CN211590198U - Touchdown detection foot end - Google Patents
Touchdown detection foot end Download PDFInfo
- Publication number
- CN211590198U CN211590198U CN201920866861.6U CN201920866861U CN211590198U CN 211590198 U CN211590198 U CN 211590198U CN 201920866861 U CN201920866861 U CN 201920866861U CN 211590198 U CN211590198 U CN 211590198U
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- foot end
- eddy current
- current sensor
- metal block
- connecting piece
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Abstract
The utility model provides a detection foot end contacts to earth belongs to the robot field, mainly solves current foot formula robot foot end and contacts to earth the state and detect the problem that the structure is complicated, the reliability is poor, with high costs. The ground contact detection foot end mainly comprises an eddy current sensor, a foot end connecting piece, elastic rubber, wear-resistant rubber and a metal block. A certain gap is formed between the foot end connecting piece and the metal block, the eddy current sensor detects the gap between the foot end connecting piece and the metal block and serves as a foot end grounding threshold, when the foot end is grounded, the elastic rubber is deformed, the gap between the foot end connecting piece and the metal block is changed, and when the output value of the sensor is larger than the threshold, the condition that the foot end is contacted with the environment is judged. The invention realizes the ground-contacting detection of the robot foot end by utilizing the displacement change, can realize the contact state detection of the surface of the hemispherical foot end and any contact point of the environment, and has the characteristics of simple structure, reliable detection and low cost.
Description
The technical field is as follows:
the invention relates to a foot end touchdown detection method, and belongs to the field of robots.
Background art:
the foot robot has become a hot point of current research and has a wide application prospect, but the existing foot robot has higher cost because the foot end is grounded and is detected by a foot end three-dimensional force sensor, and the problem of low detection reliability exists when the foot end is grounded due to larger range of the force sensor, so that the difficulty of robot posture control is increased.
The invention content is as follows:
the invention provides a touchdown detection foot end, aiming at solving the problems of poor reliability, high difficulty and high cost of touchdown detection of the foot end of the existing foot type robot.
The invention relates to a ground contact detection foot end, which comprises a first eddy current sensor (1), a second eddy current sensor (2), a third eddy current sensor (3), a foot end connecting piece (4), elastic rubber (5), wear-resistant rubber (6) and a metal block (7).
The first eddy current sensor (1), the second eddy current sensor (2) and the third eddy current sensor (3) are connected with the foot end connecting piece (4) through threads. Gaps are reserved between the probe ends of the first eddy current sensor (1), the second eddy current sensor (2) and the third eddy current sensor (3) and the metal block (7), and the gap amount is used for ensuring that the probe ends of the first eddy current sensor (1), the second eddy current sensor (2) and the third eddy current sensor (3) do not contact with the metal block (7) when the elastic rubber (5) is subjected to maximum deformation, so that sensor protection is realized.
The elastic rubber (5) is connected with the foot end connecting piece (4) and the metal block (7) by adopting a plastic dipping process or a high-strength adhesive.
The wear-resistant rubber (6) is connected with the metal block (7) by adopting a plastic dipping process or a high-strength adhesive.
After the foot end of the robot touches the ground, the wear-resistant rubber (6) contacts with the external environment, and under the action of contact force, the elastic rubber (5) deforms, so that the distance, the angle change or the distance and the angle change of the foot end connecting piece (4) and the metal block (7) are caused. The variable quantity is detected by the first eddy current sensor (1), the second eddy current sensor (2) and the third eddy current sensor (3) and an electric signal is output.
The invention has the advantages that: the invention utilizes the displacement method to carry out the ground contact detection of the foot end of the robot, has the advantages of simple and convenient structure, high reliability and low cost, and improves the accuracy of the state detection of the foot end of the robot.
The invention has reasonable structural design, small volume, low cost and high detection reliability, and can obviously improve the accuracy of judging the foot end state of the robot.
Drawings
FIG. 1 is a block diagram of a touchdown detection foot end according to the present invention;
Detailed Description
The specific implementation mode is as follows: the present embodiment will be described with reference to fig. 1, and the ground contact detection foot end according to the present embodiment includes a first eddy current sensor 1, a second eddy current sensor 2, a third eddy current sensor 3, a foot end connector 4, an elastic rubber 5, an abrasion-resistant rubber 6, and a metal block 7.
