Pressure detection structure, leg-foot assembly and robot

Abstract

The application discloses a pressure detection structure, a leg-foot assembly and a robot. The bottom pressure detection structure comprises a foot bottom frame and a sensing member. The deformation part of the foot bottom frame is provided with an accommodating cavity and a deformation groove in communication with the accommodating cavity. When the deformation part is deformed in contact with the ground, the deformation groove is also deformed. The sensing member arranged in the accommodating cavity is installed corresponding to the deformation groove. The sensing member is configured to be capable of sensing the deformation of the deformation groove and generating a sensing signal. Through the arrangement of the sensing member, the deformation of the deformation groove can be detected and the sensing signal can be generated. The deformation condition of the deformation groove is taken as the judgment basis of the stress condition of the pressure detection structure, and the sensitivity of obtaining the stress condition of the pressure detection structure is improved. Moreover, the stress condition of the pressure detection structure can be obtained by directly sensing the deformation condition of the deformation groove in the deformation part through the sensing member, and the whole structure is simple.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a pressure detection structure, a leg assembly, and a robot. Background Technology

[0002] Legged robots possess high adaptability to different terrains. To ensure better adaptation to various ground environments during walking, detecting the stress on the legs is crucial. Related technologies utilize detection structures installed in the legs for monitoring this stress. The contact point between the legs and the ground is the sole, requiring focused monitoring of the stress on it. However, the distance between the sole and the robot's body makes it difficult to install detection structures that can sensitively detect the stress on the sole. Summary of the Invention

[0003] This application provides a pressure detection structure, a leg assembly, and a robot, which can simplify the pressure detection structure and improve the sensitivity of the pressure detection structure in sensing force.

[0004] In a first aspect, the pressure detection structure provided in this application includes a foot frame and a sensing element. The foot frame includes a deformable portion for contacting the ground and a support portion connected to the deformable portion. A receiving cavity is formed between the deformable portion and the support portion. The deformable portion has a deformation groove communicating with the receiving cavity. When the foot frame contacts the ground, the deformable portion can deform into the receiving cavity, causing the deformation groove to deform. The sensing element is installed on the deformable portion corresponding to the deformation groove. The sensing element is configured to sense the deformation of the deformation groove and generate a sensing signal.

[0005] Based on the pressure detection structure of this application embodiment, by providing a receiving cavity and a deformation groove communicating with the receiving cavity within the deformation section, the shapes of the receiving cavity and the deformation groove can be controlled to regulate the deformation of the deformation section. When the deformation section deforms upon contact with the ground, the deformation groove also deforms. A sensing element is provided to specifically detect the deformation of the deformation groove and generate a sensing signal. The deformation of the deformation groove is used as the basis for judging the stress condition of the pressure detection structure, thus improving the sensitivity of obtaining the stress condition of the pressure detection structure. Furthermore, this application can obtain the stress condition of the pressure detection structure by directly sensing the deformation of the deformation groove within the deformation section using a sensing element, resulting in a simple overall structure.

[0006] Secondly, the leg assembly provided in this application includes a mounting arm and a pressure detection structure as described above, wherein the support portion is connected to the end of the mounting arm.

[0007] Based on the leg assembly of this application embodiment, by installing a pressure detection structure at the end of the mounting arm, the stress condition of the leg assembly can be sensitively obtained through the pressure detection structure. The simplicity of the pressure detection structure also simplifies the structure of the leg assembly, facilitating its lightweight design.

[0008] Thirdly, the robot provided in this application includes a body and leg assemblies as described above. There are multiple leg assemblies, and the mounting arms of the multiple leg assemblies are movably connected to the body.

