CN205438576U - Sole loading board device of biped anthropomorphic robot - Google Patents
Sole loading board device of biped anthropomorphic robot Download PDFInfo
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- CN205438576U CN205438576U CN201620289236.6U CN201620289236U CN205438576U CN 205438576 U CN205438576 U CN 205438576U CN 201620289236 U CN201620289236 U CN 201620289236U CN 205438576 U CN205438576 U CN 205438576U
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Abstract
The utility model relates to a sole loading board device of biped anthropomorphic robot, the device comprises sole loading board, pressure detection module, numerical value drift compensation module and the output module of biped anthropomorphic robot. Pressure detection module circuit connect numerical value drift compensation module, numerical value drift compensation module circuit connect output module, output module circuit connection biped anthropomorphic robot the main control panel, the pressure detection module by eight probes divide left side probe before maybe, in preceding in probe, preceding right side probe, well left side probe, right -of -center in political views's probe, back left side probe, the back probe, back right side probe paste the dress and form on the circuit board, the mounted position of eight probes is in the half -way point position on four limits of four angular positions of circuit board and circuit board, there is the round hole pressure detection module central point position, and two supporting slice intermediate positions of the sole loading board of biped anthropomorphic robot have the round hole, and the pressure detection module is installed below the sole loading board of biped anthropomorphic robot, with the round hole and the coincident use countersunk bolt fastening of aliging of the round hole of two supporting slice intermediate positions of the sole loading board of biped anthropomorphic robot of pressure detection module central point position. The supporting function that realizes sole loading board device of biped anthropomorphic robot converts pressure variation to voltage value output for biped anthropomorphic robot the main control panel when changing because of ground slope, unevenness and biped anthropomorphic robot self focus with real -time detection.
Description
Technical field
This utility model relates to biped humanoid robot field, particularly relates to the sole loading plate device of biped anthropomorphic robot.
Background technology
The humanoid robot of biped is mainly used in the aspects such as education and scientific research at present, the humanoid robot of biped is in use and during moving movement, the balance of robot humanoid on biped impact can be produced when ground inclination, uneven and self gravity center shift of biped anthropomorphic robot, the foot of the humanoid robot of traditional biped mainly uses hardware to reach the purpose of carrying, is disadvantageous in that and can not solve the humanoid robot of biped well because of the problem of balance detection when ground inclination, uneven and self gravity center shift of biped anthropomorphic robot.
Summary of the invention
For solving above-mentioned technical problem, the utility model discloses the sole loading plate device of the humanoid robot of biped, this device is made up of the sole loading plate of biped anthropomorphic robot, pressure detecting module, numerical value drift compensation module and output module；The described numerical value drift compensation module described in the connection of pressure detecting modular circuit；The described output module described in the connection of numerical value drift compensation modular circuit.
It is front left probe, front middle probe, front right probe, middle left probe, middle right probe, rear left probe, rear middle probe respectively that pressure detecting module described in the utility model is popped one's head in by eight by pressure detecting module, rear right is popped one's head in and circuit board forms；Front left probe, front middle probe, front right probe, middle left probe, middle right probe, rear left probe, rear middle probe, rear right probe attachment are on circuit boards；Front left probe, front middle probe, front right probe, middle left probe, middle right probe, rear left probe, rear in probe, rear right probe installation site at four Angle Position of circuit board and the mid-point position of the four edges of circuit board, reach to detect the purpose of support plate pressure change by above structure.
There is circular hole pressure detecting module centers point position, two pieces of supporting slices are had on the sole loading plate of biped anthropomorphic robot, two pieces of supporting slice interpositions of the sole loading plate of biped anthropomorphic robot are equipped with circular hole, pressure detecting module is arranged on below the sole loading plate of biped anthropomorphic robot, and overlap with the circular hole in two pieces of supporting slice centre positions of the sole loading plate of biped anthropomorphic robot use countersunk bolt fastening of aliging by the circular hole of pressure detecting module centers point position.
The sole loading plate device of biped anthropomorphic robot of the present utility model realizes supporting functions and in real time detection and is converted into magnitude of voltage exports to biped anthropomorphic robot master board because being changed by the pressure of sole loading plate when ground inclination, uneven and self gravity center shift of biped anthropomorphic robot.
Accompanying drawing explanation
With detailed description of the invention, this utility model is described in further detail below in conjunction with the accompanying drawings.
The connection figure of the sole loading plate device of Fig. 1 biped anthropomorphic robot；
The pressure detecting module map of the sole loading plate device of Fig. 2 biped anthropomorphic robot；
The sole carrying plate structure figure of the sole loading plate device of Fig. 3 biped anthropomorphic robot.
Description of reference numerals
In Fig. 1: 11. pressure detecting modules, 12. numerical value drift compensation modules, 13. output modules, 14. biped anthropomorphic robot master boards.
