CN208254820U - A kind of legged type robot list leg experimental rig - Google Patents
A kind of legged type robot list leg experimental rig Download PDFInfo
- Publication number
- CN208254820U CN208254820U CN201820716722.0U CN201820716722U CN208254820U CN 208254820 U CN208254820 U CN 208254820U CN 201820716722 U CN201820716722 U CN 201820716722U CN 208254820 U CN208254820 U CN 208254820U
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- paintbrush
- pullover
- pedipulator
- blank
- type robot
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Abstract
The utility model discloses a kind of legged type robot list leg experimental rig, including support frame, suspension arrangement, paintbrush device and draw panel assembly；It is equipped with mounting hole on the support frame；Suspension arrangement includes pullover, hanging rope and clump weight；Pullover is used to be set in the sufficient end of pedipulator；The upper end of hanging rope is fixed on pullover, and lower end is fixed on clump weight；Paintbrush device includes paintbrush and paintbrush fixing seat；Paintbrush is mounted in paintbrush fixing seat；Paintbrush fixing seat is mounted on pullover；Drawing panel assembly includes blank and drawing board bracket；Blank is fixed on drawing board bracket；The pen tip of paintbrush is for pressing in blank.The experimental rig can simulate pedipulator and be in the state or the hanging state lifted for falling leg to ground, and the motion profile for pedipulator of being painted out on blank using paintbrush, for observing the movenent performance of pedipulator, to test single leg of legged type robot, using simple and convenient, test effect is intuitive.
Description
Technical field
The utility model relates to a kind of experimental rig, especially a kind of legged type robot list leg experimental rig.
Background technique
Legged type robot is increasingly becoming a research hotspot, during developing legged type robot, in order to test sufficient formula machine
Can the leg of device people meet design requirement, need to develop the entire model machine of legged type robot, then tested.But if
The leg of the robot designed cannot be met the requirements, then the entire model machine for the legged type robot developed is likely to scrap.
Therefore, for the performance of the leg of test legged type robot in inexpensive situation, wherein one leg can be only produced, and simulate
Working environment of this leg when entire legged type robot is run.If in design, the structure of every leg of legged type robot
It is the same, then only needs to test the performance of one leg to substitute the performance of all legs, to substantially reduce experimentation cost.Cause
This can a kind of single leg experimental rig that can be individually tested single pedipulator in the place of design.
Summary of the invention
Purpose of utility model: a kind of single leg experimental rig that can be individually tested single pedipulator is provided.
Technical solution: legged type robot list leg experimental rig described in the utility model, including support frame, suspension arrangement,
Paintbrush device and draw panel assembly；It is equipped with the mounting hole for installing pedipulator hip joint on the support frame；Suspension arrangement includes
Pullover, hanging rope and clump weight；Pullover is used to be set in the sufficient end of pedipulator；The upper end of hanging rope is fixed on pullover, lower end
It is fixed on clump weight；Paintbrush device includes paintbrush and paintbrush fixing seat；Paintbrush is mounted in paintbrush fixing seat；Paintbrush fixing seat
It is mounted on pullover；Drawing panel assembly includes blank and drawing board bracket；Blank is fixed on drawing board bracket；The pen tip of paintbrush is for pressing
Track of painting is pressed on blank.
Further, support frame includes bottom plate, support column, fixed frame and installation bolt；Set is vertically equipped on bottom plate
Cylinder, the lower end of support column is inserted on sleeve；Fixed frame is rectangular frame, and is fixedly mounted on the upper end of support column；Installation
Hole horizontal aperture is set on the side frame of rectangular frame；Installation bolt thread is rotated on side frame, and vertical through installation
The hole wall in hole；Pedipulator hip joint is inserted on mounting hole, and is locked by installing bolt.
Further, pullover is casing closed at one end；Hanging rope is two altogether, and upper end is each attached to the lower nozzle of casing
On.
Further, paintbrush fixing seat includes paintbrush inserting pipe, pressure spring and C-shaped ring；C-shaped ring is for anchor ear in pullover
On outer wall；The end of paintbrush inserting pipe is fixedly mounted in C-shaped ring；Pressure spring is located in paintbrush inserting pipe；The tail portion of paintbrush inserts
In paintbrush inserting pipe, and press on pressure spring.
Further, drawing board bracket includes footing and vertical bar；Vertical bar is mounted vertically on footing, and blank is fixed on perpendicular
To on bar.
