CN103092193A - Performance test platform of leg-foot type robot integrated hydraulic servo drive - Google Patents
Performance test platform of leg-foot type robot integrated hydraulic servo drive Download PDFInfo
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- CN103092193A CN103092193A CN2013100397539A CN201310039753A CN103092193A CN 103092193 A CN103092193 A CN 103092193A CN 2013100397539 A CN2013100397539 A CN 2013100397539A CN 201310039753 A CN201310039753 A CN 201310039753A CN 103092193 A CN103092193 A CN 103092193A
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Abstract
The invention discloses a performance test platform of a leg-foot type robot integrated hydraulic servo drive. The performance test platform of the leg-foot type robot integrated hydraulic servo drive comprises a test platform support base. The test platform side support lug which vertically protrudes upward is arranged at one end of the test platform support base. A linear guide rail and a magnetostrictive telescopic displacement sensor are fixedly arranged on the upper portion of the test platform support base in a parallel mode. One end of the linear guide rail is close to the side of the test platform side support lug. A plurality of sliding blocks which can slide along the linear guide rail are clamped on the linear guide rail. A quality block is fixed on the sliding blocks. The performance test platform of the leg-foot type robot integrated hydraulic servo drive is used for testing frequency response of the integrated hydraulic servo drive which is installed, speed control performance, dynamic force control performance, and dynamic positon control performance. The test platform is simple in structure, compact, and convenient to use, and dynamic performance parameters of the integrated hydraulic servo drive is obtained fast.
Description
Technical field
The present invention relates to a kind of integrated hydraulic servo unit performance test apparatus, especially a kind of leg legged type robot integrated hydraulic servo-driver Testing Platform.
Background technology
At present, the immense success of BigDog has caused very big sensation in international robot circle, a plurality of countries that comprise China have proposed relevant plan of science and technology fast, have started the research boom of high-performance hydraulic-driven bio-robot, and have developed many robot model machines.Foot formula mobile robot has the huge advantage of the aspects such as adapt to complex-terrain, motion flexibly and obstacle climbing ability is strong, and the military affairs under non-structure environment-civilian matter transportation, ground observation and the fields such as exploration, the rescue disaster relief have broad application prospects.Yet any parts of high-performance hydraulic-driven legged type robot, the defective of any unit all might cause serious problem, need to be in assembling, performance, the quality of critical component, essential elements are carried out strict test before integrated.Traditional transducer calibration is static demarcating, according to the demarcation report that businessman provides, can only obtain the static parameter of displacement transducer and power sensor.The platform of the legged type robot Hydraulic servo drive device performance test of also not completing for assembling at present.Along with the progressively maturation of hydraulic-driven legged type robot technology and the fast development of robot building industry, at present in the urgent need to a kind of platform of the legged type robot Hydraulic servo drive device performance test of completing for assembling, satisfy robot to the specific (special) requirements of fluid pressure drive device high-speed response characteristic.
Chinese patent application CN102841602A discloses a kind of robot list leg assembly and has controlled exploitation Testing Platform and method, and this platform comprises gate-type three-dimensional machinery arm assembly, robot leg connection bracket, Stewart platform, six-dimension force sensor, robot list leg assembly, five dimension force plate/platforms; The inner integrated servo controller of described Stewart platform, displacement transducer; The Stewart platform is inverted and is arranged on the base of robot leg support, five dimension force plate/platforms are installed on the ground centered by robot list leg assembly below, and the robot leg connection bracket is fixed on the Z-direction movable supporting frame assembly of gate-type three-dimensional machinery arm assembly by the robot leg connection bracket.This list leg assembly control exploitation Testing Platform be mainly used in the bionical gait of legged type robot generate in single leg motion control with gait fast, and exploitation and the research of the multiple control strategies such as robot load distribution, control distributions, single leg strength FEEDBACK CONTROL, " discrete gait+continuous force control " pose stabilization control.The prerequisite that control strategy can impose on robot system is that the Hydraulic servo drive device can run well, and kinetic characteristic is known, but this test platform itself can not be used for the performance test of leg legged type robot integrated hydraulic servo-driver.
