Robot frame, robot and testing device for robot frame

Abstract

The present application relates to a robot frame, a robot and a test device for the robot frame. In the robot frame, the upper body frame is arranged with leg structures in pairs. In one leg structure, the first motor and the second motor are arranged in parallel on the upper body frame, the first motor can drive the first support rod to move, and the second motor can drive the second support rod to move, thereby driving the sole connected to the first support rod and the second support rod to move. The leg structure can realize the movement of the robot with fewer motors, and the mass of the whole machine is small. The upper body frame adjusts the moment of inertia through a moment of inertia adjustment mechanism. The control motor of the moment of inertia adjustment mechanism is installed on the upper body frame and can drive the balance bar to rotate. After adjusting the installation position of the counterweight body relative to the balance bar, the control motor drives the balance bar to rotate, so that the predetermined moment of inertia can be achieved on the upper body frame, and the posture of the robot during movement can be conveniently adjusted, which can shorten the cycle of experimental verification of the robot's motion stability.

Description

Technical Field

[0001] The present application belongs to the technical field of bionic robots, and in particular, relates to a robot frame, a robot, and a testing device for the robot frame. Background Art

[0002] In the prior art, some robots can walk or crawl, and some robots can jump like locusts, frogs or kangaroos. These robots are all bionic motion structures. However, the existing bipedal robots have different motors installed at the joints between the upper body and thigh, between the thigh and calf, and between the calf and foot to achieve joint motion, resulting in a large mass of the whole machine. In addition, it is difficult to change the moment of inertia of the robot with the prior art, resulting in a long experimental verification cycle for the robot's motion stability. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a robot frame and a robot to solve the technical problem that different motors are arranged at different leg joints of the prior art bipedal robot, resulting in a large mass of the whole machine.

[0004] An embodiment of the present application provides a robot frame, including an upper body frame and leg structures arranged in pairs on the upper body frame, each of the leg structures including a first motor, a second motor, a first support rod and a second support rod, the first motor and the second motor are arranged in parallel on the upper body frame, the output shaft of the first motor is connected to one end of the first support rod, the output shaft of the second motor is connected to one end of the second support rod, the other end of the first support rod and the other end of the second support rod are connected to each other and serve as soles for contacting a supporting surface, and the first support rod and the second support rod are arranged in a quadrilateral.

[0005] Optionally, the first support rod includes a first rocking arm and a first connecting rod, the output shaft of the first motor is fixed to the first end of the first rocking arm, and the second end of the first rocking arm is pivotally connected to the first end of the first connecting rod;

[0006] The second support rod includes a second rocker and a second connecting rod. The output shaft of the second motor is fixed to the first end of the second rocker. The second end of the second rocker is pivotally connected to the first end of the second connecting rod. The second end of the second connecting rod is pivotally connected to the second end of the first connecting rod.

[0007] Optionally, the second end of the first connecting rod is provided with an elastic body extending along an arc or a circle, and the pivot axis between the second end of the first connecting rod and the second end of the second connecting rod and the axis of the elastic body are collinear.

[0008] Optionally, the upper body frame is provided with a limit frame for limiting the swing range of the first rocker and the second rocker.

[0009] Optionally, the upper body frame is provided with a first support bearing for supporting the output shaft of the first motor, and a second support bearing for supporting the output shaft of the second motor.

[0010] Optionally, the robot frame further comprises a fixing frame provided on the upper frame and having a card slot, and a battery pack detachably mounted in the fixing frame;

[0011] The battery pack includes a base, a cover mounted on the base, a battery body disposed between the base and the cover, a buckle slidably mounted on the cover along a predetermined straight line, and an elastic member for pushing the buckle, wherein the buckle has a pressing portion;

[0012] When the buckle and the slot are aligned, the buckle can be locked in the slot under the pushing action of the elastic member; when the pressing portion is pressed, the elastic member is compressed and the buckle can be detached from the slot.

[0013] Optionally, the number of the card slots is two, and the two card slots are arranged facing each other; the number of the buckles is two, and the two ends of the elastic member are respectively arranged against the two buckles, and the two buckles and the two card slots are respectively arranged.

[0014] Optionally, the upper body frame is box-shaped, and the interior of the upper body frame has an upper installation area and a lower installation area arranged up and down, and the fixing frame is arranged in the lower installation area.

[0015] An embodiment of the present application provides a robot, comprising a shell and the above-mentioned robot frame, wherein the shell is arranged outside the upper body frame.

[0016] The above one or more technical solutions provided by the embodiments of the present application have at least one of the following technical effects: In the robot frame, the upper body frame is arranged with leg structures in pairs. In one leg structure, the first motor and the second motor are arranged in parallel on the upper body frame, the first motor can drive the first support rod to move, and the second motor can drive the second support rod to move, thereby driving the sole connected to the first support rod and the second support rod to move, the sole can provide support, and the leg structure is simple. When the two leg structures cooperate, the first motor and the second motor output different angular displacements, which will enable the two leg structures to achieve movements such as walking forward and backward. In the robot frame and the robot, the leg structure can achieve robot movement with fewer motors, and the mass of the whole machine is small.

