CN215338794U - Anti-impact capability test device for quadruped robot - Google Patents
Anti-impact capability test device for quadruped robot Download PDFInfo
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- CN215338794U CN215338794U CN202120974447.4U CN202120974447U CN215338794U CN 215338794 U CN215338794 U CN 215338794U CN 202120974447 U CN202120974447 U CN 202120974447U CN 215338794 U CN215338794 U CN 215338794U
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Abstract
The utility model provides a testing device for anti-striking capability of a quadruped robot, which relates to the field of robot manufacturing, wherein the quadruped robot is placed on a plane and is provided with four supporting legs, the foot ends of the four supporting legs are all contacted with the plane, and the testing device comprises: the support is arranged on the plane, and the quadruped robot is positioned below the support; one end of the impact mechanism is arranged on the bracket, and the other end of the impact mechanism can impact the quadruped robot; the technical scheme of the utility model is simple to operate, the hitting force can be accurately calculated without redundant sensors, and the measurement cost is reduced.
Description
Technical Field
The utility model relates to the field of robot manufacturing, in particular to a four-footed robot anti-impact capability test device.
Background
The quadruped robot is favored by researchers, the capability and the index test and the evaluation direction of the quadruped robot are not unified, the anti-impact capability of the quadruped robot is a core index of the quadruped robot and is also the capability of considering the operation of the robot in a complex working condition, and the accurate calculation of the impact force is also a difficult point and a key point.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a testing device for the anti-impact capability of a quadruped robot, which realizes the accurate measurement of the anti-impact capability of the quadruped robot.
In order to achieve the above purpose, the utility model provides the following technical scheme: a quadruped robot anti-striking capability test device, the quadruped robot is placed on a plane, the quadruped robot is provided with four supporting legs, the foot ends of the four supporting legs are all contacted with the plane, the test device comprises: the support is arranged on the plane, and the quadruped robot is positioned below the support; one end of the impact mechanism is arranged on the bracket, and the other end of the impact mechanism can impact the quadruped robot; the detection mechanism is arranged on the quadruped robot and can detect the movement speed and the movement direction of the quadruped robot.
Further, in the above testing apparatus for the hitting resistance of the quadruped robot, the striking mechanism includes a sandbag and a rope, the sandbag is suspended on the support through the rope, and the sandbag can strike the quadruped robot when swinging.
Further, in the above testing apparatus for the anti-striking capability of the quadruped robot, the detecting mechanism includes a gyroscope and an accelerometer, the gyroscope and the accelerometer are disposed on the quadruped robot, the gyroscope is used for detecting the moving direction of the quadruped robot, and the accelerometer is used for detecting the change of the instantaneous velocity of the quadruped robot when being struck.
Further, in the anti-hitting ability testing device of the four-foot robot, the detection mechanism further comprises a tension sensor, the tension sensor is arranged at the end part of the supporting leg, and the tension sensor can detect the change of the end force of the foot of the supporting leg.
Further, in the above testing device for the anti-impact capability of the quadruped robot, the support comprises a cross rod and two vertical rods, one ends of the two vertical rods are respectively connected with two ends of the cross rod, and the other ends of the two vertical rods are connected with the plane.
Further, in the anti-impact capability test device for the quadruped robot, the length of the transverse rod is 1500mm, and the length of the vertical rod is 1700 mm.
Further, in the above device for testing the hitting resistance of the quadruped robot, the rope is a steel cable, and when the sandbag hits the quadruped robot, the position of the center of mass of the sandbag is in contact with the quadruped robot.
The technical scheme of the utility model is simple to operate, the impact force can be accurately calculated without redundant sensors, and the measurement cost is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model. Wherein:
fig. 1 is a schematic structural diagram of an anti-impact capability test device for a quadruped robot according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for testing the anti-impact capability of a quadruped robot according to an embodiment of the present invention.
Description of reference numerals: 1, a plane; 2 a quadruped robot; 3, a bracket; 4, a rope; 5 a sand bag.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the utility model, and not limitation of the utility model. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present invention without departing from the scope or spirit thereof. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present invention encompass such modifications and variations as fall within the scope of the appended claims and equivalents thereof.
In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are for convenience of description of the present invention only and do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.
One or more examples of the utility model are illustrated in the accompanying drawings. The detailed description uses numerical and letter designations to refer to features in fig. 1. Like or similar designations in the drawings and description have been used to refer to like or similar parts of the utility model. As used herein, the terms "first," "second," "third," and "fourth," etc. may be used interchangeably to distinguish one component from another and are not intended to indicate the position or importance of an individual component.
