Sensor module and robot

Abstract

The utility model relates to a sensor module and a robot, the sensor module comprises a base body, a sensor module and an elastic piece, the base body is provided with a first accommodating cavity and an opening communicated with the first accommodating cavity, and the sensor module is movably connected with the base body between a first critical position and a second critical position; the sensor module is located in the first containing cavity at the first critical position, at least part of the sensor module protrudes out of the first containing cavity from the opening at the second critical position, the elastic piece is connected with the sensor module and the base body, and the elastic piece presses the sensor module towards the second critical position. The sensor module provided by the utility model has the advantages that the risk that the sensor module is greatly impacted or overloaded is low, the sensor module is not easy to damage, and the service life is long.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a sensor module and a robot. Background Art

[0002] In the related art, robots are usually equipped with pressure sensors to sense the interaction force between the feet and the ground, provide important motion feedback information and ground adaptability for the robot, and more accurately perceive the environment to achieve precise and efficient walking. However, in the related art, the pressure sensor is often set between the body component and the leg component, and the interaction force between the foot and the ground cannot be accurately obtained. At the same time, the pressure sensor is susceptible to large impact or overload when the robot is running and jumping, which makes the pressure sensor easy to be damaged and has a short service life. Utility Model Content

[0003] The utility model aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] To this end, an embodiment of the utility model provides a sensor module, which has the advantages of low risk of the sensor module being subjected to a large impact or overload, and the sensor module is not easily damaged and has a long service life.

[0005] The embodiment of the utility model further provides a robot.

[0006] The sensor module of the embodiment of the utility model includes a base, a sensor module and an elastic member, the base is provided with a first accommodating cavity and an opening connected to the first accommodating cavity; the sensor module is movably connected to the base between a first critical position and a second critical position, the sensor module is located in the first accommodating cavity at the first critical position, and at least a part of the sensor module protrudes out of the first accommodating cavity from the opening at the second critical position; the elastic member connects the sensor module and the base, and the elastic member presses the sensor module toward the second critical position.

[0007] According to the sensor module of the embodiment of the utility model, the sensor module is maintained at a second critical position at least partially protruding outside the first accommodating cavity under the pressure of the elastic member. When the robot moves, the sensor module will be impacted from the side of the base body with an opening, and the impact will first act on the part of the sensor module protruding from the first accommodating cavity, thereby realizing the detection of the interaction force between the robot's feet and the ground. Among them, when the sensor module is overloaded or subjected to an impact force above the set value, the sensor module overcomes the elastic force of the elastic member and moves to the first critical position hidden in the first accommodating cavity. At this time, the base body replaces the sensor module to be impacted from the outside, thereby effectively preventing the sensor module from being further impacted and damaged, and the service life of the sensor module is long.

[0008] In some embodiments, the sensor module also includes a guide column, the base includes an intermediate plate opposite to the opening, the intermediate plate and one of the sensor modules are provided with a guide hole, the axial direction of the guide hole is consistent with the moving direction of the sensor module, the guide column can be slidably engaged in the guide hole, and the guide column is fixedly connected to the other of the intermediate plate and the sensor module.

[0009] In some embodiments, the sensor module further comprises a bushing, the friction coefficient of the inner circumference of the bushing is smaller than the friction coefficient of the inner circumference of the guide hole, the bushing is inserted into the guide hole, and the guide post is slidably fitted in the bushing;

[0010] Alternatively, the inner circumferential surface of the guide hole and / or the outer circumferential surface of the guide post is provided with a lubricating coating.

[0011] In some embodiments, the guide column includes a bolt, the guide hole is provided on the middle plate, the sensor module is provided with a threaded hole, the stud of the guide column passes through the guide hole and is threadedly engaged with the threaded hole, and when the sensor module is located at the second critical position, the head of the bolt abuts against the surface of the middle plate away from the first accommodating cavity.

[0012] In some embodiments, the elastic member includes a spring, the spring is sleeved on the guide column, and the spring is sandwiched between the middle plate and the sensor module.

[0013] In some embodiments, the number of the guide pillars is at least three, and the axial projections of at least three of the guide pillars in the guide hole are distributed in a triangular shape.

[0014] In some embodiments, the base further includes a limiting member disposed on a side of the middle plate facing the opening, and the limiting member abuts against the sensor module located at the first critical position.

[0015] In some embodiments, the base body further has a second accommodating cavity, the second accommodating cavity is located on a side of the middle plate away from the first accommodating cavity, and the middle plate is provided with a wire hole;

[0016] The sensor module further includes a power module, which is installed in the second accommodating cavity and is electrically connected to the sensor module via a wire passing through the wire hole.