[0017] Another object of an embodiment of the present application is to provide a testing device for a robot frame to solve the technical problem that it is difficult to change the rotational inertia of the robot in the prior art.

[0018] An embodiment of the present application provides a testing device for a robot frame, including a moment of inertia adjustment mechanism and the above-mentioned robot frame, wherein the moment of inertia adjustment mechanism is used to adjust the moment of inertia of the upper body frame, and the moment of inertia adjustment mechanism includes a control motor arranged on the upper body frame, a balance bar driven to rotate by the control motor, and a counterweight body installed on the balance bar with an adjustable position.

[0019] Optionally, it comprises a rod seat having a vertical rod, and a limiting mechanism for limiting the movement of the robot frame around the axis of the vertical rod;

[0020] The first end of the limiting mechanism is sleeved on the vertical rod, so that the first end of the limiting mechanism can move up and down relative to the vertical rod and can rotate around the axis of the vertical rod;

[0021] The second end of the limiting mechanism is pivotally connected to the upper body frame, and the pivot axis between the second end of the limiting mechanism and the upper body frame is parallel to the rotation axis of the balance bar.

[0022] Optionally, the limiting mechanism includes a sleeve, a connecting rod and a rotating shaft; the sleeve serves as the first end of the limiting mechanism; the two ends of the connecting rod are respectively pivoted to the sleeve and the rotating shaft, and the pivot axis between the connecting rod and the sleeve is parallel to the pivot axis between the connecting rod and the rotating shaft; the rotating shaft serves as the second end of the limiting mechanism.

[0023] Optionally, the rotating shaft includes an axial rod rotatably mounted on the upper body frame and a connecting arm connected to one end of the axial rod, the number of the connecting rods is two, one end of the two connecting rods is arranged at intervals and pivotally connected to the connecting arm, the other ends of the two connecting rods are arranged at intervals and pivotally connected to the sleeve, and the connecting arm, the two connecting rods and the sleeve constitute a parallel four-bar mechanism;

[0024] Alternatively, the number of the connecting rod is one.

[0025] Optionally, the limiting mechanism is arranged on the same side as one of the leg structures, and the balancing rod is arranged on the same side as the other leg structure.

[0026] Optionally, the upper body frame is provided with a lifting ear for cooperating with a lifting hook.

[0027] The above one or more technical solutions in the test device of the robot frame provided in the embodiment of the present application have at least one of the following technical effects: the robot frame realizes movement through the leg structure, and the upper body frame adjusts the moment of inertia through the moment of inertia adjustment mechanism. The control motor of the moment of inertia adjustment mechanism is installed on the upper body frame and can drive the balance bar to rotate. After adjusting the installation position of the counterweight body relative to the balance bar, the control motor drives the balance bar to rotate, so that the predetermined moment of inertia can be achieved on the upper body frame, and the posture of the robot during movement can be conveniently adjusted, which can shorten the cycle of experimental verification of the robot's motion stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0029] Figure 1 A three-dimensional assembly diagram of a robot frame provided in an embodiment of the present application;

[0030] Figure 2 for Figure 1 A three-dimensional assembly diagram of the robot frame when the balance bar is rotated to another position;

[0031] Figure 3 for Figure 1 A schematic diagram of the structure of the robot frame when one of the panels is opened;

[0032] Figure 4 for Figure 1 A three-dimensional exploded view of the robot frame;

[0033] Figure 5 for Figure 1 A three-dimensional exploded view of the leg structure in the robot frame;

[0034] Figure 6 A three-dimensional assembly diagram of a test device for a robot frame provided in an embodiment of the present application;

[0035] Figure 7 for Figure 2 Another angle of the robot frame three-dimensional assembly diagram;

[0036] Figure 8 for Figure 4 A three-dimensional exploded view of the fixed frame and battery pack in the robot frame;

[0037] Fig. 9 for Figure 8A further exploded perspective view of a fixed frame and a battery pack in a robot frame;

[0038] Fig.10 for Figure 1 Device circuit diagram of the robot rack. DETAILED DESCRIPTION

[0039] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] In the description of the embodiments of the present application, it needs to be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0042] In the embodiments of the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0043] See also Figures 1 to 5The embodiment of the present application provides a robot frame 100, which includes an upper body frame 110 and leg structures 120 arranged in pairs on the upper body frame 110 at intervals, each leg structure 120 includes a first motor 121, a second motor 122, a first support rod 120a and a second support rod 120b, the first motor 121 and the second motor 122 are arranged in parallel on the upper body frame 110, the output shaft of the first motor 121 is connected to one end of the first support rod 120a, the output shaft of the second motor 122 is connected to one end of the second support rod 120b, the other end of the first support rod 120a and the other end of the second support rod 120b are connected to each other and serve as the sole for contacting the support surface, and the first support rod 120a and the second support rod 120b are arranged in a quadrilateral.

