Sensor assembly and robot

Abstract

The invention discloses a sensor assembly and a robot, and the sensor assembly comprises a foot-shaped bottom plate; the force sensors are arranged at the bottom of the foot-shaped bottom plate; the distance sensor is arranged on the foot-shaped bottom plate and is used for measuring the distance between the foot-shaped bottom plate and the ground; the inertial measurement unit is arranged on the foot-shaped bottom plate; and the control module assembly is electrically connected to the force sensor, the distance sensor and the inertial measurement unit. Preferably, the inertial measurement device further comprises a control module assembly with a first circuit board, and the inertial measurement unit is arranged on the first circuit board. According to the sensor assembly, the sole state of the robot can be well measured.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a sensor assembly and a robot. Background Art

[0002] Robot sensors are the core components of robots' perception of the environment. They detect external information and their own status and convert them into electrical signals for control system decision-making. They can also be widely used in industries such as industry, logistics, and medical care, significantly improving the accuracy and intelligence of robot operations.

[0003] As a key module for robot motion control, the plantar sensor component measures the dynamic and static forces between the foot and the ground to optimize motion posture and enhance stability. For example, in complex terrain, the plantar force sensor provides real-time feedback on pressure distribution, helping the robot adjust its center of gravity to prevent rollover. In the field of service robots, the plantar sensor, combined with gait algorithms, enables complex movements such as ascending and descending stairs and walking on slopes. Its technical advantages lie in high-precision force measurement, strong environmental adaptability, and lightweight design. It provides core data support for robot motion control and is a key technology for expanding robot application scenarios and improving operational efficiency.

[0004] As an important part of the plantar sensing assembly, the force sensor usually uses a flexible sensor, such as a piezoelectric force sensor. This type of sensor has low strength and limited application scenarios. Summary of the Invention

[0005] In response to the deficiencies of the prior art, the present application provides a sensor assembly to better measure the status of the soles of robots.

[0006] To achieve the above objectives, the present application provides the following technical solution: a sensor assembly comprising:

[0007] foot-shaped base plate;

[0008] a plurality of force sensors disposed on the bottom of the foot-shaped base plate;

[0009] A distance sensor provided on the foot-shaped bottom plate for measuring the distance from the ground;

[0010] an inertial measurement unit disposed on the foot-shaped base plate;

[0011] and a control module assembly electrically connected to the force sensor, the distance sensor, and the inertial measurement unit.

[0012] Preferably, the system further comprises a control module assembly having a first circuit board, and the inertial measurement unit is arranged on the first circuit board.

[0013] Preferably, the force sensor comprises:

[0014] The force sensing element comprises a diaphragm arranged vertically in the thickness direction, and a piezoresistive measurement circuit is arranged on the upper surface of the diaphragm;

[0015] The upper end is vertically connected to the dowel rod in the middle of the lower side of the diaphragm;

[0016] and a pressure plate fixed to the lower end of the force transmission rod and used for contacting the ground.

[0017] Preferably, the edge of the diaphragm extends downward to form a circle of flange, and a circle of first stress isolation groove is formed between the radial inner side of the flange and the outer side of the force transmission rod.

[0018] Preferably, a plurality of connection portions for connecting with the foot-shaped base plate are connected to the radial outer side of the flange.

[0019] Preferably, a stepped hole is provided on the foot-shaped bottom plate to allow the upper end of the force sensor to be exposed upward, and the connecting portion is blocked and fixed on a downward step surface provided on the stepped hole.

[0020] Preferably, a circle of upward-facing second stress isolation grooves is provided on the radial outer side of the flange, and the connecting portion is located on the radial outer side of the second stress isolation grooves.

[0021] Preferably, the force sensing element further comprises a housing that faces downwards and forms a mounting cavity with the diaphragm, and the lower end of the housing is mounted on a positioning step formed by sinking the edge of the diaphragm.

[0022] Preferably, a bracket is provided in the installation cavity, the bracket is supported on the positioning step, a second circuit board is provided at the upper end of the bracket, and the second circuit board is electrically connected to the piezoresistive measurement circuit through a flexible board.

[0023] The present invention also claims a robot comprising the above-mentioned sensor assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A perspective view of a sensor assembly according to a preferred embodiment.

[0025] Figure 2 A top view of a sensor assembly according to a preferred embodiment.

[0026] Figure 3 A bottom view of a sensor assembly according to a preferred embodiment.

[0027] Figure 4 A preferred embodiment of the sensor assembly is Figure 2 The cross-sectional view of AA is shown in FIG.

[0028] Figure 5 A preferred embodiment of the sensor assembly is Figure 2 A cross-sectional view of BB is shown in FIG.

[0029] Figure 6 FIG. 4 is a cross-sectional view of a force sensing element according to a preferred embodiment. DETAILED DESCRIPTION

[0030] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. The following embodiments are exemplary and are only used to explain the present application and are not to be construed as limiting the present application. In the following description, the same reference numerals are used to represent the same or equivalent elements, and repeated descriptions are omitted.

