CN216127292U - Three-in-one comprehensive performance test board of humanoid robot - Google Patents
Three-in-one comprehensive performance test board of humanoid robot Download PDFInfo
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- CN216127292U CN216127292U CN202122019493.1U CN202122019493U CN216127292U CN 216127292 U CN216127292 U CN 216127292U CN 202122019493 U CN202122019493 U CN 202122019493U CN 216127292 U CN216127292 U CN 216127292U
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Abstract
The utility model discloses a three-in-one comprehensive performance test board of a humanoid robot, which relates to the technical field of humanoid robot test and comprises a base, wherein a load mounting plate and a mounting bracket for mounting a joint module are sequentially arranged on the base from left to right, a load end bottom layer moving mechanism for driving the load mounting plate to move along the left-right direction is arranged on the base, a load moving plate and a rear end bearing seat are sequentially arranged on the load mounting plate from left to right, a load end top layer moving mechanism for driving the load moving plate to move along the left-right direction is arranged on the load mounting plate, a rear end load servo motor and a rear end torque rotating speed sensor are sequentially arranged on the load moving plate from left to right, the rear end load servo motor and the rear end torque rotating speed sensor are connected through a coupler, the rear end torque rotating speed sensor and the bearing seat are connected through the coupler, and a rear end grating is arranged at the right end of the rear end bearing seat, the rear end bearing seat is connected with the joint module through the coupler, and the joint module can be tested.
Description
Technical Field
The utility model relates to the technical field of humanoid robot testing, in particular to a three-in-one comprehensive performance testing platform for a humanoid robot.
Background
The humanoid robot is designed and manufactured by simulating the shape and the behavior of a human, generally, the humanoid robot has limbs and a head which are respectively or simultaneously simulated, and can effectively simulate certain physical functions, perception functions and social behaviors of a human body.
The existing humanoid robot comprises a joint module, a motor and a speed reducer, wherein the positioning precision, the efficiency and the impact resistance of the joint module need to meet special requirements, and in the prior art, no test equipment for detecting the joint module exists, so that the joint module is difficult to test.
SUMMERY OF THE UTILITY MODEL
The utility model aims to: the utility model provides a three-in-one comprehensive performance test bench for a humanoid robot, aiming at solving the problem that test equipment for detecting a joint module is unavailable in the prior art.
The utility model specifically adopts the following technical scheme for realizing the purpose:
three-in-one comprehensive performance test bench of humanoid robot, including the base, the installing support that is equipped with load mounting panel and installation joint module or speed reducer from left to right in proper order on the base, be equipped with the load end bottom moving mechanism that drives the load mounting panel and remove along left right direction on the base, be equipped with load movable plate and rear end bearing seat from left to right in proper order on the load mounting panel, be equipped with the load end top layer moving mechanism that drives the load movable plate and remove along left right direction on the load mounting panel, be equipped with rear end load servo motor and rear end moment of torsion rotational speed sensor from left to right in proper order on the load movable plate, be connected through the shaft coupling between rear end load servo motor and the rear end moment of torsion rotational speed sensor, be connected through the shaft coupling between rear end moment of torsion rotational speed sensor and the bearing frame, the right-hand member of rear end bearing seat is equipped with the rear end grating, the rear end bearing seat is connected with the joint module through a coupler.
Furthermore, the base is provided with a driving mounting plate and a driving end bottom layer moving mechanism which drives the driving mounting plate to move along the left and right directions, the driving mounting plate is provided with a driving left and right moving plate and a driving front and back moving plate from right to left in sequence, the driving mounting plate is provided with a driving end top layer moving mechanism for driving the left and right moving plates to move along the left and right direction and a driving end front and back moving mechanism for driving the front and back moving plates to move along the front and back direction, a driving motor and a driving end torque sensor are arranged on the left and right driving moving plates from right to left and are connected through a coupling, a driving end bearing seat is arranged on the driving front and back moving plate, a driving end grating is arranged at the left end of the driving end bearing seat, the driving end bearing seat is connected with the driving end torque sensor through a coupler, and the driving end bearing seat is connected with the speed reducer through the coupler.
