile robot is complicated, affects the many factors of its motion, and can sensitive perception plantar grade state be wherein the key factor that legged mobile robot realizes stable motion.
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 higher to the requirement of installing and use, therefore, 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
In order to improve the sensitive perception of legged mobile robot plantar grade state, the present invention devises a kind of foot being applicable to legged mobile robot and to contact to earth testing agency.This foot testing agency of contacting to earth realizes on the one hand the conducting of two copper posts by the spring slight compression caused during foot kiss the earth, this Continuity signal shows that foot contacts to earth; On the other hand when foot leaves ground, spring-compressed and the spring force that produces and force the conducting of two copper posts to disconnect, this cut-off signal shows that foot is liftoff; Then, the high level controller of legged mobile robot is monitored the conducting of two copper posts by each single leg controller and is disconnected judging to hold enough whether contact to earth.
A kind of foot being applicable to legged mobile robot of the present invention's design contacts to earth testing agency, and the leg that legged mobile robot comprises trunk and is connected with trunk, described leg is at least provided with sufficient pillar (1); Foot pillar (1) is provided with A connecting rod (1C), B connecting rod (1D) and sufficient distal body (1B); It is characterized in that: foot testing agency of contacting to earth includes Connection Block (2), permanent seat (3), spring (4), negative thread copper post (5), A copper post (6), B copper post (7) and nut (8);
First thread segment (1C1) of the A connecting rod (1C) of foot pillar (1) is connected with negative thread copper post (5).
Second thread segment (1D1) of the B connecting rod (1D) of foot pillar (1) is connected with nut (8).
Connection Block (2) is provided with A support plate (2A), B support plate (2B), transverse slat (2C) and circular bosses (2D).A support plate (2A) is provided with AA tapped bore (2A1), and by coordinating of this AA tapped bore (2A1) and a screw, the connecting portion of one end and legged mobile robot of realizing Connection Block (2) is fixed.B support plate (2B) is provided with AB tapped bore (2B1), and by coordinating of this AB tapped bore (2B1) and another screw, the connecting portion of the other end and legged mobile robot that realize Connection Block (2) is fixed.
Transverse slat (2C) is provided with A central through hole (2C1), AA through hole (2C2) and AB through hole (2C3); Described A central through hole (2C1) is passed for the B connecting rod (1D) of sufficient pillar (1); Described AA through hole (2C2) is passed for a wire, and one end of the described wire after passing and A cylinder (6) are fixed, and the other end of a described wire is connected with 5V positive source; Described AB through hole (2C3) is passed for another wire, and one end of another wire described after passing and B cylinder (7) are fixed, and the other end of another wire described is connected with signal detection I/O port.
Circular bosses (2D) is provided with AC tapped blind hole (2D1) and AD tapped blind hole (2D2); Described AC tapped blind hole (2D1) is for placing A drive screw (31), one end of described A drive screw (31), through after the BC countersunk head through hole (3D) on permanent seat (3), is threaded in AC tapped blind hole (2D1); Described AD tapped blind hole (2D2) is for placing B drive screw (32), one end of described B drive screw (32), through after the BD countersunk head through hole (3E) on permanent seat (3), is threaded in AD tapped blind hole (2D2);
Permanent seat (3) is provided with B central through hole (3A), BA tapped bore (3B), BB tapped bore (3C), BC countersunk head through hole (3D) and BD countersunk head through hole (3E);
Described B central through hole (3A) passes for the B connecting rod (1D) of sufficient pillar (1);
Described BC countersunk head through hole (3D) passes for A drive screw (31), and the AA thread segment (31A) through the A drive screw (31) after BC countersunk head through hole (3D) is connected in the AC tapped blind hole (2D1) of Connection Block (2);
Described BD countersunk head through hole (3E) passes for B drive screw (32), and the BB thread segment (32A) through the B drive screw (32) after BD countersunk head through hole (3E) is connected in the AD tapped blind hole (2D2) of Connection Block (2);
Described BA tapped bore (3B) is for installing A copper post 6; A copper post (6) is connected with 5V positive source.
Described BB tapped bore (3C) is for installing B copper post 7.B copper post 7 is connected with signal detection I/O port.