[0031] In the description of this application, it should be understood that the terms "upper", "lower", "inner", "outer", "left", "right", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the product of this application is conventionally placed when in use, or the orientations or positional relationships conventionally understood by those skilled in the art. These 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, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, the prepositive terms "first", "second", "third", etc. are only used to distinguish the modified objects, and cannot be understood as indicating or implying relative importance.

[0032] In addition, the terms "mounted," "connected," and "connected" should be interpreted broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0033] It should be further understood that the term “and / or” used in this specification and the corresponding claims refers to any and all possible combinations of one or more of the listed items.

[0034] Please refer to Figures 1 to 6. In a preferred embodiment of the present invention, the sensor assembly 100 may include a foot-shaped base plate 1, a control module assembly 2, a distance sensor 5, an inertial measurement unit 4 and a plurality of force sensors 3. The force sensor 3 is arranged at the bottom of the foot-shaped base plate 1. The distance sensor 5 can be arranged on the foot-shaped base plate 1 to measure the distance to the ground. The distance sensor 5 can be a photoelectric sensor. For example, a window 501 can be provided on the foot-shaped base plate 1 to allow measuring light to pass through. The inertial measurement unit 4 is arranged on the foot-shaped base plate 1. For example, it can be directly integrated into the circuit board 20 of the control module assembly 2. The control module assembly 2 is electrically connected to the above-mentioned force sensor 3, distance sensor 5 and inertial measurement unit 4. Preferably, the inertial measurement unit 4 can be arranged on the upper surface of the first circuit board 20. The upper surface and / or lower surface of the circuit board 20 can also be provided with multiple other electronic components. The circuit board 20 can be fixed to the foot-shaped base plate 1 by a plurality of insulating connecting columns 201. The circuit board 20 may also be provided with an electrical connector 22 and / or an electrical connector 21 .

[0035] The sensor assembly 100 described above, by arranging a distance sensor 5, an inertial measurement unit 4, and multiple force sensors 3 on the foot-shaped base plate 1, can effectively monitor the status of the robot's sole. The inertial measurement unit 4 may include an accelerometer and a gyroscope, which can measure triaxial acceleration and angular velocity to determine the object's posture, velocity, and position in real time. The inertial measurement unit 4 may also include a magnetometer.

[0036] The pressure plate 32 can be a curved plate, but is preferably a flat plate disposed parallel to the foot-shaped base plate 1. The pressure plate 32 can occupy as large an area as possible within the corresponding front portion 11 and rear portion 13. The lower end of the force transmission rod 312 can protrude downward to form a rod portion 313, which can be welded to a corresponding hole 321 formed in the pressure plate 32.

[0037] Preferably, the force sensor 3 includes a force sensing element 31. The force sensing element 31 may include a diaphragm 311 disposed vertically in its thickness direction, with a piezoresistive measurement circuit 310 disposed on the upper surface of the diaphragm 311. The force sensing element 31 also includes a force transmission rod 312, the upper end of which is preferably vertically connected to the middle portion of the lower side of the diaphragm 311. A pressure plate 32 is secured to the lower end of the force transmission rod 312 for contact with the ground. The pressure plate 32 may be made of metal.

[0038] Preferably, the edge of the diaphragm 311 extends downward to form a flange 316, with a first stress isolation groove 31a formed between the radially inner side of the flange 316 and the outer side of the force transmission rod 312. This can reduce interference caused by the installation stress generated when the force sensor 3 is installed on the foot-shaped base plate 1. A plurality of connecting portions 314 for connecting to the foot-shaped base plate 1 are provided radially outward of the flange 316. Preferably, the foot-shaped base plate 1 is provided with a stepped hole 1a that allows the upper end of the force sensor 3 to be exposed upward. The connecting portion 314 can be stopped and fixed on a downward-facing step surface 1b provided on the stepped hole 1a. The foot-shaped base plate 1 can be provided with a connecting hole 1c that corresponds to the connecting hole 314a on the connecting portion 314.

[0039] In some other solutions, preferably, a circle of upward-facing second stress isolation grooves 31b is further provided on the radially outer side of the flange 316, and the connecting portion 314 is located radially outward of the second stress isolation grooves 31b, which can further reduce the impact of installation stress.

[0040] Illustratively, the force sensing element 31 may further include a housing 36 that, facing downward, encloses a mounting cavity 351 with the diaphragm 311. The lower end of the housing 36 is mounted on a positioning step 31c formed by a recessed edge of the diaphragm 311. Preferably, a bracket 34 is disposed within the mounting cavity 351, supported on the positioning step 31c. An electronic module assembly 33 is disposed on the upper end of the bracket 34. The electronic module assembly includes a second circuit board 330, which is electrically connected to the piezoresistive measurement circuit 310 via a flexible board 331. By providing the recessed positioning step 31c at the edge of the diaphragm 311 to support the housing 36 and bracket 34, the housing 36 protects the piezoresistive measurement circuit 310 while minimizing the effects of mounting stress generated during installation. The housing 36 may include a horizontal portion 361 having a through hole and a cylindrical shell portion 362 extending downward from the edge of the horizontal portion 361. The lower portion of the cylindrical shell portion 362 may be welded to the positioning step 31c.

