CN202378990U - Multi-foot walking robot single-leg experimental platform - Google Patents
Multi-foot walking robot single-leg experimental platform Download PDFInfo
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- CN202378990U CN202378990U CN201120562461XU CN201120562461U CN202378990U CN 202378990 U CN202378990 U CN 202378990U CN 201120562461X U CN201120562461X U CN 201120562461XU CN 201120562461 U CN201120562461 U CN 201120562461U CN 202378990 U CN202378990 U CN 202378990U
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Abstract
The utility model discloses a multi-foot walking robot single-leg experimental platform. The conventional experimental platform has the defects of high cost, complex structure and high difficulty. The multi-foot walking robot single-leg experimental platform comprises a single-leg experimental platform mechanical body and a single-leg experimental platform control system, wherein the single-leg experimental platform mechanical body comprises a single-leg experimental platform framework, a walking robot single leg and a single-leg experimental platform height adjusting device; the single-leg experimental platform framework consists of a fixing support, a slide table and a sensor installation plate; the walking robot single leg comprises hips, a thigh, a shank and a foot; the single-leg experimental platform height adjusting device comprises a bottom plate, a lower support rod, an upper support rod, an adjusting nut, a cover plate, a positioning rod, a first handle, a second handle and a bracket; the single-leg experimental platform control system comprises a sensor group and a controller; and the sensor group comprises a first height displacement sensor, a second height displacement sensor, a horizontal displacement sensor, a force sensor and an encoder. The experimental platform has the advantages of simple structure, low cost, and easy, convenient and reliable control process.
Description
Technical field
The utility model belongs to the Robotics field, is specifically related to a kind of polypody walking robot list leg experiment porch.
Background technology
Find that according to investigation nearly half the ground can not be arrived by traditional wheeled or crawler-mounted vehicle on the earth, but a lot of legged animals can walk freely on these ground.In changeable natural environment with a varied topography, to compare with ground uninterrupted contact progression, the walking movement mode of the discrete contact in ground has unique advantages.Therefore large quantities of researchers are carrying out the theory and practice of walking movement mode widely exploration, and study to rugged destructuring environment aspect research and development from the ground motion of smooth rule gradually.In taking up an area of the various non-structure environments of the ball land gross area more than 90%; The polypody walking robot will be useful greatly; It is a noticeable field of research that the polypody walking robot is learned; Its application prospect is self-evident, and the polypody walking robot has had in fields such as military and national defense, biomedicine, aerospace, industrial agriculturals widely to be used.
Walking robot begins to be what the form with machinery occurred most, has experienced the uptodate computer controlled of simple electron steering afterwards, and its intelligent level and the Combination property of itself are increasingly high.Abroad, Japanese Shiego Hirose had developed first four feet walking robot KUMO in the world in 1976, and henceforth, Hirose is devoted to the research of four feet walking robot always, and the TITAN series robot that he developed went through for 8 generations; U.S. Michigan university, California university Berkeley branch school, the cooperation research and development success of Canadian Mcgill university imitative cockroach six leg type mobile robot RHEX; Boston Dynamics had issued small-sized quadruped robot " LittleDog " in 2004, and Boston Dynamics companies in 2006 have accomplished the research of " BigDog "; Clearance robot Silo4 and Silo6 have been accomplished in the IAI research center development of Spain CSIC research parliament.At home; Tsing-Hua University, Shanghai Communications University, the Central China University of Science and Technology, Harbin Institute of Technology, Harbin Engineering University, BJ University of Aeronautics & Astronautics and Shenyang automation research institute etc. have all made some achievements in succession in the multi-foot robot field, also promoted going deep into of robot theoretical level.Shenyang Inst of Automation, Chinese Academy of Sciences and Changchun ray machine have been developed sea crab six-legged walking machine device people jointly; Shanghai Communications University has developed articulated type quadruped robot JTUWM-II; Tsing-Hua University has developed four-leg bionic robot Biosbot; The Central China University of Science and Technology has successively developed " 4+2 " polypody walking robot and modularization polypody walking robot miniQuad; Harbin Engineering University since calendar year 2001 just about the multi-foot robot The Research of Relevant Technology, done a large amount of work Amphibious bionic machine crab and multi-foot robot field.
