Foot motion assembly and foot robot

Abstract

The application provides a foot movement assembly and a foot robot. The foot movement assembly comprises a foot body, a pressure detector and a controller. The foot body comprises a first sub-body and a second sub-body connected to each other, the first sub-body is used for approaching the second sub-body at a plurality of different orientations, and one end of the second sub-body away from the first sub-body is used for contacting the ground. The pressure detector comprises a plurality of pressure sensitive elements, the plurality of pressure sensitive elements are arranged between the first sub-body and the second sub-body, and the orientations of the plurality of pressure sensitive elements correspond to the plurality of different orientations respectively, and the pressure sensitive elements are extruded to sense pressure signals when the first sub-body approaches the second sub-body. The controller is electrically connected to the pressure sensitive elements, and the controller is used for controlling the movement of the foot body according to the pressure signals of the pressure sensitive elements and the orientations of the pressure sensitive elements. The foot movement assembly and the foot robot provided by the application can realize movement detection and control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a foot movement assembly and a foot robot. BACKGROUND

[0002] A robot is an automatic machine with some intelligent capabilities similar to human beings or animals. The application of a foot robot helps human beings to solve dangerous or heavy work such as rescue, emergency rescue and carrying. The foot robot needs to walk, run and jump on various complex grounds, so how to realize the movement control of the foot robot is a technical problem to be solved. SUMMARY

[0003] The present application provides a foot movement assembly and a foot robot capable of realizing movement detection and control.

[0004] In one aspect, the present application provides a foot movement assembly, comprising:

[0005] a foot body, the foot body comprising a first sub-body and a second sub-body connected to each other, the first sub-body being used to approach the second sub-body at a plurality of different orientations, and an end of the second sub-body away from the first sub-body being used to contact the ground;

[0006] a pressure detector, the pressure detector comprising a plurality of pressure sensitive elements, the plurality of pressure sensitive elements being arranged between the first sub-body and the second sub-body, and the orientations of the plurality of pressure sensitive elements respectively corresponding to the plurality of different orientations, the pressure sensitive elements being squeezed to sense pressure signals when the first sub-body approaches the second sub-body; and

[0007] a controller, the controller being electrically connected to the pressure sensitive elements, the controller being used to control the movement of the foot body according to the pressure signals of the pressure sensitive elements and the orientations of the pressure sensitive elements.

[0008] In another aspect, the present application further provides a foot robot, comprising a body and the foot movement assembly, the controller being arranged on the body or on the foot body.

[0009] The foot movement assembly and the foot robot provided by the application can determine the pressure and the orientation between the first sub-body and the second sub-body in real time according to the pressure signal of the pressure sensitive element when the first sub-body is close to the second sub-body in one or more orientations, because the side of the second sub-body away from the first sub-body is used to contact the ground, the contact position and the pressure between the second sub-body and the ground can be determined according to the pressure and the orientation between the first sub-body and the second sub-body, so that the force detection of the foot robot is realized. The controller can control the foot movement according to the pressure signal and the orientation of the pressure sensitive element, so that the foot robot can move according to the set trajectory and posture, so as to help the human solve the rescue, the emergency rescue, the carrying and other operations. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed to be used in the embodiments will be briefly introduced.

[0011] Figure 1 is a structural schematic diagram of a foot movement assembly provided by the embodiment of the application, and the foot movement assembly comprises a foot body, a pressure detector and a controller;

[0012] Figure 2 is Figure 1 is a structural schematic diagram of the foot body comprising a first sub-body and a second sub-body in the foot movement assembly shown in the figure;

[0013] Figure 3 is Figure 1 is a structural schematic diagram of the pressure detector comprising a plurality of pressure sensitive elements in the foot movement assembly shown in the figure;

[0014] Figure 4 is Figure 1 is a sectional schematic diagram of the foot movement assembly along the X-axis direction;

[0015] Figure 5 is Figure 1 is a sectional schematic diagram of the foot movement assembly along the Y-axis direction;

[0016] Figure 6 is Figure 1 is a structural schematic diagram of the foot body further comprising a third sub-body in the foot movement assembly shown in the figure;

[0017] Figure 7 is Figure 6 is a structural schematic diagram of the foot body further comprising a first mounting groove and a fourth mounting groove in the foot movement assembly shown in the figure;

[0018] Figure 8 isFigure 6 FIG. 2 is a structural schematic diagram of the foot body in the foot movement assembly shown in FIG. 1, which further comprises a second mounting slot and a third mounting slot;

[0019] Figure 9 is Figure 6 FIG. 3 is a structural schematic diagram of the pressure detector in the foot movement assembly shown in FIG. 1, which further comprises a signal processing unit. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. The embodiments listed in the present application can be appropriately combined with each other.

