CN102288422A - Experimental device for leg part of robot and using method thereof - Google Patents
Experimental device for leg part of robot and using method thereof Download PDFInfo
- Publication number
- CN102288422A CN102288422A CN2011101198406A CN201110119840A CN102288422A CN 102288422 A CN102288422 A CN 102288422A CN 2011101198406 A CN2011101198406 A CN 2011101198406A CN 201110119840 A CN201110119840 A CN 201110119840A CN 102288422 A CN102288422 A CN 102288422A
- Authority
- CN
- China
- Prior art keywords
- robot
- base
- leg
- bearing
- robot leg
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 230000008878 coupling Effects 0.000 claims description 14
- 238000010168 coupling process Methods 0.000 claims description 14
- 238000005859 coupling reaction Methods 0.000 claims description 14
- 238000002474 experimental method Methods 0.000 abstract description 8
- 230000009191 jumping Effects 0.000 description 4
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 241000289581 Macropus sp. Species 0.000 description 1
- 241000287127 Passeridae Species 0.000 description 1
- 241000592274 Polypodium vulgare Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses an experimental device for a leg part of a robot and a using method thereof. The experimental device comprises a connecting shaft, a robot leg, a guard rail, a base, universal wheels, a vertical rod, a rotating sleeve, an upper flange, a long pipe, an upper bearing, a lower bearing and a lower flange; one end of the connecting shaft is connected with the upper part of the robot leg; the other end of the connecting shaft is connected with one embedded end of the long pipe; the other end of the long pipe is connected with the rotating sleeve; the rotating sleeve is connected onto the vertical rod; the upper end of the vertical rod is fixed with an inner ring of the upper bearing; an outer ring of the upper bearing is positioned at the inner side of the upper flange; the lower end of the vertical rod is connected with the base; the lower surface of the base is connected with an inner ring of the lower bearing; an outer ring of the lower bearing is fixed at the inner side of the lower flange; the upper surface of the base is provided with the guard rail; and the lower surface of the base is provided with the universal wheels. The experimental device for the leg part of the robot and the using method thereof are used for an experiment for the leg part of the robot; the robot leg cannot fall in an experiment process and is further interfered less by an external environment; the motion way of the robot leg can be walk or jump; and the device is particularly applicable to a hydraulically-driven robot.
Description
Technical field
The present invention relates to a kind of robot shank experimental provision and using method thereof.
Background technology
Single-leg jumping robot can adapt to the needs of different terrain, finishes various tasks for the people effectively.Single-leg jumping robot is a class bio-robot of biological motion modes such as simulation kangaroo, sparrow.Than wheeled, crawler type, creep or walking robot, single-leg jumping robot has stronger obstacle climbing ability and maneuverability and higher sport efficiency and speed.Has important use value such as space probation fields such as exploration, search and rescue and planetary detections.
In nature and human society, there are some mankind place that can't arrive and the special occasions that may jeopardize the human life, as planetary surface, disaster generation mine, take precautions against natural calamities rescue and struggle against terror etc., these hazardous environments are constantly explored and studied, seek the needs that a feasible way of dealing with problems becomes scientific technological advance and progress of human society.Topographic irregularity and rugged and rough be the common feature of these environment, thereby the application of wheeled robot and caterpillar type robot is restricted.In the past studies show that when wheeled move mode travels to have suitable advantage on the landform of relatively flat: movement velocity rapidly, steadily, structure and control are also simpler; But when travelling on uneven ground, energy consumption will increase greatly; And on soft terrain or serious rugged landform, the effect of wheel also will seriously be lost, and mobile efficient reduces greatly.In order to improve the adaptive faculty of wheel to soft terrain and uneven ground, the crawler type move mode arises at the historic moment, but the maneuverability of caterpillar type robot on uneven ground is still very poor, and when travelling, fuselage rocks seriously.Compare with wheeled, caterpillar mobile robot, on rugged road surface, walking robot has unique superior function, and under this background, the research of polypody walking robot is flourish.And the appearance of bionical walking robot demonstrates the advantage of walking robot more.