The polypody walking robot obtains the concern of numerous research institutions because of it is unique to compatible with environment, also becomes a focus in the scientific research for the research of polypody walking robot.But also there are some stubborn problems in the research for the polypody walking robot; It is big to relate to its research difficulty of a plurality of subject crossing like the research for the polypody walking robot; Need long-term tachnical storage just can, its highly difficult Many researchers that hindered is put in the robot research; Polypody walking robot texture ratio wheeled with caterpillar type robot sophisticated more, therefore launch a large amount of financial support of research needs for the polypody walking robot, this has hindered a lot of scholars too and has put in the robot research.These problems have hindered developing rapidly of Robotics, and promote the quick progress of Robotics must overcome the above problems.
Summary of the invention
The purpose of the utility model is the deficiency to prior art, and a kind of polypody walking robot list leg experiment porch is provided.
The utility model is made up of single leg experiment porch basic machine and single leg experiment porch control system.
Single leg experiment porch basic machine comprises single leg experiment porch framework, walking robot list leg and single leg experiment porch arrangement for adjusting height.
Single leg experiment porch framework is made up of fixed support, sliding stand and sensor adapter plate group.
Fixed support comprises first supporting seat, second supporting seat, the 3rd supporting seat, four-supporting, first dovetailed way, second dovetailed way, first fixed beam and second fixed beam.Four-supporting comprises base, the 4th lower support bar, the 4th upper support bar, first fixing screw and second fixing screw.Base is threaded with the lower end of the 4th lower support bar; The upper end that the 4th lower support bar is inserted in the 4th upper support bar lower end; First fixing screw and second fixing screw pass the stationkeeping of the tapped bore of the 4th lower support bar upper end with the 4th upper support bar respectively, and first supporting seat, second supporting seat, the 3rd supporting seat are identical with the four-supporting structure; Captive joint with an end of first dovetailed way in first upper support bar upper end of first supporting seat; Captive joint with the other end of first dovetailed way in second upper support bar upper end of second supporting seat; Captive joint with an end of second dovetailed way in the 3rd upper support bar upper end of the 3rd supporting seat; Captive joint with the other end of second dovetailed way in the 4th upper support bar upper end of four-supporting.Captive joint with an end of first dovetailed way and second dovetailed way respectively in the two ends of first fixed beam; Captive joint with the other end of second dovetailed way with first dovetailed way respectively in the two ends of second fixed beam.
Sliding stand comprises the first dovetail slide unit, the second dovetail slide unit, the first slide unit column, the second slide unit column, leg supporting traverse and leg connecting panel.The first dovetail slide unit and the second dovetail slide unit are installed in respectively on first dovetailed way, second dovetailed way, and the first dovetail slide unit and the second dovetail slide unit can slide on first dovetailed way, second dovetailed way respectively, and slide synchronously.The first slide unit column is captiveed joint with the second dovetail slide unit with the first dovetail slide unit respectively with the second slide unit column.Leg supporting traverse two ends are provided with circular hole; Be enclosed within respectively on the cylinder of the first slide unit column and the second slide unit column; Can slide up and down along the first slide unit column and the second slide unit column; Leg connecting panel and leg supporting traverse be through being threaded, a plurality of equally spaced tapped bore of rectangular distribution on the leg supporting traverse, and the position between leg connecting panel and the leg supporting traverse can be regulated through tapped bore.
Sensor adapter plate group comprises first sensor adapter plate, the second sensor adapter plate, the 3rd sensor adapter plate, four-sensor adapter plate, the 5th sensor adapter plate.The first sensor adapter plate is loaded on the base of the 3rd supporting seat, and the second sensor adapter plate is arranged on the side of second dovetailed way, one end, and this side is near the 3rd supporting seat; The 3rd sensor adapter plate is loaded on the second dovetail slide unit lateral surface, and the four-sensor adapter plate is loaded on the side end face of leg supporting traverse, and the 5th sensor adapter plate is arranged on the side of the first dovetail slide unit, this face lateral first supporting seat.
Walking robot list leg comprises buttocks, thigh, shank and pin.
The buttocks of walking robot list leg comprises first servomotor, first attaching parts and second attaching parts.The first servomotor shell is installed on through being threaded on the leg connecting panel, and the fork portion of the output shaft of first servomotor and first attaching parts is through being threaded, and the base portion of first attaching parts is with the base portion quadrature of second attaching parts and through being threaded.The output shaft of first servomotor rotates and drives the motion of first attaching parts, thereby realizes swinging of walking robot list leg.