[0009] Based on the robot of this application embodiment, by installing the leg assembly as described above on the robot body, the pressure detection structure installed at the end of the leg assembly can sensitively obtain the force on the sole of the robot during movement, and also facilitate the lightweight design of the robot. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a three-dimensional structural diagram of a pressure detection structure provided in one embodiment of this application;

[0012] Figure 2 An exploded view of a pressure detection structure provided in one embodiment of this application;

[0013] Figure 3 This is a three-dimensional structural diagram of a sensor mounted on a foot frame according to an embodiment of this application;

[0014] Figure 4 A cross-sectional view of a deformation groove formed in a mounting element according to one embodiment of this application;

[0015] Figure 5 A cross-sectional view of a deformation groove formed on a deformation body according to an embodiment of this application;

[0016] Figure 6 A cross-sectional view of a deformation groove formed on a mounting element and the bottom wall of the deformation groove located on the wall of the receiving cavity, according to one embodiment of this application;

[0017] Figure 7 This is a side view of a leg assembly provided in one embodiment of this application;

[0018] Figure 8A side view of a robot provided in one embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] The inventors discovered that one method involves placing an elastic foot pad in contact with the ground on the sole of the foot, and determining the stress on the sole by detecting pressure changes caused by the deformation of the elastic foot pad. However, this type of elastic foot pad is prone to wear after a period of use and requires frequent replacement. Another method involves incorporating a pressure sensor in the sole of the foot, which determines the stress on the sole by detecting pressure changes applied to certain moving parts of the sole. This detection structure involves more components, and if the structure is not designed properly, it can easily lead to problems such as large size, exposed wiring, and inconvenient assembly. To solve the above problems, this application provides a pressure detection structure with a simple structure.

[0021] like Figures 1 to 6 The diagram shown is a schematic of a pressure detection structure 100 provided in an embodiment of this application. The pressure detection structure 100 includes a foot frame 110 and a sensing element 120 mounted on the foot frame 110. By setting the foot frame 110 to deform when it comes into contact with the ground, the sensing element 120 can sense the deformation of the foot frame 110 and generate a sensing signal, thereby determining the force on the sole of the foot through the sensing signal.

[0022] Specifically, such as Figure 1 and Figure 2 As shown, the foot frame 110 includes a deformable portion 111 for contacting the ground and a support portion 112 connected to the deformable portion 111. The support portion 112 can be connected to other mounting structures. For example, when the foot frame 110 is used as the ground contact part of a legged robot, the support portion 112 can be mounted on the mounting arm 210 of the leg assembly of the legged robot. When the deformable portion 111 deforms upon contact with the ground, the deformable portion 111 in contact with the ground deforms, while the support portion 112 does not deform, allowing the support portion 112 to provide support for the deformable portion 111 and ensuring the support stability of the foot frame 110.

[0023] The deformable part 111 needs to deform, and it also needs to have a certain structural strength so that it does not deform excessively and cause abnormalities such as unstable support. The deformable part 111 that meets the above requirements can be made by selecting a suitable material, such as aluminum alloy. The structure of the deformable part 111 can also be designed to meet the above requirements. In some exemplary embodiments, a receiving cavity 1112 is formed between the deformable part 111 and the support part 112. When the deformable part 111 deforms in contact with the ground, the part of the deformable part 111 in contact with the ground can deform towards the center of the receiving cavity 1112. The receiving cavity 1112 provides deformation space for the deformable part 111.

[0024] Furthermore, the deformable portion 111 has a deformable groove 1111 communicating with the receiving cavity 1112. When the portion of the deformable portion 111 in contact with the ground deforms into the receiving cavity 1112, the deformable groove 1111 also deforms. Specifically, the deformable groove 1111 may include two opposing sidewalls 111a and a bottom wall surface 111b connecting the two sidewalls 111a, with the two sidewalls 111a spaced apart. When the deformable portion 111 deforms in contact with the ground, the two sidewalls 111a of the deformable groove 1111 can move relative to each other. For example, the ends of the two sidewalls 111a of the deformable groove 1111 away from the bottom wall surface 111b can move away from or towards each other.

[0025] like Figure 3 As shown, the sensing element 120 is mounted on the deformation section 111 corresponding to the deformation groove 1111. The sensing element 120 is configured to sense the deformation of the deformation groove 1111 and generate a sensing signal. Specifically, the sensing element 120 can generate a sensing signal by sensing the pressure change acting on it during the relative movement of the two sidewalls 111a of the deformation groove 1111. For example, the sensing element can be a strain gauge type. Alternatively, the sensing element 120 can generate a sensing signal by sensing the distance change between the two sidewalls 111a of the deformation groove 1111. The sensing element 120 can also generate a sensing signal by sensing the air pressure change within the deformation groove 1111. Of course, in other embodiments, the sensing element 120 can also generate a sensing signal by sensing the deformation of the deformation groove 1111 in other ways. Any sensing method that enables the sensing element 120 to sense the deformation of the deformation groove 1111 and generate a sensing signal is applicable to this application.