Chinese patent application CN102840959A discloses a kind of robot list leg impulsive control experiment porch, and it comprises an integrated manipulator, robot leg lifting gear, testing table support, static loading device, a six-dimension force sensor, a Five-dimension force force-measuring platform; Described testing table support comprises testing table bracket base and testing table bracket upright post; Wherein, described integrated manipulator is fixed on the testing table bracket base, described robot leg lifting gear is fixed on the testing table support, described static loading device is fixed on the robot leg lifting gear, described six-dimension force sensor is arranged between lifting gear and robot trunk, and described five dimension force plate/platforms are fixed on the ground of six-dimension force sensor below.This list leg impulsive control experiment table, be applicable to the leg legged type robot in the place an order dynamic response characteristic test of leg bounce motion of Stability Analysis of Structures property testing, the Hydraulic System Reliability test of leg, different constant load that places an order of large impact power effect in short-term, exploitation and the research of the multiple control strategies such as single leg strength FEEDBACK CONTROL.The prerequisite of the dynamic response characteristic test of robot list leg bounce motion is that the dynamic property of robot integrated hydraulic servo-driver is known, but this test platform itself can not be measured the dynamic property of leg legged type robot integrated hydraulic servo-driver, and the platform of the legged type robot Hydraulic servo drive device performance test of also not completing for assembling at present.
Chinese patent application CN102830699A discloses a kind of robot simple joint hydraulic coupling and position control experiment porch, and it comprises pole bracket, the first Hydraulic servo drive unit, torque motor and supporting controller, angular displacement sensor support, angular displacement sensor, swing unit, some sleeves; The base of pole bracket fixes on the ground, angular displacement sensor support, torque motor and supporting controller are fixed on the cantilever end of pole bracket, angular displacement sensor is fixed on the angular displacement sensor support and with the torque motor output shaft and is connected, swing unit and sleeve are connected on the output shaft of torque motor, the first Hydraulic servo drive unit one end is connected with the pole bracket journal stirrup, and the other end is connected with swing unit.This robot simple joint hydraulic coupling and position control experiment porch are applicable to exploitation and the test of joint of robot control method, can dummy robot's motion arm the not variation of the joint moment of inertia under coordination shape.These all require the Hydraulic servo drive device to run well, and kinetic characteristic is known.And this experiment porch itself can not be measured the performance of leg legged type robot integrated hydraulic servo-driver.
Summary of the invention
The objective of the invention is for overcoming above-mentioned the deficiencies in the prior art, a kind of leg legged type robot integrated hydraulic servo-driver Testing Platform is provided, this platform is used for the frequency response of the integrated hydraulic servo-driver that test set-up completes, the speed control performance, dynamic force control performance and dynamic position control performance, platform structure is simple, and is compact, easy to use, comparatively fast obtains the dynamic performance parameter of integrated hydraulic driver.
For achieving the above object, the present invention adopts following technical proposals:
A kind of leg legged type robot integrated hydraulic servo-driver Testing Platform, comprise the test board base for supporting, test board base for supporting one end is provided with straight up the test board side journal stirrup of projection, test board base for supporting top is installed with line slideway and the magnetostrictive displacement sensor that be arranged in parallel, line slideway one end abuts against on journal stirrup side, test board side, on line slideway, card has and somely can along its slide block that moves, be fixed with mass on slide block.
Have the first draw-in groove on the journal stirrup of described test board side, the first draw-in groove both sides are provided with through hole.
The end face of described line slideway is I shape.
Described slide block is provided with two, and the upper surface of each slide block is the plane, which is provided with some threaded holes.
Described mass is provided with some holes corresponding with the threaded hole on slide block.
One end of described mass is provided with the first journal stirrup, and mass lower surface one side is provided with the second journal stirrup on the expansion link that can be enclosed within magnetostrictive displacement sensor.