Further, a motor support for mounting a motor to be tested is arranged on the driving front and rear moving plate, and the motor support is located at the front end or the rear end of the driving end bearing seat.
Furthermore, a joint module impact testing mechanism is arranged on the load moving plate.
Furthermore, the joint module impact testing mechanism comprises a load stop block arranged on a load moving plate, a load arm rod is radially arranged on an output shaft of the rear-end load servo motor, the load stop block is located on the circumference of the end portion of the load arm rod, and a pushing mechanism for driving the load stop block to move in the left-right direction is arranged on the load moving plate.
Furthermore, the pushing mechanism comprises a pushing cylinder arranged on the load moving plate, and the output end of the pushing cylinder is connected with the load stop block.
The utility model has the following beneficial effects:
(1) the joint module is arranged on the mounting bracket, and can be tested by adopting a rear-end grating, a rear-end bearing seat, a rear-end torque and rotating speed sensor and a rear-end load servo motor;
(2) the speed reducer is arranged on the mounting bracket, and the speed reducer can be tested by adopting the drive end grating, the drive end bearing seat, the drive end torque sensor and the drive motor;
(3) the motor is arranged on the motor bracket, and the motor can be detected by adopting the driving motor and the driving end torque sensor;
(4) can test joint module, speed reducer and motor, the function is comprehensive.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic top view of the present invention;
reference numerals: the device comprises a base 1, a drive mounting plate 2, a drive left and right moving plate 3, a drive motor 4, a drive end torque sensor 5, a drive end bearing seat 6, a drive end grating 7, a mounting support 8, a rear end grating 9, a rear end bearing seat 10, a rear end torque rotating speed sensor 11, a load stop block 12, a load arm rod 13, a rear end load servo motor 14, a load moving plate 15, a load mounting plate 16, a push cylinder 17, a drive front and rear moving plate 18, a motor to be tested 19 and a motor support 20.
Detailed Description
Example 1
Referring to fig. 1 to 2, this embodiment provides trinity comprehensive properties testboard of humanoid robot, including base 1, from left to right be equipped with load mounting panel 16 and the installing support 8 of installation joint module or speed reducer in proper order on the base 1, be equipped with the load end bottom moving mechanism that drives load mounting panel 16 and remove along left right direction on the base 1, from left to right be equipped with load movable plate 15 and rear end bearing frame 10 in proper order on the load mounting panel 16, be equipped with the load end top layer moving mechanism that drives load movable plate 15 and remove along left right direction on the load mounting panel 16, from left to right be equipped with rear end load servo motor 14 and rear end moment of torsion speed sensor 11 in proper order on the load movable plate 15, be connected through the shaft coupling between rear end load servo motor 14 and the rear end moment of torsion speed sensor 11, be connected through the shaft coupling between rear end moment of torsion speed sensor 11 and the bearing frame, the right-hand member of rear end bearing frame 10 is equipped with rear end grating 9, be connected through the shaft coupling between rear end bearing frame 10 and the joint module, it is specific, load end bottom moving mechanism is including establishing the guide rail A on base 1, guide rail A horizontal slip can be followed to load mounting panel 16, be equipped with screw-nut A on the load mounting panel 16, be equipped with lead screw A in the screw-nut, load end top moving mechanism is including establishing the guide rail B on load mounting panel 16, guide rail B horizontal slip can be followed to load movable plate 15, be equipped with screw-nut B on the load movable plate 15, be equipped with lead screw B in the screw-nut.
The working principle is as follows: the joint module is arranged on the mounting bracket 8, and various tests are carried out on the joint module.
When the no-load test and the repeated positioning precision test of the joint module need to be carried out, the load end top layer moving mechanism drives the load moving plate 15 to move leftwards, so that the rear end torque rotating speed sensor 11 and the rear end bearing seat 10 are separated, namely, the coupler between the rear end torque rotating speed sensor and the rear end bearing seat 10 is separated, and the joint module only drives the rear end grating 9 to operate.
