Robot dynamic balance test equipment

Abstract

The utility model provides a robot dynamic balance test device. The robot dynamic balance test device comprises a rack, a conveying device, a first lifting device, a second lifting device and a third lifting device. One end of the first lifting device is rotationally connected to the rack, the other end of the first lifting device is rotationally connected to the conveying device, one end of the second lifting device is rotationally connected to the rack, the other end of the second lifting device is rotationally connected to the conveying device, and one end of the third lifting device is rotationally connected to the rack. The other end of the third lifting device is rotationally connected to the conveying device, and the first lifting device, the second lifting device and the third lifting device are evenly arranged on the rack at intervals in a circular shape. Compared with an existing dynamic balance test method, the robot dynamic balance test equipment has the advantages that the robot does not need to be put into a real environment, related risk-related tests can be completed in a production workshop, the test is more convenient, and the robot dynamic balance test equipment can be suitable for large-scale production, so that the production efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of robot balance testing technology, specifically to a robot dynamic balance testing device. Background Technology

[0002] Robots are emerging intelligent high-tech products with increasingly powerful performance, widely used in entertainment, companionship, exploration, disaster relief, search and rescue, and military fields. "Robot" is a general term; quadrupedal robot dogs and humanoid robots also belong to this category. In the robot manufacturing process, dynamic balance is a crucial indicator of quality. Previous methods for testing robot dynamic balance involved placing them in real-world environments. This method could only demonstrate, showcase, and verify their ability to withstand hazards, but it was unsuitable for large-scale production testing and dynamic balance testing, limiting its applicability. Utility Model Content

[0003] The purpose of this invention is to provide a robot dynamic balance testing device, which aims to solve the problem that existing robot dynamic balance testing methods are not applicable to large-scale production.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A robot dynamic balance testing device is provided, comprising a frame, a conveying device, a first lifting device, a second lifting device, and a third lifting device; one end of the first lifting device is rotatably connected to the frame, and the other end of the first lifting device is rotatably connected to the conveying device; one end of the second lifting device is rotatably connected to the frame, and the other end of the second lifting device is rotatably connected to the conveying device; one end of the third lifting device is rotatably connected to the frame, and the other end of the third lifting device is rotatably connected to the conveying device; the first lifting device, the second lifting device, and the third lifting device are evenly spaced and arranged in a circular shape on the frame.

[0006] Optionally, the robot dynamic balance testing equipment further includes a control device, and the conveying device, the first lifting device, the second lifting device and the third lifting device are all electrically connected to the control device.

[0007] Optionally, the conveying device includes a conveying support frame, a conveyor belt, and a conveying motor. The conveyor belt and the conveying motor are both mounted on the conveying support frame. The conveying motor is connected to the conveyor belt. The conveying support frame is rotatably connected to the first lifting device, the second lifting device, and the third lifting device, respectively.

[0008] Optionally, the first lifting device includes a first drive electric cylinder and a first lifting support base. The first lifting support base is rotatably connected to the frame via a fisheye connector. The fixed end of the first drive electric cylinder is rotatably connected to the first lifting support base via a fisheye connector, and the movable end of the first drive electric cylinder is rotatably connected to the conveying support frame via a fisheye connector.

[0009] Optionally, the second lifting device includes a second drive electric cylinder and a second lifting support base. The second lifting support base is rotatably connected to the frame via a fisheye connector. The fixed end of the second drive electric cylinder is rotatably connected to the second lifting support base via a fisheye connector, and the movable end of the second drive electric cylinder is rotatably connected to the conveying support frame via a fisheye connector.

[0010] Optionally, the third lifting device includes a third drive electric cylinder and a third lifting support base. The third lifting support base is rotatably connected to the frame via a fisheye connector. The fixed end of the third drive electric cylinder is rotatably connected to the third lifting support base via a fisheye connector, and the movable end of the third drive electric cylinder is rotatably connected to the conveying support frame via a fisheye connector.

