Walking Robot Foot Structure with Air Buffer and Pressure Sensor
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Solution Overview
Problem
The durability of pressure sensors in walking robots is compromised due to external impacts, and pressure differences between internal and external pressures lead to inconsistent performance.
Innovation Solution
A foot structure for walking robots incorporating a buffer unit with a vacant space filled with air, a pressure sensor to detect pressure changes, and a pneumatic pressure adjustment system using valves to maintain atmospheric pressure, thereby protecting the sensor from external impacts and ensuring consistent performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the pressure sensor is directly exposed in the foot structure, then the pressure sensor can detect ground contact, but the pressure sensor is subjected to external impact causing deterioration in durability
Solution Approach 1:
The patent introduces air as an intermediary medium between the external environment and the pressure sensor. The pressure sensor detects pressure changes of air in the vacant space rather than directly sensing ground contact, which isolates the sensor from external impacts while maintaining detection capability
Solution Approach 2:
The patent divides the foot structure into separate functional zones: a vacant space for air cushioning, tubes for air flow control, and a protected region for the pressure sensor. This segmentation allows the sensor to be physically isolated from impact zones while maintaining system functionality
2Measurement precision
If there is a pressure difference between internal pressure and external pressure of the foot structure, then the pressure sensor detects pressure changes, but the performance becomes inconsistent due to different numerical values
Solution Approach 1:
The patent uses pneumatic principles by introducing air into the vacant space and using tubes with valves to control air flow. This equalizes internal and external pressure, eliminating pressure differences that caused inconsistent sensor readings while maintaining accurate pressure detection capability
Solution Approach 2:
The patent dynamically adjusts the internal pressure parameter by controlling air flow through the tubes and valves. By changing the pressure parameter to match external conditions, the system ensures consistent sensor performance across varying environmental conditions
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution effectively protects the pressure sensor from external impacts and quickly adjusts to pressure differences, ensuring constant performance and improved durability of the sensor.
Implementation Method 1
a buffer unit coupled to one end portion of the link and having a vacant space formed therein
Implementation Method 2
impact is applied to the foot structure and the pressure sensor during a process in which the foot structure comes into contact with the ground surface
Implementation Method 3
a pressure sensor provided in the link and configured to detect a change in pressure of air in the vacant space in the buffer unit
Implementation Method 4
when there is a pressure difference between an internal pressure and an external pressure of the foot structure, the pressure sensor detects a change in pressure with different numerical values
Data Source
AI summary
One aspect of the present disclosure provides a foot structure for a walking robot including a link configured to define a body, a buffer unit coupled to one end portion of the link and having a vacant space formed therein, and a pressure sensor provided in the link and configured to detect a change in pressure of air in the vacant space in the buffer unit.