CN220428390U - Multi-degree-of-freedom high-adaptability robot single-leg test bench - Google Patents
Multi-degree-of-freedom high-adaptability robot single-leg test bench Download PDFInfo
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- CN220428390U CN220428390U CN202321345695.8U CN202321345695U CN220428390U CN 220428390 U CN220428390 U CN 220428390U CN 202321345695 U CN202321345695 U CN 202321345695U CN 220428390 U CN220428390 U CN 220428390U
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- 238000012360 testing method Methods 0.000 title claims abstract description 28
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000012795 verification Methods 0.000 abstract description 4
- 230000005021 gait Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005283 ground state Effects 0.000 description 1
- 230000037230 mobility Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Abstract
The utility model discloses a multi-degree-of-freedom high-adaptability robot single-leg test board. The multi-degree-of-freedom high-adaptability robot single-leg test bench comprises a frame, wherein vertical sliding rails are arranged on two sides of the frame, first sliding blocks are connected with the vertical sliding rails in a sliding mode, first clamping rings are arranged on two sides of the first sliding blocks and detachably connected with the vertical sliding rails, the first sliding blocks are used for fixing the first sliding blocks, movable cross beams are fixedly connected with the first sliding blocks, transverse sliding rails are arranged between the movable cross beams on two sides of the first sliding blocks, second sliding blocks are connected with the second sliding blocks in a sliding mode, second clamping rings are arranged on two sides of the second sliding blocks and detachably connected with the transverse sliding rails, and used for fixing the second sliding blocks, and clamps for installing single legs are fixedly connected with the second sliding blocks. The utility model solves the problems of long test and verification period, high cost and unfavorable control of the performance of the whole robot in the prior art.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a multi-degree-of-freedom high-adaptability single-leg test bench for a robot.
Background
As robotics evolve, research hotspots for foot robots are also gradually moving from low-speed static gait movements to high-speed dynamic gait movements, such as running movements. When the foot robot runs at a high speed, the movement speed of the legs is increased, and the landing impact is also increased drastically, so that higher requirements are put on the performance of one leg. The quality of the single-leg performance of the foot-type robot is directly related to the quality of the overall performance of the robot, so that the operation efficiency and the safety of the foot-type robot are affected, and therefore, the single-leg performance needs to be tested. The currently adopted testing method is to directly mount a single leg on the robot as a whole. Although the mode can reflect the actual operation condition, the testing stage is in the large later stage of the development of the robot, the testing and verification period is long, the cost is high, and the control of the whole machine performance of the robot is not facilitated.
Disclosure of Invention
The utility model aims to overcome the defects in the prior art and provides the multi-degree-of-freedom high-adaptability robot single-leg test bench which can shorten the test verification period, is low in cost and is beneficial to the overall performance control of the robot.
In order to achieve the purpose, the single-leg test bench of the multi-degree-of-freedom high-adaptability robot adopts the following technical scheme:
the utility model provides a high adaptability robot single leg testboard of multi freedom, which comprises a frame, the both sides of frame are provided with perpendicular slide rail, perpendicular slide rail sliding connection has first slider, the both sides of first slider are provided with first snap ring, first snap ring can dismantle with perpendicular slide rail and be connected for fixed first slider, first slider rigid coupling has movable cross beam, be provided with the cross rail between the movable cross beam of both sides, cross rail sliding connection has the second slider, the both sides of second slider are provided with the second snap ring, the second snap ring can dismantle with the cross rail and be connected for fixed second slider, the second slider rigid coupling has the anchor clamps that are used for installing the single leg.
Preferably, the fixture comprises a first mounting plate and a second mounting plate for mounting the single leg, and connecting plates fixedly connected with the first sliding block are arranged at two ends of the first mounting plate and the second mounting plate.
Preferably, a plurality of stay bars are arranged between the first mounting plate and the second mounting plate, and the stay bars connect the first mounting plate and the second mounting plate into a whole.
Preferably, the movable cross beam is provided with a first opening support for fixedly connecting with the transverse sliding rail, and the frame is provided with a second opening support for fixedly connecting with the vertical sliding rail.
Preferably, the frame comprises upright posts at four corners, and adjacent upright posts are connected through a plurality of cross beams.
Preferably, universal wheels are arranged at the bottoms of the upright posts.
Compared with the prior art, the utility model has the following advantages:
1. the single leg is arranged on the clamp, the second sliding block is used for adjusting the single leg to a proper position on the transverse sliding rail, the second clamping ring is used for locking, the single leg is moved up and down through the first sliding block, so that the single leg is positioned at different heights, the single leg is simulated to move in a vacation mode and move in a touchdown mode, the first clamping ring at the upper side of the first sliding block can be removed, the single leg can be simulated to bounce, the single leg is not required to be arranged on the whole machine of the robot for testing, the test verification period is shortened, the cost is low, and the whole machine performance control of the robot is facilitated.
2. Different single legs can be selected from different clamps, and the universality is high.
3. The universal wheel is provided, the mobility of the frame is improved, and different test scenes are convenient to replace.
Drawings
FIG. 1 is a schematic diagram of a multi-degree-of-freedom high-adaptability robot single-leg test bench;
FIG. 2 is an enlarged view at C of FIG. 1;
FIG. 3 is an enlarged view at D of FIG. 1;
FIG. 4 is a schematic structural view of a frame;
fig. 5 is a schematic structural view of the jig.
The device comprises a frame 1, an upright post 11, a cross beam 12, universal wheels 13, a first opening support 14, a vertical sliding rail 2, a first sliding block 3, a first clamping ring 4, a movable cross beam 5, a second opening support 51, a horizontal sliding rail 6, a second sliding block 7, a second clamping ring 8, a clamp 9, a first mounting plate 91, a second mounting plate 92, a supporting rod 93 and a connecting plate 94.
