CN111405969A - Testing device - Google Patents
Testing device Download PDFInfo
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- CN111405969A CN111405969A CN201880075406.2A CN201880075406A CN111405969A CN 111405969 A CN111405969 A CN 111405969A CN 201880075406 A CN201880075406 A CN 201880075406A CN 111405969 A CN111405969 A CN 111405969A
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- human robot
- holding
- robot
- test
- human
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention provides a testing device, which can restrain the required space to be less when testing the action of a human robot. The test apparatus performs a test on the operation of the human robot. The test device is provided with: 2 holding parts for holding 2 legs of the human robot, and a moving mechanism for moving the holding parts.
Description
Technical Field
The present invention relates to a test apparatus for performing a test in which a human robot performs various operations.
Background
Conventionally, a human robot that travels with both feet has been developed. Such a human robot can perform the same operation as a human, and therefore, it is expected to perform operations in places where people are difficult to enter, such as removal of debris and rescue of people at the time of a disaster.
Such a human robot may be tested in advance. As a test apparatus for testing a human robot in advance, for example, there is an apparatus disclosed in patent document 1. Patent document 1 discloses the following: the test of whether the humanoid robot can keep balance on the workbench is carried out by applying external interference to the workbench in a state that the humanoid robot is carried on the workbench.
Patent document 1: japanese patent laid-open publication No. 2005-40919
However, the test apparatus disclosed in patent document 1 is not configured to restrain the human robot. Therefore, the operation of the human robot may cause the human robot to move significantly, which increases the size of the table required for the test, and may require a large space for the test.
Disclosure of Invention
In view of the above circumstances, it is an object of the present invention to provide a testing apparatus that reduces the space required for testing the operation of a human robot.
The present invention provides a testing apparatus for performing a test on an operation of a human robot, the testing apparatus including: 2 holding units for holding 2 legs of the human robot; and a moving mechanism configured to be able to move the holding portion.
In the test apparatus having the above configuration, since the holding portions hold the legs of the human robot, respectively, when the holding portions are moved to perform a test, the test can be performed in a state in which the legs are held and restrained. Therefore, even when an operation such as the movement of the human robot is performed, the human robot can be tested for the operation while remaining at the position by holding the leg portion.
Further, the following configuration is possible: the moving mechanism includes a width-direction guide rail extending in the width direction of the human robot when 2 of the leg portions are held by the holding portion, and the holding portion is movable along the width-direction guide rail.
Since the holding portion is movable along the width direction guide rail extending in the width direction of the robot, the movement of the leg portion moving in the width direction can be tested.
Further, the moving mechanism may be configured to: the 2 holding portions are symmetrically moved in the width direction with respect to a 1 st reference position of the width direction guide rail.
Since the 2 holding portions are symmetrically moved in the width direction with respect to the 1 st reference position of the width direction rail, the positions of the 2 holding portions in the width direction are defined, and the test can be reliably performed.
Further, the following configuration is possible: the moving mechanism includes a longitudinal guide rail extending in the longitudinal direction of the human robot when 2 of the legs are held by the holding unit, and the holding unit is movable along the longitudinal guide rail.
Since the holding portion is movable along the front-rear direction guide rail extending in the front-rear direction of the robot, the movement of the leg portion moving in the front-rear direction can be tested.
Further, the moving mechanism may be configured to: the 2 holding portions are symmetrically moved in the front-rear direction with respect to a 2 nd reference position of the front-rear direction guide rail.
Since the 2 holding portions are configured to be symmetrically moved in the front-rear direction with respect to the 2 nd reference position of the front-rear direction rail, the front-rear direction positions of the 2 holding portions are defined, and the test can be reliably performed.
Further, the following configuration is possible: the moving mechanism includes a width-direction guide rail extending in a width direction of the human robot and a front-rear-direction guide rail extending in a front-rear direction of the human robot when 2 of the legs are held by the holding unit, and the holding unit is movable along the width-direction guide rail and the front-rear-direction guide rail.
The holding section is movable along a width-direction guide rail extending in the width direction of the robot and is also movable along a front-rear-direction guide rail extending in the front-rear direction of the robot, so that it is possible to test the movement of the leg section in both the width direction and the front-rear direction.