Specifically, during the no-load test, the joint module is controlled to operate at a rated rotating speed, on one hand, the working voltage, the current and the power consumption of the joint module are recorded through power analysis test, and on the other hand, the rotating speed of the joint module under the no-load condition is tested through a rear-end grating 9; when the repeated positioning precision is tested, the joint module is controlled to operate in a positioning mode, a plurality of positioning points are tested repeatedly, the angle is controlled through the reading controller, and the angle is compared with the actual angle acquired by the grating.
When a rated parameter measuring test, a transmission efficiency test, a speed-increasing starting torque test, a tooth gap test and a simulation working condition test are required to be carried out, the output end of the joint module is connected with the rear end bearing seat 10 through a coupler, the rear end bearing seat 10 is connected with the rear end torque and rotating speed sensor 11 through a coupler, and the rear end torque and rotating speed sensor 11 is connected with the rear end load servo motor 14 through a coupler.
Specifically, during a rated parameter determination test, the joint module is controlled to operate in a rotating speed mode, the rear-end load servo motor 14 is controlled to load, and measurement data of the rear-end torque rotating speed sensor 11 and test data of the power analyzer are read; during the transmission efficiency test, controlling the joint module to operate in a rotating speed mode, controlling the rear-end load servo motor 14 to load, reading the measurement data of the rear-end torque rotating speed sensor 11 and the test data of the power analyzer, calculating electric power, and obtaining the efficiency of the joint module through the comparison of mechanical power and electric power; during the acceleration starting torque test, the joint module motor is in a disconnected state, the rear-end load servo motor 14 is controlled to work in a torque mode, the rear-end load servo motor 14 is controlled to gradually apply force, data collected by the rear-end grating 9 is used for judging whether the joint module is driven, and the instantaneous maximum torque when the joint module is driven is the acceleration starting torque; during the backlash test, 3% of twisting joint modules are added in the front and back of the rear-end load servo motor 14, the front and back angle difference tested by the rear-end grating 9 is the backlash size, and the multipoint test can be carried out by driving the rotation angle of the tested joint module.
Example 2
Referring to fig. 1 to 2, this embodiment is further improved on the basis of embodiment 1, and specifically, a driving mounting plate 2 and a driving end bottom layer moving mechanism for driving the driving mounting plate 2 to move in the left-right direction are disposed on the base 1, the driving mounting plate 2 is sequentially provided with a left-right moving plate 3 and a front-back moving plate 18 from right to left, the driving mounting plate 2 is provided with a driving end top layer moving mechanism for driving the left-right moving plate 3 to move in the left-right direction and a driving end front-back moving mechanism for driving the front-back moving plate 18 to move in the front-back direction, the driving left-right moving plate 3 is provided with a driving motor 4 and a driving end torque sensor 5 from right to left and connected by a coupler, the driving front-back moving plate 18 is provided with a bearing seat driving end 6, and the left end of the driving end bearing seat 6 is provided with a driving end grating 7, the driving end bearing seat 6 and the driving end torque sensor 5 are connected through a coupler, the driving end bearing seat 6 and the speed reducer are connected through a coupler, specifically, the driving end bottom layer moving mechanism comprises a guide rail C arranged on the base 1, the driving mounting plate 2 can slide left and right along the guide rail C, a screw nut C is arranged on the driving mounting plate 2, a screw rod C is arranged in the screw nut, the driving end top layer moving mechanism comprises a guide rail D arranged on the driving mounting plate 2, the driving left and right moving plates 3 can slide left and right along the guide rail D, a screw nut D is arranged on the driving left and right moving plates 3, a screw rod D is arranged in the screw nut, the driving end front and back moving mechanism comprises a guide rail E arranged on the driving mounting plate 2, the driving front and back moving plates 18 can slide front and back along the guide rail E, and a screw nut E is arranged on the driving front and back moving plates 18, a screw rod E is arranged in the screw rod nut.