[0026] Based on the pressure detection structure 100 of this application embodiment, by providing a receiving cavity 1112 and a deformation groove 1111 communicating with the receiving cavity 1112 within the deformation portion 111, the shape of the receiving cavity 1112 and the deformation groove 1111 can be controlled to regulate the deformation of the deformation portion 111. When the deformation portion 111 deforms upon contact with the ground, the deformation groove 1111 also deforms. A sensing element 120 is provided to specifically detect the deformation of the deformation groove 1111 and generate a sensing signal. The deformation of the deformation groove 1111 is used as the basis for judging the stress condition of the pressure detection structure 100, thus improving the sensitivity of obtaining the stress condition of the pressure detection structure 100. Furthermore, this application can obtain the stress condition of the pressure detection structure 100 by directly sensing the deformation of the deformation groove 1111 within the deformation portion 111 through the sensing element 120, resulting in a simple overall structure.

[0027] The sensing element 120 is mounted on the deformation portion 111 corresponding to the deformation groove 1111 and located within the receiving cavity 1112. The sensing element 120 can be directly housed within the deformation groove 1111 to detect the deformation of the deformation groove 1111, or it can be mounted outside the deformation groove 1111 to detect the deformation of the deformation groove 1111. Due to factors such as the size of the sensing element 120, for example, when the size of the sensing element 120 is too small, the contact area between the sensing element 120 and the deformation portion 111 is small, which can easily lead to unstable installation of the sensing element 120 when the deformation portion 111 is repeatedly deformed. To facilitate the installation of the sensing element 120 and improve its installation stability, in some exemplary embodiments, the pressure detection structure 100 also includes a base portion 130, on which the sensing element 120 can be mounted before the base portion 130 is mounted on the deformation portion 111. The base portion 130 is configured to extend at least partially beyond the edge of the sensing element 120. The portion of the base portion 130 extending beyond the edge of the sensing element 120 can be connected to the deformable portion 111. The base portion 130 is also configured to deform to better adapt to different mounting structures and improve the ease of assembly.

[0028] Specifically, such as Figure 3 As shown, the base portion 130 can be located within the receiving cavity 1112 and spans the deformation groove 1111. The two ends of the base portion 130 extending out of the sensing element 120 are connected to the deformation portion 111, so that when the deformation portion 111 deforms, the base portion 130 will deform. The sensing element 120 can be configured to generate a sensing signal by sensing the deformation of the base portion 130. For example, the sensing element 120 can be a strain gauge sensor. The strain gauge sensor has a sensing end, which can be connected to the base portion 130. When the base portion 130 deforms, it can act on the sensing end to trigger the strain gauge sensor to generate a sensing signal.

[0029] The base portion 130 can be configured as a rectangular plate. Along the length of the rectangular base portion 130, its opposite ends are connected to the deformation portion 111. The sensing element 120 can be mounted on the middle section of the base portion 130 and corresponding to the deformation groove 1111. When both opposite ends of the base portion 130 are connected to the deformation portion 111, the deformation amplitude of the middle section of the base portion 130 is the largest, allowing the sensing element 120 to more sensitively sense the deformation of the base portion 130. In other embodiments, the base portion 130 can also be configured with other shapes and mounted on the deformation portion 111 in other ways. Any mounting method that allows the base portion 130 to be stably mounted on the deformation portion 111 and enables the sensing element 120 to correspondingly sense the deformation of the deformation groove 1111 is applicable to this application.

[0030] In some exemplary embodiments, the deformable portion 111 has two mounting grooves 1113, which are located at both ends of the deformable groove 1111 and are both connected to the deformable groove 1111. The base portion 130 has its two ends located at the two mounting grooves 1113, and the sensing element 120 is mounted on the middle portion of the base portion 130, which corresponds to the deformable groove 1111. By providing the mounting grooves 1113 to guide the installation position of the base portion 130, it is easier to quickly install and align the base portion 130. The mounting grooves 1113 can also limit the deformation range of the base portion 130, preventing the base portion 130 from moving freely. Furthermore, by setting the surface of the base portion 130 to contact the wall surface of the mounting groove 1113, the installation stability of the base portion 130 can be improved.

