The invention provides a mechanical leg foot, a leg foot type robot applying the mechanical leg foot and a ground contact detection method, and relates to the technical field of foot type robots. The mechanical leg comprises a supporting part used for being in transmission connection with the leg type robot, the end of the supporting part is rotationally connected with a ground contact part, a reset part is arranged between the ground contact part and the supporting part, and the reset part is used for resetting the rotating state between the supporting part and the ground contact part; a Hall sensing assembly is arranged at the rotating joint of the supporting part and the grounding part, and the Hall sensing assembly is used for converting the rotating amplitude of the supporting part and the grounding part into a first voltage signal; a pressure sensing assembly is arranged on the grounding part, and the pressure sensing assembly is used for converting the pressure degree borne by the grounding part into a second voltage signal. The ground contact state of the mechanical leg can be accurately measured, and the detection result is reliable.

    本发明提供了一种机械腿足及应用其的腿足式机器人及触地检测方法,涉及足式机器人的技术领域。机械腿足包括用于与腿足式机器人传动连接的支撑部,且所述支撑部的端部转动连接有触地部,所述触地部与所述支撑部之间设置有复位部,所述复位部用于对所述支撑部与所述触地部之间的转动状态进行复位;所述支撑部与所述触地部的转动连接处设置有霍尔传感组件,所述霍尔传感组件用于将所述支撑部与所述触地部的转动幅度转换为第一电压信号;所述触地部上设置有压力传感组件,所述压力传感组件用于将所述触地部承载的压力程度转换为第二电压信号。能够精确测机械腿足的触地状态,并且其检测结果可靠。


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    Titel :

    Mechanical leg and foot, leg and foot type robot applying mechanical leg and foot and ground contact detection method


    Weitere Titelangaben:

    机械腿足及应用其的腿足式机器人及触地检测方法


    Beteiligte:
    LIU GUOPING (Autor:in) / HAN YANGYANG (Autor:in) / LU ZHENYU (Autor:in) / ZHOU SHENGYUN (Autor:in) / CHEN ZEKANG (Autor:in)

    Erscheinungsdatum :

    2023-11-28


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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