The thigh of walking robot list leg comprises second servomotor, first connecting panel, second connecting panel and the 3rd servomotor.The fork portion of the output shaft of second servomotor and second attaching parts of walking robot list hunkers is through being threaded; The shell of second servomotor is connected with the threaded one end of first connecting panel with second connecting panel simultaneously, and the other end of first connecting panel and second connecting panel is connected with the outer casing screw of the 3rd servomotor.The output shaft of second servomotor rotates and drives the thigh mass motion, thus the forward swing of realizing walking robot list leg thigh and back pendular motion accomplish thigh lift and fall action.
The shank of walking robot list leg comprises that the 3rd attaching parts, first connects cylinder and force gauge.The fork portion of the output shaft of the 3rd servomotor and the 3rd attaching parts is through being threaded, and the base portion of the 3rd attaching parts is connected cylinder with first threaded one end connects, first connect cylinder the other end be connected with the force gauge outer casing screw.The output shaft of the 3rd servomotor rotates and drives the motion of the 3rd attaching parts, thereby realizes the forward swing and back pendular motion of walking robot list leg shank.
The pin of walking robot list leg comprises that second connects cylinder and foot end.One end of the second connection cylinder is connected with the force gauge outer casing screw; The foot end is semisphere; Second connect cylinder the other end and the foot semisphere cross section of holding through being threaded; This foot end adopts elastomeric material manufacturing, its fall foot back and ground non-rigid contact for flexibility contacts, not only can prevent walking robot list leg when walking, skid but also can reduce and ground between impact.
Single leg experiment porch arrangement for adjusting height comprises chassis, lower fulcrum bar, upper rack posts, setting nut, cover plate, radius stay, first handle, second handle and support.The chassis is threaded with the lower end of lower fulcrum bar, and cover plate is placed in setting nut upper end, and end disc is threaded through three radius stays on cover plate and the lower fulcrum bar.First handle and second handle are arranged on the setting nut of cover plate upper end; And be threaded with setting nut; The upper rack posts lower end is threaded with setting nut; The upper rack posts upper end is threaded with support, pulls first handle and second handle and makes the setting nut rotation, thereby make the axial up-and-down movement of upper rack posts and then carry out single leg experiment porch height adjustment.Support is I shape, and four end points have through hole, is connected with dowel fixes between the hole on the through hole when regulating single leg experiment porch height on the support and first dovetailed way and second dovetailed way.
Single leg experiment porch control system comprises sensor groups and controller composition.
Sensor groups comprises the first height displacement sensor, the second height displacement sensor, horizontal displacement sensors, force gauge and coder.The first height displacement sensor outer housing is installed on the first sensor adapter plate, and the pull head of the first height displacement sensor is installed on the second sensor adapter plate, and the first height displacement sensor is used to measure the height of single leg experiment porch.The second height displacement sensor outer housing is installed on the 3rd sensor adapter plate; The pull head of the second height displacement sensor is installed on the four-sensor adapter plate, and the second height displacement sensor is used for measuring the height change of walking robot list leg at the traveling process buttocks.The horizontal displacement sensors shell filling is on a side of first dovetailed way; This side is near first supporting seat; The horizontal displacement sensors pull head is installed on the 5th sensor adapter plate; The backguy of horizontal displacement sensors is parallel with first dovetailed way, the kinematic velocity that horizontal displacement sensors is used to measure the horizontal motion displacement of walking robot list leg and then records walking robot list leg.Force gauge is loaded on the shank of walking robot list leg, and force gauge is used to measure the application force between walking robot list leg and the ground.Coder is that servomotor carries, and itself and servomotor are packaged together, and coder is used to measure the rotational angle of servomotor.The measurement signal of the first height displacement sensor, the second height displacement sensor, horizontal displacement sensors, force gauge and coder is defeated by controller; Controller carries out analyzing and processing to incoming signal; Obtain the height of single leg experiment porch, the height change curve of walking robot list leg buttocks in traveling process, the kinematic velocity of walking robot list leg; Controller utilizes the servomotor position feedback of coder to realize the closed loop control of walking robot list leg motion simultaneously; And walking robot list leg and the force signals between the ground of utilizing force gauge to measure are carried out the power closed loop control to walking robot list leg, feel thereby not only make walking robot list leg realize accurately moving but also make walking robot list leg have power.