Further, the following configuration is possible: the moving mechanism includes a rotating shaft of the holding portion, the rotating shaft extending through the holding portion so as to be perpendicular to a horizontal plane, and the moving mechanism is capable of rotating the holding portion around the rotating shaft.
Since the holding section can be rotated about a rotation axis that penetrates the holding section and extends perpendicular to the horizontal plane, the operation of the human robot can be tested by twisting the holding section, which is accompanied by the twisting operation of the legs. Therefore, the test of the action of the pedestrian robot to twist the legs and the waist can be performed, and the degree of freedom of the test can be improved.
Further, the following configuration is possible: the moving mechanism can move each of the 2 holding portions in the vertical direction.
Since the holding portion is movable in the vertical direction, the operation of moving the leg portion in the vertical direction can be tested.
According to the present invention, when performing a test for the operation of a human robot, a test with a high degree of freedom can be performed in a limited space. Therefore, by reducing the space for performing the test, the test apparatus can be reduced in size, and the manufacturing cost of the test apparatus can be reduced.
Drawings
Fig. 1 is a test device according to embodiment 1 of the present invention, (a) is a perspective view of the test device, (b) is a plan view of the test device, (c) is a front view of the test device, and (d) is a side view of the test device.
Fig. 2 is a human robot to be tested by the testing apparatus of fig. 1, wherein (a) is a front view of the human robot, and (b) is a side view of the human robot.
Fig. 3 is a block diagram showing the structure of a control system of the human robot of fig. 2.
Fig. 4 is a view showing a state in which the humanoid robot of fig. 2 is mounted on the test apparatus of fig. 1 and the legs of the humanoid robot are closed, (a) is a perspective view, (b) is a plan view, (c) is a front view, and (d) is a side view.
Fig. 5 is a view showing a state in which the humanoid robot of fig. 2 is mounted on the test apparatus of fig. 1 and the legs of the humanoid robot are open, (a) is a perspective view, (b) is a plan view, (c) is a front view, and (d) is a side view.
Fig. 6 is a view showing a state in which the human robot of fig. 2 is mounted on the test apparatus of fig. 1 and the legs and waist of the human robot are twisted, where (a) is a perspective view, (b) is a plan view, (c) is a front view, and (d) is a side view.
Fig. 7 is a diagram showing a state in which a human robot is mounted on a test apparatus according to embodiment 2 of the present invention, wherein (a) is a perspective view, (b) is a plan view, (c) is a front view, and (d) is a side view.
Fig. 8 is a structural diagram showing a structure in which 2 holding portions are moved symmetrically with respect to a reference position in the testing apparatus of fig. 7.
Fig. 9 is a diagram showing a state in which a human robot is mounted on a test apparatus according to embodiment 3 of the present invention, wherein (a) is a perspective view, (b) is a plan view, and (c) is a front view.
Fig. 10 is a side view showing a state where a human robot is mounted on the test apparatus according to embodiment 4 of the present invention.
Detailed Description
Hereinafter, a test apparatus according to an embodiment of the present invention will be described with reference to the drawings.
(embodiment 1)
Fig. 1(a) is a perspective view of a test apparatus 100 according to embodiment 1 of the present invention, fig. 1(b) is a plan view of the test apparatus 100, fig. 1(c) is a front view of the test apparatus, and fig. 1(d) is a side view of the test apparatus 100.
The test apparatus 100 includes a holding unit 110 and a moving mechanism 120. In the present embodiment, the test apparatus 100 includes 2 holding units 110. The holding unit 110 is configured to hold the leg 10 of the human robot 1.
The moving mechanism 120 is configured to allow the holding portion 110 to move. The moving mechanism 120 includes a guide rail (widthwise guide rail) 121. In the present embodiment, the moving mechanism 120 includes 2 guide rails 121. The guide rail 121 is configured to extend in one direction. In the present embodiment, 2 guide rails 121 are configured to extend in the same direction.
The moving mechanism 120 includes a screw shaft 122 between the 2 guide rails 121. The threaded shaft 122 is configured to extend in the same direction as the direction in which the guide rails 121 extend, between the guide rails 121. The screw shaft 122 is disposed over substantially the entire length of the test apparatus 100 in the longitudinal direction.
