Humanoid robot three-in-one comprehensive performance test bench

Abstract

The invention discloses a three-in-one comprehensive performance test bench for a humanoid robot, and relates to the technical field of humanoid robot testing. The bench comprises a base, on which a load mounting plate and a mounting bracket for mounting a joint module are arranged in sequence from left to right, a load-end bottom-layer moving mechanism for driving the load mounting plate to move in left-right directions is arranged on the base, a load moving plate and a rear-end bearing seat are arranged in sequence from left to right on the load mounting plate, a load-end top-layer moving mechanism for driving the load moving plate to move in left-right directions is arranged on the load mounting plate, a rear-end load servo motor and a rear-end torque and speed sensor are arranged in sequence from left to right on the load moving plate, the rear-end load servo motor and the rear-end torque and speed sensor are connected via a coupling, the rear-end torque and speed sensor and the bearing seat are connected via a coupling, a rear-end grating is arranged at the right end of the rear-end bearing seat, and the rear-end bearing seat and the joint module are connected via a coupling, so that the joint module can be tested.

Description

Technical Field

[0001] The invention relates to the technical field of humanoid robot testing, and more specifically to a three-in-one comprehensive performance testing platform for humanoid robots. Background Art

[0002] A humanoid robot is a robot designed and manufactured to imitate human form and behavior. Generally, it has humanoid limbs and a head separately or simultaneously, and can effectively imitate certain physical functions, perceptual functions, and social behaviors of the human body.

[0003] The existing humanoid robot includes a joint module, a motor and a reducer. The positioning accuracy, efficiency and impact resistance of the joint module need to meet special requirements. In the prior art, there is no testing equipment for detecting the joint module, making it difficult to test the joint module. Summary of the invention

[0004] The purpose of the present invention is to solve the problem in the prior art that there is no testing equipment for detecting joint modules, and the present invention provides a three-in-one comprehensive performance testing platform for humanoid robots.

[0005] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions:

[0006] The three-in-one comprehensive performance test bench for a humanoid robot comprises a base, on which a load mounting plate and a mounting bracket for mounting a joint module or a reducer are arranged in sequence from left to right, a load-end bottom-layer moving mechanism for driving the load mounting plate to move in the left-right direction is arranged on the base, a load moving plate and a rear-end bearing seat are arranged in sequence from left to right on the load mounting plate, a load-end top-layer moving mechanism for driving the load moving plate to move in the left-right direction is arranged on the load mounting plate, a rear-end load servo motor and a rear-end torque speed sensor are arranged in sequence from left to right on the load moving plate, the rear-end load servo motor and the rear-end torque speed sensor are connected through a coupling, the rear-end torque speed sensor and the bearing seat are connected through a coupling, a rear-end grating is arranged at the right end of the rear-end bearing seat, and the rear-end bearing seat and the joint module are connected through a coupling.

[0007] Furthermore, a driving mounting plate and a driving end bottom-level moving mechanism for driving the driving mounting plate to move along the left-right direction are provided on the base, a driving left-right moving plate and a driving front-back moving plate are provided on the driving mounting plate from right to left in sequence, a driving end top-level moving mechanism for driving the driving left-right moving plate to move along the left-right direction and a driving end front-back moving mechanism for driving the driving front-back moving plate to move along the front-back direction are provided on the driving mounting plate, a driving motor and a driving end torque sensor are provided on the driving moving plate from right to left and the two are connected by a coupling, a driving end bearing seat is provided on the driving front-back moving plate, a driving end grating is provided on the left end of the driving end bearing seat, the driving end bearing seat and the driving end torque sensor are connected by a coupling, and the driving end bearing seat and the reducer are connected by a coupling.

[0008] Furthermore, a motor bracket for mounting the motor to be tested is provided on the driving front and rear moving plate, and the motor bracket is located at the front end or rear end of the driving end bearing seat.

[0009] Furthermore, a joint module impact testing mechanism is provided on the load moving plate.

[0010] Furthermore, the joint module impact testing mechanism includes a load block arranged on a load moving plate, a load arm is radially arranged on the output shaft of the rear end load servo motor, the load block is located on the circumference where the end of the load arm is located, and a pushing mechanism is arranged on the load moving plate to drive the load block to move in the left and right directions.

[0011] Furthermore, the pushing mechanism comprises a pushing cylinder arranged on the load moving plate, and an output end of the pushing cylinder is connected to the load stopper.

