CN115420477A

CN115420477A - Testing equipment for leg of foot type robot

Info

Publication number: CN115420477A
Application number: CN202110518194.4A
Authority: CN
Inventors: 王伟祥; 安忠玉
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2021-05-12
Filing date: 2021-05-12
Publication date: 2022-12-02

Abstract

The application provides a device for testing legs of a legged robot; the test apparatus includes: the device comprises a support, a first moving device, a second moving device and a moving device; the first moving device is connected with the bracket and used for providing the movement of the leg of the robot to be tested in a first direction; the second mobile device is connected with the first mobile device; the second moving device can move along with the first moving device in a first direction, and the second moving device can also move relative to the first moving device in a second direction so as to provide movement of the leg of the robot to be tested in the second direction; the moving device is connected with the support and used for driving the leg of the robot to be tested to move. The testing equipment can realize the movement of the leg of the robot to be tested in at least two directions in the testing process by designing the structures of the first mobile device and the second mobile device, and can simulate the leg movement by designing the movement device; the test equipment has the characteristics of simple and reliable structure and comprehensive test performance.

Description

Testing equipment for leg of foot type robot

Technical Field

The invention relates to the technical field of foot type robot measuring equipment, in particular to foot type robot leg testing equipment.

Background

The quadruped robot is an important trend in development at present and is a hot spot of research of various manufacturers. The quadruped robot is also called a robot dog, the appearance of the quadruped robot is similar to that of a real animal 'dog', the quadruped robot mainly comprises a trunk, legs, a joint motor, a head and the like, and the legs specifically comprise thighs, calves, knee joints and the like. The leg is driven by the joint motor, so that various motion forms and gaits of the robot dog are realized, the leg design is one of key points of the robot dog design, and the performance test of the robot dog is also an important means for evaluating the design rationality, and the test performance comprises but is not limited to the service life, the load capacity, the speed, the walking, the running, the jumping, the stepping and the like. However, at present, no test equipment which can test the leg structure of the machine dog, has a simple and reliable structure and is comprehensive in test performance exists.

Disclosure of Invention

The embodiment of the application provides a test equipment of sufficient robot shank, test equipment includes:

a support;

the first moving device is connected with the bracket and is used for providing the movement of the leg of the robot to be tested in a first direction;

a second mobile device connected with the first mobile device; the second moving device can move along with the first moving device in a first direction, and the second moving device can also move relative to the first moving device in a second direction, so that the movement of the leg of the robot to be tested in the second direction is provided;

and the moving device is connected with the bracket and is used for driving the leg of the robot to be tested to move.

According to the leg testing equipment of the foot type robot, the structures of the first moving device and the second moving device are designed, so that the leg of the robot to be tested can move in at least two directions in the testing process, and in addition, the motion device can be designed to drive the leg of the robot to be tested to simulate leg motion; the test equipment has the characteristics of simple and reliable structure and comprehensive test performance.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic view of an embodiment of a leg testing apparatus of a foot robot according to the present application;

FIG. 2 is a schematic diagram illustrating a state that the testing device in the embodiment of FIG. 1 is matched with a leg of a robot to be tested;

FIG. 3 is a schematic structural diagram of a test equipment rack in the embodiment of FIG. 1;

FIG. 4 is a schematic diagram of a partial structure of the test apparatus in the embodiment of FIG. 1;

FIG. 5 is a partially disassembled schematic view of the test apparatus of FIG. 4;

FIG. 6 is a schematic diagram of another perspective of the test apparatus;

FIG. 7 is a schematic view of another perspective of the test apparatus;

FIG. 8 is a schematic diagram of another application scenario of the test equipment;

fig. 9 is a schematic structural disassembly diagram of the pulley in the embodiment of fig. 8.

Detailed Description

The invention is described in further detail below with reference to the figures and examples. It is to be noted that the following examples are only illustrative of the present invention, and do not limit the scope of the present invention. Likewise, the following examples are only some examples, not all examples, and all other examples obtained by those skilled in the art without any inventive work are within the scope of the present invention.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.

