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Legged robot test platform

A test platform and robot technology, applied in the direction of manipulators, manufacturing tools, etc., to achieve the effect of facilitating standardization and standardization, reducing landing weight, and reducing development and iteration costs

Active Publication Date: 2021-01-29
ZHEJIANG LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In terms of testing, the platform can only meet the walking test of biped robots and the speed test of wheeled robots

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] Such as figure 1 , is a structural schematic diagram of a legged robot test platform of the present invention, said legged robot test platform includes: a frame 1, a rigid hoisting assembly 2, a flexible hoisting assembly 3, a Y constraint assembly 4, a slider mechanism 5 and Conveyor 6; the conveyor 6 is arranged inside the frame 1, and the rigid hoisting assembly 2, the flexible hoisting assembly 3, the Y constraint assembly 4, and the slider mechanism 5 are all arranged on the frame; the frame 1 The top is composed of beams 101 and longitudinal beams 102; the rigid lifting assembly 2 is arranged on the beams 101, as figure 2 , the two sides of the rigid lifting assembly 2 are respectively provided with a single leg fixing device 201 and a whole machine fixing device 202, the single leg fixing device 201 is used to dock and fix the single leg of the robot under test, and the whole machine fixing device 202 is used for docking and fixing the whole machine of the robo...

Embodiment 2

[0033] Such as Figure 4 , the present invention also provides a structural schematic diagram of a legged robot test platform, the legged robot test platform is also provided with casters 7 and foot cups 8 at the bottom of the frame 1, the casters 7 are used to move the test platform, and the feet Cup 8 is used for support when the test platform is not moving.

Embodiment 3

[0035] Such as Figure 5 , the present invention also provides a schematic structural diagram of a legged robot test platform, the legged robot test platform also includes an anti-slip side plate 9, and the anti-slip side plate 9 is fixedly connected to the foot cup 8 through a mounting hole. The anti-skid side plate 9 is rectangular, and the length direction of the anti-skid side plate 9 is perpendicular to the moving direction of the robot under test, and the length of the anti-skid side plate 9 is greater than the width of the frame 1 to prevent the test platform from turning over.

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Abstract

The invention discloses a legged robot test platform, and belongs to the field of robot tests. The legged robot test platform comprises a rack, a rigid hoisting assembly, a flexible hoisting assembly,a Y constraint assembly, a sliding block mechanism and a conveyor, the rigid hoisting assembly part is fixed on a cross beam, the flexible hoisting assembly comprises a winch, a fixed pulley and a rope; and the Y constraint assembly comprises the sliding block mechanism and a connecting rod mechanism, one end of the connecting rod mechanism is rotationally connected with the sliding block mechanism, and the other end of the connecting rod mechanism is rotationally connected with a tested robot, so that the tested robot can only do two-dimensional motion in a plane formed by the connecting rodmechanism and a longitudinal beam, and the sliding block mechanism comprises a linear bearing and a steel shaft. The test platform is used for continuous motion testing of the tested robot, and the purpose that the test platform meets the diversity of testing requirements of the legged robot is achieved.

Description

technical field [0001] The invention belongs to the field of robot testing, in particular to a leg-foot robot testing platform. Background technique [0002] Due to many degrees of freedom and high difficulty in control, legged robots need to carry out various tests and verifications during the research process, such as single-leg hoisting power-on test, single-leg vertical jump test, double-leg gait test, etc.; Most of the technology specifically designs and builds corresponding test platforms for individual tests. This kind of platform not only has a single function, but also has insufficient scalability and generally cannot be reused. This leads to the research team needing to develop multiple different test platforms. Not only the cost It is high, occupies a large space, and the test cycle is prolonged due to the continuous development of new test platforms. [0003] For example, CN201710566682.6 discloses a robot test platform, including an integral support in a cubic ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 陈令凯谢安桓孔令雨黄冠宇谢也姜红建张丹
Owner ZHEJIANG LAB
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