Following type robot motion test equipment

Abstract

The invention relates to following type robot motion test equipment, which comprises a motion protection frame, a lifting frame, a protection lifting belt, a position sensor and a control device, and is characterized in that the motion protection frame covers the upper part of a leg-foot type robot, and the bottoms of four corners of the motion protection frame are respectively provided with an electric driving wheel; the lifting frame is arranged in the movement protection frame and located above the leg-foot type robot, and the lifting frame and the movement protection frame are connected through a lifting rope; the protective lifting belt bypasses the lower part of the leg-foot type robot and two ends of the protective lifting belt are connected to the lifting frame; the position sensor is installed on the motion protection frame and corresponds to a position mark installed on the leg-foot type robot so as to be used for positioning the position difference between the leg-foot type robot and the motion protection frame; the control device is electrically connected with the electric driving wheels and the position sensors. The leg-foot type robot can be protected in real time in the motion test process, the problem that the leg-foot type robot is damaged due to abnormal falling or falling is avoided, and economic losses are reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of robot motion testing, and in particular relates to a follower type robot motion testing device. Background Art

[0002] At present, legged inspection robots are increasingly used in the field of power inspection robots. Compared with conventional wheeled or tracked robots, legged robots have better multi-terrain applicability, especially in inspection scenarios with stairs, sand, slopes and other non-paved surfaces. During the development and testing phase of robot products, legged robots often fall and overturn during movement, often causing damage to the robot body, resulting in significant economic and time losses.

[0003] The existing robot motion test and protection equipment framework are all fixed structures, and a fixed installation protection frame is built on the fixed path of the robot's motion. Limited by the fixed path that has been set, the robot's autonomous intelligent motion debugging cannot be tested. At the same time, for long path and life tests, a large range of protection equipment needs to be built. Conventional fixed overall test equipment has poor economic efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a follower type robot motion test device to solve the problem that the robot is damaged due to falling during the test.

[0005] A follow-up robot motion test device of the present invention is implemented as follows:

[0006] A follower robot motion test device, comprising:

[0007] A motion protection frame, which covers the top of the leg-foot type robot, and the bottom of the four corners of the motion protection frame are respectively equipped with electric drive wheels;

[0008] A hanging frame, which is arranged in the motion protection frame and located above the leg-foot type robot, and the hanging frame is connected to the motion protection frame through a hanging rope;

[0009] A protective sling, which passes under the leg-foot robot and is connected to a hanging frame at both ends;

[0010] A position sensor, which is mounted on the motion protection frame and corresponds to a position marker mounted on the legged robot, so as to locate the position difference between the legged robot and the motion protection frame;

[0011] The control device is electrically connected to the electric drive wheel and the position sensor respectively.

[0012] Furthermore, two protective slings are provided with equal lengths, and the two protective slings are respectively hoisted near the head and tail of the leg-footed robot.

[0013] Furthermore, the position sensor includes a horizontal position sensor installed on the top of the motion protection frame, which corresponds to a horizontal position marker installed on the top of the leg-foot robot.

[0014] Furthermore, the position sensor includes a height position sensor installed on at least any one side of the motion protection frame, which corresponds to the height position mark installed on the side of the leg-foot robot.

[0015] Furthermore, a fixed pulley block is provided on the top of the motion protection frame, an electric tensioning winch is provided on one side of the motion protection frame, one end of the lifting rope is connected to the lifting frame, and the other end passes through the fixed pulley block and is wound around the electric tensioning winch;

[0016] The electric tensioning winch is electrically connected to the control device.

[0017] Furthermore, the fixed pulley group includes a first fixed pulley located directly above the lifting frame, and a second fixed pulley arranged on the top of the motion protection frame and on the same side as the electric tensioning winch, and the lifting rope passes through the first fixed pulley and the second fixed pulley in sequence.

[0018] Furthermore, vertical columns of the motion protection frame are respectively provided with electric telescopic mechanisms capable of adjusting the length thereof, and the electric telescopic mechanisms are electrically connected to the control device.