[0021] The foot robot provided by the embodiments of the present application can be a biped robot, a quadruped robot, a hexapod robot, etc. In the following embodiments, the quadruped robot is taken as an example without special description. The foot robot comprises a body and a foot movement assembly.

[0022] As Figure 1 shown, Figure 1 FIG. 1 is a structural schematic diagram of a foot movement assembly 100 provided by the embodiments of the present application. The foot movement assembly 100 comprises a foot body 1, a pressure detector 2 and a controller 3.

[0023] The number of the foot body 1 can be two, four, six, etc. In the embodiments of the present application, the quadruped robot has four foot bodies 1. The four foot bodies 1 are used to support the body. The structures of the four foot bodies 1 can be the same. The structural features of only one foot body 1 will be described in the following embodiments.

[0024] Please refer to Figure 1 and Figure 2 The foot body 1 comprises a first sub-body 10 and a second sub-body 11 connected to each other. Optionally, the first sub-body 10 and the second sub-body 11 are connected by one of an active arm, an elastic arm, etc. The active arm can be a column, a plate, etc. with small thickness. The elastic arm can be a spring, etc. One end of the first sub-body 10 away from the second sub-body 11 is used to connect the body.

[0025] The first sub-body 10 is configured to approach the second sub-body 11 in a plurality of different orientations. In one embodiment, the first sub-body 10 and the second sub-body 11 form a contraction space 15 which can contract in a plurality of different orientations. Alternatively, the first sub-body 10 and the second sub-body 11 form a contraction space 15 which can contract in two different orientations. The first sub-body 10 is configured to approach the second sub-body 11 in two different orientations. For example, the two different orientations can be the front and the back of the foot movement assembly 100. Wherein the front and the back of the foot movement assembly 100 can refer to the positive and the negative of the X-axis respectively in FIG. 1. Wherein the arrow direction is the positive of the X-axis. At this time, the first sub-body 10 is configured to approach the second sub-body 11 in two different orientations, i.e. the front of the first sub-body 10 can move towards the front of the second sub-body 11, and the back of the first sub-body 10 can move towards the back of the second sub-body 11. Of course, the two different orientations can also be the left and the right of the foot movement assembly 100. Wherein the left and the right of the foot movement assembly 100 can refer to the positive and the negative of the Y-axis respectively in FIG. 1. Wherein the arrow direction is the positive of the Y-axis. At this time, the first sub-body 10 is configured to approach the second sub-body 11 in two different orientations, i.e. the left of the first sub-body 10 can move towards the left of the second sub-body 11, and the right of the first sub-body 10 can move towards the right of the second sub-body 11. Figure 2 Figure 2

[0026] In another embodiment, the first sub-body 10 and the second sub-body 11 form a contraction space 15 which can contract in four different orientations. The first sub-body 10 is configured to approach the second sub-body 11 in four different orientations. Specifically, the front of the first sub-body 10 can move towards the front of the second sub-body 11, the back of the first sub-body 10 can move towards the back of the second sub-body 11, the left of the first sub-body 10 can move towards the left of the second sub-body 11, and the right of the first sub-body 10 can move towards the right of the second sub-body 11.

[0027] Here, it should be noted that the terms "front", "back", "left" and "right" used in the description of the present application indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used for the purpose of clearly and simply describing the present application, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and cannot be understood as a limitation on the present application.

[0028] ​​The side of the second sub-body 11 facing away from the first sub-body 10 is used to contact the ground. It can be understood that when the foot robot moves, the second sub-body 11 directly contacts the ground. The side of the second sub-body 11 facing away from the first sub-body 10 can be a flat surface or an arc surface. When the side of the second sub-body 11 facing away from the first sub-body 10 contacts the ground, due to the weight of the body and the first sub-body 10, and the contraction space 15 between the first sub-body 10 and the second sub-body 11, the first sub-body 10 is close to the second sub-body 11. It can be understood that when the front of the second sub-body 11 contacts the ground, at this time, the front of the first sub-body 10 is close to the front of the second sub-body 11. When the back of the second sub-body 11 contacts the ground, at this time, the back of the first sub-body 10 is close to the back of the second sub-body 11. When the left side of the second sub-body 11 contacts the ground, at this time, the left side of the first sub-body 10 is close to the left side of the second sub-body 11. When the right side of the second sub-body 11 contacts the ground, at this time, the right side of the first sub-body 10 is close to the right side of the second sub-body 11. In other words, when the front side of the foot body 1 is forced, the front of the first sub-body 10 is close to the front of the second sub-body 11. When the back side of the foot body 1 is forced, the back of the first sub-body 10 is close to the back of the second sub-body 11. When the left side of the foot body 1 is forced, the left side of the first sub-body 10 is close to the left side of the second sub-body 11. When the right side of the foot body 1 is forced, the right side of the first sub-body 10 is close to the right side of the second sub-body 11.