Referring to fig. 1, fig. 1 is a schematic overall structure diagram of an embodiment of a leg testing apparatus of a legged robot according to the present application; it should be noted that the test equipment in the present application is used for testing leg structures of a legged robot, wherein the legged robot includes robot structures with four or more feet, such as a robot dog, a robot spider, and the like. The structure of the legged robot may avoid the trunk, legs, joints, head, etc. The test apparatus 10 in this embodiment includes, but is not limited to, the following structural components: a support 400, a first mobile device 100, a second mobile device 200, and a motion device 300. It should be noted that the terms "comprises" and "comprising," and any variations thereof, in the embodiments of the present application, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or may alternatively include other steps or elements inherent to such process, method, article, or apparatus.

Specifically, please refer to fig. 2, fig. 2 is a schematic diagram illustrating a state where the testing apparatus in the embodiment of fig. 1 is engaged with a leg of a robot to be tested; wherein a first moving means 100 is connected to the support 400 for providing a movement of the robot leg 88 to be tested in a first direction (i.e. in the direction of arrow X in the figure). A second mobile device 200 is connected with the first mobile device 100; the second moving device 200 is movable with the first moving device 100 in a first direction, and the second moving device 200 is also movable relative to the first moving device 100 in a second direction (arrow Y direction in the figure) to provide movement of the robot leg 88 to be tested in the second direction. Alternatively, the first direction may be a vertical direction, and the second direction may be a horizontal direction, that is, the first direction and the second direction are perpendicular. Of course, in some other embodiments, the first direction and the second direction may be other directions, and are not limited herein. The first moving device 100 and the second moving device 200 in this embodiment are mainly connected to the top of the leg portion 88 of the robot to be tested, so as to drive the whole leg portion 88 of the robot to be tested to move and change the testing position. And the motion device 300 is connected to the support 400 and is used for driving the to-be-tested robot leg 88 to move, where the driving of the to-be-tested robot leg 88 to move refers to rotating the joints of the to-be-tested robot leg 88 by a driving structure (details of the motion device 300 will be described in detail later), so as to simulate the rotation of the joints during the motion (including walking, running, jumping, stepping, etc.) of the robot.

Referring to fig. 3, fig. 3 is a schematic structural diagram of the test equipment rack in the embodiment of fig. 1, and the rack 400 may include two cross beams 410, two vertical beams 420, and two leg beams 430. Wherein, two crossbeams 410 and two foot beams 430 are connected with two vertical beams 420 respectively, and the material of support 400 can be stainless steel.

Referring to fig. 4 and 5 together, fig. 4 is a partial structure schematic diagram of the test equipment in the embodiment of fig. 1, and fig. 5 is a partial structure split schematic diagram of the test equipment in fig. 4. The first moving device 100 in this embodiment includes a first sliding rail 110, a first slider 120, and a first moving plate 130; the first slide rail 110 is connected to the bracket 400, the first slider 120 is disposed on the first slide rail 110 and can slide along the first slide rail 110, and the first moving plate 130 is fixedly connected to the first slider 120. Optionally, in this embodiment, two first slide rails 110 are respectively connected to the two cross beams 410 of the bracket 400 through the first fixing members 140 (specifically, the two first slide rails may be fixed by screws). Two first sliding blocks 120 are respectively arranged on each first sliding rail 110, and the first moving plate 130 is fixedly connected with the four first sliding blocks 120.

Optionally, with reference to fig. 5, the first moving device 100 of the present embodiment further includes a first thrust ring 160 sleeved on the first sliding rail 110, and the first thrust ring 160 is used to limit the limit sliding position of the first slider 120 on the first sliding rail 110, so as to limit the maximum sliding area of the first moving plate 130 in the first direction.

Referring to fig. 6, fig. 6 is a schematic structural view of another view angle of the testing apparatus, the first moving device 100 in the present embodiment further includes a first driving unit 150, and the first driving unit 150 is configured to drive the first moving plate 130 to move along the first direction. Alternatively, in this example, the first driving unit 150 includes a first driving motor 151 and a first connecting rope 152, two ends of the first connecting rope 152 are respectively connected to the first driving motor 151 and the first moving plate 130, and the first driving motor 151 is connected to the cross beam 410 of the bracket 400. The first driving motor 151 rotates to wind or unwind the first connecting rope 152, thereby adjusting the sliding position of the first moving plate 130 on the first sliding rail 110. Wherein, the first connecting string 152 may be a steel wire. It should be noted that the terms "first", "second" and "third" in the embodiments of the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

The first driving motor 151 is controlled to output rotation to drive the reel 153 to rotate, the reel 153 winds the first connecting rope 152 to automatically enable the first moving plate 130 to move in the first direction (vertically upwards), and therefore the testing height of the robot leg 88 to be tested is increased; on the contrary, the first driving motor 151 rotates in a reverse direction, the reel 153 loosens the first connection rope 152, and the robot leg portion 88 to be tested and the first moving plate 130 move vertically downward by its own weight, thereby reducing the test height of the robot leg portion 88 to be tested.

