CN111398816A - Online testing device for motor system of legged robot - Google Patents
Online testing device for motor system of legged robot Download PDFInfo
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- CN111398816A CN111398816A CN202010332000.7A CN202010332000A CN111398816A CN 111398816 A CN111398816 A CN 111398816A CN 202010332000 A CN202010332000 A CN 202010332000A CN 111398816 A CN111398816 A CN 111398816A
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- 238000012360 testing method Methods 0.000 title claims abstract description 41
- 210000000689 upper leg Anatomy 0.000 claims abstract description 46
- 238000004088 simulation Methods 0.000 claims abstract description 33
- 210000002414 leg Anatomy 0.000 claims abstract description 10
- 230000003014 reinforcing effect Effects 0.000 claims description 10
- 239000002023 wood Substances 0.000 claims description 4
- 244000309466 calf Species 0.000 claims 1
- 230000010354 integration Effects 0.000 claims 1
- 238000012876 topography Methods 0.000 claims 1
- 230000006872 improvement Effects 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 4
- 238000011056 performance test Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 244000025254 Cannabis sativa Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
Abstract
The invention provides an online testing device for a motor system of a legged robot, which comprises a control component, a rack, a horizontal slide rail motion simulation component, a robot single-leg assembly and a terrain simulation component, wherein the robot single-leg assembly comprises a base, a thigh rod and a shank rod, a thigh motor to be tested for driving the thigh rod to rotate is arranged on the base, a shank motor to be tested for driving the shank rod to rotate is arranged on the thigh rod, motor encoders and motor drivers are respectively arranged on the thigh motor to be tested and the shank motor to be tested, a phase current acquisition module is integrated on the motor drivers, and the thigh motor to be tested, the shank motor to be tested, the motor encoders and the motor drivers are respectively and electrically connected with the control component. According to the testing device provided by the invention, the motor system is assembled on a single leg of the robot to perform performance testing, so that the real load environment of the motor system is truly reproduced, and the testing accuracy is relatively high.
Description
Technical Field
The invention relates to a motor testing device, in particular to an online testing device for a motor system of a legged robot.
Background
With the successful release of the four-legged robot SpotMini of boston power company, a pure electric motor driving system is the mainstream power system of the small and medium-sized legged robot at present, and the performance diameter of a motor system for the legged robot affects the performance of the legged robot, so that the performance of the legged robot needs to be strictly tested.
For the performance test of the motor system of the legged robot, the conventional method is completed on a motor performance test platform before the motor system is not installed on a robot leg, for example, the testing device of the power assembly for the robot disclosed in the chinese utility model with publication number CN206855484U comprises at least one testing body, wherein the testing body comprises a base, a mounting seat, a power assembly, a load mechanism and an output shaft, wherein the mounting seat and the load mechanism are both fixedly arranged on the base, the power assembly is arranged on the mounting seat, the power assembly is connected with the load mechanism through the output shaft, the axial directions of the output shaft, the power assembly and the load mechanism are consistent, the device can test the performance of the selected motor and the reducer assembly of the robot under the working condition load condition, however, the load size of the device is dynamically controlled according to the load data obtained by virtual simulation, and the power assembly is not arranged on the robot for testing, the actual operation condition of the power assembly of the robot cannot be truly reproduced, the testing mode cannot truly simulate the actual load environment of the motor system, and the testing accuracy is relatively low.
In view of the above, the applicant has made intensive studies to solve the above problems and has made the present invention.
Disclosure of Invention
The invention aims to provide an online testing device of a motor system for a leg and foot robot, which has relatively high testing accuracy.
