CN212947890U - Robot sole sensor clamping groove structure - Google Patents
Robot sole sensor clamping groove structure Download PDFInfo
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- CN212947890U CN212947890U CN202021484673.6U CN202021484673U CN212947890U CN 212947890 U CN212947890 U CN 212947890U CN 202021484673 U CN202021484673 U CN 202021484673U CN 212947890 U CN212947890 U CN 212947890U
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Abstract
The utility model discloses a robot foot sensor clamping groove structure, which comprises a base and a sliding block; the slider base is together fixed with the robot main part, and there are two guide ways slider base inboard, and guide way internally mounted has two springs for reset the position of slider, install pressure sensor in the middle of the slider base, can experience the pressure variation that the slider brought. Because the slide block is rigidly connected with the leg of the robot, when the slide block slides up and down along the guide groove of the slide block base and presses the pressure sensor, the ground contact pressure of the foot can be fed back to the control end.
Description
Technical Field
The utility model belongs to the robot field, concretely relates to sole sensor draw-in groove structure of robot.
Background
Among the prior art, built-in the robot main part has control chip, and the robot shank then is located the lower tip of robot main part, and in the sole contact ground in-process of robot shank, the control chip of robot main part is in time transmitted to the pressure on ground that needs feel the robot sole to make control chip know corresponding pressure parameter immediately, thereby the gesture, the angle and the pressure that contacts ground of sole contact ground of control and adjustment robot guarantee that the robot steadily walks subaerial. At present, there is no reasonable structure to realize the above functions, and therefore, it is necessary to develop a corresponding technology to satisfy the above functions.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a robot sole sensor draw-in groove structure, its aim at solve the robot can't transmit the problem of plantar pressure to touching the earth to the control end.
The technical scheme of the utility model as follows:
a robot foot bottom sensor clamping groove structure comprises a base and a sliding block;
the base comprises a first transverse block, a first vertical block and a second vertical block, wherein the first vertical block and the second vertical block are vertical to the first transverse block; the first vertical block and the second vertical block are respectively positioned at two sides of the first transverse block to form a concave base; a first guide groove is formed in the length direction of the inner side wall of the first vertical block; a second guide groove is formed along the length direction of the inner side wall of the second vertical block; a spring is arranged in each of the two guide grooves,
the sliding block comprises a second transverse block, a third vertical block and a fourth vertical block, wherein the third vertical block and the fourth vertical block are positioned on two sides of the second transverse block and are vertical to the second transverse block; a first guide strip is convexly arranged along the length direction of the outer side wall of the third vertical block; a second guide strip is convexly arranged along the length direction of the outer side wall of the fourth vertical block; a pressure sensor is arranged in the middle of the inner side of the second transverse block; the sliding block is rigidly connected with the leg of the robot;
the pressure sensor is pressed by inserting the first guide bar into the first guide groove and inserting the second guide bar into the second guide groove to slide the slider to the base, so that the contact pressure of the leg of the robot can be fed back to the control end.
Further: still be provided with the first logical groove that is favorable to the circulation of air on the first horizontal piece.
Further: the width of the first guide groove is equal to that of the second guide groove; the thickness of the first guide strip is equal to that of the second guide strip; the first guide groove is matched with the first guide strip; the second guide groove is matched with the second guide strip.
Further: the first guide groove is arranged in the middle of the inner side wall of the first vertical block; the second guide groove is arranged in the middle of the inner side wall of the second vertical block; the first guide strip is arranged in the middle of the outer side wall of the third vertical block; the second guide strip is arranged in the middle of the outer side wall of the fourth vertical block.
Further: a plate-shaped handle is arranged on the outer side wall of the second vertical block in an outward and horizontal extending manner, and second through grooves are formed in the upper end surface and the lower end surface of the handle; and third through grooves are formed in the front end surface and the rear end surface of the handle.
Further: the length of the second through groove is smaller than that of the third through groove.
