CN112880901A - Sufficient soil interaction mechanical properties test platform of sufficient robot - Google Patents
Sufficient soil interaction mechanical properties test platform of sufficient robot Download PDFInfo
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- CN112880901A CN112880901A CN202110210281.3A CN202110210281A CN112880901A CN 112880901 A CN112880901 A CN 112880901A CN 202110210281 A CN202110210281 A CN 202110210281A CN 112880901 A CN112880901 A CN 112880901A
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- camera
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- carrier plate
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
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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
- B25J19/0095—Means or methods for testing manipulators
Abstract
The invention discloses a foot type robot foot soil interaction mechanical property testing platform, which comprises a rack, a motion system and a testing system, wherein the rack is used for supporting a robot; the rack comprises a top flat plate, supporting legs, moving wheels, a soil tank, a base, a rotating shaft and a soil tank inclining device; the motion mechanism comprises a linear motor, a hip joint motor, a thigh support, a knee joint motor, a shank support, an ankle joint support and a foot end; the testing mechanism comprises a camera and a three-way force sensor, the joint movement gait is shot through the camera, the movement characteristic is analyzed, the footprint picture is shot through the camera, the depth of the footprint is obtained, and the normal force and the tangential force values in the movement process of the foot robot are obtained through the three-way force sensor. The invention can analyze and compare the normal force and the tangential force applied to the foot end under different conditions, thereby playing a guiding role in the design, the stability control and the path planning of the foot end of the foot type robot.
Description
Technical Field
The invention relates to the field of robot mechanics characteristic testing, in particular to a foot soil interaction mechanics characteristic testing platform for a foot type robot.
Background
With the development of scientific technology, the stability research of foot-type mobile systems is the mainstream of the development nowadays. Among the foot type mobile systems, the foot type robot is the most common and the application is the most extensive. However, when the legged robot moves in a soft environment, the foot end of the legged robot is prone to deep sinking and large slippage, and the stability of the legged robot is reduced. Therefore, research and analysis on the interaction mechanical characteristics between the foot end and the soil are needed to judge the specific stress condition of the foot end, so as to analyze the subsidence and slippage condition of the foot robot in the motion process. Meanwhile, the leg movement condition is still observed when deep subsidence and large slippage occur. Through mechanical analysis and motion analysis, the method plays a guiding role in the foot end design, stability control and path planning of the foot robot. However, at present, the foot type robot test bed cannot consider the interaction mechanical characteristics of foot and soil under the condition of multivariable (movement gait, soil characteristics and foot end shape). The invention designs a novel foot type robot foot soil interaction mechanical property test platform to solve the problems.
Disclosure of Invention
The testing platform aims to solve the defect that the existing foot type robot testing platform cannot measure the interaction stress condition of foot soil of the foot type robot under the multivariable condition. The invention provides a platform for testing interaction mechanical characteristics of foot type robots. The platform can measure the normal force and tangential force conditions of the foot type robot when the foot type robot is subjected to soil interaction under different conditions, and draw normal force and tangential force stress curves. The normal force can be directly obtained by the z-direction force of the three-direction force sensor, and the tangential force can be obtained by the first calculation formula, which is shown as follows.
Wherein FTIs the foot endUnder tangential force, FxThe three-dimensional force sensor is stressed in the x direction, FyThe force is applied to the y direction of the three-direction force sensor. In addition, the testing device can observe the sinking condition of the foot type robot and the stable condition of the machine frame in the motion process through the camera. Meanwhile, a lifting device is arranged below the soil tank, so that the soil tank can be lifted to a certain gradient, and the upward movement process of the foot type robot on the slope is simulated. The measurement can guide the foot end design, stability control and path planning of the foot robot.
