Single-Leg Performance Test Bench for Legged Robot

Abstract

The present invention discloses a single-leg performance test bench for a legged robot, which includes a frame assembly, a counterweight carrier frame assembly, a single-leg mounting frame assembly and a single-leg assembly of the legged robot. Two slide rails are vertically installed on the frame assembly, and the counterweight carrier frame assembly is slidably installed between the two slide rails. The single-leg mounting frame assembly is installed on the counterweight carrier frame assembly, and the single-leg assembly of the legged robot is installed on the single-leg mounting frame assembly. The bottom of the single-leg assembly of the legged robot rests on the ground. The single-leg performance test bench disclosed by the present invention can perform motion control performance tests such as single-leg walking and running for different models of legged robots. It has a simple structure, adjustable counterweight, and requires a small test site, which can lay a foundation for the research and development of high-performance legged robots.

Description

Technical Field

[0001] The present invention relates to the technical field, and particularly to a single-leg performance test bench for a legged robot. Background Art

[0002] The contact between a legged robot and the ground is discrete and does not require continuous path support. Therefore, it has a strong environmental adaptability and can quickly cross complex unstructured road surfaces such as ditches, obstacles, and grasslands. Compared with wheeled robots and tracked robots, legged robots have unique advantages in aspects such as wild exploration, space exploration, disaster relief, resource exploration, and military operations. They can even replace humans to engage in dangerous and complex work, and have great application potential and development prospects.

[0003] With the development of robot technology, the research focus of legged robots has gradually shifted from low-speed static gait motion to high-speed dynamic gait motion, such as running motion. When a legged robot runs at high speed, the leg movement speed increases, and the landing impact also increases significantly. Therefore, higher requirements are put forward for the performance of a single leg. The performance of a single leg of a legged robot directly affects the overall performance of the robot, and further affects the efficiency and safety of the operation of the legged robot. At present, the performance testing of a single leg of a legged robot mainly focuses on simulation and actual field testing of the whole robot. Simulation will ignore many real environmental factors, and there is a certain gap between the simulation results and actual testing; while actual field testing requires high human and material costs and has low efficiency. At the same time, there is a coupling effect between the legs of a legged robot, and it is difficult to optimize the performance of a single leg. Currently, there is a lack of a test platform for semi-industrial test verification of a single leg of a legged robot.

[0004] Therefore, how to design a single-leg performance test bench for a legged robot that can solve the above technical problems is a topic that the inventor of the present invention has painstakingly studied. Summary of the Invention

[0005] The purpose of the present invention is to provide a single-leg performance test bench for a legged robot, which can perform motion control performance tests such as single-leg walking and running for different models of legged robots. It has a simple structure, adjustable counterweight, and requires a small test site, and can lay a foundation for the research and development of high-performance legged robots.

[0006] To achieve the above purpose, the technical solution of the present invention is: a single-leg performance test bench for a legged robot, which includes a frame assembly, a counterweight carrier assembly, a single-leg mounting frame assembly, and a single leg assembly of the legged robot. Two slide rails are vertically installed on the frame assembly, and the counterweight carrier assembly is slidably installed between the two slide rails. The single-leg mounting frame assembly is installed on the counterweight carrier assembly, and the single leg assembly of the legged robot is installed on the single-leg mounting frame assembly. The bottom of the single leg assembly of the legged robot rests on the ground.

[0007] The single-leg performance test bench for the legged robot of the present invention, wherein the frame assembly includes a frame base, a fixed frame, and a plurality of columns arranged between the frame base and the fixed frame. Two slide rails are installed between the frame base and the fixed frame. The two slide rails are located on two opposite faces of the frame assembly. A plurality of first cross beams are arranged between adjacent columns on the plane where the two slide rails are located. A plurality of second cross beams are arranged between adjacent columns on two opposite faces of the frame assembly that are perpendicular to the plane where the two slide rails are located.