The utility model has the advantages that: the slider base is together fixed with the robot main part, and there are two guide ways slider base inboard, and guide way internally mounted has two springs for reset the position of slider, install pressure sensor in the middle of the slider base, can experience the pressure variation that the slider brought. Because the slide block is rigidly connected with the leg of the robot, when the slide block slides up and down along the guide groove of the slide block base and presses the pressure sensor, the ground contact pressure of the foot of the robot can be fed back to the control end of the robot main body.
Drawings
Fig. 1 is a structural diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, the present invention relates to a clamping groove structure of a robot sole sensor, which comprises a base 1 and a slider 2. The base 1 comprises a first transverse block 10, a first vertical block 11 and a second vertical block 12 which are vertical to the first transverse block 10; the first vertical block 11 and the second vertical block 12 are respectively positioned at two sides of the first transverse block 10, and the first transverse block 10, the first vertical block 11 and the second vertical block 12 form a concave base; a first guide groove 110 is formed in the length direction of the inner side wall of the first vertical block 11; a second guide groove (not shown) is provided along the longitudinal direction of the inner side wall of the second vertical block 12. A spring (not shown) is respectively arranged in the two guide grooves,
the slider 2 comprises a second transverse block 21, a third vertical block 22 and a fourth vertical block 23 which are positioned at two sides of the second transverse block 21 and are vertical to the second transverse block 21, a first guide strip 221 is convexly arranged along the length direction of the outer side wall of the third vertical block 22, a second guide strip 231 is convexly arranged along the length direction of the outer side wall of the fourth vertical block 23, a pressure sensor (not shown) is arranged in the middle of the inner side of the second transverse block,
the ground contact pressure of the robot foot can be fed back to the control terminal by inserting the first guide bar 221 into the first guide groove 110, and by inserting the second guide bar 231 into the second guide groove, sliding the slider 2 toward the base, pressing the pressure sensor on the first cross block 10.
In fig. 1: the first transverse block is also provided with a first through groove 101 which is beneficial to air circulation, when the sliding block 2 slides to the base 1, because of the existence of the first through groove 101, the air extruded between the sliding block 2 and the base 1 can flow out through the first through groove 101, and the movement resistance of the sliding block 2 is reduced. When the second horizontal block 21 of the slide block 2 touches the first horizontal block 10, the pressure sensor is arranged on the second horizontal block 21, so that the pressure sensor can feed back the ground contact pressure of the slide block 2 from the sole of the robot to the control end. When the pressure on the sliding block 2 is removed, the sliding block 2 is reset to the original position under the action of the spring.
Further, it is understood that the width of the first guide groove 110 is equal to the width of the second guide groove; the thickness of the first guide strip 221 is equal to the thickness of the second guide strip 231; to facilitate sliding in the first guide groove 110, the first guide bar 221 is fitted to the first guide groove 110; it will also be appreciated that the second guide slot is adapted to the second guide strip 231.
As a further optimization, the first guide groove 110 is arranged in the middle of the inner side wall of the first vertical block 11; the second guide groove is arranged in the middle of the inner side wall of the second vertical block 12; the first guide bar 221 is arranged in the middle of the outer side wall of the third vertical block 22; the second guide strip 231 is disposed in the middle of the outer sidewall of the fourth vertical block 23.
In fig. 1, a plate-shaped handle 13 is horizontally extended outwards from the outer side wall of the second vertical block, and second through grooves 131 are formed in the upper and lower end surfaces of the handle; and third through grooves 132 are formed on the front end surface and the rear end surface of the handle.
Further, the length of the second through groove 131 is smaller than that of the third through groove 132.