In order to achieve the purpose, the invention adopts the following technical scheme:
an online testing device of a motor system for a legged robot comprises a control component, a frame, a horizontal slide rail fixedly connected to the frame, a motion simulation component slidably connected to the horizontal slide rail, a robot single-leg assembly installed on the motion simulation component, and a terrain simulation component arranged below the horizontal slide rail, wherein the robot single-leg assembly comprises a base, a thigh rod rotatably connected to the base, and a shank rod rotatably connected to the lower end of the thigh rod, the base is provided with a thigh motor to be tested for driving the rotation of the thigh rod, the thigh rod is provided with a shank motor to be tested for driving the rotation of the shank rod, the thigh motor to be tested and the shank motor to be tested are both provided with a motor encoder and a motor driver, and the motor driver is integrated with a phase current acquisition module, the thigh motor to be tested, the shank motor to be tested, the motor encoders and the motor drivers are respectively and electrically connected with the control assembly.
As an improvement of the invention, the motor encoder is a magnetic encoder, the magnetic encoder comprises a chip and a magnet, the magnet is arranged on a rotor shaft of the corresponding motor, and the chip is arranged on an end cover bearing seat of the corresponding motor.
As an improvement of the invention, the motion simulation assembly comprises a sliding block connected on the horizontal sliding rail in a sliding manner and a vertical sliding rail fixedly connected on the sliding block in a vertical manner, and the base is connected on the vertical sliding rail in a sliding manner.
As an improvement of the invention, the vertical slide rail is fixedly connected with one end of the slide block, a triangular reinforcing plate is also fixedly connected with the included angle position of the slide block and the vertical slide rail, and a through hole is formed in the triangular reinforcing plate.
As an improvement of the invention, the terrain simulation assembly comprises an uphill-downhill simulation element, a side-slope simulation element, a step simulation element and/or a level ground simulation element.
As an improvement of the invention, a wood board is laid on the ground below the horizontal sliding rail, and the terrain simulation assembly is placed on the wood board.
As an improvement of the invention, the shank motor to be tested is connected with the shank rod through a connecting rod assembly.
As an improvement of the present invention, the thigh motor to be measured and the shank motor to be measured are respectively located on both sides of the thigh rod.
As an improvement of the present invention, the control component includes an upper computer electrically connected to the thigh motor to be measured, the shank motor to be measured, each of the motor encoders and each of the motor drivers, and a power supply electrically connected to the upper computer through a switching rectifier.
As an improvement of the invention, the rack comprises an underframe and a top frame detachably connected above the underframe, and the horizontal slide rail is arranged on the top frame.
By adopting the technical scheme, the invention has the following beneficial effects:
1. the testing device provided by the invention overcomes the defect that the real load environment of the motor system of the leg-foot type robot cannot be truly reproduced in the prior art, the motor system is assembled on a single leg of the robot to carry out performance testing, the real load environment of the motor system is truly reproduced, and the testing accuracy is relatively high.
2. The leg-foot type robot motor system load testing device is suitable for load tests of the assembled leg-foot type robot motor system under different unstructured terrain working conditions, and can be used for testing the motor performance under various load environments at one time.
3. By arranging the current acquisition module and the motor encoder, dynamic performance parameters such as torque, rotating speed, current and the like of the leg-foot type robot motor system under the real simulation working condition can be accurately obtained in real time
Drawings
FIG. 1 is a schematic structural diagram of an on-line testing device of a motor system for a leg-foot robot according to the present invention;
FIG. 2 is a schematic diagram of the position of the motion simulator assembly in the apparatus of the present invention;
fig. 3 is an exploded view of the robot single-leg assembly of the apparatus of the present invention, with parts omitted.
The designations in the figures correspond to the following:
10-a control assembly; 11-an upper computer;
12-a switching rectifier; 13-a display;
14-a keyboard; 20-a frame;
21-a chassis; 22-a top frame;
23-a support bar; 24-a cross-bar;
25-a connecting rod; 26-reinforcing rods;
27-vertical rods; 30-horizontal sliding rails;
40-a motion simulation component; 41-a slide block;
42-vertical slide rail; 43-triangular reinforcing plates;
44-perforation; 50-robot single leg assembly;
51-a base; 52-thigh bar;
53-shank rod; 54-thigh motor to be measured;
55-a shank motor to be tested; 56-motor encoder;
57-motor drive; 60-a terrain simulation component;
61-uphill and downhill simulation; 62-side slope simulation;
63-step simulator; 64-ground simulator.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
As shown in fig. 1-3, the present embodiment provides an online testing apparatus for a motor system of a legged robot, which includes a control component 10, a frame 20, a horizontal slide rail 30 horizontally and fixedly connected to the frame 20, a motion simulation component 40 slidably connected to the horizontal slide rail 30, a robot single-leg assembly 50 mounted on the motion simulation component 40, and a terrain simulation component 60 disposed below the horizontal slide rail 30, wherein the horizontal slide rail 30 is effectively a ball linear guide.