The 2 holding portions 110 are connected to the threaded shaft 122. When any one of the 2 holding portions 110 moves, the screw shaft 122 rotates in accordance with the movement of the one holding portion 110. When the screw shaft 122 rotates, the other holding portion 110 moves by the same amount as the movement amount of the one holding portion 110. When the screw shaft 122 rotates, the one holding portion 110 and the other holding portion 110 are configured to move in opposite directions. Therefore, the 2 holding portions 110 are arranged symmetrically with respect to the central reference position (1 st reference position) l.
In the present embodiment, balls are disposed inside the screw grooves of the screw shaft 122 and the holding portion 110 at the connection portion between the screw shaft 122 and the holding portion 110, and the connection portion between the screw shaft 122 and the holding portion 110 is configured as a ball screw. Since the connection portion between the screw shaft 122 and the holding portion 110 is configured as a ball screw, it is possible to smoothly move each of the 2 holding portions 110 with a small force. In the present embodiment, the connection portion between the screw shaft 122 and the holding portion 110 is configured as a ball screw, but the present invention is not limited thereto. For example, the 2 holding portions 110 may be configured to be movable symmetrically with respect to the central reference position l by a link mechanism. The 2 holding portions 110 may be configured to be movable symmetrically with respect to the central reference position l.
Next, a human robot to be tested by the testing apparatus 100 will be described.
Fig. 2(a) is a front view of the human robot 1 to be tested by the testing apparatus 100 of the present embodiment, and fig. 2(b) is a side view of the human robot 1.
The human robot 1 of the present embodiment has a shape resembling a human, and includes a head 2, a trunk 3, an arm 4, and a leg 5. A foot 10 is provided at the front end of the leg 5. A toe portion 16 is attached to the outer side of the foot portion 10. The toe portion 16 is attached to and detached from the foot portion 10.
The arm portion 4, the leg portion 5, and the like are configured by connecting a plurality of links by joints. The links are configured to be able to flex at portions of the joint. A drive device such as a servomotor or an actuator is disposed in each joint. By controlling the driving of the driving device, the degree of flexion between the links is controlled, and the driving of the arm portion 4, the leg portion 5, and the like is controlled. The human robot 1 includes a plurality of driving devices corresponding to a plurality of bendable joints.
The human robot 1 is configured to be capable of walking with both feet by controlling the driving of the legs 5. Further, the same work as that of a human can be performed by driving the arm 4 and the leg 5 and moving the hands and feet.
A cable 7 is connected to the rear surface portion 6 of the body portion 3 of the human robot 1. The cable 7 has a linear shape, is formed of a flexible material, and is configured to be bendable. Wiring is arranged inside the cable 7, and a current from a power source is supplied to the human robot 1 through the wiring arranged inside the cable 7. In the present embodiment, the wiring from the cable 7 is branched and connected to a plurality of driving devices. The current from the cable 7 is supplied to the drive device through wiring.
In the present embodiment, the cable 7 is used as a wiring for supplying current to the human robot 1, but the present invention is not limited to the above embodiment. The cable 7 may also have other functions. For example, when controlling the human robot 1, the cable 7 may be used as a transmission path for signals transmitted to the human robot 1, data detected by various sensors, and the like. In addition, the cable 7 may also be used to support the humanoid robot 1 from above so that the humanoid robot 1 does not fall over. In addition, the cable 7 may be used for other purposes. The cable 7 can be detachably attached to the human robot 1, and can also be fixedly attached to the human robot 1.
The trunk unit 3 has a waist portion 8 at a lower portion. The waist portion 8 is a lower portion of the trunk portion 3. In the present embodiment, the waist portion 8 is a portion of the torso portion 3 on the side close to the leg portions 5. The waist portion 8 is a region from the connection portion 9 between the cable 7 and the human robot 1 in the body portion 3 to the end portion on the side close to the leg portion 5.
As shown in fig. 1(a) and (b), the housing 11 is detachably attached to the outside of the waist 8. Since the cover 11 is attached to the outside of the waist 8, the waist 8 can be protected by the cover 11 even if the human robot 1 falls down due to losing balance.
Next, a control structure of the human robot 1 will be explained. Fig. 3 is a block diagram showing a control structure of the human robot 1.
As shown in fig. 3, the control unit 14 of the human robot 1 includes a calculation unit 14a, a storage unit 14b, and a servo control unit 14 c.
The control unit 14 is, for example, a robot controller provided with a computer such as a microcontroller. The control unit 14 may be constituted by a single control unit 14 that performs centralized control, or may be constituted by a plurality of control units 14 that perform distributed control in cooperation with each other.
