Measurement system and thrust compensation method for an adaptive adjustment high jump system

Abstract

The application discloses a measurement system and thrust compensation method of a self-adaptive adjusting high jump system. The measurement system of the self-adaptive adjusting high jump system comprises a support frame, a bionic leg, a first detection mechanism, a load platform and an electrical platform. The support frame is provided with a linear guide rail. The bionic leg moves along the linear guide rail. The first detection mechanism is located at one end of the linear guide rail. The first detection mechanism detects the displacement of the bionic leg along the linear guide rail. The electrical platform is electrically connected with the bionic leg and the first detection mechanism. The measurement system of the self-adaptive adjusting high jump system has the advantages of high detection precision and convenient control.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a measurement system and thrust compensation method for an adaptive height adjustment system. Background Technology

[0002] The continuous emergence of new technologies has spurred the rapid development of many industries, leading to a booming research field in robotics in recent years. Humanoid robots, with their high degree of technological integration and maneuverability, have consistently been a research hotspot in the field of industrial robotics. These products have practical applications in serving society, national defense technology, deep-sea exploration, fire prevention and disaster relief, and other special environments. Current technologies utilize strain gauges to detect the deformation of intermediate parts, forming detection systems, primarily targeting rotary joints. However, linear joints move differently from rotary joints, and in high-dynamic jumping movements, the force control accuracy of joints directly affects the robot's overall control accuracy. Therefore, a detection method specifically for linear joints in robots is urgently needed. Summary of the Invention

[0003] The present invention aims to at least partially solve one of the technical problems in related technologies. To this end, embodiments of the present invention propose a measurement system for an adaptive height jump system, which has the advantages of high detection accuracy and ease of control.

[0004] According to an embodiment of the present invention, the measurement system of the adaptive height jump system includes a support frame, a bionic leg, a first detection mechanism, a load platform, and an electrical platform. The support frame is provided with a linear guide rail, the bionic leg moves along the linear guide rail, the first detection mechanism is located at one end of the linear guide rail, the first detection mechanism detects the displacement of the bionic leg along the linear guide rail, and is located at the end of the bionic leg away from the first detection mechanism, and the electrical platform is electrically connected to the bionic leg and the first detection mechanism.

[0005] The measurement system of the adaptive height jump system according to an embodiment of the present invention has the advantages of high detection accuracy and easy control.

[0006] In some embodiments, the bionic leg includes a bionic thigh, a push rod joint, and a bionic lower leg. The bionic thigh and the bionic lower leg are pivotally connected. One end of the bionic thigh and one end of the bionic lower leg move along the linear guide rail. A first end of the push rod joint is connected to the bionic thigh, and a second end of the push rod joint is connected to the bionic lower leg.

[0007] In some embodiments, the push rod joint includes a drive mechanism, a connecting rod, and a second detection mechanism. The drive mechanism is connected to one end of the connecting rod, and the second detection mechanism is located on the connecting rod.

[0008] In some embodiments, the drive mechanism includes a motor, a lead screw, a coupling, and a connecting rod. The motor is connected to one end of the lead screw via the coupling, the other end of the lead screw is connected to one end of the connecting rod, and the other end of the connecting rod is connected to the bionic lower leg.

[0009] In some embodiments, the second detection mechanism includes an encoder and a force sensor, the encoder being located on the motor and the force sensor being located on the housing of the motor.

[0010] In some embodiments, the electrical platform includes an industrial computer, a power supply, a driver, and an emergency stop switch. The industrial computer is connected to the first detection mechanism and the second detection mechanism. The power supply is electrically connected to the driver, and the driver is electrically connected to the drive mechanism.

[0011] In some embodiments, the linear guide rail extends along the height direction, and the bionic thigh and the bionic calf are slidably connected to the linear guide rail by a slider located at the ends of the bionic thigh and the bionic calf.

[0012] In some embodiments, the first detection mechanism includes a grating ruler, which is located on the linear guide rail to measure the displacement of one end of the bionic lower leg.

