CN111398816B - Online testing device of motor system for leg-foot robot - Google Patents
Online testing device of motor system for leg-foot robot Download PDFInfo
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- CN111398816B CN111398816B CN202010332000.7A CN202010332000A CN111398816B CN 111398816 B CN111398816 B CN 111398816B CN 202010332000 A CN202010332000 A CN 202010332000A CN 111398816 B CN111398816 B CN 111398816B
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- 238000012360 testing method Methods 0.000 title claims abstract description 32
- 210000000689 upper leg Anatomy 0.000 claims abstract description 51
- 238000004088 simulation Methods 0.000 claims abstract description 45
- 210000002414 leg Anatomy 0.000 claims abstract description 15
- 230000003014 reinforcing effect Effects 0.000 claims description 11
- 238000011056 performance test Methods 0.000 abstract description 6
- 230000006872 improvement Effects 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 4
- 239000002023 wood Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000005452 bending Methods 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
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002474 experimental method Methods 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
- 238000012876 topography Methods 0.000 description 1
Classifications
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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
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Abstract
The utility model provides an on-line testing device of a motor system for a leg robot, which comprises a control component, a frame, a horizontal sliding 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 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, each motor encoder and each motor driver are respectively and electrically connected with the control component. According to the testing device provided by the utility model, the motor system is assembled on a single leg of the robot to perform performance test, the real load environment of the motor system is truly reproduced, and the testing accuracy is relatively high.
Description
Technical Field
The utility model relates to a motor testing device, in particular to an on-line testing device of a motor system for a leg robot.
Background
With successful release of the four-legged robot spotsMini of boston power company, the current pure electric motor driving system has become a main power system of a small and medium-sized legged robot, and the performance diameter of a motor system for the legged robot affects the performance of the legged robot, so that the legged robot needs to be strictly tested.
For the performance test of a motor system of a legged robot, the traditional mode is completed on a motor performance test platform before the motor system is not mounted on a machine leg, for example, the test device of a power component for the robot disclosed in China patent publication No. CN206855484U comprises at least one test body, wherein the test body comprises a base, a mounting seat, a power component, a load mechanism and an output shaft, the mounting seat and the load mechanism are fixedly arranged on the base, the power component is arranged on the mounting seat, the power component is connected with the load mechanism through the output shaft, the power component and the load mechanism are consistent in axial direction, the device can test the performance of a motor and a speed reducer component selected by the robot under the working condition load condition, however, the load of the device is dynamically controlled according to load data obtained through virtual simulation, the power component is not mounted on the robot for testing, the actual running working condition of the power component of the robot cannot be truly reproduced, the test mode cannot truly simulate the real load environment of the motor system, and the test accuracy is relatively low.
In view of this, the present applicant has conducted intensive studies on the above problems, and has produced the present utility model.
Disclosure of Invention
The utility model aims to provide an on-line testing device for a motor system for a leg robot, which has relatively high testing accuracy.
In order to achieve the above purpose, the present utility model adopts the following technical scheme:
the utility model provides a leg is motor system on-line measuring device for robot, is in including control assembly, frame, level fixed connection horizontal slide rail, sliding connection in the frame be in motion simulation subassembly on the horizontal slide rail, install robot single leg assembly and the setting that the motion simulation subassembly was in the topography simulation subassembly of horizontal slide rail below, robot single leg assembly includes the base, rotates to be connected thigh pole on the base and rotates to be connected the shank pole of thigh pole lower extreme, be provided with on the base and be used for the drive thigh pole pivoted shank 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, await measuring the thigh motor with all install motor encoder and motor driver on the shank motor that awaits measuring, the last looks electric current collection module that integrates of motor driver, await measuring shank motor, each motor encoder and each motor driver that await measuring respectively with the control assembly electricity is connected.
As an improvement of the utility model, 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 utility model, the motion simulation assembly comprises a sliding block which is connected with the horizontal sliding rail in a sliding way and a vertical sliding rail which is vertically and fixedly connected with the sliding block, and the base is connected with the vertical sliding rail in a sliding way.
As an improvement of the utility model, the vertical sliding rail is fixedly connected with one end of the sliding block, a triangular reinforcing plate is fixedly connected with the included angle position of the sliding block and the vertical sliding rail, and the triangular reinforcing plate is provided with a through hole.
As an improvement of the utility model, the terrain simulation assembly comprises an up-down slope simulation member, a side slope simulation member, a step simulation member and/or a flat simulation member.