[0008] The single-leg performance test bench for the legged robot of the present invention, wherein the frame base is composed of two base cross beams and two base longitudinal beams cross-connected. There are four columns, and the four columns are perpendicularly and fixedly connected to the cross parts of the two base cross beams and the two base longitudinal beams. A first support diagonal rod is provided between the outer end of the column and the corresponding base cross beam. A second support diagonal rod is provided between the outer end of the column and the corresponding base longitudinal beam.

[0009] The single-leg performance test bench for the legged robot of the present invention, wherein a third support diagonal rod is further provided between the column and the corresponding base cross beam. The third support diagonal rod is located in the area surrounded by the column, the base cross beam, and the first support diagonal rod. A first support cross bar is provided between the column and the first support diagonal rod in this area. A fourth support diagonal rod is further provided between the column and the corresponding base longitudinal beam. The fourth support diagonal rod is located in the area surrounded by the column, the base longitudinal beam, and the second support diagonal rod. A second support cross bar is provided between the column and the second support diagonal rod in this area.

[0010] The single-leg performance test bench for the legged robot of the present invention, wherein a reinforcing rib is provided between the second cross beam and the column.

[0011] The single-leg performance test bench for the legged robot of the present invention, wherein the counterweight carrier frame assembly includes a carrier frame with a frame structure. Two sliders are respectively provided on both sides of the carrier frame. The two sliders on each side are slidably arranged on the two guide rails of the slide rail.

[0012] The single-leg performance test bench for the legged robot of the present invention, wherein the single-leg mounting frame assembly includes a mounting frame body. The mounting frame body is mounted on the carrier frame through a connecting piece. First mounting parts and second mounting parts for mounting the single-leg assembly of the legged robot are respectively provided on the upper and lower parts of the mounting frame body.

[0013] The single-leg performance test bench for the legged robot of the present invention, wherein the mounting frame body is a U-shaped plate composed of a mounting frame vertical plate and mounting frame side plates located on both sides of the mounting frame vertical plate, the first mounting portion is arranged at the upper parts of the two mounting frame side plates, and the second mounting portion is arranged at the lower parts of the two mounting frame side plates.

[0014] The single-leg performance test bench for the legged robot of the present invention, wherein the single-leg assembly of the legged robot includes a large arm and a small arm, one end of the large arm is hinged to the small arm, one end of the large arm is hinged to one end of the large-arm hydraulic cylinder, the other end of the large-arm hydraulic cylinder is hinged to the first mounting portion, the other end of the large arm is hinged to the second mounting portion, a small-arm hydraulic cylinder is hinged between the large arm and the small arm, and the other end of the small arm rests on the ground.

[0015] The single-leg performance test bench for the legged robot of the present invention, wherein a first upper pin shaft is vertically connected to the other end of the large-arm hydraulic cylinder, the first mounting portion is provided with an open hinge sleeve, the first upper pin shaft is installed in the first mounting portion, a second upper pin shaft is vertically connected to the other end of the large arm, the second mounting portion is provided with a hinge sleeve, and the second upper pin shaft is installed in the second mounting portion.

[0016] After adopting the above scheme, the single-leg performance test bench for the legged robot of the present invention can perform performance tests such as single-leg walking and running of the legged robot through the structural configuration of the frame assembly, the counterweight bearing frame assembly, the single-leg mounting frame assembly and the single-leg assembly of the legged robot, and at the same time, the load-bearing of the single leg can be changed during the test. Using this test bench can effectively improve the control performance of the single leg of the legged robot, improve the overall performance and development efficiency of the legged robot, and lay a foundation for the research and development of high-performance legged robots. Description of the Drawings

[0017] Figure 1 is a schematic perspective view of the single-leg performance test bench for the legged robot according to an embodiment of the present invention;

[0018] Figure 2 is a schematic perspective view of the frame assembly of the single-leg performance test bench for the legged robot according to an embodiment of the present invention;