As shown in fig. 1 to 2, according to an embodiment of the present invention, there is provided a four-footed robot anti-strike capability test apparatus, the four-footed robot 2 is placed on a plane 1, including: the quadruped robot 2 is provided with four supporting legs, and the foot ends of the four supporting legs are all in contact with the upper surface of the plane 1; the support 3 is arranged on the plane 1, and the quadruped robot 2 is positioned below the support 3; one end of the impact mechanism is arranged on the bracket 3, and the other end of the impact mechanism can impact the quadruped robot 2; and the detection mechanism is arranged on the four-foot robot 2 and can detect the motion speed and the motion direction of the four-foot robot 2.
Preferably, the impact mechanism comprises a sandbag 5 and a rope 4, the sandbag 5 is suspended on the support 3 by the rope 4, and the sandbag 5 can impact the quadruped robot 2 when swinging.
Preferably, the detection mechanism comprises an IMU, i.e. a gyroscope and an accelerometer, which are provided on the quadruped robot 2, the gyroscope being used to detect the direction of movement of the quadruped robot 2, and the accelerometer being used to detect the change in the instantaneous velocity at which the quadruped robot 2 is struck.
Preferably, the detection mechanism further comprises a pulling pressure sensor, the pulling pressure sensor is arranged at the end part of the supporting leg, the pulling pressure sensor can detect the change of the foot end force of the supporting leg, the impact force F of the sand bag 5 impacting the quadruped robot 2 can be detected through the pulling pressure sensor, the gyroscope and the accelerometer, and redundant sensors are not needed.
Preferably, the support 3 comprises a cross rod and two vertical rods, one end of each of the two vertical rods is connected with the two ends of the cross rod, and the other end of each of the two vertical rods is connected with the plane 1.
Preferably, the length of the transverse rod can be parameterized as L during actual productionVLength of vertical rod is parameterized as LhLength L of cross barVIs 1500mm, the length L of the vertical rodh1700mm, in practical use, the length of the vertical rod can meet the requirement of hanging the tested sandbag 5, the size of the support 3 needs to achieve the effect of stably hanging the sandbag in design, the length and width ratio of the support 3 are coordinated, and the support 3 cannot interfere with the motion of the quadruped robot 2 during testing.
Preferably, the rope 4 is a steel rope, and when the sandbag 5 hits the quadruped robot 2, the position of the center of mass of the sandbag 5 is in contact with the quadruped robot 2.
Referring to fig. 2, the method for using the test platform includes the following steps: s1: obtaining the weight m of the sandbag 5, obtaining the distance L from one end of the rope 4 connected with the bracket 3 to the center of mass of the sandbag 5, and obtaining the included angle theta between the current position of the rope 4 and the initial position of the rope 4 when the sandbag 5 collides with the quadruped robot 20(ii) a S2: setting a first angle theta1Rotating the sandbag 5 until the angle between the position of the rope 4 and the initial position of the rope 4 is theta1Enabling the sandbag 5 to freely fall down to impact the quadruped robot 2, and confirming whether the quadruped robot 2 is knocked down by the sandbag 5; s3: when the quadruped robot 2 is not knocked down, the first angle theta is adjusted1Increasing the second angle theta2As a new first angle theta1And repeating the step S2, when the quadruped robot 2 is knocked down, detecting the change of the foot end force of the support leg of the quadruped robot 2, and passing throughConfirming the impact time t of the sand bag 5 on the quadruped robot 2 according to the change situation of the foot end force0(ii) a Time of impact t0The change of the foot end force of the quadruped robot 2 is detected by the pulling and pressing force sensor. Specifically, the refreshing frequency of the tension and pressure sensor is f, namely the number of detected foot end forces in 1s is f; after impact, n foot end forces can be detected, so the impact time t0Is n/F, wherein the n foot end force values are the initial value F of the foot end force0Starting from the point of increasing, then fluctuating, then decreasing, and finally approaching F0And then stopping counting, wherein the impact duration measured by the tension and pressure sensor is close to the real impact duration, so that the method can be applied to the method. In the actual experiment process, the operator can also obtain the impact duration through the stopwatch to verify the impact duration t of the quadruped robot 2 impacted by the sandbag 50。
S4: obtaining the mass M of the quadruped robot 2, and obtaining the attitude angle (psi) of the mass center of the body of the quadruped robot 2 through a detection mechanismroll、ψpitch、ψyaw) And acceleration at the center of mass of the body of the quadruped robot 2
S5: by the attitude angle (ψ) at the center of mass of the body of the quadruped robot 2roll、ψpitch、ψyaw) And acceleration at the center of mass of the body of the quadruped robot 2
Calculating the instantaneous speed v of the quadruped robot 2 before being impacted by the sandbag 5R1And the instantaneous velocity v of the quadruped robot 2 after being impacted by the sandbag 5R2. S6: through the weight m of the sandbag 5, the distance L from one end of the rope 4 connected with the bracket 3 to the center of mass of the sandbag 5 and a first angle theta1Calculating the instantaneous velocity v before the sand bag 5 impacts the quadruped robot 2b1Instantaneous velocity v after impacting the quadruped robot 2 with the sandbag 5b2The impact force F of the sandbag 5 hitting the quadruped robot 2 is calculated. The anti-impact capability of the quadruped robot 2 can be considered through repeated tests. Preferably, sandbags5 instantaneous velocity v before hitting the quadruped robot 2b1The calculation formula of (2) is as follows:
wherein g is the acceleration of gravity, L is the distance from the end of the rope connected with the bracket to the center of mass of the sandbag, and theta0Is the included angle between the current position of the rope and the initial position of the rope when the sandbag collides with the quadruped robot.