As an improvement of the utility model, a wood board is paved on the ground below the horizontal sliding rail, and the terrain simulation component is placed on the wood board.
As an improvement of the utility model, the shank motor to be tested is connected with the shank rod through a connecting rod assembly.
As an improvement of the utility model, the thigh motor to be tested and the shank motor to be tested are respectively positioned at two sides of the thigh rod.
As an improvement of the present utility model, the control assembly 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, respectively, and a power supply electrically connected to the upper computer through a switching regulator.
As an improvement of the utility model, the frame comprises a bottom frame and a top frame detachably connected above the bottom frame, and the horizontal sliding rail is arranged on the top frame.
By adopting the technical scheme, the utility model has the following beneficial effects:
1. the testing device provided by the utility model overcomes the defect that the real load environment of the motor system of the legged robot cannot be truly reproduced in the prior art, the motor system is assembled on a single leg of the robot to perform performance test, the real load environment of the motor system is truly reproduced, and the testing accuracy is relatively high.
2. The method is suitable for load experiments of the assembled leg-foot type robot motor system under different unstructured terrain working conditions, and can realize motor performance tests in various load environments at one time.
3. By arranging the current acquisition module and the motor encoder, dynamic performance parameters such as torque, rotation speed, current and the like of the legged robot motor system under real simulation working conditions can be accurately obtained in real time
Drawings
FIG. 1 is a schematic diagram of a motor system on-line testing device for a leg and foot robot according to the present utility model;
FIG. 2 is a schematic diagram of the position of a motion simulator assembly in the apparatus of the present utility model;
fig. 3 is an exploded view of a robot single leg assembly of the apparatus of the present utility model, with parts omitted.
The labels correspond to the following:
10-a control assembly; 11-an upper computer;
12-switching rectifiers; 13-a display;
14-a keyboard; 20-a frame;
21-a chassis; 22-top rack;
23-supporting rods; 24-cross bar;
25-connecting rod; 26-reinforcing bars;
27-a vertical rod; 30-horizontal sliding rails;
40-a motion simulation assembly; 41-a slider;
42-vertical slide rails; 43-triangular reinforcing plates;
44-perforating; 50-robot single leg assembly;
51-a base; 52-thigh bar;
53-shank; 54-thigh motor to be tested;
55-a shank motor to be tested; 56-motor encoder;
57-motor driver; a 60-terrain simulation component;
61-up-down slope simulation; 62-side slope simulation;
63-step simulation; 64-flat simulation.
Detailed Description
The utility model will be further described with reference to the accompanying drawings and specific examples.
As shown in fig. 1-3, the on-line testing device for a motor system for a leg robot provided in this embodiment includes a control assembly 10, a frame 20, a horizontal slide rail 30 horizontally and fixedly connected to the frame 20, a motion simulation assembly 40 slidingly connected to the horizontal slide rail 30, a robot single-leg assembly 50 mounted on the motion simulation assembly 40, and a terrain simulation assembly 60 disposed below the horizontal slide rail 30, wherein the horizontal slide rail 30 is effectively a ball linear guide.
The control assembly 10 includes a host computer 11 electrically connected to the robot single-leg assembly 50 and a power source (not shown) electrically connected to the host computer 11 through a switching regulator 12, although both the host computer 11 and the switching regulator 12 are commercially available and are not important in this embodiment, and will not be described in detail herein. In addition, the control assembly 10 further comprises a display 13 and a keyboard 14 which are respectively in communication connection with the upper computer 11 so as to perform man-machine interaction.
The frame 20 comprises a bottom frame 21 and a top frame 22 detachably connected above the bottom frame 21, wherein the bottom frame 21 and the top frame 22 are all built by aluminum profiles, and a horizontal sliding rail 30 is arranged on the top frame 22. Specifically, the chassis 21 is a square frame with four side walls, and the area surrounded by the four side walls of the square frame forms a test area, preferably, in order to improve the stability of the square frame, the bottom of the square frame is provided with a plurality of support rods 23 which are arranged in parallel with each other and the length direction of the square frame; the roof-rack 22 is the planer-type frame, and the horizontal slide rail sets up on the crossbeam of planer-type frame, and the bottom of two stands of planer-type frame is connected according to conventional mode with chassis 21 through the bolt respectively, 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 the existence of chassis 21, can greatly reduce the length of the stand of planer-type frame, improves planer-type frame's stability, and then promotes the test accuracy. In order to further improve stability, preferably, two vertical posts of the gantry frame are respectively and fixedly connected with a cross rod 24, the cross rod 24 is simultaneously and vertically arranged with a cross beam and a vertical post of the gantry frame and is parallel to corresponding side walls of the square frame, two ends of the two cross rods 24 are respectively and one to one connected with a connecting rod 25, namely, the two connecting rods 25 and the two cross rods form a quadrilateral structure, a plurality of reinforcing rods 26 which are mutually and parallelly arranged 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 the reinforcing rods 26 and the cross beam of the gantry frame can effectively avoid bending of the cross beam, but the testing area cannot be occupied.