[0011] Optionally, the frame is annular, and the distance between the first lifting device, the second lifting device and the third lifting device is one-third of an arc.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] In the robot dynamic balance testing equipment provided by this utility model, the robot is placed on a conveyor device. The first, second, and third lifting devices can all drive the conveyor device to move up and down. Specifically, when the lifting amplitudes of the first, second, and third lifting devices are inconsistent, they can cause the conveyor device to tilt at different amplitudes, thus changing the three-dimensional position of the conveyor device. This simulates various dynamic angles during robot movement, thereby completing the relevant dynamic balance tests of the robot. Compared with existing dynamic balance testing methods, this method does not require the robot to be placed in a real environment; the relevant risk tests can be completed in a production workshop, making the testing more convenient and applicable to large-scale production, thereby improving production efficiency. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the structure of the robot dynamic balance testing equipment of this utility model;

[0016] Figure 2 This is a structural schematic diagram of the robot dynamic balance testing equipment of this utility model from another angle;

[0017] Figure 3 This is a schematic diagram of the frame, first lifting device, second lifting device and third lifting device of the robot dynamic balance testing equipment of this utility model.

[0018] In the diagram: 1. Frame; 2. Conveying device; 21. Conveying support frame; 22. Conveyor belt; 23. Conveying motor; 3. First lifting device; 31. First drive cylinder; 32. First lifting support seat; 4. Second lifting device; 41. Second drive cylinder; 42. Second lifting support seat; 5. Third lifting device; 51. Third drive cylinder; 52. Third lifting support seat; 6. Quadruped robot dog. Detailed Implementation

[0019] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0020] In the description of this utility model, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0022] The following is combined Figures 1 to 3 This invention describes a robot dynamic balance testing device.

[0023] like Figures 1 to 3As shown, this utility model provides a robot dynamic balance testing device, including a frame 1, a conveying device 2, a first lifting device 3, a second lifting device 4, and a third lifting device 5; one end of the first lifting device 3 is rotatably connected to the frame 1, and the other end of the first lifting device 3 is rotatably connected to the conveying device 2; one end of the second lifting device 4 is rotatably connected to the frame 1, and the other end of the second lifting device 4 is rotatably connected to the conveying device 2; one end of the third lifting device 5 is rotatably connected to the frame 1, and the other end of the third lifting device 5 is rotatably connected to the conveying device 2; the first lifting device 3, the second lifting device 4, and the third lifting device 5 are evenly spaced and arranged in a circular shape on the frame 1.

[0024] In the robot dynamic balance testing equipment provided in this embodiment, the robot is placed on the conveying device 2. The robot includes, but is not limited to, a quadruped robot dog 6 and a humanoid robot. The accompanying drawings use a quadruped robot dog 6 as an example for illustration. The first lifting device 3, the second lifting device 4, and the third lifting device 5 can all drive the conveying device 2 to move up and down. Specifically, when the lifting amplitudes of the first lifting device 3, the second lifting device 4, and the third lifting device 5 are inconsistent, the conveying device 2 can be driven to tilt at different amplitudes, thus changing the three-dimensional position of the conveying device 2. This simulates various dynamic angles when the robot walks, thereby completing the relevant dynamic balance tests of the robot. Compared with existing dynamic balance testing methods, it is not necessary to put the robot into a real environment; the relevant risk tests can be completed in the production workshop, making the testing more convenient and applicable to large-scale production, thereby improving production efficiency.

[0025] In some embodiments, the robot dynamic balance testing equipment also includes a control device. The conveying device 2, the first lifting device 3, the second lifting device 4 and the third lifting device 5 are all electrically connected to the control device. Specifically, the control device can be an industrial control device such as an industrial computer, which can more accurately control the lifting amplitude of the first lifting device 3, the second lifting device 4 and the third lifting device 5, and has a higher degree of intelligence.

[0026] In some embodiments, the conveying device 2 includes a conveying support frame 21, a conveyor belt 22, and a conveying motor 23. The conveyor belt 22 and the conveying motor 23 are both mounted on the conveying support frame 21. The conveying motor 23 is connected to the conveyor belt 22. The conveying support frame 21 is rotatably connected to the first lifting device 3, the second lifting device 4, and the third lifting device 5, respectively. By setting the conveyor belt 22, the walking process of the robot can be better simulated, and the dynamic balance of the robot can be better tested.

[0027] In some embodiments, the first lifting device 3 includes a first drive cylinder 31 and a first lifting support 32. The first lifting support 32 is rotatably connected to the frame 1 through a fisheye connector. The fixed end of the first drive cylinder 31 is rotatably connected to the first lifting support 32 through a fisheye connector. The movable end of the first drive cylinder 31 is rotatably connected to the conveyor support frame 21 through a fisheye connector. Driven by the first drive cylinder 31, one side of the conveyor belt 22 can be driven to move up and down. By connecting multiple fisheye connectors, multiple dimensions of position change can be provided, which can better test the dynamic balance of the robot.