The control component 10 includes an upper computer 11 electrically connected to the robot single-leg assembly 50 and a power supply (not shown in the figure) electrically connected to the upper computer 11 through the switching rectifier 12, and of course, both the upper computer 11 and the switching rectifier 12 can be directly purchased from the market, which is not the focus of the embodiment and will not be described in detail herein. In addition, the control unit 10 includes a display 13 and a keyboard 14, which are respectively connected to the upper computer 11 for human-computer interaction.
The frame 20 includes chassis 21 and the removable roof-rack 22 of connecting in the chassis 21 top, and wherein, chassis 21 and roof-rack 22 all adopt the aluminium alloy to build and form, and horizontal slide rail 30 sets up on roof-rack 22. Specifically, the bottom frame 21 is a square frame with four side walls, and a test area is formed in an area surrounded by the four side walls of the square frame, preferably, in order to improve the stability of the square frame, a plurality of support rods 23 are arranged at the bottom of the square frame in parallel and are arranged in parallel with the length direction of the square frame; the roof-rack 22 is the portal frame, and horizontal slide rail sets up on the crossbeam of portal frame, and the bottom of two stands of portal frame passes through the bolt with chassis 21 respectively and can dismantle according to conventional mode to be connected, is convenient for adjust the horizontal position of roof-rack 22 like this, and then adjusts the horizontal position of horizontal slide rail 30, and because chassis 21's existence, can greatly reduce the length of the stand of portal frame, improves the stability of portal frame, and then promotes the test accuracy. In order to further improve the stability, preferably, two vertical columns of the gantry frame are respectively and fixedly connected with a cross bar 24, the cross bar 24 is simultaneously and vertically arranged with a cross beam and a vertical column of the gantry frame and is arranged parallel to a corresponding side wall of the square frame, two ends of the two cross bars 24 are respectively connected with two connecting rods 25 in a one-to-one manner, namely the two connecting rods 25 are two, the two connecting rods 25 and the two cross bars jointly form a quadrilateral structure, a plurality of reinforcing rods 26 which are arranged in parallel are arranged between the two connecting rods 25 at equal intervals along the length direction of the connecting rods 25, and vertical rods 27 which are vertically arranged are fixedly connected between each reinforcing rod 26 and the cross beam of the gantry frame, so that the cross beam can be effectively prevented from being bent, and a.
Preferably, in this embodiment, there are two horizontal sliding rails 30, and the sliding block 41 is connected to the two horizontal sliding rails 30 in a sliding manner at the same time, so that a better support can be formed for the sliding block 41, and the sliding block 41 is prevented from derailing due to unilateral stress.
The robot single-leg assembly 50 includes a base 51, a thigh rod 52 rotatably connected to the base 51, and a shank rod 53 rotatably connected to a lower end of the thigh rod, wherein the base 51 is slidably connected to the vertical slide rail 42, so that the robot single-leg assembly 50 can freely move in both horizontal and vertical directions. A thigh motor 54 to be tested for driving the thigh rod 52 to rotate is arranged on the base 51, a shank motor 55 to be tested for driving the shank rod 53 to rotate is arranged on the thigh rod 52, specifically, the thigh motor 54 to be tested and the shank motor 55 to be tested are respectively positioned at two sides of the thigh rod 52, wherein a housing of the thigh motor 54 to be tested is detachably and fixedly connected on the base 51, the thigh rod 52 is indirectly connected with the base 51 through the connection with the thigh motor 54 to be tested in a rotating manner, the shank motor 55 to be tested and the shank rod 53 are connected through a connecting rod assembly (not shown in the figure), it should be noted that the specific connecting structure between the thigh motor 54 to be tested and the base 51 is the same as the connecting structure between the thigh motor and the body part of a conventional legged robot, and the specific transmission connecting structure between the shank motor 55 to be tested and the shank rod 53 is also the same as that, these are not the focus of the present embodiment and will not be described in detail here. When the device is used, the thigh motor 54 to be tested drives the thigh rod 52 to drive the shank rod 53 and the shank motor 55 to be tested to rotate together, and the shank motor 55 to be tested drives the shank rod 53 to rotate.
