Experimental platform for testing comprehensive performance of linear joint for humanoid robot

Abstract

The invention discloses an experimental platform for testing comprehensive performance of a linear joint for a humanoid robot. The platform comprises a bed body, a fixing device, a sensing device and a load generating device, wherein the fixing device, the sensing device and the load generating device are arranged on the bed body; the fixing device is used for installing and fixing the to-be-measured linear joint; the fixing devices are detachably installed on the lathe bed, and the linear joints of different specifications and models can be adapted by replacing the fixing devices of different types. The sensing device is used for acquiring the tension and pressure numerical value and displacement data of the to-be-measured linear joint in real time, and is used for carrying out subsequent performance evaluation calculation; and the load generating device is used for simulating different load conditions of the linear joint along the axial movement direction of the to-be-tested linear joint and acting on the to-be-tested linear joint. The linear joint performance test experimental platform can more conveniently and efficiently test the performance of the linear joint under various working conditions, so that the linear joint is tested and evaluated, and the linear joint performance test experimental platform has the characteristics of high loading precision, small load force fluctuation range, high stability and the like.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical transmission testing, in particular to a linear joint comprehensive performance testing experimental platform for a humanoid robot. Background Art

[0002] Humanoid robots integrate advanced technologies such as artificial intelligence, high-end manufacturing, and new materials. They are expected to become disruptive products after computers, smart phones, and new energy vehicles. They will profoundly change human production and lifestyle and reshape the global industrial development pattern. At present, humanoid robot technology is accelerating its evolution and has become a new frontier for scientific and technological competition, a new track for future industries, and a new engine for economic development. It has great development potential and broad application prospects. However, it is currently necessary to formulate inspection and testing methods for humanoid robot products, establish a key indicator system such as intelligence, reliability, and safety, and construct an implementable, measurable, and scalable evaluation benchmark. Create an authoritative inspection and testing agency, improve the evaluation supporting tools, and meet the inspection and certification needs of enterprises and users.

[0003] At present, with the notification of the Ministry of Industry and Information Technology on the issuance of the "Guiding Opinions on the Innovation and Development of Humanoid Robots", various enterprises have invested in the research and development and production of linear joints for humanoid robots. Many enterprises have successfully developed many new joints, such as Sikes, Yushu Technology, Kuka, Xinjian, Hechuan, Kepler, etc. However, the current evaluation method for joints usually adopts the separate performance test of the motor, screw pair and reducer of the joint. This evaluation method has the characteristics of low measurement efficiency, single test results and general reliability, and cannot directly reflect the overall performance and dynamic characteristics of the joint, such as transmission accuracy, output speed, response time, limit load, stall efficiency, power consumption, power, etc., but it is these parameters that directly feedback the performance of the entire joint in normal operation. Therefore, it is necessary to study a device for overall performance testing. Summary of the invention

[0004] The purpose of the present invention is to provide a linear joint comprehensive performance test platform to solve the problems in the prior art. As a special linear joint performance test device, it can test the performance of linear joints under various working conditions more conveniently and efficiently, thereby testing and evaluating linear joints.

[0005] The technical solution to achieve the purpose of the present invention is: a linear joint comprehensive performance test experimental platform for humanoid robots, the platform comprising a bed and a fixing device, a sensor device and a load generating device arranged on the bed;

[0006] The fixing device is used to install and fix the linear joint to be tested; and the fixing device can be detachably installed on the bed, and different types of fixing devices can be replaced to adapt to linear joints of different specifications and models;

[0007] The sensing device is used to obtain the tension and pressure values ​​and displacement data of the linear joint to be tested in real time for subsequent performance evaluation calculations;

[0008] The load generating device is used to simulate different load conditions of the linear joint along the axial movement direction of the linear joint to be tested, and act on the linear joint to be tested.

[0009] Further, the load generating device includes a workbench, a guide device and a drive device;

[0010] The driving device is used to drive the workbench to perform linear reciprocating motion along the axial direction of the linear joint to be tested;

[0011] The guide device is used to guide the linear reciprocating motion of the workbench;

[0012] The workbench contacts the protruding end of the linear joint to be tested so as to apply a load to the linear joint to be tested.

[0013] Furthermore, the workbench includes a front workbench and a rear workbench, the rear workbench is connected to the driving device, the front workbench and the rear workbench are connected by a detachable connecting device, and the front workbench contacts the protruding end of the linear joint to be tested; the driving device drives the rear workbench to perform linear reciprocating motion, and then drives the front workbench to perform linear reciprocating motion.

