Robot single-leg testing device

Abstract

The utility model relates to a robot single-leg testing device. The robot single-leg testing device comprises a supporting frame; the first sliding module is arranged on the supporting frame; the second sliding module is arranged on the first sliding module, and the first sliding module can guide the second sliding module to move in the first direction; the single-leg connecting piece is arranged on the second sliding module, the second sliding module can guide movement of the single-leg connecting piece in the second direction, the single-leg connecting piece is connected with a single-leg assembly of the robot, and the second direction is perpendicular to the first direction; the detection assembly is used for detecting the ground touching force and / or the foot end cycloid track of the single-leg assembly. The testing device is simple in structure, and the ground touching force and / or the foot end cycloid track of the single-leg assembly can be conveniently detected.

Description

Technical Field

[0001] The present application relates to the field of robot testing, and in particular to a robot single-leg testing device. Background Art

[0002] Legged robots have strong terrain adaptability and obstacle-crossing capabilities. In the development of legged robots, a single-leg working condition test platform is required to test the motion performance of a single leg, and then the whole machine is developed after verification. Currently, the single-leg test platform has a complex structure, high cost, and poor reliability. Utility Model Content

[0003] Based on the above problems, the present application provides a robot single-leg testing device for testing the motion characteristics of a robot single-leg component.

[0004] An embodiment of the present application provides a robot single-leg testing device, comprising:

[0005] Support frame;

[0006] A first sliding module is disposed on the support frame;

[0007] a second sliding module, disposed on the first sliding module, wherein the first sliding module is capable of guiding the movement of the second sliding module along a first direction;

[0008] A single-leg connector, disposed on the second sliding module, the second sliding module can guide the movement of the single-leg connector along a second direction, the single-leg connector is connected to the single-leg assembly of the robot, and the second direction is perpendicular to the first direction;

[0009] The detection component is used to detect the ground contact force and / or the foot end cycloid trajectory of the single leg component.

[0010] According to some embodiments of the present application, the first sliding module includes:

[0011] A first slide rail, disposed on the support frame;

[0012] A first sliding block, slidably disposed on the first sliding rail;

[0013] The first limiting block is detachably disposed on the first slide rail and is used to limit the sliding of the first sliding block.

[0014] According to some embodiments of the present application, the number of the first sliding modules is at least two.

[0015] According to some embodiments of the present application, the second sliding module includes:

[0016] A second slide rail, disposed on the first slide block;

[0017] A second sliding block, slidably disposed on the second sliding rail;

[0018] The second limiting block is detachably disposed on the second slide rail and is used to limit the sliding of the second sliding block.

[0019] According to some embodiments of the present application, third limit blocks are provided at both ends of the second slide rail.

[0020] According to some embodiments of the present application, the support frame includes:

[0021] Pedestal;

[0022] Two pillars are respectively arranged at two ends of the base, and the first sliding module is connected to the pillars.

[0023] According to some embodiments of the present application, the base is provided with a receiving hole, and the single-leg assembly passes through the receiving hole.

[0024] According to some embodiments of the present application, the support frame also includes a roller, and the roller is arranged on the bottom surface of the base.

[0025] According to some embodiments of the present application, the detection component includes:

[0026] A pressure sensor, used to detect the ground contact force of the single leg assembly;

[0027] A displacement sensor is used to detect the cycloidal trajectory of the foot end of the single-leg assembly.

[0028] According to some embodiments of the present application, the single-leg connector is firmly connected to the single-leg assembly.

[0029] In the testing device of the present application, the single-leg connector is connected to the single-leg assembly, and the first sliding module and the second sliding module guide the movement of the single-leg assembly to detect the ground contact force and / or the cycloidal trajectory of the foot end of the single-leg assembly. The testing device has a simple structure and is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without exceeding the scope of protection required by the present application.

[0031] Figure 1 is a schematic diagram of a single-leg assembly of a robot according to an embodiment of the present application;

[0032] Figure 2It is a schematic diagram of a robot single-leg testing device connected to a single-leg component according to an embodiment of the present application;

[0033] Figure 3 This is a schematic diagram of a robot single-leg testing device according to an embodiment of the present application. Figure 1 ;

[0034] Figure 4 This is a schematic diagram of a robot single-leg testing device according to an embodiment of the present application. Figure 2 ;

[0035] Figure 5 It is a schematic diagram of a single-leg connector according to an embodiment of the present application. DETAILED DESCRIPTION

[0036] The following is a clear and complete description of the technical solution of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0037] like Figure 1 As shown, the single leg assembly 200 of the robot includes: a thigh flange 201, a thigh part 202, a calf part 203 and a foot anti-slip part 204. One end of the thigh part 202 is hinged to the thigh flange 201, the other end of the thigh part 202 is hinged to the calf part 203, and the foot anti-slip part 204 is arranged at the bottom end of the calf part 203. The driving motor of the single leg assembly 200 can drive the thigh part 202 and the calf part 203 to move.