The beneficial effect that the utility model can reach:
(1) the utility model adopts three displacement pickups to realize that hip height in the height, walking robot list leg motion process to single leg experiment porch changes and the mensuration of robot list leg kinematic velocity; Utilize coder to realize the mensuration of walking robot list leg movement position; Utilize force gauge to realize that ground is in the face of the mensuration of walking robot list leg application force in the walking robot list leg motion process; The utility model can be accomplished the research to walking robot list leg motion characteristics, compares with polypody walking robot motion platform, and the utility model is simple and compact for structure; Control process is easy to be reliable, and required expense is low;
(2) the utility model utilizes the position feedback of coder and the force feedback of force gauge, through the power position closed loop control of control realization walking robot list leg in motion process of controller, has effectively improved the kinematic accuracy of walking robot list leg;
(3) single leg experiment porch arrangement for adjusting height adopts the worm drive regulative mode can realize the accurate adjusting of single leg experiment porch height in the utility model, and this kind structure was not only simple but also can actv. guarantee the experimental precision of polypody walking robot list leg experiment porch;
(4) adopt the design of servomotor, simplified the physical construction of walking robot list leg greatly, make polypody walking robot list leg experiment porch simple and compact for structure, have higher reliability as a walking robot list leg structure part;
(5) walking robot list leg has three joints and has three degree of freedom in the utility model, and the range of movement of walking robot list leg is big, has good alerting ability.
Description of drawings
Single leg experiment porch framework of Fig. 1 the utility model and walking robot list leg structural representation;
The walking robot list leg structural representation of Fig. 2 the utility model;
Single leg experiment porch arrangement for adjusting height scheme drawing of Fig. 3 the utility model;
Single leg experiment porch arrangement for adjusting height scheme of installation when Fig. 4 the utility model is regulated single leg experiment porch height.
Among the figure: 1. first supporting seat, 2. second supporting seat, 3. the 3rd supporting seat, 4. four-supporting, 5. first dovetailed way, 6. second dovetailed way; 7. first fixed beam, 8. second fixed beam, 9. base, 10. the 4th lower support bar, 11. the 4th upper support bars, 12. first fixing screws; 13. second fixing screw, 14. first dovetail slide units, 15. second dovetail slide units, 16. first slide unit columns, 17. second slide unit columns, 18. leg supporting traverses; 19. the leg connecting panel, 20. first sensor adapter plates, 21. second sensor adapter plates, 22. the 3rd sensor adapter plates, 23. four-sensor adapter plates, 24. the 5th sensor adapter plates; 25. first servomotor, 26. first attaching partss, 27. second attaching partss, 28. second servomotors, 29. first connecting panels, 30. second connecting panels; 31. the 3rd servomotor, 32. the 3rd attaching partss, 33. first connect cylinder, 34. force gauges, 35. second connect cylinder; 36. the foot end, 37. chassis, 38. lower fulcrum bars, 39. upper rack posts, 40. setting nuts; 41. cover plate, 42. radius stays, 43. first handles, 44. second handles, 45. supports; 46. the first height displacement sensor, 47. second height displacement sensors, 48. horizontal displacement sensors, 49. controllers, 50. pins.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described further.
The utility model is made up of single leg experiment porch basic machine and single leg experiment porch control system.
Single leg experiment porch basic machine comprises single leg experiment porch framework, walking robot list leg and single leg experiment porch arrangement for adjusting height.
Like Fig. 1, single leg experiment porch framework is made up of fixed support, sliding stand and sensor adapter plate group.
Fixed support comprises first supporting seat 1, second supporting seat 2, the 3rd supporting seat 3, four-supporting 4, first dovetailed way 5, second dovetailed way 6, first fixed beam 7 and second fixed beam 8.Four-supporting 4 comprises base 9, the 4th lower support bar 10, the 4th upper support bar 11, first fixing screw 12 and second fixing screw 13.Base 9 is threaded with the lower end of the 4th lower support bar 10; The upper end that the 4th lower support bar 10 is inserted in the 4th upper support bar 11 lower ends; First fixing screw 12 and second fixing screw 13 pass the stationkeeping of the tapped bore of the 4th lower support bar 10 upper ends with the 4th upper support bar 11 respectively, and first supporting seat 1, second supporting seat 2, the 3rd supporting seat 3 are identical with four-supporting 4 structures; Captive joint with an end of first dovetailed way 5 in first upper support bar upper end of first supporting seat 1; Captive joint with the other end of first dovetailed way 5 in second upper support bar upper end of second supporting seat 2; Captive joint with an end of second dovetailed way 6 in the 3rd upper support bar upper end of the 3rd supporting seat 3; Captive joint with the other end of second dovetailed way 6 in the 4th upper support bar 11 upper ends of four-supporting 4.Captive joint with an end of second dovetailed way 6 with first dovetailed way 5 respectively in the two ends of first fixed beam 7; Captive joint with the other end of second dovetailed way 6 with first dovetailed way 5 respectively in the two ends of second fixed beam 8.