Detailed Description
The present utility model is further illustrated in the accompanying drawings and detailed description which are to be understood as being merely illustrative of the utility model and not limiting of its scope, since various equivalent modifications to the utility model will fall within the scope of the appended claims to the skilled person after reading the utility model.
As shown in figures 1-5, the multi-degree-of-freedom high-adaptability robot single-leg test bench comprises a frame 1, wherein the frame comprises upright posts 11 positioned at four corners, adjacent upright posts are connected through two cross beams 12, universal wheels 13 are arranged at the bottoms of the upright posts to improve the maneuverability of the frame, different test scenes are convenient to replace, first opening supports 14 are arranged at the upper side and the lower side of the side wall of the upright posts, a vertical sliding rail 2 is fixedly connected between the two first opening supports, the vertical sliding rail is in sliding connection with a first sliding block 3, first clamping rings 4 are arranged at the upper side and the lower side of the first sliding block, the first clamping rings are detachably connected with the vertical sliding rail and are used for fixing the first sliding blocks, a movable cross beam 5 is fixedly connected between the two first sliding blocks at the front side and the rear side, the second opening support 51 is installed on the top surface both sides of movable cross beam, rigid coupling cross rail 6 between the symmetrical second opening support of left and right sides, two second sliders 7 of cross rail sliding connection, second snap ring 8 is arranged to the left and right sides of second slider, the second snap ring can dismantle with cross rail and be connected, be used for fixed second slider, second slider top rigid coupling is used for installing the anchor clamps 9 of single leg, anchor clamps are including the first mounting panel 91 and the second mounting panel 92 that are used for installing the single leg, arrange two vaulting poles 93 between first mounting panel and the second mounting panel, the vaulting pole is with first, the second mounting panel is connected as a whole in order to improve the stability of anchor clamps, the both ends rigid coupling connecting plate 94 of first, the second mounting panel, connecting plate and first slider rigid coupling.
A specific working process and principle of a multi-degree-of-freedom high-adaptability robot single-leg test bench are as follows: according to the single leg of different grade type, select corresponding anchor clamps, install the single leg on anchor clamps, according to the size of single leg, adjust the height of horizontal slide rail, with the anchor clamps and the second slider rigid coupling back of single leg, use the second snap ring locking, avoid the second slider to move about on horizontal slide rail, guarantee the accuracy of test data in the simulation process. The utility model can test three movements:
flight movement: the single leg is adjusted to a proper height through the first sliding block and is locked by the first clamping ring, so that the single leg is in a suspended state, and the estimated tracking effect of the single leg can be tested.
Ground contact movement: the single leg is adjusted to a proper height through the first sliding block and is locked by the first clamping ring, and the single leg can touch the ground when being stretched (the ground state is selected according to the requirement).
Bouncing movement: the single leg is adjusted to a proper height through the first sliding block, the first clamping ring at the lower side of the first sliding block is used for locking and limiting, and the first clamping ring at the upper side of the first sliding block is released.
The utility model has simple structure and low cost, can adapt to various testing situations, can be suitable for single legs of different types, and has strong universality.
Claims (6)
1. A multi-degree-of-freedom high-adaptability robot single-leg test board is characterized in that: including the frame, the both sides of frame are provided with perpendicular slide rail, perpendicular slide rail sliding connection has first slider, and the both sides of first slider are provided with first snap ring, and first snap ring can dismantle with perpendicular slide rail and be connected for fixed first slider, first slider rigid coupling has movable cross beam, is provided with the cross rail between the movable cross beam of both sides, and cross rail sliding connection has the second slider, and the both sides of second slider are provided with the second snap ring, and the second snap ring can dismantle with the cross rail and be connected for fixed second slider, and the second slider rigid coupling has the anchor clamps that are used for installing the single leg.
2. The multi-degree of freedom high adaptability robot single-leg test stand of claim 1, wherein: the fixture comprises a first mounting plate and a second mounting plate for mounting a single leg, and connecting plates fixedly connected with the first sliding blocks are arranged at two ends of the first mounting plate and the second mounting plate.
3. The multi-degree of freedom high adaptability robot single-leg test stand of claim 2, wherein: a plurality of stay bars are arranged between the first mounting plate and the second mounting plate, and the stay bars connect the first mounting plate and the second mounting plate into a whole.
4. The multi-degree of freedom high adaptability robot single-leg test stand of claim 1, wherein: the movable cross beam is provided with a first opening support for fixedly connecting with the transverse sliding rail, and the frame is provided with a second opening support for fixedly connecting with the vertical sliding rail.
5. The multi-degree of freedom high adaptability robot single-leg test stand of claim 1, wherein: the frame comprises upright posts positioned at four corners, and the adjacent upright posts are connected through a plurality of cross beams.
6. The multi-degree of freedom high adaptability robot single-leg test stand of claim 5, wherein: the bottom of the upright post is provided with a universal wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321345695.8U CN220428390U (en) | 2023-05-30 | 2023-05-30 | Multi-degree-of-freedom high-adaptability robot single-leg test bench |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321345695.8U CN220428390U (en) | 2023-05-30 | 2023-05-30 | Multi-degree-of-freedom high-adaptability robot single-leg test bench |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220428390U true CN220428390U (en) | 2024-02-02 |
Family
ID=89695493
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321345695.8U Active CN220428390U (en) | 2023-05-30 | 2023-05-30 | Multi-degree-of-freedom high-adaptability robot single-leg test bench |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220428390U (en) |
-
2023
- 2023-05-30 CN CN202321345695.8U patent/CN220428390U/en active Active
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