[0031] The portion of the base portion 130 located within the mounting groove 1113 can be fixed to the mounting groove 1113 by means of bonding or other methods. When the deformable portion 111 deforms, the portion of the base portion 130 that is not fixed can deform. Specifically, the base portion 130 located within the mounting groove 1113 can be completely fixed within the mounting groove 1113, and when the deformable portion 111 deforms, only the portion of the base portion 130 corresponding to the deformation groove 1111 deforms. Alternatively, the base portion 130 located within the mounting groove 1113 can also be partially fixed within the mounting groove 1113. For example, the end of the base portion 130 away from the deformation groove 1111 can be fixed within the deformation groove 1111. The portions of the base portion 130 that are not fixed within the mounting groove 1113 and those corresponding to the deformation groove 1111 can move relative to the mounting groove 1113. In some other implementations, the size of the base portion 130 can be adjusted so that when the deformable portion 111 deforms, the portion of the base portion 130 located in the mounting groove 1113 abuts against the mounting groove 1113, so that the portions at both ends of the base portion 130 can compress the portion in the middle of the base portion 130 to deform.

[0032] When the base portion 130 is not deformed, the sensing element 120 can be located outside the deformation groove 1111 or the mounting groove 1113; the depth of the mounting groove 1113 can also be adjusted so that when the base portion 130 is not deformed, the middle portion of the sensing element 120 and the base portion 130 are both accommodated in the deformation groove 1111, thus hiding the sensing element 120 and the base portion 130.

[0033] The sensing element 120 can be a sensing element capable of transmitting wireless signals to the control system, so that the sensing signals generated by the sensing element 120 are transmitted to the control system wirelessly. In some exemplary embodiments, the base portion 130 can be a flexible circuit board, which is electrically connected to the sensing element 120 to transmit sensing signals. The sensing signals generated by the sensing element 120 can also be transmitted to the flexible circuit board first, and then the flexible circuit board transmits the sensing signals to the control system wirelessly or wirelessly. The control system can be a control system within the body of the legged robot connected to the pressure detection structure 100, or it can be a control system within other devices not connected to the pressure detection structure 100.

[0034] When the flexible circuit board transmits sensing signals via a wired method, in some exemplary embodiments, the support portion 112 has a transmission channel 1121 communicating with the receiving cavity 1112. The pressure detection structure 100 also includes a signal transmission portion 140, which passes through the transmission channel 1121 and is electrically connected to the sensing element 120 to transmit the sensing signal to the control system. The signal transmission portion 140 may also be a flexible circuit board, and the signal transmission portion 140 is integrally formed with the base portion 130; the signal transmission portion 140 may also be a power cable, which is electrically connected to the base portion 130 to transmit the sensing signal. In other embodiments, when the signal transmission portion 140 can be a power cable, the base portion 130 does not need to be electrically connected to the sensing element 120. The base portion 130 may simply be a flexible substrate for mounting the sensing element 120, and the signal transmission portion 140 can be directly electrically connected to the sensing element 120 after passing through the transmission channel 1121 to directly transmit the sensing signal generated by the sensing element 120.

[0035] The transmission channel 1121 can be configured to communicate with one of the mounting grooves 1113, so that the base part 130 and the signal transmission part 140 are connected at the joint between the transmission channel 1121 and the mounting groove 1113, or the signal transmission part 140 can directly enter the mounting groove 1113 and be electrically connected to the sensing element after passing through the transmission channel 1121.

[0036] The deformation of the deformation part 111 can be assisted in controlling the amount of deformation by adjusting the distance between the two side walls of the deformation groove 1111. Furthermore, taking the arrangement direction of the support part 112 and the deformation part 111 as the first direction A1, the deformation of the deformation part 111 can also be assisted in controlling the amount of deformation by adjusting the length of the deformation groove 1111 along the second direction A2 that intersects with the first direction A1. Alternatively, the deformation groove 1111 can be configured to pass through the opposite sides of the mounting element 102 along the second direction A2 that intersects with the first direction A1, and the sensing element 120 is mounted on the mounting element 102 corresponding to the deformation groove 1111.