[0038] like Figure 2 As shown, an embodiment of the present application provides a robot single-leg testing device (referred to as the testing device for short) 100, and the testing device 100 includes: a support frame 1, a first sliding module 2, a second sliding module 3, a single-leg connecting member 4 and a detection component 5.

[0039] The support frame 1 is used to provide support for the first sliding module 2 , the second sliding module 3 and the single-leg connector 4 .

[0040] like Figure 3 As shown, the first sliding module 2 is arranged on the support frame 1. Optionally, the first sliding module 2 includes: a first slide rail 21 and a first slider 22. The first slide rail 21 is arranged on the support frame 1. Optionally, the first sliding module 2 also includes a first fixed frame 23, both ends of the first fixed frame 23 are connected to the support frame 1, and the first slide rail 21 is arranged on the side wall of the first fixed frame 23. The first slide rail 21 extends along a horizontal first direction. The first slider 22 is slidably arranged on the first slide rail 21.

[0041] The second sliding module 3 is disposed on the first sliding module 2 , and the first sliding module 2 can guide the movement of the second sliding module 3 along the first direction.

[0042] Optionally, the second sliding module 3 includes a second slide rail 31 and a second slider 32. The second slide rail 31 is disposed on the first slider 22, and the second slider 32 is slidably disposed on the second slide rail 31. Optionally, the second sliding module 3 also includes a second fixing frame 33, the second fixing frame 33 is fastened to the first slider 22, and the second slide rail 31 is disposed on the second fixing frame 33. The second slide rail 31 extends along a second direction, for example, the second direction is a vertical direction, and the second direction is perpendicular to the first direction.

[0043] The single-leg connector 4 is arranged on the second sliding module 3, and the second sliding module 3 can guide the movement of the single-leg connector 4 along the second direction. Optionally, the single-leg connector 4 is tightly connected to the second slider 32. The single-leg connector 4 is connected to the single-leg assembly 200 of the robot. For example, the single-leg connector 4 is roughly U-shaped, and the thigh flange 201 can partially enter the accommodating space of the single-leg connector 4, and the single-leg connector 4 can be detachably connected to the thigh flange 201 of the single-leg assembly 200. The single-leg connector 4 does not affect the rotation of the thigh 202 relative to the thigh flange 201.

[0044] The detection component 5 is used to detect the ground contact force and / or the foot end cycloidal trajectory of the single leg component 200.

[0045] When testing the single leg assembly 200, the thigh flange 201 is fixedly connected to the single leg connector 4. The driving motor of the single leg assembly 200 is controlled to operate, and the first sliding module 2 and the second sliding module 3 can guide the movement of the thigh flange 201 in the first direction and the second direction. When the single leg assembly 200 moves, the detection component 5 detects the ground contact force and the foot end cycloid trajectory of the single leg assembly 200 to obtain the motion test parameters of the single leg assembly 200. The test device 100 of this embodiment has a simple structure and is easy to use.

[0046] like Figure 4 As shown, in some embodiments, the first sliding module 2 further includes a first limit block 24. The first limit block 24 is detachably disposed on the first slide rail 21, and is used to limit the sliding of the first slider 22. For example, the first limit block 24 is detachably connected to the first slide rail 21 by a screw. The first limit blocks 24 are respectively disposed on both sides of the first slider 22, and the first limit blocks 24 abut against the first slider 22 to block the movement of the first slider 22.

[0047] When testing the single leg assembly 200, if it is necessary to limit the movement of the thigh flange 201 along the first direction, the first limit block 24 is installed on the first slide rail 21 to limit the movement of the first slider 22. Since the first slider 22 cannot move, the movement of the second sliding module 3 and the thigh flange 201 along the first direction is limited.

[0048] In some embodiments, there are at least two first sliding modules 2. For example, two first sliding modules 2 are arranged parallel to each other, and the second fixing frame 33 is connected to the first sliders 22 of the two first sliding modules 2 to provide better guidance for the single leg assembly 200.

[0049] In some embodiments, the second sliding module 3 further includes a second limit block 34, which is detachably disposed on the second slide rail 31 to limit the movement of the second slider 32. For example, the second limit block 34 is detachably connected to the second slide rail 31 by a screw. The second limit blocks 34 are respectively disposed at the top and bottom ends of the second slider 32 to limit the up and down movement of the second slider 32.

[0050] When testing the single leg assembly 200, if it is necessary to limit the movement of the thigh flange 201 along the second direction, the second limit block 34 is installed on the second slide rail 31 to limit the movement of the second slider 32. Since the second slider 32 cannot move, the movement of the thigh flange 201 along the second direction is limited.