[0013] According to an embodiment of the present invention, the thrust compensation method of the adaptive high jump system includes the following steps: controlling the current magnitude to a current value Ii, and the motor generating a push rod joint input torque Ti;

[0014] If Ti is not equal to the torque To required by the joint, perform a compensation calculation and adjust the current value until Ti equals To.

[0015] If Ti equals the torque To required by the joint, the push rod joint completes the predetermined action.

[0016] In some embodiments, the compensation operation includes calculating the deviation between Ti and To, adjusting the current value Ii by adjusting the compensation coefficient, and changing the output torque. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the measurement system of the adaptive height jump system according to an embodiment of the present invention.

[0018] Figure 2This is a schematic diagram of the electrical platform of the measurement system of the adaptive height jump system according to an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the push rod joint of the measurement system of the adaptive adjustment high jump system according to an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the force sensor structure of the measurement system of the adaptive height jump system according to an embodiment of the present invention.

[0021] Figure 5 This is a flowchart of the thrust compensation method for the adaptive adjustment high jump system according to an embodiment of the present invention.

[0022] Reference numerals: 1. Load platform; 2. Electrical platform; 3. Push rod joint; 4. Bionic thigh; 5. Encoder; 6. Bionic lower leg; 7. Linear guide rail; 8. Support frame; 9. Industrial computer; 10. Power supply; 11. Driver; 12. Emergency stop switch; 13. Flange; 14. Force sensor; 15. Grating ruler. Detailed Implementation

[0023] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] According to an embodiment of the present invention, the measurement system of the adaptive height jump system includes a support frame 8, a bionic leg, a first detection mechanism, a load platform 1, and an electrical platform 2. A linear guide rail 7 is mounted on the support frame 8, along which the bionic leg moves. The first detection mechanism is located at one end of the linear guide rail 7 and detects the displacement of the bionic leg along the linear guide rail 7. The electrical platform 2 is electrically connected to the bionic leg and the first detection mechanism. The load platform 1 is used to bear the weight of the attached object, and the electrical platform 2 is used to control the take-off process of the test device composed of the bionic leg, load platform 1, and electrical platform 2. The linear guide rail 7 is mounted on the support frame 8 and is arranged along the height direction. The first detection mechanism is used to detect the displacement of the end of the bionic leg in the vertical height direction. By measuring the bionic leg, the optimal force control state during the robot's take-off process is sought by comparing the data. The test platform formed by the load platform 1, electrical platform 2, and support frame 8 is used to simulate the robot's jumping process and can accurately detect the data of the bionic leg without the need for strain gauges.

[0025] The measurement system of the adaptive height jump system according to an embodiment of the present invention has the advantages of high detection accuracy and easy control.

[0026] In some embodiments, the bionic leg includes a bionic thigh, a push rod joint 3, and a bionic calf 6. The bionic thigh and the bionic calf 6 are pivotally connected. One end of the bionic thigh and one end of the bionic calf 6 move along a linear guide rail 7. The first end of the push rod joint 3 is connected to the bionic thigh, and the second end of the push rod joint 3 is connected to the bionic calf 6.

[0027] Specifically, the push rod joint 3 provides energy for the jumping process, and a knee joint is set between the bionic thigh and bionic lower leg 6. The knee joint is designed as a hinge structure. The push rod joint 3 can convert electrical energy into mechanical energy to generate instantaneous high-burst thrust to push the bionic thigh and bionic lower leg 6 apart. Due to the constraints and limitations of the linear guide rail 7, the ends of the bionic thigh and bionic lower leg 6 away from the knee joint can only move along the height direction to simulate the robot's jumping action.

[0028] In some embodiments, the push rod joint 3 includes a drive mechanism, a connecting rod, and a second detection mechanism. The drive mechanism is connected to one end of the connecting rod, and the second detection mechanism is located on the connecting rod.