The first eddy current sensor 1, the second eddy current sensor 2 and the third eddy current sensor 3 are connected with the foot end connecting piece 4 through self threads. Gaps are reserved between the probe ends of the first eddy current sensor 1, the second eddy current sensor 2 and the third eddy current sensor 3 and the metal block 7, and the gap amount is used for ensuring that the probe ends of the first eddy current sensor 1, the second eddy current sensor 2 and the third eddy current sensor 3 do not contact with the metal block 7 when the elastic rubber 5 is subjected to maximum deformation, so that sensor protection is realized.
The elastic rubber 5 is connected with the foot end connecting piece 4 and the metal block 7 by adopting a plastic dipping process or a high-strength adhesive.
The wear-resistant rubber 6 is connected with the metal block 7 by adopting a plastic dipping process or a high-strength adhesive.
After the foot end of the robot touches the ground, the wear-resistant rubber 6 contacts with the external environment, and under the action of contact force, the elastic rubber 5 deforms, so that the distance, the angle change or the distance and the angle change of the foot end connecting piece 4 and the metal block 7 simultaneously. The variation is detected by the first eddy current sensor 1, the second eddy current sensor 2, and the third eddy current sensor 3, and an electrical signal is output.
The operation of the invention comprises the following two working conditions:
the working condition I is as follows: when the foot end is not in contact with the external environment, the elastic rubber 5 is not deformed, the distance and the angle between the foot end connecting piece 4 and the metal block 7 are not changed, the first eddy current sensor 1, the second eddy current sensor 2 and the third eddy current sensor 3 output fixed parameter values, and the values are used as threshold values of whether the environment is in contact or not.
Working conditions are as follows: when the foot end is contacted with the external environment, the elastic rubber 5 deforms, the distance, the angle or the distance and the angle between the foot end connecting piece 4 and the metal block 7 change simultaneously, the output signals of the first eddy current sensor 1, the second eddy current sensor 2 and the third eddy current sensor 3 change compared with the threshold value, and then the contact between the foot end of the robot and the external environment is judged.
Claims (4)
1. A foot end is detected by touching the ground, which is characterized by comprising a first eddy current sensor (1), a second eddy current sensor (2), a third eddy current sensor (3), a foot end connecting piece (4), elastic rubber (5), wear-resistant rubber (6) and a metal block (7);
the first eddy current sensor (1), the second eddy current sensor (2) and the third eddy current sensor (3) are connected with the foot end connecting piece (4) through threads, gaps are formed among probe ends of the first eddy current sensor (1), the second eddy current sensor (2) and the third eddy current sensor (3) and the metal block (7), and the gap amount is used for ensuring that the probe ends of the first eddy current sensor (1), the second eddy current sensor (2) and the third eddy current sensor (3) are not in contact with the metal block (7) when the elastic rubber (5) is subjected to maximum deformation, so that sensor protection is realized;
the elastic rubber (5) is connected with the foot end connecting piece (4) and the metal block (7) by adopting a plastic dipping process or a high-strength adhesive;
the wear-resistant rubber (6) is connected with the metal block (7) by adopting a plastic dipping process or a high-strength adhesive;
the robot foot end touches to earth the back, and wear-resisting rubber (6) and external environment take place the contact, under the contact force effect for elastic rubber (5) take place to warp, and then lead to the distance of foot end connecting piece (4) and metal block (7), the angular variation or distance and angle change simultaneously, and the change amount detects and exports the signal of telecommunication through first eddy current sensor (1), second eddy current sensor (2), third eddy current sensor (3).
2. A touchdown detection foot according to claim 1, wherein the detection foot is of hemispherical configuration.
3. A touchdown detection foot according to claim 1, wherein there are three eddy current sensors.
4. A touchdown detection foot end according to claim 1, wherein the foot end connector and the metal block are movable relative to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920866861.6U CN211590198U (en) | 2019-06-10 | 2019-06-10 | Touchdown detection foot end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920866861.6U CN211590198U (en) | 2019-06-10 | 2019-06-10 | Touchdown detection foot end |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211590198U true CN211590198U (en) | 2020-09-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920866861.6U Expired - Fee Related CN211590198U (en) | 2019-06-10 | 2019-06-10 | Touchdown detection foot end |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211590198U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103258A (en) * | 2019-06-10 | 2019-08-09 | 哈尔滨理工大学 | One kind, which is contacted to earth, detects sufficient end |
-
2019
- 2019-06-10 CN CN201920866861.6U patent/CN211590198U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103258A (en) * | 2019-06-10 | 2019-08-09 | 哈尔滨理工大学 | One kind, which is contacted to earth, detects sufficient end |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200929 Termination date: 20210610 |
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| CF01 | Termination of patent right due to non-payment of annual fee |