With reference to fig. 4 and fig. 5, the second moving device 200 includes a second sliding rail 210, a second sliding block 220 and a second moving plate 230; the second slide rail 210 is connected to the first moving plate 130 through a second fixing member 240, the second slider 220 is disposed on the second slide rail 210 and can slide along the second slide rail 220, and the second moving plate 230 is fixedly connected to the second slider 220. Optionally, in this embodiment, two second slide rails 210 are respectively connected to the first moving plate 130 through a second fixing member 240. Two second sliding blocks 220 are respectively arranged on each second sliding rail 210, and the second moving plate 230 is fixedly connected with the four second sliding blocks 220.

Optionally, referring to fig. 5, the second moving device 200 of the present embodiment further includes a second thrust ring 260 sleeved on the second slide rail 210, and the second thrust ring 260 is used for defining a limit sliding position of the second slider 220 on the second slide rail 210, so as to define a maximum sliding area of the second moving plate 230 in the second direction relative to the first moving plate 130.

Referring to fig. 7, fig. 7 is a schematic structural diagram of another view angle of the testing apparatus, in the embodiment, the second moving device 200 further includes a second driving unit 250, and the second driving unit 250 is configured to drive the second moving plate 230 to move along the second direction. Optionally, in this example, the second driving unit 250 includes a weight 251, a pulley 252, and a second connecting rope 253, two ends of the second connecting rope 253 are respectively connected to the weight 251 and the second moving plate 230, the pulley 252 is connected to the beam 410 of the bracket 400, and the second connecting rope 253 is in sliding support connection with the pulley 252. Wherein, the second connecting rope 253 can be a steel wire.

Optionally, referring to fig. 8, fig. 8 is a schematic structural diagram of another application scenario of the test equipment. In the embodiment of fig. 7, the weight 251 and the second connecting rope 253 are engaged with the pulley 252 on the top cross beam and connected with the top of the second moving plate 230 to realize the upward pulling force control of the top of the second moving plate 230. In the embodiment of fig. 8, the weight 251 and the second connecting rope 253 are engaged with the pulleys 252 on the bottom and top cross beams and connected with the bottom of the second moving plate 230, so as to control the downward tension of the bottom of the second moving plate 230. Among them, the weight 251 may have various specifications, such as 1kg, 5kg, 10kg, etc. Through the counterweight adjusting mode, in the use scene in fig. 7, the self weights of the weight 251 and the robot leg 88 to be tested can be balanced, and the performance of the leg in no load can be tested, while in the use scene in fig. 8, the counterweight adjusting mode can be used for testing the performance of the robot leg 88 to be tested in different load states.

Referring to fig. 9, fig. 9 is a schematic diagram illustrating a structure of the pulley in the embodiment of fig. 8 in a disassembled manner, and the pulley 252 includes a pulley bracket 2521, a pulley 2522, a pin 2523, and a bearing 2524. The pulley 2522 is connected to the pulley holder 2521 by a pin 2523, and the bearings 2524 are provided at both ends of the pin 2523, thereby achieving the sliding connection between the pin 2523 and the pulley holder 2521. The turning wheel 2522 is provided with a slot 25221, and the second connecting rope 253 is clamped in the slot 25221 and can slide along the slot 25221.