Single robot leg is divided into two joint or three joints usually, go up most a joint be fixed on the robot health or and other positions on, next joint contacts with ground.During motion, two adjacent joint legs shrink, and storage of potential energy releases energy then, and spring is advanced.Single robot leg when experiment, often since control algolithm also debugging can not be stable motion, fall down easily, therefore need auxiliary body to keep its stability.
In view of more and more widely to the research of shank robot, still there is not a kind of single leg testing machine on market, to come out at present, this money testing machine can provide the experimental situation of single leg or both legs robot, the walk experiment or the experiment of jumping.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of robot shank experimental provision and using method thereof are provided.
Robot shank experimental provision comprises coupling shaft, robot leg, guardrail, base, universal wheel, vertical bar, turning set, upper flange, long tube, head bearing, lower bearing and lower flange; Coupling shaft one end is connected with robot leg top, the coupling shaft other end is connected with embedding long tube one end, the long tube other end is connected with turning set, and turning set is connected on the vertical bar, and vertically the bar upper end is fixed with the head bearing inner ring, the head bearing outer ring is positioned at the upper flange inboard, vertically the bar lower end is connected with base, and base lower surface and lower bearing inner ring are fixed, and the lower flange inboard is fixed in the lower bearing outer ring, base upper surface is installed guardrail, and base lower surface is equipped with universal wheel.
Described turning set can rotate around the tie point that is positioned on the vertical bar in perpendicular.
The step of the using method of robot shank experimental provision is as follows:
1) earlier robot leg is installed on the coupling shaft;
2) people that starts the machine, robot leg moves around vertical bar, and long tube and base are along with the robot leg motion is that rotate at the center with vertical bar;
3) closing machine people, the robot leg stop motion..
The experiment of applied robot's shank of the present invention goes for single leg or many legs, has guaranteed that robot leg can not fall down in experimentation, and is subjected to extraneous lessly to the influence in path, and the mode of motion of robot leg can be walking, also can be spring.This device is particularly useful for hydraulically powered robot leg, and engine, hydraulic pump can be placed on the base, along with robot leg rotates together, thereby when having avoided motion, the problem that oil pipe can twine.
Description of drawings
Fig. 1 is the synoptic diagram of robot shank experimental provision;
Fig. 2 is the vertical bar of the present invention upper end fixed form cut-open view;
Fig. 3 is a base of the present invention lower end fixed form cut-open view;
Among the figure, coupling shaft 1, robot leg 2, guardrail 3, base 4, universal wheel 5, vertical bar 6, turning set 7, upper flange 8, long tube 9, head bearing 10, lower bearing 11, lower flange 12.
Embodiment
As shown in Figure 1, 2, 3, robot shank experimental provision comprises coupling shaft 1, robot leg 2, guardrail 3, base 4, universal wheel 5, vertical bar 6, turning set 7, upper flange 8, long tube 9, head bearing 10, lower bearing 11 and lower flange 12; Coupling shaft 1 one ends are connected with robot leg 2 tops, coupling shaft 1 other end is connected with embedding long tube 9 one ends, long tube 9 other ends are connected with turning set 7, and turning set 7 is connected on the vertical bar 6, and vertically bar 6 upper ends and head bearing 10 inner rings are fixed, head bearing 10 outer rings are positioned at upper flange 8 inboards, vertically bar 6 lower ends are connected with base 4, and base 4 lower surfaces and lower bearing 12 inner rings are fixed, and lower flange 12 inboards are fixed in lower bearing 11 outer rings, base 4 upper surfaces are installed guardrail 3, and base lower surface is equipped with universal wheel 5.
Described turning set 7 can rotate around the tie point that is positioned on the vertical bar 6 in perpendicular.
During the mounting robot leg, can be connected adopting bearing between robot leg 2 and the coupling shaft 1, like this, robot leg can obtain the degree of freedom of swing, and dirigibility is more excellent.
Fall for preventing robot leg 2 accidents; increase the security of experiment; the protection experiment equipment; can on robot leg 2, install safety rope additional; safety rope ties up on the robot leg 2 for one section, and one section fixedly on the upper flange 8, safety rope is in relaxed state at ordinary times; in case robot leg 2 is fallen, safety rope is tightened immediately.
