Ankle force sensor mounting structure of humanoid robot

Abstract

The utility model relates to the technical field of humanoid robots, in particular to a humanoid robot ankle force sensor mounting structure which comprises a fixing seat, a top plate mounted at the top of the fixing seat, a bottom plate mounted at the bottom of the fixing seat, a manipulator pin through hole formed in the middle of the fixing seat, and a manipulator mounting table mounted in the middle of the top of the fixing seat. A wrist mounting table is mounted at the bottom of the fixing seat, a strain beam mounting groove is formed in the outer side, close to the manipulator mounting table, of the fixing seat, and a strain beam is mounted in the strain beam mounting groove and is of an L-shaped structure as a whole. According to the humanoid robot ankle force sensor installation structure, the installation process is simple and rapid, the assembly time of a robot is greatly shortened, and the production efficiency is improved. The strain beam can generate obvious deformation under the action of external force, so that the strain beam is accurately captured by the strain gauge and converted into an electric signal, and high-precision measurement of force and torque is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of humanoid robots, and specifically, to an installation structure of an ankle force sensor for a humanoid robot. Background Technique

[0002] Humanoid robots are increasingly widely used in various fields, including manufacturing, construction, energy, and commercial logistics. These robots not only need to perform various tasks in complex environments but also need to have highly precise and sensitive control capabilities to ensure the accuracy and safety of operations. Especially in occasions that require frequent interaction with the external environment, such as walking, grasping, and handling, the robot needs to sense and respond to external forces in real time, which poses extremely high requirements for the force sensing ability of the robot.

[0003] As a key component for a robot to sense external forces, the force sensor plays a crucial role in humanoid robots. The ankle force sensor, as an important part of the lower limb sensing system of a humanoid robot, can measure the forces and torques received by the robot's ankle in real time during walking, standing, or performing other tasks, providing key data support for the motion control and balance adjustment of the robot.

[0004] However, traditional force sensor installation structures often have problems such as complex structures, inconvenient installation, and insufficient sensitivity, making it difficult to meet the requirements of humanoid robots for high-precision and high-sensitivity force sensing. Therefore, designing an installation structure for an ankle force sensor with a compact structure, easy installation, and high sensitivity is of great significance for improving the overall performance and intelligent level of humanoid robots. Content of the Utility Model

[0005] The purpose of the utility model is to provide an installation structure of an ankle force sensor for a humanoid robot to solve the problems in the above-mentioned background technique that traditional force sensor installation structures often have complex structures, inconvenient installation, and insufficient sensitivity, making it difficult to meet the requirements of humanoid robots for high-precision and high-sensitivity force sensing.

[0006] To achieve the above purpose, the utility model provides an installation structure of an ankle force sensor for a humanoid robot, including a fixed seat. A top plate is installed on the top of the fixed seat, a bottom plate is installed on the bottom of the fixed seat, a manipulator pin perforation is provided in the middle of the fixed seat, a manipulator installation platform is installed in the middle of the top of the fixed seat, a wrist installation platform is installed on the bottom of the fixed seat, a strain beam installation groove is provided on the outer side of the fixed seat near the manipulator installation platform, a strain beam is installed inside the strain beam installation groove. The strain beam is an overall L-shaped structure, including a vertical plate and a horizontal plate. One end of the strain beam is fixed on the inner wall of the strain beam installation groove, and the other end is fixed on the outer wall of the manipulator installation platform. A plurality of strain gauges are installed on the outer wall of the vertical plate.

[0007] Preferably, a plurality of screw holes are provided on the top plate, and the top plate is fixedly connected to the top of the fixed seat through bolts.

[0008] Preferably, a plurality of bottom plate mounting holes are provided on the bottom plate, the bottom plate is mounted on the bottom of the fixed seat through bolts, and a bottom plate positioning hole is provided in the middle of the bottom plate.

[0009] Preferably, a wire passing hole is provided on one side of the fixed seat.

[0010] Preferably, the number of strain gauges on each strain beam is four, which are respectively attached to the four outer side surfaces of the vertical plate.

[0011] Preferably, the number of strain beam mounting grooves is four, which are annularly distributed on the outside of the manipulator mounting table.

[0012] Preferably, the number of strain beams in each strain beam mounting groove is two, and they are symmetrically arranged left and right.

[0013] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0014] 1. In the ankle force sensor mounting structure of this humanoid robot, an integrated design is adopted. Components such as the fixed seat, top plate, and bottom plate are connected by bolts. The installation process is simple and fast, greatly shortening the assembly time of the robot and improving production efficiency. The strain beam adopts an L-shaped structure, and four strain gauges are attached to the vertical plate. This design enables the strain beam to produce significant deformation when subjected to external forces, which can be accurately captured by the strain gauges and converted into electrical signals, achieving high-precision measurement of force and torque.