Described negative thread copper post (5) is electric conductor, and described permanent seat (3) is insulator.
The contact to earth advantage of testing agency of a kind of foot being applicable to legged mobile robot of the present invention is:
1. this foot structure is simply applicable, is easy to install.
2. this foot integrates robot foot and contacts to earth switch designs, without the need to the commercial switch of outsourcing.
3. this foot switch that contacts to earth only has two lead-in wires, alleviates leg structural wiring design difficulty, and lead-in wire passes through from inside configuration, without exposing.
4. the built-in spring of this foot, can be used for impact when cushioning sufficient end and earth surface, alleviates the impact impacted leg.
5. this foot structure only need realize directly being fixedly connected with leg by the Connection Block of foot unit, integrated simple and reliable with leg.
Accompanying drawing explanation
Fig. 1 be the foot being applicable to legged mobile robot of the present invention contact to earth testing agency face constructional drawing.
Figure 1A is that the foot being applicable to legged mobile robot of the present invention contacts to earth the A-A sectional structure chart of testing agency.
Figure 1B is that the foot being applicable to legged mobile robot of the present invention contacts to earth the external structure of testing agency.
Fig. 1 C is that the foot being applicable to legged mobile robot of the present invention contacts to earth the decomposition chart of testing agency.
Fig. 2 is that foot of the present invention contacts to earth the constructional drawing of Connection Block in testing agency.
Fig. 3 is that foot of the present invention contacts to earth the constructional drawing of permanent seat in testing agency.
Fig. 4 is that application foot of the present invention contacts to earth the multi-foot robot motion control block diagram of testing agency.
Fig. 4 A is that application foot of the present invention testing agency of contacting to earth realizes the control flow chart that single leg foot lands.
Fig. 4 B is that application foot of the present invention testing agency of contacting to earth realizes the liftoff control flow chart of single leg foot.
| 1. sufficient pillar | 1A. foot end | 1B. foot distal body |
| 1C.A connecting rod | 1C1. first thread segment | 1D.B connecting rod |
| 1D1. second thread segment | 2. Connection Block | 2A.A support plate |
| 2A1.AA tapped bore | 2B.B support plate | 2B1.AB tapped bore |
| 2C. transverse slat | 2C1.A central through hole | 2C2.AA through hole |
| 2C3.AB through hole | 2D. circular bosses | 2D1.AC tapped blind hole |
| 2D2.AD tapped blind hole | 3. permanent seat | 3A.B central through hole |
| 3B.BA tapped bore | 3C.BB tapped bore | 3D.BC countersunk head through hole |
| 3E.BD countersunk head through hole | 31.A screw | 31A.AA thread segment |
| 32.B screw | 32A.BB thread segment | 4. spring |
| 5. negative thread copper post | 5A. tapped through hole | 6.A copper post |
| 6A.A thread segment | 7.B copper post | 7A.B thread segment |
| 8. nut |
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Usually, the leg that legged mobile robot comprises trunk and is connected with trunk, described leg is at least provided with sufficient pillar 1.Shown in Fig. 1, Figure 1A, Figure 1B and Fig. 1 C, the designed a kind of foot being applicable to legged mobile robot of the present invention contacts to earth testing agency, and this foot testing agency of contacting to earth includes Connection Block 2, permanent seat 3, spring 4, negative thread copper post 5, A copper post 6, B copper post 7 and nut 8;
The contact to earth fixed installation of connecting portion of testing agency and legged mobile robot of described foot is that A support plate 2A by Connection Block 2 is arranged and B support plate 2B realize.Namely after adopting the through hole of a screw through the connecting portion of legged mobile robot, be threaded in the AA tapped bore 2A1 of A support plate 2A, after adopting another screw another through hole through the connecting portion of legged mobile robot, be threaded and want in the AB tapped bore 2B1 of B support plate 2B.Screw and through hole, tapped bore be assembled into usual manner.
Contact to earth in testing agency at the foot of the present invention's design, negative thread copper post 5 is arranged on the A connecting rod 1C of sufficient pillar 1; Spring 4 is enclosed within the B connecting rod 1D of sufficient pillar 1, and between negative thread copper post 5 and permanent seat 3; A copper post 6 and B copper post 7 are arranged on permanent seat 3; Permanent seat 3 is arranged on the bottom of Connection Block 2; The B connecting rod 1D of foot pillar 1 is through after the AB through hole 2C1 on Connection Block 2, and the nut 8 that has been threaded on the second thread segment 1D 1 of B connecting rod 1D.
