Pressure buffering device for foot end

Abstract

The invention provides a pressure buffering device for a foot end. The foot end comprises a foot joint upper part, a foot joint middle part and a foot sole. The device comprises a pressure sensor, a first hydraulic cylinder, a second hydraulic cylinder and a controller, wherein the foot joint upper part is in non-contact connection with the foot joint middle part; cylinder bodies of the first hydraulic cylinder and the second hydraulic cylinder are detachably and symmetrically installed on the two sides of the foot joint upper part; hydraulic rods of the first hydraulic cylinder and the second hydraulic cylinder are detachably and symmetrically installed on the two sides of the foot joint middle part; the pressure sensor is detachably connected with the foot joint middle part and the foot sole respectively and is used for collecting a pressure value when the foot sole is in contact with the ground; and the controller is used for receiving the pressure value collected by the pressure sensor and controlling the stretching amount of the first hydraulic cylinder and the stretching amount of the second hydraulic cylinder according to the pressure value. According to the buffering device provided by the invention, buffering force is provided through the first hydraulic cylinder and the second hydraulic cylinder, the corresponding speed is high, and the adjusting range is wide.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a pressure buffering device for foot ends. Background technique [0002] The leg cushioning device of traditional hydraulic quadruped robots is a foot spring structure, which can provide passive compliance characteristics for single-leg systems during locomotion, but the effect of this compliance characteristic is relatively limited and can only be used for specific tasks. If the foot end encounters an obstacle during the forward movement, the spring mechanism can only absorb part of the contact impact. If the single leg cannot effectively and actively control the forward movement of the foot end, as the spring force gradually increases, the robot will The rearward thrust colliding with the forward force of the other legs on the support phase will increase the risk of robot imbalance and cause overload damage to the robot structure. [0003] In related technologies, active compli...

AI Technical Summary

Problems solved by technology

However, this method requires an accurate dynamic model, which is difficult for practical systems

[0004] For a quadruped robot with a large load (such as an elephant robot), the impact load between the foot end and the ground is relatively large during walking, and the range of stiffness adjustment required by adjusting the stiffness of the robot end is too large. The cost in the process is too high and the difficulty of control will also increase

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