CN106965954A - Force transducer for sole of foot stretches protection device - Google Patents

Force transducer for sole of foot stretches protection device Download PDF

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Publication number
CN106965954A
CN106965954A CN201710294541.3A CN201710294541A CN106965954A CN 106965954 A CN106965954 A CN 106965954A CN 201710294541 A CN201710294541 A CN 201710294541A CN 106965954 A CN106965954 A CN 106965954A
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CN
China
Prior art keywords
sensor
pedipulator
ball pivot
component
bar
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Granted
Application number
CN201710294541.3A
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Chinese (zh)
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CN106965954B (en
Inventor
贾山
陈金宝
居鹤华
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Priority to CN201710294541.3A priority Critical patent/CN106965954B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/16—Extraterrestrial cars
    • 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

Abstract

The invention provides a kind of flexible protection device of force transducer for sole of foot; including pedipulator bar assembly and the drive system module being sequentially arranged at from top to bottom inside pedipulator bar assembly, sensor upper plate component, sensor cluster and telescopic slide ball pivot component, foot pad is installed below telescopic slide ball pivot component.The present invention can be before lander buffering and when buffering; breakaway bang path; after lander buffering; power bang path is connected, the detection to vola power is realized, it is simple and reliable for structure; it is easy to control; except can walk/can be in addition to posture adjustment lander, it may also be used for legged mobile robot or other need the occasion protected to pressure sensor, possess stronger use flexibility.