The thigh motor 54 and the shank motor 55 to be detected are both provided with a motor encoder 56 and a motor driver 57, each motor driver 57 is integrated with a phase current acquisition module, the motor driver 57 integrated with the phase current acquisition module can be directly purchased from the market, so that the current of the thigh motor 54 and the shank motor 55 to be detected can be conveniently detected in real time, the torque of the corresponding motor can be obtained by multiplying the detected current by a torque coefficient, and then the output torque of the thigh motor 54 and the shank motor 55 to be detected can be obtained in real time, and meanwhile, the real-time detection of the motor rotating speed and the rotor position can be realized through software pre-installed on an upper computer (the software is written according to the actual functional requirements in a conventional manner or is set on the conventional software according to the actual functional requirements). Preferably, in the present embodiment, the motor encoder 57 is a magnetic encoder, and the magnetic encoder includes a chip and a magnet, wherein the magnet is mounted on the rotor shaft of the corresponding motor, and the chip is mounted on the end cover bearing seat of the corresponding motor. In addition, a force sensor (not shown in the figure) is further disposed at the foot end of the shank rod 53, and the force sensor, the thigh motor 54 to be measured, the shank motor 55 to be measured, each motor encoder 56 and each motor driver 57 are respectively electrically connected with the upper computer 11 of the control assembly 10, so as to control and supply power to each element through the upper computer 11.
The terrain simulator assembly 60 comprises an uphill-downhill simulator 61, a side-slope simulator 62, a step simulator 63 and/or a level ground simulator 64, wherein the level ground simulator 64 may also be of the grass, mud bottom, etc. type. In this embodiment, the terrain simulation assembly 60 includes an uphill/downhill simulation member 61, a side slope simulation member 62, a step simulation member 63, and a flat ground simulation member 64, which are sequentially arranged in a straight line along the length direction of the linear slide rail 30, so that the motor performance test under various indoor unstructured terrain conditions can be realized at one time. Preferably, a plank is laid on the ground below the horizontal sliding rails 30, and the terrain simulation assembly 60 is placed on the plank.
Before testing, firstly, a thigh motor 54 to be tested and a shank motor 55 to be tested are arranged in the robot single-leg assembly 50, and the foot end of a shank rod 53 of the robot single-leg assembly 50 is ensured not to touch the ground. During testing, the switching rectifier 12 is turned on, so that the upper computer 11 is electrified and supplies power to all electronic elements on the upper computer 11, and the whole testing device is started; then, the upper computer 11 controls the motor drivers 57 to move, and further controls the robot single-leg assembly 50 to move on the unstructured terrain simulation object, in the process, the two magnetic encoders respectively measure the rotation angles of the thigh motor 54 to be measured and the shank motor 55 to be measured, the current acquisition module on each motor driver 57 measures the phase current of the corresponding motor, and the force sensor measures the acting force between the robot single-leg assembly 50 and the ground, so that the acting force signal between the robot single-leg assembly 50 and the ground, which is measured by the force sensor, can be used for carrying out force closed-loop control on the robot single-leg assembly 50, and the actions of advancing, retreating, jumping and the like of a single leg are realized. Signals measured by the magnetic encoder and the current acquisition module are transmitted to the upper computer 11, and the upper computer 11 analyzes and processes the input signals, so that dynamic performance parameters of the motor system such as current, torque, rotating speed and the like in a real load environment are obtained.