[0019] Figure 3 is a schematic perspective view of the counterweight bearing frame assembly of the single-leg performance test bench for the legged robot according to an embodiment of the present invention;

[0020] Figure 4 is a schematic perspective view of the single-leg mounting frame assembly of the single-leg performance test bench for the legged robot according to an embodiment of the present invention;

[0021] Figure 5It is a three-dimensional structural schematic diagram of a single-leg assembly of a legged robot on a single-leg performance test bench of an embodiment of the present invention. Detailed implementation manners

[0022] The present invention will be described below according to the embodiments shown in the drawings. The disclosed embodiments can be considered illustrative in all aspects and are not restrictive. The scope of the present invention is not limited by the description of the following embodiments, but is only indicated by the scope of the claims, and includes all modifications having the same meaning as the scope of the claims and within the scope of the claims.

[0023] The structure of the single-leg performance test bench of the legged robot of the present invention will be described below in conjunction with specific embodiments.

[0024] As Figure 1 shown in the three-dimensional structural schematic diagram of a single-leg performance test bench of an embodiment of the present invention, it includes a frame assembly 1, a counterweight carrier frame assembly 2, a single-leg mounting frame assembly 3 and a single-leg assembly 4 of the legged robot.

[0025] Combined with Figure 2 shown, the frame assembly 1 includes a frame base, a fixed frame 5 and four columns 6 connected between the frame base and the fixed frame 5. The frame base is a cross-shaped structure formed by vertically and cross-connecting two parallel base cross beams 7 and two parallel base longitudinal beams 8. The four columns 6 are vertically and fixedly connected to the cross parts of the two base cross beams 7 and the two base longitudinal beams 8. First support diagonal bars 9 are respectively connected between the outer ends of each column 6 and the corresponding base cross beam 7, and second support diagonal bars 10 are respectively connected between the outer ends of each column 6 and the corresponding base longitudinal beam 8. Third support diagonal bars 11 are also connected between each column and the corresponding base cross beam 7. The third support diagonal bar 11 is located in the area surrounded by the column 6, the base cross beam 7 and the first support diagonal bar 9, and a first support cross bar 12 is connected between the column 6 and the first support diagonal bar 9 in this area. Fourth support diagonal bars 13 are also connected between each column 6 and the corresponding base longitudinal beam 8. The fourth support diagonal bar 13 is located in the area surrounded by the column 6, the base longitudinal beam 8 and the second support diagonal bar 10, and a second support cross bar 14 is connected between the column 6 and the second support diagonal bar 10 in this area.

[0026] Two slide rails 15 are installed between the two base longitudinal beams 8 and the fixed frame 5. The two slide rails 15 are located on two opposite faces of the frame assembly. A plurality of first cross beams 16 are arranged between the two columns 6 on the plane where the two slide rails 15 are located. A plurality of second cross beams 18 are arranged between the adjacent columns on the other two opposite faces of the frame assembly perpendicular to the plane where the two slide rails 15 are located. Reinforcing ribs 17 are arranged between the second cross beam 18 and the column 6.

[0027] A counterweight carrier frame assembly 2 is slidably installed between the two slide rails 15. Refer to Figure 3As shown, the counterweight carrier assembly 2 includes a carrier frame 19 with a frame structure and two pairs of sliders 20 arranged on both sides of the carrier frame 19.

[0028] The carrier frame 19 includes a rectangular upper frame part 21 and a rectangular lower frame part 22 arranged at an upper and lower interval, and a plurality of longitudinal support rods 23 connected between the upper frame part 21 and the lower frame part 22. The plurality of longitudinal support rods 23 are evenly arranged in a circle along the outer edge of the upper frame part 21 and the lower frame part 22. A plurality of first transverse reinforcing rods 24 are arranged at intervals along the length direction in the inner cavity of the upper frame part 21, and a plurality of second transverse reinforcing rods 25 are arranged at intervals along the length direction in the inner cavity of the lower frame part 22. A pair of sliders 20 are respectively connected to both sides of the upper frame part 21 and the lower frame part 22 in the width direction. Grooves are respectively provided on the two sliders 20 of each pair, and the two sliders 20 are in concave-convex fit with the two guide rails of the corresponding slide rail 15 through the two grooves. The cooperation between the slide rail 15 and the sliders 20 prevents the single leg from tilting during the up and down movement. Connecting plates 26 are respectively connected to both sides in the length direction between the upper frame part 21 and the lower frame part 22.