The storage unit 14b stores information such as a basic program and various kinds of fixed data as a robot controller. The computing unit 14a reads and executes software such as a basic program stored in the storage unit 14b to control various operations of the human robot 1. That is, the arithmetic unit 14a generates a control command for the human robot 1 and outputs the control command to the servo control unit 14 c. For example, the arithmetic unit 14a is constituted by a processor unit.
The servo control unit 14c is configured to control the driving of the driving devices corresponding to the respective joints of the human robot 1 based on the control command generated by the arithmetic unit 14 a.
In the present embodiment, the test apparatus 100 is described as including 2 holding units 110 corresponding to the number of the leg portions 10 of the human robot 1, but the present invention is not limited to this. The number of the holding portions 110 may be 2 or more. If the robot to be tested has 3 or more legs, the robot may have a number of holding units corresponding to the number of legs.
In addition, if the test for one leg is completed, only one holding portion may be provided. The test apparatus may have a larger number of holding parts than the number of legs of the robot. The number of the legs of the robot does not necessarily match the number of the holding portions of the test apparatus.
Next, a test of the operation of the human robot 1 performed by the test apparatus 100 will be described.
When a certain operation is performed, a test may be performed in advance to confirm how to drive the various driving devices of the human robot 1. There are cases where the human robot 1 is caused to perform a specific operation in advance, and when performing the operation, a test is performed as to how to drive the driving device of the human robot 1.
By causing the human robot 1 to perform various operations in a state where the human robot 1 is mounted on the test apparatus 100, the operation of the human robot 1 can be tested in a state where 2 legs 10 are held by the holding unit 110.
Fig. 4(a) to (d) show the test apparatus 100 and the human robot 1 in a state where the human robot 1 is mounted on the test apparatus 100. In the states shown in fig. 4(a) to (d), the distance between the legs 5 is relatively narrow, and the legs 5 are in a closed state. In fig. 4(a) to (d), only the lower body of the human robot 1 is shown for the sake of explanation.
Fig. 4(a) shows a perspective view of the testing apparatus 100 and the human robot 1, fig. 4(b) shows a plan view of the testing apparatus 100 and the human robot 1, fig. 4(c) shows a front view of the testing apparatus 100 and the human robot 1, and fig. 4(d) shows a side view of the testing apparatus 100 and the human robot 1.
The holding portion 110 is configured to be movable along the guide rail 121 while holding the leg portion 10. Therefore, the position of the leg 10 of the human robot 1 can be moved by moving the holding part 110 along the guide rail 121 in a state where the leg 10 is held by the holding part 110. This enables the human robot 1 to perform various tests of the operation.
Further, the holding unit 110 can move the human robot 1 in the width direction of the human robot 1 to open the legs.
Fig. 5(a) to (d) show the test apparatus 100 and the human robot 1 in a state where the leg 5 is open. Fig. 5(a) shows a perspective view of the testing apparatus 100 and the human robot 1, fig. 5(b) shows a plan view of the testing apparatus 100 and the human robot 1, fig. 5(c) shows a front view of the testing apparatus 100 and the human robot 1, and fig. 5(d) shows a side view of the testing apparatus 100 and the human robot 1. In fig. 5(a) to (d), only the lower body of the human robot 1 is shown for the sake of explanation.
When the human robot 1 is moved from the state in which the leg portions 5 are closed to the opened state, the holding portion 110 of the testing apparatus 100 is moved in the width direction of the human robot 1 along the guide rail 121.
By moving the holding part 110 in the width direction of the human robot 1, the leg parts 10 can be moved so as to change the interval between the leg parts 10. By moving the leg portions 10 so as to increase the distance between the leg portions 10, the human robot 1 can obtain a posture in which the leg portions 5 are open. The holding portion 110 is movable from a state in which the leg portions 5 are closed to each other as shown in fig. 4 to a state in which the leg portions 5 are opened to each other as shown in fig. 5, and the holding portion 110 is also movable from a state in which the leg portions 5 are opened to each other as shown in fig. 5 to a state in which the leg portions 5 are closed to each other as shown in fig. 4. In the present embodiment, the width direction is the width direction of the human robot 1 when the human robot 1 stands upright in a state of being directed straight to the front on the test apparatus 100 without applying a twist or the like.
