CN206733058U - A kind of sufficient formula bio-robot dynamic response performance test platform - Google Patents
A kind of sufficient formula bio-robot dynamic response performance test platform Download PDFInfo
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- CN206733058U CN206733058U CN201720065697.XU CN201720065697U CN206733058U CN 206733058 U CN206733058 U CN 206733058U CN 201720065697 U CN201720065697 U CN 201720065697U CN 206733058 U CN206733058 U CN 206733058U
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- guide rail
- support bar
- test platform
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Abstract
The utility model discloses a kind of sufficient formula bio-robot dynamic response performance test platform, including high-speed cylinder, base frame and support protection mechanism；High-speed cylinder and support protection mechanism are arranged on base frame；Support protection mechanism includes support column, guide rail, support bar and clamping device；Four support columns are respectively perpendicular on four angles for being arranged at base frame upper surface；The number of guide rail is 2, and guide rail is fixedly installed between the top of two support columns, and two guide rails are parallel to each other；Support bar is arranged between two guide rails, and can be moved perpendicular to two guide rails, support bar along guide rail direction；Clamping device is arranged on support bar；Test platform of the present utility model is equipped with high-speed cylinder, can be with mobile robot high-speed motion, while analyzes positional precision, speed, acceleration, impulsive force that robot leg is bent and stretched at various speeds etc., and is not influenceed by external environments such as weather.
Description
Technical field
The utility model belongs to intelligent robot technical field of measurement and test, and more particularly to a kind of sufficient formula bio-robot dynamic is rung
Answer Testing Platform.
Background technology
In recent years, it is continuous with related disciplines such as robot, machinery, electronics, computer, artificial intelligence, sensing detections
It is progressive, research and develop in the case where existing vehicle is difficult to the complicated landform environment that reaches, carry payload, there is quick response energy
Power, the autonomous high-performance foot formula bio-robot for completing long-distance transport task are turning into the focus of robot field.So
And robot carries out response performance test under outdoor complex environment and is inconvenient, robot is under outdoor complex environment
When carrying out response performance test, it is necessary to repeatedly test, not only the test period is grown, and expends huge human and material resources, wealth
Power.Meanwhile influenceed by weather and other factorses.Therefore, sufficient formula bio-robot dynamic response control is established indoors
Test platform has significant application value for test model.This test platform can in real time to robot fast-response energy with
And performance for stability test, and the response characteristic under whole system dynamic condition is fed back by devices such as sensors, it is right
Robot responds speed control, mechanical part carry out perfect, and then the real independent ambulation of legged type robot are prepared.This experiment
The problem of platform is tested mainly for robot responds, the theory that modern society's research and development of products cycle is short, economizes on resources is implemented, is built
Sufficient formula bio-robot response performance test platform.
Utility model content
The purpose of this utility model is to provide a kind of sufficient formula bio-robot dynamic response performance test platform, to solve
Lack the people that experimental period caused by Indoor Robot dynamic response performance test platform is long and consuming is huge in the prior art
Power, material resources, financial resources, meanwhile, the problems such as easily influence by weather and other factorses.
To achieve the above object, the utility model adopts the following technical scheme that：
A kind of sufficient formula bio-robot dynamic response performance test platform, including high-speed cylinder, base frame and support protection machine
Structure；High-speed cylinder and support protection mechanism are arranged on base frame；
Support protection mechanism includes support column, guide rail, support bar and clamping device；Four support columns are respectively perpendicular and are arranged at
On four angles of base frame upper surface；The number of guide rail is 2, and guide rail is fixedly installed between the top of two support columns, and two
Guide rail is parallel to each other；Support bar is arranged between two guide rails, and can be moved perpendicular to two guide rails, support bar along guide rail direction
It is dynamic；Clamping device is arranged on support bar；
Several high-speed cylinders are vertically and fixedly arranged at the upper surface of base frame.
Further, test machine people is connected with the top of high-speed cylinder.
