Performance test platform for integrated hydraulic servo drive of leg-foot robot
A hydraulic servo and test platform technology, applied in the direction of electrical testing/monitoring, etc., can solve the problem of not being able to measure the performance of the leg-foot robot integrated hydraulic servo drive, and achieve the effect of simple structure and convenient use
Active Publication Date: 2015-11-18
SHANDONG JIAOTONG UNIV
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Problems solved by technology
However, the experimental platform itself cannot measure the performance of the integrated hydraulic servo drive of the leg-foot robot.
Method used
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[0027] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0028] like figure 1 As shown, the performance test platform for the hydraulic servo drive of the legged robot includes a mass block 1 of known mass, an integrated hydraulic drive unit 2 , and a test bench body 3 . like figure 2As shown, a test bench body 3 includes a linear guide rail 4 , two sliders 5 , a test bench support base 7 , a test bench side lug 6 , and a high-precision magnetostrictive displacement sensor 8 . One end of the test bench support base 7 is provided with a vertically upwardly protruding side lug 6 of the test bench, and the upper part of the test bench support base 7 is fixedly equipped with a linear guide rail 4 and a magnetostrictive displacement sensor 8 arranged in parallel, and one end of the linear guide rail 4 is close to the On the side of the lug 6 on the side of the test bench, a number of slide blocks 5 that can mov...
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The invention discloses a performance test platform of a leg-foot type robot integrated hydraulic servo drive. The performance test platform of the leg-foot type robot integrated hydraulic servo drive comprises a test platform support base. The test platform side support lug which vertically protrudes upward is arranged at one end of the test platform support base. A linear guide rail and a magnetostrictive telescopic displacement sensor are fixedly arranged on the upper portion of the test platform support base in a parallel mode. One end of the linear guide rail is close to the side of the test platform side support lug. A plurality of sliding blocks which can slide along the linear guide rail are clamped on the linear guide rail. A quality block is fixed on the sliding blocks. The performance test platform of the leg-foot type robot integrated hydraulic servo drive is used for testing frequency response of the integrated hydraulic servo drive which is installed, speed control performance, dynamic force control performance, and dynamic positon control performance. The test platform is simple in structure, compact, and convenient to use, and dynamic performance parameters of the integrated hydraulic servo drive is obtained fast.
Description
technical field [0001] The invention relates to a performance testing device for an integrated hydraulic servo unit, in particular to a performance testing platform for an integrated hydraulic servo driver of a legged robot. Background technique [0002] At present, the great success of BigDog has caused a great sensation in the international robotics industry. Many countries, including my country, have quickly proposed relevant scientific and technological plans, setting off a research boom in high-performance hydraulically driven bionic robots, and have developed many robots. prototype. Footed mobile robots have great advantages in adapting to complex terrain, flexible movement, and strong obstacle-crossing ability. They have broad application prospects in military-civilian material transportation, field exploration and exploration, rescue and disaster relief in unstructured environments. However, the defect of any component or any unit of the high-performance hydraulicall...
Claims
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IPC IPC(8): G05B23/02
Inventor 阮久宏荣学文李贻斌王海燕杨福广
Owner SHANDONG JIAOTONG UNIV