CN215338942U

CN215338942U - Single-leg foot-ground interaction dynamics performance testing system of foot type robot

Info

Publication number: CN215338942U
Application number: CN202121018407.9U
Authority: CN
Inventors: 张志鹏; 王春雷; 范宣霞; 金伟祺; 杨亚; 范春辉; 邵海存; 马保平
Original assignee: Shanghai Micro Motor Research Institute 21st Research Institute Of China Electronics Technology Corp
Current assignee: Shanghai Micro Motor Research Institute 21st Research Institute Of China Electronics Technology Corp
Priority date: 2021-05-12
Filing date: 2021-05-12
Publication date: 2021-12-28
Anticipated expiration: 2031-05-12

Abstract

A single-leg foot-ground interaction dynamic performance testing system of a legged robot comprises: braced frame, hold in the palm the groove, moving platform and test platform, moving platform sets up on braced frame and is located the upside in support groove, test platform is including the connecting plate, the rotation vector during the connecting plate upset is parallel with the slip direction of second slider and perpendicular with the slip direction of first slider, be provided with the optical axis on the connecting plate, the vertical setting of optical axis can be followed and is up-and-down motion for the connecting plate in vertical direction, the upper end of optical axis is provided with the balancing weight, the lower extreme of optical axis is provided with and can measures transversely, the force sensor of power value on vertical and the vertical three direction, be used for the mechanical foot of installation test in force sensor's below. The slope test device can be used for slope test, the device is simple and convenient to use, the size of the experimental device can be simply adjusted according to field conditions and experimental requirements, and the test platform can be moved or fixed at any time due to the fact that the bottom is provided with the horse wheel.

Description

Single-leg foot-ground interaction dynamics performance testing system of foot type robot

Technical Field

The utility model relates to the technical field of foot-ground interaction testing devices of foot robots, in particular to a single-leg foot-ground interaction dynamic performance testing system of a foot robot.

Background

The mountainous jungles in the main operation direction of China are wide, the traffic and transportation conditions are severe, the mountainous climate is changeable, even if a helicopter is used for transportation, the helicopter cannot effectively operate, and great challenges are brought to battlefield material transportation. Wheel/crawler military equipment often appears slipping subsidence and clearance inefficacy when faced the mountain area precipitous, soft, mix with the rugged road surface condition such as stone. Compared with a wheel type moving platform and a crawler type moving platform, the foot type moving platform has the motion characteristic of discrete foot-ground contact, and the contact point (or called as a support point) of the foot and the ground is in a discrete form, so that the foot type moving platform can move in all directions under irregular terrain, and has the advantages of flexible and controllable mass center position, excellent trafficability and the like.

With the gradual advance of lunar exploration projects, it will become possible to establish permanent lunar bases on the moon in the near future. The moon surface is dimpled and covered with a layer of dry particulate weathering layer material. At present, a wheel type planet detection vehicle cannot pass in high terrain, exposed areas of star mountains and mountains or near the edges of moon pits, but the areas may have higher scientific research value, and the development of a high-stability foot type planet detector is an effective way for solving the problem.

In addition, the coastline of China is long, the sea bed of the continental shelf is covered by a settled layer, the bottom soil is soft, the terrain conditions are harsh, and the development of the continental shelf is difficult and serious. The traditional AUV (autonomous underwater vehicle)/ROV (remote control unmanned underwater vehicle) has low bearing capacity, can only observe in a long distance and cannot carry out seabed implantation operation. The foot type seabed working platform has good movement trafficability and high flexibility, can directly walk from land to the seabed and seabed of the continental shelf, carries different working devices and can complete various tasks.

In conclusion, the foot-type mobile platform has wide application prospect in the fields of military, aerospace, submarine exploration and the like.

The foot-ground interaction characteristic is the fundamental reason for the high mobility of the legged mobile platform. The foot end is the only contact part of the foot robot and the ground, and the foot-ground interaction force is the main external force borne by the foot robot and is the fundamental source of the driving force. At present, the military foot robot-Bigdog in the United states can carry out high-mobility walking movement in complex terrains such as snowy fields, ice surfaces and the like, but the maximum climbing gradient is only 35 degrees. When passing over challenging field environments such as soft, potholes, steep grades, deserts, snow, slippage and excessive sag between the foot end and the ground tends to occur. The interaction between the foot end of the walking foot and the ground is researched, the propelling force of the foot end of the robot in various terrain environments is improved, and the method is an important way for further improving the passing performance of the foot type moving equipment.

SUMMERY OF THE UTILITY MODEL

In order to quantitatively research the foot-ground dynamic characteristics under different foot-ground interaction modes, a special test platform needs to be designed and built. At present, the research on a foot-ground interaction testing device special for home and abroad is less, so how to provide a foot-ground interaction testing device for realizing the performance test of a foot type mobile platform becomes a problem to be solved urgently by technical personnel in the field.

