Foot end pressure sensor of multi-foot robot
A technology of pressure sensors and robots, applied in the field of sensors and pressure sensors, can solve the problems that multi-legged robots cannot be directly transplanted, restrict the maneuverability of multi-legged robots, and the pressure sensor has a narrow measurement range, and achieve simple structure, reliable function, Strong anti-interference ability
Inactive Publication Date: 2009-05-13
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
At present, ordinary pressure sensors cannot be directly transplanted to the feet of multi-legged robots due to their shortcomings such as narrow measurement range, poor shock absorption performance, easy damage, and high price, which restricts the mobility of multi-legged robots.
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Embodiment Construction
[0012] The present invention will be further described below in conjunction with accompanying drawing.
[0013] Such as figure 1 As shown, the multi-legged robot foot contact force mechanical transmission device is composed of an upper spring guide rod 2, a lower spring guide rod 4, a secondary damping spring 9, a conical support rod 11, a backing plate 6 and a washer 7. Backing plate 6 is on the boss of leg sleeve 5, and is connected with foot cover 8 by bolt 3; 4 phases are connected; the connecting screw fixing device 19 is used for fixing the connecting screw; the primary damping spring 10 is fixed in the space between the foot cover 8 and the leg sleeve 5, and its bottom end is in contact with the cylinder in the foot cover 8 The bosses are in contact, and a washer 7 is placed between the top of the primary damping spring 10 and the leg sleeve to achieve the purpose of primary shock absorption; the upper spring guide rod 2 and the lower spring guide rod 4 can be placed o...
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The present invention is a robot foot end pressure sensor consisting of a foot end touch force mechanical transmission device, a signal converting and amplifying device and a shock absorbing device ERF current to sensitive materials. The foot end touch force mechanical transmission device which is positioned below the signal converting and amplifying device consists of two shock absorbing springs, two spring guide poles, a taper supporting pole, a liner plate, a gasket, etc. The shock of the contact force to the foot end of the robot is absorbed in a second level by the transmission device and can be reduced linearly to the normal sensing range of the pressure sensitive resistance. The signal converting and amplifying device includes a power supplying module, a signal measuring and converting module and a signal amplifying module, and can eliminate the influence of the change of the temperature and improve the stability of the sensor capability. The shock absorbing device adopts the ERF current to sensitive material and the ERF intelligent material can change its own state as the change of the intensity of electrical signals, thus, an effect of real time and self-adapting shock absorbing is realized.
Description
technical field [0001] The invention relates to a pressure sensor suitable for detecting force signals at the foot end of a multi-legged robot, which belongs to the sensor technology. Background technique [0002] In order to better adjust the gait and posture of walking robots, multi-legged robots often obtain ground information through foot pressure sensors, and perform real-time control based on these information. At present, ordinary pressure sensors cannot be directly transplanted to the feet of multi-legged robots due to their shortcomings such as narrow measurement range, poor shock absorption performance, easy damage, and high price, which restricts the mobility of multi-legged robots. Contents of the invention [0003] The purpose of the present invention is to provide a novel foot end pressure sensor suitable for multi-legged robots. The sensor has the characteristics of small size, large measuring range, simple structure, reliable function, stable performance, ...
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IPC IPC(8): G01L1/20
Inventor 罗庆生韩宝玲赵小川张杨汪强
Owner BEIJING INSTITUTE OF TECHNOLOGYGY