A robot foot end and a pressure detection device thereof

Abstract

The embodiment of the present disclosure provides a robot foot end and a pressure detection device thereof, the pressure detection device comprising an elastic sheet and a pressure sensor; the elastic sheet is simulated as a human foot shape and is used as a robot foot sole; a foot end fixing part is arranged in the middle region of the elastic sheet, and the foot end fixing part is used for fixed connection with a leg structure; the pressure sensor is arranged on the elastic sheet; when the elastic sheet is bent under pressure, the pressure sensor is also pressed to generate a pressure signal, so as to realize pressure detection of the robot foot end. Through the pressure detection device, pressure detection of the robot foot end when contacting the ground or an object can be realized, so as to judge the characteristics of the contacted object, and then adaptive adjustment is made, so that the robot body is more stable and the movement is more smooth.

Description

Technical Field

[0001] This disclosure pertains to the field of pressure sensing technology, specifically relating to a robot foot and its pressure detection device. Background Technology

[0002] The robot's feet are its direct sensory terminals for contacting the ground and objects, making their perception crucial to the robot's overall functionality. However, most bipedal robots currently have feet made of metal legs and plastic material that comes into contact with objects. While these can support the robot's weight, they lack pressure detection capabilities. Consequently, their perception of the ground and objects is inadequate, failing to recognize information such as the hardness or softness of the contacted objects. This makes it difficult for them to adapt to different objects, resulting in insufficient stability and other aspects of the robot's performance.

[0003] To address the aforementioned problems, it is necessary to propose a reasonably designed robot foot and its pressure detection device that can effectively improve these issues. Utility Model Content

[0004] The present disclosure aims to at least solve one of the technical problems existing in the prior art, and to provide a robot foot and its pressure detection device.

[0005] One aspect of this disclosure provides a robot foot pressure detection device, including an elastic sheet and a pressure sensor; The elastic sheet is designed to mimic the shape of a human foot and can be reused as a robot foot. The elastic sheet has a foot-end fixing part in the middle area, which is used to fix and connect with the leg structure. The pressure sensor is disposed on the elastic sheet, wherein when the elastic sheet is bent under pressure, the pressure sensor is also compressed and generates a pressure signal to realize pressure detection at the end of the robot's foot.

[0006] Optionally, the pressure sensor is disposed on the elastic sheet near the foot fixing part.

[0007] Optionally, the pressure sensor is disposed on the side of the elastic sheet facing the leg structure.

[0008] Optionally, the elastic sheet includes a deformable portion extending downwardly at both ends of the foot-end fixing portion, and a force-receiving portion extending parallel to both outer ends of the deformable portion; wherein, The pressure sensor is located in the deformed part.

[0009] Optionally, the number of pressure sensors is two, and the two pressure sensors are respectively located at the deformable portions at both ends of the foot fixing portion.

[0010] Optionally, the elastic sheet is an elastic steel sheet.

[0011] Optionally, the pressure sensor is welded and fixed to the elastic sheet.

[0012] Optionally, the pressure sensor includes a piezoresistive pressure sensor, a piezoelectric sensor, or a strain gauge pressure sensor.

[0013] Optionally, the piezoresistive pressure sensor has a single-bridge, half-bridge, or full-bridge Wheatstone bridge structure.

[0014] Another aspect of this disclosure provides a robot foot end that employs the robot foot end pressure detection device described above.