[0037] In some exemplary embodiments, such as Figure 5 As shown, the deformation part 111 may include a deformation body 101, and a receiving cavity 1112 is formed between the deformation body 101 and the support part 112. A deformation groove 1111 may be provided to penetrate the opposite sides of the mounting element 102 along the second direction A2. The sensing element 120 is mounted on the mounting element 102 corresponding to the deformation groove 1111.

[0038] like Figure 4 As shown, the deformation part 111 may further include a mounting element 102 disposed on the wall of the deformation body 101 for forming the receiving cavity 1112. The mounting element 102 is disposed within the deformation body 101 and can deform together with the deformation body 101. A deformation groove 1111 is formed on the mounting element 102, and two mounting recesses 1113 may be formed on the mounting element 102 and communicate with the deformation groove 1111. When the sensing element 120 is mounted on the base part 130, both ends of the base part 130 may be respectively accommodated in the two mounting recesses 1113 on the mounting element 102, so that the sensing element 120 is mounted on the mounting element 102 through the base part 130 and is mounted corresponding to the deformation groove 1111. By providing a mounting element 102 protruding from the deformation body 101 within the deformation body 101, and providing a deformation groove 1111 located on the mounting element 102, it is convenient to adjust the depth of the deformation groove 1111 and the distance between the two side walls 111a of the deformation groove 1111 so that the base part 130 has sufficient deformation space when deforming towards the side where the bottom wall 111b of the deformation groove 1111 is located.

[0039] Furthermore, such as Figure 6 As shown, the bottom wall surface 111b of the deformable groove 1111 is located on the wall surface of the deformable body 101 used to form the receiving cavity 1112, so that the mounting element 102 can more easily deform with the deformable body 101.

[0040] Furthermore, the width of the adjustable mounting element 102 along the second direction A2 is smaller than the width of the deformable body 101 along the second direction A2, so that the mounting element 102 partially covers the wall surface of the deformable body 101 used to form the receiving cavity 1112, and a deformation groove 1111 is provided along the second direction A2 through the opposite sides of the mounting element 102, making the mounting element 102 easier to deform. The mounting element 102 also has two mounting planes 102a parallel to the second direction A2. The mounting planes 102a are connected to the side wall surface 111a of the deformation groove 1111 and the side away from the bottom wall surface 111b. Two mounting grooves 1113 are respectively formed in the two mounting planes 102a.

[0041] Along the second direction A2, the receiving cavity 1112 penetrates the deformable body 101, making the deformable body 101 easier to deform. Along a direction perpendicular to the second direction A2, the cross-section of the receiving cavity 1112 can be circular, and the outer wall surface of the deformable body 101 can be a convex arc-shaped surface concentric with the circular receiving cavity 1112. In some exemplary embodiments, the deformable body 101 can be a tubular shape with a central angle less than 360 degrees.

[0042] like Figure 1 As shown, the pressure detection structure 100 also includes a protective member 150 disposed in the receiving cavity 1112 and covering the periphery of the sensing element 120. The protective member 150 protects the sensing element 120 and conceals it during installation. In some exemplary embodiments, the protective member 150 includes a first protective part 151, a second protective part 152, and a third protective part 153 connecting the first protective part 151 and the second protective part 152. The first protective part 151 and the second protective part 152 encapsulate the opposite ends of the deformation groove 1111 along the second direction A2 and are mounted on the mounting element 102. The third protective part 153 covers the sensing element 120 and the deformation groove 1111 and is mounted on the mounting element 102.

