Electric drive system on-load positioning precision comprehensive test platform for humanoid robot

Abstract

The utility model belongs to the technical field of positioning precision test, and discloses an electric drive system on-load positioning precision comprehensive test platform for a humanoid robot, which comprises a test platform. The adjusting bracket slides along the top surface of the test platform; the height of the adjusting bracket is adjustable; the to-be-tested object is connected with the adjusting bracket; the load system is fixedly arranged on the top surface of the test platform; the load system applies a load to the to-be-tested object to realize torque loading; the measurement detection part is arranged between the adjusting bracket and the load system; the measuring and detecting part comprises a high-precision angular displacement sensor and a torque and rotating speed sensor, the high-precision angular displacement sensor is used for detecting the displacement change of an object to be measured, and the torque and rotating speed sensor is used for detecting the torque and rotating speed of the load system. Through the platform, the conventional joint static performance and dynamic performance test items of the electric drive system can be met, and absolute positioning precision test and repeated positioning precision test in the loading test process can be realized at the same time.

Description

Technical Field

[0001] The utility model belongs to the technical field of positioning accuracy testing, and relates to a comprehensive testing platform for the loaded positioning accuracy of an electric drive system for a humanoid robot. Background Art

[0002] With the continuous development of technology, the joint movements of humanoid robots are becoming increasingly flexible, enabling them to perform more complex and delicate movements. As the core of their motion capabilities, electric drive systems provide stronger power and more precise control for the robots' movements. By building a comprehensive test platform for the loaded positioning accuracy of electric drive systems for humanoid robots, we can test and evaluate the accuracy and stability of electric drive systems during loaded joint movement, thereby optimizing the overall performance of humanoid robots and bringing them closer to human-like movement and flexibility.

[0003] However, the existing test platform has the following defects:

[0004] The test items are not comprehensive, and only independent tests of the electric drive system can be performed, such as characteristic tests, temperature rise tests or efficiency tests. Tests simulating the application of the entire machine cannot be performed. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide a comprehensive test platform for the load positioning accuracy of an electric drive system for a humanoid robot.

[0006] In order to achieve the above-mentioned purpose, the technical solution of the utility model is to provide a comprehensive test platform for the load positioning accuracy of the electric drive system for a humanoid robot, which includes:

[0007] test platform;

[0008] An adjusting bracket is slidably moved along the top surface of the test platform; the adjusting bracket is height-adjustable; and the object to be tested is connected to the adjusting bracket;

[0009] A load system is fixedly arranged on the top surface of the test platform; the load system applies a load to the object to be tested to achieve torque loading;

[0010] The measurement and detection section is positioned between the adjustment bracket and the load system. It includes a high-precision angular displacement sensor and a torque and speed sensor. The high-precision angular displacement sensor detects angular changes in the object under test, while the torque and speed sensor detects the torque and speed of the load system. By coordinating the measurement and detection section with the load system, the electric drive system meets conventional joint static and dynamic performance test items while also enabling absolute and repeatable positioning accuracy testing during the loading test.

[0011] According to the present invention, the load system is a magnetic powder brake. Torque loading is achieved by providing a given magnetic powder brake excitation voltage instead of a conventional variable frequency dynamometer, thereby ensuring stability during the loading process and reducing the impact of load adjustment on positioning accuracy test results.

[0012] According to the present invention, the high-precision angular displacement sensor and the torque and speed sensor are further connected via a first rigid coupling. The two sensors are connected via the first rigid coupling to reduce torque transmission error, thereby improving the measurement accuracy of absolute positioning accuracy and repeatability.

[0013] According to the present utility model, further, the high-precision displacement sensor is located on a side close to the object to be measured, and the torque and speed sensor is located on a side close to the torque and speed sensor.

[0014] According to the present invention, further, the torque and speed sensor is connected to the load system through a second rigid coupling.

[0015] According to the present invention, further, a movable slide rail is provided on the top surface of the test platform, and a sliding component cooperating with the movable slide rail is provided on the bottom of the adjustment bracket to achieve relative sliding between the two.