Description

Force transducer for sole of foot stretches protection device
Technical field
The present invention relates to lander buffering and gesture stability field, the flexible protection dress of specifically a kind of force transducer for sole of foot Put.
Background technology
Interspace detection not only includes soft landing, be also included within extraterrestrial body surface face carry out deeper into scientific investigation.With this Deepening continuously for a little detected events, is proposed more to the lander body posture after buffering and detectable extraterrestrial body surface range Carry out higher requirement.
Traditional lander is fixed on landing point after landing buffer, and the extension of investigative range can only be by discharging its institute The means such as the rover of carrying are realized.Therefore, posture after there is uneven touchdown area topography and geomorphology, landing is undesirable Or lander buffers leg in unfavorable operating modes such as outer celestial body surface depressions, complete to buffer and be fixed on the lander of landing point by nothing Method adjusts position and the posture of itself, may influence whether the working condition of the payload such as carried scientific instrument, and then Implementation to subsequent probe task has a negative impact.
At present, assigning the research field of pose adjustment and walking function to interplanetary lander, have known to the country on The soft lunar landing mechanism of walking that extra large aerospace systems Graduate School of Engineering is proposed（CN201510302516.6）Fly with Beijing space The walking robot with landing buffer function that the Hang Qi department of system designs propose（CN201510616864.0）.The former will lead/ One end of auxiliary damper leg is connected to can be（It is installed on the wall of lander side）The sliding block slided on slide rail, and pass through driving The mode that sliding block is slided on slide rail realizes the motion of master/auxiliary damper leg；The latter is internally integrated in host buffer pillar and is based on The lead-screw drive mechanism of clasp nut realizes the driving to host buffer pillar after landing.
From robotics correlation theory, lander is when realizing the functions such as walking and pose adjustment, and control system is needed The interaction force between its pedipulator end and star catalogue, i.e. vola power are detected, the foundation for coordinating each pedipulator motion is used as. However, above-mentioned each scheme does not address the contents of the section.
In addition, when installing force transducer for sole of foot for lander pedipulator, it is necessary to be avoided by means such as mechanical structures Intense impact during the device buffering of land causes to damage to sensor, and after buffering is completed, moreover it is possible to power bang path is successfully connected, Realize the detection to vola power.
The content of the invention
The present invention stretches protection device to solve problem of the prior art there is provided a kind of force transducer for sole of foot, can be When before lander buffering with buffering, breakaway bang path after lander buffering, is connected power bang path, realized to vola The detection of power, it is simple and reliable for structure, it is easy to control, except can walk/can be in addition to posture adjustment lander, it may also be used for legged mobile robot or its He needs the occasion protected to pressure sensor, possesses stronger use flexibility.
The present invention includes pedipulator bar assembly and the drivetrain being sequentially arranged at from top to bottom inside pedipulator bar assembly Installed below system component, sensor upper plate component, sensor cluster and telescopic slide ball pivot component, telescopic slide ball pivot component There is foot pad；
The pedipulator bar assembly includes pedipulator bar, upper rail plate and lower slider guide rail；Wherein, opened inside pedipulator bar Have in cavity, cavity and rail plate is installed；Pedipulator bar end is square hole structure, and square hole inwall is uniformly distributed on peripheries with lower slider Guide rail；
The sensor upper plate component includes sensor upper plate and spring, wherein, sensor upper plate can be along the machinery Upper rail plate in leg bar assembly is slided up and down, and is provided with sensor upper plate center through hole thereon；The upper end of spring and biography Sensor upper plate lower surface is connected, and the lower end of spring is connected with telescopic slide ball pivot component；
The sensor cluster includes be fixedly connected sequentially from top to bottom the sensor upper connector to form an entirety, pressure biography Connector under sensor and sensor, each component is coaxial with spring in the sensor upper plate component, sensor cluster Rail plate does straight reciprocating motion in the driving lower edge of drive system module；
The telescopic slide ball pivot component includes sliding part on ball pivot and divided with sliding ball pivot bottom, wherein, slide ball pivot top Divide and be installed in the square hole of pedipulator bar end of the pedipulator bar assembly, can be slided up and down along lower slider guide rail.
Further improve, the drive system module includes motor, shaft coupling and the leading screw being sequentially connected from top to bottom, silk Thick stick is connected by nut and nut mounting seat, there is the nut mounting seat threaded rod of protrusion, sensor below nut mounting seat Component is fixedly connected with nut mounting seat threaded rod, and sensor cluster is under the driving of motor with nut mounting seat in the lump along upper cunning Dynamic guide rail motion.
Further improve, machinery is installed above upper rail plate in pedipulator bar cavity in described pedipulator bar assembly Leg bar buttress brace.
Further improve, part top center is provided with central counterbore on described slip ball pivot, slide part on ball pivot Bottom design has flange.
Connector lower surface and the slip ball pivot top in telescopic slide ball pivot component under sensor in sensor cluster When dividing central counterbore contact, the spring in sensor upper plate component is on natural length, and sensor upper plate and sensor Connector is critical contact；
Sensor cluster along upper rail plate move upwards when, contact of the sensor upper plate with sensor upper connector can be passed through Sensor upper plate component is driven to move upwards in the lump, part bottom upper surface is contacted with pedipulator bar end on ball pivot is slided Afterwards, spring will be stretched so that connector is kept completely separate with sliding the central counterbore in part on ball pivot under sensor, realizes sensor The reliable disconnection of power bang path；
Sensor cluster along upper rail plate move downward when, connector is with sliding the central counterbore in part on ball pivot under sensor After contact, spring reverts to natural length so that sensor upper plate component is moved downward in the lump with telescopic slide ball pivot component, After part is separated with pedipulator bar end on ball pivot is slided, the reliable connection of sensor force bang path is realized.
Beneficial effect of the present invention is：
1st, drive system drives sensor to move upwards, part bottom upper surface and pedipulator bar end lower end on ball pivot is slided , can be by the stretcher strain of spring after the contact of face so that connector lower surface is heavy with sliding part center on ball pivot under sensor Bottom hole face is kept completely separate, and realizes the reliable disconnection of power bang path；Vola power can be sensed before lander buffering and when buffering Device is retracted, breakaway bang path, realizes the protection to sensor.
2nd, drive system drives sensor to move downward, when in part on connector lower surface under sensor and slip ball pivot When entreating the contact of counterbore bottom surface, spring reverts to natural length so that on sensor upper plate lower surface and sensor upper connector End face is critical contact, now, and drive system drives sensor to continue to move downward so that slide part bottom upper end on ball pivot Face is kept completely separate with pedipulator bar end lower surface, the reliable connection in force sensor path., will foot after lander buffering Bottom force snesor stretches out, and connects power bang path, realizes the detection to vola power.