[0017] In some embodiments, the sensor module includes a mounting plate, a sensor, and a contact plate connected in sequence, the mounting plate is movably connected to the base, the sensor is clamped between the mounting plate and the contact plate along the moving direction of the mounting plate, and at least a portion of the contact plate protrudes out of the first accommodating cavity at the second critical position.

[0018] In some embodiments, the sensor module further includes an anti-skid pad connected to a side of the contact plate facing away from the mounting plate.

[0019] The robot according to the embodiment of the utility model includes the sensor module as described in any of the above embodiments.

[0020] The technical advantages of the robot according to the embodiment of the utility model are the same as the technical advantages of the sensor module of the above-mentioned embodiment, which will not be repeated here.

[0021] In some embodiments, the robot further includes a sole structure, the base of the sensor module is connected to the sole structure, and the sole structure is in contact with the ground through the base and the sensor module.

[0022] In some embodiments, the sole structure and the base are integrally formed. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is an exploded view of a sensor module according to an embodiment of the utility model.

[0024] Figure 2 It is a cross-sectional view of a sensor module according to an embodiment of the present utility model, wherein the sensor module is located at a second critical position.

[0025] Figure 3 It is an exploded view of the sensor module according to an embodiment of the utility model, wherein the sensor module is located at a first critical position.

[0026] Figure 4 It is an exploded view of the sensor module, the elastic member and the guide column in the sensor module according to the embodiment of the utility model.

[0027] Reference numerals:

[0028] 1. Base; 11. First accommodating cavity; 12. Second accommodating cavity; 13. Middle plate; 131. Guide hole; 132. Wire hole; 14. Limiting member; 15. Opening; 2. Sensor module; 21. Mounting plate; 211. Threaded hole; 22. Sensor; 23. Touch floor; 24. Anti-skid pad; 3. Guide column; 4. Bushing; 5. Elastic member; 6. Power module; 7. Mounting bracket; 8. Foot sole structure. DETAILED DESCRIPTION

[0029] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but cannot be understood as limiting the present invention.

[0030] Combine the following Figure 1-Figure 4 A sensor module according to an embodiment of the present invention is described.

[0031] The sensor module of the embodiment of the utility model comprises a substrate 1, a sensor module 2 and an elastic member 5. The substrate 1 is provided with a first accommodating cavity 11 and an opening 15 communicating with the first accommodating cavity 11. The sensor module 2 is movably connected to the substrate 1 between a first critical position and a second critical position, the sensor module 2 is located in the first accommodating cavity 11 at the first critical position, and at least part of the sensor module 2 protrudes out of the first accommodating cavity 11 through the opening 15 at the second critical position. The elastic member 5 connects the sensor module 2 and the substrate 1, and the elastic member 5 presses the sensor module 2 toward the second critical position.

[0032] According to the sensor module of the embodiment of the utility model, the sensor module 2 is maintained at a second critical position at least partially protruding outside the first accommodating cavity 11 under the pressure of the elastic member 5. When the robot moves, the sensor module will be impacted from the side of the base 1 provided with the opening 15, and the impact will first act on the part of the sensor module 2 protruding from the first accommodating cavity 11, thereby realizing the detection of the interaction force between the robot's feet and the ground. Among them, when the sensor module 2 is overloaded or subjected to an impact force exceeding the set value, the sensor module 2 overcomes the elastic force of the elastic member 5 and moves to be hidden in the first accommodating cavity 11. At this time, the base 1 replaces the sensor module 2 to be impacted from the outside, thereby effectively preventing the sensor module 2 from being further impacted and damaged, and the service life of the sensor module 2 is long.

[0033] It should be noted that the sensor module 2 is movably connected to the base body 1 along the opening direction of the opening 15. When the sensor module 2 is located at the first critical position, the outer surface of the sensor module 2 can be coplanar with the outer surface of the wall of the base body 1 provided with the opening 15. Alternatively, the position of the sensor module 2 when its outer surface is coplanar with the outer surface of the wall of the base body 1 provided with the opening 15 can also be located at an intermediate position between the first critical position and the second critical position, and the sensor module can further move toward the depth of the first accommodating cavity 11 when it is in the intermediate position.