[0015] 2. In the ankle force sensor mounting structure of this humanoid robot, the strain beam mounting grooves are annularly distributed on the outside of the manipulator mounting table, and two strain beams symmetrically arranged left and right are provided in each mounting groove. This layout enables the ankle force sensor to comprehensively sense forces and torques from different directions, improving the environmental adaptability and stability of the robot. A wire passing hole is provided on one side of the fixed seat, facilitating the passing and connection of the sensor lines, and also facilitating subsequent maintenance and replacement work. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the overall structure of the present utility model;

[0017] Figure 2 is one of the exploded structure diagrams of the present utility model;

[0018] Figure 3 is the second exploded structure diagram of the present utility model;

[0019] Figure 4 It is a schematic top view structure diagram of the fixed seat in the present utility model;

[0020] Figure 5 It is a schematic structure diagram of the vertical plate in the present utility model.

[0021] The meanings of each label in the figure are as follows:

[0022] 1. Fixed seat; 11. Manipulator installation table; 12. Strain beam installation groove; 13. Strain beam; 131. Vertical plate; 132. Horizontal plate; 133. Strain gauge; 14. Wire passing hole; 15. Wrist installation table; 2. Top plate; 3. Bottom plate; 31. Bottom plate installation hole; 32. Bottom plate positioning hole; 4. Manipulator pin perforation. Specific embodiments

[0023] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0024] The present utility model provides an installation structure for a foot force sensor of a humanoid robot, as Figures 1 - 5As shown in the figure, it includes a fixed seat 1. A top plate 2 is installed on the top of the fixed seat 1, and a bottom plate 3 is installed on the bottom of the fixed seat 1. A manipulator pin perforation 4 is provided in the middle of the fixed seat 1. A manipulator installation platform 11 is installed in the middle of the top of the fixed seat 1, and a wrist installation platform 15 is installed on the bottom of the fixed seat 1. A strain beam installation groove 12 is provided on the outer side of the fixed seat 1 near the manipulator installation platform 11. A strain beam 13 is installed inside the strain beam installation groove 12. The strain beam 13 is integrally of an L-shaped structure, including a vertical plate 131 and a horizontal plate 132. One end of the strain beam 13 is fixed on the inner wall of the strain beam installation groove 12, and the other end is fixed on the outer wall of the manipulator installation platform 11. A number of strain gauges 133 are installed on the outer wall of the vertical plate 131. This installation structure adopts an integrated design, including components such as the fixed seat 1, the top plate 2, and the bottom plate 3. Through reasonable layout and connection methods among these components, a compact and stable whole is formed, providing a stable foundation for the installation of the ankle force sensor. The strain beam 13 adopts an L-shaped structure, and this design enables the strain beam to produce significant deformation in multiple directions when subjected to external forces. At the same time, a number of strain gauges 133 are installed on the outer wall of the vertical plate 131. These strain gauges can accurately capture the deformation of the strain beam and convert it into an electrical signal, thereby achieving high-precision measurement of the force and torque at the ankle. One end of the strain beam 13 is fixed on the inner wall of the strain beam installation groove 12, and the other end is fixed on the outer wall of the manipulator installation platform 11. This installation method is not only simple and fast but also can ensure the stability and accuracy of the strain beam during the measurement process. At the same time, the design of the entire installation structure also takes into account the requirements of easy maintenance and replacement.

[0025] In this embodiment, a number of screw holes are provided on the top plate 2, and the top plate 2 is connected and fixed to the top of the fixed seat 1 by bolts, which facilitates the installation and disassembly of the top plate 2.

[0026] Specifically, a number of bottom plate installation holes 31 are provided on the bottom plate 3. The bottom plate 3 is installed on the bottom of the fixed seat 1 by bolts. A bottom plate positioning hole 32 is provided in the middle of the bottom plate 3, which facilitates the installation and disassembly of the bottom plate 3.

[0027] Furthermore, a wire passing hole 14 is provided on one side of the fixed seat 1, which facilitates the passing of cables.

[0028] Furthermore, there are four strain gauges 133 on each strain beam 13, which are respectively attached to the four outer sides of the vertical plate 131. The four strain gauges 133 are respectively located on the four outer sides of the vertical plate 131, which enables the strain beam 13 to be accurately sensed and measured when subjected to forces or torques from different directions, thereby achieving all-round monitoring of the forces on the ankle. Since the strain gauges 133 are sufficient in number and reasonably distributed, they can more comprehensively capture the deformation of the strain beam 13 when subjected to forces, thereby improving the measurement accuracy of forces and torques, and providing strong support for the precise control of the humanoid robot. The fitting design of the four strain gauges 133 enhances the connection stability between the strain beam 13 and the manipulator mounting platform 11, making the entire ankle force sensor mounting structure more stable and reliable when subjected to forces, thereby improving the overall stability of the robot.