3rd, by the screw nut driven mechanism being introduced into drive system, protected sensor is realized up and down reciprocatingly Motion, the apparatus structure is simple and reliable, easy to control, except can walk/can be in addition to posture adjustment lander, it may also be used for legged mobile robot or Other need the occasion protected to pressure sensor, possess stronger use flexibility.
Brief description of the drawings
Fig. 1 is a kind of complete machine structure schematic diagram of the flexible protection device of force transducer for sole of foot of the invention；
Fig. 2 is a kind of complete machine decomposing schematic representation of the flexible protection device of force transducer for sole of foot of the invention；
Fig. 3 is a kind of retracted state schematic diagram of the flexible protection device of force transducer for sole of foot of the invention；
Fig. 4 is a kind of overhanging view of the flexible protection device of force transducer for sole of foot of the invention.
Wherein, 1- pedipulators bar assembly, 11- pedipulator bars, 111- pedipulator bar buttress braces, 1111- motor installing holes, 112- pedipulator bar ends lower surface, the upper rail plates of 12-, 13- lower slider guide rails, 2- drive system modules, 21- motors, 22- Shaft coupling, 23- leading screws, 24- nuts, 25- nut mounting seats, 251- nut mounting seat threaded rods, 3- sensor upper plate components, 31- sensor upper plates, 311- sensor upper plate center through hole, 312- sensor upper plates lower surface, 32- springs, 4- is passed On sensor component, 41- sensor upper connectors, 411- sensor upper connector central screw holes, 412- sensor upper connectors Connector lower surface under connector under end face, 42- pressure sensors, 43- sensors, 431- sensors, 5- telescopic slide ball pivots Component, 51- slides element center counterbore on part on ball pivot, 511- slide hinges, and 512- slides part upper surface on ball pivot, 513- slides part bottom upper surface on ball pivot, and 514- slides the central counterbore bottom surface in part on ball pivot, and 52- slides ball pivot bottom Point, 6- foot pads.
Embodiment
With reference to the accompanying drawings and give an actual example that the present invention is described in more detail.It should be understood that specific reality described herein Apply only to explain the present invention, be not intended to limit the present invention.
Complete machine structure and decomposition texture of the present invention respectively as depicted in figs. 1 and 2, including pedipulator bar assembly 1 and from upper Drive system module 2, sensor upper plate component 3, sensor cluster 4 inside pedipulator bar assembly 1 are sequentially arranged under With telescopic slide ball pivot component 5, the lower section of telescopic slide ball pivot component 5 is provided with foot pad 6；
The pedipulator bar assembly 1 includes pedipulator bar 11, upper rail plate 12 and lower slider guide rail 13；Wherein, pedipulator It is provided with inside bar 11 in cavity, cavity and rail plate 12 is installed；The end of pedipulator bar 11 is square hole structure, square hole inwall four It is evenly equipped with lower slider guide rail 13 week；
The sensor upper plate component 3 includes sensor upper plate 31 and spring 32, wherein, sensor upper plate 31 can be along institute The upper rail plate 12 stated in pedipulator bar assembly 1 is slided up and down, and is provided with sensor upper plate center through hole 311 thereon；Bullet The upper end of spring 32 is connected with sensor upper plate lower surface 312, and the lower end of spring 32 is connected with telescopic slide ball pivot component 5；
The sensor cluster 4 includes be fixedly connected sequentially from top to bottom the sensor upper connector 41 to form an entirety, pressure Connector 43 under force snesor 42 and sensor, each component is coaxial with spring 32 in the sensor upper plate component 3, The rail plate 12 in the driving lower edge of drive system module 2 of sensor cluster 4 does straight reciprocating motion；
The telescopic slide ball pivot component 5 includes sliding part 51 on ball pivot and divides 52 with sliding ball pivot bottom, wherein, slide ball pivot Upper part 51 is installed in the square hole of the end of pedipulator bar 11 of the pedipulator bar assembly 1, can be along lower slider guide rail about 13 Slide.
Further improve, the drive system module 2 includes motor 21, shaft coupling 22 and the silk being sequentially connected from top to bottom Thick stick 23, leading screw 23 is connected by nut 24 with nut mounting seat 25, and the nut that there is protrusion the lower section of nut mounting seat 25 is installed Seat threaded rod 251, sensor cluster 4 is fixedly connected with nut mounting seat threaded rod 251, drive of the sensor cluster 4 in motor 21 Moved in the lump along upper rail plate 12 with nut mounting seat 25 under dynamic.
Further improve, the upper top of rail plate 12 is installed in the cavity of pedipulator bar 11 in described pedipulator bar assembly 1 There is pedipulator bar buttress brace 111.
Further improve, the top center of part 51 is provided with central counterbore 511 on described slip ball pivot, slide ball pivot top Dividing 51 bottom design has flange.
When the motor 21 in the drive system group 2 drives leading screw 23 to rotate by shaft coupling 22, inside is provided with spiral shell The meeting of nut mounting seat 25 mounted in pairs along along the wall of 11 cavity inside of pedipulator bar two in the pedipulator bar assembly 1 of mother 24 Upper rail plate 12 is slided up and down, so as to drive the sensor cluster 4 being fixedly connected with nut mounting seat 25 to do in the lump Move up and down so that under sensor connector 43 on the slide hinge in the telescopic slide ball pivot component 5 element center sink Moved up and down in hole 511.
As shown in Figure 2 and Figure 3, can in the lump when the drive nut mounting seat 25 of motor 21 is moved upwards along upper rail plate 12 Sensor cluster 4 is driven to move upwards, when sensor upper connector upper surface 412 is contacted with sensor upper plate lower surface 312 （I.e.l 3-4It is zero）When, the motion upwards in the lump of sensor upper plate 31 can be driven, ball pivot top is slided so as to be driven by spring 32 Divide 51 motions upwards in the lump, contacted until sliding part bottom upper surface 513 on ball pivot with pedipulator bar end lower surface 112 （I.e.l 1-5It is zero）, now, motor 21 is rotated further, and spring 32 is stretched, connector lower surface 431 and sliding ball under sensor Operative tip central cylindrical shape counterbore bottom surface 514 is separated in hinge（I.e.l 4-5More than zero）, thoroughly cut off the power transmission road of sensor Footpath, now, motor 21 can stop operating, it is achieved thereby that retraction defencive function of the present invention to sensor.
As shown in Figure 2, Figure 4 shows, can in the lump when the drive nut mounting seat 25 of motor 21 is moved downward along upper rail plate 12 Sensor cluster 4 is driven to move downward so that the spring 32 in extended state bounces back naturally, until under connector under sensor End face 431 is contacted with sliding part top central cylindrical shape counterbore bottom surface 514 on ball pivot（I.e.l 4-5It is zero）, now, at spring 32 In natural length, and sensor upper plate lower surface 312 is caused to be in critical contact shape with sensor upper connector upper surface 412 State（I.e.l 3-4It is approximately equal to and not less than zero）, motor 21 is rotated further, and drives sensor upper plate component 3, sensor cluster 4, stretches Contracting sliding ball hinge component 5 and foot pad 6 continue to move downward in the lump so that slide part bottom upper surface 513 and machine on ball pivot Tool leg bar end lower surface 112 is completely separated（I.e.l 1-5More than zero）, the power bang path of sensor 42 is connected, it is achieved thereby that Stretching of the present invention to sensor detects function.
Concrete application approach of the present invention is a lot, and described above is only the preferred embodiment of the present invention, it is noted that for For those skilled in the art, under the premise without departing from the principles of the invention, some improvement can also be made, this A little improve also should be regarded as protection scope of the present invention.