[0034] In some embodiments, Figure 1-Figure 4 As shown, the sensor module also includes a guide column 3, the base 1 includes an intermediate plate 13 opposite to the opening 15, and one of the intermediate plate 13 and the sensor module 2 is provided with a guide hole 131, the axial direction of the guide hole 131 is consistent with the moving direction of the sensor module 2, the guide column 3 can be slidably fitted in the guide hole 131, and the guide column 3 is fixedly connected to the other of the intermediate plate 13 and the sensor module 2.

[0035] The sliding fit between the guide column 3 and the guide hole 131 ensures the axial sliding stability of the sensor module 2 relative to the base 1 in the guide hole 131, effectively avoids the radial shaking of the sensor module 2 along the guide hole 131 and causes interference between the sensor module 2 and the wall of the base 1 with the opening 15, and further ensures the movement reliability of the sensor module 2 between the first critical position and the second critical position.

[0036] Specifically, the guide hole 131 is provided on the middle plate 13, and one end of the guide column 3 is fixedly connected to the sensor module 2. The sensor module 2 is also provided with a limiting structure to ensure that when the sensor module 2 moves to the second critical position, the sensor module 2 is prevented from continuing to move away from the first critical position, and the guide column 3 is prevented from falling out of the guide hole 131.

[0037] In some embodiments, the sensor module further includes a bushing 4 , the friction coefficient of the inner circumference of the bushing 4 is smaller than the friction coefficient of the inner circumference of the guide hole 131 , the bushing 4 is inserted into the guide hole 131 , and the guide column 3 is slidably fitted in the bushing 4 .

[0038] The sliding friction between the guide column 3 and the bushing 4 is smaller, and the sliding of the guide column 3 relative to the bushing 4 is more labor-saving, which effectively reduces the probability of the guide column 3 getting stuck relative to the middle plate 13, and further ensures the service life of the sensor module 2.

[0039] Specifically, the bushing 4 is made of polytetrafluoroethylene with high lubricity and low friction coefficient, and is fixed in the guide hole 131 by means of interference fit or adhesive to prevent the bushing 4 from sliding relative to the middle plate 13 together with the guide column 3 .

[0040] Alternatively, a lubricating coating is provided on the inner circumference of the guide hole 131 and / or the outer circumference of the guide post 3. The lubricating coating can also reduce the sliding friction between the inner circumference of the guide hole 131 and the outer circumference of the guide post 3, thereby reducing the probability of the guide post 3 getting stuck relative to the middle plate 13, and effectively ensuring the service life of the sensor module 2.

[0041] In some embodiments, Figure 2-Figure 4 As shown, the guide column 3 includes a bolt, a guide hole 131 is provided on the middle plate 13, the sensor module 2 is provided with a threaded hole 211, the stud of the guide column 3 passes through the guide hole 131 and is threadedly engaged with the threaded hole 211, and when the sensor module 2 is located at the second critical position, the head of the bolt abuts against the surface of the middle plate 13 away from the first accommodating cavity 11.

[0042] The bolt passes through the bushing 4 and is threadedly engaged with the threaded hole 211, so that the sensor module 2 can be slidably connected to the base 1 and the sensor module 2 can be limited between the first critical position and the second critical position. The sensor module has a simple structure and high assembly efficiency.

[0043] like Figure 2 and Figure 3 As shown, the screw rod of the bolt includes a smooth shaft section connected to the head and a threaded section away from the head, the threaded section is used for threaded engagement with the threaded hole 211 , and the smooth shaft section is used for sliding engagement in the bushing 4 .

[0044] In some embodiments, Figure 2 and Figure 3 As shown, the elastic member 5 includes a spring, which is sleeved on the guide column 3 and sandwiched between the middle plate 13 and the sensor module 2, wherein the spring is usually in a compressed state.

[0045] Therefore, the spring always applies an axial force to the sensor module 2 along the guide hole 131 . When the sensor module 2 is compressed by impact, the spring is not easy to bend radially under the limitation of the guide column 3 , and the reset effect of the sensor module 2 is stable and reliable.

[0046] Specifically, when there are multiple guide pillars 3 , there are also multiple springs corresponding to the guide pillars 3 one by one.

[0047] It should be noted that by adjusting the elastic modulus and preload of the spring, the set impact force applied to the sensor module 2 when it is in the first critical position can be adjusted, so as to adjust the range of the interaction force between the foot and the bottom surface by the sensor module 2.

[0048] In some embodiments, the number of the guide pillars 3 is at least three, and the axial projections of at least three guide pillars 3 in the guide hole 131 are distributed in a triangular shape.