[0029] Please refer to Figure 1 and Figure 2The pressure detector 2 comprises a plurality of pressure sensitive elements 20. The pressure sensitive element 20 can be one of a resistance strain element, a piezoelectric ceramic element, a semiconductor strain element, etc. For example, the pressure sensitive element 20 is a piezoelectric ceramic sheet. The plurality of pressure sensitive elements 20 are arranged between the first sub-body 10 and the second sub-body 11, and the positions of the plurality of pressure sensitive elements 20 correspond to a plurality of different positions respectively. Specifically, the plurality of pressure sensitive elements 20 are arranged in the plurality of contraction spaces 15 between the first sub-body 10 and the second sub-body 11 respectively. Optionally, one or more pressure sensitive elements 20 are arranged in one contraction space 15. In the embodiment of the present application, one pressure sensitive element 20 is arranged in one contraction space 15 as an example. For the quadruped robot with four foot bodies 1, a plurality of pressure sensitive elements 20 can be arranged on each foot body 1, or a plurality of pressure sensitive elements 20 can be arranged on one foot body 1, and one pressure sensitive element 20 is arranged on each of the remaining foot bodies 1. In one embodiment, four pressure sensitive elements 20 are arranged on each foot body 1, i.e. each foot body 1 has four contraction spaces 15, and the four contraction spaces 15 can be connected to each other or spaced from each other. Sixteen pressure sensitive elements 20 are arranged on the four foot bodies 1 in total. The four pressure sensitive elements 20 on each foot body 1 correspond to a plurality of different positions respectively. Optionally, the four pressure sensitive elements 20 on each foot body 1 correspond to the front, rear, left and right of the foot body 1 respectively. The front, rear, left and right of the foot body 1 can refer to the positive direction of the X-axis, the negative direction of the X-axis, the positive direction of the Y-axis and the negative direction of the Y-axis of the robot respectively. Figure 2 When the first sub-body 10 is close to the second sub-body 11, the pressure sensitive element 20 is extruded and senses a pressure signal. For example, when the first sub-body 10 is close to the second sub-body 11, the pressure sensitive element 20 is extruded and deformed. It can be understood that when the front of the first sub-body 10 is close to the front of the second sub-body 11, i.e. the front of the first sub-body 10 moves towards the front of the second sub-body 11, the pressure sensitive element 20 located in the front of the foot body 1 is extruded by the first sub-body 10 and deformed. The deformation amount of the pressure sensitive element 20 located in the front of the foot body 1 can represent the force condition in the front of the foot robot. When the rear of the first sub-body 10 is close to the rear of the second sub-body 11, i.e. the rear of the first sub-body 10 moves towards the rear of the second sub-body 11, the pressure sensitive element 20 located in the rear of the foot body 1 is extruded by the first sub-body 10 and deformed. The pressure sensitive element 20 located in the rear of the foot body 1 can represent the force condition in the rear of the foot robot. Similarly, the pressure sensitive element 20 located in the left of the foot body 1 can represent the force condition in the left of the foot robot. The pressure sensitive element 20 located in the right of the foot body 1 can represent the force condition in the right of the foot robot.

[0030] Please refer to Figure 1 and Figure 2The controller 3 can be located on the first sub-body 10, the second sub-body 11, or the main body. In one embodiment, the controller 3 is located on the main body. The controller 3 is electrically connected to each pressure-sensitive element 20. The controller 3 is used to control the movement of the foot body 1 based on the deformation and orientation of the pressure-sensitive element 20. The orientation of each pressure-sensitive element 20 can be pre-stored in the controller 3. When the controller 3 receives the deformation transmitted by a pressure-sensitive element 20, it controls the movement of the foot body 1 based on the deformation and orientation of that pressure-sensitive element 20. The controller 3 can control the movement of the foot body 1 by controlling the force position after controlling the second sub-body 11, thereby planning or adjusting the movement posture, direction, center of gravity, etc. of the legged robot.