Claims (5)

  1. The protection device 1. a kind of force transducer for sole of foot stretches, it is characterised in that：Including pedipulator bar assembly（1）And from top to bottom It is sequentially arranged at pedipulator bar assembly（1）Internal drive system module（2）, sensor upper plate component（3）, sensor cluster （4）With telescopic slide ball pivot component（5）, telescopic slide ball pivot component（5）Lower section is provided with foot pad（6）；
    The pedipulator bar assembly（1）Including pedipulator bar（11）, upper rail plate（12）And lower slider guide rail（13）；Its In, pedipulator bar（11）Inside is provided with cavity, cavity and is provided with rail plate（12）；Pedipulator bar（11）End is square hole Structure, square hole inwall is uniformly distributed on peripheries with lower slider guide rail（13）；
    The sensor upper plate component（3）Including sensor upper plate（31）With spring（32）, spring（32）Upper end and biography Sensor upper plate lower surface（312）Connection, spring（32）Lower end and telescopic slide ball pivot component（5）Connection；
    The sensor cluster（4）The sensor upper connector that an entirety is formed including being fixedly connected sequentially from top to bottom （41）, pressure sensor（42）And connector under sensor（43）, each component with the sensor upper plate component（3）In Spring（32）Coaxially, sensor cluster（4）In drive system module（2）Driving lower edge on rail plate（12）Do straight line past Multiple motion；
    The telescopic slide ball pivot component（5）Including sliding part on ball pivot（51）With sliding ball pivot bottom point（52）, wherein, it is sliding Part on dynamic ball pivot（51）It is installed on the pedipulator bar assembly（1）Pedipulator bar（11）, can be along downslide in the square hole of end Dynamic guide rail（13）Slide up and down.
  2. The protection device 2. force transducer for sole of foot according to claim 1 stretches, it is characterised in that：The drive system module （2）Including the motor being sequentially connected from top to bottom（21）, shaft coupling（22）And leading screw（23）, leading screw（23）Pass through nut（24）With Nut mounting seat（25）It is connected, nut mounting seat（25）There is the nut mounting seat threaded rod of protrusion lower section（251）, sensor Component（4）With nut mounting seat threaded rod（251）It is fixedly connected, sensor cluster（4）In motor（21）Driving under with nut Mounting seat（25）In the lump along upper rail plate（12）Motion.
  3. The protection device 3. force transducer for sole of foot according to claim 1 stretches, it is characterised in that：Described pedipulator bar group Part（1）Middle pedipulator bar（11）Upper rail plate in cavity（12）Top is provided with pedipulator bar buttress brace（111）.
  4. The protection device 4. force transducer for sole of foot according to claim 1 stretches, it is characterised in that：On described slip ball pivot Part（51）Top center is provided with central counterbore（511）, slide part on ball pivot（51）Bottom design have flange.
  5. The protection device 5. force transducer for sole of foot according to claim 1 stretches, it is characterised in that：Described sensor cluster （4）In sensor under connector lower surface（431）With telescopic slide ball pivot component（5）In slip ball pivot on part center it is heavy Hole（511）During contact, sensor upper plate component（3）In spring（32）For natural length, and sensor upper plate（31）With Sensor upper connector（41）For critical contact；
    Sensor cluster（4）Along upper rail plate（12）Upwards during motion, sensor upper plate can be passed through（31）With on sensor Connector（41）Contact drive sensor upper plate component（3）Motion upwards, the part bottom upper end on ball pivot is slided in the lump Face（513）With pedipulator bar end（11）After contact, spring（32）It will be stretched so that connector under sensor（43）With slip Element center counterbore on ball pivot（51）It is kept completely separate, realizes sensor（42）The reliable disconnection of power bang path；
    Sensor cluster（4）Along upper rail plate（12）When moving downward, the connector under sensor（43）With sliding on ball pivot Element center counterbore（511）After contact, spring（32）Revert to natural length so that sensor upper plate component（3）With stretching Sliding ball hinge component（5）Move downward in the lump, the part on ball pivot is slided（51）With pedipulator bar（11）After the separation of end, realize Sensor（42）The reliable connection of power bang path.
CN201710294541.3A 2017-04-28 2017-04-28 Force transducer for sole of foot stretches protective device Active CN106965954B (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108749951A (en) * 2018-06-11 2018-11-06 山东大学 A kind of quadruped robot
CN108910088A (en) * 2018-07-10 2018-11-30 上海交通大学 Land walking integrated robot
CN109178350A (en) * 2018-09-28 2019-01-11 南京航空航天大学 A kind of retractable driving device having tension compression bidirectional pooling feature
CN110920772A (en) * 2020-01-07 2020-03-27 哈尔滨理工大学 Soft landing buffering foot end structure
US20230121022A1 (en) * 2021-10-19 2023-04-20 Lunar Outpost Inc. Extendable conductor for thermal management