Sliding stand comprises the first dovetail slide unit 14, the second dovetail slide unit 15, the first slide unit column 16, the second slide unit column 17, leg supporting traverse 18 and leg connecting panel 19.The first dovetail slide unit 14 and the second dovetail slide unit 15 are installed in respectively on first dovetailed way 5, second dovetailed way 6, and the first dovetail slide unit 14 and the second dovetail slide unit 15 can be respectively slide on first dovetailed way 5, second dovetailed way 6, and slide synchronously.The first slide unit column 16 is captiveed joint with the second dovetail slide unit 15 with the first dovetail slide unit 14 respectively with the second slide unit column 17.Leg supporting traverse 18 two ends are provided with circular hole; Be enclosed within respectively on the cylinder of the first slide unit column 16 and the second slide unit column 17; Can slide up and down along the first slide unit column 16 and the second slide unit column 17; Leg connecting panel 19 and leg supporting traverse 18 be through being threaded, a plurality of equally spaced tapped bore of rectangular distribution on the leg supporting traverse 18, and the position between leg connecting panel 19 and the leg supporting traverse 18 can be regulated through tapped bore.
Sensor adapter plate group comprises first sensor adapter plate 20, the second sensor adapter plate 21, the 3rd sensor adapter plate 22, four-sensor adapter plate 23, the 5th sensor adapter plate 24.First sensor adapter plate 20 is loaded on the base of the 3rd supporting seat 3, and the second sensor adapter plate 21 is arranged on the side of second dovetailed way, 6 one ends, and this side is near the 3rd supporting seat 3; The 3rd sensor adapter plate 22 is loaded on the second dovetail slide unit, 15 lateral surfaces; Four-sensor adapter plate 23 is loaded on the side end face of leg supporting traverse 18; The 5th sensor adapter plate 24 is arranged on the side of the first dovetail slide unit 14, this face lateral first supporting seat 1.
Walking robot list leg as shown in Figure 2 comprises buttocks, thigh, shank and pin.
The buttocks of walking robot list leg comprises first servomotor 25, first attaching parts 26 and second attaching parts 27.First servomotor, 25 shells are installed on the leg connecting panel 19 through being threaded; The fork portion of the output shaft of first servomotor 25 and first attaching parts 26 is through being threaded, and the base portion of first attaching parts 26 is with the base portion quadrature of second attaching parts 27 and through being threaded.The output shaft of first servomotor 25 rotates and drives 26 motions of first attaching parts, thereby realizes swinging of walking robot list leg.
The thigh of walking robot list leg comprises second servomotor 28, first connecting panel 29, second connecting panel 30 and the 3rd servomotor 31.The fork portion of the output shaft of second servomotor 28 and second attaching parts 27 of walking robot list hunkers is through being threaded; The shell of second servomotor 28 is connected with the threaded one end of first connecting panel 29 and second connecting panel 30 simultaneously, and the other end of first connecting panel 29 and second connecting panel 30 is connected with the outer casing screw of the 3rd servomotor 31.The output shaft of second servomotor 28 rotates and drives the thigh mass motion, thus the forward swing of realizing walking robot list leg thigh and back pendular motion accomplish thigh lift and fall action.
The shank of walking robot list leg comprises that the 3rd attaching parts 32, first connects cylinder 33 and force gauge 34.The fork portion of the output shaft of the 3rd servomotor 31 and the 3rd attaching parts 32 is through being threaded, and the base portion of the 3rd attaching parts 32 is connected cylinder 33 with first threaded one end connects, first connect cylinder 33 the other end be connected with force gauge 34 outer casing screws.The output shaft of the 3rd servomotor 31 rotates and drives 32 motions of the 3rd attaching parts, thereby realizes the forward swing and back pendular motion of walking robot list leg shank.