[0031] In this embodiment, the pressure between the first sub-body 10 and the second sub-body 11 is approximately the pressure between the legged robot and the ground. Therefore, by detecting the pressure between the first sub-body 10 and the second sub-body 11 at multiple different orientations, the contact position and pressure magnitude of the legged robot with the ground can be determined. This facilitates the determination of the legged robot's center of gravity based on the contact position and pressure magnitude, which is beneficial for achieving stable movement of the legged robot on various complex ground surfaces and for controlling the movement of the legged robot. This allows the legged robot to be applied to rescue, disaster relief, and transportation operations.

[0032] The foot motion component 100 and footed robot provided in this application utilize multiple pressure-sensitive elements 20 positioned between a first sub-body 10 and a second sub-body 11. When the first sub-body 10 approaches the second sub-body 11 in one or more directions, the pressure-sensitive elements 20 at those locations are compressed and sense pressure signals. This allows for real-time determination of the pressure magnitude and orientation between the first sub-body 10 and the second sub-body 11 based on the pressure signals from the pressure-sensitive elements 20. Since the side of the second sub-body 11 facing away from the first sub-body 10 is used for contact with the ground, the contact position and pressure magnitude between the second sub-body 11 and the ground can be determined based on the pressure magnitude and orientation between the first and second sub-body 10 and the second sub-body 11, thus achieving force detection for the footed robot. The controller 3 controls the movement of the foot body 1 through the pressure signals and orientation of the pressure-sensitive elements 20, enabling the footed robot to move according to a set trajectory and posture, facilitating rescue, disaster relief, and transportation tasks.

[0033] Furthermore, such as Figure 3As shown, the foot body 1 further comprises a third sub-body 12. The third sub-body 12 is connected between the first sub-body 10 and the second sub-body 11. Optionally, the third sub-body 12 is a support plate. The side of the third sub-body 12 facing the first sub-body 10 is connected to the first sub-body 10 by one of a movable arm, an elastic arm, etc. The side of the third sub-body 12 facing away from the first sub-body 10 is connected to the second sub-body 11 by one of a movable arm, an elastic arm, etc. A first contraction space 15 is formed between the first sub-body 10 and the third sub-body 12. A second contraction space 15 is formed between the second sub-body 11 and the third sub-body 12. A portion of the pressure sensitive elements 20 is arranged between the first sub-body 10 and the third sub-body 12. Another portion of the pressure sensitive elements 20 is arranged between the second sub-body 11 and the third sub-body 12. In other words, a portion of the pressure sensitive elements 20 is arranged in the first contraction space 15 between the first sub-body 10 and the third sub-body 12. Another portion of the pressure sensitive elements 20 is arranged in the second contraction space 15 between the second sub-body 11 and the third sub-body 12.

[0034] The first sub-body 10 is configured to approach the third sub-body 12 in a plurality of different orientations. The third sub-body 12 is configured to approach the second sub-body 11 in a plurality of different orientations. In an embodiment, the first sub-body 10 is configured to approach the third sub-body 12 in two different orientations. The third sub-body 12 is configured to approach the second sub-body 11 in two other different orientations. For example, the front of the first sub-body 10 is configured to approach the front of the third sub-body 12, i.e. the front of the first sub-body 10 can move towards the front of the third sub-body 12, thereby compressing the pressure sensitive elements 20 between the front of the first sub-body 10 and the front of the third sub-body 12. The back of the first sub-body 10 is configured to approach the back of the third sub-body 12, i.e. the back of the first sub-body 10 can move towards the back of the third sub-body 12, thereby compressing the pressure sensitive elements 20 between the back of the first sub-body 10 and the back of the third sub-body 12. The left side of the third sub-body 12 is configured to approach the left side of the second sub-body 11, i.e. the left side of the third sub-body 12 can move towards the left side of the second sub-body 11, thereby compressing the pressure sensitive elements 20 between the left side of the third sub-body 12 and the left side of the second sub-body 11. The right side of the third sub-body 12 is configured to approach the right side of the second sub-body 11, i.e. the right side of the third sub-body 12 can move towards the right side of the second sub-body 11, thereby compressing the pressure sensitive elements 20 between the right side of the third sub-body 12 and the right side of the second sub-body 11. This embodiment can achieve force detection of the front, back, left and right sides of the foot body 1, thereby improving the sensitivity of the movement control of the foot body 1. Of course, in other embodiments, the foot movement assembly 100 can only achieve force detection of two of the front, back, left and right sides of the foot body 1, or force detection of orientations of ±45°, etc.

