A humanoid robot for striking and measuring force

Abstract

The present invention relates to the field of striking force measurement technology, and in particular to a striking force measuring humanoid robot. In the present invention, a design of two upper conical arms at the same horizontal height is achieved through the stepped setting of a truncated cone arm connecting piece, thereby solving the problem that the two hands at the top of the column body of the existing force measuring device adopt a high-low distribution design as a whole, and cannot simulate the design of two human arms at the same horizontal height; moreover, through the setting of a non-elastic hammer structure, multiple groups of spatial circular distributions are adopted to fit on the middle support column, so that the shaking of the column body in any direction can be eliminated in time, thereby solving the problem that the column body shakes and deviates from the axis position during the striking process of the existing force measuring device, and the gravity component force at the force-bearing end of the sensor changes, resulting in false detection of the force measuring sensor.

Description

Technical Field

[0001] The invention relates to the technical field of striking force measurement, in particular to a striking force measuring humanoid robot. Background Art

[0002] With the continuous iteration and update of robot technology, force sensors, as the core components of humanoid robots that can measure force, play an important role in robot perception technology. Especially in the process of human-robot interaction, the accuracy and stability of force sensor measurement play a key role in the safety and reliability of the system. The research and development of human-friendly humanoid robots and devices that can measure force are of great significance.

[0003] Traditional force measurement structures can only measure single-point axial bidirectional force or realize the measurement of two-dimensional plane force through the combination of the number of sensors, but cannot realize the measurement of curved surface force.

[0004] At present, there are technical barriers to the cylindrical surface force measurement devices with large range and small volume and large range and large area measurement areas. That is, most of the small-volume sensors on the market are for measuring the force on the plane, and cannot measure the force on the curved surface. They are not suitable for measuring the force on the cylindrical or conical surface with large range and small volume;

[0005] In addition, there is currently no force measuring device in the existing technology that can measure the forces at all positions and directions of a cylinder. Therefore, the development of a large-range, compact, and precise force measuring device for cylindrical or truncated cone surfaces is of great significance in the fields of robot intelligent perception, human-computer interaction, VR force tactile feedback, anthropomorphic limb joint force measurement, sports fitness equipment, martial arts training, daily military training, and measurement and control.

[0006] The two hands at the top of the existing force measuring device are designed with a high-low distribution, which cannot simulate the design of two human arms at the same horizontal height, which will reduce the user experience. The existing force measuring device adopts a single-end fixed support method for the entire column. During the striking process, the column will shake and deviate from the axis position, and the gravity component force at the force-bearing end of the sensor will change, resulting in false detection.

[0007] In summary, the robots used to measure force in the prior art have the following deficiencies:

[0008] 1. The two hands at the top of the column of the existing force measuring device are designed with a high-low distribution, which cannot simulate the design of the same horizontal height of the two arms of a person, which will not only reduce the user experience, but also affect the measurement accuracy due to the poor experience;

[0009] 2. During the striking process of the existing force measuring device, the column body shakes and deviates from the axis position, and the gravity component force at the force-bearing end of the sensor changes, resulting in the phenomenon of misdetection of the force sensor, which affects the measurement accuracy;

[0010] 3. The existing force measuring devices have structures protruding from the column body at the back of the hands and feet and at the connection between the front of the hands and the column body. If the user accidentally hits the exposed structure, he may be injured or even have a fracture. The exposed structure affects the overall aesthetics and seriously affects the user's personal safety and measurement accuracy.

[0011] Therefore, there is an urgent need for a striking force measuring humanoid robot that can solve the problems existing in the prior art. Summary of the invention

[0012] The purpose of the present invention is to solve the problems existing in the prior art and provide a striking force measuring humanoid robot.

[0013] In order to solve the problems existing in the prior art, the present invention adopts the following technical solutions:

[0014] A striking force-measuring humanoid robot comprises a cylindrical body, an intermediate support column is arranged in the body, a plurality of frustum-conical arms and curved cylindrical feet capable of measuring the force of the entire circular surface, the ends of the plurality of frustum-conical arms and the ends of the curved cylindrical feet are connected to the intermediate support column, and the curved cylindrical feet are arranged below the frustum-conical arms, each of the frustum-conical arms comprises at least two force sensors connected in series, and the two force sensors are connected via a frustum-conical arm connector; the two force sensors are respectively a first frustum-conical arm sensor and a second frustum-conical arm sensor; the frustum-conical arm connector comprises a frustum-conical arm stepped connector and a third frustum-conical arm connector;

[0015] The truncated cone arm includes a first truncated cone arm, a second truncated cone arm and a third truncated cone arm. The first truncated cone arm and the second truncated cone arm form a height difference with the axis of the first sensor of the truncated cone arm through the truncated cone arm stepped connecting piece. The truncated cone arm stepped connecting piece can lower or raise the truncated cone arm to a certain level relative to the axis of the first sensor of the truncated cone arm.