[0014] Furthermore, when the front workbench and the rear workbench are connected by a detachable connecting device, relevant performance indicators of the linear joint to be tested under a specific load are measured; the connection between the front workbench and the rear workbench is disconnected by the detachable connecting device to measure the no-load related performance indicators of the linear joint to be tested.

[0015] Furthermore, the driving device includes an AC permanent magnet synchronous servo motor and a ball screw pair. The AC permanent magnet synchronous servo motor is installed on a motor tailstock fixed on the bed. The output end of the AC permanent magnet synchronous servo motor is connected to one end of the ball screw of the ball screw pair through a coupling. The other end of the ball screw passes through the workbench and is connected to the tailstock support fixedly installed on the bed through a ball screw support unit; the ball nut of the ball screw pair is fixedly connected to the workbench.

[0016] Furthermore, the guiding device comprises a pair of parallel linear guide rails fixedly mounted on the bed, and the two linear guide rails are respectively located on both sides of the linear joint to be measured, and the two ends of the workbench are respectively fixed on sliders on the two linear guide rails.

[0017] Furthermore, the guiding device also includes a locking device for locking or unlocking the linear guide rail and the workbench.

[0018] Furthermore, when the locking device is used to lock the linear guide rail and the workbench, relevant performance indicators of the linear joint to be tested under stalling are measured.

[0019] Furthermore, the locking device adopts a clamping method.

[0020] Furthermore, the sensing device includes a tension and pressure sensor and a photoelectric sensor, which are respectively used to measure the tension and pressure values ​​and displacement data of the linear joint to be tested.

[0021] Compared with the prior art, the present invention has the following significant advantages:

[0022] (1) The linear joint of the present invention can be easily installed on the linear joint performance test platform of the invention, and only the fixing device needs to be replaced for joints of different specifications and models, which is convenient, efficient and easy to test.

[0023] (2) This linear joint performance test platform can measure the no-load related performance of the linear joint, such as peak speed, peak acceleration, etc., when the detachable connecting device is removed. If the detachable connecting device connects the front workbench and the rear workbench together, the relevant performance indicators of the linear joint under a specific load can be measured, such as the ultimate load and transmission efficiency. If the locking device of the workbench is locked, the relevant performance indicators of the linear joint under stalling can be measured, such as stalling efficiency, thus realizing multi-indicator measurement, which is convenient and quick.

[0024] (3) This linear joint performance test platform can measure a variety of linear joint specifications and models, with a wide measurement range. The maximum thrust range of the linear joint that can be tested is 0-15000N, and the stroke is 0-150mm.

[0025] (4) The front and rear workbenches of the linear joint performance test platform are on a roller linear guide pair, which reduces the directional error when the output torque of the AC permanent magnet synchronous servo motor is converted into linear tension through the ball screw pair, and improves the accuracy of the external tension at the protruding end of the linear joint during the test.

[0026] (5) The marble bed of this linear joint performance test platform has several reserved mounting bolt holes, which can be used to replace or improve parts. The overall platform is safe, efficient and reliable.

[0027] (6) This linear joint performance test experimental platform uses an AC permanent magnet synchronous servo motor for load simulation, which has the characteristics of high loading accuracy, small load force fluctuation range and strong stability.

[0028] The present invention is further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of a linear joint comprehensive performance test platform for a humanoid robot in one embodiment.

[0030] Figure 2 A top view of a comprehensive performance test platform for linear joints of a humanoid robot in one embodiment

[0031] Figure 3 A front view of a linear joint comprehensive performance test platform for a humanoid robot in one embodiment

[0032] Figure 4 Schematic diagram of a marble bed of a linear joint comprehensive performance test platform for a humanoid robot in one embodiment.

[0033] In the figure: 1-headstock, 2-joint bearing bracket, 3-linear joint to be measured, 4-V-block, 5-ear shaft, 6-spoke type tension and pressure sensor, 7-front workbench, 8-tailstock support, 9-ball screw support unit, 10-ball screw, 11-rear workbench, 12-ball nut, 13-motor tailstock, 14-coupling, 15-AC permanent magnet synchronous servo motor, 16-linear guide, 17-pneumatic normally closed brake type clamp, 18-precision locking nut, 19-slider, 20-connecting cylindrical rod, 21-grating ruler, 22-reading head, 23-optical axis, 24-marble bed. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of 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.

