CN106625778B - Motion control test platform and test method for foot-type bionic robot - Google Patents
Motion control test platform and test method for foot-type bionic robot Download PDFInfo
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- CN106625778B CN106625778B CN201710039866.7A CN201710039866A CN106625778B CN 106625778 B CN106625778 B CN 106625778B CN 201710039866 A CN201710039866 A CN 201710039866A CN 106625778 B CN106625778 B CN 106625778B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses a motion control test platform and a motion control test method for a foot-type bionic robot, wherein the motion control test platform comprises a ramp road surface simulation platform, a support protection mechanism and a base table; the ramp road surface simulation platform and the supporting protection mechanism are arranged on the base table; the ramp road surface simulation platform comprises square columns, air cylinders, motors, driving belts and rollers; a plurality of roller columns are vertically arranged between the two parallel square columns, the roller columns are mutually parallel, motors are arranged on the roller columns at the two end positions of the square columns, and the motors are arranged at the end heads of the roller columns; a plurality of cylinders are arranged below the two square columns; the outer sides of the roller columns are wrapped with driving belts which can circularly rotate on the outer sides of the roller columns; according to the outdoor exercise test of the test platform simulation robot, the test platform simulates an external gradient road surface, the robot can change the movement speed according to the running of the rotating belt on the ramp road surface simulation platform, the exercise performance test is realized, and the time and the cost are saved.
Description
Technical Field
The invention belongs to the technical field of intelligent robot testing, and particularly relates to a motion control testing platform and a motion control testing method for a foot-type bionic robot.
Background
In recent years, with the continuous progress of related subjects such as robots, machinery, electronics, computers, artificial intelligence, sensing and detection, research and development of high-performance foot-type bionic robots which carry effective loads in complex terrain environments where existing vehicles are difficult to reach and autonomously complete long-distance transportation tasks are becoming a hotspot in the robot field. However, the robot is inconvenient to perform the exercise performance test in the outdoor complex environment, and when the robot performs the exercise performance test in the outdoor complex environment, the robot needs to perform the test repeatedly, so that the test period is long, and huge manpower, material resources and financial resources are consumed. And is also affected by weather, as well as other factors. Therefore, the motion control test platform of the foot-type bionic robot is built indoors and has important application value for the test model. The test platform tests the motion performance and stability performance of the robot in real time, feeds back the motion characteristics of the whole system under the dynamic condition through devices such as a sensor, perfects the motion control and mechanical parts of the robot, and prepares for the real independent walking of the foot-type robot. The test bed mainly aims at the problem of robot motion control test, implements the concept of short research and development period and resource conservation of modern society products, and builds a foot-type bionic robot motion control test platform.
Disclosure of Invention
The invention aims to provide a motion control test platform and a motion control test method for a foot-type bionic robot, which are used for solving the problems that in the prior art, the experiment period is long, huge manpower, material resources and financial resources are consumed due to the lack of a dynamic response performance test platform for an indoor robot, and meanwhile, the problems are easily influenced by weather and other factors.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a motion control test platform of a foot-type bionic robot comprises a ramp pavement simulation platform, a support protection mechanism and a base table; the ramp road surface simulation platform and the supporting protection mechanism are arranged on the base table;
the ramp road surface simulation platform comprises square columns, air cylinders, motors, driving belts and rollers; a plurality of roller columns are vertically arranged between the two parallel square columns, the roller columns are mutually parallel, motors are arranged on the roller columns at the two end positions of the square columns, and the motors are arranged at the end heads of the roller columns; a plurality of cylinders are arranged below the two square columns; the outer sides of the roller columns are wrapped with driving belts which can circularly rotate on the outer sides of the roller columns;
the supporting protection mechanism comprises a supporting column, a guide rail, a supporting rod and a clamping mechanism; the four support columns are respectively and vertically arranged on four corners of the upper surface of the base table; the number of the guide rails is 2, the guide rails are fixedly arranged between the top ends of the two support columns, and the two guide rails are parallel to each other; the support rod is vertically arranged between the two guide rails and can move along the guide rail direction; the clamping mechanism is arranged on the supporting rod.
Further, a test robot is arranged on the ramp pavement simulation platform; the test robot comprises mechanical legs and a machine body, wherein a plurality of mechanical legs are arranged around the machine body; the tail end of the mechanical leg of the test robot is provided with a force sensor; a speed sensor is arranged at the joint of the mechanical leg of the test robot and the tail end of the mechanical leg; the body of the test robot is provided with an attitude sensor; and a displacement sensor is arranged on the cylinder of the ramp road surface simulation platform.
