The invention relates to the technical field of robots, and particularly discloses a foot type robot grounding sensing mechanism and a foot type robot. The foot type robot grounding induction mechanism comprises a thigh assembly, a fixing shaft, a sensing assembly and a shank assembly, and the fixing shaft is arranged on the thigh assembly and fixed relative to the thigh assembly; the sensing assembly is arranged on the mounting part of the fixed shaft and is used for sensing strain generated by the fixed shaft; the shank assembly is rotationally arranged on the fixing shaft and can make contact with the ground and support the thigh assembly through the fixing shaft. The fixing shaft is arranged on the thigh assembly, the shank assembly is rotationally arranged on the fixing shaft, the sensing assembly is arranged on the fixing shaft to sense deformation generated when the fixing shaft transmits the supporting force of the shank assembly, and the information serves as a basis for judging the ground touching condition of the shank assembly. The wire harness of the sensing assembly and the sensing assembly are fixed relative to the thigh assembly, relative movement of the wire harness and the knee joint does not exist, and the reliability and durability of the sensing mechanism are improved.

    本发明涉及机器人技术领域,具体公开了一种足式机器人触地感应机构及足式机器人,该足式机器人触地感应机构包括大腿组件、固定轴、感应组件和小腿组件,其中,固定轴设于大腿组件,且与大腿组件相对固定;感应组件设于固定轴的安装部,用于感应固定轴产生的应变;小腿组件转动设于固定轴,小腿组件能与地面接触并通过固定轴支撑大腿组件。本发明通过在大腿组件设置固定轴,将小腿组件转动设于固定轴,在固定轴设置感应组件以感应固定轴在传递小腿组件的支撑力时产生的形变,并通过此信息作为判断小腿组件的触地情况的依据。感应组件的线束及感应组件均相对于大腿组件固定不动,不存在线束与膝关节的相对运动,提高了感应机构的可靠性和耐久性。


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    Title :

    Foot type robot grounding sensing mechanism and foot type robot


    Additional title:

    一种足式机器人触地感应机构及足式机器人


    Contributors:
    TANG BIN (author) / GAN QUAN (author) / CHEN ZHENYU (author)

    Publication date :

    2021-08-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B62D MOTOR VEHICLES , Motorfahrzeuge



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