[0016] The third frustum of cone arm is on the same horizontal plane as the axis of the first sensor of the frustum of cone arm through the third frustum of cone arm connecting piece.

[0017] As an improvement of the technical solution of the present invention for striking the force measuring humanoid robot, the middle support column is provided with a high opening and a low opening, the first truncated cone arm passes through the high opening and is installed in the first inclined square groove on the back of the middle support column through the truncated cone arm fixing seat after being rotated horizontally by a certain angle as a whole, and the first truncated cone arm lowers its axis to the middle axis of the high opening and the low opening through the truncated cone arm stepped connecting piece;

[0018] After the second frustum of cones passes through the low opening, it is inverted at a certain angle as a whole and installed in the second inclined square groove on the back of the middle support column through the frustum of cones arm fixing seat, and the axis is raised to the middle axis of the high opening and the low opening through the frustum of cones arm stepped connecting piece.

[0019] As an improvement of the technical solution of the humanoid robot for striking force measurement of the present invention, the structure of the first truncated cone arm is the same as the structure of the second truncated cone arm, and the first truncated cone arm and the second truncated cone arm are respectively arranged in different directions from the middle support column;

[0020] The third frustum of a cone arm is arranged below the first frustum of a cone arm and the second frustum of a cone arm.

[0021] As an improvement of the technical solution of the humanoid robot for striking force measurement of the present invention, the truncated cone arm includes a truncated cone arm outer skin, a truncated cone arm filling layer, a truncated cone arm body, a truncated cone arm connecting piece, the truncated cone arm first sensor, a truncated cone arm sensor connecting piece, the truncated cone arm second sensor and a truncated cone arm fixing seat;

[0022] The frustum of cone arm filling layer is arranged on the surface of the frustum of cone arm and fixed to the circular cross section at the root of the frustum of cone arm, so as to ensure that the force hitting the outer skin of the frustum of cone arm can be evenly and effectively transmitted to the frustum of cone arm.

[0023] As an improvement on the technical solution of the striking force measuring humanoid robot of the present invention, after the frustum of cone arm connector is connected to the frustum of cone arm body, a frustum of cone arm connector smaller than the root circle diameter is provided at the root circular section of the frustum of cone arm body.

[0024] As an improvement of the technical solution of striking the force measuring humanoid robot of the present invention, a non-elastic hammer structure is arranged on the column body, and the non-elastic hammer structure includes an upper hammer head, a lower hammer head and a hammer head connecting rod;

[0025] The lower end of the hammer connecting rod is fixedly connected to the base round seat of the column body, and the upper end of the hammer connecting rod penetrates and fixes the lower hammer and is embedded and fixed to the upper hammer. The upper hammer and the lower hammer are tightly fitted to the middle support column.

[0026] As an improvement on the technical solution of striking the force measuring humanoid robot of the present invention, a plurality of the inelastic hammer structures are arranged in a spatial circular distribution on the middle support column, and a plurality of the inelastic hammer structures are fixed on the middle support column in a latch-like manner.

[0027] As an improvement of the technical solution of striking the force measuring humanoid robot of the present invention, the inelastic hammer structure is entirely wrapped with rubber and filled with steel balls.

[0028] As an improvement of the technical solution of the striking force measuring humanoid robot of the present invention, the striking force measuring humanoid robot further comprises a fixed base, a shell and an extension plate, the intermediate support column is fixedly connected to the fixed base by interlocking; the shell is used to protect the electrical components in the column body;

[0029] The shell includes an upper shell, a lower shell and a front shell, the extension plate is arranged on the upper part of the intermediate support column, the upper shell is fixed on the extension plate, the upper shell and the lower shell are installed on the rear side of the intermediate support column and are respectively located at the upper and lower parts of the rear side of the intermediate support column, the front shell is installed on the lower front side of the intermediate support column, and the upper shell, the lower shell and the front shell together form a cylindrical structure for the intermediate support column to pass through.

[0030] As an improvement of the technical solution of the striking force measuring humanoid robot of the present invention, the fixed base is used to fix the entire striking force measuring humanoid robot, and can be fixed to the ground by screws or by adding a counterweight;

[0031] The fixed base includes a base round seat, a base connecting cylinder and a base fixing plate; the base connecting cylinder is installed on the base fixing plate, the base round seat is installed on the base connecting cylinder, and the middle support column is installed on the base round seat in a latch-type matching installation and fixing manner.

