CN106625768A - Walking robot learning platform - Google Patents

Abstract

The invention discloses a walking robot learning platform which comprises a treadmill and a support frame, wherein a robot follow-up lifting mechanism is arranged on the support frame; the robot follow-up lifting mechanism comprises a robot lifting bracket and a follow-up driving mechanism for driving the robot lifting bracket to move in two mutually perpendicular directions; the robot lifting bracket comprises a lifting plate; a rotation shaft rotatably matched with the lifting plate is arranged on the lifting plate; a rotating part synchronously rotating with the rotating shaft is arranged at a lower end of the rotating shaft; at least one traction mechanism is mounted on the rotating part; the traction mechanism comprises a traction rope tied on a walking robot to prevent the walking robot from falling down and a traction motor for taking up and paying off the traction rope; a rotation motor for driving the rotating part to rotate is arranged on the lifting plate. The walking robot learning platform provided by the invention can not only meet technical purpose of walking robot on walking learning, but also effectively prevent the walking robot from being damaged in walking learning process, and further prevent a threat to personal safety of research and development and testing personnel.

Description

Walking robot learning platform

technical field

The invention relates to a robot auxiliary device, in particular to a walking robot learning platform.

Background technique

At present, most robots in the world walk by imitating human walking. In order to realize the smooth and fast walking of these walking robots, it is necessary to have a built-in control program for controlling the walking mode of the walking robot. However, there are various models and types of walking robots, and their control programs are also different. Due to the current lack of an auxiliary platform dedicated to testing whether the walking robot matches its control program, the walking robot often falls due to defects in its own control program during the walking test process, which will not only cause damage to the walking robot itself, but also cause the R&D and testing personnel to overturn. potential threat to personal safety.

Contents of the invention

In view of this, the purpose of the present invention is to provide a walking robot learning platform, which can not only meet the technical purpose of the walking robot walking learning, but also can effectively avoid the walking robot from being damaged during the walking learning process, and will not cause damage to the research and development test personnel. Threat to personal safety.

To achieve the above object, the present invention provides the following technical solutions:

A walking robot learning platform, comprising a treadmill located below and a support frame located above the treadmill, the support frame is provided with a robot following hoisting mechanism;

The following lifting mechanism of the robot includes a robot hanger and a follower driving mechanism for driving the robot hanger to move along two directions perpendicular to each other; the robot hanger includes a hanging plate, and the hanging plate is in rotation with it There is a rotating shaft, the lower end of the rotating shaft is provided with a rotating part that rotates synchronously with it, and at least one traction mechanism is installed on the rotating part, and the traction mechanism includes a traction rope for being tied to the walking robot to prevent the walking robot from falling and a traction motor for retracting the traction rope, and a rotating motor for driving the rotating member to rotate on the suspension plate.

Further, the following drive mechanism includes two longitudinal slide rails arranged on the support frame and parallel to each other, a horizontal slide rail perpendicular to it is arranged between the two longitudinal slide rails, and the horizontal slide rails are connected to the two vertical slide rails respectively. The longitudinal rails are a sliding fit.

Further, the hanging plate is slidingly fitted on the transverse slide rail.

Further, the support frame is provided with a longitudinal drive mechanism for driving the horizontal slide rail to slide along the longitudinal slide rail, and the horizontal slide rail is provided with a vertical drive mechanism for driving the robot hanger to slide along the horizontal slide rail. the lateral drive mechanism.

Further, the longitudinal drive mechanism includes longitudinal pulleys respectively arranged at both ends of one of the longitudinal slide rails, a longitudinal belt is sleeved between the two longitudinal pulleys, and the transverse slide rail is connected to the longitudinal pulley. The belt is fixedly connected, and the support frame is provided with a longitudinal drive motor for driving the movement of the longitudinal belt.

Further, the transverse drive mechanism includes transverse pulleys respectively arranged at both ends of the transverse slide rail, a transverse belt is set between the two transverse pulleys, the suspension plate is fixedly connected to the transverse belt, and A transverse drive motor for driving the transverse belt is provided on the transverse slide rail.

Further, the longitudinal drive mechanism includes a longitudinal rodless cylinder arranged parallel to the longitudinal slide rail and used to drive the transverse slide rail to move along the longitudinal slide rail; A transverse rodless cylinder is provided and used to drive the robot hanger to move along the transverse slide rail.

Further, it also includes a follow-up control system, the follow-up control system includes a controller, a follow-up control circuit for controlling the action of the follow-up drive mechanism, a traction control circuit for controlling the action of the traction motor, and a control circuit for controlling the rotation The rotation control circuit of the motor action and the camera installed on the rotating part and collecting the position information and walking state information of the walking robot in real time, the controller is connected with the camera, the following control circuit, the traction control circuit and the rotation control circuit respectively. The circuits are electrically connected, and the controller receives the position information of the walking robot collected by the camera, and sends control instructions to the following control circuit, traction control circuit and rotation control circuit.

