Balance capability evaluation device for wheel-foot robot

Abstract

The utility model discloses a wheel-foot robot balance capability evaluation device, which comprises a wheel-foot balance assembly and a swing arm control assembly, the wheel-foot balance assembly and the swing arm control assembly are arranged on the same cross beam, and the wheel-foot balance assembly is fixedly arranged on the cross beam. Comprising upper leg rods symmetrically arranged at the two ends of a cross beam and lower leg rods detachably matched with the upper leg rods, hub assemblies are arranged on the lower portions of the lower leg rods, a control box is further arranged on the lower leg rods, and a battery, a detachable single-chip microcomputer control board and a detachable motor driving board are arranged in the control box; the swing arm control assembly is rotatably arranged on a cross beam on the inner sides of the two upper leg rods and comprises swing arms and synchronous wheel sets which are symmetrically arranged, driving motors are arranged on the swing arms, driving shafts of the driving motors are in matched transmission with the synchronous wheel sets, and the swing arms can swing or rotate around the cross beam under the driving of the driving motors and the synchronous wheel sets.

Description

Technical Field

[0001] The utility model belongs to the technical field of wheel-legged robot application, and in particular relates to a wheel-legged robot balance ability evaluation device. Background Art

[0002] Wheeled-legged robots are a type of robot that uses wheels as legs. This design combines the characteristics of wheels and legs, allowing it to move quickly on flat terrain and maintain stability in complex terrain, with high mobility and high adaptability. At present, the expansion robot that uses wheeled-legged robots as a platform and carries various functional accessories is also a hot topic in the current field of robot research. Faced with increasingly complex application scenarios, in order to maintain smooth movement and excellent turning performance in complex terrain, higher requirements are placed on the large-angle tilt balance ability of wheeled-legged robots. On this basis, it is of great significance to carry out testing and evaluation of the balance ability of wheeled-legged robots. Utility Model Content

[0003] The utility model aims to provide a device for evaluating the balancing ability of a wheel-legged robot, which evaluates the balancing ability of the wheel-legged robot by testing the anti-interference ability of the wheel-legged robot to disturbances or dynamic changes of loads.

[0004] The wheel-foot robot balancing ability evaluation device comprises a wheel-foot balancing component and a swing arm control component, and the wheel-foot balancing component and the swing arm control component are arranged on the same crossbeam.

[0005] The wheel-foot balancing assembly is fixedly arranged on the crossbeam, and comprises an upper leg rod symmetrically arranged at both ends of the crossbeam, and a lower leg rod detachably matched with the upper leg rod, and a wheel hub assembly is arranged at the lower part of the lower leg rod; a control box is also arranged on the lower leg rod, and the control box comprises a battery, a detachable single-chip control board, and a detachable motor drive board;

[0006] The swing arm control assembly can be rotatably arranged on the inner side beams of the two upper leg rods, and includes a symmetrically arranged swing arm and a synchronous wheel group. A driving motor is arranged on the swing arm, and the driving shaft of the driving motor is fixed to the driving wheel of the synchronous wheel group. The driven wheel of the synchronous wheel group is fixed on the cross beam. The driving wheel and the driven wheel are driven by a conveyor belt. The swing arm can swing or rotate around the cross beam driven by the driving motor and the synchronous wheel group.

[0007] Furthermore, a plurality of adjustment holes are linearly spaced apart on the upper leg rod, and the lower leg rod is adjustably matched with the adjustment holes by fastening bolts.

[0008] Furthermore, the top of the swing arm is rotatably matched with the cross beam through a bearing, and a counterweight block is arranged at the bottom, and the counterweight block is slidably matched with the swing arm.

[0009] Furthermore, a T-shaped slot is arranged on the swing arm, and a T-shaped slider is arranged on the counterweight block. The T-shaped slider can slide up and down along the T-shaped slot and be fixed with a fastener.

[0010] Furthermore, inclination sensors are provided on the swing arm and the lower leg rod, and the inclination sensors communicate with the single-chip microcomputer control board through a digital bus. The single-chip microcomputer control board can display the inclination information of the lower leg rod and the swing arm in real time.

[0011] Furthermore, the wheel hub assembly includes a matched wheel hub and a wheel hub motor, and the wheel hub motor is detachably matched with the lower leg rod via fastening bolts.

[0012] Furthermore, a fixing frame is provided in the middle of the crossbeam to cooperate with the installation of a camera.