Foot pillar 1:
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, the work material of sufficient pillar 1 generally adopts aluminum alloy.Foot pillar 1 is provided with A connecting rod 1C, B connecting rod 1D and sufficient distal body 1B, and the bottom of the sufficient distal body 1B of sufficient pillar 1 is used for and earth surface, is called sufficient end 1A.
A connecting rod 1C is provided with the first thread segment 1C1, and this first thread segment 1C1 is for connecting negative thread copper post 5.
B connecting rod 1D is provided with the second thread segment 1D 1, and this second thread segment 1D 1 is for coupling nut 8.
Connection Block 2:
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 2, the work material of Connection Block 2 generally adopts aluminum alloy.Connection Block 2 is provided with A support plate 2A, B support plate 2B, transverse slat 2C and circular bosses 2D.
Shown in Fig. 1 C, A support plate 2A is provided with AA tapped bore 2A1, and by coordinating of this AA tapped bore 2A1 and a screw, the connecting portion of one end and legged mobile robot of realizing Connection Block 2 is fixed.
Shown in Fig. 1 C, B support plate 2B is provided with AB tapped bore 2B1, and by coordinating of this AB tapped bore 2B1 and another screw, the connecting portion of the other end and legged mobile robot that realize Connection Block 2 is fixed.
Shown in Fig. 1 C, transverse slat 2C is provided with A central through hole 2C1, AA through hole 2C2 and AB through hole 2C3;
The B connecting rod 1D that described A central through hole 2C1 is used for sufficient pillar 1 passes;
Described AA through hole 2C2 is used for a wire and passes, and one end and the A cylinder 6 of the described wire after passing are fixed, and the other end of a described wire is connected with 5V positive source;
Described AB through hole 2C3 is used for another wire and passes, and one end and the B cylinder 7 of another wire described after passing are fixed, and the other end of another wire described is connected with signal detection I/O port.
Shown in Fig. 1 C, Fig. 2, circular bosses 2D is provided with AC tapped blind hole 2D1 and AD tapped blind hole 2D2;
Described AC tapped blind hole 2D1 is for placing A drive screw 31, and one end of described A drive screw 31, through after the BC countersunk head through hole 3D on permanent seat 3, is threaded in AC tapped blind hole 2D1;
Described AD tapped blind hole 2D2 is for placing B drive screw 32, and one end of described B drive screw 32, through after the BD countersunk head through hole 3E on permanent seat 3, is threaded in AD tapped blind hole 2D2; In the present invention, the fixed installation of Connection Block 2 and permanent seat 3 is realized by A drive screw 31 and B drive screw 32.
Permanent seat 3:
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 3, what permanent seat 3 adopted is ABS-PC material, is insulator.Permanent seat 3 is provided with B central through hole 3A, BA tapped bore 3B, BB tapped bore 3C, BC countersunk head through hole 3D and BD countersunk head through hole 3E;
The B connecting rod 1D that described B central through hole 3A is used for sufficient pillar 1 passes;
Described BC countersunk head through hole 3D is used for A drive screw 31 and passes, and the AA thread segment 31A through the A drive screw 31 after BC countersunk head through hole 3D is connected in the AC tapped blind hole 2D1 of Connection Block 2;
Described BD countersunk head through hole 3E is used for B drive screw 32 and passes, and the BB thread segment 32A through the B drive screw 32 after BD countersunk head through hole 3E is connected in the AD tapped blind hole 2D2 of Connection Block 2;
Described BA tapped bore 3B is for installing A copper post 6;
Described BB tapped bore 3C is for installing B copper post 7.
Negative thread copper post 5:
Shown in Fig. 1 C, negative thread copper post 5 is provided with tapped through hole 5A, and negative thread copper post 5 is threaded in by this tapped through hole 5A on the first thread segment 1C1 of the A connecting rod 1C of sufficient pillar 1.Namely negative thread copper post 5 is fixed on the A connecting rod 1C of sufficient pillar 1.