In order to achieve the above purpose, the utility model provides the following technical scheme:

a single-leg foot-ground interaction dynamics performance test system of a legged robot comprises the following components:

a support frame;

a bracket for loading a test pavement material, the bracket being disposed on the support frame;

the movable platform is arranged on the supporting frame and is positioned on the upper side of the bracket, and the movable platform comprises a first sliding block capable of moving along the longitudinal direction and a second sliding block capable of moving along the transverse direction relative to the first sliding block;

the testing platform comprises a connecting plate, the connecting plate is hinged to the second slider, a rotation vector when the connecting plate overturns is parallel to the sliding direction of the second slider and perpendicular to the sliding direction of the first slider, an optical axis is arranged on the connecting plate, the optical axis is vertically arranged and can move up and down relative to the connecting plate along the vertical direction, a balancing weight is arranged at the upper end of the optical axis, a force sensor capable of measuring force values in the transverse direction, the longitudinal direction and the vertical direction is arranged at the lower end of the optical axis, and a mechanical foot for installation testing is arranged below the force sensor.

Preferably, in the system for testing the single-leg and ground interaction dynamic performance of the legged robot provided by the utility model, the bracket comprises two trays, and the two trays are hinged and connected through a hinge; and the rotation vector of the hinge is parallel to that of the connecting plate.

Preferably, in the system for testing the single-leg-ground interaction dynamic performance of the legged robot provided by the utility model, the system further comprises a linear position sensor, the linear position sensor is arranged on the connecting plate, and a testing end of the linear position sensor can be linked with the mechanical foot randomly and is used for measuring the variation of the movement of the mechanical foot in the vertical direction.

Preferably, in the system for testing the single-leg and ground interaction dynamic performance of the legged robot provided by the utility model, the optical axis is in sliding fit with the connecting plate through a linear bearing; the upper end of the optical axis is connected with an upper cover plate, a connecting shaft is vertically arranged on the upper cover plate, the balancing weight is installed on the connecting shaft, the lower end of the optical axis is connected with a lower cover plate, and the force sensor is arranged on the lower side of the lower cover plate through a first connecting flange; and the testing end of the linear position sensor is connected with the lower cover plate.

Preferably, in the system for testing the single-leg-ground interaction dynamic performance of the legged robot provided by the utility model, a second connecting flange is arranged below the force sensor, and the mechanical foot is detachably linked with the force sensor through the second connecting flange.

Preferably, in the system for testing the single-leg-ground interaction dynamic performance of the legged robot provided by the present invention, two rotating plates are respectively disposed at two ends of the connecting plate along a sliding direction parallel to the second slider, and a bearing seat is disposed through the rotating plates and fixedly disposed on the second slider.

Preferably, in the system for testing single-leg and single-ground interaction dynamic performance of a legged robot provided by the present invention, the moving platform includes a transverse slide rail and a driving slide rail, the driving slide rail is longitudinally disposed, the first slide block is slidably disposed on the driving slide rail and is controlled to move on the driving slide rail through a lead screw system, the transverse slide rail is mounted on the first slide block, the transverse slide rail is transversely disposed, the second slide block includes a fixed slide block and a movable slide block, the fixed slide block is slidably disposed on the transverse slide rail, and the movable slide block is slidably disposed on the transverse slide rail and is controlled to move on the transverse slide rail through the lead screw system.

Preferably, the system for testing the single-leg and ground interaction dynamic performance of the legged robot further comprises a support slide rail, the support slide rail is arranged in parallel with the drive slide rail, the support slide rail is located on the inner side of the drive slide rail, a small platform is slidably arranged on the support slide rail, and the small platform is connected with the first sliding block through a linkage plate; the transverse sliding rail is arranged on the small platform.

Preferably, in the system for testing the single-leg and ground interaction dynamic performance of the legged robot provided by the utility model, two transverse sliding rails are arranged, and the two transverse sliding rails are parallel and spaced; and a lead screw system for driving the second sliding block to move is arranged on one of the transverse sliding rails, and the length of a lead screw in the lead screw system is half of the moving stroke of the second sliding block.

Preferably, in the system for testing the single-leg and ground interaction dynamic performance of the legged robot provided by the utility model, the supporting frame is assembled by aluminum profiles; the supporting frame is arranged on the upper end of the supporting frame, supporting plates are arranged on two sides of the supporting frame, a mounting longitudinal beam is arranged on the upper side face of each supporting plate, and the moving platform is mounted on the mounting longitudinal beam.

The utility model provides a single-leg foot-ground interaction dynamics performance testing system of a foot type robot, which comprises: braced frame, hold in the palm the groove, moving platform and test platform, wherein, moving platform sets up on braced frame and is located the upside in support groove, moving platform is including being controlled can follow longitudinal movement's first slider and being controlled can be for first slider along lateral shifting's second slider, test platform is including the connecting plate, the connecting plate is articulated for the second slider, the rotation vector when the connecting plate upset is parallel with the slip direction of second slider and perpendicular with the slip direction of first slider, be provided with the optical axis on the connecting plate, the vertical setting of optical axis can be followed and is moved about for the connecting plate in the vertical direction, the upper end of optical axis is provided with the balancing weight, the lower extreme of optical axis is provided with the force transducer that can measure horizontal, vertical and vertical three direction power value, be used for the mechanical foot of installation test in force transducer's below.

Through the structural design, compared with the prior art, the foot-ground interaction testing device of the foot type robot provided by the utility model has the following beneficial effects:

1. the measurement function is complete. Influence factors of force in each direction of the mechanical foot and the bottom surface can be measured by adjusting linkage of the motors in the two directions; the device is provided with a rotational degree of freedom, so that the action condition of the machine when impacting the bottom surface at different angles can be tested;

2. a ramp test can be performed. The base plate in the bracket can be simply folded, so that the foot end can be tested on the slope in different postures and grounding speed directions;

3. and (4) flexible configuration. The robot feet with various specifications and sizes can be tested through the flange interface, so that the influence of different foot end shapes on foot-ground acting force can be explored, and even a robot platform can be connected to the lower end of the sensor to measure the foot-ground acting rule of multi-foot cooperation;

4. the device is simple and convenient to use. The size of the experimental device can be simply adjusted according to field conditions and experimental requirements, and the bottom of the experimental device is provided with a horse wheel which can move or fix the experimental platform at any time.