Further, test machine people includes pedipulator and body, and several pedipulators are set around body, every machinery
There are several joints on leg；The sufficient end of test machine people and joint part installation position sensor；The sufficient end of test machine people
The junction of pedipulator is provided with six-dimension force sensor and pressure sensor；Each joint of test machine people, which is provided with, to be added
Velocity sensor, velocity sensor and force snesor；Attitude transducer and force snesor are installed on the body of test machine people；
Velocity sensor is installed on high-speed cylinder；The number of high-speed cylinder and the pedipulator number of test machine people match.
Further, clamping device includes shift(ing) ring, flexible strand, clamping cross bar, clamping vertical pole and sliding block；Shift(ing) ring is arranged
On support bar, shift(ing) ring can move on support bar；Shift(ing) ring is connected by flexible strand with clamping cross bar, clamps cross bar
Lower surface offers chute, and two clamping vertical poles are provided with chute, and two clamping vertical poles offer cunning on two relative faces
Block guide rail, sliding block is provided with slide block guide rail；The bottom of two clamping vertical poles is provided with sliding block pin, and sliding block pin can block
Sliding block.
Further, the both ends of support bar are provided with roller；The lower surface of base frame is provided with some supporting legs.
Further, high-speed cylinder is connected with air pressure pumping plant.
Compared with prior art, the utility model has following technical effect：
(1) test platform of the present utility model is equipped with high-speed cylinder, can be with mobile robot high-speed motion, while analyzes
Robot leg is bent and stretched under friction speed positional precision, speed, acceleration, impulsive force etc., and not by external environments such as weather
Influence.
(2) test platform of the present utility model real-time guard robot in test process, protection mechanism prevent test machine
Device people falls down the situation of damage, protects core component.
(3) response and stability of the real-time robot measurement of the utility model in friction speed, reaches and implements modern society
The theory that the meeting research and development of products cycle is short, economizes on resources.Therefore, building sufficient formula bio-robot dynamic response test platform has weight
Want application value.
Brief description of the drawings
Fig. 1 is the utility model structure diagram；
Fig. 2 is the utility model clamping device structure chart.
Wherein：1st, base frame；2nd, protection mechanism is supported；3rd, test machine people；4th, high-speed cylinder；6th, roller；7th, support bar；8、
Shift(ing) ring；9th, flexible strand；10th, cross bar is clamped；12nd, vertical pole is clamped；13rd, sliding block pin；14th, sliding block；15th, support column；16th, lead
Rail；17th, supporting leg.
Embodiment
The utility model is described in detail below in conjunction with accompanying drawing：
Refer to shown in Fig. 1 to Fig. 2, a kind of sufficient formula bio-robot dynamic response performance test platform, including high speed gas
Cylinder 4, base frame 1 and support protection mechanism 2；High-speed cylinder 4 and support protection mechanism 2 are arranged on base frame 1；
Support protection mechanism 2 includes support column 15, guide rail 16, support bar 7 and clamping device；Four support columns 15 hang down respectively
Directly it is arranged on four angles of the upper surface of base frame 1；The number of guide rail 16 is 2, and guide rail 16 is fixedly installed on two support columns 15
Between top, and two guide rails 16 are parallel to each other；Support bar 7 is arranged between two guide rails 16, and perpendicular to two guide rails 16,
Support bar 7 can move along guide rail direction；Clamping device is arranged on support bar 7；
Several high-speed cylinders 4 are vertically and fixedly arranged in the upper surface of base frame 1.
The top of high-speed cylinder 4 is connected with test machine people 3.
Test machine people 3 includes pedipulator and body, and several pedipulators are set around body, if having on every pedipulator
Dry joint；The sufficient end of test machine people 3 and joint part installation position sensor；The sufficient end of test machine people 3 and machinery
The junction of leg is provided with six-dimension force sensor and pressure sensor；Each joint of test machine people 3 is provided with acceleration
Sensor, velocity sensor and force snesor；Attitude transducer and force snesor are installed on the body of test machine people 3；It is high
Velocity sensor is installed on fast cylinder 4；The number of high-speed cylinder 4 and the pedipulator number of test machine people 3 match.
