CN110057576A - A kind of foot formula bio-robot leg joint dynamic test platform - Google Patents
A kind of foot formula bio-robot leg joint dynamic test platform Download PDFInfo
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- CN110057576A CN110057576A CN201910409503.7A CN201910409503A CN110057576A CN 110057576 A CN110057576 A CN 110057576A CN 201910409503 A CN201910409503 A CN 201910409503A CN 110057576 A CN110057576 A CN 110057576A
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- electric drive
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- plate
- drive mould
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- 238000012360 testing method Methods 0.000 title claims abstract description 40
- 210000001503 joint Anatomy 0.000 title claims abstract description 19
- 210000002414 leg Anatomy 0.000 claims abstract description 41
- 238000004088 simulation Methods 0.000 claims abstract description 35
- 210000004394 hip joint Anatomy 0.000 claims abstract description 18
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 13
- 210000002683 foot Anatomy 0.000 claims abstract description 11
- 210000000629 knee joint Anatomy 0.000 claims abstract description 9
- 210000000689 upper leg Anatomy 0.000 claims abstract description 9
- 230000009191 jumping Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a kind of sufficient formula bio-robot leg joint dynamic test platforms, it is made of platform support, sliding rail, simulation plate, position sensor, clump weight, tested joint of robot, wherein, upper simulation plate simulated body top, and it is connected with hip joint electric drive mould group, hip joint electric drive mould group detachably replaces with rotation axis, to test the kinetic characteristic of simple joint；Imitating plate simulates foot, and with ground face contact, ankle-joint electric drive mould group is connected with Imitating plate；Thigh bar, the knee joint electric drive mould group, the shank bar for being tested leg of tested leg are connected between upper simulation plate and Imitating plate.The robot that different weight can accurately be analyzed is squatted down, is stood up, walking, running, jumping multi-motion mode to the torque of electric drive mould group, revolving speed, power track demand.Can test machine people leg electric drive mould group before assembling mass motion state and load capacity situation, save plenty of time and cost.
Description
Technical field
The invention belongs to robot performance's the field of test technology, specifically, being related to a kind of sufficient formula bio-robot leg pass
Save dynamic test platform.
Background technique
The movement characteristic of sufficient formula bio-robot and ground discontinuous contact, can adapt to mountainous region, next door, meadow etc.
Complicated landform has than wheeled or bigger caterpillar mobile robot scope of activities.Joint is the core of sufficient formula bio-robot
The characteristics of one of center portion part, the electric drive mould group being made of motor, automatically controlled, retarder have control precisely, response quickly, in foot
Formula bionic machine person joint's area research is extensive.
It is related to ankle-joint, knee joint, three electric drive moulds at hip joint during sufficient formula bio-robot leg exercise
Group collective effect.Three the accurate of electric drive mould group aggregate motion are analyzed and test for successfully developing sufficient formula bionic machine people's will
Justice is great.The robot of accurate analysis different weight, which squats down, stands up, walking, running, jumps multi-motion mode turns electric drive mould group
Square, revolving speed, power track demand, provide reference for electric drive module design.Before robot assembling, test verifying is manufactured
Can electric drive mould group meet robot multi-modal motion requirement.
It is proposed in patent of invention CN105571648A a kind of comprising photoelectric coding equipment, torque sensing acquisition equipment, load
The joint Performance Test System of analog control equipment, is tested during robotic asssembly, and this mode has lacked to pass
The test of the overall applicability effect of section；And leg electric drive module performance is tested again after robot is completed, at
This height, process are complicated.
Therefore, it is necessary to the dynamic test platforms that one kind can simulate sufficient formula bio-robot leg joint, in robotic asssembly
Before, the intuitive robot multi-motion mode for analyzing different weight to the torque of electric drive mould group, revolving speed, power track demand,
Can manufactured electric drive mould group is verified in test meet robot multi-modal motion requirement.Both each leg joint can be carried out
Individually test, and three electric drive mould groups on entire robot leg can be tested, it is all to its driving capability, movement effects
More situations are analyzed；Reference is provided for Robot Design.
Summary of the invention
In order to avoid the shortcomings of the prior art, the present invention proposes that a kind of sufficient formula bio-robot leg joint dynamic is tested
Platform.
Technical solution used by this technical solution adopted by the present invention to solve the technical problems is: including platform support, sliding rail, simulation plate,
Position sensor, clump weight, tested joint of robot, it is characterised in that the platform support includes square frame, sliding rail, sliding
Device and universal wheel, two square frames are located at the top and bottom of upright slide rail, play cross-brace；Slider is located at
On upright slide rail, slider and sliding rail are cooperatively connected, and can move up and down along sliding rail, and slider carries locking function；Sliding rail
Bottom end and universal wheel are connected；
The simulation plate includes upper simulation plate, Imitating plate, hip joint electric drive mould group and ankle-joint electric drive
Mould group；Upper simulation plate simulated body top, upper simulation plate centre are connected with hip joint electric drive mould group, hip joint electric drive
Mould group detachably replaces with rotation axis, to test the kinetic characteristic of simple joint；Imitating plate simulates foot, and connects with ground
Touching, ankle-joint electric drive mould group are connected with Imitating plate；Tested leg is connected between upper simulation plate and Imitating plate
Thigh bar, knee joint electric drive mould group, tested leg shank bar；When tested robot leg includes repeating part, use
Tested partial replacement analog portion carries out dynamic test；
The position sensor includes position sensor test side and position sensor tache motorice, position sensor test side
It is fixed on sliding rail top, position sensor tache motorice is fixed on slider, and slider is connected with upper simulation plate, is synchronized
Lower movement；By detecting slider change in location, it can measure the movement speed of upper simulation plate, judge that robot is tested leg
The motion state of thigh bar is squatted down, the speed stood up, position.