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 overall structure diagram of a single-leg foot-ground interaction dynamic performance testing system of a foot type robot in an embodiment of the utility model;

FIG. 2 is a schematic structural diagram of a test platform according to an embodiment of the present invention;

FIG. 3 is a schematic view of a bracket according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a mobile platform according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a support frame according to an embodiment of the present invention;

FIG. 6 is a force analysis diagram of a single-leg foot-ground interaction dynamics performance testing system of a legged robot in an embodiment of the utility model.

In fig. 1 to 6, the correspondence between the part names and the reference numerals is:

the device comprises a test platform 1, a moving platform 2, a supporting frame 3, a bracket 4, a connecting shaft 5, a fixing nut 6, a gasket 7, a balancing weight 8, a top connecting nut 9, a nut gasket 10, an upper cover plate 11, a middle nut 12, an optical axis 13, a linear position sensor 14, a linear bearing 15, a connecting plate 16, a rotating plate 17, a bearing seat 18, a first connecting flange 19, a bottom connecting nut 20, a lower cover plate 21, a force sensor 22, a second connecting flange 23, a mechanical foot 24, a vertical plate 25, a hinge 26, a tray 27, a supporting slide rail 28, a driving slide rail 29, a ball screw 30, a transverse slide rail 31, a longitudinal slide plate 32, a second slide block 33, a small platform 34, a transverse driving motor 35, a linkage plate 36, a first slide block 37, a longitudinal driving motor 38, a mounting longitudinal beam 39, a top longitudinal beam 40, a top cross beam 41, a supporting plate 42, a vertical beam 43, a bottom cross beam 44, a bottom longitudinal beam 45, The Fermat wheel 46, the soil tank gradient sensor 47 and the sensor mounting bracket 48.

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" and "connected" used herein should be interpreted broadly, and may include, for example, a fixed connection or a detachable connection; they may be directly connected or indirectly connected through intermediate members, and specific meanings of the above terms will be understood by those skilled in the art as appropriate.

Referring to fig. 1 to 6, fig. 1 is a schematic diagram illustrating an overall structure of a foot-ground interaction dynamics testing system of a single leg of a legged robot according to an embodiment of the present invention; FIG. 2 is a schematic structural diagram of a test platform according to an embodiment of the present invention; FIG. 3 is a schematic view of a bracket according to an embodiment of the present invention; FIG. 4 is a schematic structural diagram of a mobile platform according to an embodiment of the present invention; FIG. 5 is a schematic structural diagram of a support frame according to an embodiment of the present invention; FIG. 6 is a force analysis diagram of a single-leg foot-ground interaction dynamics performance testing system of a legged robot in an embodiment of the utility model.

The utility model provides a single-leg and foot-ground interaction dynamic performance testing system of a foot type robot, which comprises the following components:

first part, support frame 3

The supporting frame 3 is a structural main body of the utility model, and preferably adopts a rectangular frame structure, specifically, the supporting frame 3 is formed by assembling aluminum profiles, the supporting frame 3 comprises a bottom surface and a top surface, the bottom surface comprises a bottom cross beam 44 and a bottom longitudinal beam 45, the end parts of the bottom cross beam 44 and the bottom longitudinal beam 45 are butted to form a square frame structure, a vertical beam 43 is installed on the bottom longitudinal beam 45, the vertical beam 43 is vertically arranged, three vertical beams 43 are arranged on one side (one side in two sides in the longitudinal direction), the three vertical beams 43 are respectively arranged at two ends and the middle part of the bottom longitudinal beam 45, and a formalin wheel 46 is arranged at the bottom of the bottom longitudinal beam 45. The top surface comprises a top longitudinal beam 40 and a top cross beam 41, the end parts of the top longitudinal beam 40 and the top cross beam 41 are butted to form a square frame structure with the same shape and size as the bottom surface, and the top surface is fixedly connected with the bottom surface through a vertical beam 43. Support plates 42 are arranged on two sides of the support frame 3, the upper side faces of the support plates 42 are planes, the support plates 42 are arranged in parallel with the top longitudinal beam 40, the upper side faces of the support plates 42 are provided with installation longitudinal beams 39, and the installation longitudinal beams 39 are parallel with the top longitudinal beam 40. Preferably, two mounting longitudinal beams 39 are arranged on the one-side supporting plate 42 at intervals, and the moving platform 2 is mounted through the mounting longitudinal beams 39.

In the present invention, the supporting frame 3 is assembled by aluminum section bar, of course, in another embodiment of the present invention, the supporting frame 3 can also be made of stainless steel section bar.

Second part, bracket 4

The bracket 4 is used for loading a test pavement material, and the bracket 4 is arranged on the support frame 3, in particular on the bottom surface inside the support frame 3.