[0029] Specifically, the drive mechanism can be a mechanism that performs linear reciprocating motion. The drive mechanism is set on the bionic thigh. One end of the connecting rod is connected to the drive mechanism, and the other end of the connecting rod is connected to the bionic lower leg 6. The second detection mechanism on the connecting rod can detect the changes in the thrust of the push rod joint 3 in real time.

[0030] In some embodiments, the drive mechanism includes a motor, a lead screw, a coupling, and a connecting rod. The motor is connected to one end of the lead screw via the coupling, the other end of the lead screw is connected to one end of the connecting rod, and the other end of the connecting rod is connected to the bionic lower leg 6.

[0031] Specifically, the coupling and lead screw work together to convert the rotational motion of the motor into linear motion, providing power for the bionic thigh and bionic calf to jump.

[0032] In some embodiments, the second detection mechanism includes an encoder 4 (bionic thigh 5) and a force sensor 14, the encoder 4 (bionic thigh 5) being located on the motor and the force sensor 14 being located on the housing of the motor.

[0033] Specifically, encoder 4 is a bionic thigh; 5 is installed at the output end of the motor to measure physical quantities such as motor speed and angular displacement, and force sensor 14 is connected to flange 13 at the output end of push rod joint 3 and motor housing by screws. Force sensor 14 can measure the thrust change of push rod joint 3 in real time.

[0034] In some embodiments, the electrical platform 2 includes an industrial control computer 9, a power supply 10, a driver 11, and an emergency stop switch 12. The industrial control computer 9 is connected to the first detection mechanism and the second detection mechanism. The power supply 10 is electrically connected to the driver 11, and the driver 11 is electrically connected to the drive mechanism.

[0035] Specifically, the industrial control computer 9 completes data processing and control, the power supply 10 provides the corresponding power to the electrical components of the electrical platform 2 through the battery module, the driver 11 drives the drive mechanism of the push rod joint 3 to work through the control of the current, and when an emergency occurs, the staff can operate the emergency stop switch 12 to protect the experimental platform.

[0036] In some embodiments, the linear guide rail 7 extends along the height direction, and the bionic thigh and bionic calf 6 are slidably connected to the linear guide rail 7 by a slider located at the end of the bionic thigh and bionic calf 6.

[0037] Specifically, the linear guide rail 7 is set vertically to the ground along the height direction on the support frame 8. The end of the bionic thigh away from the knee joint and the end of the bionic lower leg 6 away from the knee joint are connected to the slider. The slider slides along the linear guide rail 7. The slider and the linear guide rail 7 restrict the displacement of the bionic thigh and bionic lower leg 6 along the height direction during jumping activities.

[0038] In some embodiments, the first detection mechanism includes a grating ruler 15, which is located at the point where the displacement of one end of the bionic lower leg 6 on the linear guide rail 7 is measured.

[0039] Specifically, the movable scale of the grating ruler 15 is fixed at the end of the bionic lower leg 6 connected to the slider, and the fixed scale of the grating ruler 15 is fixed in the height direction of the support frame 8. When the end of the bionic lower leg 6 moves on the guide rail under the torque of the push rod joint 3, the grating ruler 15 can measure the displacement, i.e. the take-off height.

[0040] According to an embodiment of the present invention, the method for thrust compensation of an adaptive high jump system includes the following steps: controlling the current magnitude to a current value Ii, and generating an input torque Ti at the push rod joint 3 by the motor;

[0041] If Ti is not equal to the torque To required by the joint, perform a compensation calculation and adjust the current value until Ti equals To.

[0042] If Ti equals the torque To required by the joint, the push rod joint 3 completes the predetermined action.

[0043] Specifically, according to the torque formula T = K m ΦI a K m Where Φ is the motor coefficient, I is the magnetic flux, and Φ is the magnetic flux. a As the current is determined, once the motor structure is fixed, the motor coefficient Km and the magnetic flux Φ are also determined. This is generally achieved by adjusting I... aThe value is used to change the output torque T of the motor. In the experimental platform, after the motor is powered on, the motor can generate a joint input torque Ti by controlling the current magnitude Ii. If Ti is consistent with the torque To required by the joint, the push rod joint can complete the predetermined action. If Ti is inconsistent with the torque To required by the joint, compensation calculation is performed until Ti = To, so that the push rod joint can complete the predetermined action.