[0032] Beneficial effects of the present invention:

[0033] 1. In the present invention, the design of the same horizontal height of the two upper truncated cone arms is realized by the stepped arrangement of the truncated cone arm connecting parts, which solves the problem that the two hands of the existing force measuring device located at the top of the column body are designed with a high and low distribution as a whole, and cannot simulate the design of the same horizontal height of the two arms of a person;

[0034] 2. In the present invention, by setting up a non-elastic hammer structure, multiple groups of spatial circular distributions are used to fit on the middle support column, which can timely eliminate the shaking of the column in any direction, and solve the problem that the column shakes and deviates from the axis position during the striking process of the existing force measuring device in the prior art, and the gravity component force at the force-bearing end of the sensor changes, resulting in the phenomenon of false detection of the force measuring sensor;

[0035] 3. In the present invention, after the frustum of cone arm connector is connected to the frustum of cone arm body, a frustum of cone arm connector smaller than the root circle diameter is provided at the root circular section of the frustum of cone arm body, thereby ensuring that there is no exposed structure at the junction of the arm and the outside of the column body, thereby improving the accuracy of the impact measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0037] Figure 2 It is a cross-sectional view of an embodiment of the present invention cut along the longitudinal direction;

[0038] Figure 3 It is a schematic diagram of the structure of an embodiment of the present invention after removing the local structure;

[0039] Figure 4 This is a schematic diagram of the structure of the third cone arm lift according to an embodiment of the present invention;

[0040] Figure 5 It is a cross-sectional view of the third cone lifting arm of the embodiment of the present invention cut along the longitudinal direction;

[0041] Figure 6 It is a cross-sectional view of the curved cylindrical body of an embodiment of the present invention cut along the longitudinal direction;

[0042] Figure 7 It is a schematic structural diagram of the other side of the bent cylindrical body of an embodiment of the present invention;

[0043] Figure 8 It is a cross-sectional view of the first cone lifting arm of the embodiment of the present invention cut along the longitudinal direction;

[0044] Fig. 9 This is a schematic diagram of the structure in which three conical lifting arms and a curved cylindrical foot are installed on a middle supporting column in an embodiment of the present invention;

[0045] Fig.10 It is a schematic diagram of the structure of the embodiment of the present invention in which three conical lifting arms and a curved cylindrical foot are installed on the other side of the middle supporting column;

[0046] Fig.11 It is a structural schematic diagram of a non-elastic hammer structure according to an embodiment of the present invention;

[0047] Fig.12It is a schematic diagram of the structure of the inelastic hammer structure and the middle support column in accordance with an embodiment of the present invention;

[0048] Fig.13 It is a structural schematic diagram of a cone lifting arm according to an embodiment of the present invention adopting a serial parallel static force measurement structure.