[0029] A single leg mounting frame assembly 3 is installed on the counterweight carrier assembly 2. Refer to Figure 4 As shown, the single leg mounting frame assembly 3 includes a mounting frame body, and the mounting frame body is a U-shaped plate composed of a mounting frame vertical plate 27 and mounting frame side plates 28 located on both sides of the mounting frame vertical plate 27. Reinforcing ribs are connected between the mounting frame vertical plate 27 and the mounting frame side plates 28. Two first mounting parts 29 for mounting the single leg assembly of the legged robot are provided on the upper parts of the two mounting frame side plates 28, and a second mounting part 30 for mounting the single leg assembly of the legged robot is provided on the lower parts of the two mounting frame side plates 28. In this embodiment, the first mounting part 29 adopts an open hinge sleeve, and the second mounting part 30 adopts a hinge sleeve.

[0030] The mounting frame body is installed between the two connecting plates 26 of the carrier frame 19 through a connecting piece. In this embodiment, the connecting piece adopts a fixing bolt 31 and a hinge shaft 32. A connecting pipe is connected between the two mounting frame side plates 28. The fixing bolt 31 passes through the connecting pipe and the two connecting plates 26 to connect the mounting frame body and the carrier frame 19 together. A hinge sleeve is also connected between the two mounting frame side plates 28. The hinge shaft 32 passes through the hinge sleeve and the two connecting plates 26 to connect the mounting frame body and the carrier frame 19 together.

[0031] The single leg assembly 4 of the legged robot is installed on the single leg mounting frame assembly 3. Refer to Figure 5As shown, the single-leg assembly 4 of the legged robot includes a large arm 33 and a small arm 34. The lower end of the large arm 33 is hinged to the small arm 34 by a pin shaft. In addition, a connecting sleeve 35 is connected between the upper ends of the two side plates of the small arm 33. The large arm 33 and the small arm 34 are connected together by a connecting shaft 36 passing through the two side plates of the large arm 33, the two side plates of the small arm 34, and the connecting sleeve 35. The middle parts of the two side plates of the large arm 33 are hinged to the lower end of the large arm hydraulic cylinder 37. The upper end of the large arm hydraulic cylinder 37 is connected with a first upper pin shaft 38, and the first upper pin shaft 38 is installed in the first installation part 29 to realize the hinge connection between the large arm hydraulic cylinder 37 and the mounting frame body. The upper end of the large arm 33 is connected with a second upper pin shaft 39, and the second upper pin shaft 39 is installed in the second installation part 30 to realize the hinge connection between the large arm 33 and the mounting frame body. A small arm hydraulic cylinder 40 is hinged between the large arm 33 and the small arm 34, and the lower end of the small arm 33 rests on the ground.

[0032] During the test, by fixing different loads on the mounting frame body of the counterweight carrier assembly 2, the counterweight carrier assembly 2 can move up and down along the slide rail 15 with the movement of the single-leg assembly 4 of the legged robot, and the performance of the single leg under different load conditions can be tested. The large arm hydraulic cylinder 37 is supplied with oil by an electro-hydraulic servo valve (not shown in the figure) to control the telescopic movement of the piston rod of the large arm hydraulic cylinder 37, and the small arm hydraulic cylinder 40 is supplied with oil by the electro-hydraulic servo valve to control the telescopic movement of the piston rod of the small arm hydraulic cylinder 40. The walking, running, and jumping gaits of the single leg of the legged robot under different loads are tested, and the experimental data are recorded at the same time to optimize and evaluate the performance of the single leg. In this way, more accurate test data can be obtained to provide relevant data references for the subsequent performance optimization of the overall legged robot.