The utility model discloses a slider base is together fixed with the robot main part, and slider base inboard has two guide ways, and guide way internally mounted has two springs for reset the position of slider, install pressure sensor in the middle of the slider base, can perceive the pressure variation that the slider brought. Because the slide block is rigidly connected with the leg of the robot, when the slide block slides up and down along the guide groove of the slide block base and presses the pressure sensor, the ground contact pressure of the foot of the robot can be fed back to the control end.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A robot foot bottom sensor clamping groove structure is characterized by comprising a base and a sliding block;
the base comprises a first transverse block, a first vertical block and a second vertical block, wherein the first vertical block and the second vertical block are vertical to the first transverse block; the first vertical block and the second vertical block are respectively positioned at two sides of the first transverse block to form a concave base; a first guide groove is formed in the length direction of the inner side wall of the first vertical block; a second guide groove is formed along the length direction of the inner side wall of the second vertical block; a spring is arranged in each of the two guide grooves,
the sliding block comprises a second transverse block, a third vertical block and a fourth vertical block, wherein the third vertical block and the fourth vertical block are positioned on two sides of the second transverse block and are vertical to the second transverse block; a first guide strip is convexly arranged along the length direction of the outer side wall of the third vertical block; a second guide strip is convexly arranged along the length direction of the outer side wall of the fourth vertical block; a pressure sensor is arranged in the middle of the inner side of the second transverse block; the sliding block is rigidly connected with the leg of the robot;
the pressure sensor is pressed by inserting the first guide bar into the first guide groove and inserting the second guide bar into the second guide groove to slide the slider to the base, so that the contact pressure of the leg of the robot can be fed back to the control end.
2. The robot sole sensor card slot structure of claim 1, wherein: still be provided with the first logical groove that is favorable to the circulation of air on the first horizontal piece.
3. The robot sole sensor card slot structure of claim 1, wherein: the width of the first guide groove is equal to that of the second guide groove; the thickness of the first guide strip is equal to that of the second guide strip; the first guide groove is matched with the first guide strip; the second guide groove is matched with the second guide strip.
4. The robot sole sensor card slot structure of claim 1, wherein: the first guide groove is arranged in the middle of the inner side wall of the first vertical block; the second guide groove is arranged in the middle of the inner side wall of the second vertical block; the first guide strip is arranged in the middle of the outer side wall of the third vertical block;
the second guide strip is arranged in the middle of the outer side wall of the fourth vertical block.
5. The robot sole sensor card slot structure of claim 1, wherein: a plate-shaped handle is arranged on the outer side wall of the second vertical block in an outward and horizontal extending manner, and second through grooves are formed in the upper end surface and the lower end surface of the handle; and third through grooves are formed in the front end surface and the rear end surface of the handle.
6. The robot sole sensor card slot structure of claim 5, wherein: the length of the second through groove is smaller than that of the third through groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021484673.6U CN212947890U (en) | 2020-07-24 | 2020-07-24 | Robot sole sensor clamping groove structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021484673.6U CN212947890U (en) | 2020-07-24 | 2020-07-24 | Robot sole sensor clamping groove structure |
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| Publication Number | Publication Date |
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| CN212947890U true CN212947890U (en) | 2021-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021484673.6U Active CN212947890U (en) | 2020-07-24 | 2020-07-24 | Robot sole sensor clamping groove structure |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246671A (en) * | 2021-07-05 | 2021-08-13 | 北京理工大学 | Reconfigurable autonomous docking control method and control system for unmanned vehicle |
| CN113253742A (en) * | 2021-07-05 | 2021-08-13 | 北京理工大学 | Reconfigurable unmanned vehicle system |
-
2020
- 2020-07-24 CN CN202021484673.6U patent/CN212947890U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246671A (en) * | 2021-07-05 | 2021-08-13 | 北京理工大学 | Reconfigurable autonomous docking control method and control system for unmanned vehicle |
| CN113253742A (en) * | 2021-07-05 | 2021-08-13 | 北京理工大学 | Reconfigurable unmanned vehicle system |
| CN113246671B (en) * | 2021-07-05 | 2021-10-08 | 北京理工大学 | Reconfigurable autonomous docking control system for unmanned vehicle |
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