[0049] The meanings of the reference numerals in the figure are as follows: 1. column body; 11. column capital; 12. column chest; 13. column belly; 2. first frustum of cone arm; 210. stepped connecting piece of frustum of cone arm; 3. second frustum of cone arm; 4. third frustum of cone arm; 41. outer skin of frustum of cone arm; 42. filling layer of frustum of cone arm; 43. main body of frustum of cone arm; 431. first top screw; 432. first screw; 433. square groove of frustum of cone arm rod; 434. circular section at the root of frustum of cone arm; 44. connecting piece of third frustum of cone arm; 443. first square groove; 441. second screw; 442. second top screw; 45. first sensor of frustum of cone arm; 46. connecting piece of sensor of frustum of cone arm; 461. third screw; 462. third top screw; 4 63. Weight reduction notch; 464. First fixing screw; 465. U-shaped groove; 466. Second square groove; 47. Second sensor of truncated cone arm; 48. Fixing seat of truncated cone arm; 481. Fourth screw; 482. Slot; 483. First screw position; 484. Third square groove; 485. Second screw position; 49. Through hole; 410. Parallel sensor connector; 5. Bent cylindrical foot body; 51. Outer skin of bent cylindrical foot; 52. Filling layer of bent cylindrical foot; 53. End rod of bent cylindrical foot; 531. Array through hole; 532. Fourth square groove; 533. First limit double top screw; 534. Square gap; 54. First sensor of bent cylindrical foot; 55. First cross-sectional gap; 56. Bent cylindrical foot joint; 561 , the second limit double top screw; 562, the first sensor U-shaped wire groove; 563, the first sensor cable of the bent cylindrical foot; 564, the first square groove; 565, the fifth screw; 566, the square groove gap; 567, the third limit double top screw; 57, the second sensor of the bent cylindrical foot; 571, the second sensor cable of the bent cylindrical foot; 58, the second cross-sectional gap; 59, the root rod of the bent cylindrical foot; 591, the sixth screw; 592, the second square groove; 593, the circular through hole; 594, the screw hole position; 595, the circular shaft hole; 596, the circular shaft surface; 597, the second sensor U-shaped wire groove; 598, the fourth limit double top screw; 510, the bent cylindrical foot retaining ring; 5101, the seventh screw; 5102, the array hole; 511, the key slot position; 6, fixed Base; 61, base round base; 62, base connecting cylinder; 63, base fixing plate; 7, column outer skin layer; 8, column filling layer; 9, middle support column; 91, high opening of frustum arm; 92, low opening of frustum arm; 93, square opening; 94, circular opening; 95, first inclined square groove; 96, second inclined square groove; 97, vertical square groove; 10, upper shell; 101, support ring foot body; 1011, support ring foot through hole; 102, heat dissipation hole; 110, lower shell; 120, front shell; 130, extension plate; 14, first signal conditioning amplifier; 15, second signal conditioning amplifier; 16, third signal conditioning amplifier; 17, fourth signal conditioning amplifier; 171, external communication cable;18. Inelastic hammer structure; 181. Upper hammer head; 182. Lower hammer head; 183. Hammer head support rod; 19. Force measuring arc surface in the middle of column head; 191. First force measuring sensor; 20. Force measuring arc surface on the side of column head; 21. Force measuring arc surface in the middle of column chest; 22. Force measuring arc surface on the side of column chest; 23. Force measuring arc surface in the middle of column belly; 24. Force measuring arc surface on the side of column belly; 25. Upper truncated cone arm opening; 26. Lower truncated cone arm opening; 27. Opening of bent cylindrical foot. ; DETAILED DESCRIPTION

[0050] In order to make the purpose, technical scheme and beneficial effects of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0051] like Figures 1 to 13 As shown, a striking force measuring humanoid robot includes a cylindrical column body 1, an intermediate support column 9 is arranged inside the column body 1, a plurality of frustum cone arms and bent cylindrical feet are arranged on the column body 1, the bent cylindrical feet are arranged below the frustum cone arms, and the frustum cone arms are connected to the intermediate support column 9 through frustum cone arm connectors; a frustum cone arm first sensor 45 is arranged in the frustum cone arm.

[0052] The truncated cone arm includes a first truncated cone arm 2, a second truncated cone arm 3 and a third truncated cone arm 4. The first truncated cone arm 2 and the second truncated cone arm 3 are connected to the middle support column 9 through a truncated cone arm stepped connector 21.

[0053] The third frustum-cone arm 4 is connected to the middle support column 9 via a third frustum-cone arm connector 44;

[0054] The first truncated cone arm 2 and the second truncated cone arm 3 are respectively and correspondingly lowered or raised relative to the axis of the truncated cone arm first sensor 45 through the truncated cone arm stepped connecting piece 21;

[0055] The third frustum-cone arm 4 is on the same horizontal plane with the axis of the corresponding frustum-cone arm first sensor 45 through the third frustum-cone arm connecting piece 44 .

[0056] In the present invention, the first frustum arm 2 and the second frustum arm 3 have the same structure, and the first frustum arm 2 and the second frustum arm 3 are respectively set in different directions from the middle support column 9; the third frustum arm 4 is set below the first frustum arm 2 and the second frustum arm 3.

[0057] As an embodiment of the present invention, the back of the middle support column 9 is provided with a first inclined square groove 95 and a second inclined square groove 96, the first truncated cone arm 2 is installed in the inclined square groove 95 through the corresponding truncated cone arm stepped connector 21, and the horizontal axis of the truncated cone arm 43 connected thereto is lowered to the middle axis of the high opening 91 and the low opening 92 by using the truncated cone arm stepped connector 21;

[0058] After the second frustum of cones arm 3 passes through the low opening 92 of the frustum of cones arm, it is inverted 180° as a whole and rotated horizontally counterclockwise for a certain angle, and then installed in the second inclined square groove 96 on the back of the middle support column 9 through the frustum of cones arm fixing seat 48. The horizontal axis of the frustum of cones arm 43 connected to it is raised to the middle axis of the high opening 91 and the low opening 92 by using the frustum of cones arm stepped connecting piece 21.