[0041] Four force sensors 3 may be provided, two of which 3a may be located on the front portion 11 of the foot-shaped base plate 1, and the other two force sensors 3b may be located on the rear portion 13 of the foot-shaped base plate 1. The two force sensors 3a may be arranged side by side, and the two force sensors 3b may also be arranged side by side. The front portion 11 and the rear portion 13 are connected by a middle portion 12, and the distance sensor 5 and the window 501 may be located on the middle portion 12. The front portion 11 may correspond to the toe area of the sole, and the rear portion 13 may correspond to the heel area of the sole.

[0042] Preferably, a retaining seat 35 may be fixed on the upper side of the second circuit board 330, which is electrically connected to the control module assembly through a plurality of conductive springs 302. The conductive springs 302 may be retained in the retaining holes 35a provided in the retaining seat 35, as shown in FIG. Figure 4 As shown in the force sensor 3a in FIG, the force sensor 3a is arranged upwardly and facing the circuit board 20, and the lower end of the conductive spring 302 is electrically contacted to the circuit board 330; alternatively, the second circuit board 330 is electrically connected to the control module assembly 2 through the wire 51, as shown in FIG. Figure 4 As shown in the force sensor 3b in FIG. A protective plate 6 can be fixed to the foot-shaped base plate 1, and the wire 51 is received within a receiving groove 61 provided on the protective plate 6. The upper portion 352 of the retaining seat 35 can be retracted relative to its lower portion 353 and pass through a through-hole on the horizontal portion 361. Furthermore, the distance sensor 5 can be electrically connected to the circuit board 20 of the control module assembly 2 via another wire (not shown) received within the receiving groove 61.

[0043] The sensor assembly 100 can be installed on the sole of a robot (eg, a humanoid robot), or can directly serve as the sole of the robot.

[0044] The scope of the disclosure is defined not by the detailed description, but by the claims and their equivalents, and all variations within the scope of the claims and their equivalents are construed as being included in the disclosure.

Claims

1. A sensor assembly (100), characterized in that include: foot-shaped sole plate(1); A plurality of force sensors (3) arranged at the bottom of the foot-shaped base plate (1); a distance sensor (5) provided on the foot-shaped base plate (1) for measuring the distance from the ground; an inertial measurement unit (4) disposed on the foot-shaped base plate (1); and a control module assembly (2) electrically connected to the force sensor (3), the distance sensor (5) and the inertial measurement unit (4).

2. The sensor assembly (100) according to claim 1, characterized in that The invention also comprises a control module assembly (2) having a first circuit board (20), wherein the inertial measurement unit (4) is arranged on the first circuit board (20).

3. The sensor assembly (100) according to claim 1, characterized in that The force sensor (3) comprises: A force sensing element (31) has a diaphragm (311) vertically arranged in a thickness direction, and a piezoresistive measurement circuit (310) is arranged on the upper surface of the diaphragm (311); The upper end is vertically connected to the force transmission rod (312) in the middle of the lower side of the diaphragm (311); and a pressure plate (32) fixed to the lower end of the force transmission rod (312) and used for contacting the ground.

4. The sensor assembly (100) according to claim 3, characterized in that The edge of the diaphragm (311) extends downward to form a circle of flange (316), and a circle of first stress isolation groove (31a) is formed between the radial inner side of the flange (316) and the outer side of the force transmission rod (312).

5. The sensor assembly (100) according to claim 4, characterized in that The radial outer side of the flange (316) is connected to a plurality of connection parts (314) for connecting with the foot-shaped base plate (1).

6. The sensor assembly (100) according to claim 5, characterized in that The foot-shaped base plate (1) is provided with a stepped hole (1a) that allows the upper end of the force sensor (3) to be exposed upward, and the connecting portion (314) is blocked and fixed on a downward step surface (1b) provided on the stepped hole (1a).

7. The sensor assembly (100) according to claim 5, characterized in that A circle of upward-facing second stress isolation grooves (31b) is provided on the radially outer side of the flange (316), and the connecting portion (314) is located on the radially outer side of the second stress isolation grooves (31b).

8. The sensor assembly (100) according to claim 3, characterized in that The force sensing element (31) further comprises a housing (36) which is downwardly directed and forms a mounting cavity (351) with the diaphragm (311); the lower end of the housing (36) is mounted on a positioning step (31c) formed by sinking the edge of the diaphragm (311).

9. The sensor assembly (100) according to claim 8, characterized in that A bracket (34) is provided in the installation cavity (351), the bracket (34) is supported on the positioning step (31c), a second circuit board (330) is provided at the upper end of the bracket (34), and the second circuit board (330) is electrically connected to the piezoresistive measurement circuit (310) via a flexible board (331).

10. A robot, characterized in that: It comprises a sensor assembly (100) according to any one of claims 1 to 9.

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