A foot soil interaction mechanical property testing platform of a foot type robot comprises a rack, a motion system and a testing system. The machine frame comprises a base, a support shaft, a support column, a top layer support plate, a hip joint camera support plate, a knee joint camera support plate, a soil tank inclining device and a moving wheel; wherein the base is placed on the ground, and the support shaft is in clearance fit with the base; the top layer carrier plate is connected with the support columns through bolts; the two camera carrier plates are connected with the support columns through bolts, the support columns are connected with the movable wheels through short shafts, and the movable wheels are responsible for movement of the test system; one end of the bottom of the soil tank is contacted with the soil tank inclining device, and the other end of the bottom of the soil tank is connected with the supporting shaft through the ear seat; the base, the supporting shaft and the soil tank inclining device are mutually matched to change the inclination angle of the soil tank.
The motion system comprises a linear motor, a trunk, a connecting piece, a hip joint motor, a thigh support, a shank support, a knee joint motor, an ankle joint support and a foot end; the linear motor is arranged on the top layer carrier plate and is connected with the top layer carrier plate through a bolt to realize the up-and-down movement of the movement system; one end of the trunk is connected with the linear motor through threads, and the other end of the trunk is connected with the connecting piece through a bolt; the hip joint motor is respectively connected with the connecting piece and the thigh support and is responsible for controlling the movement of the hip joint of the foot type robot; one end of the knee joint motor is connected with the thigh bracket, and the other end of the knee joint motor is connected with the shank bracket and is responsible for controlling the knee joint movement of the foot type robot; one end of the ankle joint support is connected with the shank support, and the other end of the ankle joint support is connected with the three-way force sensor through threads; the foot end is connected with the three-way force sensor through threads.
The testing system comprises a footprint acquisition camera, a hip joint camera, a knee joint camera and a three-dimensional force sensor; the footprint acquisition camera is connected to the top layer carrier plate through a bolt and is responsible for acquiring footprint conditions and footprint depths in the motion process of the foot type robot and judging the sinking condition of the foot type robot through the footprint depths; the hip joint camera and the knee joint camera are respectively connected with the hip joint camera support plate and the knee joint camera support plate through bolts and are responsible for collecting the posture and the pose of the frame in the motion process; one end of the three-way force sensor is connected with the ankle joint support through threads, the other end of the three-way force sensor is connected with the foot end through threads, and the three-way force sensor is responsible for collecting the normal stress and the shear stress of the foot end in the actual movement process; wherein the three-way force sensor collects the normal force of the foot end in the z direction; the resultant x and y forces are the tangential forces at the foot end.
The invention has the beneficial effects that:
1. the normal force and the tangential force applied to the foot end under different conditions can be analyzed and compared, so that the foot end design, the stability control and the path planning of the foot type robot are guided.
2. Two groups of cameras are arranged, the pose and posture conditions of the machine frame in the motion process can be observed, and the stability condition in the motion process is judged by whether the machine frame has the tendency of toppling and the like.
3. The soil tank inclining device and the rotating shaft are arranged, so that the test platform can test the mechanical characteristics under the flat ground and the climbing state.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a left side view of the present invention.
Fig. 4 is a schematic diagram of the structure of the movement system of the invention.
In the figure: 1-frame, 2-motion system, 3-test system, 11-base, 12-supporting shaft, 13-supporting column, 14-top layer carrier plate, 15-hip joint camera carrier plate, 16-knee joint camera carrier plate, 17-soil tank, 18-soil tank tilting device, 19-moving wheel, 21-linear motor, 22-trunk, 23-connecting piece, 24-hip joint motor, 25-thigh support, 26-shank support, 27-knee joint motor, 28-ankle joint support, 29-foot end, 31-footprint acquisition camera, 32-hip joint camera, 33-knee joint camera and 34-three-way force sensor.
Detailed Description
In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. This is done solely for the purpose of facilitating the description of the invention and simplifying the description without indicating or implying that the assembly or element referred to must have a particular orientation, be constructed and operated in a particular orientation and therefore should not be construed as limiting the invention.