Further, the clamping mechanism comprises a movable ring, a flexible rope, a clamping cross rod, a clamping longitudinal rod and a sliding block; the support rod is sleeved with a moving ring, and the moving ring can move on the support rod; the movable ring is connected with the clamping cross rod through a flexible rope, a sliding groove is formed in the lower surface of the clamping cross rod, two clamping longitudinal rods are arranged in the sliding groove, a sliding block guide rail is formed in the opposite two surfaces of the two clamping longitudinal rods, and a sliding block is arranged in the sliding block guide rail; the bottom ends of the two clamping longitudinal rods are provided with slide block bars, and the slide block bars can block the slide blocks.
Further, both ends of the supporting rod are provided with rollers; the lower surface of the base table is provided with a plurality of support legs.
Further, the cylinder is connected with a pneumatic pump station.
Further, the test method based on the foot-type bionic robot motion control test platform comprises a ramp road surface simulation platform, a support protection mechanism and a bottom table; the ramp road surface simulation platform and the supporting protection mechanism are arranged on the base table;
the ramp road surface simulation platform comprises square columns, air cylinders, motors, driving belts and rollers; a plurality of roller columns are vertically arranged between the two parallel square columns, the roller columns are mutually parallel, motors are arranged on the roller columns at the two end positions of the square columns, and the motors are arranged at the end heads of the roller columns; a plurality of cylinders are arranged below the two square columns; the outer sides of the roller columns are wrapped with driving belts which can circularly rotate on the outer sides of the roller columns;
the supporting protection mechanism comprises a supporting column, a guide rail, a supporting rod and a clamping mechanism; the four support columns are respectively and vertically arranged on four corners of the upper surface of the base table; the number of the guide rails is 2, the guide rails are fixedly arranged between the top ends of the two support columns, and the two guide rails are parallel to each other; the support rod is vertically arranged between the two guide rails and can move along the guide rail direction; the clamping mechanism is arranged on the supporting rod.
A test robot is arranged on the ramp pavement simulation platform; the test robot comprises mechanical legs and a machine body, wherein a plurality of mechanical legs are arranged around the machine body; the tail end of the mechanical leg of the test robot is provided with a force sensor; a speed sensor is arranged at the joint of the mechanical leg of the test robot and the tail end of the mechanical leg; the body of the test robot is provided with an attitude sensor; and a displacement sensor is arranged on the cylinder of the ramp road surface simulation platform.
The cylinder is connected with a pneumatic pump station.
The test method of the motion control test platform of the foot-type bionic robot comprises the following steps:
1) Starting a pneumatic pump station, adjusting the initial position of a test platform, and placing a test robot on a ramp pavement simulation platform; adjusting each cylinder; clamping the test robot by a clamping device supporting the protection mechanism;
2) In the testing process, the testing robot walks on the ramp road surface simulation platform at a certain speed, and the foot force of the foot end of the testing robot is measured by collecting and recording the sensor data of the foot end of the testing robot;
3) In the testing process, the testing robot walks on the ramp road surface simulation platform at a certain speed, the extension length of the cylinder is adjusted, the inclination of the ramp road surface simulation platform in the up-down, left-right directions is adjusted, the road surface gradient is simulated, the simulation process that the robot walks under the external road surface environment is realized, the data of the displacement sensor is recorded, and the road surface gradient value is measured.
4) In the testing process, the testing robot walks on the ramp road surface simulation platform at a certain speed, the walking speed of the robot is measured by collecting and recording data of speed sensors arranged on legs of the robot, and the function of measuring the movement speed of the robot on the platform in real time is completed.
5) In the testing process, the testing robot walks on the ramp road surface simulation platform at a certain speed, and the stability performance of the robot is obtained by collecting and recording the data of the gesture force sensor of the testing robot, and comparing and analyzing the measured data with the data measured by the foot force sensor.
Compared with the prior art, the invention has the following technical effects:
(1) According to the outdoor exercise test of the test platform simulation robot, the test platform simulates an external gradient road surface, the robot can change the movement speed according to the running of the rotating belt on the ramp road surface simulation platform, the exercise performance test is realized, and the time and the cost are saved;
(2) The test platform of the invention protects the robot in real time in the test process, and the protection mechanism prevents the test robot from falling down and damaging and protects the core component.