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CN102060106A (en) * 2010-12-21 2011-05-18 南京航空航天大学 Buffer landing leg for planet detector
CN103350758A (en) * 2013-06-24 2013-10-16 北京航空航天大学 Attitude-adjustable moon soft lander
CN103407583A (en) * 2013-08-02 2013-11-27 北京航空航天大学 Unmanned lunar ascender launch base stabilizer suitable for complex conditions
US20140373988A1 (en) * 2010-09-22 2014-12-25 Lift-Off Technologies Corporation System and method for producing made-to-order designs on the surface of an extraterrestrial body
CN105127975A (en) * 2015-09-24 2015-12-09 北京空间飞行器总体设计部 Walking robot having landing buffer function

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140373988A1 (en) * 2010-09-22 2014-12-25 Lift-Off Technologies Corporation System and method for producing made-to-order designs on the surface of an extraterrestrial body
CN102060106A (en) * 2010-12-21 2011-05-18 南京航空航天大学 Buffer landing leg for planet detector
CN103350758A (en) * 2013-06-24 2013-10-16 北京航空航天大学 Attitude-adjustable moon soft lander
CN103407583A (en) * 2013-08-02 2013-11-27 北京航空航天大学 Unmanned lunar ascender launch base stabilizer suitable for complex conditions
CN105127975A (en) * 2015-09-24 2015-12-09 北京空间飞行器总体设计部 Walking robot having landing buffer function

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108749951A (en) * 2018-06-11 2018-11-06 山东大学 A kind of quadruped robot
CN108749951B (en) * 2018-06-11 2021-07-30 山东大学 Quadruped robot
CN108910088A (en) * 2018-07-10 2018-11-30 上海交通大学 Land walking integrated robot
CN108910088B (en) * 2018-07-10 2022-06-21 上海交通大学 Landing and walking integrated robot
CN109178350A (en) * 2018-09-28 2019-01-11 南京航空航天大学 A kind of retractable driving device having tension compression bidirectional pooling feature
CN109178350B (en) * 2018-09-28 2021-06-15 南京航空航天大学 Telescopic driving device with tension and compression bidirectional buffering function
CN110920772A (en) * 2020-01-07 2020-03-27 哈尔滨理工大学 Soft landing buffering foot end structure
US20230121022A1 (en) * 2021-10-19 2023-04-20 Lunar Outpost Inc. Extendable conductor for thermal management

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