[0015] This disclosure discloses a robot foot and its pressure detection device. The pressure detection device includes an elastic sheet and a pressure sensor. The elastic sheet simulates the shape of a human foot and is reused as a robot foot. A foot fixing part is provided in the middle region of the elastic sheet for fixed connection with the leg structure. The pressure sensor is disposed on the elastic sheet. When the elastic sheet is compressed and bent, the pressure sensor is also compressed and generates a pressure signal to realize the pressure detection of the robot foot. This pressure detection device can realize the pressure detection when the robot foot contacts the ground or an object, to determine the characteristics of the contacting object, and then make adaptive adjustments to make the robot body more stable and its movement smoother. Attached Figure Description

[0016] Figure 1 This is a cross-sectional view of a robot foot pressure detection device according to one embodiment of the present disclosure; Figure 2 This is a plan view of a robot foot pressure detection device according to another embodiment of this disclosure. Detailed Implementation

[0017] To enable those skilled in the art to better understand the technical solutions of the embodiments of this disclosure, the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0018] like Figure 1 and Figure 2 As shown, one aspect of this disclosure provides a robot foot pressure detection device 100, including an elastic sheet 110 and a pressure sensor 120.

[0019] The elastic sheet 110 is modeled after a human foot and can be reused as a robot foot.

[0020] The elastic sheet 110 has a foot-fixing part 130 in its middle region, which is used to fix it to the leg structure 200. That is, the middle region of the elastic sheet 110 is fixed to the leg structure 200, and the edge region of the elastic sheet 110 is a free end, forming a cantilever beam structure. The elastic sheet 110 is divided into the forefoot and the heel by the foot-fixing part 130.

[0021] The pressure sensor 120 is disposed on the elastic sheet 110. When the elastic sheet 110 is bent under pressure, the pressure sensor 120 is also compressed and generates a pressure signal to realize pressure detection at the end of the robot's foot.

[0022] Specifically, when the robot's foot is working, the elastic plate 110 on the sole of the foot bends under pressure, causing the pressure sensor 120 to also be compressed and generate a pressure signal, thus realizing the function of detecting the force on the foot. The robot analyzes and judges the characteristics of the object contacted by the foot based on the pressure data detected by the pressure sensor 120, and can also judge the robot's body posture based on the force on the elastic plate 110.

[0023] The robot foot pressure detection device of this disclosure includes an elastic sheet and a pressure sensor. The elastic sheet simulates the shape of a human foot and is reused as a robot foot. A foot fixing part is provided in the middle area of ​​the elastic sheet for fixed connection with the leg structure. The pressure sensor is disposed on the elastic sheet, wherein when the elastic sheet is compressed and bent, the pressure sensor is also compressed and generates a pressure signal to realize the pressure detection of the robot foot. This pressure detection device can realize the pressure detection when the robot foot contacts the ground or an object, so as to determine the characteristics of the contact object and make adaptive adjustments to make the robot body more stable and its movement smoother.

[0024] For example, such as Figure 1 and Figure 2 As shown, the pressure sensor 120 is disposed on the elastic sheet 110 near the foot fixing part 130. In this embodiment, the elastic sheet 110 near the foot fixing part 130 has the greatest deformation. Disposing the pressure sensor 120 on the elastic sheet 110 near the foot fixing part 130 allows the pressure sensor 120 to have greater deformation, thereby improving the detection sensitivity of the pressure sensor 120.

[0025] For example, such as Figure 1 As shown, in this embodiment, the pressure sensor 120 is disposed on the side of the elastic sheet 110 facing the leg structure 200. That is, the pressure sensor 120 is disposed on the upper part of the elastic sheet 110, so that the pressure sensor 120 will not be damaged when the robot's foot comes into contact with the ground or an object.

[0026] For example, such as Figure 1 As shown, in this embodiment, the elastic sheet 110 includes a deformable portion 111 that extends downwardly at both ends of the foot-end fixing portion 130, and a force-receiving portion 112 that extends parallel to both ends of the deformable portion 111 on its outer side; wherein, the pressure sensor 120 is located in the deformable portion 111.

[0027] In this embodiment, the elastic sheet 110 is provided with a downwardly inclined bending and extending deformation portion 111, which can provide a certain deformation space for the deformation of the elastic sheet 110 and increase the detection sensitivity of the pressure sensor.