With continuing reference to fig. 5 and fig. 6, the testing apparatus 10 in this embodiment further includes a motor frame 500, the motor frame 500 is connected to the second moving plate 230, the motor frame 500 is used to fix a testing driving motor 600, and the testing driving motor 600 is used to be connected to the to-be-tested robot leg 88 for driving the to-be-tested robot leg 88 to rotate near the joint of the testing driving motor 600. It should be noted that all directional indicators (such as up, down, left, right, front, back, 8230; \8230;) in the embodiments of the present application are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

With continued reference to fig. 1 and 2, the moving device 300 includes a moving driving motor 310, a first rolling shaft 320, a second rolling shaft 330, and a friction belt 340; the driving motor 310 and the second rolling shaft 330 may be connected to the leg beam 430 of the stand 400. The first rolling shaft 320 and the second rolling shaft 330 are oppositely arranged, the friction belt 340 is sleeved on the first rolling shaft 320 and the second rolling shaft 330, and the motion driving motor 310 drives the first rolling shaft 320 to rotate, so as to drive the friction belt 340 to rotate; the exercise apparatus 300 is a treadmill-like structure, and the friction belt 340 is used to make frictional contact with (feet of) the robot leg to be tested, simulating frictional contact of the ground with the end of the robot leg to be tested. The friction belt 340 is driven to move by controlling the output rotation speed of the movement driving motor 310. By adjusting the rotation speed of the motion driving motor 310 and further adjusting the speed of the friction belt 340, the walking, running and other performances of the robot leg 88 to be tested can be tested.

The testing equipment in the embodiment of the application can realize the movement of the leg part of the robot to be tested in at least two directions in the testing process by designing the structures of the first moving device and the second moving device, and in addition, the leg part of the robot to be tested can be driven to simulate the leg part to move by designing the moving device; the test equipment has the characteristics of simple and reliable structure and comprehensive test performance. Can realize robot leg motion capability test, if: walking, running, jumping, stepping, squatting and rising, can meet the test of load and no-load state, can automatically adjust the height of the thigh joint, and has small test space range, convenient assembly and disassembly and low cost.

The beneficial effects of this application technical scheme include: the test equipment can adjust the weight of a heavy object and test the performance of the leg of the robot to be tested under the conditions of no load and different loads; the no-load and load states of the legs of the robot to be tested can be realized by changing the winding mode of the steel wire rope, and the switching is simple and convenient and is easy to operate; the position of the heavy object is naturally oriented by means of self gravity, additional fixation of a counterweight is not needed, and the heavy object cannot be separated from the platform during movement; the testing equipment can automatically adjust the height of the leg in real time without manual adjustment, and has high adjustment precision and high safety; in the use process of the test equipment, the required test space range is small, and the test equipment does not need to move the whole position of the test equipment when testing the running performance and the like.

The above description is only a part of the embodiments of the present invention, and not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes performed by the present invention through the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A testing apparatus for a legged robot leg, comprising:

a support;

2. The test apparatus of claim 1, wherein the first moving device comprises a first slide rail, a first slider, and a first moving plate; the first sliding rail is connected with the bracket, the first sliding block can slide along the first sliding rail, and the first moving plate is connected with the first sliding block.

3. The test apparatus of claim 2, wherein the first moving device further comprises a first driving unit for driving the first moving plate to move in the first direction.

4. The test apparatus of claim 3, wherein the first driving unit comprises a first driving motor and a first connection rope, both ends of the first connection rope are respectively connected with the first driving motor and the first moving plate, and the first driving motor is connected with the bracket.

5. The test apparatus of claim 2, wherein the second moving device comprises a second slide rail, a second slider, and a second moving plate; the second slide rail is connected with the first moving plate, the second slide block can slide along the second slide rail, and the second moving plate is connected with the second slide block.

6. The test apparatus of claim 5, wherein the second moving device further comprises a second driving unit for driving the second moving plate to move in the second direction.

7. The test apparatus of claim 6, wherein the second driving unit comprises a weight, a pulley and a second connecting rope, two ends of the second connecting rope are respectively connected with the weight and the second moving plate, the pulley is connected with the bracket, and the second connecting rope is in sliding support connection with the pulley.

8. The test apparatus of claim 5, further comprising a motor mount coupled to the second moving plate, the motor mount configured to secure a test drive motor configured to couple to a robot leg to be tested.

9. The test apparatus of claim 1, wherein the movement device comprises a movement drive motor, a first rolling shaft, a second rolling shaft, and a friction belt; the first rolling shaft and the second rolling shaft are arranged oppositely, the friction belt is sleeved on the first rolling shaft and the second rolling shaft, and the motion driving motor drives the first rolling shaft to rotate so as to drive the friction belt to rotate; the friction belt is used for being in friction contact with the leg of the robot to be tested.

10. The test apparatus of claim 1, wherein the first direction and the second direction are perpendicular.