A copper post 6:
Shown in Fig. 1 C, A copper post 6 is arranged in the BA tapped bore 3B of permanent seat 3, and A copper post 6 is provided with A thread segment 6A.
In the present invention, A copper post 6 is connected with 5V positive source.
B copper post 7:
Shown in Fig. 1 C, B copper post 7 is arranged in the BB tapped bore 3C of permanent seat 3, and B copper post 7 is provided with B thread segment 7A.
In the present invention, B copper post 7 is connected with signal detection I/O port.
In the present invention, when A copper post 6 contacts with negative thread copper post 5 with B copper post 7, the high level of A copper post 6 is by the conducting of negative thread copper post 5 to B copper post 7, and now, the level of signal detection I/O port is high.
In the present invention, when A copper post 6 does not contact with negative thread copper post 5 with B copper post 7, the high level of A copper post 6 not by the conducting of negative thread copper post 5 to B copper post 7, now, the level of signal detection I/O port is low.
Shown in Figure 4, usually, legged mobile robot according to mission requirements by high level controller to each single leg controller (single leg controller A, single leg controller B ..., single leg controller N) send movement instruction, the motion that movement instruction controls each leg joint resolved by described single leg controller, the motion of leg joint makes foot unit produce and lifts/put down motion, thus that sufficient end is completed is liftoff/and the motion that lands.Described single leg controller is provided with signal detection I/O port.
Control see the single leg that lands shown in Fig. 4 A, high level controller issues the movement instruction that lands, and the motion that the movement instruction that lands controls this leg joint resolved by single leg controller, and the motion of leg joint makes foot unit produce and puts down motion; According to the situation that different landform may exist be:
(A) if subdued topography, then the level signal of the signal detection I/O port of foot unit is high level, illustrates that sufficient end touches ground;
(B) if concave relief, then the level signal of the signal detection I/O port of foot unit is low level, illustrate that sufficient end does not also touch ground, now single leg controller continues to produce joint motions instruction, control leg joint moves, until the level of the signal detection I/O port of sufficient end is high, sufficient end completes kiss the earth;
(C) if convex landform, in the motion process that single leg controller puts down at leg, can detect that the level signal of the signal detection I/O port of foot unit is high level, illustrate that sufficient end touches ground in advance, now single leg controller sends the movement instruction stopping leg putting down, make leg joint stop motion, sufficient end completes kiss the earth.
In single leg that lands of the present invention controls, single leg controller is that height determines sufficient end kiss the earth according to the level of the signal detection I/O port of foot unit, and feeds back earth signal to high level controller.
Control see the liftoff single leg shown in Fig. 4 B, high level controller issues liftoff movement instruction, the motion that liftoff movement instruction controls this leg joint resolved by single leg controller, the motion of leg joint makes foot unit produce and lifts motion, and single leg controller constantly detects the level signal of the signal detection I/O port of foot unit simultaneously; If when detected level signal is high level, illustrate that sufficient end is also not liftoff, single leg controller continues to control leg joint motion, foot unit is produced and lifts motion; If when detected level signal is low level, illustrate that sufficient end is liftoff.
In liftoff single leg of the present invention controls, single leg controller is lowly determine that sufficient end leaves ground according to the level of the signal detection I/O port of foot unit, and feeds back liftoff signal to high level controller.
Land principle of work:
Land in process at the foot unit of legged mobile robot, when sufficient end 1A and the earth surface of sufficient pillar 1, the contact force produced due to contact compresses the spring 4 that sufficient pillar 1 is socketed, and makes spring 4 produce a thin tail sheep d upwards
displacement; Described displacement can make spring 4 compress, thus makes A copper post 6 contact the upper end of negative thread copper post 5 with B copper post 7 simultaneously; Because negative thread copper post 5 is electric conductor, make the high level of A copper post 6 by the conducting of negative thread copper post 5 to B copper post 7, now, the level of signal detection I/O port is high, is equivalent to contact switch closed (as shown in Figure 4); With earth surface, and and between ground, there is certain interaction force F in the sufficient end 1A that now shows sufficient pillar 1
contact.