[0043] The first protective part 151 and the second protective part 152 are disposed on opposite sides of the mounting element 102 along the second direction A2. The two ends of the third protective part 153 can be respectively mounted on the two mounting planes 102a. The third protective part 150 completely covers the deformation groove 1111, thereby covering the sensing element 120, so that the sensing element 120 is hiddenly installed in the cavity formed between the first protective part 151, the second protective part 152, the third protective part 153 and the mounting element 102. The first protective part 151, the second protective part 152 and the third protective part 153 are all sealed to the mounting element 102. The first protective part 151, the second protective part 152, and the third protective part 153 can be made of one or more materials that can produce elastic deformation, such as foam, silicone, or rubber. For example, the first protective part 151 and the second protective part 152 can be made of rubber, and the third protective part 153 can be made of elastic waterproof foam; the first protective part 151, the second protective part 152, and the third protective part 153 can also all be made of the same silicone material.

[0044] The first protective part 151, the second protective part 152, and the third protective part 153 can be bonded to the mounting element 102 using adhesive, such as Figure 1 and Figure 2 As shown, protrusions 150a can also be provided on the first protective part 151, the second protective part 152, and the third protective part 153 respectively. The protrusions 150a on the first protective part 151 and the second protective part 152 are respectively engaged in the deformation groove 1111, and the protrusion 150a on the third protective part 153 is engaged in the two mounting grooves 1113, which facilitates the assembly and disassembly of the first protective part 151, the second protective part 152, and the third protective part 153. When the first protective part 151 and the second protective part 152 are provided with protrusions 150a, the protrusions 150a on the first protective part 151 and the second protective part 152 can be arranged to extend to connect with the third protective part 153. At the same time, the third protective part 153 is arranged to span the deformation groove 1111 and partially cover the deformation groove 1111. The two ends of the third protective part 153 are respectively installed in the mounting grooves 1113. Furthermore, the depth of the mounting groove 1113 is adjusted so that the portions at both ends of the third protective member 150 are completely accommodated within the mounting groove 1113, the middle portion of the third protective member 150 and the sensing element 120 are completely accommodated within the deformation groove 1111, and the third protective member 150 covers the entire base portion 130 and contacts the wall surface of the mounting groove 1113. The protrusions 150a of the first protective portion 151 and the second protective portion 152, which are engaged in the deformation groove 1111, are spaced apart from the base portion 130 to prevent the protrusions 150a on the first protective portion 151 and the second protective portion 152 from affecting the deformation of the base portion 130.

[0045] In some exemplary embodiments, the deformable portion 111 includes a deformable segment 1011 connected to the support portion 112 and a buffer segment 1012 disposed around the deformable segment 1011. A receiving cavity 1112 is formed between the deformable segment 1011 and the support portion 112. When the deformable portion 111 contacts the ground, the deformable segment 1011 can deform. The buffer segment 1012 is used to buffer the impact force when the deformable portion 111 contacts the ground, thereby protecting the deformable segment 1011. For example, the buffer segment 1012 can be made of a wear-resistant and elastically deformable material such as rubber. The buffer segment 1012 can be fixed to the outer surface of the deformable segment 1011 by adhesive bonding, and the end of the buffer segment 1012 contacts the wall surface of the support portion 112. The wall surface of the support portion 112 restricts the position of the buffer segment 1012 during repeated deformation, improving the installation stability of the buffer segment 1012 and increasing the service life of the pressure detection structure 100. The deformation section 1011 and the buffer section 1012 can together form the deformation body 101 as described above. When the deformation part 111 comes into contact with the ground, the deformation section 1011 and the buffer section 1012 can deform together. The deformation section 1011, the mounting element 102 and the support part 112 can be made of the same material and integrally formed.

[0046] Secondly, such as Figure 7 As shown in the illustration, this application also provides a leg assembly 200, which includes a mounting arm 210 and a pressure detection structure 100 as described above. A support portion 112 is connected to the end of the mounting arm 210. The mounting arm 210 may include a first mounting arm 211 and a second mounting arm 212 movably mounted to the end of the first mounting arm 211. For example, the second mounting arm 212 can rotate relative to the first mounting arm 211 with the connection point between the first and second mounting arms 211 as the center. The support portion 112 can be mounted on the end of the second mounting arm 212 away from the first mounting arm 211. When the leg assembly 200 contacts the ground, the deformation portion 111 connected to the support portion 112 deforms to buffer the impact force of the leg assembly 200 contacting the ground. The pressure detection structure 100 is installed at the end of the mounting arm 210 to facilitate the detection of the force on the leg assembly 200 and has high sensitivity. The pressure detection structure 100 is simple and also facilitates the lightweight design of the leg assembly 200.