[0028] For example, such as Figure 1 and Figure 2 As shown, in this embodiment, there are two pressure sensors 120, which are located at the deformation portions 111 at both ends of the foot fixing portion 130. That is, the two pressure sensors 120 are used to detect the force on the forefoot and heel respectively.

[0029] It should be noted that there is no specific limit to the number of pressure sensors 120; the number can be selected according to actual needs.

[0030] For example, in this embodiment, the elastic sheet 110 can be an elastic steel sheet. Of course, the elastic sheet 110 can also be made of other materials. This embodiment does not make specific limitations and can be selected according to actual needs.

[0031] For example, in this embodiment, the pressure sensor 120 can be welded and fixed to the elastic sheet 110. Of course, the pressure sensor 120 can also be fixed to the elastic sheet 110 in other ways. This embodiment does not make specific limitations and can be selected according to actual needs.

[0032] For example, in this embodiment, the pressure sensor 120 may include a piezoresistive pressure sensor, a piezoelectric sensor, or a strain gauge pressure sensor, etc. It should be noted that this embodiment does not specifically limit the specific type of pressure sensor 120, and it can be selected according to actual needs. The piezoresistive pressure sensor has a single-bridge, half-bridge, or full-bridge Wheatstone bridge structure.

[0033] Another aspect of this disclosure provides a robot foot end employing the robot foot end pressure detection device 100 described above. The specific structural features of this robot foot end pressure detection device 100 have been described in detail above and will not be repeated here.

[0034] In this embodiment, the robot foot uses the aforementioned robot foot pressure detection device, which can detect the pressure when the robot foot comes into contact with the ground or an object, in order to determine the characteristics of the object being contacted, and then make adaptive adjustments to make the robot body more stable and its movement smoother.

[0035] It is understood that the above embodiments are merely exemplary implementations used to illustrate the principles of the embodiments of this disclosure, and the embodiments of this disclosure are not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the embodiments of this disclosure, and these modifications and improvements are also considered to be within the protection scope of the embodiments of this disclosure.

Claims

1. A robot foot pressure detection device, characterized in that, Includes elastic sheet and pressure sensor; The elastic sheet is designed to mimic the shape of a human foot and can be reused as a robot foot. The elastic sheet has a foot-end fixing part in the middle area, which is used to fix and connect with the leg structure. The pressure sensor is disposed on the elastic sheet, wherein when the elastic sheet is bent under pressure, the pressure sensor is also compressed and generates a pressure signal to realize pressure detection at the end of the robot's foot.

2. The apparatus according to claim 1, characterized in that, The pressure sensor is located on the elastic sheet near the foot fixing part.

3. The apparatus according to claim 1, characterized in that, The pressure sensor is located on the side of the elastic sheet facing the leg structure.

4. The apparatus according to any one of claims 1 to 3, characterized in that, The elastic sheet includes deformable portions extending downwardly at both ends of the foot-end fixing portion, and force-receiving portions extending parallel to the outer ends of the deformable portions; wherein, The pressure sensor is located in the deformed part.

5. The apparatus according to claim 4, characterized in that, The number of pressure sensors is two, and the two pressure sensors are respectively located at the deformable parts at both ends of the foot end fixing part.

6. The apparatus according to any one of claims 1 to 3, characterized in that, The elastic sheet is an elastic steel sheet.

7. The apparatus according to any one of claims 1 to 3, characterized in that, The pressure sensor is welded and fixed to the elastic sheet.

8. The apparatus according to any one of claims 1 to 3, characterized in that, The pressure sensor includes a piezoresistive pressure sensor, a piezoelectric sensor, or a strain gauge pressure sensor.

9. The apparatus according to claim 8, characterized in that, The piezoresistive pressure sensor has a single-bridge, half-bridge, or full-bridge Wheatstone bridge structure.

10. A robot foot, characterized in that, The robot foot pressure detection device according to any one of claims 1 to 9 is used.

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