[0059] In detail, the striking force measuring humanoid robot of the present invention comprises a column body 1, a first frustum of cone arm 2, a second frustum of cone arm 3, a third frustum of cone arm 4, a bent cylindrical foot body 5 and a fixed base 6; the column body 1 comprises an intermediate support column 9, a column body filling layer 8, a column body outer skin layer 7, a column body force measuring module, a shell and a signal conditioner; the intermediate support column 9 is located at the center of the column body 1, the column body force measuring module is installed on the intermediate support column 9, the shell is fixed to the intermediate support column 9 by screws, the column body force measuring module is located at the upper front side of the intermediate support column 9, the shell surrounds the lower part of the intermediate support column 9, the rear part of the shell extends upward to cover the rear side of the intermediate support column 9, the column body force measuring module and the shell together constitute a cylindrical structure, and the outer periphery of the cylindrical structure is covered with the column body filling layer 8 ; The outer skin layer 7 of the column body is sleeved on the outer periphery of the column body filling layer 8; the first frustum arm 2, the second frustum arm 3, the third frustum arm 4, and the curved cylindrical foot body 5 are respectively installed and fixed on the middle support column 9, and the first frustum arm 2 and the second frustum arm 3 are on the same horizontal line; the middle support column 9 is fixedly connected to the fixed base 6 by interlocking; the signal conditioner is fixed to the middle support column 9 by screws, and is electrically connected to each sensor of the entire striking force measuring humanoid robot, and the signal conditioner is connected to the external device through an external communication cable 171; the column body force measuring module is provided with a plurality of groups of force measuring module structures distributed in a circular array, and the plurality of groups of force measuring module structures cover the side area of ​​the front side of the entire striking force measuring humanoid robot column. The fixed base 6 is used to fix the entire striking force measuring humanoid robot, and can be fixed to the ground by screws or with a counterweight. The outer shell is fixed to the middle support column 9 by screws. The outer shell not only protects the electrical components inside the cylinder, but also provides support for the inner surface of the outer column filling layer 8.

[0060] In detail, in order to solve the design problem of the same horizontal height of the two upper arms, the two upper arms adopt stepped connectors and are fixedly installed at high and low positions. The first frustum arm 2 and the second frustum arm 3 have the same structure, but the installation direction is different. The first frustum arm 2 has the same overall structure as the third frustum arm 4, and the only difference is that the frustum arm connector is a frustum arm stepped connector 210 arranged in a stepped manner, and the axis of the frustum arm stepped connector 210 has a height difference with the axis of the first sensor 45 of the frustum arm; the third frustum arm connector 44 is a horizontal structure, and the axis of the frustum arm body 43 and the axis of the first sensor 45 of the frustum arm are on the same horizontal plane. The third frustum arm connector 44 makes the axis of the frustum arm body 43 and the axis of the first sensor 45 of the frustum arm on the same horizontal plane, while the frustum arm stepped connector 210 adjusts the overall horizontal height of the arm by lowering or raising the frustum arm body 43 relative to the axis of the first sensor 45 of the frustum arm to a certain horizontal height.

[0061] The middle support column 9 is provided with a high opening 91 of the truncated cone arm, a low opening 92 of the truncated cone arm, a first inclined square groove 95 and a second inclined square groove 96; the first truncated cone arm 2 passes through the high opening 91 of the truncated cone arm and is rotated clockwise at a certain angle as a whole, and then is installed in the first inclined square groove 95 on the back of the middle support column 9 through the truncated cone arm fixing seat 48, and the horizontal axis of the truncated cone arm body 43 connected to the first truncated cone arm 2 is lowered to the high opening 91 of the truncated cone arm and the low opening 92 of the truncated cone arm by using the truncated cone arm stepped connecting piece 210. At the middle axis of the opening 92; after the second frustum of cone arm 3 passes through the low opening 92 of the frustum of cone arm, it is inverted 180° as a whole and rotated horizontally counterclockwise for a certain angle, and then installed in the second inclined square groove 96 on the back of the middle support column 9 through the frustum of cone arm fixing seat 48, and the horizontal axis of the frustum of cone arm connected to the second frustum of cone arm 3 is raised to the middle axis of the high opening 91 of the frustum of cone arm and the low opening 92 of the frustum of cone arm by using the frustum of cone arm stepped connecting piece 210, and the first frustum of cone arm 2 and the second frustum of cone arm 3 are at the same horizontal height.