[0019] Furthermore, the electric telescopic mechanism includes an electric hydraulic telescopic mechanism or an electric screw mechanism.

[0020] Furthermore, the position mark is pasted on the outer surface of the leg-foot robot.

[0021] Furthermore, the front and rear sides of the sports protection frame are respectively provided with sports channel openings larger than the sports cross-section of the leg-foot miracle man.

[0022] After adopting the above technical solution, the present invention has the following beneficial effects:

[0023] (1) The present invention monitors the motion state of the leg-legged robot to control the motion protection frame to move synchronously with it. At the same time, combined with the lifting frame and the protection sling, it can provide real-time protection for the leg-legged robot during the motion test, avoiding the problem of damage caused by abnormal falling or falling of the leg-legged robot, thereby reducing economic losses;

[0024] (2) The present invention can avoid the defect that fixed robot motion test equipment needs to be arranged over a large area. It can not only improve the flexibility of the test site layout, save the layout cost of the test site in long-path tests or life tests, and improve economic performance, but also the leg-footed robot is not restricted by a fixed path during the motion test, which effectively improves the reliability of the test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0026] Figure 1 1 is a structural diagram of a follower robot motion test device (horizontal motion test) according to Embodiment 1 of the present invention;

[0027] Figure 2 1 is a structural diagram of a motion protection frame of a follower type robot motion test device according to embodiment 1 of the present invention;

[0028] Figure 3 is a control principle diagram of a follower type robot motion test device according to embodiment 1 of the present invention;

[0029] Figure 4 2 is a structural diagram of a follower robot motion test device (horizontal motion test) according to Embodiment 2 of the present invention;

[0030] Figure 5 1 is a structural diagram of a follower robot motion test device (stair climbing test) according to Embodiment 2 of the present invention;

[0031] Figure 6 1 is a structural diagram of a follower robot motion test device (climbing test) according to Embodiment 2 of the present invention;

[0032] Figure 7 is a control principle diagram of a follower robot motion test device according to Embodiment 2 of the present invention;

[0033] Figure 8 4 is a structural diagram of a follower robot motion test device (stair climbing test) according to Embodiment 3 of the present invention;

[0034] Fig. 9 is a control principle diagram of a follower robot motion test device according to Embodiment 3 of the present invention;

[0035] In the figure: motion protection frame 1, vertical column 1-1, top beam 1-2, bottom beam 1-3, inner cross beam 1-4, inner longitudinal beam 1-5, end cross beam 1-6, reinforcing rod 1-7, side longitudinal beam 1-8, lifting frame 2, inner rod 2-1, protection sling 3, leg-foot robot 4, lifting rope 5, electric drive wheel 6, control cabinet 7, lifting ring connector 8, horizontal position sensor 9, horizontal position mark 10, motion channel opening 11, height position sensor 12, height position mark 13, electric tensioning winch 14, first fixed pulley 15, second fixed pulley 16, electric telescopic mechanism 17, moving handle 18. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Example 1

[0039] like Figure 1-3 As shown, a following robot motion test equipment includes a motion protection frame 1, a hoisting frame 2, a protection sling 3, a position sensor and a control device. The motion protection frame 1 covers the top of the leg-legged robot 4, and electric drive wheels 6 are respectively installed at the bottom of the four corners of the motion protection frame 1; the hoisting frame 2 is arranged in the motion protection frame 1 and is located above the leg-legged robot 4, and the hoisting frame 2 and the motion protection frame 1 are connected by a suspension rope 5; the protection sling 3 passes under the leg-legged robot 4 and is connected to the hoisting frame 2 at both ends; the position sensor is installed on the motion protection frame 1, and corresponds to the position mark installed on the leg-legged robot 4, so as to locate the position difference between the leg-legged robot 4 and the motion protection frame 1; the control device is electrically connected to the electric drive wheel 6 and the position sensor respectively.