[0044] Among them, the first support rod 120a and the second support rod 120b are arranged in a quadrilateral, which means that the center line of the first support rod 120a and the extension line of the end of the first support rod 120a close to the first motor 121, the center line of the second support rod 120b and the extension line of the end of the second support rod 120b close to the second motor 122 can form a quadrilateral.

[0045] Compared with the related art, the robot frame 100 provided by the present application has a pair of leg structures 120 arranged at intervals on the upper body frame 110. In one leg structure 120, the first motor 121 and the second motor 122 are arranged in parallel on the upper body frame 110, the first motor 121 can drive the first support rod 120a to move, and the second motor 122 can drive the second support rod 120b to move, thereby driving the sole of the foot connected to the first support rod 120a and the second support rod 120b to move, and the sole of the foot can provide support, and the leg structure 120 is simple. When the two leg structures 120 cooperate, the first motor 121 and the second motor 122 output different angular displacements, which will enable the two leg structures 120 to achieve movements such as walking forward and backward. The leg structure 120 of the robot frame 100 can realize the movement of the robot with fewer motors, and the mass of the whole machine is small.

[0046] In another embodiment of the present application, please refer to Figure 2 , Figure 4 , Figure 5The first support rod 120a includes a first rocker 123 and a first connecting rod 124, the output shaft of the first motor 121 is fixed to the first end 123a of the first rocker 123, and the second end 123b of the first rocker 123 is pivoted to the first end 124a of the first connecting rod 124; the second support rod 120b includes a second rocker 125 and a second connecting rod 126, the output shaft of the second motor 122 is fixed to the first end 125a of the second rocker 125, the second end 125b of the second rocker 125 is pivoted to the first end 126a of the second connecting rod 126, and the second end 126b of the second connecting rod 126 is pivoted to the second end 124b of the first connecting rod 124. The first motor 121 and the second motor 122 can be force-controlled quasi-direct drive motors, which can make the robot more stable when walking or jumping. The first motor 121 can drive the first rocker 123 to swing to drive the first connecting rod 124, and the second motor 122 can drive the second rocker 125 to swing to drive the second connecting rod 126, thereby driving the point-shaped sole movement, the sole can provide sufficient support, and the leg structure 120 is simple. When the two leg structures 120 cooperate, the first motor 121 and the second motor 122 output different angular displacements, which will make the two leg structures 120 in different motion modes, such as walking or jumping. When the robot frame 100 walks or jumps, the moment of inertia can be adjusted through the moment of inertia adjustment mechanism 130, so as to achieve the posture adjustment of the robot during movement, which is convenient for experimental verification of the robot.

[0047] In another embodiment of the present application, please refer to Figure 1 , Figure 5 , the second end 124b of the first connecting rod 124 is provided with an elastic body 127 extending along an arc or a circle, and the pivot axis between the second end 124b of the first connecting rod 124 and the second end 126b of the second connecting rod 126 and the axis of the elastic body 127 are collinear. By providing the elastic body 127 extending in an arc or a circle at the bottom of the foot, when the first connecting rod 124 swings to any position during the movement of the robot, the elastic body 127 and the supporting surface remain in contact, effectively protecting the second end 124b of the first connecting rod 124, and reducing the damage of the supporting surface to the second end 124b of the first connecting rod 124. Among them, the elastic body 127 can be a rubber piece. The elastic body 127 can be installed on the second end 124b of the first connecting rod 124 by fasteners or other methods.

[0048] In the robot, two leg structures 120 are arranged on the left and right sides of the upper body frame 110, respectively. In the front-to-back direction of the robot, the front side and the rear side of the upper body frame 110 are formed, respectively. In one leg structure 120, the first motor 121 and the second motor 122 are arranged on the upper body frame 110 along the front-to-back direction of the upper body frame 110, that is, the first motor 121 is arranged close to the front side of the upper body frame 110, and the second motor 122 is arranged close to the rear side of the upper body frame 110. The first motor 121 and the second motor 122 are arranged adjacent to each other, making the structure compact.

[0049] The robot takes a standing state as its initial state. For a leg structure 120, the first rocker arm 123 and the second rocker arm 125 are staggered at a predetermined angle, and the first connecting rod 124 and the second connecting rod 126 are also staggered at a predetermined angle. The first motor 121 and the second motor 122 output appropriate torque to maintain the first rocker arm 123, the second rocker arm 125, the first connecting rod 124 and the second connecting rod 126 in predetermined positions, and the soles of the leg structures 120 arranged in pairs are supported on the ground, thereby maintaining the robot in a stable standing state.