Liftoff principle of work:
In the liftoff process of foot unit of legged mobile robot, the sufficient end 1A of sufficient pillar 1 when liftoff beginning with earth surface, time legged mobile robot is taken a step for lifting leg, need the liftoff opportunity judging legged mobile robot, for gait planning forward.Its principle is as follows: when legged mobile robot lifts leg, because the spring 4 be socketed on sufficient pillar 1 exists certain spring force F owing to being forced to compress
spring, therefore within the specific limits, the sufficient end 1A of sufficient pillar 1 can always with earth surface; Because spring 4 stores certain elastic potential energy, there is trend leg far-end and sufficient pillar 1 strutted; When legged mobile robot lifts leg, give the space that spring 4 discharges elastic potential energy, A copper post 6 is separated with negative thread copper post 5 with B copper post 7, therefore A copper post 6 and B copper post 7 be not by the conducting of negative thread copper post 5, and permanent seat 3 employing is the processing of ABS-PC material, for insulator, therefore the connection between A copper post 6 and B copper post 7 disconnects, and is now equivalent to contact switch and disconnects (as shown in Figure 4).What negative thread copper post 5, A copper post 6 and B copper post 7 adopted is the processing of brass material.
The present invention design foot contact to earth testing agency be existing legged mobile robot leg foot end a kind of modified node method.The foot testing agency of contacting to earth of the present invention's design is to be solved: how to improve legged mobile robot foot end landing and the technical matters of liftoff detection sensitivity in gait planning, the technological means adopted be to the electric signal break-make of A copper post (6), B copper post (7) and negative thread copper post (5) to realize contact switch function, reach and detect the landing with liftoff of legged mobile robot foot.Technique effect is then increase simple device at existing legged mobile robot leg, achieves large function, and highly sensitive, low processing cost.
Claims (6)
1. the foot being applicable to legged mobile robot contacts to earth a testing agency, and the leg that legged mobile robot comprises trunk and is connected with trunk, described leg is at least provided with sufficient pillar (1); Foot pillar (1) is provided with A connecting rod (1C), B connecting rod (1D) and sufficient distal body (1B); It is characterized in that: foot testing agency of contacting to earth includes Connection Block (2), permanent seat (3), spring (4), negative thread copper post (5), A copper post (6), B copper post (7) and nut (8);
First thread segment (1C1) of the A connecting rod (1C) of foot pillar (1) is connected with negative thread copper post (5);
Second thread segment (1D1) of the B connecting rod (1D) of foot pillar (1) is connected with nut (8);
Connection Block (2) is provided with A support plate (2A), B support plate (2B), transverse slat (2C) and circular bosses (2D); A support plate (2A) is provided with AA tapped bore (2A1), and by coordinating of this AA tapped bore (2A1) and a screw, the connecting portion of one end and legged mobile robot of realizing Connection Block (2) is fixed; B support plate (2B) is provided with AB tapped bore (2B1), and by coordinating of this AB tapped bore (2B1) and another screw, the connecting portion of the other end and legged mobile robot that realize Connection Block (2) is fixed;
Transverse slat (2C) is provided with A central through hole (2C1), AA through hole (2C2) and AB through hole (2C3); Described A central through hole (2C1) is passed for the B connecting rod (1D) of sufficient pillar (1); Described AA through hole (2C2) is passed for a wire, and one end of the described wire after passing and A cylinder (6) are fixed, and the other end of a described wire is connected with 5V positive source; Described AB through hole (2C3) is passed for another wire, and one end of another wire described after passing and B cylinder (7) are fixed, and the other end of another wire described is connected with signal detection I/O port;
Circular bosses (2D) is provided with AC tapped blind hole (2D1) and AD tapped blind hole (2D2); Described AC tapped blind hole (2D1) is for placing A drive screw (31), one end of described A drive screw (31), through after the BC countersunk head through hole (3D) on permanent seat (3), is threaded in AC tapped blind hole (2D1); Described AD tapped blind hole (2D2) is for placing B drive screw (32), one end of described B drive screw (32), through after the BD countersunk head through hole (3E) on permanent seat (3), is threaded in AD tapped blind hole (2D2);
Permanent seat (3) is provided with B central through hole (3A), BA tapped bore (3B), BB tapped bore (3C), BC countersunk head through hole (3D) and BD countersunk head through hole (3E);
Described B central through hole (3A) passes for the B connecting rod (1D) of sufficient pillar (1);
Described BC countersunk head through hole (3D) passes for A drive screw (31), and the AA thread segment (31A) through the A drive screw (31) after BC countersunk head through hole (3D) is connected in the AC tapped blind hole (2D1) of Connection Block (2);
Described BD countersunk head through hole (3E) passes for B drive screw (32), and the BB thread segment (32A) through the B drive screw (32) after BD countersunk head through hole (3E) is connected in the AD tapped blind hole (2D2) of Connection Block (2);
Described BA tapped bore (3B) is for installing A copper post 6; A copper post (6) is connected with 5V positive source;
Described BB tapped bore (3C) is for installing B copper post 7; B copper post 7 is connected with signal detection I/O port.