[0040] Among them, the electric drive wheels 6 at the bottom of the four corners of the motion protection frame 1 can drive it to move; the lifting frame 2 and the protective sling 3 are used to protect the leg-footed robot 4 to prevent it from falling, etc.; the lifting rope 5 is used to fix the lifting frame 2 so that it can move synchronously with the motion protection frame 1; the position sensor and the position marker are used to detect the movement position of the leg-footed robot 4, and then according to the displacement information provided by the position sensor, the control device is used to control the operation of the electric drive wheel 6, so as to realize the synchronous movement of the motion protection frame 1 following the leg-footed robot 4.

[0041] The control device includes a control cabinet 7, a controller installed in the control cabinet 7, and a displacement signal processor installed in the control cabinet 7 and connected to the controller. The controller is electrically connected to the position sensor through the displacement signal processor, that is, the displacement signal obtained by the position sensor is transmitted to the controller through the displacement signal processor.

[0042] The electric driving wheel 6 includes a motor I and a moving wheel drivingly connected to the motor I.

[0043] The control device also includes a motor driver I connected to the controller, and the controller is electrically connected to the motor I through the motor driver I.

[0044] In order to protect the legged robot 4 , two protective slings 3 of equal length are provided, and the two protective slings 3 are respectively hoisted near the head and tail of the legged robot 4 .

[0045] In this embodiment, the legged robot 4 has four legs, one protective sling 3 is suspended at its two front legs, and another protective sling 3 is suspended at its two hind legs. In this way, the protective sling 3 can be firmly suspended on the legged robot 4, and a good coordination between the lifting frame 2 and the legged robot 4 can be achieved.

[0046] A lifting ring connector 8 is installed on the lifting frame 2 , and both ends of the protective lifting belt 3 are fixed on the lifting ring connector 8 .

[0047] In order to detect in real time whether the legged robot 4 has displacement in the horizontal direction, the position sensor includes a horizontal position sensor 9 installed on the top of the motion protection frame 1 , which corresponds to a horizontal position mark 10 installed on the top of the legged robot 4 .

[0048] The displacement signal processor includes a horizontal displacement signal processor, and the controller is connected to the horizontal position sensor 9 via the horizontal displacement signal processor.

[0049] Specifically, the sports protection frame 1 includes a main frame, an inner cross beam 1-4 and an inner longitudinal beam 1-5 located at the top of the main frame. The main frame includes four vertical columns 1-1, a top beam 1-2 installed between the tops of two adjacent vertical columns 1-1, and a bottom beam 1-3 installed between the bottoms of two vertical columns 1-1 on the same side; the two bottom beams 1-3 are used to ensure the stability of the bottom of the main frame; the two inner cross beams 1-4 are located between the two longitudinal top beams 1-2 to ensure the stability of the top of the main frame; the inner longitudinal beam 1-5 is installed above the two inner cross beams 1-4 and the two ends are fixed on the two transverse top beams 1-2.

[0050] The horizontal position sensor 9 is installed at the bottom of one of the inner cross beams 1 - 4 so as to correspond to the horizontal position mark 10 installed on the top of the legged robot 4 below it.

[0051] The hanging frame 2 is a rectangular frame, which can avoid affecting the coordination between the horizontal position sensor 9 and the horizontal position mark 10 .

[0052] A transverse or longitudinal inner rod 2-1 can be set inside the lifting frame 2, and the inner rod 2-1 is staggered with the horizontal position sensor 9 and the horizontal position mark 10. The lower end of the lifting rope 5 is fixed on the inner rod 2-1, and the upper end can be directly fixed on the inner longitudinal beam 1-5 above it to realize the connection between the lifting frame 2 and the motion protection frame 1.

[0053] In order to install the position marker on the legged robot 4 , the position marker is pasted on the outer surface of the legged robot 4 .

[0054] The horizontal positioning mark is installed by pasting, which is easy to remove and will not affect the autonomous movement of the leg-foot robot 4.

[0055] In this embodiment, the horizontal position mark 10 is attached to the top of the legged robot 4 and corresponds to the horizontal position sensor 9 above it.

[0056] In order to prevent the motion protection frame 1 from affecting the horizontal movement of the leg-foot robot 4, the front and rear sides of the motion protection frame 1 are respectively provided with motion channel openings 11 larger than the motion cross-section of the leg-foot robot.