(3) The invention measures the motion performance and stability performance of the robot in real time and the walking speed of the robot in real time, thereby achieving the concept of short research and development period and resource saving of modern society products. Therefore, the construction of the motion control test platform of the foot-type bionic robot has important application value.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a ramp pavement simulation platform according to the present invention;
fig. 3 is a schematic structural view of the support protection mechanism of the present invention.
Wherein: 1. supporting the protection mechanism; 2. testing the robot; 3. a base table; 4. a ramp road surface simulation platform; 5. a motor; 6. a transmission belt; 7. a cylinder; 9. a roller column; 10. a roller; 11. a support rod; 12. a moving ring; 13. a flexible rope; 14. clamping the cross bar; 15. clamping the longitudinal rod; 16. a slide block lever; 17. a slide block; 18. support legs; 19. a support column; 20. a guide rail; 21. square columns.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
referring to fig. 1 to 3, a motion control test platform for a foot-type bionic robot includes a ramp road surface simulation platform 4, a support protection mechanism 1 and a base table 3; the ramp road surface simulation platform 4 and the support protection mechanism 1 are arranged on the base table 3;
the ramp pavement simulation platform 4 comprises square columns 21, air cylinders 7, motors 5, driving belts 6 and rollers 9; a plurality of roller columns 9 are vertically arranged between two parallel square columns 21, the roller columns 9 are parallel to each other, motors 5 are arranged on the roller columns 9 at two end positions of the square columns 21, and the motors 5 are arranged at the end heads of the roller columns 9; a plurality of air cylinders 7 are arranged below the two square columns 21; the outside of the roller columns 9 is wrapped with a driving belt 6, and the driving belt 6 can circularly rotate outside the roller columns 9;
the support protection mechanism 1 comprises a support column 19, a guide rail 20, a support rod 11 and a clamping mechanism; the four support columns 19 are respectively and vertically arranged at four corners of the upper surface of the base table 3; the number of the guide rails 20 is 2, the guide rails 20 are fixedly arranged between the top ends of the two support columns 19, and the two guide rails 20 are parallel to each other; the support rod 11 is vertically arranged between the two guide rails 20, and the support rod 11 can move along the guide rail direction; the clamping mechanism is arranged on the support rod 11.
A test robot 2 is arranged on the ramp pavement simulation platform 4; the test robot 2 comprises mechanical legs and a machine body, wherein a plurality of mechanical legs are arranged around the machine body; the tail end of the mechanical leg of the test robot 2 is provided with a force sensor; a speed sensor is arranged at the joint of the mechanical leg of the test robot 2 and the tail end of the mechanical leg; the body of the testing robot 2 is provided with an attitude sensor; a displacement sensor is arranged on the cylinder 7 of the ramp road surface simulation platform 4.
The clamping mechanism comprises a movable ring 12, a flexible rope 13, a clamping cross rod 14, a clamping longitudinal rod 15 and a sliding block 17; a movable ring 12 is sleeved on the support rod 11, and the movable ring 12 can move on the support rod 11; the movable ring 12 is connected with the clamping cross rod 14 through a flexible rope 13, a sliding groove is formed in the lower surface of the clamping cross rod 14, two clamping longitudinal rods 15 are arranged in the sliding groove, sliding block guide rails are formed on two opposite surfaces of the two clamping longitudinal rods 15, and sliding blocks 17 are arranged in the sliding block guide rails; the bottom ends of the two clamping longitudinal rods 15 are provided with slide block levers 16, and the slide block levers 16 can block the slide blocks 17.
The two ends of the supporting rod 11 are provided with rollers 10; the lower surface of the base table 3 is provided with a number of support legs 18.
The cylinder 7 is connected with a pneumatic pump station.
The working principle of the invention is as follows:
1) Starting a pneumatic pump station, adjusting the initial position of a test platform, and placing the test robot 2 on a ramp pavement simulation platform 4; adjusting each cylinder 7; clamping the test robot 2 by a clamping device supporting the protection mechanism 1;
2) In the testing process, the testing robot 2 walks on the ramp road surface simulation platform 4 at a certain speed, and the foot force of the foot end of the testing robot 2 is measured by collecting and recording the sensor data of the foot end of the testing robot;
3) In the testing process, the testing robot 2 walks on the ramp road surface simulation platform 4 at a certain speed, the extension length of the cylinder 7 is regulated, the inclination of the ramp road surface simulation platform 4 in four directions up, down, left and right is regulated, the road surface gradient is simulated, the simulation process that the robot walks under the external road surface environment is realized, the data of the displacement sensor is recorded, and the road surface gradient value is measured.