The clump weight is located at upper simulation plate top, for being tested joint load, by changing the weight of clump weight, mould
The load capacity of quasi- leg joint.
Beneficial effect
A kind of sufficient formula bio-robot leg joint dynamic test platform proposed by the present invention, by platform support, sliding rail, simulation
Plate, position sensor, clump weight, tested joint of robot composition, wherein above simulate plate simulated body top, and and hip
Joint electric drive mould group is connected, and hip joint electric drive mould group detachably replaces with rotation axis, to test the kinetic characteristic of simple joint；
Imitating plate simulates foot, and with ground face contact, ankle-joint electric drive mould group is connected with Imitating plate；Upper simulation plate with
Thigh bar, the knee joint electric drive mould group, the shank bar for being tested leg of tested leg are connected between Imitating plate.It can be accurate
The robot of analysis different weight is squatted down, is stood up, walking, running, jumping multi-motion mode to the torque of electric drive mould group, revolving speed, function
Rate track demand.Can test machine people leg electric drive mould group before assembling mass motion state and load capacity situation, section
Save plenty of time and cost.
Foot formula bio-robot leg joint dynamic test platform of the present invention, structure is simple, and it is convenient to operate, different by load
The i.e. changeable leg load of the clump weight of weight, can measure movement of the leg relative to robot upper body by position sensor
State；By changing ankle-joint, knee joint, the corresponding electric drive modular form of hip joint, the stress of each simple joint of analog
Situation.
Detailed description of the invention
Make with reference to the accompanying drawing with embodiment sufficient formula bio-robot leg joint dynamic test platform a kind of to the present invention
It is further described.
Fig. 1 is the leg squatting position structural schematic diagram of the sufficient formula bio-robot leg joint dynamic test platform of the present invention.
Fig. 2 is the leg stance structural schematic diagram of the sufficient formula bio-robot leg joint dynamic test platform of the present invention.
In figure
1. 2. position sensor test side of sliding rail, 3. clump weight, 4. position sensor tache motorice, 5. thigh bar, 6. knee closes
Simulation 12. hip of plate closes on economize on electricity driving 7. shank bar of mould group, 8. Imitating plate, 9. universal wheel, 10. square frame 11.
Economize on electricity driving 13. slider of mould group, 14. ankle-joint electric drive mould group
Specific embodiment
The present embodiment is a kind of sufficient formula bio-robot leg joint dynamic test platform.
Refering to fig. 1 and Fig. 2, the present embodiment foot formula bio-robot leg joint dynamic test platform, by platform support, cunning
Rail, simulation plate, position sensor, clump weight and tested joint of robot composition；Wherein, platform support includes two square boxes
Frame 10, four one slide rails, 1, four slider 13 and four universal wheels 9, two square frames 10 are located at the upper of upright slide rail 1
End and lower end, play the role of cross-brace.Slider 13 is cooperatively connected with upright slide rail respectively, and fortune up and down can be done along sliding rail 1
Dynamic, slider 13 carries locking function；1 bottom end of sliding rail and universal wheel 9 are connected.
Simulating plate includes upper simulation plate 11, Imitating plate 8, hip joint electric drive mould group 12 and ankle-joint electric drive
Mould group 14；Upper 11 simulated body top of simulation plate, upper 11 centre of simulation plate are connected with hip joint electric drive mould group 12, and hip closes
Economize on electricity driving mould group 12 detachably replaces with rotation axis, to test the kinetic characteristic of simple joint.Imitating plate 8 simulates foot,
And with ground face contact, ankle-joint electric drive mould group 14 is connected with Imitating plate 8；Upper simulation plate 11 and Imitating plate 8 it
Between be connected with the thigh bar 5 of tested leg, knee joint electric drive mould group 6, tested leg shank bar 7.Position sensor includes
Position sensor test side 2 and position sensor tache motorice 4, position sensor test side 2 are fixed on 1 top of sliding rail, and position passes
Sensor tache motorice 4 is fixed on slider 13, and slider 13 is connected with upper simulation plate 11, synchronous to move up and down；Pass through inspection
The change in location for surveying slider 13 can measure the movement speed of upper simulation plate 11, judge that robot is tested the thigh bar 5 of leg
Motion state, squat down, the speed stood up, position.Clump weight 3 is located at upper 11 top of simulation plate, for being tested joint load,
By changing the weight of clump weight 3, the bearing capacity of leg joint is simulated.