The pin of walking robot list leg comprises that second connects cylinder 35 and foot end 36.One end of the second connection cylinder 35 is connected with force gauge 34 outer casing screws; Foot end 36 is a semisphere; Second connect cylinder 35 the other end and foot hold 36 semisphere cross section through being threaded; This foot end adopts elastomeric material manufacturing, its fall foot back and ground non-rigid contact for flexibility contacts, not only can prevent walking robot list leg when walking, skid but also can reduce and ground between impact.
As shown in Figure 3, single leg experiment porch arrangement for adjusting height comprises chassis 37, lower fulcrum bar 38, upper rack posts 39, setting nut 40, cover plate 41, radius stay 42, first handle 43, second handle 44 and support 45.Chassis 37 is threaded with the lower end of lower fulcrum bar 38, and cover plate 41 is placed in setting nut 40 upper ends, and end disc is threaded through three radius stays 42 on cover plate 41 and the lower fulcrum bar 38.First handle 43 is arranged on the setting nut 40 of cover plate 41 upper ends with second handle 44; And be threaded with setting nut 40; Upper rack posts 39 lower ends are threaded with setting nut 40; Upper rack posts 39 upper ends are threaded with support 45, pull first handle 43 and make setting nut 40 rotations with second handle 44, thereby make upper rack posts 39 axial up-and-down movements and then carry out single leg experiment porch height adjustment.
As shown in Figure 4, support 45 is I shape, and four end points have through hole, 50 captives joint with pinning between the hole on the through hole when regulating single leg experiment porch height on the support 45 and first dovetailed way and second dovetailed way.
Shown in Fig. 1, single leg experiment porch control system comprises sensor groups and controller 49 compositions.
Sensor groups comprises the first height displacement sensor 46, the second height displacement sensor 47, horizontal displacement sensors 48, force gauge 34 and coder.The first height displacement sensor, 46 shell fillings are on first sensor adapter plate 20, and the pull head of the first height displacement sensor 46 is installed on the second sensor adapter plate 21, and the backguy of the first height displacement sensor 46 is parallel with the 3rd supporting seat.The second height displacement sensor, 47 shell fillings are on the 3rd sensor adapter plate 22; The pull head of the second height displacement sensor 47 is installed on the four-sensor adapter plate 23, and the backguy of the second height displacement sensor 47 is parallel with the backguy of the first height displacement sensor 46.Horizontal displacement sensors 48 shell fillings are on a side of first dovetailed way 5; This side is near first supporting seat 1; Horizontal displacement sensors 48 pull heads are installed on the 5th sensor adapter plate 24, and the backguy of horizontal displacement sensors 48 is parallel with first dovetailed way 5.Shown in Fig. 2, force gauge 34 is loaded on the shank of walking robot list leg.Coder is that servomotor carries, and itself and servomotor are packaged together.
Polypody walking robot list leg experiment porch experimentation is following:
At first obtain the height of single leg experiment porch by the experiment demand; Then single leg experiment porch height is regulated; Like Fig. 1,3, shown in 4; Leg supporting traverse in the sliding stand 18 and leg connecting panel 19 and walking robot list leg are taken off from the first slide unit column 16, the second slide unit column 17; Four through holes at single leg experiment porch arrangement for adjusting height medium-height trestle 45 two ends are alignd with the hole on second dovetailed way 6 with first dovetailed way 5 and captive joint with pin 50; Simultaneously first fixing screw and second fixing screw in first supporting seat 1, second supporting seat 2, the 3rd supporting seat 3, the four-supporting 4 are unclamped; The first height displacement sensor 46 is used to measure the height of single leg experiment porch, makes setting nut 40 rotations make upper rack posts 39 axial up-and-down movements with second handle 44 and then single leg experiment porch height is accurately regulated thereby pull first handle 43.After single leg experiment porch height adjustment is accomplished; First fixing screw and second fixing screw in first supporting seat 1, second supporting seat 2, the 3rd supporting seat 3, the four-supporting 4 are tightened; Single leg experiment porch arrangement for adjusting height pulled down simultaneously from first dovetailed way 5 and second dovetailed way 6 the leg supporting traverse the sliding stand 18 and leg connecting panel 19 and walking robot list leg are installed on the first slide unit column 16, the second slide unit column 17, promptly can study walking robot list leg motion characteristics then by controller 49 control walking robot list legs motions.The second height displacement sensor 47 is used for measuring the height change of walking robot list leg at the traveling process buttocks; The kinematic velocity that horizontal displacement sensors 48 is used to measure the horizontal motion displacement of walking robot list leg and then records walking robot list leg; Force gauge 34 is used to measure the application force between walking robot list leg and the ground, and coder is used to measure the rotational angle of servomotor.The measurement signal of the first height displacement sensor 46, the second height displacement sensor 47, horizontal displacement sensors 48, force gauge 34 and coder is defeated by controller 49; 49 pairs of incoming signals of controller carry out analyzing and processing; Obtain the height of single leg experiment porch, the height change curve of walking robot list leg buttocks in traveling process, the kinematic velocity of walking robot list leg; Controller 49 utilizes the servomotor position feedback of coder to realize the closed loop control of walking robot list leg motion simultaneously; And walking robot list leg and the force signals between the ground of utilizing force gauge 34 to be measured are carried out the power closed loop control to walking robot list leg, feel thereby not only make walking robot list leg realize accurately moving but also make walking robot list leg have power.