[0050] In order to realize the robot jumping, standing or squatting, the first motor 121 and the second motor 122 in the leg structure 120 arranged in pairs output reverse rotation. For example, the first motor 121 drives the first rocker 123 to swing toward the front side of the robot, the second motor 122 drives the second rocker 125 to swing toward the back side of the robot, the first connecting rod 124 and the second connecting rod 126 follow the movement, and the upper body frame 110 will move down to realize the squatting action. On the contrary, the first motor 121 drives the first rocker 123 to swing toward the back side, the second motor 122 drives the second rocker 125 to swing toward the front side, the first connecting rod 124 and the second connecting rod 126 follow the movement, and the upper body frame 110 will move up to realize the standing or jumping action. The two motors in each leg structure 120 are driven to jump at the same time. After the robot frame 100 lands, the four motors are subjected to force at the same time, the impact force is shared, and the motor is effectively protected.

[0051] In order to enable the robot to walk forward and backward, the leg structures 120 arranged in pairs move successively, one of the leg structures 120 serves as a supporting leg, and the first motor 121 and the second motor 122 in the other leg structure 120 output rotations in the same direction but at different speeds to enable the leg structure 120 to take a step, and the two leg structures 120 move alternately to achieve walking. For example, the left leg structure 120 is first used as a supporting leg, the first motor 121 in the right leg structure 120 drives the first rocker 123 to swing toward the front of the robot, and the second motor 122 drives the second rocker 125 to swing toward the front, and the swinging speed of the first rocker 123 is greater than the swinging speed of the second rocker 125. At this time, the right leg structure 120 will step toward the front of the robot, and then the sole of the right leg structure 120 will land steadily on the ground; then, with the right leg structure 120 as a supporting leg, the left leg structure 120 similarly steps forward, and then the sole of the left leg structure 120 will land steadily on the ground; the two leg structures 120 move alternately in sequence to enable the robot to walk forward. It can be understood that the first motor 121 and the second motor 122 in the same leg structure 120 respectively drive the first rocker arm 123 and the second rocker arm 125 to swing toward the rear side of the robot, and make the swing speed of the second rocker arm 125 greater than the swing speed of the first rocker arm 123, which will cause the leg structure 120 to step backward, and the two leg structures 120 move alternately to achieve backward walking.

[0052] When assembling the first rocker arm 123, the first connecting rod 124, the second rocker arm 125 and the second connecting rod 126, the pivot axis between the first rocker arm 123 and the first connecting rod 124, the pivot axis between the second rocker arm 125 and the second connecting rod 126, and the pivot axis between the first connecting rod 124 and the second connecting rod 126 are parallel to each other, so that it is convenient for the first motor 121 to drive the first rocker arm 123 to swing to drive the first connecting rod 124, and the second motor 122 to drive the second rocker arm 125 to swing to drive the second connecting rod 126, thereby driving the sole movement. The above-mentioned pivot positions can be pivoted by means of pivot shafts and pivot holes. In addition, bearings can be set between each pivot shaft and pivot hole to achieve smooth rotation assembly of the two structural parts. For example, refer to Figure 5 One end of the first rocker 123 is provided with a pivot hole 1231 , and one end of the first connecting rod 124 is provided with a pivot shaft 1241 , and the pivot shaft 1241 is supported in the pivot hole 1231 through a bearing 1232 .

[0053] See also Figure 4In order to make the robot easier to assemble and control, the paired leg structures 120 can be symmetrically arranged on the upper body frame 110, so that the output shaft axes of the first motors 121 in the leg structures 120 on both sides are parallel to each other, so that the output shaft axes of the first motors 121 and the output shaft axes of the second motors 122 in the leg structures 120 on both sides are parallel to each other. Due to the symmetrical structure of the robot, the robot can easily maintain a dynamic balance during movement.

[0054] The leg structure 120 adopts a diamond-shaped leg and a dotted sole mainly composed of a first rocker 123, a first connecting rod 124, a second rocker 125, and a second connecting rod 126. The robot frame 100 can walk or jump, and can also walk on uneven roads, thereby improving the robot's terrain adaptability, expanding the robot's range of activities and reducing energy consumption. The robot can move in complex terrain with obstacles or ditches, or even in dangerous situations. It has broad application prospects in geological exploration, disaster relief, military reconnaissance, archaeological exploration and other activities, and has a good inspiration for improving the current slow movement methods such as walking or crawling.

[0055] In another embodiment of the present application, please refer to Figure 2 , Figure 5 The upper body frame 110 is provided with a first support bearing 1211 for supporting the output shaft of the first motor 121, and a second support bearing 1221 for supporting the output shaft of the second motor 122. By providing a support bearing to support the output shaft of the motor, the motor can be effectively protected. When the robot frame 100 jumps and lands, the impact force on the sole of the leg structure 120 is transmitted to the output shaft of the motor, and most of the radial impact force is borne by the support bearing, thereby reducing the damage to the output shaft of the motor and improving reliability. During assembly, the outer ring of the support bearing can be fixed to the outside of the upper body frame 110 by fasteners.