[0057] Among them, end cross beams 1-6 are respectively arranged on the front and rear sides of the main frame, and reinforcing rods 1-7 in vertical and inclined directions are arranged between the end cross beam 1-6 and the top beam 1-2 above it to increase the firmness of the front and rear sides of the main frame, and the movement channel opening 11 is located below the end cross beam 1-6.

[0058] Preferably, a moving handle 18 is provided on the rear side of the motion protection frame 1 to facilitate manual movement of the motion protection frame 1 .

[0059] When the legged robot 4 moves in the horizontal direction, through the corresponding setting of the horizontal position sensor 9 and the horizontal position mark 10, the horizontal position sensor 9 can detect the real-time displacement of the legged robot 4 in the horizontal direction in real time, and transmit the displacement information to the control device, and the control device controls the movement of the electric drive wheel 6 according to the displacement information to realize the synchronous movement of the motion protection frame 1 and the legged robot 4; while moving, the lifting frame 2 also moves synchronously with the motion protection frame 1, so that the protective sling 3 can be used to realize real-time protection of the legged robot 4 to prevent it from falling, falling, overturning, etc.

[0060] Example 2

[0061] like Figure 4-7 As shown, based on Example 1, this embodiment also provides a follower robot motion test device, the structure of which is roughly the same as that of Example 1, except that:

[0062] The position sensor includes a height position sensor 12 installed on at least one side of the motion protection frame 1 , which corresponds to a height position mark 13 installed on the side of the legged robot 4 .

[0063] In this embodiment, height position sensors 12 are installed on both sides of the motion protection frame 1 , and height position marks 13 corresponding to the height position sensors 12 are also installed on both sides of the corresponding legged robot 4 .

[0064] In addition to horizontal movement, the legged robot 4 will also perform other test scenarios during the test, such as stairs, slopes, etc. In order to be able to detect the height changes of the legged robot 4 during the movement in real time, a height position sensor 12 and a height position marker 13 that cooperates with it are set up.

[0065] The displacement signal processor also includes a height displacement signal processor, and the controller is connected to the height position sensor 12 via the height displacement signal processor.

[0066] Specifically, side longitudinal beams 1-8 are installed on the sides of the motion protection frame 1, the height position sensor 12 is installed on the inner side of the side longitudinal beams 1-8 on both sides of the motion protection frame 1, and the height position mark 13 is installed on the side of the legged robot 4 and corresponds to the height position sensor 12.

[0067] In this embodiment, the height position mark 13 is also fixed to the side of the leg-legged robot 4 by pasting, which is convenient for removal and does not affect the autonomous movement of the leg-legged robot 4.

[0068] When the legged robot 4 is in a test environment such as a slope or stairs, its height will change, and at this time, the protective effect of the protective harness 3 on the legged robot 4 will be problematic.

[0069] Specifically, when climbing a slope or stairs, since the length of the suspension rope 5 between the motion protection frame 1 and the lifting frame 2 remains unchanged, while the height of the leg-legged robot 4 increases, the protection strap 3 may become loose, thereby losing the protection effect on the leg-legged robot 4.

[0070] When going downhill or down stairs, since the length of the lifting rope 5 between the motion protection frame 1 and the lifting frame 2 remains unchanged, and the height of the legged robot 4 is decreasing, the protection sling 3 will gradually lift the legged robot 4, and even cause its four feet to leave the ground, making the legged robot 4 unable to move autonomously, thus affecting the test effect.

[0071] In order to solve the above problems, it is necessary to adjust the length of the sling 5 between the motion protection frame 1 and the lifting frame 2 according to the height of the leg-legged robot 4, so that during the movement of the leg-legged robot 4, the protection sling 3 can protect it without affecting its autonomous movement. A fixed pulley group is provided on the top of the motion protection frame 1, and an electric tensioning winch 14 is provided on one side of the motion protection frame 1. One end of the sling 5 is connected to the lifting frame 2, and the other end passes through the positioning pulley group and is wound around the electric tensioning winch 14.