The motion simulation assembly 40 comprises a sliding block 41 which is slidably connected to the horizontal sliding rail 30 and a vertical sliding rail 42 which is vertically and fixedly connected to the sliding block 41, wherein the vertical sliding rail 42 is fixedly connected to one end of the sliding block 41, in order to reduce the stress of one end of the sliding block 41 connected to the vertical sliding rail 42, preferably, a triangular reinforcing plate 43 is fixedly connected to an included angle formed between the sliding block 41 and the vertical sliding rail 42, the triangular reinforcing plate 43 is in an isosceles right triangle structure, the side walls of the two right-angle sides of the triangular reinforcing plate are respectively and fixedly connected with the upper end face of the sliding block 41 and the side face of the vertical sliding rail 42, and in addition, a through hole 44 is formed in the center position of the triangular reinforcing plate 43 so as to avoid stress concentration.
Preferably, in the present embodiment, there are two horizontal sliding rails 30, and the sliding block 41 is slidingly connected to the two horizontal sliding rails 30 at the same time, so that better support can be formed for the sliding block 41, and derailment of the sliding block 41 due to unilateral stress is avoided.
The robot single-leg assembly 50 includes a base 51, a thigh bar 52 rotatably coupled to the base 51, and a shank bar 53 rotatably coupled to a lower end of the thigh bar, wherein the base 51 is slidably coupled to the vertical slide rail 42 such that the robot single-leg assembly 50 can freely move in both horizontal and vertical directions. The base 51 is provided with a thigh motor 54 to be tested for driving the thigh lever 52 to rotate, the thigh lever 52 is provided with a thigh motor 55 to be tested for driving the thigh lever 53 to rotate, specifically, the thigh motor 54 to be tested and the thigh motor 55 to be tested are respectively located at two sides of the thigh lever 52, wherein a casing of the thigh motor 54 to be tested is detachably and fixedly connected to the base 51, the thigh lever 52 is indirectly and rotatably connected with the base 51 through connection with the thigh motor 54 to be tested, the thigh motor 55 to be tested and the thigh lever 53 are connected through a connecting rod assembly (not shown in the figure), it is to be noted that a specific connection structure between the thigh motor 54 to be tested and the base 51 is the same as a connection structure between the thigh motor and a body part of a conventional legged robot, and a specific transmission connection structure between the thigh motor 55 to be tested and the thigh lever 53 is also the same as the conventional legged robot, which is not the focus of the embodiment. In use, 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 to be tested and the shank motor 55 to be tested are provided with the motor encoder 56 and the 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, thus the currents of the thigh motor 54 to be tested and the shank motor 55 to be tested are conveniently detected in real time, then the torque of the corresponding motors can be obtained by multiplying the detected currents by the torque coefficient, further the output torque of the thigh motor 54 to be tested and the shank motor 55 to be tested can be obtained in real time, and meanwhile, the real-time detection of the motor rotation speed and the rotor position can be realized through software which is preloaded on an upper computer (the software is written according to the actual function requirement in a conventional manner or is obtained through setting according to the actual function requirement on conventional software). Preferably, in this embodiment, the motor encoder 57 is a magnetic encoder comprising 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 housing of the corresponding motor. In addition, a force sensor (not shown in the drawing) is further provided at the foot end of the shank 53, and the force sensor, the thigh motor to be measured 54, the shank motor to be measured 55, the motor encoders 56 and the motor drivers 57 are respectively electrically connected with the upper computer 11 of the control unit 10 so as to control and supply power to the elements through the upper computer 11.
Terrain simulation assembly 60 includes an up-down slope simulation member 61, a side slope simulation member 62, a step simulation member 63, and/or a level ground simulation member 64, wherein level ground simulation member 64 may also be classified into a grass, a mud bed, and the like. In this embodiment, the terrain simulation assembly 60 includes an up-down slope simulation member 61, a side slope simulation member 62, a step simulation member 63, and a land simulation member 64, each of which is sequentially arranged in a straight line along the length direction of the linear slide rail 30, so that the performance test of the motor under various indoor unstructured terrain conditions can be realized at one time. Preferably, a wood board is laid on the ground below the horizontal slide rail 30, and the terrain simulation assembly 60 is placed on the wood board.