[0056] In another embodiment of the present application, please refer to Figure 2 , Figure 4 The upper body frame 110 is provided with a limit frame 128 for limiting the swing range of the first rocker 123 and the second rocker 125. When the robot frame 100 is in a standing state, the first rocker 123 and the second rocker 125 can be supported on the limit frame 128 under the action of gravity to limit the initial state of the first rocker 123 and the second rocker 125, so as to facilitate the resetting of the leg structure 120. The limit frames 128 are arranged in pairs on the upper body frame 110, and the two limit frames 128 and the two leg structures 120 are arranged one by one to limit the positions of the two leg structures 120.

[0057] In another embodiment of the present application, please refer to Figure 3 , Figure 8 , Fig. 9The robot frame 100 further includes a fixing frame 150 provided on the upper frame 110 and having a card slot 151, and a battery pack 160 detachably installed in the fixing frame 150; the battery pack 160 includes a base 161, a cover 162 installed on the base 161, a battery body 163 provided between the base 161 and the cover 162, a buckle 164 slidably installed on the cover 162 along a predetermined straight line, and an elastic member 165 for pushing up the buckle 164, the buckle 164 having a pressing portion 1641; when the buckle 164 and the card slot 151 are aligned, the buckle 164 can be stuck in the card slot 151 under the pushing action of the elastic member 165; when the pressing portion 1641 is pressed, the elastic member 165 is compressed, and the buckle 164 can be separated from the card slot 151. This solution facilitates the assembly and protection of the battery body 163. The elastic member 165 can be an elastic structure such as a compression spring or a spring. When assembling the battery pack 160, first place the battery body 163 on the base 161, and then install the cover 162 on the base 161, so that the battery body 163 is located between the base 161 and the cover 162. Among them, the cover 162 and the base 161 can be connected by fasteners. The buckle 164 is slidably installed in the linear slide 1621 of the cover 162, and the elastic member 165 keeps the buckle 164 pushed up. The linear slide 1621 of the cover 162 has an opening 1621a. After the buckle 164 and the elastic member 165 are installed into the linear slide 1621 through the opening 1621a, a cover plate 1622 can be set at the opening 1621a so that the buckle 164 and the elastic member 165 are kept in the linear slide 1621. When the battery pack 160 is assembled into the fixing frame 150, the battery pack 160 can be pushed into the fixing frame 150 from one end thereof until the buckle 164 is aligned with the slot 151 of the fixing frame 150, and the elastic member 165 pushes the buckle 164 to make the buckle 164 snap into the slot 151, so that the battery pack 160 can be confined in the fixing frame 150 (e.g. Figure 4 When the battery pack 160 needs to be taken out, the buckle 164 is disengaged from the card slot 151 by pressing the portion 1641, and the battery pack 160 can be pulled out of the fixing frame 150. The assembly and disassembly operations are convenient, and the connection between the battery pack 160 and the fixing frame 150 is reliable.

[0058] When setting the buckle 164, the buckle 164 can be provided with a guide surface 1642, such as a slope or an arc surface. In the process of pushing the battery pack 160 from one end of the fixed frame 150 into the interior of the fixed frame 150, when the guide surface 1642 of the buckle 164 contacts the predetermined area of ​​the fixed frame 150, the fixed frame 150 will push the buckle 164 to compress the elastic member 165 to store energy until the buckle 164 and the slot 151 are aligned, and the elastic member 165 stretches to release energy, so that the buckle 164 is snapped into the slot 151, and the assembly operation is convenient.

[0059] In another embodiment of the present application, please refer to Fig. 9 , the number of the slots 151 is two, and the two slots 151 are arranged facing each other; the number of the buckles 164 is two, and the two ends of the elastic member 165 are arranged against the two buckles 164 in a one-to-one correspondence, and the two buckles 164 and the two slots 151 are arranged in a one-to-one correspondence. This solution can reliably assemble the battery pack 160 in the fixed frame 150, reducing the possibility that the battery pack 160 will be separated from the fixed frame 150 during the movement of the robot frame 100.

[0060] In another embodiment of the present application, please refer to Figure 1 , Figure 3 , Figure 4 The upper body frame 110 is box-shaped, and the interior of the upper body frame 110 has an upper installation area 110a and a lower installation area 110b arranged up and down, and the fixing frame 150 is provided in the lower installation area 110b. This scheme facilitates the arrangement of different devices in the upper body frame 110. The box-shaped upper body frame 110 can be assembled by a plurality of panels 111, and adjacent panels 111 can be connected by fasteners. The panels on the front side of the upper body frame 110 can be set in the form of movable doors, which is convenient for assembling and maintaining various internal devices. An intermediate plate 112 is arranged horizontally in the middle of the upper body frame 110 to divide the upper installation area 110a and the lower installation area 110b. The first motor 121 and the second motor 122 of the two leg structures 120, the fixed frame 150 and the battery pack 160 are arranged in the lower installation area 110b. The upper and lower ends of the fixed frame 150 are respectively fixed to the middle plate 112 and the bottom plate 113 of the upper body frame 110. The fixed frame 150 is located between the motors of the two leg structures 120. This configuration is compact.