[0016] According to the present invention, further, the adjustment bracket is a split structure, including a base slidably connected to the movable slide rail, an L bracket is provided above the base and moves up and down relative to the base, and the object to be measured is connected to the side surface of the L bracket facing the load system.

[0017] The beneficial effects of the present invention are as follows: the comprehensive test platform for load positioning accuracy of the electric drive system not only meets the conventional joint static performance and dynamic performance test items of the electric drive system, but also realizes absolute positioning accuracy test and repeated positioning accuracy test during the loading test process. It can accurately measure the joint static performance, dynamic performance and positioning accuracy test of the electric drive system under load conditions, and provide more accurate data support for parameter calibration and drive control of the electric drive system for humanoid robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The utility model is a structural schematic diagram of a comprehensive test platform for load positioning accuracy of an electric drive system for a humanoid robot.

[0019] In the accompanying drawings,

[0020] 1-test platform, 2-movable slide rail, 3-adjustment bracket, 31-base, 311-hand crank wheel, 32-L bracket, 4-object to be tested, 5-angular displacement sensor, 6-first rigid coupling, 7-torque and speed sensor, 8-second rigid coupling, 9-magnetic powder brake. DETAILED DESCRIPTION

[0021] The present invention will be further described below with reference to specific embodiments. It should be understood that these embodiments are intended only to illustrate the present invention and are not intended to limit the scope of the present invention. Furthermore, it should be understood that after reading the contents of this invention, those skilled in the art may make various changes or modifications to the present invention, and that such equivalents also fall within the scope of the claims appended hereto.

[0022] See also Figure 1 , which is a structural schematic diagram of a comprehensive test platform for the loaded positioning accuracy of an electric drive system for a humanoid robot; the embodiment of the present application discloses a comprehensive test platform for the loaded positioning accuracy of an electric drive system for a humanoid robot, which is used to test the frameless torque motor, drive controller, harmonic reducer and encoder of the humanoid robot, and to detect the overall performance of the humanoid robot. It includes a test platform 1, whose top surface is a plane, and on which a movable slide 2 and a load system are provided, and the load system is provided at one end of the movable slide 2; the movable slide 2 is slidably connected to an adjustment bracket 3 for loading a test object 4, and the bottom of the adjustment bracket 3 is provided with a slider that cooperates with the movable slide 2, and the adjustment bracket 3 reciprocates along the length direction of the movable slide 2 to adjust the position of the test object 4 loaded thereon, thereby achieving repeated positioning of the test object 4.

[0023] Furthermore, in order to adapt to the height of different objects to be measured 4, the height of the adjustment bracket 3 is adjustable. The adjustment bracket 3 is a split structure, including a base 31 slidably connected to the movable slide rail 2, and an L bracket 32 ​​is provided above the base 31, which moves up and down relative to the base 31, and the object to be measured 4 is connected to the surface of the L bracket 32 ​​facing the load system. Preferably, the base 31 is provided with a hand-cranked wheel 311, and the end of the hand-cranked wheel 311 facing the inside of the base 31 is connected to a vertically arranged screw rod, and the top of the screw rod is connected to the L bracket 32. By shaking the hand-cranked wheel 311, the screw rod can be extended and retracted up and down, thereby driving the L bracket 32 ​​to move up and down relative to the base 31, so as to adjust the height of the object to be measured 4 and facilitate mechanical alignment with the measurement and detection part.

[0024] In this embodiment, the load system is a magnetic powder brake 9, whose output shaft faces the object 4 to be tested and is connected to the object 4 via a second rigid coupling 8. Torque loading is achieved by applying an excitation voltage to the magnetic powder brake 9, replacing a conventional variable-frequency dynamometer. This ensures smooth loading and reduces the impact of load adjustment on positioning accuracy test results.

[0025] To improve the accuracy of the positioning test, a high-precision angular displacement sensor 5 and a torque and speed sensor 7 are provided between the magnetic powder brake 9 and the object to be measured 4. Preferably, the high-precision angular displacement sensor 5 and the torque and speed sensor 7 are connected via a first rigid coupling 6. This connection reduces torque transmission errors, thereby improving the measurement accuracy of absolute positioning accuracy and repeatability.