Before testing, the thigh motor 54 to be tested and the shank motor 55 to be tested are firstly arranged in the single-leg assembly 50 of the robot, and the foot end of the shank 53 of the single-leg assembly 50 of the robot 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 power is supplied to all electronic elements through the upper computer 11, and the whole testing device is started; then, the upper computer 11 controls each motor driver 57 to move, and further controls the robot single-leg assembly 50 to move on the unstructured terrain analogue, in the process, the two magnetic encoders respectively measure the rotation angles of the thigh motor 54 to be tested and the shank motor 55 to be tested, the current collecting module on each motor driver 57 measures the phase currents of the corresponding motors, and the force sensor measures the acting force between the robot single-leg assembly 50 and the ground, so that the force closed loop control can be carried out on the robot single-leg assembly 50 by utilizing the acting force signals between the robot single-leg assembly 50 and the ground, and the actions such as advancing, retreating and jumping of the single leg are realized. The magnetic encoder and the current acquisition module measure signals and transmit the signals to the upper computer 11, and the upper computer 11 analyzes and processes the input signals, so that dynamic performance parameters such as current, torque, rotating speed and the like of the motor system in a real load environment are obtained.
The present utility model has been described in detail with reference to the accompanying drawings, but the embodiments of the present utility model are not limited to the above embodiments, and those skilled in the art can make various modifications to the present utility model according to the prior art, which are all within the scope of the present utility model.
Claims (6)
1. The on-line testing device for the motor system of the leg-foot robot is characterized by comprising a control component, a frame, a horizontal sliding rail horizontally and fixedly connected to the frame, a motion simulation component connected to the horizontal sliding rail in a sliding way, a robot single-leg assembly arranged on the motion simulation component and a terrain simulation component arranged below the horizontal sliding 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, 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 arranged on the thigh motor to be tested and the shank motor to be tested, and phase current acquisition modules are integrated on the motor drivers, and the thigh motor to be tested, the motor encoders to be tested and the motor drivers are respectively and electrically connected with the control component;
the motor encoder is a magnetic encoder and comprises a chip and a magnet, wherein the magnet is arranged on a rotor shaft of a corresponding motor, and the chip is arranged on an end cover bearing seat of the corresponding motor;
the motion simulation assembly comprises a sliding block which is connected to the horizontal sliding rail in a sliding way and a vertical sliding rail which is vertically and fixedly connected to the sliding block, and the base is connected to the vertical sliding rail in a sliding way;
the vertical sliding rail is fixedly connected to one end of the sliding block, a triangular reinforcing plate is fixedly connected to the included angle position of the sliding block and the vertical sliding rail, and a through hole is formed in the triangular reinforcing plate;
the terrain simulation assembly includes an up-down slope simulation member, a side slope simulation member, a step simulation member, and/or a flat simulation member.
2. The on-line testing device of motor system for leg and foot robot according to claim 1, wherein a wooden board is laid on the ground below the horizontal slide rail, and the terrain simulation component is placed on the wooden board.
3. The on-line testing device for a motor system for a legged robot according to claim 1, wherein the legged motor to be tested and the shank are connected by a link assembly.
4. The on-line testing device for a motor system for a legged robot according to claim 1, wherein the thigh motor to be tested and the shank motor to be tested are respectively located at both sides of the thigh bar.
5. The on-line testing device for a motor system for a legged robot according to claim 1, wherein the control assembly includes an upper computer electrically connected to the thigh motor to be tested, the shank motor to be tested, each of the motor encoders and each of the motor drivers, respectively, and a power source electrically connected to the upper computer through a switching rectifier.
6. The on-line testing apparatus for a motor system for a legged robot according to any one of claims 1 to 5, wherein the frame includes a bottom frame and a top frame detachably connected above the bottom frame, and the horizontal slide rail is provided on the top frame.
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| 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 |
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| 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 CN111398816A (en) | 2020-07-10 |
| CN111398816B true CN111398816B (en) | 2024-03-29 |
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Families Citing this family (2)
| 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 |
| CN115290366A (en) * | 2022-08-04 | 2022-11-04 | 吉林大学 | Motion simulation test device suitable for leg-foot type walking device |
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