[0061] Combination Fig.10 , the control motor 131, inertial measurement unit 171 (IMU), DC converter 172, fan 173, main controller 174, laser radar (not shown) and the like in the moment of inertia adjustment mechanism 130 described below can be arranged in the upper installation area 110a to facilitate the assembly of different devices. Among them, IMU is used to test the attitude and angular velocity. The DC power output by the battery body 163 is converted into low-voltage power by the DC converter 172, and supplies power to the main controller 174, IMU 171 and fan 173. The battery body 163 supplies power to the first motor 121 and the second motor 122, and controls the working state of the motor through the emergency stop switch 175. The main controller 174 is electrically connected to the first motor 121 and the second motor 122 to drive the first motor 121 and the second motor 122 to work. The main controller 174 can be equipped with a remote controller 176 to facilitate remote control of the robot. Each device can be installed at a predetermined position of the upper body frame 110 through fasteners.

[0062] The embodiment of the present application provides a robot, including a shell (not shown) and the above-mentioned robot frame 100, wherein the shell is arranged outside the upper body frame. The shell serves as the appearance shell of the robot and has a certain shape. The shell can be installed outside the upper body frame 110 of the robot frame 100 by fasteners or other mechanical connection methods. Since the present robot adopts all the technical solutions of all the above-mentioned embodiments, it also has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one.

[0063] An embodiment of the present application provides a testing device for a robot frame 100, including a moment of inertia adjustment mechanism 130 and the above-mentioned robot frame 100, the moment of inertia adjustment mechanism 130 is used to adjust the moment of inertia of the upper body frame 110, the moment of inertia adjustment mechanism 130 includes a control motor 131 arranged on the upper body frame 110, a balance rod 132 driven to rotate by the control motor 131, and a counterweight body 133 installed on the balance rod 132 with an adjustable position.

[0064] Compared with the related art, the test device of the robot frame 100 provided in the present application realizes movement through the leg structure 120, and the upper body frame 110 adjusts the moment of inertia through the moment of inertia adjustment mechanism 130. The control motor 131 of the moment of inertia adjustment mechanism 130 is installed on the upper body frame 110 and can drive the balance bar 132 to rotate. After adjusting the installation position of the counterweight body 133 relative to the balance bar 132, the control motor 131 drives the balance bar 132 to rotate, so that the predetermined moment of inertia can be achieved on the upper body frame 110, and the posture of the robot during movement can be conveniently adjusted, which can shorten the cycle of the robot motion stability experimental verification.

[0065] When setting the balance bar 132, the output shaft axis 121a of the first motor 121, the output shaft axis 122a of the second motor 122 and the rotation axis 132a of the balance bar 132 are parallel to each other, so that the moment of inertia adjustment mechanism 130 can adjust the moment of inertia of the upper body frame 110 around the left and right axis.

[0066] When configuring the balance bar 132 and the counterweight 133, multiple counterweights 133 of the same or different masses, such as 50g, 100g, 200g, etc., can be selectively configured at both ends of the balance bar 132. This makes it easy to select a suitable counterweight 133 and assemble it to a suitable position on the balance bar 132. When the control motor 131 drives the balance bar 132 to rotate, the predetermined rotational inertia can be achieved.

[0067] There are different ways to assemble the balance bar 132 and the counterweight 133. For example, the balance bar 132 and the counterweight 133 are connected by fasteners. The counterweight 133 has a first mounting hole, and a plurality of second mounting holes are arranged in the length direction of the balance bar 132. After adjusting the position of the counterweight 133, the counterweight 133 is fixed at a predetermined position of the balance bar 132 by fasteners inserted through the first mounting hole and the second mounting hole. For another example, the counterweight and the balance bar are connected by a buckle and a slot. The counterweight is provided with a buckle, and the balance bar is provided with a plurality of slots along the length direction. The buckle of the counterweight is selectively snapped into one of the slots, so that the counterweight can be fixed at a predetermined position of the balance bar as required.

[0068] When connecting the control motor 131 and the balance bar 132, an adapter 134 is provided on the output shaft of the control motor 131, and the balance bar 132 is mounted on the adapter 134, so that it is convenient to connect the control motor 131 and the balance bar 132. The output shaft of the control motor 131 and the adapter 134, and the adapter 134 and the balance bar 132 can be connected by fasteners.