[0012] The beneficial effects of the present invention are as follows:

[0013] (1) Install the joint module on the mounting bracket, and use the rear grating, rear bearing seat, rear torque speed sensor and rear load servo motor to test the joint module;

[0014] (2) Install the reducer on the mounting bracket, and use the drive end grating, drive end bearing seat, drive end torque sensor and drive motor to test the reducer;

[0015] (3) Install the motor on the motor bracket and use the drive motor and the drive end torque sensor to detect the motor;

[0016] (4) It is capable of testing joint modules, reducers and motors, and has comprehensive functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the top view of the structure of the present invention;

[0019] Figure markings: 1-base, 2-drive mounting plate, 3-drive left and right moving plate, 4-drive motor, 5-drive end torque sensor, 6-drive end bearing seat, 7-drive end grating, 8-mounting bracket, 9-rear end grating, 10-rear end bearing seat, 11-rear end torque speed sensor, 12-load block, 13-load arm, 14-rear end load servo motor, 15-load moving plate, 16-load mounting plate, 17-pushing cylinder, 18-drive front and rear moving plate, 19-motor to be tested, 20-motor bracket. DETAILED DESCRIPTION

[0020] Example 1

[0021] See also Figures 1 to 2 The present embodiment provides a three-in-one comprehensive performance test bench for a humanoid robot, including a base 1, on which a load mounting plate 16 and a mounting bracket 8 for mounting a joint module or a reducer are arranged in sequence from left to right, the base 1 is provided with a load-end bottom-layer moving mechanism for driving the load mounting plate 16 to move along the left-right direction, the load mounting plate 16 is provided with a load moving plate 15 and a rear-end bearing seat 10 in sequence from left to right, the load mounting plate 16 is provided with a load-end top-layer moving mechanism for driving the load moving plate 15 to move along the left-right direction, the load moving plate 15 is provided with a rear-end load servo motor 14 and a rear-end torque speed sensor 11 in sequence from left to right, the rear-end load servo motor 14 and the rear-end torque speed sensor The sensors 11 are connected by a coupling, the rear end torque speed sensor 11 and the bearing seat are connected by a coupling, the right end of the rear end bearing seat 10 is provided with a rear end grating 9, the rear end bearing seat 10 and the joint module are connected by a coupling. Specifically, the bottom moving mechanism at the load end includes a guide rail A arranged on the base 1, the load mounting plate 16 can slide left and right along the guide rail A, the load mounting plate 16 is provided with a screw nut A, and the screw nut is provided with a screw A, the top moving mechanism at the load end includes a guide rail B arranged on the load mounting plate 16, the load moving plate 15 can slide left and right along the guide rail B, the load moving plate 15 is provided with a screw nut B, and the screw nut is provided with a screw B.

[0022] Working principle: Install the joint module on the mounting bracket 8 and perform various tests on the joint module.

[0023] When it is necessary to carry out no-load test and repeated positioning accuracy test of the joint module, the top-level moving mechanism at the load end drives the load moving plate 15 to move to the left, so that the rear-end torque speed sensor 11 and the rear-end bearing seat 10 are separated, that is, the coupling and the rear-end bearing seat 10 therebetween are separated, and the joint module only drives the rear-end grating 9 to operate.

[0024] Specifically, during the no-load test, the joint module is controlled to run at the rated speed. On the one hand, the working voltage, current and power consumption of the joint module are recorded through the power analysis test. On the other hand, the speed of the joint module under no-load is tested through the rear-end grating 9. During the repeated positioning accuracy test, the joint module is controlled to run in the positioning mode, and multiple positioning points are repeatedly tested. The controller control angle is read and compared with the actual angle collected by the grating.

[0025] When it is necessary to conduct rated parameter measurement test, transmission efficiency test, speed increase starting torque test, backlash test and simulated working condition test, the output end of the joint module is connected to the rear end bearing seat 10 through a coupling, the rear end bearing seat 10 and the rear end torque and speed sensor 11 are connected through a coupling, and the rear end torque and speed sensor 11 and the rear end load servo motor 14 are connected through a coupling.

[0026] Specifically, during the rated parameter measurement test, the joint module is controlled to operate in the speed mode, and the rear-end load servo motor 14 is controlled to load, and the measurement data of the rear-end torque speed sensor 11 and the test data of the power analyzer are read; during the transmission efficiency test, the joint module is controlled to operate in the speed mode, and the rear-end load servo motor 14 is controlled to load, the measurement data of the rear-end torque speed sensor 11 and the test data of the power analyzer are read, and the electric power is calculated, and the efficiency of the joint module is obtained by comparing the mechanical power with the electric power; during the speed-increasing starting torque test, the joint module motor is in a disconnected state, the rear-end load servo motor 14 is controlled to operate in the torque mode, and the rear-end load servo motor 14 is controlled to gradually increase the force, and the data collected by the rear-end grating 9 is used to determine whether the joint module is driven, and the maximum torque at the moment of driving is the speed-increasing starting torque; during the backlash test, the joint module is twisted by the rear-end load servo motor 14 by adding 3% forward and reverse, and the positive and negative angle difference tested by the rear-end grating 9 is the size of the backlash, and multi-point testing can be performed by driving the rotation angle of the tested joint module.