[0051] Optionally, the first limit block 24 and the second limit block 34 simultaneously limit the movement of the thigh flange 201 along the first direction and the second direction, and control the driving motor of the single-leg assembly 200 to operate to detect the ground contact force when the single-leg assembly 200 is not moving.

[0052] In some embodiments, a third limiting block 35 is disposed at both the top and bottom of the second slide rail 3. The third limiting block 35 is used to limit the second limiting block 34 from sliding out of the second slide rail 31 to improve the safety of the testing device 100.

[0053] like Figure 3 As shown, in some embodiments, the support frame 1 includes a base 11 and two pillars 12, and the two pillars 12 are respectively arranged at both ends of the base 11. One end of the first fixing frame 23 of the first sliding module 2 is connected to the first pillar, and the other end of the first fixing frame 23 is connected to the second pillar.

[0054] In some embodiments, the base 11 is provided with a receiving hole 111, for example, the base 11 is a frame structure, and the center of the base 11 is the receiving hole 111. The single leg assembly 200 can pass through the receiving hole 111 so that the bottom end of the single leg assembly 200 touches the ground.

[0055] In some embodiments, the support frame 1 also includes rollers 13. For example, four rollers 13 are respectively arranged at the four corners of the bottom surface of the base 11, so as to facilitate moving the test device 100 to different ground surfaces such as grass, gravel and concrete, so as to simulate the real working environment test of the single-leg assembly 200.

[0056] like Figure 2 As shown, in some embodiments, the detection component 5 includes a pressure sensor 51 and a displacement sensor 52. The pressure sensor 51 is disposed on the ground, and the anti-slip part 204 of the single-leg component 200 abuts against the pressure sensor 51 to detect the ground contact force of the single-leg component 200. The displacement sensor 52 is disposed on the anti-slip part 204 to detect the cycloidal trajectory of the foot end of the single-leg component 200. The pressure sensor 51 and the displacement sensor 52 are both communicatively connected to the data storage, and the detection data of the pressure sensor 51 and the displacement sensor 52 are both sent to the data storage.

[0057] like Figure 5 As shown, in some embodiments, the single-leg connector 4 is fastened to the single-leg assembly 200. For example, a through hole 41 is provided on the single-leg connector 4, a threaded hole is provided on the thigh flange 201, and a screw passes through the through hole 41 and is connected to the threaded hole of the thigh flange 201, so as to fasten the single-leg connector 4 to the single-leg assembly 200.

[0058] The embodiments of the present application are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the technical solution and core ideas of the present application. Therefore, changes or deformations made by those skilled in the art based on the ideas of the present application, the specific implementation methods and the scope of application of the present application, all belong to the scope of protection of the present application. In summary, the contents of this specification should not be construed as limiting the present application.

Claims

1. A robot single-leg testing device, characterized in that: include: Support frame; A first sliding module is disposed on the support frame; a second sliding module, disposed on the first sliding module, wherein the first sliding module is capable of guiding the movement of the second sliding module along a first direction; A single-leg connector, disposed on the second sliding module, the second sliding module can guide the movement of the single-leg connector along a second direction, the single-leg connector is connected to the single-leg assembly of the robot, and the second direction is perpendicular to the first direction; The detection component is used to detect the ground contact force and / or the foot end cycloid trajectory of the single leg component.

2. The robot single-leg testing device according to claim 1, characterized in that: The first sliding module comprises: A first slide rail, disposed on the support frame; A first sliding block, slidably disposed on the first sliding rail; The first limiting block is detachably disposed on the first slide rail and is used to limit the sliding of the first sliding block.

3. The robot single-leg testing device according to claim 2, characterized in that: The number of the first sliding modules is at least two.

4. The robot single-leg testing device according to claim 2, characterized in that: The second sliding module comprises: A second slide rail, disposed on the first slide block; A second sliding block, slidably disposed on the second sliding rail; The second limiting block is detachably disposed on the second slide rail and is used to limit the sliding of the second sliding block.

5. The robot single-leg testing device according to claim 4, characterized in that: The two ends of the second slide rail are both provided with a third limiting block.

6. The robot single-leg testing device according to claim 1, characterized in that: The support frame comprises: Pedestal; Two pillars are respectively arranged at two ends of the base, and the first sliding module is connected to the pillars.

7. The robot single-leg testing device according to claim 6, characterized in that: The base is provided with a receiving hole, and the single-leg assembly passes through the receiving hole.

8. The robot single-leg testing device according to claim 6, characterized in that: The support frame also includes a roller, and the roller is arranged on the bottom surface of the base.

9. The robot single-leg testing device according to claim 1, characterized in that: The detection component comprises: A pressure sensor, used to detect the ground contact force of the single leg assembly; A displacement sensor is used to detect the cycloidal trajectory of the foot end of the single-leg assembly.

10. The robot single-leg testing device according to claim 1, characterized in that: The single-leg connecting piece is firmly connected to the single-leg assembly.

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