The bracket 4 is composed of two trays 27, the structure of the tray 27 is similar to a dustpan, the open ends of the trays 27 are hinged through hinges 26, so that a rectangular bracket 4 with a box-shaped structure is formed, the bracket can be called a foldable bracket at the moment, the rotation vector of the hinge 26 is parallel to the rotation vector of the connecting plate 16, the trays 27 are hinged together through the hinges 26, the inclination angle of one of the trays 27 can be changed, and the bracket is used for simulating the road surface states such as uphill slope, downhill slope and the like on a rugged road.

The bracket 4 is used for loading a test pavement material, and in order to facilitate observation of the contact state of the mechanical foot 24 with the test pavement material in the bracket 4, the side wall of the bracket 4 is designed to be a transparent structure, and particularly, the side wall of the bracket 4 can be made of a transparent acrylic material. Meanwhile, the bracket 4 should have high structural strength, and therefore, a metal material, such as a stainless steel plate, is used for the bottom surface of the bracket 4.

Third part, mobile platform 2

The mobile platform 2 is capable of providing longitudinal and lateral forces for providing lateral and longitudinal forces during testing of the mechanical foot 24.

The movable platform 2 is arranged on the supporting frame 3 and positioned at the upper side of the bracket 4, the movable platform 2 comprises a first slide block 37 controlled to move along the longitudinal direction and a second slide block 33 controlled to move along the transverse direction relative to the first slide block 37, the first slide block 37 can move along the longitudinal direction so as to provide longitudinal acting force, the second slide block 33 can move along the transverse direction relative to the first slide block 37, the second slide block 33 can provide transverse acting force, and the second slide block 33 is arranged relative to the first slide block 37 (not directly connected with the first slide block 37) and can provide longitudinal and transverse acting force at the same time.

Further, the moving platform 2 includes a transverse slide rail 31 (the transverse slide rail 31 is transversely disposed) and a driving slide rail 29, the driving slide rail 29 is longitudinally disposed, the first slider 37 is slidably disposed on the driving slide rail 29, a longitudinal driving lead screw system is disposed on the driving slide rail 29, the longitudinal driving lead screw system includes a longitudinal driving motor 38 and a longitudinal lead screw, the longitudinal driving motor 38 drives the longitudinal lead screw to rotate, the first slider 37 is in threaded fit with the longitudinal lead screw, and when the longitudinal lead screw rotates, the first slider 37 can convert the rotating motion into the longitudinal linear motion of itself. Further, there are two sets of longitudinal drive screw systems, one on each of the two pallets 42.

The two first sliding blocks 37 are provided with a small platform 34 through a linkage plate 36, the small platform 34 is provided with a transverse sliding rail 31, the second sliding block 33 is arranged on the transverse sliding rail 31, specifically, the second sliding block 33 comprises a fixed sliding block and a movable sliding block, the fixed sliding block is slidably arranged on the transverse sliding rail 31, and the movable sliding block is slidably arranged on the transverse sliding rail 31 and is controlled to move on the transverse sliding rail 31 through a transverse driving lead screw system.

Specifically, two transverse slide rails 31 are provided, and the two transverse slide rails 31 are arranged in parallel and at intervals; a lead screw system for driving the second sliding block 33 to move is arranged on one of the transverse sliding rails 31, and the length of a lead screw in the lead screw system is half of the moving stroke of the second sliding block 33.

Therefore, the small platform 34 with the longitudinal slide rail (and the test platform 1) is installed on the longitudinal slide rail, so that the longitudinal slide rail and the slide block are stressed greatly, and the structure is easily damaged. In order to avoid the above problems, the present invention further provides a supporting slide rail 28, the supporting slide rail 28 is parallel to the driving slide rail 29, the supporting slide rail 28 is located inside the driving slide rail 29, a small platform 34 is slidably disposed on the supporting slide rail 28, the small platform 34 is connected to a first slide block 37 through a linkage plate 36, and the transverse slide rail 31 is disposed on the small platform 34. Through the arrangement of the supporting slide rails 28, the supporting slide rails 28 share and mainly bear acting force (gravity) applied by the small platform 34, so that the stress of the longitudinal slide rails and the longitudinal driving lead screw system can be greatly reduced, and the service lives of the longitudinal slide rails and the longitudinal driving lead screw system are prolonged.

Fourth part, test platform 1

The test platform 1 comprises a connecting plate 16, the connecting plate 16 is a rectangular plate structure, two ends of the connecting plate 16 in the length direction are hinged relative to the second sliding block 33, the connecting plate 16 can be turned over around a central axis of a wide side of the connecting plate (the central axis is parallel to a long side of the connecting plate 16), and when the connecting plate 16 is turned over, a rotation vector of the connecting plate is parallel to the sliding direction of the second sliding block 33 and is perpendicular to the sliding direction of the first sliding block 37. Specifically, along the sliding direction that is parallel to second slider 33, each be provided with a rotor plate 17 at the both ends of connecting plate 16, rotor plate 17 is round platform shape structure, rotor plate 17 is including coaxial big panel and the boss that sets up, the tip and the big panel fixed connection of connecting plate 16, set up the bearing on the boss, install bearing frame 18 on the bearing, bearing frame 18 is fixed to be set up on second slider 33, connecting plate 16 can realize the articulated on second slider 33 through the cooperation of rotor plate 17 and bearing frame 18 like this.