[0072] The electric tensioning winch 14 can retract and release the lifting rope 5, thereby adjusting the height of the lifting frame 2, so that the protective sling 3 can provide good protection for the leg-foot robot 4.

[0073] In order to realize automatic control of the electric tensioning winch 14, the electric tensioning winch 14 is electrically connected to the control device.

[0074] In this embodiment, the electric tensioning winch 14 is installed on one side of the side longitudinal beam 1-8.

[0075] The electric tensioning winch 14 comprises a motor II and a winch drum drivingly connected to the motor II.

[0076] The control device also includes a motor driver II connected to the controller, and the controller is electrically connected to the motor II through the motor driver II.

[0077] In order to realize the installation of the fixed pulley group, the fixed pulley group includes a first fixed pulley 15 located directly above the lifting frame 2, and a second fixed pulley 16 arranged on the top of the motion protection frame 1 and on the same side as the electric tensioning winch 14. The lifting rope 5 passes through the first fixed pulley 15 and the second fixed pulley 16 in sequence.

[0078] In this embodiment, the first fixed pulley 15 is installed at the bottom of the inner longitudinal beam 1-5 and is opposite to the inner rod 2-1 below it. The second fixed pulley 16 is installed at the bottom of the longitudinal top beam 1-2 on the side where the electric tensioning winch 14 is located, and is arranged side by side with the first fixed pulley 15. The lower end of the lifting rope 5 is fixed on the inner rod 2-1 of the lifting frame 2, and the upper end passes through the first fixed pulley 15 and the second fixed pulley 16 in turn and then is wound around the winch drum.

[0079] When the legged robot 4 moves on a slope or stairs, in addition to being able to perform as described in Example 1 (the control device can control the electric drive wheel 6 to drive the motion protection frame 1 to follow the horizontal movement of the legged robot 4), the height position sensor 12 can detect the real-time displacement of the legged robot 4 in the height direction in real time, and transmit the displacement information to the control device. The control device controls the electric tensioning winch 14 according to the displacement information, and reels or unreels the sling 5, so that the protection belt 3 can provide real-time protection for the legged robot 4 during its movement to avoid falling, falling, overturning, etc.

[0080] In addition, when moving horizontally, the leg-foot robot 4 will produce a small displacement (i.e., action displacement) in the height direction following the movement of the legs and feet, and this action displacement can be ignored when controlling the height of the hoisting frame 2. That is, before the test, the specific value of the action displacement generated by the leg-foot robot 4 in the height direction when moving horizontally is determined in advance, and the action displacement value is set by the control device. When the leg-foot robot 4 is moving, if the real-time displacement generated in the height direction is not greater than the action displacement value, the electric tensioning winch 14 can be started to perform the operation of retracting and releasing the hoisting rope 5.

[0081] Example 3

[0082] like Figure 8-9 As shown, on the basis of Example 1, this embodiment also provides a follower robot motion test equipment, whose structure is roughly the same as that of Example 1, except that the vertical columns 1-1 of the motion protection frame 1 are respectively provided with electric telescopic mechanisms 17 capable of adjusting their lengths, and the electric telescopic mechanisms 17 are electrically connected to the control device.

[0083] This embodiment uses an electric telescopic mechanism 17 to adjust the height of the motion protection frame 1, and then drives the lifting frame 2 to rise or fall through the lifting rope 5. When the leg-legged robot 4 moves on a slope or stairs, the protective sling 3 can ensure the protective effect of the leg-legged robot 4.

[0084] The electric telescopic mechanism 17 includes an electric hydraulic telescopic mechanism or an electric screw mechanism.

[0085] In this embodiment, the electric telescopic mechanism 17 adopts an electric screw mechanism.

[0086] Specifically, the electric screw mechanism includes a motor III, a screw connected to the output end of the motor III, and a screw nut installed on the screw. The vertical column 1-1 is divided into an upper part and a lower part from the location of the electric telescopic mechanism 17. The motor III and the screw can be installed on the lower part and arranged parallel to the vertical column 1-1, while the upper part is connected to the screw nut. The motor III drives the screw to rotate, which can realize the upward and downward movement of the upper part to achieve the change of the height of the motion protection frame 1.