[0027] Example 2

[0028] See also Figures 1 to 2, this embodiment is further improved on the basis of embodiment 1, specifically, the base 1 is provided with a driving mounting plate 2 and a driving end bottom-layer moving mechanism that drives the driving mounting plate 2 to move along the left-right direction, the driving mounting plate 2 is provided with a driving left-right moving plate 3 and a driving front-back moving plate 18 from right to left in sequence, the driving mounting plate 2 is provided with a driving end top-layer moving mechanism that drives the driving left-right moving plate 3 to move along the left-right direction and a driving end front-back moving mechanism that drives the driving front-back moving plate 18 to move along the front-back direction, the driving moving plate is provided with a driving motor 4 and a driving end torque sensor 5 from right to left and the two are connected by a coupling, the driving front-back moving plate 18 is provided with a driving end bearing seat 6, 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 The torque sensors 5 are connected through a coupling, and the driving end bearing seat 6 and the reducer are connected through a coupling. Specifically, the bottom moving mechanism of the driving end includes a guide rail C arranged on the base 1, and the driving mounting plate 2 can slide left and right along the guide rail C. The driving mounting plate 2 is provided with a screw nut C, and the screw nut is provided with a screw C. The top moving mechanism of the driving end includes a guide rail D arranged on the driving mounting plate 2, and the driving left and right moving plate 3 can slide left and right along the guide rail D. The driving left and right moving plate 3 is provided with a screw nut D, and the screw nut is provided with a screw D. The driving end forward and backward moving mechanism includes a guide rail E arranged on the driving mounting plate 2, and the driving forward and backward moving plate 18 can slide forward and backward along the guide rail E. The driving forward and backward moving plate 18 is provided with a screw nut E, and the screw nut is provided with a screw E.

[0029] Specifically, when conducting a no-load test on the reducer, the reducer is installed on the mounting bracket 8, the drive motor 4 and the drive-end torque sensor 5 are connected through a coupling, the drive-end torque sensor 5 and the drive-end bearing seat 6 are connected through a coupling, the drive-end bearing seat 6 and the input end of the reducer are connected through a coupling, the output end of the reducer and the rear end bearing seat 10 are separated, that is, suspended, the drive motor 4 is controlled to run at a set speed from small to large, and the drive-end torque sensor 5 is used to test the no-load friction loss of the reducer.

[0030] When conducting a transmission error test, the reducer is installed on the mounting bracket 8, the drive motor 4 and the drive end torque sensor 5 are connected through a coupling, the drive end torque sensor 5 and the drive end bearing seat 6 are connected through a coupling, the drive end bearing seat 6 and the input end of the reducer are connected through a coupling, the output end of the reducer and the rear end bearing seat 10 are connected through a coupling, the rear end bearing seat 10 and the rear end torque speed sensor 11 are separated, that is, the coupling and the rear end bearing seat 10 between the two are separated, the drive motor 4 is controlled to run at a speed of 30 to 200 r / min, and the rotation angles of the drive end grating 7 and the rear end grating 9 are tested synchronously. The angle / speed ratio of the drive end grating 7 and the rotation angle of the rear end grating 9 are the difference between the reducer and the real-time value of the transmission error. The difference between the maximum and minimum values ​​of the real-time transmission error corresponding to 0 to 360° at the output end is the transmission error value of the reducer.

[0031] When the return error test is carried out, the connection method is the same as the transmission error test. The difference between the angle / speed ratio of the driving end grating 7 and the rotation angle of the rear end grating 9 is the reducer, which is the real-time value of the transmission error. When the output end rotates more than 360°, the driving end rotates in the opposite direction. The transmission error of the point in the reverse direction is obtained by recording the output end angle 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 is the return error of the point, and the corresponding curve of 0 to 360° at the output end is used to represent it.

[0032] Example 3

[0033] See also Figures 1 to 2 This embodiment is further improved on the basis of Embodiment 2. Specifically, a motor bracket 20 for mounting the motor 19 to be tested is provided on the driving forward and backward moving plate 18. The motor bracket 20 is located at the front end of the driving end bearing seat 6. The driving end forward and backward moving mechanism drives the motor bracket 20 to move, so that the input end of the motor 19 to be tested and the driving end torque sensor 5 are aligned, which facilitates the connection between the input end of the motor 19 to be tested and the driving end torque sensor 5 through a coupling.

[0034] Preferably, positioning blocks are provided at both the front and rear ends of the driving front and rear moving plate 18. 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 and the driving end torque sensor 5 are aligned. 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 19 to be tested and the driving end torque sensor 5 are aligned, which facilitates the positioning of the driving end bearing seat 6 and the motor 19 to be tested.