As shown in fig. 1, a platform for testing interaction mechanical characteristics of foot type robot foot soil comprises a frame 1, a motion system 2 and a test system 3; the rack 1 is used for carrying a motion system 2 and a test system 3, and meanwhile, the soil tank in the rack 1 can be adjusted in angle to simulate the motion conditions of the legged robot at different angles; the motion system 2 is responsible for controlling the motion of the foot type robot and simulating the motion condition of the foot type robot under different conditions; the test system 3 is responsible for testing the foot print condition of the foot robot after movement, the stress condition in the movement process and the movement characteristics of the foot robot under different movement conditions.
As shown in fig. 2, the frame 1 includes a base 11, a support shaft 12, a support column 13, a top layer carrier plate 14, a hip joint camera carrier plate 15, a knee joint camera carrier plate 16, a soil trough 17, a soil trough tilting device 18 and moving wheels 19; the motion system also comprises a linear motor 21, a trunk 22, a connecting piece 23, a hip joint motor 24 and a thigh frame 25 in the motion system 2; and a footprint acquisition camera 31 in the test system 3; wherein the base 11 is fixed on the ground through bolts; the supporting shaft 12 is coaxial with the base 11 and the ear seat shaft hole of the soil tank 17 and is connected with the ear seat shaft hole in a clearance fit manner; the upper end of the supporting shaft 13 is fixedly connected with the top layer carrier plate through a bolt, and the lower end of the supporting shaft is in clearance fit connection with the moving wheel 19; the upper part of the top layer carrier plate 14 is connected with the linear motor 21 through a bolt, and the lower part is connected with the footprint acquisition camera 31 through a bolt; the hip joint camera support plate 15 is fixedly connected on the support shaft 13 through screws, and the position of the hip joint camera support plate corresponds to the hip joint motor 24; the arrangement mode of the knee joint camera carrier plate 16 is the same as that of the hip joint camera carrier plate 17; the soil tank inclining device 18 is connected with the ground through bolts, and the upper end of the soil tank inclining device is contacted with the lower bottom surface of the soil tank.
As shown in fig. 4, the exercise system 2 includes a trunk 22, a connecting piece 23, a hip joint motor 24, a thigh support 25, a shank support 26, a knee joint motor 27, an ankle joint support 28, a foot end 29, and a three-way force sensor 34 in the test system 3; wherein the upper end of the connecting piece 23 is fixedly connected with the trunk 22 through bolts; the outer side of the rotating shaft of the hip joint motor 24 is in clearance fit with the connecting piece 23, and the inner side of the rotating shaft is in interference fit with the thigh support 25; the rotating shaft of the knee joint motor 27 is in interference fit with the thigh bracket 25 and the shank bracket 26 respectively; the shaft end of the ankle joint support 28 is in interference fit with the shank support 26, and the other end of the ankle joint support is connected with the three-way force sensor 34 through a bolt; the foot end 29 is connected with the three-way force sensor 34 through a bolt; the three-way force sensor 34 is responsible for measuring the actual stress condition of the foot end during the exercise.
As shown in fig. 3, the test system 3 includes a footprint acquisition camera 31, a hip camera 32, a knee camera 33; wherein the footprint acquisition camera 31 is connected with the lower surface of the top layer carrier plate 14 through a bolt and is symmetrically arranged relative to the linear motor 21; the hip joint camera 32 is connected with the hip joint camera carrier plate 15 through bolts, and the arrangement position of the hip joint camera is opposite to the hip joint motor 24, so that the shooting analysis of the motion state in the motion process is convenient; the knee camera 33 is arranged in correspondence with the hip camera 32.