Specifically, when the no-load test of the speed reducer is carried out, the speed reducer is installed on the installation support 8, the driving motor 4 is connected with the driving end torque sensor 5 through a coupler, the driving end torque sensor 5 is connected with the driving end bearing seat 6 through a coupler, the driving end bearing seat 6 is connected with the input end of the speed reducer through a coupler, the output end of the speed reducer is separated from the rear end bearing seat 10, namely, the speed reducer is suspended, the driving motor 4 is controlled to operate at a set rotating speed from small to large, and the no-load friction loss of the speed reducer is tested by using the driving end torque sensor 5.
When a transmission error test is carried out, a speed reducer is installed on an installation support 8, a driving motor 4 is connected with a driving end torque sensor 5 through a coupler, the driving end torque sensor 5 is connected with a driving end bearing seat 6 through a coupler, the driving end bearing seat 6 is connected with an input end of the speed reducer through a coupler, an output end of the speed reducer is connected with a rear end bearing seat 10 through a coupler, the rear end bearing seat 10 is separated from a rear end torque rotating speed sensor 11, namely the coupler between the driving end torque sensor and the rear end bearing seat 10 is separated, the driving motor 4 is controlled to operate at a rotating speed of 30-200 r/min, the rotating angles of a driving end grating 7 and a rear end grating 9 are synchronously tested, the difference between the angle/speed ratio of the driving end grating 7 and the rotating angle of the rear end grating 9 is a transmission error real-time value, and the difference between the maximum value and the minimum value of a real-time transmission error corresponding to the output end of 0-360 degrees is a transmission error value of the speed reducer.
When a return error test is carried out, the connection mode is the same as the transmission error test, the difference between the angle/speed ratio of the grating 7 at the driving end and the rotation angle of the grating 9 at the rear end, which is the speed reducer, is a real-time transmission error value, when the rotation of the output end is more than 360 degrees, the driving end rotates reversely, the transmission error of the point in the reverse direction is obtained by recording the angle of the output end corresponding to the forward rotation error, the difference between the transmission error of the point in the forward direction and the transmission error of the point in the reverse direction, which is the return error of the point, is represented by a corresponding curve of 0-360 degrees at the output end.
Example 3
Referring to fig. 1 to 2, this embodiment is further improved on the basis of embodiment 2, specifically, a motor support 20 for mounting a motor 19 to be measured is disposed on the driving forward and backward moving plate 18, the motor support 20 is located at the front end of the driving end bearing seat 6, and the driving end forward and backward moving mechanism drives the motor support 20 to move, so that the input end of the motor 19 to be measured is aligned with the driving end torque sensor 5, and the input end of the motor 19 to be measured is conveniently connected with the driving end torque sensor 5 through a coupling.
Preferably, the front end and the rear end of the driving front and rear moving plate 18 are both provided with a positioning block, when the driving front and rear moving plate 18 is attached to the positioning block at the front end, the driving end bearing seat 6 is aligned with the driving end torque sensor 5, and when the driving front and rear moving plate 18 is attached to the positioning block at the rear end, the input end of the motor to be tested 19 is aligned with the driving end torque sensor 5, so that the driving end bearing seat 6 and the motor to be tested 19 are conveniently positioned.
Example 4
Referring to fig. 1 to 2, this embodiment is further improved on the basis of embodiment 1, and specifically, a joint module impact testing mechanism is disposed on the load moving plate 15.
Example 5
Referring to fig. 1 to 2, this embodiment is further improved on the basis of embodiment 4, specifically, the impact testing mechanism for a joint module includes a load stop 12 disposed on a load moving plate 15, a load arm 13 is radially disposed on an output shaft of the rear-end load servo motor 14, the load stop 12 is disposed on a circumference where an end of the load arm 13 is located, a pushing mechanism for driving the load stop 12 to move in a left-right direction is disposed on the load moving plate 15, specifically, when an instant impact test for the joint module is performed, a specific connection manner is the same as that of performing a backlash test, except that the pushing mechanism pushes the load stop 12 to move, so that the load stop 12 is located on the circumference where the end of the load arm 13 is located, when the load arm 13 rotates, the load stop 12 and the load arm 13 may collide to simulate an instant impact force applied when the joint module falls to the ground, and testing the impact force, carrying out no-load and load operation after carrying out the instant impact test, and testing whether the joint module operates well.