The beneficial effects of the present invention are:

The walking robot learning platform of the present invention is provided with a treadmill and a support frame above the treadmill, and the robot is set on the support frame to follow the hoisting mechanism, so that the walking robot can carry out walking learning on the treadmill, and the traction rope is tied to the walking robot. Above, under normal circumstances, the traction rope is in a state of relaxation and no force. When the walking robot falls, the traction motor starts to control the traction rope to lift the walking robot, preventing it from directly colliding with the treadmill or the ground, and avoiding damage to the walking robot. And it can prevent the walking robot from falling and hurting the operator; after the walking robot is lifted by the traction rope, the following driving mechanism is used to transport the walking robot to the initial position to continue walking and learning. It has the advantages of simple structure, small use space and convenient operation.

By setting up the following control system, the technical purpose of following the position of the walking robot in real time can be achieved, that is, the camera collects the position information and walking state information of the walking robot in real time, and when the walking robot is in the normal walking learning state, the following driving mechanism is controlled to make the robot hanger Always be directly above the walking robot; when the walking robot falls and other emergencies, control the rotation motor and traction motor to lift the walking robot and place the walking robot on the set initial position of the treadmill to continue walking and learning, realizing automatic control technical purpose.

Description of drawings

In order to make the purpose, technical scheme and beneficial effect of the present invention clearer, the present invention provides the following drawings for illustration:

Fig. 1 is the structural representation of walking robot learning platform embodiment of the present invention;

Fig. 2 is the axonometric view of the walking robot learning platform of the present embodiment;

Fig. 3 is a schematic diagram of the structure of the robot hanger.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

As shown in FIG. 1 , it is a schematic structural diagram of an embodiment of a walking robot learning platform of the present invention. The walking robot learning platform of this embodiment includes a treadmill 1 located below and a support frame 2 located above the treadmill 1, and the support frame 2 is provided with a robot following and lifting mechanism. The robot following and lifting mechanism in this embodiment includes a robot hanger and a follow driving mechanism for driving the robot hanger to move in two directions perpendicular to each other. The robot hanger of the present embodiment comprises a hanging plate 3, and the hanging plate 3 is provided with a rotating shaft 4 in cooperation with its rotation, and the lower end of the rotating shaft 4 is provided with a rotating part 5 which rotates synchronously with it, and at least one traction mechanism is installed on the rotating part 5, The traction mechanism includes a traction rope for being tied to the walking robot to prevent the walking robot from falling and a traction motor 6 for retracting the traction rope. The hanging plate 3 is provided with a rotating motor 7 for driving the rotating part 5 to rotate. The rotary motor 7 and the rotating shaft 4 are connected by a belt transmission mechanism. There are two traction mechanisms in this embodiment and they are respectively located on both sides of the rotating member 5 .

The walking robot learning platform of the present embodiment is provided with a treadmill 1 and a support frame 2 above the treadmill 1, and a robot is set on the support frame 2 to follow the hoisting mechanism, so that the walking robot can carry out walking learning on the treadmill 1 , the traction rope is tied to the walking robot. Under normal circumstances, the traction rope is in a slack and unstressed state. When the walking robot falls down, the traction motor 6 starts to control the traction rope to lift the walking robot to prevent it from contacting the treadmill 1 or the ground. Direct collision avoids damage to the walking robot, and can prevent the walking robot from falling and hurting the operator; after the traction rope lifts the walking robot, it uses the following drive mechanism to transport the walking robot to the initial position to continue walking and learning. It has a simple structure and a small use area and the advantages of easy operation.

Further, the following driving mechanism of the present embodiment includes two longitudinal slide rails 8 arranged on the support frame 2 and parallel to each other, and a horizontal slide rail 9 perpendicular to it is arranged between the two longitudinal slide rails 8, and the horizontal slide rails 9 are respectively Slidingly cooperate with two vertical slide rails 8. Both the longitudinal slide rail 8 and the transverse slide rail 9 in this embodiment are located in the horizontal direction. Suspension plate 3 is slidingly fitted and installed on the transverse slide rail 9 . And the support frame 3 is provided with a longitudinal drive mechanism for driving the transverse slide rail 9 to slide along the longitudinal slide rail 8 , and the transverse slide rail 9 is provided with a transverse drive mechanism for driving the robot hanger to slide along the transverse slide rail 9 .

The longitudinal drive mechanism of this embodiment includes longitudinal pulleys 10 respectively arranged at both ends of one of the longitudinal slide rails 8, and a longitudinal belt 11 is set between the two longitudinal pulleys 10, and the transverse slide rail 9 is fixed to the longitudinal belt 11. Connected, the support frame 3 is provided with a longitudinal drive motor 12 for driving the longitudinal belt 11 to move. The transverse driving mechanism of the present embodiment includes transverse pulleys 13 respectively arranged at the two ends of the transverse slide rail 9, and a transverse belt 14 is set between the two transverse pulleys 13. The hanging plate 3 is fixedly connected with the transverse belt 14, and the transverse slide A transverse drive motor for driving the transverse belt 14 to move is provided on the rail 9 . Of course, the longitudinal drive mechanism and the transverse drive mechanism can also adopt other modes, such as the longitudinal drive mechanism includes a vertical rodless cylinder that is arranged in parallel with the longitudinal slide rail and is used to drive the transverse slide rail to move along the longitudinal slide rail; The horizontal rodless cylinder that is arranged parallel to the rails and is used to drive the robot hanger to move along the horizontal slide rails can also meet the requirements for use.

