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CN-115610549-B - Pressure detection structure, leg and foot assembly and robot

CN115610549BCN 115610549 BCN115610549 BCN 115610549BCN-115610549-B

Abstract

The application discloses a pressure detection structure, a leg and foot assembly and a robot. The bottom pressure detection structure comprises a foot underframe and a sensing piece, wherein a deformation groove which is communicated with the accommodation cavity and is arranged in a deformation part of the foot underframe, the deformation groove can deform when the deformation part is in contact with the ground, the sensing piece arranged in the accommodation cavity corresponds to the deformation groove, and the sensing piece is configured to be capable of sensing the deformation of the deformation groove and generate a sensing signal. The deformation of the deformation groove can be detected pertinently and the sensing signal is generated by arranging the sensing piece, the deformation condition of the deformation groove is used as the judgment basis of the stress condition of the pressure detection structure, and the sensitivity of acquiring the stress condition of the pressure detection structure is improved. In addition, the deformation condition of the deformation groove in the deformation part is directly sensed through the sensing piece, so that the stress condition of the pressure detection structure can be obtained, and the whole structure is simple.

Inventors

  • An zhongyu
  • WANG WEIXIANG

Assignees

  • OPPO广东移动通信有限公司

Dates

Publication Date
20260512
Application Date
20210713

Claims (9)

  1. 1. A pressure detection structure, characterized by comprising: The foot underframe comprises a deformation part used for being in contact with the ground and a support part connected with the deformation part, wherein the deformation part comprises a deformation main body and a mounting element, the deformation main body comprises a deformation section and a buffer section, the deformation section and the support part are surrounded to form a containing cavity, the buffer section is arranged on the periphery of the deformation section and has elasticity, the mounting element of the deformation part is provided with a deformation groove communicated with the containing cavity, the mounting element is arranged on the deformation main body and used for forming the wall surface of the containing cavity and can deform along with the deformation main body, the deformation part can deform into the containing cavity when the foot underframe is in contact with the ground and deform the deformation groove, the deformation section, the mounting element and the support part are integrally formed by adopting the same material, the arrangement direction of the support part and the deformation part is taken as a first direction, the deformation groove penetrates through two sides opposite to the mounting element along a second direction intersecting with the first direction, the containing cavity is used for forming the wall surface of the containing cavity along the second direction, the deformation part can deform into the containing cavity along with the second direction, and the deformation main body can deform along the second direction, and the deformation main body is deformed along the second direction along the width and the deformation direction is smaller than the deformation main body along the second direction The sensing piece is arranged on the mounting element corresponding to the deformation groove and is configured to sense the deformation of the deformation groove and generate a sensing signal.
  2. 2. The pressure detecting structure according to claim 1, further comprising a base portion located in the accommodating cavity and straddling the deformation groove, wherein two ends of the base portion are connected to the deformation portion so as to drive the base portion to deform when the deformation portion deforms, and the sensing member is mounted on the base portion and is configured to generate the sensing signal by sensing the deformation of the base portion.
  3. 3. The pressure detecting structure according to claim 2, wherein the deformation portion has two mounting grooves, the two mounting grooves are respectively located at both ends of the deformation groove and are both communicated to the deformation groove, both ends of the base portion are respectively located at the two mounting grooves, a middle portion of the base portion corresponds to the deformation groove, and the sensing member is mounted at the middle portion of the base portion.
  4. 4. The pressure detecting structure according to claim 2, wherein the base portion is a flexible circuit board electrically connected to the sensing member for transmitting the sensing signal.
  5. 5. The pressure detecting structure according to claim 1 or 4, wherein the supporting portion has a transmission channel communicating with the accommodating chamber, and further comprising a signal transmission portion penetrating the transmission channel and electrically connected to the sensing member to transmit the sensing signal to a control system.
  6. 6. The pressure sensing structure of claim 1, further comprising a protector disposed within the receiving chamber and covering the periphery of the sensing member.
  7. 7. The pressure detecting structure according to claim 6, wherein the protector includes a first protector portion having elasticity, a second protector portion and a third protector portion connecting the first protector portion and the second protector portion, the first protector portion and the second protector portion encapsulating opposite ends of the deformation groove in the second direction and being mounted to the mounting member, the third protector portion covering the sensing member and the deformation groove and being mounted to the mounting member.
  8. 8. A leg and foot assembly, comprising: mounting arm The pressure detecting structure according to any one of the preceding claims 1 to 7, wherein the support portion is connected to an end portion of the mounting arm.
  9. 9. A robot comprising a robot body, a robot body and a robot body, characterized by comprising the following steps: fuselage of the aircraft A leg and foot assembly according to claim 8 wherein the number of leg and foot assemblies is plural, the mounting arms of the plurality of leg and foot assemblies each being connected to the fuselage.