Claims (1)
1. polypody walking robot list leg experiment porch; Comprise single leg experiment porch basic machine and single leg experiment porch control system; Wherein, single leg experiment porch basic machine comprises single leg experiment porch framework, walking robot list leg and single leg experiment porch arrangement for adjusting height; Single leg experiment porch control system comprises sensor groups and controller composition; It is characterized in that:
Single leg experiment porch framework is made up of fixed support, sliding stand and sensor adapter plate group;
Fixed support comprises first supporting seat, second supporting seat, the 3rd supporting seat, four-supporting, first dovetailed way, second dovetailed way, first fixed beam and second fixed beam; Four-supporting comprises base, the 4th lower support bar, the 4th upper support bar, first fixing screw and second fixing screw; Base is threaded with the lower end of the 4th lower support bar; The upper end that the 4th lower support bar is inserted in the 4th upper support bar lower end; First fixing screw and second fixing screw pass the stationkeeping of the tapped bore of the 4th lower support bar upper end with the 4th upper support bar respectively, and first supporting seat, second supporting seat, the 3rd supporting seat are identical with the four-supporting structure; Captive joint with an end of first dovetailed way in first upper support bar upper end of first supporting seat; Captive joint with the other end of first dovetailed way in second upper support bar upper end of second supporting seat; Captive joint with an end of second dovetailed way in the 3rd upper support bar upper end of the 3rd supporting seat; Captive joint with the other end of second dovetailed way in the 4th upper support bar upper end of four-supporting; Captive joint with an end of first dovetailed way and second dovetailed way respectively in the two ends of first fixed beam; Captive joint with the other end of second dovetailed way with first dovetailed way respectively in the two ends of second fixed beam;
Sliding stand comprises the first dovetail slide unit, the second dovetail slide unit, the first slide unit column, the second slide unit column, leg supporting traverse and leg connecting panel; The first dovetail slide unit and the second dovetail slide unit are installed in respectively on first dovetailed way, second dovetailed way, and the first dovetail slide unit and the second dovetail slide unit can slide on first dovetailed way, second dovetailed way respectively, and slide synchronously; The first slide unit column is captiveed joint with the second dovetail slide unit with the first dovetail slide unit respectively with the second slide unit column; Leg supporting traverse two ends are provided with circular hole; Be enclosed within respectively on the cylinder of the first slide unit column and the second slide unit column; Can slide up and down along the first slide unit column and the second slide unit column; Leg connecting panel and leg supporting traverse be through being threaded, a plurality of equally spaced tapped bore of rectangular distribution on the leg supporting traverse, and the position between leg connecting panel and the leg supporting traverse can be regulated through tapped bore;
Sensor adapter plate group comprises first sensor adapter plate, the second sensor adapter plate, the 3rd sensor adapter plate, four-sensor adapter plate, the 5th sensor adapter plate; The first sensor adapter plate is loaded on the base of the 3rd supporting seat, and the second sensor adapter plate is arranged on the side of second dovetailed way, one end, and this side is near the 3rd supporting seat; The 3rd sensor adapter plate is loaded on the second dovetail slide unit lateral surface, and the four-sensor adapter plate is loaded on the side end face of leg supporting traverse, and the 5th sensor adapter plate is arranged on the side of the first dovetail slide unit, this face lateral first supporting seat;
Walking robot list leg comprises buttocks, thigh, shank and pin;
The buttocks of walking robot list leg comprises first servomotor, first attaching parts and second attaching parts; The first servomotor shell is installed on through being threaded on the leg connecting panel, and the fork portion of the output shaft of first servomotor and first attaching parts is through being threaded, and the base portion of first attaching parts is with the base portion quadrature of second attaching parts and through being threaded; The output shaft of first servomotor rotates and drives the motion of first attaching parts;