[0035] Example 4

[0036] See also Figures 1 to 2 This embodiment is further improved on the basis of the embodiment 1, specifically, a joint module impact testing mechanism is provided on the load moving plate 15.

[0037] Example 5

[0038] See also Figures 1 to 2 This embodiment is further improved on the basis of Embodiment 4. Specifically, the joint module impact test mechanism includes a load block 12 arranged on a load moving plate 15, and a load arm 13 is radially arranged on the output shaft of the rear end load servo motor 14. The load block 12 is located on the circumference where the end of the load arm 13 is located. The load moving plate 15 is provided with a pushing mechanism for driving the load block 12 to move along the left and right directions. Specifically, when the instantaneous impact test of the joint module is performed, the specific connection method is the same as that of the tooth clearance test. In addition, the pushing mechanism pushes the load block 12 to move so that the load block 12 is located on the circumference where the end of the load arm 13 is located. When the load arm 13 rotates, the load block 12 and the load arm 13 will collide to simulate the instantaneous impact force received by the joint module when it falls to the ground, test the magnitude of the impact force, and after the instantaneous impact test, perform no-load and load operations to test whether the joint module operates well.

[0039] Example 6

[0040] See also Figures 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 the output end of the pushing cylinder 17 is connected to the load stopper 12 .

Claims

1. The three-in-one comprehensive performance test bench of humanoid robot is characterized by: The invention comprises a base (1), wherein a load mounting plate (16) and a mounting bracket (8) for mounting a joint module or a reducer are sequentially arranged on the base (1) from left to right, wherein a load end bottom moving mechanism for driving the load mounting plate (16) to move in the left-right direction is arranged on the base (1), wherein a load moving plate (15) and a rear end bearing seat (10) are sequentially arranged on the load mounting plate (16) from left to right, wherein a load end top moving mechanism for driving the load moving plate (15) to move in the left-right direction is arranged on the load mounting plate (16), wherein a rear end load servo motor (14) and a rear end torque speed sensor (11) are sequentially arranged on the load moving plate (15) from left to right, wherein the rear end load servo motor (14) and the rear end torque speed sensor (11) are connected via a coupling, wherein the rear end torque speed sensor (11) and the bearing seat are connected via a coupling, wherein a rear end grating (9) is arranged at the right end of the rear end bearing seat (10), and wherein the rear end bearing seat (10) and the joint module are connected via a coupling; The base (1) is provided with a driving mounting plate (2) and a driving end bottom moving mechanism for driving the driving mounting plate (2) to move in the left-right direction; the driving mounting plate (2) is provided with a driving left-right moving plate (3) and a driving front-back moving plate (18) in sequence from right to left; the driving mounting plate (2) is provided with a driving end top moving mechanism for driving the driving left-right moving plate (3) to move in the left-right direction and a driving end front-back moving mechanism for driving the driving 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 the two are connected via a coupling; the driving front-back moving plate (18) is provided with a driving end bearing seat (6); 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 via a coupling; and the driving end bearing seat (6) and the reducer are connected via a coupling; The driving front and rear movable plate (18) is provided with a motor bracket (20) for mounting the motor to be tested (19), and the motor bracket (20) is located at the front end of the driving end bearing seat (6); The front and rear ends of the driving front and rear moving plate (18) are both provided with positioning blocks, and when the driving front and rear moving plate (18) is attached to the front end positioning block, the driving end bearing seat (6) and the driving end torque sensor (5) are aligned, and when the driving front and rear moving plate (18) is attached to the rear end positioning block, the input end of the motor to be tested (19) and the driving end torque sensor (5) are aligned; The load mounting plate (16), the mounting bracket (8) and the drive mounting plate (2) are arranged in sequence on the base (1).

2. The three-in-one comprehensive performance test bench for humanoid robots according to claim 1 is characterized in that: The load moving plate (15) is provided with a joint module impact testing mechanism.

3. The three-in-one comprehensive performance test bench for humanoid robots according to claim 2 is characterized in that: The joint module impact test mechanism comprises a load stopper (12) arranged on a load moving plate (15); a load arm (13) is radially arranged on the output shaft of the rear end load servo motor (14); the load stopper (12) is located on the circumference of the end of the load arm (13); and a driving mechanism is arranged on the load moving plate (15) for driving the load stopper (12) to move in the left and right directions.

4. The three-in-one comprehensive performance test bench for humanoid robots according to claim 3 is characterized in that: The pushing mechanism comprises a pushing cylinder (17) arranged on a load moving plate (15), and an output end of the pushing cylinder (17) is connected to a load stopper (12).

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