[0035] By setting the third sub-body 12 between the first sub-body 10 and the second sub-body 11, the first sub-body 10 is used to approach the third sub-body 12 in multiple different orientations, and the third sub-body 12 is used to approach the second sub-body 11 in multiple different orientations, thereby facilitating the setting of more pressure sensitive elements 20 between the first sub-body 10 and the second sub-body 11. In the embodiment, two, four or more pressure sensitive elements 20 can be set between the first sub-body 10 and the third sub-body 12, and two, four or more pressure sensitive elements 20 can be set between the third sub-body 12 and the second sub-body 11, so that the stress of the foot movement assembly 100 in more orientations can be analyzed, the detection accuracy is improved, and the movement control accuracy of the foot body 1 is higher.

[0036] Optionally, please refer to Figures 3 to 5 The first sub-body 10 and the third sub-body 12 are connected by the first connecting arm 13. The first connecting arm 13 separates the first sub-body 10 and the third sub-body 12 into the first contraction space 150 and the second contraction space 151. The third sub-body 12 and the second sub-body 11 are connected by the second connecting arm 14. The second connecting arm 14 separates the second sub-body 11 and the third sub-body 12 into the third contraction space 152 and the fourth contraction space 153. A part of the pressure sensitive elements 20 are arranged in the first contraction space 150 and / or the second contraction space 151. Another part of the pressure sensitive elements 20 are arranged in the third contraction space 152 and / or the fourth contraction space 153. When the number of the pressure sensitive elements 20 is two, the pressure sensitive elements 20 can be arranged in any two of the first contraction space 150, the second contraction space 151, the third contraction space 152 and the fourth contraction space 153. When the number of the pressure sensitive elements 20 is three, the pressure sensitive elements 20 can be arranged in any three of the first contraction space 150, the second contraction space 151, the third contraction space 152 and the fourth contraction space 153. When the number of the pressure sensitive elements 20 is four, the pressure sensitive elements 20 can be arranged in the first contraction space 150, the second contraction space 151, the third contraction space 152 and the fourth contraction space 153 respectively. When the number of the pressure sensitive elements 20 is greater than four, the pressure sensitive elements 20 can be arranged in at least two of the first contraction space 150, the second contraction space 151, the third contraction space 152 and the fourth contraction space 153. Among them, the pressure sensitive elements 20 arranged in the first contraction space 150, the pressure sensitive elements 20 arranged in the second contraction space 151, the pressure sensitive elements 20 arranged in the third contraction space 152 and the pressure sensitive elements 20 arranged in the fourth contraction space 153 correspond to one orientation of the foot body 1 respectively.

[0037] The first sub-body 10 and the third sub-body 12 are connected by the first connecting arm 13 in the embodiment, so that a cantilever beam structure is formed between the first sub-body 10 and the third sub-body 12, thereby facilitating the first sub-body 10 to approach the third sub-body 12 in multiple different orientations. The third sub-body 12 and the second sub-body 11 are connected by the second connecting arm 14, so that a cantilever beam structure is formed between the third sub-body 12 and the second sub-body 11, thereby facilitating the third sub-body 12 to approach the second sub-body 11 in multiple different orientations. The first connecting arm 13 can be integrally formed with the first sub-body 10 and the third sub-body 12 or connected as a whole. In the embodiment, the first connecting arm 13 is integrally formed with the first sub-body 10 and the third sub-body 12, so as to increase the strength of the connection between the first connecting arm 13 and the first sub-body 10 and the third sub-body 12 and reduce fatigue damage of the first sub-body 10 in long-term use. The second connecting arm 14 can be integrally formed with the third sub-body 12 and the second sub-body 11 or connected as a whole. In the embodiment, the second connecting arm 14 is integrally formed with the third sub-body 12 and the second sub-body 11, so as to increase the strength of the connection between the second connecting arm 14 and the third sub-body 12 and the second sub-body 11 and reduce fatigue damage of the third sub-body 12 in long-term use.

[0038] The extension direction of the first connecting arm 13 intersects with the extension direction of the second connecting arm 14. In the embodiment, the first connecting arm 13 extends along the Y-axis direction. The second connecting arm 14 extends along the X-axis direction. The extension direction of the first connecting arm 13 is perpendicular to the extension direction of the second connecting arm 14. Of course, in other embodiments, the first connecting arm 13 can extend along one of the X-axis, 45°, 60°, etc. The second connecting arm 14 can extend along one of the Y-axis, 45°, 60°, etc.