The connecting plate 16 is provided with two optical axes 13, and the two optical axes 13 are arranged in a mirror image manner (or symmetrically arranged) at the middle point in the length direction of the connecting plate 16. The optical axis 13 is vertically arranged and can move up and down relative to the connecting plate 16 along the vertical direction, the upper end of the optical axis 13 is provided with the balancing weight 8, the lower end of the optical axis 13 is provided with a force sensor 22 capable of measuring force values in the transverse direction, the longitudinal direction and the vertical direction, and a mechanical foot 24 used for mounting tests is arranged below the force sensor 22.

In the present invention, the primary functions of the weight 8 are two: 1. applying a stable acting force to the mechanical foot 24 to complete the single-leg foot-ground interaction dynamic performance test; 2. in the bounce test of the elastic foot (when the mechanical foot 24 is the elastic foot), the elastic foot is used for reflecting the bounce situation of the elastic foot on the hard ground so as to perform some dynamic impact tests between the foot end and the ground, and therefore, the counterweight block 8 is preferably a disk-shaped counterweight block made of a steel material or a lead material.

The balancing weight 8 is made of steel materials or lead materials, and a porous structure is arranged at the center of the balancing weight 8 and used for assembling the balancing weight 8 on the connecting shaft 5. Preferably, a shaft shoulder structure is formed on the connecting shaft 5, the shaft shoulder structure abuts against the upper cover plate 11, the bottom end of the connecting shaft 5 penetrates through the upper cover plate 11 and is located below the upper cover plate 11, and a nut 12 is mounted at the bottom end of the connecting shaft 5 and is locked by the nut 12. The balancing weight is installed on the connecting shaft 5, after the balancing weights 8 are installed on the connecting shaft 5 in an overlapped mode, the balancing weights 8 on the lowest layer are in contact with a shaft shoulder structure, the balancing weights 8 on the uppermost layer are further provided with the nuts 6 and the gaskets 7, and the balancing weights 8 are fixedly installed on the connecting shaft 5 through the tightening effect of the nuts 12 and the nuts 6. The shaft shoulder structure has a certain thickness, and the balancing weight 8 is supported on the shaft shoulder structure and keeps a certain distance from the nut 9.

Further, the optical axis 13 is in sliding fit with the connecting plate 16 through the linear bearing 15, the upper end of the optical axis 13 is connected with the upper cover plate 11, the connecting shaft 5 is vertically arranged on the upper cover plate 11, the counterweight block 8 is installed on the connecting shaft 5, the lower end of the optical axis 13 is connected with the lower cover plate 21, and the force sensor 22 is arranged on the lower side of the lower cover plate 21 through the first connecting flange 19.

The utility model is also provided with a linear position sensor or a linear displacement sensor 14, the linear position sensor 14 is arranged on the connecting plate 16, and the testing end of the linear position sensor 14 can be linked with the mechanical foot 24 randomly and is used for measuring the variation of the movement of the mechanical foot 24 in the vertical direction. Specifically, the test end of the linear position sensor 14 is connected to the lower cover plate 21.

Specifically, a second connecting flange 23 is disposed below the force sensor 22, and the mechanical foot 24 is detachably linked with the force sensor 22 through the second connecting flange 23.

The utility model provides a foot-ground interaction testing device of a foot type robot, aiming at solving the problem of complex dynamics generated by the interaction of the single-leg foot end of the existing foot type robot and the rugged ground and providing a set of complete testing device.

In the utility model, the whole test device has complete functions through the integral structural design of the test device. Specifically, the upper end of the mechanical foot 24 (testing foot) is connected with the force sensor 22, and the force in three directions (horizontal, longitudinal and vertical) can be measured; by dragging the motor in two directions (transverse and longitudinal), the magnitude and the change rule of the maximum driving force of the foot end of the mechanical foot 24 can be tested when the foot end moves to each direction on the rugged ground; by changing the weight of the upper end balancing weight 8 and arranging the linear displacement sensor, the sinking amount of the foot end of the mechanical foot 24 and the change relation between the sinking amount and the foot-ground interaction force under the condition of different impact forces or different loads on the ground can be tested; by arranging the bearing seat 18, a rotational degree of freedom can be provided, so that the change rule of the foot-ground interaction force after the mechanical foot 24 impacts the ground at different angles is tested; the mechanical foot 24 is installed and fixed by adopting a flange structure, and is easy to replace, so that the influence of the shape of the foot end of the mechanical foot 24 on the foot-ground interaction force can be tested.

The change rule of the driving force of the foot end under different conditions can be obtained through a large number of test tests, so that the method is used for accurately controlling the driving force of the foot type robot. The longitudinal driving device and the transverse driving device can be removed to simulate the motion condition and the foot-ground interaction force relation under the actual working condition in a test mode.

In the utility model, the integral framework of the foot-ground interaction testing device of the legged robot comprises a supporting frame 3, a foldable bracket arranged at the bottom and used for containing a tested pavement material, a longitudinal driving motor 38, a transverse driving motor 35 (a longitudinal driving device and a transverse driving device), a recording and measuring device, a swing angle adjusting device (a combined structure of a rotating plate 17 and a bearing seat 18, which is called as a swing angle adjusting device in the utility model), a linear bearing 15, a linear displacement measuring device (or called as a linear displacement sensor), a force sensor 22, a top counterweight device (or called as a counterweight block), a lower single-leg foot connecting flange and the like.