In the present embodiment, the 2 holding portions 110 are configured to move bilaterally symmetrically with respect to the central reference position l. As described above, the screw shaft 122 is disposed in the entire range of the moving direction of the holding portion 110, and 2 holding portions 110 are attached to the screw shaft 122. The 2 holding portions 110 are configured to move in opposite directions with respect to the reference position l. Therefore, when the 2 holding portions 110 are moved, the screw shaft 122 rotates to move the 2 holding portions 110 in opposite directions by the same feed amount around the reference position l. Therefore, the 2 holding portions 110 move in opposite directions to each other while maintaining a line-symmetric relationship with respect to the reference position l. That is, the 2 holding portions 110 can move in the direction of approaching each other and in the direction of separating from each other while maintaining a line-symmetric relationship with respect to the reference position l.
Further, the operation of twisting the leg portions 5 and the waist portion 8 can be performed by moving the holding portion 110 so as to twist the leg portions 10.
Fig. 6(a) to (d) show the test apparatus 100 and the human robot 1 in a state where the operation of twisting the leg 5 and the waist 8 is performed. Fig. 6(a) shows a perspective view of the testing apparatus 100 and the human robot 1, fig. 6(b) shows a plan view of the testing apparatus 100 and the human robot 1, fig. 6(c) shows a front view of the testing apparatus 100 and the human robot 1, and fig. 6(d) shows a side view of the testing apparatus 100 and the human robot 1. In fig. 6(a) to (d), only the lower body of the human robot 1 is shown for the sake of explanation.
The moving mechanism 120 is configured to be able to rotate the holding portion 110. In the present embodiment, the moving mechanism 120 includes the rotation axis s1 of the holding portion 110. Each of the 2 holding portions 110 has a rotation axis s 1. The rotation shaft s1 is provided to penetrate the holding portion 110 and extend perpendicular to the horizontal plane. The moving mechanism 120 is configured to be able to rotate the holding portion 110 about the rotation axis s 1. Since the holding unit 110 is configured to be rotatable about the rotation axis s1, the human robot 1 can move so as to twist the holding unit 110 by causing the human robot 1 to perform the operation of twisting the leg portion 5 and the waist portion 8 by causing the human robot 1 to perform the operation of twisting the leg portion 10. This allows the leg portions 5 and the waist portion 8 to be twisted while the leg portions 10 are held by the holding portions 110.
In the present embodiment, the test apparatus 100 does not include a driving means for moving the holding portion 110. In a state where the holding part 110 is movable along the guide rail 121, the human robot 1 moves the leg part 10, and thereby the human robot 1 can move the leg part 10 in a range where the holding part 110 can move. However, the present invention is not limited to the above embodiment. The test apparatus 100 may also include a drive unit for moving the holding portion 110. For example, the following may be provided: the testing apparatus 100 has a motor for moving the holding unit 110, and moves the leg 10 of the human robot 1 to a predetermined position by driving the motor in accordance with the operation of the human robot 1. In this way, the leg 10 of the human robot 1 may be forcibly moved to cause the human robot 1 to perform a predetermined operation.
Since the test of the operation of the human robot 1 can be performed in a state where the feet 10 of both feet are held by the holding portions 110, the test of the operation can be performed in a state where the human robot 1 is stable.
If the human robot 1 is in a state where only one leg 10 lands on the ground and the other leg 10 is lifted, the human robot 1 is unstable, and if a test is performed in such a state, the human robot 1 may topple.
In the present embodiment, since the feet 10 of both feet of the human robot 1 are held by the holding portions 110 and the test is performed, the test of the operation is performed in a state where the feet 10 of both feet are firmly held and land. Since the feet 10 of both feet of the human robot 1 are reliably held at the time of the test, the test can be performed in which the human robot 1 operates in a stable state, and the robot can be reliably prevented from falling down at the time of the test. This enables the operation of the human robot 1 to be tested while ensuring safety.
Since the human robot 1 has less risk of falling down, more operations can be tested. Therefore, the human robot 1 can be caused to perform more operations in the test. Further, since the human robot 1 can perform more operations, the human robot 1 can perform complicated operations such as dancing and gymnastics.