The step of the using method of robot shank experimental provision is as follows:
1) earlier robot leg 2 is installed on the coupling shaft 1;
2) people that starts the machine, robot leg 2 moves around vertical bar, and long tube 9 and base 4 are along with robot leg 2 motions be the center rotation with vertical bar 6;
3) closing machine people, robot leg 2 stop motions.
Claims (3)
1. a robot shank experimental provision is characterized in that comprising coupling shaft (1), robot leg (2), guardrail (3), base (4), universal wheel (5), vertical bar (6), turning set (7), upper flange (8), long tube (9), head bearing (10), lower bearing (11) and lower flange (12); Coupling shaft (1) one end is connected with robot leg (2) top, coupling shaft (1) other end is connected with embedding long tube (9) one ends, long tube (9) other end is connected with turning set (7), turning set (7) is connected on the vertical bar (6), vertically bar (6) upper end is fixed with head bearing (10) inner ring, head bearing (10) outer ring is positioned at upper flange (8) inboard, vertically bar (6) lower end is connected with base (4), base (4) lower surface and lower bearing (12) inner ring are fixed, lower flange (12) inboard is fixed in lower bearing (11) outer ring, base (4) upper surface is installed guardrail (3), and base lower surface is equipped with universal wheel (5).
2. a kind of robot as claimed in claim 1 shank experimental provision is characterized in that described turning set (7) can rotate around the tie point that is positioned on the vertical bar (6) in perpendicular.
3. the using method of a robot as claimed in claim 1 shank experimental provision is characterized in that its step is as follows:
1) earlier robot leg (2) is installed on the coupling shaft (1);
2) people that starts the machine, robot leg (2) moves around vertical bar, and long tube (9) and base (4) are along with robot leg (2) motion be the center rotation with vertical bar (6);
3) closing machine people, robot leg (2) stop motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110119840 CN102288422B (en) | 2011-05-10 | 2011-05-10 | Experimental device for leg part of robot and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110119840 CN102288422B (en) | 2011-05-10 | 2011-05-10 | Experimental device for leg part of robot and using method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102288422A true CN102288422A (en) | 2011-12-21 |
| CN102288422B CN102288422B (en) | 2013-09-04 |
Family
ID=45335022
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110119840 Expired - Fee Related CN102288422B (en) | 2011-05-10 | 2011-05-10 | Experimental device for leg part of robot and using method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102288422B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556197A (en) * | 2011-12-29 | 2012-07-11 | 浙江大学 | Single leg experimental platform for multi-foot walking robot |
| CN104924289A (en) * | 2015-06-26 | 2015-09-23 | 常州展华机器人有限公司 | Side turning prevention robot base |
| CN106840724A (en) * | 2017-01-19 | 2017-06-13 | 浙江大学 | A kind of plane biped robot motion testing platform |
| CN110132557A (en) * | 2019-04-30 | 2019-08-16 | 西北工业大学 | A kind of bionic leg formula spring experimental provision |
| CN112297058A (en) * | 2020-10-21 | 2021-02-02 | 之江实验室 | A multipurpose test platform that is used for sufficient formula robot single leg of leg |
| CN116787491A (en) * | 2023-08-25 | 2023-09-22 | 北京理工大学 | Leg type robot single-leg jump test bed and test method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101216382A (en) * | 2008-01-08 | 2008-07-09 | 上海大学 | Posture-changing flying robot test bench |
| CN101776432A (en) * | 2010-02-05 | 2010-07-14 | 哈尔滨工业大学 | Robot gripper multi-functional test device |
| CN101865787A (en) * | 2010-05-31 | 2010-10-20 | 哈尔滨工程大学 | Performance detection stand of multifunctional walking aid rehabilitation robot |
| CN202057504U (en) * | 2011-05-10 | 2011-11-30 | 浙江大学 | Robot leg experimental apparatus |
-
2011
- 2011-05-10 CN CN 201110119840 patent/CN102288422B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101216382A (en) * | 2008-01-08 | 2008-07-09 | 上海大学 | Posture-changing flying robot test bench |