[0039] The first sub-body 10 and the second sub-body 11 are separated into four different orientation contraction spaces 15 by the first connecting arm 13 and the second connecting arm 14 extending in intersecting directions. The pressure in the four orientations can be detected by arranging pressure-sensitive elements 20 in the four contraction spaces 15, and the pressure detection in the four orientations can meet the higher accuracy requirement. In addition, the first connecting arm 13 and the second connecting arm 14 are respectively located between the first sub-body 10 and the third sub-body 12 and between the third sub-body 12 and the second sub-body 11, that is, the first connecting arm 13 and the second connecting arm 14 do not interfere with each other. The reliability and sensitivity of the first sub-body 10 approaching the third sub-body 12 in two different orientations and the reliability and sensitivity of the third sub-body 12 approaching the second sub-body 11 in two different orientations can be improved while detecting the pressure in the four orientations, thereby avoiding the situation that the first sub-body 10 or the third sub-body 12 cannot move when the second sub-body 11 contacts the ground, resulting in failure of pressure detection.

[0040] In an embodiment, referring to Figures 3 to 5 The plurality of pressure sensitive elements 20 include a first pressure sensitive element 201, a second pressure sensitive element 202, a third pressure sensitive element 203, and a fourth pressure sensitive element 204. The first pressure sensitive element 201 and the second pressure sensitive element 202 are respectively located in the first contraction space 150 and the second contraction space 151 and away from the first connecting arm 13. The third pressure sensitive element 203 and the fourth pressure sensitive element 204 are respectively located in the third contraction space 152 and the fourth contraction space 153 and away from the second connecting arm 14. Among them, the first pressure sensitive element 201 and the second pressure sensitive element 202 are spaced apart from the first connecting arm 13. The third pressure sensitive element 203 and the fourth pressure sensitive element 204 are spaced apart from the second connecting arm 14.

[0041] By locating the first pressure sensitive element 201 and the second pressure sensitive element 202 in the first contraction space 150 and the second contraction space 151 respectively and away from the first connecting arm 13, pressure detection in two directions can be achieved. Since the first pressure sensitive element 201 and the second pressure sensitive element 202 are away from the first connecting arm 13, it is equivalent to that the first pressure sensitive element 201 and the second pressure sensitive element 202 are located at the end with smaller distance between the first sub-body 10 and the third sub-body 12, which can improve the extrusion effect of the first sub-body 10 on the first pressure sensitive element 201 and the second pressure sensitive element 202, and improve the deformation effect of the first pressure sensitive element 201 and the second pressure sensitive element 202. By locating the third pressure sensitive element 203 and the fourth pressure sensitive element 204 in the third contraction space 152 and the fourth contraction space 153 respectively and away from the second connecting arm 14, pressure detection in another two directions can be achieved. Since the third pressure sensitive element 203 and the fourth pressure sensitive element 204 are away from the second connecting arm 14, it is equivalent to that the third pressure sensitive element 203 and the fourth pressure sensitive element 204 are located at the end with smaller distance between the third sub-body 12 and the second sub-body 11, which can improve the extrusion effect of the third sub-body 12 on the third pressure sensitive element 203 and the fourth pressure sensitive element 204, and improve the deformation effect of the third pressure sensitive element 203 and the fourth pressure sensitive element 204.

[0042] Optionally, the first pressure sensitive element 201 is arranged opposite to the second pressure sensitive element 202. The third pressure sensitive element 203 is arranged opposite to the fourth pressure sensitive element 204. In an embodiment, the first pressure sensitive element 201 is arranged opposite to the second pressure sensitive element 202 along the X-axis direction. The third pressure sensitive element 203 is arranged opposite to the fourth pressure sensitive element 204 along the Y-axis direction. In this embodiment, by arranging the first pressure sensitive element 201 opposite to the second pressure sensitive element 202 and arranging the third pressure sensitive element 203 opposite to the fourth pressure sensitive element 204, the symmetry of the foot movement assembly 100 can be improved, so that the first pressure sensitive element 201 and the second pressure sensitive element 202 can detect the pressure of two opposite directions, and the third pressure sensitive element 203 and the fourth pressure sensitive element 204 can detect the pressure of two opposite directions, so as to more accurately realize the pressure detection of the foot movement assembly 100 in four different symmetric directions, for example, realize the pressure detection of the foot movement assembly 100 in front, back, left and right directions.

[0043] In an embodiment, please refer to Figures 4 to 8 , the first contraction space 150 extends towards the third sub-body 12 and forms a first mounting groove 150a. The second contraction space 151 extends towards the third sub-body 12 and forms a second mounting groove 151a. It can be understood that the first mounting groove 150a is located on the third sub-body 12, and the opening of the first mounting groove 150a faces the first sub-body 10. The second mounting groove 151a is located on the third sub-body 12, and the opening of the second mounting groove 151a faces the first sub-body 10. The third contraction space 152 extends towards the second sub-body 11 and forms a third mounting groove 152a. The fourth contraction space 153 extends towards the second sub-body 11 and forms a fourth mounting groove 153a. It can be understood that the third mounting groove 152a is located on the second sub-body 11, and the opening of the third mounting groove 152a faces the third sub-body 12. The fourth mounting groove 153a is located on the second sub-body 11, and the opening of the fourth mounting groove 153a faces the third sub-body 12. The bottom of the first pressure sensitive element 201, the bottom of the second pressure sensitive element 202, the bottom of the third pressure sensitive element 203 and the bottom of the fourth pressure sensitive element 204 are fixed in the first mounting groove 150a, the second mounting groove 151a, the third mounting groove 152a and the fourth mounting groove 153a respectively. The top of the first pressure sensitive element 201 and the top of the second pressure sensitive element 202 extend towards the first sub-body 10. The top of the third pressure sensitive element 203 and the top of the fourth pressure sensitive element 204 extend towards the third sub-body 12 respectively.

[0044] In the embodiment, the first installation slot 150a, the second installation slot 151a, the third installation slot 152a and the fourth installation slot 153a are used to fix and accommodate the first pressure sensitive element 201, the second pressure sensitive element 202, the third pressure sensitive element 203 and the fourth pressure sensitive element 204 respectively, so as to reduce the distance between the first sub-body 10 and the third sub-body 12 and between the third sub-body 12 and the second sub-body 11, improve the compactness of the foot movement assembly 100, and improve the stability of the first pressure sensitive element 201, the second pressure sensitive element 202, the third pressure sensitive element 203 and the fourth pressure sensitive element 204 to avoid falling. The first pressure sensitive element 201, the second pressure sensitive element 202, the third pressure sensitive element 203 and the fourth pressure sensitive element 204 can be connected to the slot wall of the first installation slot 150a, the slot wall of the second installation slot 151a, the slot wall of the third installation slot 152a and the slot wall of the fourth installation slot 153a by bonding, buckling, welding and the like, or can be embedded in the first installation slot 150a, the second installation slot 151a, the third installation slot 152a and the fourth installation slot 153a respectively.

[0045] Further, as shown in Figure 9 The pressure detector 2 further includes a signal processing unit 21. The signal processing unit 21 is arranged on the first sub-body 10 or the second sub-body 11. The signal processing unit 21 is electrically connected to the plurality of pressure sensitive elements 20 and is electrically connected to the controller 3. Specifically, the signal processing unit 21 includes a first electrical connection part and a plurality of second electrical connection parts. The first electrical connection part is electrically connected to the controller 3. The plurality of second electrical connection parts are respectively electrically connected to the plurality of pressure sensitive elements 20. The signal processing unit 21 is used to receive the deformation amount of each pressure sensitive element 20 and convert the deformation amount into an electrical signal transmitted to the controller 3. In the embodiment, the number of signal processing units 21 is one, and one signal processing unit 21 is electrically connected to the plurality of pressure sensitive elements 20 to receive the deformation amount of the plurality of pressure sensitive elements 20, which can reduce the number of signal processing units 21 and simplify the structure of the foot movement assembly 100.

[0046] In an embodiment, as shown in Figure 9As shown, the side of the first sub-body 10 is provided with a first receiving groove 101 and a second receiving groove 102 in communication. The signal processing unit 21 is arranged in the first receiving groove 101. The foot movement assembly 100 further comprises a plurality of electrical connectors 16. The electrical connectors 16 can be conductive wires, circuit boards, conductive sheets, etc. The electrical connectors 16 are arranged in the second receiving groove 102. Among them, the second receiving groove 102 comprises a first receiving part 102a and a plurality of second receiving parts 102b in communication. The end of the first receiving part 102a away from the second receiving part 102b is in communication with the first receiving groove 101. The ends of the plurality of second receiving parts 102b away from the first receiving part 102a respectively extend towards the orientation of the corresponding pressure sensitive elements 20. The electrical connectors 16 are electrically connected between the signal processing unit 21 and the plurality of pressure sensitive elements 20. Specifically, one end of each electrical connector 16 is electrically connected to the signal processing unit 21, and the other end of each electrical connector 16 is electrically connected to the corresponding pressure sensitive element 20.