The utility model compared with prior art, the beneficial effect is that: the experimental rig can simulate pedipulator and be in
Fall state or the vacantly state lifted of the leg to ground, and the motion profile for pedipulator of being painted out on blank using paintbrush,
For observing the movenent performance of pedipulator, so that single leg to legged type robot is tested, use is simple and convenient, test effect
Intuitively.
Detailed description of the invention
Fig. 1 is the experimental rig structural schematic diagram of the utility model；
Fig. 2 is the paintbrush device structural schematic diagram of the utility model；
Fig. 3 is the experimental rig using state structure diagram of the utility model.
Specific embodiment
Technical solutions of the utility model are described in detail with reference to the accompanying drawing, but the protection scope of the utility model
It is not limited to the embodiment.
Embodiment 1:
As shown in Figure 1-3, legged type robot list leg experimental rig disclosed by the utility model includes: support frame, suspension dress
It sets, paintbrush device and draw panel assembly；It is equipped with the mounting hole 2 for installing 18 hip joint of pedipulator on the support frame；Suspension dress
It sets including pullover 9, hanging rope 8 and clump weight 7；Pullover 9 is used to be set in the sufficient end of pedipulator 18；The upper end of hanging rope 8 is fixed
On pullover 9, lower end is fixed on clump weight 7；Paintbrush device includes paintbrush 11 and paintbrush fixing seat 10, and paintbrush 11 can be used
Mark；Paintbrush 11 is mounted in paintbrush fixing seat 10；Paintbrush fixing seat 10 is mounted on pullover 9；Drawing panel assembly includes blank
14 and drawing board bracket；Blank 14 is fixed on drawing board bracket；The pen tip of paintbrush 11 is for pressing track of painting on blank 14.
Further, support frame includes bottom plate 6, support column 4, fixed frame 1 and installation bolt 3；It is vertically set on bottom plate 6
There is sleeve 5, the lower end of support column 4 is inserted on sleeve 5；Fixed frame 1 is rectangular frame, and is fixedly mounted on the upper of support column 4
On end；2 horizontal bore of mounting hole is set on the side frame of rectangular frame；3 screw thread rotation of bolt is installed on side frame, and perpendicular
To the hole wall of penetrating mounting holes 2；18 hip joint of pedipulator is inserted on mounting hole 2, and is locked by installing bolt 3.
Further, pullover 9 is casing closed at one end；Hanging rope 8 is two altogether, and upper end is each attached to the down tube of casing
On mouth, and installation point is located on same diameter line.It is suspended in 9 lower section of pullover using two hanging ropes 8, plays the work symmetrically pulled down
With with preferable stability.
Further, paintbrush fixing seat 10 includes paintbrush inserting pipe 17, pressure spring 16 and C-shaped ring 15；C-shaped ring 15 is for embracing
Hoop is on the outer wall of pullover 9；The end of paintbrush inserting pipe 17 is fixedly mounted in C-shaped ring 15；Pressure spring 16 is located at paintbrush inserting pipe
In 17；The tail portion of paintbrush 11 is inserted into paintbrush inserting pipe 17, and is pressed on pressure spring 16.Picture can be convenient for using C-shaped ring 15
Fixing seat 10 is mounted on pullover 9；It enables to the pen tip elasticity of paintbrush 11 to press using pressure spring 16 to paint on blank 14
Track.
Further, drawing board bracket includes footing 12 and vertical bar 13；Vertical bar 13 is mounted vertically on footing 12, blank
14 are fixed in vertical bar 13.
Legged type robot list leg experimental rig disclosed by the utility model when in use, is needed the pedipulator 18 of robot
It stands upside down and installs, and be inserted into 18 hip joint of pedipulator on mounting hole 2, and be locked by installing bolt 3；Pullover 9 is arranged
On the sufficient end of pedipulator 18；The pen tip of paintbrush 11 presses track of painting on blank 14 for elasticity.