[0069] In another embodiment of the present application, please refer to Figure 6 The test device of the robot frame includes a rod base 200 having a vertical rod 201, and a limiting mechanism 210 for limiting the robot frame 100 to move around the axis 201a of the vertical rod 201. The first end 210a of the limiting mechanism 210 is sleeved on the vertical rod 201, so that the first end 210a of the limiting mechanism 210 can move up and down relative to the vertical rod 201 and can rotate around the axis 201a of the vertical rod 201. The second end 210b of the limiting mechanism 210 is pivotally connected to the upper body frame 110, and the pivot axis 210c between the second end 210b of the limiting mechanism 210 and the upper body frame 110 is parallel to the rotation axis 132a of the balance bar 132. When the robot frame 100 moves forward and backward, the limiting mechanism 210 limits the robot frame 100 to walk or jump along a predetermined circular path, which is convenient for observing the movement posture of the robot frame 100 and conducting experimental verification of the robot movement stability.

[0070] In another embodiment of the present application, please refer to Figure 6 , Figure 7The limiting mechanism 210 includes a sleeve 211, a connecting rod 212 and a rotating shaft 213; the sleeve 211 serves as the first end 210a of the limiting mechanism 210; the two ends of the connecting rod 212 are pivotally connected to the sleeve 211 and the rotating shaft 213, respectively, and the pivot axis between the connecting rod 212 and the sleeve 211 and the pivot axis between the connecting rod 212 and the rotating shaft 213 are parallel to each other; the rotating shaft 213 serves as the second end 210b of the limiting mechanism 210. By configuring the limiting mechanism 210 with the sleeve 211, the connecting rod 212 and the rotating shaft 213, the robot frame 100 is kept walking or jumping within a predetermined circle, and the range of motion of the robot frame 100 is effectively limited. The length of the connecting rod 212 determines the radius of the circular motion of the robot frame 100. In addition, the vertical pole 201, the limiting mechanism 210 and the robot frame 100 are easy to assemble. Combined with Figure 4 When the rotating shaft 213 and the upper body frame 110 are assembled, the upper body frame 110 is provided with a support 141, and the rotating shaft 213 is rotatably mounted on the support 141.

[0071] In another embodiment of the present application, please refer to Figure 6 The rotating shaft 213 includes a shaft rod 2131 rotatably mounted on the upper body frame 110 and a connecting arm 2132 connected to one end of the shaft rod 2131. The number of connecting rods 212 is two. One end of the two connecting rods 212 is arranged at intervals and pivoted to the connecting arm 2132. The other ends of the two connecting rods 212 are arranged at intervals and pivoted to the sleeve 211. The connecting arm 2132, the two connecting rods 212 and the sleeve 211 constitute a parallel four-bar mechanism. When the robot frame 100 performs circular motion, the parallel four-bar mechanism can adapt to different postures of the robot frame 100, so that the robot frame 100 keeps moving on a predetermined circular path. In addition, the shaft rod 2131 and the connecting arm 2132 are detachably connected. When it is necessary to examine the forward and backward movement of the robot frame 100, the shaft rod 2131 and the connecting arm 2132 are separated, and the robot frame 100 separates the connecting rod 212. When it is necessary to examine the circular motion of the robot frame 100 , the shaft rod 2131 and the connecting arm 2132 are fixedly connected.

[0072] In another embodiment of the present application, the number of connecting rods is one. When the robot frame makes a circular motion, a single connecting rod can adapt to different postures of the robot frame, so that the robot frame keeps moving on a predetermined circular path. In addition, the connecting rod and the rotating shaft are detachably connected. When it is necessary to examine the forward and backward movement of the robot frame, the connecting rod and the rotating shaft are separated, and the robot frame is separated from the connecting rod. When it is necessary to examine the circular motion of the robot frame, the connecting rod can be pivotally connected to the rotating shaft.

[0073] In another embodiment of the present application, please refer to Figure 6The limiting mechanism 210 is arranged on the same side as one of the leg structures 120, and the balancing rod 132 is arranged on the same side as the other leg structure 120. The limiting mechanism 210 and the balancing rod 132 are arranged on the left and right sides of the upper body frame 110 respectively, which effectively avoids interference between the limiting mechanism 210 and the balancing rod 132 during movement, thereby improving reliability.

[0074] In another embodiment of the present application, please refer to Figure 1 The upper body frame 110 is provided with a lifting lug 140 for cooperating with the lifting hook. When the robot frame 100 needs to be tested on a treadmill, the upper body frame 110 is lifted to a predetermined height position by cooperating with the lifting lug 140 of the upper body frame 110 through the hook of the gantry frame, and the robot motion test can be performed on the treadmill. By configuring a plurality of lifting lugs 140 on the upper body frame 110 and cooperating with a plurality of lifting hooks one by one, the upper body frame 110 can be lifted reliably and stably.

[0075] The present application provides a more flexible and more fully functional robot frame for the research and testing phase, which meets the stability test of three types of motion, namely, circular motion of walking or jumping during the test, jumping motion with adjustable posture in the air with a balance bar, and lifting the robot frame to move on a treadmill. The three states can be flexibly switched, which increases more possibilities and improves test efficiency.