2. a kind of foot being applicable to legged mobile robot according to claim 1 contacts to earth testing agency, and it is characterized in that: negative thread copper post (5) is electric conductor, permanent seat (3) is insulator.
3. a kind of foot being applicable to legged mobile robot according to claim 1 contacts to earth testing agency, it is characterized in that: what negative thread copper post (5), A copper post (6) and B copper post (7) adopted is the processing of brass material.
4. a kind of foot being applicable to legged mobile robot according to claim 1 contacts to earth testing agency, it is characterized in that: what permanent seat (3) adopted is the processing of ABS-PC material.
5. a kind of foot being applicable to legged mobile robot according to claim 1 contacts to earth testing agency, it is characterized in that: land in process at the foot unit of legged mobile robot, when the sufficient end (1A) of sufficient pillar (1) is with earth surface, the contact force produced due to contact compresses the upper spring (4) be socketed of sufficient pillar (1), makes spring (4) produce a thin tail sheep d displacement upwards; Described displacement can make spring (4) compress, thus makes A copper post (6) contact the upper end of negative thread copper post (5) with B copper post (7) simultaneously; Because negative thread copper post (5) is electric conductor, make the high level of A copper post (6) by negative thread copper post (5) conducting to B copper post (7).
6. a kind of foot being applicable to legged mobile robot according to claim 1 contacts to earth testing agency, it is characterized in that: in the liftoff process of foot unit of legged mobile robot, when legged mobile robot lifts leg, owing to there is certain spring force F spring owing to being forced to compress in the spring (4) be socketed on sufficient pillar (1), therefore within the specific limits, the sufficient end (1A) of sufficient pillar (1) can always with earth surface; Because spring (4) stores certain elastic potential energy, there is trend leg far-end and sufficient pillar (1) strutted; When legged mobile robot lifts leg, give the space of spring (4) release elastic potential energy, A copper post (6) is separated with negative thread copper post (5) with B copper post (7), therefore A copper post (6) and B copper post (7) be not by negative thread copper post (5) conducting, therefore the connection between A copper post (6) and B copper post (7) disconnects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510202675.9A CN104816766B (en) | 2015-04-26 | 2015-04-26 | Foot earth contact detection mechanism suitable for legged robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510202675.9A CN104816766B (en) | 2015-04-26 | 2015-04-26 | Foot earth contact detection mechanism suitable for legged robot |
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| Publication Number | Publication Date |
|---|---|
| CN104816766A true CN104816766A (en) | 2015-08-05 |
| CN104816766B CN104816766B (en) | 2017-02-01 |
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|---|---|---|---|
| CN201510202675.9A Active CN104816766B (en) | 2015-04-26 | 2015-04-26 | Foot earth contact detection mechanism suitable for legged robot |
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| CN (1) | CN104816766B (en) |
Cited By (3)
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| 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 |
| CN108908301A (en) * | 2018-08-10 | 2018-11-30 | 北京钢铁侠科技有限公司 | The lower limb structure and robot of robot |
| CN113433961A (en) * | 2021-07-02 | 2021-09-24 | 北方工业大学 | Foot end touchdown feedback component of foot type robot and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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| CN113433961B (en) * | 2021-07-02 | 2022-10-14 | 北方工业大学 | Foot end touchdown feedback component of foot type robot and control method thereof |
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| CN104816766B (en) | 2017-02-01 |
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