[0047] Thirdly, such as Figure 8As shown, this application embodiment also provides a robot 300, which is a mobile robot 300. For example, the robot 300 may be a legged robot 300 with exploration function, or a cleaning robot 300 with cleaning function. The robot 300 includes a body 310 and leg assemblies 200 as described above. There are multiple leg assemblies 200, and the mounting arms 210 of the multiple leg assemblies 200 are movably connected to the body 310. When the leg assembly 200 includes a first mounting arm 211 and a second mounting arm 212, the first mounting arm 211 is connected to the body 310. The first mounting arm 211 and the second mounting arm 212 may be provided with wiring channels communicating with the transmission channel 1121. The wiring channels communicate with the cavity inside the body 310 for mounting the control system, so that the signal transmission unit 140 passes through the wiring channels and is electrically connected to the control system inside the body 310 to transmit sensing signals.

[0048] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0049] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A pressure detection structure, characterized in that, include: A footrest includes a deformable part for contacting the ground and a support part connected to the deformable part. The deformable part includes a deformable body and a mounting element. The deformable body includes a deformable segment and a buffer segment. The deformable segment and the support part enclose a receiving cavity. The buffer segment is located around the deformable segment and is elastic. The mounting element of the deformable part has a deformable groove communicating with the receiving cavity. The mounting element is located on the wall of the deformable body to form the receiving cavity and can deform together with the deformable body. When the footrest contacts the ground, the deformable part can deform into the receiving cavity, and the deformable groove deforms. The deformable segment, the mounting element, and the support part are made of the same material and integrally formed. Taking the arrangement direction of the support part and the deformable part as a first direction, the deformable groove passes through the opposite sides of the mounting element along a second direction intersecting the first direction. The receiving cavity passes through the deformable body along the second direction. The width of the mounting element along the second direction is smaller than the width of the deformable body along the second direction. and A sensing element is mounted on the mounting element corresponding to the deformation groove, and the sensing element is configured to sense the deformation of the deformation groove and generate a sensing signal.

2. The pressure detection structure according to claim 1, characterized in that, The pressure detection structure further includes a base portion located within the receiving cavity and spanning the deformation groove. Both ends of the base portion are connected to the deformation portion so that the base portion deforms when the deformation portion deforms. The sensing element is mounted on the base portion and is configured to generate the sensing signal by sensing the deformation of the base portion.

3. The pressure detection structure according to claim 2, characterized in that, The deformation part has two mounting grooves, which are located at both ends of the deformation groove and are connected to the deformation groove. The two ends of the base part are located at the two mounting grooves, and the middle part of the base part corresponds to the deformation groove. The sensing element is mounted on the middle part of the base part.

4. The pressure detection structure according to claim 2, characterized in that, The substrate is a flexible circuit board, which is electrically connected to the sensing element to transmit the sensing signal.

5. The pressure detection structure according to claim 1 or 4, characterized in that, The support portion has a transmission channel communicating with the receiving cavity. The pressure detection structure further includes a signal transmission portion, which passes through the transmission channel and is electrically connected to the sensing element to transmit the sensing signal to the control system.

6. The pressure detection structure according to claim 1, characterized in that, The pressure detection structure also includes a protective component disposed in the receiving cavity and covering the periphery of the sensing element.

7. The pressure detection structure according to claim 6, characterized in that, The protective element includes a first protective portion, a second protective portion, and a third protective portion connecting the first protective portion and the second protective portion. The first protective portion and the second protective portion encapsulate opposite ends of the deformation groove along the second direction and are mounted on the mounting element. The third protective portion covers the sensing element and the deformation groove and is mounted on the mounting element.

8. A leg and foot assembly, characterized in that, include: Mounting arm; and As in any one of claims 1 to 7, the support portion of the pressure detection structure is connected to the end of the mounting arm.

9. A robot, characterized in that, include: body; and The leg assembly as described in claim 8 is provided above, wherein there are multiple leg assemblies, and the mounting arms of the multiple leg assemblies are all connected to the fuselage.

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