[0062] In this embodiment, the two upper frustum cone arms are designed to be at the same horizontal height, which is closer to the human arm structure and can greatly enhance the user experience. The frustum cone arm is designed to be at the same horizontal height by replacing the frustum cone arm stepped connector 210 and the third frustum cone arm connector 44, and utilizing spatial installation adjustment to achieve the same horizontal height design, which greatly reduces the processing and installation costs of the structure. This embodiment uses this type of frustum cone arm and curved cylindrical foot static force measurement structure, which can fully utilize the space behind the column body 1 to install the overall frustum cone arm and curved cylindrical foot structure without protruding the frustum cone arm and curved cylindrical foot structure outside the cylindrical body of the column body 1, thereby improving the overall aesthetics and facilitating the processing and installation of the column body outer skin layer 7 and the column body filling layer 8.

[0063] As an embodiment of the present invention, a non-elastic hammer structure 18 is provided on the column body 1, and the non-elastic hammer structure 18 includes an upper hammer head 181, a lower hammer head 182 and a hammer head connecting rod 183;

[0064] The lower end of the hammer connecting rod 183 is fixedly connected to the base round seat 61 of the column body 1, and the upper end of the hammer connecting rod 183 passes through the fixed lower hammer 182 and is embedded in the fixed upper hammer 181. The upper hammer 181 and the lower hammer 182 are tightly fitted to the middle support column 9.

[0065] Furthermore, multiple inelastic hammer structures 18 are distributed in a spatial circle and are fitted on the intermediate support column 9, and multiple inelastic hammer structures 18 are fixed on the intermediate support column in a latch-like manner, providing support points for mechanical braking for the entire column body 1, thereby limiting the shaking movement of the column body 1 in any direction.

[0066] The inelastic hammer structure 18 is entirely wrapped with rubber and filled with steel balls. By filling the steel balls inside the inelastic hammer structure 18, when the middle support column 9 shakes and squeezes the upper and lower hammer heads, the rolling friction between the steel balls filled inside the hammer heads can timely eliminate the shaking movement of the column body 1 in any direction.

[0067] In detail, the fixed base 6 includes a base round seat 61, a base connecting cylinder 62 and a base fixing plate 63; the base connecting cylinder 62 is installed on the base fixing plate 63, the base round seat 61 is installed on the base connecting cylinder 62, and the intermediate support column 9 is installed on the base round seat 61 by a latch-type matching installation and fixing method; it also includes an inelastic hammer structure 18. In order to solve the force measurement interference problem caused by the shaking of the column body 1 and quickly eliminate the shaking of the column body 1, the present invention adopts a multi-group spatial circular distribution fitting method or a three-group spatial triangular distributed fitting method of the inelastic hammer structure 18 to quickly eliminate the shaking of the column body 1. The structure 18 includes an upper hammer head 181, a lower hammer head 182 and a hammer head support rod 183; the hammer head is wrapped as a whole with rubber and filled with steel balls inside, the lower end of the hammer head support rod 183 is fixed to the base round seat 61 by a tight fit connection, the upper end of the hammer head support rod 183 penetrates and fixes the lower hammer head 182 and is embedded and fixed on the upper hammer head 181, and the upper hammer head 181 and the lower hammer head 182 are then tightly fitted to the middle support column 9 respectively; the inelastic hammer structure 18 adopts multiple groups of spatial circular distribution fitting or three groups of spatial triangular distribution fitting on the other end of the middle support column 9 with a pin-type fixation, which can timely eliminate the shaking of the column body 1 in any direction.

[0068] The two upper arms are designed to be at the same horizontal height, which is closer to the human arm structure and can greatly improve the user experience. The arms are designed to be at the same horizontal height by replacing the truncated cone arm stepped connector 210 and the third truncated cone arm connector 44, and by using spatial installation adjustment, which greatly reduces the processing and installation costs of the structure.

[0069] In some embodiments of the present invention, the fixed base 6 is used to fix the entire striking force measuring humanoid robot, and can be fixed to the ground by screws or by adding a counterweight; the present invention also includes an extension plate 130; the shell includes an upper shell 10, a lower shell 110 and a front shell 120; the extension plate 130 is fixed to the top of the back of the middle support column 9 by screws, and the upper shell 10 is fixed on the extension plate 130; the upper shell 10 is provided with three support ring bodies 101 for supporting and fixing the column shaft filling layer 8;

[0070] The upper shell 10 and the lower shell 110 are installed on the rear side of the middle support column 9 and are respectively located at the upper and lower parts of the rear side. The front shell 120 is installed at the lower front part of the middle support column 9. The upper shell 10, the lower shell 110 and the front shell 120 together form a cylindrical structure for the middle support column 9 to pass through.