Further, since the test is performed in a state where the holding unit 110 holds the leg portion 10 of the human robot 1, the test can be performed in a state where the leg portion 10 is held and restrained at the time of the test. Therefore, even when the human robot 1 moves, the test can be performed while the leg 10 is held, and the test of the operation can be performed while the human robot 1 is left at the position. Therefore, the human robot 1 can perform a test of operation at the position without accompanying the movement of the place.
When performing a test for the operation of the human robot 1, the human robot 1 can perform the test without moving the place, and therefore, the space required for performing the test can be reduced. This enables a test with a high degree of freedom to be performed in a limited space. In addition, the test apparatus 100 can be miniaturized by reducing the space for performing the test. This can reduce the manufacturing cost of the test apparatus 100.
Further, since the holding portion 110 is configured to be slidable along the guide rail 121, the holding portion 110 can be smoothly moved. Therefore, the human robot 1 can perform a highly flexible operation.
In addition, in the present embodiment, since the 2 holding portions 110 are line-symmetrically moved with respect to the reference position l in the width direction, the positions of the 2 holding portions 110 can be easily adjusted. Therefore, the test apparatus 100 can be provided with good usability.
Further, since the 2 holding portions 110 move bilaterally symmetrically with respect to the reference position l, when the operation of the human robot 1 is tested by the testing apparatus 100, the 2 holding portions 110 are restrained and defined based on the movement of the holding portions 110. Since the movement by the holding portion 110 is predetermined, the operation of the human robot 1 can be reliably tested.
(embodiment 2)
Next, a test apparatus according to embodiment 2 of the present invention will be described. Note that, with respect to portions configured in the same manner as in embodiment 1, the same reference numerals are given to the drawings, and the description is omitted, and only different portions will be described.
Fig. 7(a) to (d) show a test apparatus 100a and a human robot 1 according to embodiment 2. Fig. 7(a) shows a perspective view of the testing device 100a and the human robot 1, fig. 7(b) shows a plan view of the testing device 100a and the human robot 1, fig. 7(c) shows a front view of the testing device 100a and the human robot 1, and fig. 7(d) shows a side view of the testing device 100a and the human robot 1. In fig. 7(a) to (d), only the lower body of the human robot 1 is shown for the sake of explanation.
In the test apparatus 100a according to embodiment 2, the guide rail (front-rear direction guide rail) 121a is arranged to extend in the front-rear direction of the human robot 1 while holding the 2 legs 10 of the human robot 1 by the holding unit 110. Since the guide rail 121a is disposed to extend in the front-rear direction of the human robot 1, the holding part 110 is configured to be movable in the front-rear direction of the human robot 1. This makes it possible to test the movement of the human robot 1 to move the leg 10 in the front-rear direction. In the present embodiment, the front-rear direction is the front-rear direction of the human robot 1 when the human robot 1 is standing upright in a state of being directed straight to the front on the test apparatus 100 without applying a twist or the like.
Since the operation of moving the leg portion 10 in the front-rear direction of the human robot 1 can be tested, the walking operation of the human robot 1 and the like can be tested. Therefore, a wider range of operation can be tested.
In general, when the walking operation is to be tested, the human robot 1 itself moves by the walking operation, and therefore, a relatively large space is required for testing the walking operation. However, in the test apparatus 100a according to embodiment 2, the walking operation test can be performed in a state where the legs 10 of both legs of the human robot 1 are held by the holding unit 110. Therefore, the walking operation test can be performed with the human robot 1 left at this position.
Since the test can be performed with the test left at this position, the space required for the test can be reduced. Therefore, the space required for testing the operation of the human robot 1 can be reduced, and the testing apparatus 100a can be miniaturized.
The test apparatus 100a according to embodiment 2 may be configured such that the 2 holding portions 110 are symmetrically moved with respect to the reference position l'.
Fig. 8 is a plan view of the testing apparatus 100a in which the guide rail 121a is disposed to extend in the front-rear direction of the human robot 1, and 2 holding units 110 are configured to move symmetrically with respect to a reference position (reference position No. 2) l'. The test device 100a shown in FIG. 8 has a connecting body 130. The 2 holding portions 110 are connected via a connecting body 130. The connecting body 130 is formed by a tape, for example. The connection body 130 may be formed of a material other than a belt such as a wire, a chain, or a piano wire.