The present invention is described in detail with reference to the attached drawings, but the embodiments of the present invention are not limited to the above embodiments, and those skilled in the art can make various modifications to the present invention based on the prior art, which fall within the scope of the present invention.
Claims (10)
1. The utility model provides a sufficient robot of shank is with motor system on-line testing device, its characterized in that, including control assembly, frame, horizontal fixed connection horizontal slide rail, sliding connection in the frame are in motion simulation subassembly on the horizontal slide rail, install robot single leg assembly on the motion simulation subassembly and set up the topography simulation subassembly of horizontal slide rail below, robot single leg assembly includes the base, rotates to be connected thigh pole and the rotation connection on the base are in the shank pole of thigh pole lower extreme, be provided with on the base and be used for the drive thigh pole pivoted thigh motor that awaits measuring, be provided with on the thigh pole and be used for the drive shank pole pivoted shank motor that awaits measuring, the thigh motor that awaits measuring with all install motor encoder and motor driver on the shank motor that awaits measuring, the last integration of motor driver has phase current collection module, the thigh motor to be tested, the shank motor to be tested, the motor encoders and the motor drivers are respectively and electrically connected with the control assembly.
2. The device for the online testing of the motor system for the leg-foot robot as claimed in claim 1, wherein the motor encoder is a magnetic encoder, the magnetic encoder comprises a chip and a magnet, the magnet is mounted on the rotor shaft of the corresponding motor, and the chip is mounted on the end cover bearing seat of the corresponding motor.
3. The device for the online testing of the motor system of the leg-foot robot as claimed in claim 1, wherein the motion simulation assembly comprises a sliding block slidably connected to the horizontal sliding rail and a vertical sliding rail vertically and fixedly connected to the sliding block, and the base is slidably connected to the vertical sliding rail.
4. The online testing device for the motor system of the leg and foot robot as claimed in claim 3, wherein the vertical slide rail is fixedly connected to one end of the slide block, a triangular reinforcing plate is further fixedly connected to an included angle position between the slide block and the vertical slide rail, and a through hole is formed in the triangular reinforcing plate.
5. The on-line testing device of a motor system for a leg-foot robot as claimed in claim 1, wherein the terrain simulating assembly comprises an uphill and downhill simulating member, a side slope simulating member, a step simulating member and/or a flat ground simulating member.
6. The device for the in-line testing of the motor system of the leg-foot robot as claimed in claim 5, wherein a wood board is laid on the ground below the horizontal sliding rail, and the terrain simulation assembly is placed on the wood board.
7. The on-line testing device for the motor system of the leg-foot robot as claimed in claim 1, wherein the shank motor to be tested is connected with the shank rod through a connecting rod assembly.
8. The device for the in-line testing of the motor system of the leg-foot robot as claimed in claim 1, wherein the thigh motor to be tested and the shank motor to be tested are respectively located at two sides of the thigh bar.
9. The device for online testing of a motor system for a leg and foot robot as claimed in claim 1, wherein the control assembly comprises an upper computer electrically connected to the thigh motor to be tested, the calf motor to be tested, each of the motor encoders and each of the motor drivers, respectively, and a power supply electrically connected to the upper computer through a switching rectifier.
10. The device for the in-line testing of the motor system of the leg-foot robot as claimed in any one of the claims 1 to 9, wherein the frame comprises a bottom frame and a top frame detachably connected above the bottom frame, and the horizontal slide rail is arranged on the top frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010332000.7A CN111398816B (en) | 2020-04-24 | 2020-04-24 | Online testing device of motor system for leg-foot robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010332000.7A CN111398816B (en) | 2020-04-24 | 2020-04-24 | Online testing device of motor system for leg-foot robot |
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| CN111398816A true CN111398816A (en) | 2020-07-10 |
| CN111398816B CN111398816B (en) | 2024-03-29 |
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| CN202010332000.7A Active CN111398816B (en) | 2020-04-24 | 2020-04-24 | Online testing device of motor system for leg-foot robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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| CN111398816B (en) | 2024-03-29 |
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