Example 6
Referring to fig. 1 to 2, this embodiment is further improved on the basis of embodiment 5, specifically, the pushing mechanism includes a pushing cylinder 17 disposed on the load moving plate 15, and an output end of the pushing cylinder 17 is connected to the load stopper 12.
Claims (6)
1. Three-in-one comprehensive properties testboard of humanoid robot, its characterized in that, including base (1), from left to right be equipped with load mounting panel (16) and installing joint module or the installing support (8) of speed reducer in proper order on base (1), be equipped with the load end bottom moving mechanism that drives load mounting panel (16) and remove along the left and right direction on base (1), from left to right be equipped with load movable plate (15) and rear end bearing frame (10) in proper order on load mounting panel (16), be equipped with the load end top layer moving mechanism that drives load movable plate (15) and remove along the left and right direction on load mounting panel (16), be equipped with rear end load servo motor (14) and rear end moment of torsion rotational speed sensor (11) from left to right in proper order on load movable plate (15), be connected through the shaft coupling between rear end load servo motor (14) and rear end moment of torsion rotational speed sensor (11), the rear-end torque and rotation speed sensor (11) is connected with the bearing seat through a coupler, a rear-end grating (9) is arranged at the right end of the rear-end bearing seat (10), and the rear-end bearing seat (10) is connected with the joint module through the coupler.
2. The test bench for testing the three-in-one comprehensive performance of the humanoid robot as claimed in claim 1, wherein a driving mounting plate (2) and a driving end bottom layer moving mechanism for driving the driving mounting plate (2) to move along the left-right direction are arranged on the base (1), a driving left-right moving plate (3) and a driving front-back moving plate (18) are sequentially arranged on the driving mounting plate (2) from right to left, a driving end top layer moving mechanism for driving the driving left-right moving plate (3) to move along the left-right direction and a driving end front-back moving mechanism for driving the driving front-back moving plate (18) to move along the front-back direction are arranged on the driving mounting plate (2), a driving motor (4) and a driving end torque sensor (5) are arranged on the driving left-right moving plate (3) from right to left and are connected through a coupler, a driving end bearing seat (6) is arranged on the driving front-back moving plate (18), the left end of the driving end bearing seat (6) is provided with a driving end grating (7), the driving end bearing seat (6) is connected with the driving end torque sensor (5) through a coupler, and the driving end bearing seat (6) is connected with the speed reducer through a coupler.
3. The test bench of claim 2, wherein the driving forward and backward moving plate (18) is provided with a motor bracket (20) for mounting a motor (19) to be tested, and the motor bracket (20) is located at the front end or the rear end of the driving end bearing seat (6).
4. The test bench of three-in-one combination property of the humanoid robot as claimed in any one of claims 1-3, wherein a joint module impact test mechanism is arranged on the load moving plate (15).
5. The three-in-one combination property test bench of the humanoid robot in accordance with claim 4, wherein the joint module impact test mechanism includes a load block (12) disposed on a load moving plate (15), a load arm (13) is radially disposed on an output shaft of the rear end load servo motor (14), the load block (12) is disposed on a circumference where an end of the load arm (13) is located, and a pushing mechanism for driving the load block (12) to move in left and right directions is disposed on the load moving plate (15).
6. The test bench of claim 5, wherein the pushing mechanism comprises a pushing cylinder (17) disposed on the load moving plate (15), and the output end of the pushing cylinder (17) is connected to the load stop (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122019493.1U CN216127292U (en) | 2021-08-25 | 2021-08-25 | Three-in-one comprehensive performance test board of humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122019493.1U CN216127292U (en) | 2021-08-25 | 2021-08-25 | Three-in-one comprehensive performance test board of humanoid robot |
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| Publication Number | Publication Date |
|---|---|
| CN216127292U true CN216127292U (en) | 2022-03-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122019493.1U Active CN216127292U (en) | 2021-08-25 | 2021-08-25 | Three-in-one comprehensive performance test board of humanoid robot |
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| CN (1) | CN216127292U (en) |
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2021
- 2021-08-25 CN CN202122019493.1U patent/CN216127292U/en active Active
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