[0013] Compared with the prior art, the utility model has the following advantages: the application adopts a separation structure, which is suitable for the evaluation of control systems of various types of wheel-foot robots. Active and passive methods can be used to lift or move the swing arm to a fixed position to apply specific disturbances to the wheel-foot balancing assembly. By recording the state changes of the wheel-foot balancing assembly, such as the stabilization time, the maximum tilting angle and other parameters, the balancing ability of the wheel-foot balancing assembly is evaluated, thereby providing a quantitative basis for the optimal control of the wheel-foot robot under various working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the utility model.

[0015] In the figure: 1-crossbeam, 2-lower leg rod, 3-upper leg rod, 4-swing arm, 5-bearing, 6-synchronous wheel set, 7-fixing frame, 8-control box, 9-wheel hub assembly, 10-drive motor, 11-tilt sensor, 12-counterweight. DETAILED DESCRIPTION

[0016] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the present invention is further described below in conjunction with the accompanying drawings.

[0017] like Figure 1The embodiment shown is a device for evaluating the balancing ability of a wheel-foot robot, comprising a wheel-foot balancing component and a swing arm control component, wherein the wheel-foot balancing component and the swing arm control component are arranged on the same crossbeam 1, the balance component is fixedly arranged on the crossbeam 1, and comprises an upper leg rod 3 symmetrically arranged at both ends of the crossbeam 1, a lower leg rod 2 detachably matched with the upper leg rod 3, and a wheel hub component 9 is arranged at the lower part of the lower leg rod 2; a control box 8 is also arranged on the lower leg rod 2, and the control box 8 includes a battery, a detachable single-chip microcomputer control board, and a detachable motor drive board; the swing arm control component is rotatably arranged on the inner crossbeam 1 of the two upper leg rods 3, and comprises a symmetrically arranged swing arm 4 and a synchronous wheel set 6, a driving motor 10 is arranged on the swing arm 4, a driving shaft of the driving motor 10 is fixed to the driving wheel of the synchronous wheel set 6, and a driven wheel of the synchronous wheel set 6 is fixedly arranged on the crossbeam 1, and the driving wheel and the driven wheel are transmitted by a conveyor belt, and the swing arm 4 can swing or rotate around the crossbeam 1 driven by the driving motor 10 and the synchronous wheel set 6. The top of the swing arm 4 is rotatably matched with the cross beam 1 through the bearing 5, and a counterweight 12 is arranged at the bottom. The counterweight 12 is slidably matched with the swing arm 4. The counterweight 12 is arranged to further ensure that the swing arm 4 remains vertically drooped when there is no external force driving. In a preferred embodiment, a T-slot is arranged on the swing arm 4, and a T-sliding block is arranged on the counterweight 12. The T-sliding block can slide up and down along the T-slot and be fixed with the fastening bolts, that is, after loosening the fastening bolts, the counterweight 12 can slide up and down along the T-slot through the T-sliding block arranged thereon.

[0018] The present application can use active and passive methods to lift or move the swing arm to a fixed position. First, the bus tool is used to send the swing speed and swing angle and other test data set by the swing arm 4 to the control box 8. After receiving the test data, the control box 4 sends control information to the motor drive board to drive the swing arm to move to the specified position according to the set swing speed and swing angle. By recording the state changes of the wheel-foot robot during the swing of the swing arm 4, such as the calming time, the maximum tipping angle and other parameters, the balancing ability of the wheel-foot balancing assembly is evaluated, thereby providing a quantitative basis for the optimized control of the wheel-foot robot under various working conditions.

[0019] In this embodiment, the upper leg rod 3 is provided with a plurality of adjustment holes at linear intervals in the height direction, and the lower leg rod 2 is adjusted to fit with the adjustment holes by the fastening bolts. That is, different lower leg rods 2 can be assembled and replaced by adjusting the lower leg rod 2 and fixing it with the adjustment holes at different heights.

[0020] In addition, the swing arm 4 and the lower leg rod 2 are both provided with an inclination sensor 11, which communicates with the single-chip control board through a digital bus, and the single-chip control board can display the inclination information of the lower leg rod 2 and the swing arm 4 in real time. The hub assembly 9 includes a matching hub and a hub motor, and the hub motor and the lower leg rod 2 are detachably matched by fastening bolts; that is, the hub assembly 9 can be replaced by removing the fastening bolts. A fixing frame 7 is also provided in the middle of the crossbeam 1 to cooperate with the installation of a camera.