[0076] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A testing device for a robot frame, characterized in that: It includes a rotation inertia adjustment mechanism and a robot frame; The robot frame includes an upper body frame and leg structures arranged in pairs on the upper body frame at intervals, each of the leg structures includes a first motor, a second motor, a first support rod and a second support rod, the first motor and the second motor are arranged in parallel on the upper body frame, the output shaft of the first motor is connected to one end of the first support rod, the output shaft of the second motor is connected to one end of the second support rod, the other end of the first support rod and the other end of the second support rod are connected to each other and serve as the sole for contacting with the support surface, the sole is in a point shape, and the first support rod and the second support rod are arranged in a quadrilateral; The moment of inertia adjustment mechanism is used to adjust the moment of inertia of the upper body frame, and the moment of inertia adjustment mechanism includes a control motor provided on the upper body frame, a balance bar driven to rotate by the control motor, and a counterweight body installed on the balance bar in an adjustable position; The testing device of the robot frame comprises a rod seat having a vertical rod, and a limiting mechanism for limiting the movement of the robot frame around the axis of the vertical rod; the first end of the limiting mechanism is sleeved on the vertical rod, so that the first end of the limiting mechanism can move up and down relative to the vertical rod and can rotate around the axis of the vertical rod; the second end of the limiting mechanism is pivotally connected to the upper body frame, and the pivot axis between the second end of the limiting mechanism and the upper body frame is parallel to the rotation axis of the balance rod; The limiting mechanism includes a sleeve, a connecting rod and a rotating shaft; the sleeve serves as the first end of the limiting mechanism; the two ends of the connecting rod are pivotally connected to the sleeve and the rotating shaft respectively, and the pivot axis between the connecting rod and the sleeve is parallel to the pivot axis between the connecting rod and the rotating shaft; the rotating shaft serves as the second end of the limiting mechanism; the rotating shaft includes an axis rod rotatably mounted on the upper body frame and a connecting arm connected to one end of the axis rod.

2. The robot frame testing device according to claim 1, characterized in that: The number of the connecting rods is two, one end of the two connecting rods is arranged at intervals and is pivotally connected to the connecting arm, and the other ends of the two connecting rods are arranged at intervals and are pivotally connected to the sleeve, and the connecting arm, the two connecting rods and the sleeve constitute a parallel four-bar mechanism; Alternatively, the number of the connecting rod is one.

3. The robot frame testing device according to claim 1, characterized in that: The limiting mechanism is arranged on the same side as one of the leg structures, and the balancing rod is arranged on the same side as the other leg structure.

4. The robot frame testing device according to any one of claims 1 to 3, characterized in that: The upper body frame is provided with a lifting ear for cooperating with the lifting hook.

5. The robot frame testing device according to any one of claims 1 to 3, characterized in that: The first support rod includes a first rocking arm and a first connecting rod, the output shaft of the first motor is fixed to the first end of the first rocking arm, and the second end of the first rocking arm is pivotally connected to the first end of the first connecting rod; The second support rod includes a second rocker and a second connecting rod. The output shaft of the second motor is fixed to the first end of the second rocker. The second end of the second rocker is pivotally connected to the first end of the second connecting rod. The second end of the second connecting rod is pivotally connected to the second end of the first connecting rod.

6. The robot frame testing device according to claim 5, characterized in that: The second end of the first connecting rod is provided with an elastic body extending along an arc or a circle, and the pivot axis between the second end of the first connecting rod and the second end of the second connecting rod is collinear with the axis of the elastic body.

7. The robot frame testing device according to claim 5, characterized in that: The upper body frame is provided with a limiting frame for limiting the swing range of the first rocker and the second rocker.

8. The robot frame testing device according to any one of claims 1 to 3, characterized in that: The upper body frame is provided with a first support bearing for supporting the output shaft of the first motor, and a second support bearing for supporting the output shaft of the second motor.

9. The robot frame testing device according to any one of claims 1 to 3, characterized in that: The robot frame further includes a fixing frame provided on the upper frame and having a card slot, and a battery pack detachably installed in the fixing frame; The battery pack includes a base, a cover mounted on the base, a battery body disposed between the base and the cover, a buckle slidably mounted on the cover along a predetermined straight line, and an elastic member for pushing the buckle, wherein the buckle has a pressing portion; When the buckle and the slot are aligned, the buckle can be locked in the slot under the pushing action of the elastic member; when the pressing portion is pressed, the elastic member is compressed and the buckle can be detached from the slot.

10. The robot frame testing device according to claim 9, characterized in that: The number of the card slots is two, and the two card slots are arranged facing each other; the number of the buckles is two, and the two ends of the elastic member are respectively arranged against the two buckles, and the two buckles and the two card slots are respectively arranged.

11. The robot frame testing device according to claim 9, characterized in that: The upper body frame is box-shaped, and has an upper installation area and a lower installation area arranged up and down inside the upper body frame, and the fixing frame is arranged in the lower installation area.

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