Described the first journal stirrup is provided with the second draw-in groove, and the both sides of the second draw-in groove are provided with connecting hole.
During use, test board of the present invention is supported the bottom surface directly be fixed on flatly on seat, perhaps be fixed on parallel with surface level or the angled worktable of workplace (angle theta of worktable and surface level is known).Line slideway is fixed on the test board base for supporting.The fixed part of high-precision magnetostrictive displacement sensor is parallel with line slideway, is fixed on the test board base for supporting, and the moveable part of high-precision magnetostrictive displacement sensor is connected with mass the second journal stirrup.Mass is fixed on two supporting slide blocks of line slideway, and the friction factor change curve between the quality of slide block and slide block and line slideway is known.The oil cylinder of integrated hydraulic servo-driver is connected with the side journal stirrup of test board, and piston rod is connected with mass the first journal stirrup.The integrated hydraulic servo-driver comprises, a piston rod, a power sensor, a linear movement pick-up, an electrohydraulic servo valve, a hydraulic cylinder.It repeats no more for existing mechanism.
Magnetostrictive displacement sensor is the accurate location that calculates time that the strain-pulse signal that produces when utilizing two different magnetic fields to intersect is detected the magnetic field joining.The pulse excitation that magnetic field produces from the electronic unit in sensor electronic storehouse, the waveguide filament that make with the high-magnetostriction material in the sensor measuring staff in the magnetic field that this driving pulse produces caudad advances from electronics storehouse end with the light velocity, when the permanent-magnetic field (this permanent magnet generally is arranged on the moving plate that needs the detection position) with activity intersects, due to magneto-striction phenomenon, waveguide filament produces a mechanical strain pulse in joining, and from then on put through waveguide filament to the passback of electronics storehouse end with the velocity of sound, this strain-pulse is detected by the testing circuit in the electronics storehouse.Therefore, from launching an active pulsating wave to receiving a strain-pulse ripple, time between this is exactly (the time of having ignored the operation of active ripple herein time that the velocity of sound is transmitted in waveguide filament, actual influence only has 0.0001%), the known velocity of sound (fixed amount is 3000m/s) and passing time, this distance has just been determined certainly.When permanent magnet moves to new position, redefine above-mentioned measurement.Therefore, the advantage such as magnetostrictive displacement sensor has high precision, high response, low sluggishness, high reliability, noncontact, the life-span is long, stability is high, easy for installation need not be demarcated again, need not periodic maintenance, thereby extensively adopted by accurate fields of measurement.
The present invention uses the magnetostrictive high precision displacement transducer with the displacement of high sample frequency measurement quality piece, demarcates the linear movement pick-up of integrated hydraulic servo-driver; According to the change in displacement information of magnetostrictive high precision displacement transducer output, calculated mass piece speed, acceleration calculate the dynamic performance parameter that obtains the integrated hydraulic driver.
The integrated hydraulic servo-driver carries out displacement tracking closed loop, power closed loop moving under the control of servo-control system.Extract magnetostrictive high precision displacement transducer, the linear movement pick-up of integrated hydraulic servo-driver, power sensor information, frequency individual features, speed control characteristic, dynamic force control characteristic and position control characteristic that can the testing hydraulic servo-driver.
Beneficial effect of the present invention:
(1) simple, compact, the easy to use advantage of integrated hydraulic servo-driver test platform architecture of the present invention's proposition.
(2) the present invention uses the magnetostrictive high precision displacement transducer, demarcate the linear movement pick-up of integrated hydraulic servo-driver, and according to the change in displacement information of the displacement transducer of magnetostrictive high precision output, the speed of calculated mass piece, acceleration calculate the dynamic performance parameter that obtains the integrated hydraulic driver.
Description of drawings
The integrated Hydraulic servo drive device of Fig. 1 Testing Platform schematic diagram;
The integrated Hydraulic servo drive device of Fig. 2 test board body schematic diagram;
Fig. 3 is the mass schematic diagram;
The integrated Hydraulic servo drive device of Fig. 4 schematic diagram.