| CN101776432A (en) * | 2010-02-05 | 2010-07-14 | 哈尔滨工业大学 | Robot gripper multi-functional test device |
| CN101865787A (en) * | 2010-05-31 | 2010-10-20 | 哈尔滨工程大学 | Performance detection stand of multifunctional walking aid rehabilitation robot |
| CN202057504U (en) * | 2011-05-10 | 2011-11-30 | 浙江大学 | Robot leg experimental apparatus |
Non-Patent Citations (2)
| Title |
|---|
| 朱秋国: "仿人机器人结构设计与分析", 《浙江大学2011年度硕士学位论文》 * |
| 李民,章亚男等: "微小机器人的移动方式", 《光学精密工程》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556197A (en) * | 2011-12-29 | 2012-07-11 | 浙江大学 | Single leg experimental platform for multi-foot walking robot |
| CN102556197B (en) * | 2011-12-29 | 2013-07-24 | 浙江大学 | Single leg experimental platform for multi-foot walking robot |
| CN104924289A (en) * | 2015-06-26 | 2015-09-23 | 常州展华机器人有限公司 | Side turning prevention robot base |
| CN106840724A (en) * | 2017-01-19 | 2017-06-13 | 浙江大学 | A kind of plane biped robot motion testing platform |
| CN106840724B (en) * | 2017-01-19 | 2018-10-19 | 浙江大学 | A kind of plane biped robot motion testing platform |
| CN110132557A (en) * | 2019-04-30 | 2019-08-16 | 西北工业大学 | A kind of bionic leg formula spring experimental provision |
| CN112297058A (en) * | 2020-10-21 | 2021-02-02 | 之江实验室 | A multipurpose test platform that is used for sufficient formula robot single leg of leg |
| CN116787491A (en) * | 2023-08-25 | 2023-09-22 | 北京理工大学 | Leg type robot single-leg jump test bed and test method |
| CN116787491B (en) * | 2023-08-25 | 2023-11-14 | 北京理工大学 | Leg type robot single-leg jump test bed and test method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102288422B (en) | 2013-09-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102288422B (en) | Experimental device for leg part of robot and using method thereof | |
| CN105292298B (en) | It is a kind of to merge transport and three sections of body formula Hexapod Robots of operation function | |
| Liu et al. | Analysis of stairs-climbing ability for a tracked reconfigurable modular robot | |
| CN101279618B (en) | Crawler type multi-arm rod mobile robot | |
| CN106741284B (en) | A kind of Hexapod Robot and its method of work based on parallel institution | |
| CN108163080B (en) | Electrically driven quadruped robot capable of adapting to high load capacity of complex rugged terrain | |
| CN102107688B (en) | Dual-leg travelling mechanism with adjustable joint length | |
| CN109986579A (en) | Multi-mode moves imitative primate robot | |
| CN201140734Y (en) | Mobile robot with combined step-wheel-footstep | |
| CN102358361A (en) | Adaptive multi-road-condition caterpillar composite-driving biomimetic robot | |
| CN202243746U (en) | Self-adaptive crawler-arm compound driven biomimetic robot suitable for various road conditions | |
| CN107618582B (en) | The hybrid 4-wheel driven car of foot wheel crawler belt and its movement technique with dry adhesion and hook | |
| CN103569235A (en) | Five-joint robot imitating frog to jump | |
| CN101157372A (en) | A step wheel combined mobile robot | |
| CN203189034U (en) | Split type jetting manipulator | |
| CN202057504U (en) | Robot leg experimental apparatus | |
| CN114475831B (en) | Foot-type multi-mode bionic robot | |
| CN104058014B (en) | One partly takes turns legged type robot | |
| CN211308784U (en) | Four-foot wheeled robot | |
| CN210761041U (en) | Telescopic six sufficient gas detection robot | |
| CN104691642B (en) | A kind of leggy connecting rod actuation | |
| CN102030049B (en) | Lizard-shaped four-foot robot | |
| CN205524557U (en) | Combination wheel actuating mechanism | |
| CN212125335U (en) | Leg structure of bionic polypod mechanical insect | |
| CN204827518U (en) | Travelling wheel structure in lifesaving storehouse by oneself follows in colliery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20111221 Assignee: HANGZHOU NANJIANG ROBOTICS Co.,Ltd. Assignor: Zhejiang University Contract record no.: 2015330000100 Denomination of invention: Experimental device for leg part of robot and using method thereof Granted publication date: 20130904 License type: Exclusive License Record date: 20150508 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130904 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |