The invention provides a foot contact type sensing device for a foot type robot, which comprises a left supporting leg and a right supporting leg which are arranged in mirror symmetry, the left supporting leg and the right supporting leg are respectively provided with a supporting piece, and a supporting shell sleeved on the outer ring of the foot end is arranged between the right supporting leg and the right supporting leg. Elastic elements are arranged between the inner wall of the foot end outer ring supporting shell and the outer walls of the two supporting pieces, a partition plate is arranged in the foot end outer ring supporting shell, an infrared transmitting tube and an infrared receiving tube are arranged on the two sides of the partition plate respectively, and whether the footend of the foot type robot makes contact or not is judged according to whether the infrared receiving tube receives the infrared transmitting tube or not. The sensing device has the advantages of being simple in structure, high in sensitivity, short in response time, reliable in function, stable in performance, long in service life, wide in sensing measurement range, capable of accurately measuring contact information of the foot end of the foot-type robot and suitable for complex and rugged terrains.

    本发明提供了一种用于足式机器人的脚接触式传感装置,其包括镜像对称设置的左支撑腿和右支撑腿,左支撑腿和右支撑腿均设置有支撑件,右支撑腿和右支撑腿之间设置有套设于足端外圈支撑壳,足端外圈支撑壳内壁和两个支撑件外壁之间设置有弹性元件,足端外圈支撑壳内部设置有隔板,隔板的两侧分别设置有红外线发射管和红外线接收管,通过红外线接收管是否接收到红外线发射管,判断足式机器人脚端是否接触;本发明具有结构简单、灵敏度高、响应时间短、功能可靠、性能稳定、使用寿命长等优点,同时感应测量范围广,可以精确测出足式机器人脚端的接触信息,适用于复杂崎岖的地形。


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    Title :

    Foot contact type sensing device for foot type robot


    Additional title:

    一种用于足式机器人的脚接触式传感装置


    Contributors:
    ZHANG XIANYU (author) / XIE BINGXIN (author) / ZHAO JUN (author) / HOU JING (author) / WANG XIAOGANG (author) / DONG YUAN (author) / ZHAO HAIHONG (author) / YANG ZHONGFAN (author)

    Publication date :

    2021-02-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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