In figure: 1. mass, 2. integrated hydraulic servo-driver, 3. test board body, 4. line slideway, 5. slide block, 6. test board side journal stirrup, 7. test board base for supporting, 8. magnetostrictive displacement sensor, 9. mass the first journal stirrup, 10. mass the second journal stirrup, 11. threaded holes, 12. power sensors, 13. piston rod, 14. linear movement pick-up, 15. electrohydraulic servo valves, 16. hydraulic cylinders.
Embodiment
The present invention is further described below in conjunction with drawings and Examples.
As shown in Figure 1, legged type robot Hydraulic servo drive device Testing Platform comprises, 2, one test board bodies 3 of 1, one integrated hydraulic driver element of the mass of a known quality.As shown in Figure 2, a test board body 3 comprises, 5, one test board base for supporting 7 of 4, two slide blocks of a line slideway, 6, one high precision magnetostrictive displacement sensors 8 of a test board side journal stirrup.Test board base for supporting 7 one ends are provided with straight up the test board side journal stirrup 6 of projection, test board base for supporting 7 tops are installed with line slideway 4 and the magnetostrictive displacement sensor 8 that be arranged in parallel, line slideway 4 one ends abut against on journal stirrup 6 sides, test board side, on line slideway 4, card has and somely can along its slide block that moves 5, be fixed with mass 1 on slide block 5.Have the first draw-in groove on test board side journal stirrup 6, the first draw-in groove both sides are provided with through hole.The end face of line slideway 4 is I shape.The upper surface of each slide block 5 is the plane, which is provided with some threaded holes.
As shown in Figure 3, mass 1 comprises 10, eight threaded holes 11 corresponding with the threaded hole on slide block of the first journal stirrup 9, the second journal stirrup.One end of mass 1 is provided with the first journal stirrup 9, and mass 1 lower surface one side is provided with the second journal stirrup 10 on the expansion link that can be enclosed within magnetostrictive displacement sensor 8.On the first journal stirrup, 8 are provided with the second draw-in groove, and the both sides of the second draw-in groove are provided with connecting hole.
As shown in Figure 4, integrated hydraulic servo-driver 2 comprises, 15, one hydraulic cylinders 16 of 14, one electrohydraulic servo valves of 12, one linear movement pick-ups of 13, one power sensors of a piston rod.It does not repeat them here for existing mechanism.
During application, test board base for supporting 7 directly is fixed on the level ground, perhaps is fixed on parallel with surface level or the angled worktable of workplace (angle theta of worktable and surface level is known).Line slideway 4 is fixed on test board base for supporting 7.The fixed part of high-precision magnetostrictive displacement sensor 8 is parallel with line slideway 4, is fixed on test board base for supporting 7, and the moveable part of high-precision magnetostrictive displacement sensor 8 is connected 10 with mass the second journal stirrup.Mass 1 is fixed on two supporting slide blocks of line slideway 5, and the friction factor change curve between the quality of slide block 5 and slide block 5 and line slideway 4 is known.The oil cylinder 16 of integrated hydraulic servo-driver 2 is connected with test board side journal stirrup 6, and piston rod 13 is connected with mass the first journal stirrup 9.
The present invention uses magnetostrictive high precision displacement transducer 8 with the displacement of high sample frequency measurement quality piece 1, demarcates the linear movement pick-up 14 of integrated hydraulic servo-driver; According to the change in displacement information of magnetostrictive high precision displacement transducer 8 outputs, calculated mass piece 1 speed, acceleration calculate the dynamic performance parameter that obtains integrated hydraulic driver 2.
Integrated hydraulic servo-driver 2 carries out displacement tracking closed loop, power closed loop moving under the control of servo-control system.Extract magnetostrictive high precision displacement transducer 8, the linear movement pick-up 14 of integrated hydraulic servo-driver, power sensor information 13, frequency individual features, speed control characteristic, dynamic force control characteristic and position control characteristic that can testing hydraulic servo-driver 2.