[0071] In certain embodiments of the present invention, the bent cylindrical foot 5 includes a bent cylindrical foot outer skin layer 51, a bent cylindrical foot filling layer 52, a bent cylindrical foot end rod 53, a bent cylindrical foot first sensor 54, a bent cylindrical foot second sensor 57, a bent cylindrical foot joint 56, a bent cylindrical foot root rod 59 and a bent cylindrical foot retaining ring 510.

[0072] In detail, the bent cylindrical foot filling layer 52 is fixedly connected to the bent cylindrical foot root rod 59 and the bent cylindrical foot joint 56, and is integrally wrapped and fixed to the circular cross-section of the bent cylindrical foot retaining ring 510 through the bent cylindrical foot outer skin layer 51, ensuring that the force hitting the bent cylindrical foot outer skin layer 51 can be evenly and effectively transmitted to the bent cylindrical foot end rod 53 and the bent cylindrical foot joint 56.

[0073] The bent cylindrical foot 5 includes a bent cylindrical foot outer skin layer 51, a bent cylindrical foot filling layer 52, a bent cylindrical foot end rod 53, a bent cylindrical foot first sensor 54, a bent cylindrical foot second sensor 57, a bent cylindrical foot joint 56, a bent cylindrical foot root rod 59 and a bent cylindrical foot retaining ring 510 with an array hole 5102; the bent cylindrical foot root rod 59 forms the first section of the serial static force measuring structure, the middle support column 9 is provided with a circular opening 94, and the bent cylindrical foot as a whole is fixed by interference fit between the bent cylindrical foot root rod 59 and the circular opening 94; the bent cylindrical foot joint 56 and the bent cylindrical foot second sensor 57 form the second section of the serial static force measuring structure, and the bent cylindrical foot end rod 53 and the bent cylindrical foot first sensor 54 constitutes the third section of the serial static force measuring structure; the bent cylindrical foot filling layer 52 adopts a notched and elastic annular cylinder as the filling layer, and the bent cylindrical foot filling layer 52 is stacked and fixedly connected to the bent cylindrical foot root rod 59 and the bent cylindrical foot joint 56, and is wrapped as a whole by the bent cylindrical foot outer skin layer 51, and then tightened and fixed to the circular cross-section of the bent cylindrical foot retaining ring 510 by the rope at the opening of the bent cylindrical foot outer skin layer 51, to ensure that the force hitting the bent cylindrical foot outer skin layer 51 can be evenly and effectively transmitted to the internal force measuring structure parts, the bent cylindrical foot end rod 53 and the bent cylindrical foot joint 56, and the bent cylindrical foot retaining ring 510 is fixed to the bent cylindrical foot root rod 59 by the seventh screw 5101 on the retaining ring.

[0074] It should be pointed out that if the overall device focuses on better force measurement accuracy, lower sensor and processing costs, the solution mentioned in the present invention is better than the above-mentioned alternatives.

[0075] The above detailed description is a specific description of a feasible embodiment of the present invention. The embodiment is not intended to limit the patent scope of the present invention. Any equivalent implementation or modification that does not deviate from the present invention should be included in the patent scope of this case.

Claims

1. A striking force measuring humanoid robot, comprising a cylindrical body (1), wherein an intermediate support column (9) is arranged inside the body (1), characterized in that: The column body (1) is provided with a plurality of truncated cone arms and curved cylindrical feet capable of measuring the entire circumferential curved surface force, the ends of the plurality of truncated cone arms and the ends of the curved cylindrical feet are connected to the intermediate support column (9), and the curved cylindrical feet are arranged below the truncated cone arms; Each of the truncated cone arms comprises at least two force sensors connected in series, and the two force sensors are connected via a truncated cone arm connecting piece; the two force sensors are respectively a first truncated cone arm sensor (45) and a second truncated cone arm sensor (47); the truncated cone arm connecting piece comprises a truncated cone arm stepped connecting piece (210) and a third truncated cone arm connecting piece (44); The truncated cone arm comprises a first truncated cone arm (2), a second truncated cone arm (3) and a third truncated cone arm (4); the first truncated cone arm (2) and the second truncated cone arm (3) form a height difference with the axis of the truncated cone arm first sensor (45) through the truncated cone arm stepped connecting piece (210); the truncated cone arm stepped connecting piece (210) can lower or raise the truncated cone arm to a certain horizontal height relative to the axis of the truncated cone arm first sensor (45); The third truncated cone arm (4) is on the same horizontal plane as the axis of the truncated cone arm first sensor (45) via the third truncated cone arm connecting piece (44).