[0087] In this embodiment, the control device also includes a motor driver III connected to the controller, and the controller is electrically connected to the motor III through the motor driver III. When the leg-footed robot 4 moves on a slope or stairs, in addition to being able to act as described in Example 1 (the control device can control the electric drive wheel 6 to drive the motion protection frame 1 to follow the horizontal movement of the leg-footed robot 4), the height position sensor 12 can detect the real-time displacement of the leg-footed robot 4 in the height direction in real time, and transmit the displacement information to the control device, and the control device controls the motor III to rotate according to the displacement information to raise or lower the upper part of the vertical column 1-1, so that the protection belt 3 can protect the leg-footed robot 4 in real time during its movement to avoid falling, falling, overturning, etc.

[0088] The processing method for the motion displacement in this embodiment refers to that in Embodiment 2.

[0089] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A follower robot motion test equipment, characterized in that: include A motion protection frame (1) is covered above the leg-foot robot (4), and electric drive wheels (6) are respectively installed at the bottom of the four corners of the motion protection frame (1); A hanging frame (2) is arranged inside the motion protection frame (1) and is located above the legged robot (4), and the hanging frame (2) and the motion protection frame (1) are connected via a hanging rope (5); A protective sling (4) is passed under the leg-foot robot (4) and connected to the hanging frame (2) at both ends; A position sensor, which is mounted on the motion protection frame (1) and corresponds to a position marker mounted on the legged robot (4) so ​​as to locate the position difference between the legged robot (4) and the motion protection frame (1); A control device is electrically connected to the electric drive wheel (6) and the position sensor respectively.

2. The following robot motion test equipment according to claim 1, characterized in that: Two protective slings (4) are provided and have equal lengths. The two protective slings (4) are respectively hoisted near the head and tail of the leg-foot robot (4).

3. The following robot motion test equipment according to claim 1, characterized in that: The position sensor comprises a horizontal position sensor (9) installed on the top of the motion protection frame (1), which corresponds to a horizontal position mark (10) installed on the top of the leg-foot robot (4).

4. The following robot motion test equipment according to claim 1, characterized in that: The position sensor comprises a height position sensor (12) installed on at least one side of the motion protection frame (1), which corresponds to a height position mark (13) installed on the side of the leg-foot robot (4).

5. The following robot motion test equipment according to claim 1, characterized in that: A fixed pulley block is arranged on the top of the motion protection frame (1), an electric tensioning winch (14) is arranged on one side of the motion protection frame (1), one end of the lifting rope (5) is connected to the lifting frame (2), and the other end passes through the fixed pulley block and is wound around the electric tensioning winch (14); The electric tensioning winch (14) is electrically connected to the control device.

6. The following robot motion test equipment according to claim 5, characterized in that: The fixed pulley assembly comprises a first fixed pulley (15) located directly above the hoisting frame (2), and a second fixed pulley (16) arranged on the top of the motion protection frame (1) and on the same side as the electric tensioning winch (14), and the hoisting rope (5) passes through the first fixed pulley (15) and the second fixed pulley (16) in sequence.

7. The following robot motion test equipment according to claim 1, characterized in that: The vertical columns of the motion protection frame (1) are respectively provided with electric telescopic mechanisms (17) capable of adjusting the length thereof, and the electric telescopic mechanisms (17) are electrically connected to the control device.

8. The following robot motion test equipment according to claim 7, characterized in that: The electric telescopic mechanism (17) comprises an electric hydraulic telescopic mechanism or an electric screw mechanism.

9. The following robot motion test equipment according to claim 1, characterized in that: The position mark is pasted on the outer surface of the leg-foot robot (4).

10. The following robot motion test equipment according to claim 1, characterized in that: The front and rear sides of the motion protection frame (1) are respectively provided with motion channel openings (11) that are larger than the motion cross-section of the leg-foot miracle man.

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