The supporting frame 3 is constructed by aluminum alloy sectional materials through bolt connection, the installation size can be adjusted along with site environment and test requirements, and the fortune horse wheel 46 is installed below the supporting frame and can be conveniently moved or lock the whole rack. The supporting frame 3 is provided with six vertical beams (or vertical beams) 43, the top of the supporting frame 3 is provided with four fixed beams (two top cross beams 41 and two top longitudinal beams 40), and two sides of the top of the supporting frame 3 are also provided with mounting longitudinal beams 39 for supporting a ball screw structure, and the mounting longitudinal beams 39 are connected with the vertical beams 43 through supporting plates 42. The bottom of holding in the palm groove 4 is metal material for bear test ground material, and the riser 25 that constitutes holding in the palm groove 4 can be ya keli board or glass so that watch going on of test experiment, and bottom plate one side can turn over the simulation of turning up in order to realize great ground slope, can measure the angle of bottom plate slope through setting up the sensor that the angle measurement was used. The longitudinal driving motors 38 on two sides (opposite to two sides of the supporting frame 3) drive the ball screws to drive the sliding blocks to slide on the guide rails, and the connecting plates 16 connected with the sliding blocks indirectly drive the test platform 1 to move. The transverse sliding plate connected with the sliding block can move by driving the sliding block to slide on the guide rail through the transverse driving motor 35 (provided with one) and driving the ball screw. The swing angle adjusting device is formed by assembling a rotating plate 17 and a bearing seat 18, a group of swing angle adjusting devices is arranged at two ends of a connecting plate 16 in the length direction, the connecting plate 16 is fixedly connected with the rotating plate 17, the rotating plate 17 is of a circular plate-type structure, a pin shaft hole is formed in the rotating plate 17, an arc limiting plate coaxial with the bearing seat 18 is arranged on the outer edge of the bearing seat 18, a plurality of adjusting holes are formed in the arc limiting plate, the connecting plate 16 is rotated to drive the rotating plate 17 to rotate, the pin shaft hole can correspond to different adjusting holes, and after the proper angle is adjusted, a pin shaft is inserted into the pin shaft hole and the adjusting holes, so that the angle adjustment of a mechanical foot can be realized. The adjusting holes arranged on the arc limiting plates are of a structure with a plurality of positioning pin holes distributed at equal angles, and the test of several fixed angles of the mechanical foot 24 can be realized. The swing angle adjusting device is arranged, and the mechanical foot 24 can impact soil at different angles under different impact conditions by adjusting the relative swing angle of the rotating plate 17 and the bearing seat 18, the sinking amount of the soil and the maximum driving force of the foot end at the moment can be measured.

The linear bearing 15 is connected to the experimental platform through a flange and is provided with an optical axis 13 to realize up-and-down floating. The linear displacement sensor is fixed on one side of the experiment platform through an upper support and a lower support, and the lower end of the linear displacement sensor is connected with a lower cover plate 21 which moves up and down along with the testing foot to measure the displacement. The lower end of the force sensor 22 is connected with a tested single-leg foot (mechanical foot 24) through a flange, and the upper end of the force sensor is connected with the connecting plate 16 through a flange, so that the measurement and the recording of force and moment in three directions are realized. The counterweight means is located at the upper end (relative to the upper end of the support frame 3) and is connected to the optical axis 13 assembly by means of a connecting plate 16 and two linear bearings 15 to vary the amount of foot end-to-ground force. The two ends of the experiment platform are arranged in bearing seats 18 on the two sides through bearings.

1. the measurement function is complete. Influence factors of force in each direction of the mechanical foot 24 and the bottom surface can be measured by adjusting linkage of the motors in the two directions; the device is provided with a rotation freedom degree, so that the action condition of the mechanical foot 24 when impacting the bottom surface at different angles can be tested;

2. a ramp test can be performed. One bottom plate in the bracket 4 can be simply folded, so that the foot end can be tested on the slope in different postures and grounding speed directions;

4. the device is simple and convenient to use. The size of the experimental device can be simply adjusted according to field conditions and experimental requirements, and the test platform can be moved or fixed at any time by the aid of the Fermat wheel 46 arranged at the bottom.

As shown in fig. 6, the structural analysis revealed that: the whole mechanical foot 24 single-leg structure and the balancing weight 8 are in floating connection (can move in the axial direction of the optical axis 13 relative to the connecting plate 16) through a linear bearing on the connecting plate 16, and the whole mechanical foot 24 has three degrees of freedom in translation in the x-Y-z direction and a degree of freedom in rotation around the Y axis in space.

Thus, when the mechanical foot 24 is in a resilient foot configuration, the mechanical foot 24 acts on hard ground, and the tangential direction foot-ground mechanical relationship is measured as follows: after the balancing weight 8 is loaded, the foot end of the mechanical foot 24 is placed on the hard ground, the single-leg structure of the mechanical foot 24 can move in any direction of an X-O-Y plane by controlling the speed of the motors in the X (longitudinal) direction and the Y (transverse) direction, and physical quantities such as the tangential force of the foot end, the speed direction of the foot end, the speed magnitude of the foot end and the like can be measured. When mechanical foot 24 is applied to a hard texture surface, the normal direction foot-ground force relationship is measured as follows: the motor in the X-Y direction does not work, the single leg is lifted to a certain height and then released, so that the mechanical foot 24 collides with the hard ground, the foot-ground impact process in the running process of the robot can be simulated, and the foot-ground acting force, the foot end deformation, the foot-ground impact speed and the like can be measured. When a rigid foot is applied to soft soil ground, the tangential direction foot-ground mechanics relationship is measured as follows: after the balancing weight 8 is loaded, the foot end of the mechanical foot 24 is placed on soft ground, and by controlling the speeds of the motors in the X direction and the Y direction, the single-leg structure of the mechanical foot 24 can move in any direction of an X-O-Y plane, so that physical quantities such as foot end tangential force, foot end speed direction, ground deformation, foot end speed and the like can be measured. When a rigid foot is applied to soft soil ground, the normal direction foot-ground mechanics relationship is measured as follows: the motor in the X-Y direction does not work, the single leg is lifted to a certain height and then released, so that the mechanical foot 24 collides with soft ground, the foot-ground impact process in the running process of the robot can be simulated, and the foot-ground acting force, the ground deformation, the ground foot-ground impact speed and the like can be measured.