4) In the testing process, the testing robot 2 walks on the ramp road surface simulation platform 4 at a certain speed, the walking speed of the robot is measured by collecting and recording the data of the speed sensor arranged on the leg of the robot, and the function of measuring the movement speed of the robot on the platform in real time is completed.
5) In the testing process, the testing robot 2 walks on the ramp road surface simulation platform 4 at a certain speed, and the stability of the robot is obtained by collecting and recording the data of the attitude force sensor of the testing robot 2, comparing and analyzing the measured data with the data measured by the foot force sensor.
Claims (4)
1. The motion control test platform of the foot-type bionic robot is characterized by comprising a ramp road surface simulation platform (4), a support protection mechanism (1) and a base table (3); the ramp pavement simulation platform (4) and the support protection mechanism (1) are arranged on the base table (3);
the ramp pavement simulation platform (4) comprises square columns (21), air cylinders (7), motors (5), driving belts (6) and roller columns (9); a plurality of roller columns (9) are vertically arranged between two parallel square columns (21), the roller columns (9) are mutually parallel, motors (5) are arranged on the roller columns (9) at two end positions of the square columns (21), and the motors (5) are arranged at the end heads of the roller columns (9); a plurality of air cylinders (7) are arranged below the two square columns (21); the outside of the roller columns (9) is wrapped with a driving belt (6), and the driving belt (6) can circularly rotate outside the roller columns (9);
the support protection mechanism (1) comprises a support column (19), a guide rail (20), a support rod (11) and a clamping mechanism; the four support columns (19) are respectively and vertically arranged on four corners of the upper surface of the base table (3); the number of the guide rails (20) is 2, the guide rails (20) are fixedly arranged between the top ends of the two support columns (19), and the two guide rails (20) are parallel to each other; the support rod (11) is vertically arranged between the two guide rails (20), and the support rod (11) can move along the guide rails; the clamping mechanism is arranged on the supporting rod (11);
a test robot (2) is arranged on the ramp pavement simulation platform (4); the test robot (2) comprises mechanical legs and a machine body, wherein a plurality of mechanical legs are arranged around the machine body; the tail end of the mechanical leg of the test robot (2) is provided with a force sensor; a speed sensor is arranged at the joint of the mechanical leg of the test robot (2) and the tail end of the mechanical leg; an attitude sensor is arranged on the body of the test robot (2); a displacement sensor is arranged on an air cylinder (7) of the ramp pavement simulation platform (4);
the clamping mechanism comprises a movable ring (12), a flexible rope (13), a clamping cross rod (14), a clamping longitudinal rod (15) and a sliding block (17); a movable ring (12) is sleeved on the support rod (11), and the movable ring (12) can move on the support rod (11); the movable ring (12) is connected with the clamping cross rod (14) through a flexible rope (13), a sliding groove is formed in the lower surface of the clamping cross rod (14), two clamping longitudinal rods (15) are arranged in the sliding groove, sliding block guide rails are formed on two opposite surfaces of the two clamping longitudinal rods (15), and sliding blocks (17) are arranged in the sliding block guide rails; the bottom ends of the two clamping longitudinal rods (15) are provided with slide block stop rods (16), and the slide block stop rods (16) can block the slide blocks (17).
2. The motion control test platform of the foot-type bionic robot according to claim 1, wherein rollers (10) are arranged at two ends of the supporting rod (11); the lower surface of the base table (3) is provided with a plurality of support legs (18).
3. The motion control test platform of a foot-type bionic robot according to claim 1, wherein the air cylinder (7) is connected with a pneumatic pump station.