In addition, the test apparatus 100a has 4 pulleys 131. The connection body 130 is configured to pass through the outer sides of the 4 pulleys 131. The connecting body 130 is bent at the pulley 131 and connected to the holding portion 110. Since the 2 holding portions 110 are connected by the connecting body 130, the 2 holding portions 110 are configured to be moved by the same amount in opposite directions.
Since the test apparatus 100a is configured as described above, the 2 holding portions 110 are configured to move symmetrically with respect to the reference position l'. Therefore, the holding part 110 is restrained, and movement of the holding part 110 is regulated. Therefore, when the human robot 1 is mounted on the test apparatus 100a to perform a test of the operation of the human robot 1, the test can be reliably performed.
(embodiment 3)
Next, a test apparatus according to embodiment 3 of the present invention will be described. Note that, in the drawings, the same reference numerals are given to portions having the same configurations as those of the above-described embodiments 1 and 2, and the description thereof will be omitted, and only different portions will be described.
In embodiment 1, the holding unit 110 of the testing apparatus 100 is configured to be movable in the width direction of the human robot 1. In embodiment 2, the holding unit 110 of the testing apparatus 100a is configured to be movable in the front-rear direction of the human robot 1. In contrast, embodiment 3 differs from embodiment 1 and embodiment 2 in that the holding unit 110 of the testing apparatus 100b is configured to be movable in both the width direction and the front-rear direction of the human robot 1.
Fig. 9(a) to (d) show a test apparatus 100b according to embodiment 3 and a human robot 1. Fig. 9(a) shows a perspective view of the testing device 100b and the human robot 1, fig. 9(b) shows a plan view of the testing device 100b and the human robot 1, and fig. 9(c) shows a front view of the testing device 100b and the human robot 1. In fig. 9(a) to (c), only the lower body of the human robot 1 is shown for the sake of explanation.
In the test apparatus 100b according to embodiment 3, the guide rail 121d includes a guide rail 121b extending in the width direction of the human robot 1 and a guide rail 121c extending in the front-rear direction of the human robot 1. In the present embodiment, the guide rail 121b extending in the width direction and the guide rail 121c extending in the front-rear direction are arranged to overlap each other in the vertical direction. A guide rail 121b extending in the width direction is disposed on the upper side, and a guide rail 121c extending in the front-rear direction is disposed on the lower side.
The holding portion 110 is configured to be movable along a guide rail 121b extending in the width direction. The guide rail 121b disposed on the upper side is configured to be movable in a direction in which the guide rail 121c disposed on the lower side extends. Therefore, the upper guide rail 121b is configured to be movable in the front-rear direction of the human robot 1. The vertical arrangement of the guide rails 121b and 121c is not limited to this configuration, and the guide rail 121c extending in the front-rear direction may be arranged on the upper side and the guide rail 121b extending in the width direction may be arranged on the lower side.
Since the test apparatus 100b is configured as described above, the holding portion 110 can move in the width direction along the guide rail 121 b. Therefore, the foot 10 of the human robot 1 can move in the width direction along the guide rail 121 b. The guide rail 121b disposed on the upper side is movable in the front-rear direction of the human robot 1 along the guide rail 121 c. Thereby, the foot 10 of the human robot 1 can move in both the width direction and the front-rear direction. The human robot 1 can move the leg 10 in both the width direction and the front-rear direction, and thus can freely move in the horizontal plane.
In embodiment 3, since the holding unit 110 is configured to be movable in both the width direction and the front-rear direction of the human robot 1, it is possible to test the operation of a combination of the operation of moving the foot unit 10 in the width direction and the operation of moving the foot unit 10 in the front-rear direction. Therefore, the types of actions to be taken by the human robot 1 in a state where the legs of the human robot 1 are held by the holding unit 110 can be increased. This enables a test to be performed on more operations of the human robot 1. Therefore, the test apparatus 100b having a higher degree of freedom can be provided.
In the above-described embodiment, a configuration in which the holding unit of the test apparatus moves in the width direction or the front-rear direction of the human robot is described, but the present invention is not limited to the above-described embodiment. The movement mechanism of the test apparatus may have a portion for moving the holding part in a direction inclined with respect to the human robot. By configuring the test apparatus in this manner, the human robot can perform the test with respect to both the operation of moving the leg portion obliquely forward and the operation of moving the leg portion obliquely backward.