In Fig. 2: the circular hole of 30. pressure detecting module centers point positions, 31. front left probes, middle probe before 32., 33. front rights probes, left probe in 34., right probe in 35., 36. rear left probes, middle probe after 37., 38. rear right probes, the 39. fixing circular holes of pressure detecting module auxiliary, 51. circuit boards.
In Fig. 3: the circular hole in two pieces of supporting slice centre positions of 20. sole loading plates, 21. sole loading plates, 22. supporting slices, the 29. fixing circular holes of sole loading plate auxiliary.
Detailed description of the invention:
Of the present utility model detailed description of the invention is given below and combines accompanying drawing and be illustrated.
As shown in Figure 1, 2, 3, the sole loading plate device of biped anthropomorphic robot, this device is made up of pressure detecting module 11, numerical value drift compensation module 12 and output module 13.Described pressure detecting modular circuit 11 connects described numerical value drift compensation module 12, and the described output module 13 described in the connection of numerical value drift compensation module 12 circuit, described output module circuit 13 connects biped anthropomorphic robot master board 14.
The pressure detecting module of the sole loading plate device of biped anthropomorphic robot, it is that front left probe 31, front middle probe 32, front right probe 33, middle left probe 34, middle right probe 35, rear left probe 36, rear middle probe 37, rear right probe 38 and circuit board 51 form respectively that described pressure detecting module 11 is popped one's head in by eight；Front left probe 31, front middle probe 32, front right probe 33, middle left probe 34, middle right probe 35, rear left probe 36, rear middle probe 37, rear right probe 38 are mounted on circuit board 51；Front left probe 31, front middle probe 32, front right probe 33, middle left probe 34, middle right probe 35, rear left probe 36, rear in probe 37, rear right probe 38 installation site at four Angle Position of circuit board 51 and the mid-point position of the four edges of circuit board 51.
Sole loading plate 21 and the pressure detecting module 11 of the sole loading plate device of biped anthropomorphic robot use bolt to fasten, specific practice: there is circular hole 30 pressure detecting module centers point position, two pieces of supporting slices 22 are had on the sole loading plate of biped anthropomorphic robot, two pieces of supporting slice interpositions of the sole loading plate of biped anthropomorphic robot are equipped with circular hole 20, pressure detecting module 11 is arranged on below the sole loading plate 21 of biped anthropomorphic robot, overlap with the circular hole 20 in two pieces of supporting slice centre positions of the sole loading plate of biped anthropomorphic robot use countersunk bolt fastening of aliging by the circular hole 30 of pressure detecting module centers point position.
nullEmbodiment 1，During work，When the sole loading plate of biped anthropomorphic robot is because of ground inclination、During uneven and self gravity center shift of biped anthropomorphic robot，Front left probe 31、Probe 32 in before、Front right probe 33、Middle left probe 34、Middle right probe 35、Rear left probe 36、Probe 37 in rear、Pressure from ground is converted into voltage output by the pressure detecting module 11 of rear right probe 38 and circuit board 51 composition，Connect through circuit and be transferred to numerical value drift compensation module 12，After the numerical value drift compensation module 12 voltage value to causing because of variations in temperature compensates and corrects，Connect through circuit and be transferred to output module 13，Output module 13 connects biped anthropomorphic robot master board 14 through circuit，Realize the supporting functions of the sole loading plate device of biped anthropomorphic robot and detection in real time because of ground inclination、During uneven and self gravity center shift of biped anthropomorphic robot, the pressure of sole loading plate is changed and be converted into magnitude of voltage and export to biped anthropomorphic robot master board，Thus reach the purpose of this utility model.
nullEmbodiment 2，During work，When the sole loading plate of biped anthropomorphic robot is because of ground inclination，Front left probe 31、Probe 32 in before、Front right probe 33、Middle left probe 34、Middle right probe 35、Rear left probe 36、Probe 37 in rear、Pressure from ground is converted into voltage output by the pressure detecting module 11 of rear right probe 38 and circuit board 51 composition，Connect through circuit and be transferred to numerical value drift compensation module 12，After the numerical value drift compensation module 12 voltage value to causing because of variations in temperature compensates and corrects，Connect through circuit and be transferred to output module 13，Output module 13 connects biped anthropomorphic robot master board 14 through circuit，When being changed by pressure when realizing the supporting functions of the sole loading plate device of biped anthropomorphic robot and detection in real time because of ground inclination, the pressure change of sole loading plate is converted into magnitude of voltage to export to biped anthropomorphic robot master board，Thus reach the purpose of this utility model.