Preferably, the calculation formula of the impact force F of the sandbag 5 impacting the quadruped robot 2 is:
S＝m(vb1-vb2)+M(vR1-vR2) (2)
F＝S/t0 (3)
wherein S is the impact force of the sand bag 5 impacting the quadruped robot 2 at the impact time t0Internal momentum, vb1Is the instantaneous velocity, v, of the sandbag before striking the quadruped robotb2Is the instantaneous velocity of the sandbag after impact on the quadruped robot, M is the mass of the quadruped robot, vR1For the instantaneous velocity of the quadruped robot before being impacted by the sandbag, the vR2Is the instantaneous velocity of the quadruped robot after being impacted by the sandbag.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects: the impact force can be accurately calculated without redundant sensors, and the measurement cost is reduced.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a four-footed robot hits ability test device of beating, the four-footed robot places on the plane, the four-footed robot has four supporting legs, four the foot end of supporting leg all with the plane contacts, its characterized in that, test device includes:
the support is arranged on the plane, and the quadruped robot is positioned below the support;
one end of the impact mechanism is arranged on the bracket, and the other end of the impact mechanism can impact the quadruped robot;
the detection mechanism is arranged on the quadruped robot and can detect the movement speed and the movement direction of the quadruped robot.
2. The device for testing the impact resistance of the quadruped robot according to claim 1, wherein the impact mechanism comprises a sandbag and a rope, the sandbag is suspended on the support through the rope, and the sandbag can impact the quadruped robot when swinging.
3. The device for testing the impact resistance of the quadruped robot according to claim 1, wherein the detection mechanism comprises a gyroscope and an accelerometer, the gyroscope and the accelerometer are arranged on the quadruped robot, the gyroscope is used for detecting the moving direction of the quadruped robot, and the accelerometer is used for detecting the change of the instantaneous speed of the quadruped robot when being impacted.
4. The device for testing the impact resistance of the quadruped robot according to claim 3, wherein the detection mechanism further comprises a tension and pressure sensor, the tension and pressure sensor is arranged at the end of the supporting leg, and the tension and pressure sensor can detect the change of the end force of the supporting leg.
5. The device for testing the impact resistance of the quadruped robot as claimed in claim 1, wherein the support comprises a cross bar and two vertical bars, one end of each of the two vertical bars is connected to the two ends of the cross bar, and the other end of each of the two vertical bars is connected to the plane.
6. The device for testing the impact resistance of the quadruped robot as claimed in claim 5, wherein the length of the cross bar is 1500mm, and the length of the vertical bar is 1700 mm.
7. The device for testing the impact resistance of the quadruped robot as claimed in claim 2, wherein the rope is a steel cable, and when the sandbag hits the quadruped robot, the position of the center of mass of the sandbag is in contact with the quadruped robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120974447.4U CN215338794U (en) | 2021-05-09 | 2021-05-09 | Anti-impact capability test device for quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120974447.4U CN215338794U (en) | 2021-05-09 | 2021-05-09 | Anti-impact capability test device for quadruped robot |
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| Publication Number | Publication Date |
|---|---|
| CN215338794U true CN215338794U (en) | 2021-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120974447.4U Active CN215338794U (en) | 2021-05-09 | 2021-05-09 | Anti-impact capability test device for quadruped robot |
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2021
- 2021-05-09 CN CN202120974447.4U patent/CN215338794U/en active Active
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