Regarding the measurement of the ground deformation, the utility model is also provided with a soil box gradient sensor 47, a sensor mounting bracket 48 is arranged on the vertical plate 25, a measuring window is arranged on the vertical plate 25 corresponding to the soil box gradient sensor 47, and the soil box gradient sensor 47 is mounted on the sensor mounting bracket 48, so that the deformation of the ground in the test process can be measured.

In one embodiment of the utility model, the detailed structure of the foot-type robot single-leg foot-ground interaction dynamic performance test system is as follows:

the overall structure of the system is described with reference to fig. 1:

the single-leg foot-ground interaction dynamic performance testing system of the foot type robot mainly comprises a testing platform 1, a moving platform 2, a supporting frame 3 and a bracket 4.

The structure of the test platform is described in connection with fig. 2:

the whole test platform 1 is connected with the movable platform 2 through the two sides 18-the bottom of the bearing mounting seat by using bolts. The connecting plate 16 is connected with the rotating plates 17 at two sides through bolts and is arranged in the bearing seat 18 through a cylindrical boss journal at the outer side of the rotating plate 17. The linear displacement sensor 14 is fixedly mounted on the rotating plate 17, and the measuring end is fixed on the lower cover plate 21. The linear bearing 15 is fixedly mounted on a connecting plate 16, in which the optical axis 13 passes. The upper end of an optical axis 13 is connected with an upper cover plate 11 through a top connecting nut 9, a nut gasket 10 is arranged between the top connecting nut 9 and the upper cover plate 11, the middle of the upper cover plate is connected with a connecting shaft 5 through a middle nut 12, a balancing weight 8 is arranged on the connecting shaft 5, the upper end of the upper cover plate is fixed through a fixing nut 6, and a gasket 7 is arranged between the fixing nut 6 and the balancing weight 8; the lower end of the optical axis 13 is connected with a lower cover plate 21 through a bottom connecting nut 20. The middle of the lower cover plate 21 is connected with a first connecting flange 19 through bolts, the lower end of the first connecting flange 19 is connected with a force sensor 22, the lower end of the force sensor 22 is connected with a second connecting flange 23, and the lower end of the second connecting flange 23 is connected with a mechanical foot 24.

The structure of the bracket is described in connection with FIG. 3:

the bracket 4 is entirely located in the lower frame of the support frame 3. The two trays 27 made of metal materials are connected through hinges 26 and can be turned over, and vertical plates 25 made of acrylic materials are additionally arranged on the inner side faces of the trays 27.

The mobile platform structure is explained in conjunction with fig. 4:

the moving platform 2 is located on the supporting frame 3, and is fixedly installed on the supporting frame 3 through the supporting slide rail 28, a longitudinal driving mechanism is arranged outside the supporting slide rail 28, the longitudinal driving motor 38 is located at one end (relative to the supporting slide rail 28), the longitudinal driving motor 38 can drive the ball screw 30 to rotate, so as to drive the first slide block 37 to move along the driving slide rail 29, and the first slide block 37 is connected with the small platform 34 through the linkage plate 36 and drives the small platform to move longitudinally. Through the structural design, the vertical load can only act on the guide rail, the abrasion of the ball screw can be reduced, and the service life is prolonged. The transverse slide rail 31 is positioned on the small platform 34, one end of the transverse slide rail is provided with a transverse driving motor 35 which drives a transverse ball screw and drives the second slide block 33 to move along the transverse slide rail 31, and the second slide block 33 is connected with the longitudinal slide plate 32 and drives the longitudinal slide plate to move transversely.

The support frame structure is described in connection with fig. 5:

a plurality of horse wheels 46 are arranged at the lower end of the supporting frame 3, the test platform can be moved or fixed as required, and the bottom of the test platform is constructed by connecting a bottom cross beam 44, a bottom longitudinal beam 45 and a vertical beam 43. The upper part of the support frame 3 is constructed by connecting a top cross beam 41 and a top longitudinal beam 40. Due to the need to support the longitudinal drive mechanism, a mounting stringer 39 and a support plate 42 are additionally provided, the support plate 42 being used to support the mounting stringer 39 and being connected to the vertical beam 43.