[0028] In some embodiments, the second lifting device 4 includes a second drive cylinder 41 and a second lifting support 42. The second lifting support 42 is rotatably connected to the frame 1 via a fisheye connector. The fixed end of the second drive cylinder 41 is rotatably connected to the second lifting support 42 via a fisheye connector, and the movable end of the second drive cylinder 41 is rotatably connected to the conveyor support frame 21 via a fisheye connector. Driven by the second drive cylinder 41, one side of the conveyor belt 22 can be moved up and down. By connecting multiple fisheye connectors, multiple dimensions of position change can be provided, which can better test the dynamic balance of the robot.

[0029] In some embodiments, the third lifting device 5 includes a third drive cylinder 51 and a third lifting support 52. The third lifting support 52 is rotatably connected to the frame 1 via a fisheye connector. The fixed end of the third drive cylinder 51 is rotatably connected to the third lifting support 52 via a fisheye connector. The movable end of the third drive cylinder 51 is rotatably connected to the conveyor support frame 21 via a fisheye connector. Driven by the third drive cylinder 51, one side of the conveyor belt 22 can be driven to move up and down. By connecting multiple fisheye connectors, multiple dimensions of position change can be provided, which can better test the dynamic balance of the robot.

[0030] In some embodiments, the frame 1 is annular, and the distance between the first lifting device 3, the second lifting device 4 and the third lifting device 5 is one-third of an arc, which is evenly distributed and can better change the position of the conveying device 2, thereby enabling better testing of the robot's dynamic balance.

[0031] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the content of this utility model specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A robot dynamic balance testing device, characterized in that, The system includes a frame (1), a conveying device (2), a first lifting device (3), a second lifting device (4), and a third lifting device (5). One end of the first lifting device (3) is rotatably connected to the frame (1), and the other end of the first lifting device (3) is rotatably connected to the conveying device (2). One end of the second lifting device (4) is rotatably connected to the frame (1), and the other end of the second lifting device (4) is rotatably connected to the conveying device (2). One end of the third lifting device (5) is rotatably connected to the frame (1), and the other end of the third lifting device (5) is rotatably connected to the conveying device (2). The first lifting device (3), the second lifting device (4), and the third lifting device (5) are evenly spaced and arranged in a circular shape on the frame (1).

2. The robot dynamic balance testing equipment according to claim 1, characterized in that, The robot dynamic balance testing equipment also includes a control device, and the conveying device (2), the first lifting device (3), the second lifting device (4) and the third lifting device (5) are all electrically connected to the control device.

3. The robot dynamic balance testing equipment according to claim 2, characterized in that, The conveying device (2) includes a conveying support frame (21), a conveyor belt (22) and a conveying motor (23). The conveyor belt (22) and the conveying motor (23) are both located on the conveying support frame (21). The conveying motor (23) is connected to the conveyor belt (22). The conveying support frame (21) is rotatably connected to the first lifting device (3), the second lifting device (4) and the third lifting device (5) respectively.

4. The robot dynamic balance testing equipment according to claim 3, characterized in that, The first lifting device (3) includes a first drive electric cylinder (31) and a first lifting support (32). The first lifting support (32) is rotatably connected to the frame (1) through a fisheye connector. The fixed end of the first drive electric cylinder (31) is rotatably connected to the first lifting support (32) through a fisheye connector. The movable end of the first drive electric cylinder (31) is rotatably connected to the conveying support frame (21) through a fisheye connector.

5. The robot dynamic balance testing equipment according to claim 3, characterized in that, The second lifting device (4) includes a second drive electric cylinder (41) and a second lifting support (42). The second lifting support (42) is rotatably connected to the frame (1) through a fisheye connector. The fixed end of the second drive electric cylinder (41) is rotatably connected to the second lifting support (42) through a fisheye connector. The movable end of the second drive electric cylinder (41) is rotatably connected to the conveying support frame (21) through a fisheye connector.

6. The robot dynamic balance testing equipment according to claim 3, characterized in that, The third lifting device (5) includes a third drive electric cylinder (51) and a third lifting support (52). The third lifting support (52) is rotatably connected to the frame (1) through a fisheye connector. The fixed end of the third drive electric cylinder (51) is rotatably connected to the third lifting support (52) through a fisheye connector. The movable end of the third drive electric cylinder (51) is rotatably connected to the conveying support frame (21) through a fisheye connector.

7. The robot dynamic balance testing equipment according to claim 1, characterized in that, The frame (1) is circular, and the distance between the first lifting device (3), the second lifting device (4) and the third lifting device (5) is one-third of an arc.

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