The working principle of the invention is as follows:
referring to fig. 1, 2 and 3, before the test, the slope of the soil tank is adjusted to a proper position by the soil tank inclination device 18, and then the required foot end 29 is installed at the lower end of the three-way force sensor 34, and the linear motor 21 is lowered to the required position. The hip motor 24 and the knee motor 27 are set to drive gait accordingly, and the readings of the three-way force sensor 34 are returned to zero. The footprint acquisition camera 31, the hip joint camera 32, and the knee joint camera 33 are opened, and the camera angles are adjusted to the respective positions. After preparation is finished, the switch of the hip joint motor 24 and the switch of the knee joint motor 27 are simultaneously turned on, the foot type robot starts to move forwards, the footprint obtaining camera 31 obtains the footprint condition, the hip joint camera 32 obtains the hip joint movement condition in the movement, the knee joint camera 33 obtains the leg structure movement condition of the foot type robot, and the three-way force sensor 34 obtains the real-time stress condition of the foot end in the movement process. When the robot moves to one end of the soil tank, the motor is stopped, the foot type robot stops moving, and the obtained data is exported.
Claims (2)
1. The utility model provides a sufficient soil interaction mechanics characteristic test platform of sufficient robot which characterized in that: comprises a frame (1), a motion system (2) and a test system (3);
the machine frame (1) comprises a base (11), a support shaft (12), a support column (13), a top layer carrier plate (14), a hip joint camera carrier plate (15), a knee joint camera carrier plate (16), a soil tank (17), a soil tank inclined lifting device (18) and a moving wheel (19); the base (11) is in clearance fit with the support shaft (12) to support the soil tank (17), and the base and the soil tank are matched with the soil tank inclining device (18) to change the inclination angle of the soil tank; the supporting column (13) is connected with a top layer carrier plate (14), a hip joint camera carrier plate (15) and a knee joint camera carrier plate (16) through bolts; the moving wheel (19) is in clearance fit with the supporting column (13) to enable the rack (1) to move along with the movement of the movement system (2);
the motion system (2) comprises a linear motor (21), a trunk (22), a connecting piece (23), a hip joint motor (24), a thigh support (25), a shank support (26), a knee joint motor (27), an ankle joint support (28) and a foot end (29); the linear motor (21) is fixedly connected on the top layer carrier plate (14) through a bolt, one end of the trunk (22) is connected with the linear motor (21), and the other end of the trunk is connected with the connecting piece (23) through a bolt; the other end of the connecting piece (23) is connected with a hip joint motor (24) in a clearance fit way through a motor connecting shaft; the hip joint motor (24) is in interference fit with the thigh support (25); the rotating shafts of the knee joint motor (27) are respectively in interference fit with the thigh support (25) and the shank support (26); one end of the ankle joint (28) is in interference fit with the shank bracket (26), and the other end of the ankle joint is connected with the three-way force sensor (34) through threads; the foot end (29) is connected with the three-way force sensor (34) through threads;
the testing system (3) comprises a footprint acquisition camera (31), a hip joint camera (32), a knee joint camera (33) and a three-way force sensor (34); the footprint acquisition camera (31) is arranged on the top layer carrier plate (14); the hip joint camera (32) and the knee joint camera (33) are respectively arranged on the hip joint camera support plate (15) and the knee joint camera support plate (16).
2. The platform for testing interaction mechanical properties of foot type robot foot according to claim 1, wherein: calculating the tangential force borne by the foot end through the x and y two-directional forces acquired by the three-directional force sensor (34) in the test system (3) and a first calculation formula, wherein the first formula is as follows:
wherein FTThe tangential force acting on the foot end, FxIs a three-way force sensor (34) stressed in the x direction, FyThe force is applied to the y direction of the three-way force sensor (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110210281.3A CN112880901A (en) | 2021-02-25 | 2021-02-25 | Sufficient soil interaction mechanical properties test platform of sufficient robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110210281.3A CN112880901A (en) | 2021-02-25 | 2021-02-25 | Sufficient soil interaction mechanical properties test platform of sufficient robot |
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| Publication Number | Publication Date |
|---|---|
| CN112880901A true CN112880901A (en) | 2021-06-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110210281.3A Pending CN112880901A (en) | 2021-02-25 | 2021-02-25 | Sufficient soil interaction mechanical properties test platform of sufficient robot |
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| Country | Link |
|---|---|
| CN (1) | CN112880901A (en) |
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2021
- 2021-02-25 CN CN202110210281.3A patent/CN112880901A/en active Pending
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