[0044] In some embodiments, the compensation operation includes calculating the deviation between Ti and To, adjusting the current value Ii by adjusting the compensation coefficient, and changing the output torque.

[0045] According to the Lagrange dynamics equations: In the formula, T represents the kinetic energy at the center of mass of the bionic thigh 4 or bionic lower leg 6; P represents the gravitational potential energy at the center of mass of the bionic thigh 4 or bionic lower leg 6; ω represents the angular velocity of the joint motion; θ represents the angular displacement of the joint; F represents the pushing force of the push rod; and h represents the distance between the push rod and the knee joint. According to the formula, under the combined action of the pushing force F and the lever arm h, when the platform is adjusted to its highest point, the kinetic energy is 0, and the gravitational potential energy is at its maximum. The formula shows that the jump height is closely related to the pushing force F and the lever arm h.

[0046] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0048] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0049] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0050] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0051] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. A measurement system for an adaptive height jump system, characterized in that, include: Support frame, wherein a linear guide rail is provided on the support frame; A bionic leg that moves along the linear guide rail, the bionic leg comprising a bionic thigh, a push rod joint, and a bionic calf, the bionic thigh and the bionic calf being pivotally connected; A first detection mechanism is located at one end of the linear guide rail, and the first detection mechanism detects the displacement of the bionic leg along the linear guide rail; The first detection mechanism includes a grating ruler, which is used to measure the displacement of one end of the bionic lower leg on the linear guide rail; The load platform is located at the end of the bionic leg furthest from the first detection mechanism; An electrical platform, which is electrically connected to the bionic leg and the first detection mechanism; The linear guide rail is set vertically to the ground along the height direction on the support frame. The end of the bionic thigh away from the knee joint and the end of the bionic lower leg away from the knee joint are both connected to the slider. The slider slides along the linear guide rail. The slider and the linear guide rail restrict the displacement of the bionic thigh and the bionic lower leg along the height direction during jumping activities. The push rod joint includes a drive mechanism and a second detection mechanism. The drive mechanism includes a motor, a lead screw, a coupling, and a connecting rod. The second detection mechanism includes an encoder and a force sensor. The encoder is located on the motor, and the force sensor is located on the housing of the motor.

2. The measurement system of the adaptive height jump system according to claim 1, characterized in that, The first end of the push rod joint is connected to the bionic thigh, and the second end of the push rod joint is connected to the bionic lower leg.

3. The measuring system of an adaptive adjusting high jump system according to claim 2, characterized in that, The motor is connected to one end of the lead screw via the coupling, the other end of the lead screw is connected to one end of the connecting rod, and the other end of the connecting rod is connected to the bionic lower leg.

4. The measuring system of an adaptive adjusting high jump system according to claim 2, characterized in that, The electrical platform includes an industrial control computer, a power supply, a driver, and an emergency stop switch. The industrial control computer is connected to the first detection mechanism and the second detection mechanism. The power supply is electrically connected to the driver, and the driver is electrically connected to the drive mechanism.

5. A method of adaptive adjustment of the push compensation of a high jump system, characterized in that, The thrust compensation method is applied to the measurement system of the adaptive height jump system according to any one of claims 1-4, and includes the following steps: The current is controlled by the current value Ii, and the motor generates the input torque Ti of the push rod joint. If Ti is not equal to the torque To required by the joint, perform a compensation calculation and adjust the current value until Ti equals To. If Ti equals the torque To required by the joint, the push rod joint completes the predetermined action.

6. The method of adaptive adjustment of the push compensation of a high jump system according to claim 5, characterized in that, The compensation operation includes calculating the deviation between Ti and To, adjusting the current value Ii by adjusting the compensation coefficient, and changing the output torque.

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