2. The striking force measuring humanoid robot according to claim 1, characterized in that: The intermediate support column (9) is provided with a high opening (91) and a low opening (92); the first truncated cone arm passes through the high opening (91) and is installed in the first inclined square groove (95) on the back of the intermediate support column (9) through a truncated cone arm fixing seat (48) after being rotated horizontally by a certain angle as a whole; the first truncated cone arm (2) lowers its axis to the middle axis between the high opening (91) and the low opening (92) through the truncated cone arm stepped connecting piece (210); After the second truncated cone arm passes through the low opening (92), it is inverted at a certain angle as a whole and then installed in the second inclined square groove (96) on the back side of the middle support column (9) through the truncated cone arm fixing seat (48), and the axis is raised to the middle axis between the high opening (91) and the low opening (92) through the truncated cone arm stepped connecting piece (210).

3. The striking force-measuring humanoid robot according to claim 1 or 2, characterized in that: The structure of the first truncated cone arm (2) is the same as that of the second truncated cone arm (3), and the first truncated cone arm (2) and the second truncated cone arm (3) are respectively arranged in different directions from the middle support column (9); The third truncated cone arm (4) is arranged below the first truncated cone arm (2) and the second truncated cone arm (3).

4. The striking force measuring humanoid robot according to claim 1, characterized in that: The truncated cone arm comprises a truncated cone arm outer skin (41), a truncated cone arm filling layer (42), a truncated cone arm body (43), a truncated cone arm connecting piece, the truncated cone arm first sensor (45), a truncated cone arm sensor connecting piece (46), the truncated cone arm second sensor (47) and a truncated cone arm fixing seat (48); The frustum arm filling layer (42) is arranged on the surface of the frustum arm and fixed to the circular cross section (434) at the root of the frustum arm, ensuring that the force hitting the outer skin of the frustum arm can be evenly and effectively transmitted to the frustum arm.

5. The striking force measuring humanoid robot according to claim 4, characterized in that: After the truncated cone arm connecting piece is connected to the truncated cone arm main body (43), a truncated cone arm connecting piece having a smaller diameter than the root circle is provided at the root circular cross section of the truncated cone arm main body (43).

6. The striking force measuring humanoid robot according to claim 1, characterized in that: The column body (1) is provided with a non-elastic hammer structure (18), and the non-elastic hammer structure (18) comprises an upper hammer head (181), a lower hammer head (182) and a hammer head connecting rod (183); The lower end of the hammer connecting rod (183) is fixedly connected to the base round seat (61) of the column body (1), and the upper end of the hammer connecting rod (183) penetrates and fixes the lower hammer (182) and engages and fixes the upper hammer (181). The upper hammer (181) and the lower hammer (182) are tightly fitted to the middle support column (9).

7. The striking force-measuring humanoid robot according to claim 6, characterized in that: The plurality of inelastic hammer structures (18) are arranged in a spatially circumferential distribution and are fitted on the intermediate support column (9), and the plurality of inelastic hammer structures (18) are fixed on the intermediate support column (9) in a latch-like manner.

8. The striking force-measuring humanoid robot according to claim 6 or 7, characterized in that: Each of the inelastic hammer structures (18) comprises rubber as a whole and is filled with steel balls.

9. The striking force-measuring humanoid robot according to claim 1, characterized in that: The striking force measuring humanoid robot further comprises a fixed base (6), a shell and an extension plate (130); the intermediate support column (9) is fixedly connected to the fixed base (6) by means of an interlocking engagement; the shell is used to protect the electrical components in the column body (1); The shell comprises an upper shell (10), a lower shell (110) and a front shell (120); the extension plate is arranged on the upper part of the intermediate support column (9); the upper shell (10) is fixed on the extension plate (130); the upper shell (10) and the lower shell (110) are installed on the rear side of the intermediate support column (9) and are respectively located at the upper part and the lower part of the rear side of the intermediate support column (9); the front shell (120) is installed on the lower part of the front side of the intermediate support column (9); the upper shell (10), the lower shell (110) and the front shell (120) together form a cylindrical structure for the intermediate support column (9) to pass through.

10. The striking force measuring humanoid robot according to claim 9, characterized in that: The fixed base (6) is used to fix the entire striking force measuring humanoid robot, and can be fixed to the ground by screws or by adding a counterweight; The fixed base (6) comprises a base round seat (61), a base connecting cylinder (62) and a base fixing plate (63); the base connecting cylinder (62) is mounted on the base fixing plate (63), the base round seat (61) is mounted on the base connecting cylinder (62), and the intermediate support column (9) is mounted on the base round seat (61) in a latch-type matching mounting and fixing manner.

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