[0021] In the wheel-foot robot evaluation device of the present application, the balance control component and the swing arm control component are independent of each other when in use. During the test, the swing arm control system can actively or passively lift the arm 4 to the specified position. During the test, the bus tool is first used to send test data such as the swing speed and swing angle set for the swing arm 4 to the control box 8. After receiving the test data, the control box 8 sends control information to the motor drive board to drive the swing arm to move to the specified position at the set swing speed and swing angle. By recording the state changes of the wheel-foot robot during the swing of the swing arm 4, such as the calming time, the maximum tipping angle, and other parameters, the balancing ability of the wheel-foot balance component is evaluated.

[0022] The evaluation process of the balance control algorithm is an existing technology. Usually, different control algorithms are burned into the control board using a single-chip microcomputer program downloader, or the control box 8 is opened to replace the single-chip microcomputer control board with the control algorithm to be tested burned in it, and then the performance of the balance control algorithm is tested according to the same test process and test data.

[0023] The device can adapt to the test scenarios of wheel hub assemblies of different specifications by replacing the wheel hub assembly 9. In the device, the wheel hub assembly 9 is installed on the lower leg 2, and the lower leg 2 is connected to the upper leg 3 by fasteners. The lower leg 2 can be removed and replaced as a whole by loosening the fasteners. By replacing the lower leg on which the wheel hub assembly 9 to be tested and the control box 8 are installed, the balance test of wheel hub assemblies of different specifications can be completed.

[0024] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. A device for evaluating the balance ability of a wheeled robot, characterized in that: It comprises a wheel-foot balancing assembly and a swing arm control assembly, wherein the wheel-foot balancing assembly and the swing arm control assembly are arranged on the same crossbeam (1). The wheel-foot balancing assembly is fixedly arranged on the crossbeam (1), and comprises an upper leg rod (3) symmetrically arranged at both ends of the crossbeam (1), and a lower leg rod (2) detachably matched with the upper leg rod (3), and a wheel hub assembly (9) is arranged at the lower part of the lower leg rod (2); a control box (8) is also arranged on the lower leg rod (2), and the control box (8) comprises a battery, a detachable single-chip control board, and a detachable motor drive board; The swing arm control assembly can be rotatably arranged on the inner side beam (1) of the two upper leg rods (3), and comprises a swing arm (4) and a synchronous wheel set (6) which are symmetrically arranged. A driving motor (10) is arranged on the swing arm (4). The driving shaft of the driving motor (10) is fixed to the driving wheel of the synchronous wheel set (6). The driven wheel of the synchronous wheel set (6) is fixed to the beam (1). The driving wheel and the driven wheel are driven by a conveyor belt. The swing arm (4) can swing or rotate around the beam (1) under the drive of the driving motor (10) and the synchronous wheel set (6).

2. A wheeled robot balance ability evaluation device according to claim 1, characterized in that: A plurality of adjustment holes are linearly spaced apart on the upper leg rod (3), and the lower leg rod (2) is adjustable in cooperation with the fastening bolts and the adjustment holes.

3. The device for evaluating the balance ability of a wheeled robot according to claim 1, characterized in that: The top of the swing arm (4) is rotatably matched with the cross beam (1) via a bearing (5), and a counterweight block (12) is arranged at the bottom, and the counterweight block (12) is slidably matched with the swing arm (4).

4. The device for evaluating the balance ability of a wheeled robot according to claim 3, characterized in that: A T-shaped slot is provided on the swing arm (4), and a T-shaped slider is provided on the counterweight (12). The T-shaped slider can slide up and down along the T-shaped slot and be fixed with a fastener.

5. The device for evaluating the balance ability of a wheeled robot according to claim 1, characterized in that: The swing arm (4) and the lower leg rod (2) are both provided with an inclination sensor (11), the inclination sensor (11) communicating with a single-chip microcomputer control board via a digital bus, and the single-chip microcomputer control board can display in real time inclination information of the lower leg rod (2) and the swing arm (4).

6. A wheeled-legged robot balance ability evaluation device according to any one of claims 1 to 5, characterized in that: The wheel hub assembly (9) comprises a matching wheel hub and a wheel hub motor, and the wheel hub motor is detachably matched with the lower leg rod (2) via fastening bolts.

7. A wheeled-legged robot balance ability evaluation device according to any one of claims 1 to 5, characterized in that: A fixing frame (7) is also provided in the middle of the crossbeam (1) to cooperate with the installation of a camera.

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