Based on the structural design, the specific use method of the utility model is as follows:

by adjusting the weight of the upper end counterweight block 8, the acting force of the mechanical foot 24 on the ground in the vertical direction in a static state can be adjusted, and when the force sensor 22 detects that the force changes, the acting force means that the foot end of the mechanical foot 24 is in contact with the ground; when the balance position is reached (the balance position is reached, namely the soil is gradually compacted by the foot end of the mechanical foot 24 under the action of gravity and inertia force, and the soil deformation reaches the maximum balance position), the sinking amount of the foot end of the mechanical foot 24 in the soil can be calculated through the difference between the front and the back of the measured value of the linear position sensor 14, and the relation between the sinking amount and the foot-ground acting force is obtained; the force required for the soil to generate shear slip damage in all directions under the condition can be measured by the dragging of the longitudinal driving motor 38 and the transverse driving motor 35, and the force is the maximum driving force of the foot end under the condition.

By sliding the optical axis 13 up and down along the linear bearing 15 (in the present invention, the optical axis is lifted by hand, and of course, a mechanical structure can also be adopted to realize mechanical automatic lifting), adjusting the height of the suspended ground of the mechanical foot 24 (the mechanical foot 24 is turned over integrally to realize lifting of the mechanical foot 24), the sinking depth of the soil under different impact conditions of the mechanical foot 24 and the maximum driving force of the foot end under the conditions can be measured.

By inverting one side of the bracket 4 (one of the trays 27 hinged together) and measuring the angle of inclination of the base of the tray 27 by means of a sensor, the relationship between foot-ground force and base inclination of the mechanical foot 24 under conditions of a highly inclined base can be measured.

By replacing the mechanical foot 24, the shape of the mechanical foot 24 can be tested for contributing factors to the foot-ground interaction force.

When the actual test platform is additionally arranged at the lower part of the force sensor 22, the linkage plate 36 can be detached, the mechanical legs float in the vertical direction through the linear bearings, the connecting plate is detached during longitudinal movement, the resistance only has the sliding resistance of the linear bearings, the counterweight block 8 can simulate the weight of the robot main body, and the multi-foot-ground interaction force in the actual movement process of the robot can be well simulated.

The above 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 to the present invention 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

1. A single-leg foot-ground interaction dynamic performance testing system of a legged robot is characterized by comprising:

a support frame;

2. The system for testing the dynamic performance of one-leg foot-ground interaction of a legged robot according to claim 1,

the bracket comprises two trays which are hinged through hinges;

and the rotation vector of the hinge is parallel to that of the connecting plate.

3. The system for testing the dynamic performance of one-leg foot-ground interaction of a legged robot according to claim 1,

the testing device is characterized by further comprising a linear position sensor, wherein the linear position sensor is arranged on the connecting plate, and the testing end of the linear position sensor can be linked with the mechanical foot randomly and is used for measuring the variable quantity of the mechanical foot moving in the vertical direction.

4. The one-leg foot-ground interaction dynamics testing system of the legged robot according to claim 3,

the optical axis is in sliding fit with the connecting plate through a linear bearing;

the upper end of the optical axis is connected with an upper cover plate, a connecting shaft is vertically arranged on the upper cover plate, the balancing weight is installed on the connecting shaft, the lower end of the optical axis is connected with a lower cover plate, and the force sensor is arranged on the lower side of the lower cover plate through a first connecting flange;

and the testing end of the linear position sensor is connected with the lower cover plate.

5. The one-leg foot-ground interaction dynamics testing system of the legged robot according to claim 4, characterized in that,

and a second connecting flange is arranged below the force sensor, and the mechanical foot is detachably connected with the force sensor through the second connecting flange.

6. The system for testing the dynamic performance of one-leg foot-ground interaction of a legged robot according to claim 1,

and a rotating plate is respectively arranged at two ends of the connecting plate along the sliding direction parallel to the second sliding block, a bearing seat is arranged through the rotating plate, and the bearing seat is fixedly arranged on the second sliding block.

7. The system for testing the dynamic performance of one-leg foot-ground interaction of a legged robot according to claim 1,

the movable platform comprises a transverse sliding rail and a driving sliding rail, the driving sliding rail is longitudinally arranged, the first sliding block is slidably arranged on the driving sliding rail and is controlled to move on the driving sliding rail through a lead screw system, the transverse sliding rail is erected on the first sliding block, the transverse sliding rail is transversely arranged, the second sliding block comprises a fixed sliding block and a movable sliding block, the fixed sliding block is slidably arranged on the transverse sliding rail, and the movable sliding block is slidably arranged on the transverse sliding rail and is controlled to move on the transverse sliding rail through the lead screw system.

8. The one-leg foot-ground interaction dynamics testing system of the legged robot according to claim 7,

the support slide rail is arranged in parallel with the drive slide rail, the support slide rail is positioned on the inner side of the drive slide rail, a small platform is arranged on the support slide rail in a sliding manner, and the small platform is connected with the first slide block through a linkage plate;

the transverse sliding rail is arranged on the small platform.

9. The one-leg foot-ground interaction dynamics testing system of the legged robot according to claim 7,

the number of the transverse sliding rails is two, and the two transverse sliding rails are arranged in parallel at intervals;

and a lead screw system for driving the second sliding block to move is arranged on one of the transverse sliding rails, and the length of a lead screw in the lead screw system is half of the moving stroke of the second sliding block.

10. The system for testing the dynamic performance of one-leg foot-ground interaction of a legged robot according to claim 1,

the supporting frame is formed by assembling aluminum profiles;

the supporting frame is arranged on the upper end of the supporting frame, supporting plates are arranged on two sides of the supporting frame, a mounting longitudinal beam is arranged on the upper side face of each supporting plate, and the moving platform is mounted on the mounting longitudinal beam.