[0035] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0036] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0037] In one embodiment, in combination Figures 1 to 4 , provides a linear joint comprehensive performance test experimental platform for a humanoid robot, the platform comprising a marble bed 24 and a fixing device, a sensing device and a load generating device arranged on the bed;

[0038] The fixing device is used to install and fix the linear joint 3 to be tested; and the fixing device can be detachably installed on the bed 24, and different types of fixing devices can be replaced to adapt to linear joints of different specifications and models;

[0039] The sensing device is used to obtain the tension and pressure values ​​and displacement data of the linear joint 3 to be tested in real time for subsequent performance evaluation calculations;

[0040] The load generating device is used to simulate different load conditions of the linear joint along the axial movement direction of the linear joint 3 to be tested, and act on the linear joint 3 to be tested.

[0041] Further, in one of the embodiments, the load generating device includes a workbench, a guide device and a drive device;

[0042] The driving device is used to drive the workbench to perform linear reciprocating motion along the axial direction of the linear joint to be tested;

[0043] The guide device is used to guide the linear reciprocating motion of the workbench;

[0044] The workbench contacts the protruding end of the linear joint to be tested so as to apply a load to the linear joint to be tested.

[0045] Preferably, in some embodiments, the workbench includes a front workbench 7 and a rear workbench 11, the rear workbench 11 is connected to the driving device, the front workbench 7 and the rear workbench 11 are connected by a detachable connecting device, and the front workbench 7 is in contact with the protruding end of the linear joint 3 to be tested; the driving device drives the rear workbench 11 to perform linear reciprocating motion, and then drives the front workbench 7 to perform linear reciprocating motion.

[0046] Here, when the front workbench and the rear workbench are connected by a detachable connecting device, the relevant performance indicators of the linear joint to be tested under a specific load are measured, such as the ultimate load and the transmission efficiency; the connection between the front workbench and the rear workbench is disconnected by the detachable connecting device to measure the no-load related performance indicators of the linear joint to be tested, such as the peak speed, the peak acceleration, etc.

[0047] Further preferably, in some embodiments, the detachable connection device comprises two connecting cylindrical rods 20, and precision locking nuts 18 disposed at both ends of the connecting cylindrical rods 20. Other detachable connection devices also fall within the protection scope of the present invention.

[0048] Preferably, in some embodiments, the driving device includes an AC permanent magnet synchronous servo motor 15 and a ball screw pair. The AC permanent magnet synchronous servo motor 15 is installed on a motor tailstock 13 fixed on the bed 24. The output end of the AC permanent magnet synchronous servo motor 15 is connected to one end of the ball screw 10 of the ball screw pair through a coupling 14 to transmit the rotation speed and torque. After the other end of the ball screw 10 passes through the workbench, it is connected to the tailstock support 8 fixedly installed on the bed 24 through the ball screw support unit 9; the ball nut 12 of the ball screw pair is fixedly connected to the workbench.

[0049] Preferably, in some embodiments, the outer spiral raceway of the ball screw contains several circulating raceways, the centers of the ball return channels of the several circulating raceways are on the same spiral line, and the ball return channels on the circulating raceways are evenly distributed in the circumferential direction of the ball screw.

[0050] It is further preferred here that, based on the above-mentioned workbench embodiment, the other end of the ball screw 10 passes through the rear workbench 11 and is connected to the tailstock support 8 fixedly mounted on the bed 24 through the ball screw support unit 9; the ball nut 12 of the ball screw pair is fixedly connected to the rear workbench 11.

[0051] Here, the load of the linear joint is provided by an AC permanent magnet synchronous servo motor, and the torque and speed of the motor are converted into tension and speed through a ball screw pair. It has the advantages of small loading force fluctuation, stable control, and high loading accuracy.

[0052] Furthermore, in one embodiment, the guiding device includes a pair of parallel linear guide rails 16 fixedly mounted on the bed, and the two linear guide rails are respectively located on both sides of the linear joint to be measured, and the two ends of the workbench are respectively fixed on the sliders 19 on the two linear guide rails 16.

[0053] Here, it is further preferred that, based on the embodiment of the above-mentioned workbench, both ends of the front workbench 7 and the rear workbench 11 are respectively fixed on sliders on two linear guide rails.

[0054] Furthermore, in some embodiments, the guiding device also includes a locking device for locking or unlocking the linear guide rail and the workbench.

[0055] Here, when the locking device is used to lock the linear guide rail and the workbench, relevant performance indicators of the linear joint to be tested under stalling are measured, such as stalling efficiency.

[0056] Preferably, in some embodiments, the locking device adopts but is not limited to a clamping method. Further preferably, the locking device adopts but is not limited to a pneumatic normally closed brake type clamp 17, which is installed under the workbench and clamps the linear guide rail through the pneumatic normally closed brake type clamp.