Description

Pressure detection structure, leg and foot assembly and robot Technical Field The application relates to the technical field of robots, in particular to a pressure detection structure, a leg and foot assembly and a robot. Background The foot robot has higher bottom surface adaptability, and the foot robot is in order to guarantee to adapt to various different ground environments better in the walking process, and is particularly important to the detection of the atress condition of leg foot, installs the detection structure in the leg foot in the correlation technique and can be used to monitor the atress condition of leg foot. The contact position of leg foot and ground is in the plantar, needs the atress condition of important monitoring plantar, and plantar and foot formula robot's fuselage have certain distance, consequently are difficult to set up the atress condition that detection structure sensitively detected plantar. Disclosure of Invention The embodiment of the application provides a pressure detection structure, a leg and foot assembly and a robot, which can simplify the pressure detection structure and improve the sensitivity of the pressure detection structure in sensing stress conditions. In a first aspect, embodiments of the present application provide a pressure sensing structure comprising a foot chassis and a sensing element. The foot underframe comprises a deformation part used for being in contact with the ground and a support part connected with the deformation part, wherein an accommodating cavity is formed between the deformation part and the support part, the deformation part is provided with a deformation groove communicated with the accommodating cavity, the deformation part can deform in the accommodating cavity when the foot underframe is in contact with the ground, the deformation groove is deformed, a sensing piece is arranged on the deformation part corresponding to the deformation groove, and the sensing piece is configured to sense deformation of the deformation groove and generate a sensing signal. According to the pressure detection structure provided by the embodiment of the application, the shape of the accommodating cavity and the shape of the deformation groove can be controlled to regulate and control the deformation amount of the deformation part by arranging the accommodating cavity and the deformation groove communicated with the accommodating cavity in the deformation part. The deformation part and the ground contact can deform, the deformation groove can deform, the sensing piece can pertinently detect the deformation of the deformation groove and generate a sensing signal, the deformation condition of the deformation groove is used as the judgment basis of the stress condition of the pressure detection structure, and the sensitivity of acquiring the stress condition of the pressure detection structure is improved. In addition, the deformation condition of the deformation groove in the deformation part is directly sensed through the sensing piece, so that the stress condition of the pressure detection structure can be obtained, and the whole structure is simple. In a second aspect, the leg and foot assembly provided by the embodiment of the application comprises a mounting arm and the pressure detection structure, wherein the support part is connected to the end part of the mounting arm. According to the leg and foot assembly provided by the embodiment of the application, the pressure detection structure is arranged at the end part of the mounting arm, so that the stress condition of the leg and foot assembly can be sensitively obtained through the pressure detection structure. On the basis of simple pressure detection structure, the leg and foot assembly is simple in structure and convenient to lightweight design. In a third aspect, the robot provided by the embodiment of the application includes a body and the leg assemblies as described above, the number of the leg assemblies is plural, and the mounting arms of the leg assemblies are movably connected to the body. According to the robot provided by the embodiment of the application, the leg-foot assembly is arranged on the body of the robot, so that the stress condition of the sole of the robot in the running process can be sensitively obtained through the pressure detection structure arranged at the end part of the leg-foot assembly, and the lightweight design of the robot is facilitated. Drawings In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are necessary for the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application and that other drawings may be obtained from them without inventive effort for a person skilled in the art. FIG. 1 is a schematic perspective view of a pressure detecting structure