In the present embodiment, upper simulation plate and hip joint electric drive module shell are welded, and are moved up and down in the middle part of platform；Under
It simulates plate and ankle-joint electric drive module shell welds, in mesa base and ground face contact.Electric drive mould group has locked
Function.When testing single electric drive mould group characteristic, other two electric drive mould group can be changed to lockable rotation axis.Match
Pouring weight is located on upper simulation plate, and to tested joint load, simulates the robot upper body weight of different weight.
When leg joint motion state, universal wheel 9 is locked, is tested knee joint electric drive mould group 6 and rotates, hip joint electric drive
Mould group 12 and the related rotation of ankle-joint electric drive mould group 14, upper simulation plate 11 move up, and position sensor test side 2 will transport
Dynamic signal is passed back, judges whether the motion state in tested joint is up to standard, while according to the weight load capacity of clump weight 3.
When needing to test hip joint and the kneed coordinated movement of various economic factors, universal wheel 9 is freely rotated, and slider 13 is locked, hip
Joint electric drive mould group 12 rotates simultaneously with knee joint electric drive mould group 6, realizes the purpose of walk test.
Claims (2)
1. a kind of foot formula bio-robot leg joint dynamic test platform, including platform support, sliding rail, simulation plate, position biography
Sensor, clump weight, tested joint of robot, it is characterised in that: the platform support include square frame, sliding rail, slider and
Universal wheel, two square frames are located at the top and bottom of upright slide rail, play cross-brace；Slider is located at vertical
On sliding rail, slider and sliding rail are cooperatively connected, and can move up and down along sliding rail, and slider carries locking function；Sliding rail bottom end
It is connected with universal wheel；
The simulation plate includes upper simulation plate, Imitating plate, hip joint electric drive mould group and ankle-joint electric drive mould group；
Upper simulation plate simulated body top, upper simulation plate centre are connected with hip joint electric drive mould group, hip joint electric drive mould group
Rotation axis detachably is replaced with, to test the kinetic characteristic of simple joint；Imitating plate simulate foot, and with ground face contact, ankle
Joint electric drive mould group is connected with Imitating plate；The thigh of tested leg is connected between upper simulation plate and Imitating plate
Bar, knee joint electric drive mould group, the shank bar for being tested leg；When tested robot leg includes repeating part, with tested portion
Replacement analog portion is divided to carry out dynamic test；
The position sensor includes position sensor test side and position sensor tache motorice, and position sensor test side is fixed
Portion on the slide rail, position sensor tache motorice are fixed on slider, and slider is connected with upper simulation plate, synchronize fortune up and down
It is dynamic；By detecting slider change in location, it can measure the movement speed of upper simulation plate, judge that robot is tested the thigh of leg
The motion state of bar is squatted down, the speed stood up, position.
2. foot formula bio-robot leg joint dynamic test platform according to claim 1, it is characterised in that: the counterweight
Block is located at upper simulation plate top, simulates the load of leg joint by changing the weight of clump weight for being tested joint load
Amount.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910409503.7A CN110057576A (en) | 2019-05-17 | 2019-05-17 | A kind of foot formula bio-robot leg joint dynamic test platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910409503.7A CN110057576A (en) | 2019-05-17 | 2019-05-17 | A kind of foot formula bio-robot leg joint dynamic test platform |
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| CN110057576A true CN110057576A (en) | 2019-07-26 |
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| CN201910409503.7A Pending CN110057576A (en) | 2019-05-17 | 2019-05-17 | A kind of foot formula bio-robot leg joint dynamic test platform |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110542548A (en) * | 2019-08-27 | 2019-12-06 | 杭州电子科技大学 | Soft arthropod robot joint testing device and testing method |
| CN113252328A (en) * | 2021-05-13 | 2021-08-13 | 重庆理工大学 | Exoskeleton fatigue life testing device |
| CN114235373A (en) * | 2021-12-21 | 2022-03-25 | 北京理工大学重庆创新中心 | Single-wheel leg working condition testing device and method for wheel-leg robot |
| CN116604615A (en) * | 2023-07-13 | 2023-08-18 | 武汉科技大学 | Robot joint testing device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110542548A (en) * | 2019-08-27 | 2019-12-06 | 杭州电子科技大学 | Soft arthropod robot joint testing device and testing method |
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| CN113252328A (en) * | 2021-05-13 | 2021-08-13 | 重庆理工大学 | Exoskeleton fatigue life testing device |
| CN113252328B (en) * | 2021-05-13 | 2022-10-18 | 重庆理工大学 | Exoskeleton fatigue life testing device |
| CN114235373A (en) * | 2021-12-21 | 2022-03-25 | 北京理工大学重庆创新中心 | Single-wheel leg working condition testing device and method for wheel-leg robot |
| CN114235373B (en) * | 2021-12-21 | 2024-04-02 | 北京理工大学重庆创新中心 | Single-wheel-leg working condition testing device and method for wheel-leg robot |
| CN116604615A (en) * | 2023-07-13 | 2023-08-18 | 武汉科技大学 | Robot joint testing device |
| CN116604615B (en) * | 2023-07-13 | 2023-09-29 | 武汉科技大学 | Robot joint testing device |
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