[0057] Furthermore, in one of the embodiments, the sensing device includes but is not limited to a tension and pressure sensor and a photoelectric sensor, which are respectively used to measure the tension and pressure values ​​and displacement data of the linear joint to be tested.

[0058] Preferably, in some embodiments, the tension and pressure sensor is, but not limited to, a spoke-type tension and pressure sensor 6, which contacts the extended end of the linear joint to be measured. Further, based on the above-mentioned embodiment of the workbench, the spoke-type tension and pressure sensor 6 is fixedly mounted on the front workbench 7.

[0059] Preferably, in some embodiments, the photoelectric sensor includes a grating ruler 21 installed on the bed 24 and a reading head 22 installed on the front workbench.

[0060] Furthermore, in one embodiment, the fixing device includes a head frame 1, a joint bearing bracket 2, a V-block 4 and an ear shaft 5, the head frame 1 is detachably mounted on the bed 24, the joint bearing bracket 2 is detachably mounted on the head frame 1, and the fixed end of the linear joint 3 to be tested is fixedly connected to the joint bearing bracket 2; the V-block 4 is detachably mounted on the bed 24, and the linear joint 3 to be tested is horizontally placed on the V-block 4; the ear shaft 5 is connected to the spoke-type tension and pressure sensor 6, and the protruding end of the linear joint 3 to be tested is connected to the spoke-type tension and pressure sensor 6 through the ear shaft 5.

[0061] Here, the linear joint to be tested is installed on the head frame through the joint bearing bracket, and is connected to the spoke-type tension and pressure sensor through the ear shaft. It is easy to install and can measure linear joints of different specifications and models by replacing the joint bearing bracket and the ear shaft. It has strong versatility and interchangeability.

[0062] Preferably, in some embodiments, the joint bearing bracket 2 is provided with a circular hole of a size corresponding to the joint bearing of the linear joint to be measured, and the optical axis 23 with the same diameter as the circular hole is passed through to achieve the fixation of the fixed end of the linear joint 3 to be measured and the head frame 1.

[0063] Preferably, in some embodiments, the ear shaft 5 also has a circular hole of a size corresponding to the joint bearing of the linear joint to be measured, and an optical axis of the same diameter can be inserted therein to achieve connection between the protruding end of the linear joint to be measured and the ear shaft 5 and the spoke-type tension and pressure sensor 6.

[0064] Furthermore, in one of the embodiments, the marble bed has a plurality of reserved mounting bolt holes to enable replacement or improvement of parts.

[0065] It should be noted that the fixed connection involved in the present invention includes but is not limited to the use of bolts, and the detachable connection involved in the present invention includes but is not limited to the use of bolts, and the number of bolts is not limited.

[0066] The working principle of the present invention is as follows:

[0067] When the linear joint performance test experimental platform of the present invention performs no-load testing, the fixed end of the linear joint to be tested is installed on the joint bearing bracket through the optical axis, and the protruding end is installed on the ear shaft through the optical axis, that is, it is installed in the fixing device. The linear joint is energized, and the operating program is set by the drive controller. The protruding end of the joint bearing is self-driven to reciprocate back and forth in a straight line, driving the front workbench to reciprocate along the roller linear guide pair. At this time, the AC permanent magnet synchronous servo motor does not work. According to the data of the grating scale reading head and the voltage and current data of the linear joint itself, the no-load related performance of the linear joint to be tested, such as peak speed, peak acceleration, rated speed, rated current, rated voltage, etc., is calculated.

[0068] When the linear joint performance test experimental platform of the present invention is subjected to load testing, the front workbench and the rear workbench are threadedly connected to the cylindrical rod through a precision locking nut, that is, they are connected together through a detachable connecting device, and the AC permanent magnet synchronous servo motor drives the ball screw pair to work, thereby making the workbench reciprocate linearly forward and backward. The linear joint is energized, and the operating program is set by the drive controller. According to the data of the grating scale reading head, the value of the spoke-type tension and pressure sensor, and the voltage and current data of the linear joint itself, the relevant performance indicators of the tested linear joint under specific load conditions, such as limit load, transmission efficiency, stroke error, rated thrust, peak thrust, etc., are calculated.

[0069] When the linear joint performance test experimental platform of the present invention performs a clamping test, the front workbench and the rear workbench are threadedly connected to the cylindrical rod through a precision locking nut, that is, they are connected together through a detachable connecting device. At this time, the AC permanent magnet synchronous servo motor does not work, and the pneumatic normally closed brake-type clamp under the front workbench and the rear workbench clamps the linear guide rail, the linear joint is energized, and the running program is set through the drive controller. According to the value of the spoke-type tension and pressure sensor and the voltage and current data of the linear joint itself, the relevant performance indicators of the tested linear joint under stalling, such as stalling efficiency, are calculated.