4. The test method based on the foot-type bionic robot motion control test platform is characterized in that the foot-type bionic robot motion control test platform comprises a ramp road surface simulation platform (4), a support protection mechanism (1) and a base table (3); the ramp pavement simulation platform (4) and the support protection mechanism (1) are arranged on the base table (3);
the ramp pavement simulation platform (4) comprises square columns (21), air cylinders (7), motors (5), driving belts (6) and roller columns (9); a plurality of roller columns (9) are vertically arranged between two parallel square columns (21), the roller columns (9) are mutually parallel, motors (5) are arranged on the roller columns (9) at two end positions of the square columns (21), and the motors (5) are arranged at the end heads of the roller columns (9); a plurality of air cylinders (7) are arranged below the two square columns (21); the outside of the roller columns (9) is wrapped with a driving belt (6), and the driving belt (6) can circularly rotate outside the roller columns (9);
the support protection mechanism (1) comprises a support column (19), a guide rail (20), a support rod (11) and a clamping mechanism; the four support columns (19) are respectively and vertically arranged on four corners of the upper surface of the base table (3); the number of the guide rails (20) is 2, the guide rails (20) are fixedly arranged between the top ends of the two support columns (19), and the two guide rails (20) are parallel to each other; the support rod (11) is vertically arranged between the two guide rails (20), and the support rod (11) can move along the guide rails; the clamping mechanism is arranged on the supporting rod (11);
a test robot (2) is arranged on the ramp pavement simulation platform (4); the test robot (2) comprises mechanical legs and a machine body, wherein a plurality of mechanical legs are arranged around the machine body; the tail end of the mechanical leg of the test robot (2) is provided with a force sensor; a speed sensor is arranged at the joint of the mechanical leg of the test robot (2) and the tail end of the mechanical leg; an attitude sensor is arranged on the body of the test robot (2); a displacement sensor is arranged on an air cylinder (7) of the ramp pavement simulation platform (4);
the air cylinder (7) is connected with a pneumatic pump station;
the test method of the motion control test platform of the foot-type bionic robot comprises the following steps:
1) Starting a pneumatic pump station, adjusting the initial position of a test platform, and placing a test robot (2) on a ramp pavement simulation platform (4); adjusting each cylinder (7); clamping the test robot (2) by a clamping device supporting the protection mechanism (1);
2) In the testing process, the testing robot (2) walks on the ramp road surface simulation platform (4) at a certain speed, and the foot force of the foot end of the testing robot is measured by collecting and recording the sensor data of the foot end of the testing robot (2);
3) In the testing process, the testing robot (2) walks on the ramp road surface simulation platform (4) at a certain speed, the extension length of the cylinder (7) is regulated, the inclination of the ramp road surface simulation platform (4) in four directions, namely up, down, left and right, is regulated, the road surface gradient is simulated, the simulation process of the robot walking under the external road surface environment is realized, the data of the displacement sensor is recorded, and the road surface gradient value is measured;
4) In the testing process, the testing robot (2) walks on the ramp road surface simulation platform (4) at a certain speed, the walking speed of the robot is measured by collecting and recording the data of the speed sensor arranged on the leg of the robot, and the function of measuring the movement speed of the robot on the platform in real time is completed;
5) In the testing process, the testing robot (2) walks on the ramp road surface simulation platform (4) at a certain speed, and the stability of the robot is obtained by collecting and recording the data of the attitude force sensor of the testing robot (2) and comparing and analyzing the measured data with the data measured by the foot force sensor.
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| CN201710039866.7A CN106625778B (en) | 2017-01-19 | 2017-01-19 | Motion control test platform and test method for foot-type bionic robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110375733B (en) * | 2019-08-08 | 2021-05-25 | 中国科学院自动化研究所 | Cross gantry foot type robot test platform |
| CN110919698A (en) * | 2019-12-21 | 2020-03-27 | 上海有个机器人有限公司 | Device and method for testing robot threshold-passing life |
| CN111086026A (en) * | 2020-01-07 | 2020-05-01 | 吉林大学 | Bionic robot foot pad and ground acting force test bench |
| CN111823274B (en) * | 2020-03-25 | 2022-10-28 | 之江实验室 | Foot type robot walking test protection platform based on stay wire encoder principle |
| CN111546374B (en) * | 2020-03-25 | 2021-11-19 | 之江实验室 | Active traction protection system applied to walking test of foot type robot |
| CN111693090A (en) * | 2020-06-10 | 2020-09-22 | 上海有个机器人有限公司 | Robot pavement environment aging test method, medium, terminal and device |
| CN112356075B (en) * | 2020-11-27 | 2022-07-29 | 北京小米移动软件有限公司 | Test method and device, test equipment and storage medium |
| CN112792848B (en) * | 2020-12-30 | 2022-11-22 | 北京精密机电控制设备研究所 | Climbing robot testing method, device and system |
| CN113485309B (en) * | 2021-08-03 | 2022-12-02 | 乐聚(深圳)机器人技术有限公司 | Robot testing method, device, system, robot controller and medium |
| CN113829390B (en) * | 2021-11-27 | 2022-02-15 | 陕西中科文鼎信息科技有限公司 | Multi-state test platform for artificial intelligent robot |
| CN114770601B (en) * | 2022-05-11 | 2023-03-21 | 武汉科技大学 | Foot type robot motion experiment table |
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