nullEmbodiment 3，During work，When the sole loading plate of biped anthropomorphic robot is because of ground relief，Front left probe 31、Probe 32 in before、Front right probe 33、Middle left probe 34、Middle right probe 35、Rear left probe 36、Probe 37 in rear、Pressure from ground is converted into voltage output by the pressure detecting module 11 of rear right probe 38 and circuit board 51 composition，Connect through circuit and be transferred to numerical value drift compensation module 12，After the numerical value drift compensation module 12 voltage value to causing because of variations in temperature compensates and corrects，Connect through circuit and be transferred to output module 13，Output module 13 connects biped anthropomorphic robot master board 14 through circuit，Realize the supporting functions of the sole loading plate device of biped anthropomorphic robot and detection in real time to export to biped anthropomorphic robot master board because the pressure change of sole loading plate being converted into magnitude of voltage during ground relief，Thus reach the purpose of this utility model.
nullEmbodiment 4，During work，When the sole loading plate of biped anthropomorphic robot is because of self gravity center shift of biped anthropomorphic robot，Front left probe 31、Probe 32 in before、Front right probe 33、Middle left probe 34、Middle right probe 35、Rear left probe 36、Probe 37 in rear、Pressure from ground is converted into voltage output by the pressure detecting module 11 of rear right probe 38 and circuit board 51 composition，Connect through circuit and be transferred to numerical value drift compensation module 12，After the numerical value drift compensation module 12 voltage value to causing because of variations in temperature compensates and corrects，Connect through circuit and be transferred to output module 13，Output module 13 connects biped anthropomorphic robot master board 14 through circuit，Realize the supporting functions of the sole loading plate device of biped anthropomorphic robot and detection in real time to export to biped anthropomorphic robot master board because the pressure change of sole loading plate being converted into magnitude of voltage during self gravity center shift of biped anthropomorphic robot，Thus reach the purpose of this utility model.
Claims (4)
1. the sole loading plate device of biped anthropomorphic robot, it is characterised in that: this device is made up of the sole loading plate of biped anthropomorphic robot, pressure detecting module, numerical value drift compensation module and output module；The described numerical value drift compensation module described in the connection of pressure detecting modular circuit；The described output module described in the connection of numerical value drift compensation modular circuit.
The sole loading plate device of biped anthropomorphic robot the most according to claim 1, it is characterised in that: pressure detecting module is that front left probe, front middle probe, front right probe, middle left probe, middle right probe, rear left probe, rear middle probe, rear right probe and circuit board form by eight probes respectively；Front left probe, front middle probe, front right probe, middle left probe, middle right probe, rear left probe, rear middle probe, rear right probe attachment are on circuit boards；Front left probe, front middle probe, front right probe, middle left probe, middle right probe, rear left probe, rear in probe, rear right probe installation site at four Angle Position of circuit board and the mid-point position of the four edges of circuit board.
The sole loading plate device of biped anthropomorphic robot the most according to claim 1, it is characterized in that: there is circular hole pressure detecting module centers point position, two pieces of supporting slices are had on the sole loading plate of biped anthropomorphic robot, two pieces of supporting slice interpositions of the sole loading plate of biped anthropomorphic robot are equipped with circular hole, pressure detecting module is arranged on below the sole loading plate of biped anthropomorphic robot, overlap with the circular hole in two pieces of supporting slice centre positions of the sole loading plate of biped anthropomorphic robot use countersunk bolt fastening of aliging by the circular hole of pressure detecting module centers point position.
The sole loading plate device of biped anthropomorphic robot the most according to claim 1, it is characterized in that: the pressure detecting module of front left probe, front middle probe, front right probe, middle left probe, middle right probe, rear left probe, rear middle probe, rear right probe and circuit board composition converts pressure into voltage output, connect through circuit and be transferred to numerical value drift compensation module, after the voltage value caused because of variations in temperature is compensated and corrected by numerical value drift compensation module, connect through circuit and be transferred to output module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620289236.6U CN205438576U (en) | 2016-04-10 | 2016-04-10 | Sole loading board device of biped anthropomorphic robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620289236.6U CN205438576U (en) | 2016-04-10 | 2016-04-10 | Sole loading board device of biped anthropomorphic robot |
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| CN205438576U true CN205438576U (en) | 2016-08-10 |
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| CN201620289236.6U Active CN205438576U (en) | 2016-04-10 | 2016-04-10 | Sole loading board device of biped anthropomorphic robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105690390A (en) * | 2016-04-10 | 2016-06-22 | 刘至键 | Sole bearing plate device of humanoid biped robot |
| CN109175828A (en) * | 2018-08-31 | 2019-01-11 | 许少辉 | A kind of tool center point detection circuit of welding robot |
-
2016
- 2016-04-10 CN CN201620289236.6U patent/CN205438576U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105690390A (en) * | 2016-04-10 | 2016-06-22 | 刘至键 | Sole bearing plate device of humanoid biped robot |
| CN109175828A (en) * | 2018-08-31 | 2019-01-11 | 许少辉 | A kind of tool center point detection circuit of welding robot |
| CN109175828B (en) * | 2018-08-31 | 2020-07-31 | 三门县科坝商贸有限公司 | Tool center point detection circuit of welding robot |
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