Clamping device includes shift(ing) ring 8, flexible strand 9, clamping cross bar 10, clamping vertical pole 12 and sliding block 14；8 sets of shift(ing) ring
It is located on support bar 7, shift(ing) ring 8 can move on support bar 7；Shift(ing) ring 8 is connected by flexible strand 9 with clamping cross bar 10,
The lower surface of clamping cross bar 10 offers chute, and two clamping vertical poles 12 are provided with chute, and two clamping vertical poles 12 are relative
Slide block guide rail is offered on two faces, sliding block 14 is provided with slide block guide rail；The bottom of two clamping vertical poles 12 is provided with sliding block
Pin 13, sliding block pin 13 can block sliding block 14.
The both ends of support bar 7 are provided with roller 6；The lower surface of base frame 1 is provided with some supporting legs 17.
High-speed cylinder 4 is connected with air pressure pumping plant.
Operation principle of the present utility model：
1) start air pressure pumping plant, adjust test platform initial position, test machine people 3 is placed on test platform；Adjust
The whole initial position of high-speed cylinder 4；Test machine people 3 is clamped with the clamping device of support protection mechanism 2；
2) in test process, regulation high-speed cylinder 4 stretches out retraction speed, high-speed cylinder 4 is started high-speed motion, collects
Record velocity sensor data on high-speed cylinder 4；
3) in test process, the leg of test machine people 3 collects record and is arranged on survey with the high-speed motion of high-speed cylinder 4
The sufficient end of try engine people 3 and the data of the position sensor of joint part, leg is bent and stretched when measuring test machine 3 high-speed motion of people
Positional precision；
4) in test process, test machine people 3 is made to record test machine by collecting with the high-speed motion of high-speed cylinder 4
The joint part six-dimension force sensor of people 3 and force sensor data, torsional moment and motive force of the measurement pedipulator to fuselage；Pass through
Each joint acceleration transducer and velocity sensor data of the record installed in the leg of test machine people 3 are collected, measurement is surveyed
Try engine people 3 is under high-speed motion, each articulation acceleration and speed when leg is bent and stretched；
5) in test process, test machine people 3 is made with the high-speed motion of high-speed cylinder 4, by collecting with logging machine
The data of attitude transducer and robot foot end foot sensor, meanwhile, the different speeds of service is simulated using high-speed cylinder 4,
The stability of analysis test fuselage, if the situation of run-off the straight；By collect record be arranged on the fuselage of test machine people 3 and
The data of leg joint part force snesor, the impulsive force that leg is bent and stretched in high-speed motion of test machine people 3；
6) in test process, test machine people 3 is made simulation fluctuation road surface, to simulate earthquake with the high-speed motion of high-speed cylinder 4
Road surface, adaptability of the observer robot to fluctuation road surface are fluctuated in the disaster relief.
Claims (6)
1. a kind of sufficient formula bio-robot dynamic response performance test platform, it is characterised in that including high-speed cylinder (4), base frame
(1) and support protection mechanism (2)；High-speed cylinder (4) and support protection mechanism (2) are arranged on base frame (1)；
Support protection mechanism (2) includes support column (15), guide rail (16), support bar (7) and clamping device；Four support columns (15)
It is respectively perpendicular and is arranged on four angles of base frame (1) upper surface；The number of guide rail (16) is 2, and guide rail (16) is fixedly installed on two
Between the top of individual support column (15), and two guide rails (16) are parallel to each other；Support bar (7) be arranged on two guide rails (16) it
Between, and can be moved perpendicular to two guide rails (16), support bar (7) along guide rail direction；Clamping device is arranged on support bar (7)
On；
Several high-speed cylinders (4) are vertically and fixedly arranged at the upper surface of base frame (1).