[0049] At least three guide posts 3 distributed in a triangular shape together guide the sensor module 2. The probability of the sensor module 2 being radially deflected along the guide posts 3 is lower, and thus the sliding friction between the sensor module 2 and the middle plate 13 is relatively lower and more stable. The sensor module 2 can be more stably and reliably retracted into the first accommodating cavity 11 for protection.

[0050] Specifically, Figure 1 and Figure 4 As shown, the number of the springs and the number of the guide posts 3 are both four, and the four guide posts 3 are distributed at the four corners of the sensor module 2 .

[0051] In some embodiments, Figure 2 and Figure 3 As shown, the base 1 further includes a limiting member 14 disposed on a side of the middle plate 13 facing the opening 15 , and the limiting member 14 abuts against the sensor module 2 located at the first critical position.

[0052] That is, the sensor module 2 abuts against the limit member 14 to prevent it from moving further away from the second critical position, thereby preventing the sensor module 2 from continuing to compress the elastic member 5 due to external impact after moving to the first critical position, effectively preventing the elastic member 5 from being over-compressed and failing.

[0053] Specifically, the limiting member 14 is a limiting block arranged at the center position of the lower surface of the middle plate 13 .

[0054] In some embodiments, Figure 1-Figure 3 As shown, the base 1 also has a second accommodating cavity 12, which is located on the side of the middle plate 13 away from the first accommodating cavity 11, and the middle plate 13 is provided with a wire hole 132. The sensor module also includes a power module 6, which is installed in the second accommodating cavity 12, and the power module 6 is electrically connected to the sensor module 2 through a wire passing through the wire hole 132.

[0055] The power module 6 provides stable power to the sensor module 2 through the wire to ensure the reliable operation of the sensor module 2. By installing the power module 6 in the second accommodating chamber 12 away from the opening 15, it is ensured that the power module 6 will not interfere with the movement of the sensor module 2, and the risk of water ingress and short circuit is reduced.

[0056] Specifically, the base 1 includes a mounting bracket 7 disposed in the second accommodating cavity 12 , and the power module 6 includes a control board mounted on the mounting bracket 7 and a power board mounted on the control board.

[0057] In some embodiments, Figure 2-Figure 4As shown, the sensor module 2 includes a mounting plate 21, a sensor 22 and a contact plate 23 which are connected in sequence. The mounting plate 21 is movably connected to the base 1, and the sensor 22 is sandwiched between the mounting plate 21 and the contact plate 23 along the moving direction of the mounting plate 21, and at least a portion of the contact plate 23 protrudes out of the first accommodating cavity 11 at the second critical position.

[0058] The sensor 22 is connected between the mounting plate 21 and the contact plate 23. The sensor module 2 receives impact from the outside through the contact plate 23, effectively preventing the sensor 22 from being directly exposed to the outside and increasing the risk of damage by impact. The sensor module 2 is slidably connected to the base 1 through the mounting plate 21, which ensures the reliability of the sliding connection between the sensor module 2 and the base 1, and also ensures that the sensor 22 is subjected to the impact force from the axial direction of the guide hole 131, and the value detected by the sensor 22 is more accurate.

[0059] Specifically, Figure 4 As shown, the sensor 22 includes a first part and a second part connected to each other, and the pressure detection is achieved by bending the first part relative to the second part. The first part of the sensor 22 is connected to the mounting plate 21 through a screw, and the second part is connected to the contact plate 23 through a screw. The mounting plate 21 and the contact plate 23 are respectively provided with an escape space for deformation of the intersection of the first part and the second part.

[0060] In some embodiments, Figure 2 and Figure 3 As shown, the sensor module 2 further includes an anti-skid pad 24 , which is connected to a side of the contact plate 23 facing away from the mounting plate 21 .

[0061] The anti-skid pad 24 is used to increase the friction between the sensor module 2 and the ground. When the sensor module is arranged on the foot of the robot, the robot has a low chance of slipping when walking.

[0062] The robot according to the embodiment of the present utility model includes a sensor module as described in any of the above embodiments.

[0063] The technical advantages of the robot according to the embodiment of the utility model are the same as the technical advantages of the sensor module of the above-mentioned embodiment, which will not be repeated here.

[0064] In some embodiments, Figure 1 As shown, the robot further includes a sole structure 8 , a base 1 of the sensor module is connected to the sole structure 8 , and the sole structure 8 is in contact with the ground through the base 1 and the sensor module 2 .