The thigh of walking robot list leg comprises second servomotor, first connecting panel, second connecting panel and the 3rd servomotor; The fork portion of the output shaft of second servomotor and second attaching parts of walking robot list hunkers is through being threaded; The shell of second servomotor is connected with the threaded one end of first connecting panel with second connecting panel simultaneously, and the other end of first connecting panel and second connecting panel is connected with the outer casing screw of the 3rd servomotor; The output shaft of second servomotor rotates and drives the thigh mass motion;
The shank of walking robot list leg comprises that the 3rd attaching parts, first connects cylinder and force gauge; The fork portion of the output shaft of the 3rd servomotor and the 3rd attaching parts is through being threaded, and the base portion of the 3rd attaching parts is connected cylinder with first threaded one end connects, first connect cylinder the other end be connected with the force gauge outer casing screw; The output shaft of the 3rd servomotor rotates and drives the motion of the 3rd attaching parts;
The pin of walking robot list leg comprises that second connects cylinder and foot end; Second connect cylinder an end is connected with the force gauge outer casing screw, the foot end is semisphere, second connect cylinder the semisphere cross section of the other end and foot end through being threaded, this is sufficient holds the manufacturing of employing elastomeric material;
Single leg experiment porch arrangement for adjusting height comprises chassis, lower fulcrum bar, upper rack posts, setting nut, cover plate, radius stay, first handle, second handle and support; The chassis is threaded with the lower end of lower fulcrum bar, and cover plate is placed in setting nut upper end, and end disc is threaded through three radius stays on cover plate and the lower fulcrum bar; First handle and second handle are arranged on the setting nut of cover plate upper end, and are threaded with setting nut, and the upper rack posts lower end is threaded with setting nut, and the upper rack posts upper end is threaded with support; Support is I shape, and four end points have through hole, is connected with dowel fixes between the hole on the through hole when regulating single leg experiment porch height on the support and first dovetailed way and second dovetailed way;
Sensor groups comprises the first height displacement sensor, the second height displacement sensor, horizontal displacement sensors, force gauge and coder; The first height displacement sensor outer housing is installed on the first sensor adapter plate; The pull head of the first height displacement sensor is installed on the second sensor adapter plate; The second height displacement sensor outer housing is installed on the 3rd sensor adapter plate, and the pull head of the second height displacement sensor is installed on the four-sensor adapter plate, and the horizontal displacement sensors shell filling is on a side of first dovetailed way; This side is near first supporting seat; The horizontal displacement sensors pull head is installed on the 5th sensor adapter plate, and the backguy of horizontal displacement sensors is parallel with first dovetailed way, and force gauge is loaded on the shank of walking robot list leg; Coder is that servomotor carries, and itself and servomotor are packaged together.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120562461XU CN202378990U (en) | 2011-12-29 | 2011-12-29 | Multi-foot walking robot single-leg experimental platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201120562461XU CN202378990U (en) | 2011-12-29 | 2011-12-29 | Multi-foot walking robot single-leg experimental platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556197A (en) * | 2011-12-29 | 2012-07-11 | 浙江大学 | Single leg experimental platform for multi-foot walking robot |
| CN103676797B (en) * | 2012-09-07 | 2016-09-21 | 南京理工大学 | Modularity partition type multi-foot robot motion controller and control method thereof |
-
2011
- 2011-12-29 CN CN201120562461XU patent/CN202378990U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556197A (en) * | 2011-12-29 | 2012-07-11 | 浙江大学 | Single leg experimental platform for multi-foot walking robot |
| CN102556197B (en) * | 2011-12-29 | 2013-07-24 | 浙江大学 | Single leg experimental platform for multi-foot walking robot |
| CN103676797B (en) * | 2012-09-07 | 2016-09-21 | 南京理工大学 | Modularity partition type multi-foot robot motion controller and control method thereof |
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