[0070] In summary, the linear joint performance test experimental platform of the present invention can measure a variety of linear joint specifications and models, with a wide measurement range. The maximum thrust range of the linear joint that can be tested is 0-15000N, and the stroke is 0-150mm; the front workbench and the rear workbench are on a roller linear guide pair, which reduces the directional error when the output torque of the AC permanent magnet synchronous servo motor is converted into linear tension and pressure through the ball screw pair, and improves the accuracy level of the load tension and pressure on the extended end of the linear joint during testing; in addition, the marble bed has several reserved mounting bolt holes, which can be used for replacement or improvement of parts, and the overall safety, efficiency and reliability; this linear joint performance test experimental platform adopts an AC permanent magnet synchronous servo motor for load simulation, and has the characteristics of high loading accuracy, small load force fluctuation range and strong stability.

[0071] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A linear joint comprehensive performance test platform for humanoid robots, characterized in that: The platform includes a bed and a fixing device, a sensing device and a load generating device arranged on the bed; The fixing device is used to install and fix the linear joint to be tested; and the fixing device can be detachably installed on the bed, and different types of fixing devices can be replaced to adapt to linear joints of different specifications and models; The sensing device is used to obtain the tension and pressure values ​​and displacement data of the linear joint to be tested in real time for subsequent performance evaluation calculations; The load generating device is used to simulate different load conditions of the linear joint along the axial movement direction of the linear joint to be tested, and act on the linear joint to be tested.

2. The linear joint comprehensive performance test platform for humanoid robots according to claim 1, characterized in that: The load generating device comprises a workbench, a guide device and a driving device; The driving device is used to drive the workbench to perform linear reciprocating motion along the axial direction of the linear joint to be tested; The guide device is used to guide the linear reciprocating motion of the workbench; The workbench contacts the protruding end of the linear joint to be tested so as to apply a load to the linear joint to be tested.

3. The linear joint comprehensive performance test platform for humanoid robots according to claim 2, characterized in that: The workbench includes a front workbench and a rear workbench, the rear workbench is connected to the driving device, the front workbench and the rear workbench are connected via a detachable connecting device, the front workbench contacts the protruding end of the linear joint to be tested; the driving device drives the rear workbench to perform linear reciprocating motion, and then drives the front workbench to perform linear reciprocating motion.

4. The linear joint comprehensive performance test platform for humanoid robots according to claim 3, characterized in that: When the front workbench and the rear workbench are connected by a detachable connecting device, the relevant performance indicators of the linear joint to be tested under a specific load are measured; the connection between the front workbench and the rear workbench is disconnected by the detachable connecting device to measure the no-load related performance indicators of the linear joint to be tested.

5. The linear joint comprehensive performance test platform for humanoid robots according to claim 2, characterized in that: The driving device includes an AC permanent magnet synchronous servo motor and a ball screw pair. The AC permanent magnet synchronous servo motor is installed on a motor tailstock fixed on the bed. The output end of the AC permanent magnet synchronous servo motor is connected to one end of the ball screw of the ball screw pair through a coupling. The other end of the ball screw passes through the workbench and is connected to a tailstock support fixedly installed on the bed through a ball screw support unit; the ball nut of the ball screw pair is fixedly connected to the workbench.

6. The linear joint comprehensive performance test platform for humanoid robots according to claim 2, characterized in that: The guiding device comprises a pair of parallel linear guide rails fixedly mounted on the bed, and the two linear guide rails are respectively located on both sides of the linear joint to be measured, and the two ends of the workbench are respectively fixed on the sliders on the two linear guide rails.

7. The linear joint comprehensive performance test platform for humanoid robots according to claim 6, characterized in that: The guiding device also includes a locking device for locking or unlocking the linear guide rail and the workbench.

8. The linear joint comprehensive performance test platform for humanoid robots according to claim 7, characterized in that: When the locking device locks the linear guide rail and the workbench, the relevant performance indicators of the linear joint to be tested under stalling are measured.

9. The linear joint comprehensive performance test platform for humanoid robots according to claim 8, characterized in that: The locking device adopts a clamping method.

10. The linear joint comprehensive performance test platform for humanoid robots according to claim 1, characterized in that: The sensing device comprises a tension and pressure sensor and a photoelectric sensor, which are respectively used to measure the tension and pressure value and displacement data of the linear joint to be tested.

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