[0033] The above-described embodiments are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A single-leg performance test bench for a legged robot, characterized in that, It includes a frame assembly, a counterweight carrier assembly, a single-leg mounting frame assembly and a single leg of the legged robot. Two slide rails are vertically installed on the frame assembly. The counterweight carrier assembly is slidably installed between the two slide rails. The single-leg mounting frame assembly is installed on the counterweight carrier assembly, and the single leg of the legged robot is installed on the single-leg mounting frame assembly. The bottom of the single leg of the legged robot rests on the ground; The frame assembly includes a frame base, a fixed frame and a plurality of columns arranged between the frame base and the fixed frame. Two of the slide rails are installed between the frame base and the fixed frame. The two slide rails are located on two opposite faces of the frame assembly. A plurality of first cross beams are arranged between adjacent columns on the faces where the two slide rails are located. A plurality of second cross beams are arranged between adjacent columns on two opposite faces of the frame assembly that are perpendicular to the faces where the two slide rails are located; The frame base is composed of the cross connection of two base cross beams and two base longitudinal beams. There are four columns. The four columns are perpendicularly and fixedly connected to the cross parts of the two base cross beams and the two base longitudinal beams. A first support diagonal rod is provided between the outer end of the column and the corresponding base cross beam. A second support diagonal rod is provided between the outer end of the column and the corresponding base longitudinal beam; A third support diagonal rod is also provided between the column and the corresponding base cross beam. The third support diagonal rod is located in the area surrounded by the column, the base cross beam and the first support diagonal rod. A first support cross bar is provided between the column and the first support diagonal rod in this area. A fourth support diagonal rod is also provided between the column and the corresponding base longitudinal beam. The fourth support diagonal rod is located in the area surrounded by the column, the base longitudinal beam and the second support diagonal rod. A second support cross bar is provided between the column and the second support diagonal rod in this area; The counterweight carrier assembly includes a frame-shaped carrier frame. Two sliders are respectively provided on both sides of the carrier frame. The two sliders on each side are slidably arranged on the two guide rails of the slide rail; The single-leg mounting frame assembly includes a mounting frame body. The mounting frame body is installed on the carrier frame through a connecting piece. The upper and lower parts of the mounting frame body are respectively provided with a first mounting part and a second mounting part for installing the single leg of the legged robot; The mounting frame body is a U-shaped plate composed of a mounting frame vertical plate and mounting frame side plates located on both sides of the mounting frame vertical plate. The first mounting part is arranged on the upper parts of the two mounting frame side plates. The second mounting part is arranged on the lower parts of the two mounting frame side plates.

2. The single-leg performance test bench for a legged robot according to claim 1, characterized in that, Reinforcing ribs are provided between the second cross beam and the column.

3. The single-leg performance test bench for a legged robot according to claim 1, characterized in that, The single leg of the legged robot includes a large arm and a small arm. One end of the large arm is hinged to the small arm. One end of the large arm is hinged to one end of the large arm hydraulic cylinder. The other end of the large arm hydraulic cylinder is hinged to the first mounting part. The other end of the large arm is hinged to the second mounting part. A small arm hydraulic cylinder is hinged between the large arm and the small arm. The other end of the small arm rests on the ground.

4. The single-leg performance test bench for a legged robot according to claim 3, wherein The other end of the boom hydraulic cylinder is vertically connected with a first upper pin shaft. The first mounting portion is provided with a hinged sleeve with an opening, and the first upper pin shaft is installed in the first mounting portion. The other end of the boom is vertically connected with a second upper pin shaft. The second mounting portion is provided with a hinged sleeve, and the second upper pin shaft is installed in the second mounting portion.

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