[0065] By setting the sensor module 2 on the sole structure 8 and in direct contact with the ground, it can intuitively receive the force from the ground, and the value obtained is closer to the interaction force between the foot and the ground. The detection accuracy of the sensor 22 is higher, which can provide the robot with more accurate motion feedback information and ground adaptability, and thus can perceive the environment more accurately and achieve precise and efficient walking.

[0066] In some embodiments, Figure 1 As shown, the sole structure 8 and the base 1 are formed in one piece.

[0067] This makes the connection strength between the sole structure 8 and the sensor module higher and more reliable, reduces the number of steps for connecting the base 1 and the sole structure 8, and improves the assembly efficiency and cost of the robot.

[0068] Specifically, when the foot of the robot is an anthropomorphic foot, each sole structure 8 is connected to two sensor modules, and two sensor modules 2 formed by the two sensor modules are respectively located at the heel and sole of the foot.

[0069] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0070] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0071] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0072] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0073] In the present utility model, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0074] Although the above embodiments have been shown and described, it is to be understood that the above embodiments are illustrative and cannot be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those of ordinary skill in the art are all within the scope of protection of the present invention.

Claims

1. A sensor module, characterized in that: include: A base body, wherein the base body is provided with a first accommodating cavity and an opening communicating with the first accommodating cavity; a sensor module, wherein the sensor module is movably connected to the base body between a first critical position and a second critical position, the sensor module is located in the first accommodating cavity at the first critical position, and at least a portion of the sensor module protrudes from the first accommodating cavity through the opening at the second critical position; and An elastic member, wherein the elastic member connects the sensor module and the substrate, and the elastic member presses the sensor module toward the second critical position.

2. The sensor module according to claim 1, characterized in that: The sensor module also includes a guide column, the base includes an intermediate plate opposite to the opening, one of the intermediate plate and the sensor module is provided with a guide hole, the axial direction of the guide hole is consistent with the moving direction of the sensor module, the guide column can be slidably engaged in the guide hole, and the guide column is fixedly connected to the other of the intermediate plate and the sensor module.

3. The sensor module according to claim 2, characterized in that: The sensor module further comprises a bushing, the friction coefficient of the inner circumference of the bushing is smaller than the friction coefficient of the inner circumference of the guide hole, the bushing is inserted into the guide hole, and the guide column is slidably fitted in the bushing; Alternatively, the inner circumferential surface of the guide hole and / or the outer circumferential surface of the guide post is provided with a lubricating coating.

4. The sensor module according to claim 2, characterized in that: The guide column includes a bolt, the guide hole is provided on the middle plate, the sensor module is provided with a threaded hole, the stud of the guide column passes through the guide hole and is threadedly matched with the threaded hole, and when the sensor module is located at the second critical position, the head of the bolt abuts against the surface of the middle plate away from the first accommodating cavity.

5. The sensor module according to claim 2, characterized in that: The elastic member comprises a spring, the spring is sleeved on the guide column, and the spring is sandwiched between the middle plate and the sensor module.

6. The sensor module according to claim 2, characterized in that: The number of the guide posts is at least three, and the projections of at least three guide posts in the axial direction of the guide holes are distributed in a triangular shape.

7. The sensor module according to claim 2, characterized in that: The base body further includes a limiting member disposed on a side of the middle plate facing the opening, and the limiting member abuts against the sensor module located at the first critical position.

8. The sensor module according to claim 2, characterized in that: The base body also has a second accommodating cavity, which is located on a side of the middle plate away from the first accommodating cavity, and the middle plate is provided with a wire hole; The sensor module further includes a power module, which is installed in the second accommodating cavity and is electrically connected to the sensor module via a wire passing through the wire hole.

9. The sensor module according to any one of claims 1 to 8, characterized in that: The sensor module includes a mounting plate, a sensor and a contact plate connected in sequence, the mounting plate is movably connected to the base, the sensor is clamped between the mounting plate and the contact plate along the moving direction of the mounting plate, and at least a portion of the contact plate protrudes out of the first accommodating cavity at the second critical position.

10. The sensor module according to claim 9, characterized in that: The sensor module further includes an anti-skid pad connected to a side of the contact plate facing away from the mounting plate.

11. A robot, characterized in that: Comprising the sensor module according to any one of claims 1-10.

12. The robot according to claim 11, characterized in that: The robot further comprises a sole structure, the base of the sensor module is connected to the sole structure, and the sole structure is in contact with the ground through the base and the sensor module.

13. The robot according to claim 12, characterized in that: The sole structure and the base are integrally formed.

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