Although above-mentionedly by reference to the accompanying drawings the specific embodiment of the present invention is described; but be not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (7)
1. leg legged type robot integrated hydraulic servo-driver Testing Platform, it is characterized in that, comprise the test board base for supporting, test board base for supporting one end is provided with straight up the test board side journal stirrup of projection, test board base for supporting top is installed with line slideway and the magnetostrictive displacement sensor that be arranged in parallel, line slideway one end abuts against on journal stirrup side, test board side, and on line slideway, card has and somely can along its slide block that moves, be fixed with mass on slide block.
2. platform as claimed in claim 1, is characterized in that, has the first draw-in groove on the journal stirrup of described test board side, and the first draw-in groove both sides are provided with through hole.
3. platform as claimed in claim 1, is characterized in that, the end face of described line slideway is I shape.
4. platform as claimed in claim 1, is characterized in that, described slide block is provided with two, and the upper surface of each slide block is the plane, which is provided with some threaded holes.
5. platform as claimed in claim 4, is characterized in that, described mass is provided with some holes corresponding with the threaded hole on slide block.
6. platform as claimed in claim 1, is characterized in that, an end of described mass is provided with the first journal stirrup, and mass lower surface one side is provided with the second journal stirrup on the expansion link that can be enclosed within magnetostrictive displacement sensor.
7. platform as claimed in claim 6, is characterized in that, described the first journal stirrup is provided with the second draw-in groove, and the both sides of the second draw-in groove are provided with connecting hole.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310039753.9A CN103092193B (en) | 2013-02-01 | 2013-02-01 | Leg legged type robot integrated hydraulic servo-driver Testing Platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310039753.9A CN103092193B (en) | 2013-02-01 | 2013-02-01 | Leg legged type robot integrated hydraulic servo-driver Testing Platform |
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| CN103092193A true CN103092193A (en) | 2013-05-08 |
| CN103092193B CN103092193B (en) | 2015-11-18 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105652896A (en) * | 2015-12-22 | 2016-06-08 | 哈尔滨工业大学 | Rotary table for foot type robot movement experiment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000271887A (en) * | 1999-03-23 | 2000-10-03 | Toshiba Corp | Robot ground test apparatus |
| JP2009199155A (en) * | 2008-02-19 | 2009-09-03 | Ihi Corp | Control system and control method |
| CN102830699A (en) * | 2012-09-21 | 2012-12-19 | 山东大学 | Robot single joint hydraulic pressure and position control test platform |
| CN102840959A (en) * | 2012-09-21 | 2012-12-26 | 山东大学 | Single-leg impact control experiment platform for robot |
| CN203054594U (en) * | 2013-02-01 | 2013-07-10 | 山东交通学院 | Legged type robot integrated hydraulic servo driver performance test platform |
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2013
- 2013-02-01 CN CN201310039753.9A patent/CN103092193B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000271887A (en) * | 1999-03-23 | 2000-10-03 | Toshiba Corp | Robot ground test apparatus |
| JP2009199155A (en) * | 2008-02-19 | 2009-09-03 | Ihi Corp | Control system and control method |
| CN102830699A (en) * | 2012-09-21 | 2012-12-19 | 山东大学 | Robot single joint hydraulic pressure and position control test platform |
| CN102840959A (en) * | 2012-09-21 | 2012-12-26 | 山东大学 | Single-leg impact control experiment platform for robot |
| CN203054594U (en) * | 2013-02-01 | 2013-07-10 | 山东交通学院 | Legged type robot integrated hydraulic servo driver performance test platform |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105652896A (en) * | 2015-12-22 | 2016-06-08 | 哈尔滨工业大学 | Rotary table for foot type robot movement experiment |
| CN105652896B (en) * | 2015-12-22 | 2018-07-06 | 哈尔滨工业大学 | A kind of turntable for legged type robot exercise testing |
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| CN103092193B (en) | 2015-11-18 |
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