In the above embodiment, the embodiment has been described in which the guide rail 121b extending in the width direction is disposed on the upper side and the guide rail 121c extending in the front-rear direction is disposed on the lower side, but the present invention is not limited to the above embodiment. A guide rail extending in the front-rear direction may be disposed on the upper side, and a guide rail extending in the width direction may be disposed on the lower side. Further, the left and right holding portions 20 may be arranged in a vertically different order. For example, a rail extending in the width direction may be arranged on the upper side, a rail extending in the front-rear direction may be arranged on the lower side, in the holding portion 20 for holding the right leg, a rail extending in the front-rear direction may be arranged on the upper side, and a rail extending in the width direction may be arranged on the lower side, in the holding portion 20 for holding the left leg. In addition, the relationship may be reversed.
(embodiment 4)
Next, a test apparatus according to embodiment 4 of the present invention will be described. Note that, in the drawings, the same reference numerals are given to portions configured similarly to the above-described embodiments 1 to 3, and the description is omitted, and only different portions will be described. In embodiment 4, the holding portions 110 of the test apparatus 100 are configured to be movable in the vertical direction.
Fig. 10 shows a test apparatus 100c and a human robot 1 according to embodiment 4. In the test apparatus 100c according to embodiment 4, the human robot 1 is configured to move each of the 2 holding units 110 up and down, thereby enabling the test of the up and down movement of the leg 10.
In the test apparatus 100c, the 2 holding portions 110 are configured to be movable symmetrically with respect to the reference position l ″. Therefore, when the movement of the leg portion 10 in the vertical direction is tested, the vertical movement based on the holding portion 110 is defined. Therefore, when the operation of the human robot 1 is tested, the test can be reliably performed.
Description of reference numerals
1 … humanoid robot; 10 … feet; 100 … test set-up; 110 … holding part; 120 … moving mechanism.
Claims (8)
1. A test apparatus for performing a test on the operation of a human robot,
the test apparatus is characterized by comprising:
2 holding parts for holding 2 legs of the human robot; and
and a moving mechanism configured to be able to move the holding portion.
2. Testing device according to claim 1,
the moving mechanism includes a width-direction guide rail extending in a width direction of the human robot when 2 of the leg portions are held by the holding portion,
the holding portion is movable along the width direction guide rail.
3. Testing device according to claim 2,
the moving mechanism is configured to: the 2 holding portions are symmetrically moved in the width direction with respect to a 1 st reference position of the width direction guide rail.
4. Testing device according to claim 1,
the moving mechanism includes a longitudinal guide rail extending in a longitudinal direction of the human robot when 2 of the leg portions are held by the holding portion,
the holding portion is movable along the front-rear direction guide rail.
5. Testing device according to claim 4,
the moving mechanism is configured to: 2 of the holding portions are symmetrically moved in the front-rear direction with respect to a 2 nd reference position of the front-rear direction rail.
6. Testing device according to claim 1,
the moving mechanism includes a width direction guide rail extending in a width direction of the human robot when 2 of the legs are held by the holding unit, and a front-rear direction guide rail extending in a front-rear direction of the human robot,
the holding portion is movable along the width direction rail and the front-rear direction rail.
7. Test device according to one of the claims 1 to 6,
the moving mechanism has a rotating shaft of the holding portion, the rotating shaft penetrating the holding portion and extending perpendicular to a horizontal plane, and the moving mechanism can rotate the holding portion around the rotating shaft.
8. Testing device according to claim 1,
the moving mechanism can move each of the 2 holding portions in the vertical direction.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017-226358 | 2017-11-24 | ||
| JP2017226358A JP2019093508A (en) | 2017-11-24 | 2017-11-24 | Test device |
| PCT/JP2018/043183 WO2019103101A1 (en) | 2017-11-24 | 2018-11-22 | Test device |
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| CN111405969A true CN111405969A (en) | 2020-07-10 |
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| CN201880075406.2A Pending CN111405969A (en) | 2017-11-24 | 2018-11-22 | Testing device |
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| JP (1) | JP2019093508A (en) |
| CN (1) | CN111405969A (en) |
| WO (1) | WO2019103101A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117415857B (en) * | 2023-12-18 | 2024-03-22 | 浙江大学 | Multifunctional leg-foot type robot test platform with position compensation mechanism |
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| Publication number | Publication date |
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| JP2019093508A (en) | 2019-06-20 |
| WO2019103101A1 (en) | 2019-05-31 |
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