When test machines leg 18 is in the state for falling leg to ground, 18 end stress size of pedipulator is N, Impact direction
Upwards；Then the gravity that clump weight 7 is arranged is N, and lift makes two hanging ropes 8 be in tight state on the shank of pedipulator 18, thus
Simulating 18 end stress size of pedipulator is mg=N, and Impact direction is downward；Due to the end of pedipulator 18 all subject it is identical
The power of size, although Impact direction is on the contrary, since pedipulator 18 is to stand upside down, therefore Impact direction is phase relative to pedipulator 18
With, thus true landing state can be simulated.Similarly, when test machines leg 18 is in lift leg to aerial state, machine
The stress size of 18 end of tool leg is 0, and when test puts down the shank of pedipulator 18, so that two hanging ropes 8 are in relaxed state,
18 end stress size of pedipulator is similarly 0 at this time.When 18 end stress of pedipulator and not stressing can either way be simulated
When, the phase co-conversion of two kinds of situations can also simulate, and the performance for testing a system also tends to be by loading a step
Load, it is thus possible to which analog mechanical leg 18 is generated from when falling leg in the air and being acted on to ground by unexpected ground holding power
Vibration Condition, and be drawn on blank 14 by paintbrush 11, the current end of pedipulator 18 is marked on blank 14 using paintbrush 11
End position, when pedipulator 18 moves in the plane for being parallel to the blank 14, the pen tip of paintbrush 11 can always with it is white
Plate 14 contacts with each other, so that the motion profile of the end of pedipulator 18 is drawn on blank 14, and pressure spring 16 can absorb machinery
18 end of leg is perpendicular to the microvibration and error on 14 direction of blank.
As described above, although the utility model has been indicated and described referring to specific preferred embodiment, it must not
It is construed to the limitation to the utility model itself.In the spirit and scope for not departing from the utility model that appended claims define
Under the premise of, it can various changes can be made in the form and details to it.
Claims (5)
1. a kind of legged type robot list leg experimental rig, it is characterised in that: including support frame, suspension arrangement, paintbrush device and
Draw panel assembly；It is equipped with the mounting hole (2) for installing pedipulator (18) hip joint on the support frame；Suspension arrangement includes pullover
(9), hanging rope (8) and clump weight (7)；Pullover (9) is used to be set in the sufficient end of pedipulator (18)；The upper end of hanging rope (8) is solid
It is scheduled on pullover (9), lower end is fixed on clump weight (7)；Paintbrush device includes paintbrush (11) and paintbrush fixing seat (10)；Paintbrush
(11) it is mounted on paintbrush fixing seat (10)；Paintbrush fixing seat (10) is mounted on pullover (9)；Drawing panel assembly includes blank (14)
And drawing board bracket；Blank (14) is fixed on drawing board bracket；The pen tip of paintbrush (11) is for pressing rail of painting on blank (14)
Mark.
2. legged type robot list leg experimental rig according to claim 1, it is characterised in that: support frame include bottom plate (6),
Support column (4), fixed frame (1) and installation bolt (3)；Sleeve (5) vertically are equipped on bottom plate (6), the lower end of support column (4)
It is inserted on sleeve (5)；Fixed frame (1) is rectangular frame, and is fixedly mounted on the upper end of support column (4)；Mounting hole (2) water
Hole is opened flat to be set on the side frame of rectangular frame；Bolt (3) screw thread rotation is installed on side frame, and vertical penetrating mounting holes
(2) hole wall；Pedipulator (18) hip joint is inserted on mounting hole (2), and is locked by installing bolt (3).
3. legged type robot list leg experimental rig according to claim 1, it is characterised in that: pullover (9) is closed at one end
Casing；Hanging rope (8) is two altogether, and upper end is each attached on the lower nozzle of casing.
4. legged type robot list leg experimental rig according to claim 1, it is characterised in that: paintbrush fixing seat (10) includes
Paintbrush inserting pipe (17), pressure spring (16) and C-shaped ring (15)；Outer wall of the C-shaped ring (15) for anchor ear in pullover (9)；Paintbrush
The end of inserting pipe (17) is fixedly mounted on C-shaped ring (15)；Pressure spring (16) is located in paintbrush inserting pipe (17)；Paintbrush (11)
Tail portion is inserted into paintbrush inserting pipe (17), and is pressed on pressure spring (16).
5. legged type robot list leg experimental rig according to claim 1, it is characterised in that: drawing board bracket includes footing
(12) and vertical bar (13)；Vertical bar (13) is mounted vertically on footing (12), and blank (14) is fixed on vertical bar (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820716722.0U CN208254820U (en) | 2018-05-14 | 2018-05-14 | A kind of legged type robot list leg experimental rig |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820716722.0U CN208254820U (en) | 2018-05-14 | 2018-05-14 | A kind of legged type robot list leg experimental rig |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208254820U true CN208254820U (en) | 2018-12-18 |
Family
ID=64635033
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820716722.0U Active CN208254820U (en) | 2018-05-14 | 2018-05-14 | A kind of legged type robot list leg experimental rig |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208254820U (en) |
-
2018
- 2018-05-14 CN CN201820716722.0U patent/CN208254820U/en active Active
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