2. a kind of sufficient formula bio-robot dynamic response performance test platform according to claim 1, it is characterised in that high
Test machine people (3) is connected with the top of fast cylinder (4).
3. a kind of sufficient formula bio-robot dynamic response performance test platform according to claim 2, it is characterised in that survey
Try engine people (3) includes pedipulator and body, and several pedipulators are set around body, have several passes on every pedipulator
Section；The sufficient end of test machine people (3) and joint part installation position sensor；The sufficient end of test machine people (3) and pedipulator
Junction be provided with six-dimension force sensor and pressure sensor；Each joint of test machine people (3) is provided with acceleration
Sensor, velocity sensor and force snesor；Attitude transducer and force snesor are installed on the body of test machine people (3)；
High-speed cylinder is provided with velocity sensor on (4)；The number of high-speed cylinder (4) and the pedipulator number phase of test machine people (3)
Matching.
A kind of 4. sufficient formula bio-robot dynamic response performance test platform according to claim 1, it is characterised in that folder
Holding mechanism includes shift(ing) ring (8), flexible strand (9), clamping cross bar (10), clamping vertical pole (12) and sliding block (14)；Shift(ing) ring (8) covers
It is located on support bar (7), shift(ing) ring (8) can move on support bar (7)；Shift(ing) ring (8) is horizontal with clamping by flexible strand (9)
Bar (10) is connected, and the lower surface of clamping cross bar (10) offers chute, and two clamping vertical poles (12), two folders are provided with chute
Hold and offer slide block guide rail on two relative faces of vertical pole (12), sliding block (14) is provided with slide block guide rail；Two clamping vertical poles
(12) bottom is provided with sliding block pin (13), and sliding block pin (13) can block sliding block (14).
A kind of 5. sufficient formula bio-robot dynamic response performance test platform according to claim 1, it is characterised in that branch
The both ends of strut (7) are provided with roller (6)；The lower surface of base frame (1) is provided with some supporting legs (17).
6. a kind of sufficient formula bio-robot dynamic response performance test platform according to claim 1, it is characterised in that high
Fast cylinder (4) is connected with air pressure pumping plant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720065697.XU CN206733058U (en) | 2017-01-19 | 2017-01-19 | A kind of sufficient formula bio-robot dynamic response performance test platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720065697.XU CN206733058U (en) | 2017-01-19 | 2017-01-19 | A kind of sufficient formula bio-robot dynamic response performance test platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206733058U true CN206733058U (en) | 2017-12-12 |
Family
ID=60554658
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720065697.XU Expired - Fee Related CN206733058U (en) | 2017-01-19 | 2017-01-19 | A kind of sufficient formula bio-robot dynamic response performance test platform |
Country Status (1)
| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625779A (en) * | 2017-01-19 | 2017-05-10 | 长安大学 | Performance test platform and test method of dynamic response for footling bionic robots |
| CN108426728A (en) * | 2018-02-28 | 2018-08-21 | 浙江工业职业技术学院 | A kind of end pulling test system for the temperature control of robot leg joint |
| CN110132557A (en) * | 2019-04-30 | 2019-08-16 | 西北工业大学 | A kind of bionic leg formula spring experimental provision |
-
2017
- 2017-01-19 CN CN201720065697.XU patent/CN206733058U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625779A (en) * | 2017-01-19 | 2017-05-10 | 长安大学 | Performance test platform and test method of dynamic response for footling bionic robots |
| CN106625779B (en) * | 2017-01-19 | 2024-04-02 | 长安大学 | Dynamic response performance test platform and test method for foot-type bionic robot |
| CN108426728A (en) * | 2018-02-28 | 2018-08-21 | 浙江工业职业技术学院 | A kind of end pulling test system for the temperature control of robot leg joint |
| CN110132557A (en) * | 2019-04-30 | 2019-08-16 | 西北工业大学 | A kind of bionic leg formula spring experimental provision |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171212 Termination date: 20200119 |