[0026] In this embodiment, the high-precision displacement sensor 5 is closer to the object to be measured 4 than the torque and speed sensor 7. The two ends of the connecting shaft of the high-precision displacement sensor 5 are connected to the object to be measured or the torque and speed sensor 7 on the corresponding side via a first rigid coupling 6. The proximity of the high-precision displacement sensor 5 to the object to be measured 4 shortens the distance between them, facilitating more accurate detection of displacement changes in the object to be measured 4. The proximity of the torque and speed sensor 7 to the magnetic powder brake 9 shortens the distance between them, facilitating better testing of the torque of the magnetic powder brake 9.

[0027] Working principle: The electric drive system of the humanoid robot is installed on the L bracket 32 ​​of the adjustment bracket as the object to be measured 4. The hand-cranked wheel 311 of the base realizes the height adjustment of the L bracket 32 ​​through the screw rod. The base is slidably connected with the movable slide rail to realize the front and rear adjustment of the object to be measured 4; the high-precision angular displacement sensor 5 and the torque and speed sensor 7 are installed on their respective fixed bases. The two ends of the high-precision angular displacement sensor 5 are respectively connected to the object to be measured 4 and the torque and speed sensor 7 through the first rigid coupling 6 to reduce the torque transmission error, thereby improving the measurement accuracy of absolute positioning accuracy and repeatability positioning accuracy.

[0028] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form or substance. It should be pointed out that ordinary technicians in this technical field can make several improvements and supplements without departing from the present invention, and these improvements and supplements should also be considered as the scope of protection of the present invention. Any technician familiar with this profession can make some changes, modifications and equivalent changes made by using the technical content disclosed above without departing from the spirit and scope of the present invention, which are all equivalent embodiments of the present invention; at the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A comprehensive test platform for load positioning accuracy of electric drive systems for humanoid robots, including: include, test platform; An adjustment bracket slides along the top surface of the test platform; the adjustment bracket is height-adjustable; The object to be measured is connected to the adjustment bracket; A load system is fixedly arranged on the top surface of the test platform; the load system applies a load to the object to be tested to achieve torque loading; The measuring and detecting part is arranged between the adjusting bracket and the load system; the measuring and detecting part includes a high-precision angular displacement sensor and a torque and speed sensor, wherein the high-precision angular displacement sensor is used to detect the displacement change of the object to be measured, and the torque and speed sensor is used to detect the torque and speed of the load system.

2. A comprehensive test platform for load positioning accuracy of an electric drive system for a humanoid robot according to claim 1, wherein: The load system is a magnetic powder brake.

3. A comprehensive test platform for load positioning accuracy of an electric drive system for a humanoid robot according to claim 1 or 2, wherein: The high-precision angular displacement sensor and the torque and speed sensor are connected via a first rigid coupling.

4. A comprehensive test platform for load positioning accuracy of an electric drive system for a humanoid robot as claimed in claim 3, wherein: The high-precision angular displacement sensor is located on a side close to the object to be measured, and the torque and speed sensor is located on a side close to the torque and speed sensor.

5. A comprehensive test platform for load positioning accuracy of an electric drive system for a humanoid robot as claimed in claim 4, wherein: The torque and speed sensor is connected to the load system via a second rigid coupling.

6. A comprehensive test platform for load positioning accuracy of an electric drive system for a humanoid robot according to claim 1, wherein: The top surface of the test platform is provided with a movable slide rail, and the bottom of the adjustment bracket is provided with a sliding portion that cooperates with the movable slide rail to achieve relative sliding between the two.

7. A comprehensive test platform for load positioning accuracy of an electric drive system for a humanoid robot according to claim 6, wherein: The adjustment bracket is a split structure, including a base slidably connected to the movable slide rail, an L bracket is provided above the base and moves up and down relative to the base, and the object to be measured is connected to the side surface of the L bracket facing the load system.

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