[0029] Furthermore, there are four strain beam mounting grooves 12, which are distributed in a ring on the outside of the manipulator mounting platform 11. The four strain beam mounting grooves 12 are distributed in a ring, so that the installed strain beams 13 can fully cover the outside of the manipulator mounting platform 11, thereby realizing comprehensive perception of forces and moments from different directions, and improving the perception range and accuracy of the ankle force sensor.

[0030] Furthermore, there are two strain beams 13 in each strain beam mounting slot 12, and they are symmetrically arranged. The two symmetrically arranged strain beams 13 can simultaneously sense the force and torque from the same direction. By comparing the measurement data of the two strain beams, errors can be effectively eliminated and the measurement accuracy of the ankle force sensor can be improved.

[0031] When the humanoid robot ankle force sensor installation structure of the utility model is used, first, when the robot ankle is subjected to external forces, these forces will be transmitted to the fixing base 1. Since the fixing base 1 adopts a compact and stable integrated design, including components such as the top plate 2 and the bottom plate 3, these components form a whole through reasonable layout and connection methods, providing a stable foundation for the installation of the ankle force sensor. Therefore, the fixing base 1 can effectively withstand and transmit these forces.

[0032] Next, these forces are further transmitted to the strain beam 13 installed in the strain beam installation slot 12. The strain beam 13 adopts an L-shaped structure, which enables it to produce significant deformation in multiple directions when subjected to external forces. Specifically, each strain beam installation slot 12 has two strain beams 13 (such as Figures 1 - 5 As shown in FIG. 13 , such a design can ensure accurate sensing of the force and moment from the same direction and eliminate errors by comparing the measurement data of the two strain beams.

[0033] Four strain gauges 133 are attached to the outer wall of the vertical plate 131 of the strain beam 13, and these strain gauges are respectively located on the four outer side surfaces of the vertical plate 131 (as Figures 1 - 5 shown). When the strain beam 13 is deformed, the strain gauges 133 can accurately capture this deformation and convert it into an electrical signal. Since the number of strain gauges 133 is sufficient and the distribution is reasonable, they can more comprehensively capture the deformation of the strain beam 13 when it is stressed, so as to achieve high-precision measurement of force and torque.

[0034] The measured electrical signal will then pass through the wire passing hole 14 on one side of the fixed seat 1 and be transmitted to the control system of the robot. The control system judges the magnitude and direction of the force and torque received by the robot's ankle according to these signals, so as to provide strong support for the precise control of the robot.

[0035] The above shows and describes the basic principle, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An ankle force sensor mounting structure for a humanoid robot, comprising a fixed seat (1), characterized in that: A top plate (2) is installed on the top of the fixed base (1), a bottom plate (3) is installed on the bottom of the fixed base (1), a manipulator pin perforation (4) is arranged in the middle of the fixed base (1), a manipulator installation table (11) is installed in the middle of the top of the fixed base (1), a wrist installation table (15) is installed on the bottom of the fixed base (1), a strain beam installation groove (12) is arranged on the outside of the fixed base (1) near the manipulator installation table (11), a strain beam (13) is installed inside the strain beam installation groove (12), the strain beam (13) is integrally in an L-shaped structure and includes a vertical plate (131) and a horizontal plate (132), one end of the strain beam (13) is fixed on the inner wall of the strain beam installation groove (12), and the other end is fixed on the outer wall of the manipulator installation table (11), and a plurality of strain gauges (133) are installed on the outer wall of the vertical plate (131).

2. The installation structure of the ankle force sensor of the humanoid robot according to claim 1, characterized in that: A plurality of screw holes are arranged on the top plate (2), and the top plate (2) is fixedly connected to the top of the fixed base (1) through bolts.

3. The ankle force sensor mounting structure of the humanoid robot according to claim 1, wherein: A plurality of bottom plate installation holes (31) are arranged on the bottom plate (3), the bottom plate (3) is installed on the bottom of the fixed base (1) through bolts, and a bottom plate positioning hole (32) is arranged in the middle of the bottom plate (3).

4. The ankle force sensor mounting structure of the humanoid robot according to claim 1, wherein: A wire passing hole (14) is arranged on one side of the fixed base (1).

5. The ankle force sensor mounting structure of the humanoid robot according to claim 1, characterized in that: The number of strain gauges (133) on each strain beam (13) is four, and they are respectively attached to the four outer side surfaces of the vertical plate (131).

6. The ankle force sensor mounting structure of the humanoid robot according to claim 1, wherein: The number of the strain beam installation grooves (12) is four, and they are annularly distributed on the outside of the manipulator installation table (11).

7. The ankle force sensor mounting structure of the humanoid robot according to claim 6, characterized in that: The number of strain beams (13) in each strain beam installation groove (12) is two, and they are symmetrically arranged left and right.

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