[0047] By arranging the first receiving groove 101 and the second receiving groove 102 on the side of the first sub-body 10, the signal processing unit 21 and the plurality of electrical connectors 16 can be accommodated, avoiding the signal processing unit 21 and the plurality of electrical connectors 16 from falling or being exposed to the outside, and unable to effectively perform pressure detection due to environmental, weather, etc. reasons, thereby causing errors in the movement control of the foot body 1 by the controller 3, and other problems such as tilting and falling of the foot robot.

[0048] The above is part of the embodiments of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which are also considered within the scope of protection of the present application.

Claims

1. A foot motion assembly characterized by, The application relates to a foot body, a pressure detector and a controller. The foot body comprises a first sub-body and a second sub-body connected to each other, one end of the second sub-body being used for contacting the ground; the foot body further comprises a third sub-body connected between the first sub-body and the second sub-body, the first sub-body being used for approaching the third sub-body at different orientations, the third sub-body being used for approaching the second sub-body at different orientations, the first sub-body and the third sub-body being connected through a first connecting arm, the third sub-body and the second sub-body being connected through a second connecting arm, the first connecting arm separating the first sub-body and the third sub-body to form a first contraction space and a second contraction space, the second connecting arm separating the second sub-body and the third sub-body to form a third contraction space and a fourth contraction space, the extending direction of the first connecting arm intersecting the extending direction of the second connecting arm. The pressure detector comprises a plurality of pressure sensitive elements, the orientations of the plurality of pressure sensitive elements corresponding to the different orientations respectively, a part of the pressure sensitive elements being arranged between the first sub-body and the third sub-body and in the first contraction space and / or the second contraction space, and being pressed to sense pressure signals when the first sub-body approaches the third sub-body, another part of the pressure sensitive elements being arranged between the second sub-body and the third sub-body and in the third contraction space and / or the fourth contraction space, and being pressed to sense pressure signals when the third sub-body approaches the second sub-body. The controller is electrically connected to the pressure sensitive elements, and is used for controlling the movement of the foot body according to the pressure signals of the pressure sensitive elements and the orientations of the pressure sensitive elements. The plurality of pressure sensitive elements comprises a first pressure sensitive element, a second pressure sensitive element, a third pressure sensitive element and a fourth pressure sensitive element, the first pressure sensitive element and the second pressure sensitive element being respectively located in the first contraction space and the second contraction space and away from the first connecting arm, the third pressure sensitive element and the fourth pressure sensitive element being respectively located in the third contraction space and the fourth contraction space and away from the second connecting arm.

2. The foot motion assembly of claim 1, wherein, The first pressure sensitive element and the second pressure sensitive element are oppositely arranged, and the third pressure sensitive element and the fourth pressure sensitive element are oppositely arranged.

3. A foot motion assembly according to claim 2, wherein, ​ 4. The foot motion assembly of claim 2, wherein, The first contraction space extends towards the third sub-body and forms a first mounting groove, the second contraction space extends towards the third sub-body and forms a second mounting groove, the third contraction space extends towards the second sub-body and forms a third mounting groove, the fourth contraction space extends towards the second sub-body and forms a fourth mounting groove, and the bottom of the first pressure sensitive element, the bottom of the second pressure sensitive element, the bottom of the third pressure sensitive element and the bottom of the fourth pressure sensitive element are fixed in the first mounting groove, the second mounting groove, the third mounting groove and the fourth mounting groove respectively.

5. A foot motion assembly according to any one of claims 1 to 4, wherein, The pressure detector further comprises a signal processing unit, which is arranged on the first sub-body or the second sub-body, is electrically connected to the plurality of pressure sensitive elements and is electrically connected to the controller, and is used for receiving pressure signals transmitted by the pressure sensitive elements and converting the pressure signals into electrical signals transmitted to the controller.

6. A foot motion assembly according to claim 5, wherein, The side surface of the first sub-body is provided with a first receiving groove and a second receiving groove in communication, the signal processing unit is arranged in the first receiving groove, and the foot movement assembly further comprises a plurality of electrical connectors, which are arranged in the second receiving groove and electrically connected between the signal processing unit and the plurality of pressure sensitive elements.

7. A legged robot characterized by comprising: The foot movement assembly comprises a machine body and a foot movement assembly as claimed in any one of claims 1 to 6, and the controller is arranged on the machine body or the foot body.

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