Further, the walking robot learning platform of the present embodiment also includes a following control system, and the following control system includes a controller, a following control circuit for controlling the action of the following drive mechanism, a traction control circuit for controlling the action of the traction motor 6, and a control circuit for controlling The rotation control circuit of the rotation motor 7 action and the camera 15 that is arranged on the rotating part 5 and collects the position information and the walking state information of the walking robot in real time, the controller is connected with the camera 15, the following control circuit electricity, the traction control circuit and the rotation control circuit respectively Electrically connected, and the controller receives the position information of the walking robot collected by the camera, and sends control instructions to the following control circuit, the traction control circuit and the rotation control circuit. By setting up the following control system, the technical purpose of following the position of the walking robot in real time can be achieved, that is, the camera collects the position information and walking state information of the walking robot in real time, and when the walking robot is in the normal walking learning state, the following driving mechanism is controlled to make the robot hanger Always be directly above the walking robot; when the walking robot falls and other emergencies, control the rotation motor and traction motor to lift the walking robot and place the walking robot on the set initial position of the treadmill to continue walking and learning, realizing automatic control technical purpose.

The above-mentioned embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or transformations made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention. The protection scope of the present invention shall be determined by the claims.

Claims (8)

1. a kind of walking robot learning platform, it is characterised in that：Including underlying treadmill and positioned at the treadmill The bracing frame of top, support frame as described above is provided with robot and follows hoisting mechanism；

The robot follows hoisting mechanism to include robot hanger and for driving the robot hanger along being mutually perpendicular to Both direction motion follow drive mechanism；The robot hanger includes boatswain chair, rotates cooperation on the boatswain chair and sets There is rotating shaft, the lower end of the rotating shaft is provided with the revolving part of synchronous rotation, installation on the revolving part is provided with least one and leads Draw mechanism, the haulage gear is included for fastening the pull rope that prevents walking robot from falling on walking robot and for receiving The traction electric machine of the pull rope is put, the boatswain chair is provided with the electric rotating machine for driving the revolving part rotation.

2. walking robot learning platform according to claim 1, it is characterised in that：It is described to follow drive mechanism to include setting Two longitudinal slide rails put on bracing frame and be parallel to each other, are provided with perpendicular horizontal cunning between two longitudinal slide rails Rail, the horizontal slide rail is slidably matched respectively with two longitudinal slide rails.

3. walking robot learning platform according to claim 2, it is characterised in that：The boatswain chair is slidably installed In the horizontal slide rail.

4. walking robot learning platform according to claim 3, it is characterised in that：Support frame as described above is provided with for driving The longitudinal driving mechanism that the horizontal slide rail is slided along the longitudinal slide rail is moved, the horizontal slide rail is provided with described for driving The transversal driving mechanism that robot hanger is slided along the horizontal slide rail.

5. walking robot learning platform according to claim 4, it is characterised in that：The longitudinal driving mechanism includes dividing Longitudinal belt wheel at the longitudinal slide rail two ends is not disposed therein, set is equiped with longitudinal skin between two longitudinal belt wheels Band, and the horizontal slide rail is fixedly connected with the longitudinal belt, support frame as described above is provided with for driving the longitudinal belt The vertical drive motor of motion.

6. walking robot learning platform according to claim 5, it is characterised in that：The transversal driving mechanism includes dividing The horizontal belt wheel at the horizontal slide rail two ends is not arranged on, set is equiped with horizontal belt between two horizontal belt wheels, described Boatswain chair is fixedly connected with the horizontal belt, and the horizontal slide rail is provided with for driving the horizontal of the horizontal belt movement Motor.

7. walking robot learning platform according to claim 4, it is characterised in that：The longitudinal driving mechanism include with The longitudinal slide rail be arranged in parallel and the longitudinal Rodless cylinder for driving the horizontal slide rail to move along the longitudinal slide rail；Institute Stating transversal driving mechanism includes be arrangeding in parallel with the horizontal slide rail and for driving the robot hanger along the horizontal cunning The horizontal Rodless cylinder of rail movement.

8. the walking robot learning platform according to any one of claim 1-7, it is characterised in that：Also include model- following control System, the following control system includes controller, for controlling described follow the model- following control circuit of drive mechanism action, use In control the traction control circuit of traction electric machine action, the rotation control circuit for controlling the electric rotating machine action and Be arranged on the revolving part and with Real-time Collection walking robot positional information and the camera of walking states information, the control Device processed is electrically connected respectively with the camera, model- following control circuit electricity, traction control circuit and rotation control circuit, and the control Device processed receives the walking robot positional information from camera collection and to the model- following control circuit, traction control Circuit and rotation control circuit send control instruction.