CN105652896A - Rotary table for foot type robot movement experiment - Google Patents
Rotary table for foot type robot movement experiment Download PDFInfo
- Publication number
- CN105652896A CN105652896A CN201510975433.3A CN201510975433A CN105652896A CN 105652896 A CN105652896 A CN 105652896A CN 201510975433 A CN201510975433 A CN 201510975433A CN 105652896 A CN105652896 A CN 105652896A
- Authority
- CN
- China
- Prior art keywords
- mandrel
- type robot
- legged type
- pulley
- bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention provides a rotary table for a foot type robot movement experiment, relates to a rotary table for a movement experiment, and solves the problem that no experiment device for testing and verifying local or global prototype performance of a foot type robot exists at present. A small belt pulley bearing cover plate is installed on the lower end surface of a small belt pulley bearing installing base. A small synchronous belt pulley and a large synchronous belt pulley are connected through a synchronous belt. An encoder is installed on the lower end surface of a rack cover plate through an encoder installing base. A yaw bearing is installed on the upper end surface of a yaw spindle baseplate through a yaw bearing pedestal. A yaw spindle cover plate covers the yaw bearing pedestal. The lower part of a yaw spindle is installed on the yaw bearing pedestal through the yaw bearing. A pitch spindle is installed on the upper part of a pitch spindle in a penetration way. A pitch square frame is installed at the two ends of the pitch spindle through pitch spindle bearings. A potentiometer is fixedly installed at the external side wall of the pitch square frame through a potentiometer installing base. A potentiometer rotating shaft is coaxially and fixedly connected with the pitch spindle through a coupler. The rotary table for the foot type robot movement experiment is used for the foot type robot movement experiment.
Description
Technical field
The present invention relates to the turntable of a kind of robot motion experiment, it is specifically related to a kind of turntable for legged type robot exercise testing.
Background technology
Legged type robot is the important branch of robot, and the movement characteristic of its discontinuous support makes robot can cross over rugged and broken landform, and therefore legged type robot is at warlike operation, fire control and disaster rescue, and the occasions such as polar expedition have huge application prospect.
Since two thousand five, boston, u.s.a utility companies (BostonDynamics) discloses its bionical quadruped robot BigDog and LS3 etc. going through more than ten years development in succession. Compared with and caterpillar type robot wheeled with tradition, legged type robot is subject to the extensive concern of academia, military circles and industry member with the motor capacity of its brilliance, carrying capacity, stable equilibrium's ability and unknown unstructured moving grids adaptive faculty. And going deep into along with quadruped robot research, scholars start to study the walking of the high speed under Robotic Dynamic, or the high legged type robot born a heavy burden of research.
The design of current legged type robot leg structure adopts Bionic Design mostly, having multi-joint rotary freedom, leg adds spring, variation rigidity etc. " passive " elastic damping element also referring to biological characteristic in structure design, and type of drive has motor to drive mostly, hydraulic drive, air pressure driving etc. At control plane, the legged type robot control thought based on SLIP model is widely used, and this kind of method significantly reduces the complicacy of the model that degree of freedom in system increase brings while remaining body movement essential characteristic to greatest extent.
It is badly in need of a kind of experimental installation that can test and verify legged type robot performance at present.
Summary of the invention
The present invention is the problem solving the experimental installation not testing and verifying legged type robot local or overall model machine performance at present, and then provides a kind of turntable for legged type robot exercise testing.
The present invention solves the problems of the technologies described above the technical scheme taked to be:
The turntable for legged type robot exercise testing of the present invention comprises luffing angle measuring unit, turntable frame, linear velocity measuring unit, power transmission unit, bracing frame and two connection interfaces;
Turntable frame comprise chassis body, hydraulic rotary joint install and frame cover plate, frame cover plate and hydraulic rotary joint mounting plate from top to bottom level be packed in the top of chassis body, frame cover plate is processed with center through hole;
Power transmission unit comprises robotic end oil inlet pipe, robotic end used oil pipe, pump end oil inlet pipe, pump end used oil pipe and hydraulic rotary joint, hydraulic rotary joint is packed on the upper surface of hydraulic rotary joint mounting plate, pump end oil inlet pipe is all connected with the inboardend of hydraulic rotary joint with one end of pump end used oil pipe, and the other end of pump end oil inlet pipe and pump end used oil pipe is all connected with oil supply system; Robotic end oil inlet pipe is all connected with the rotation end of hydraulic rotary joint with one end of robotic end used oil pipe, and robotic end oil inlet pipe is all connected with the hydraulic efficiency system of legged type robot with the other end of robotic end used oil pipe;
Linear velocity measuring unit comprises driftage mandrel cover plate, test the speed module, yaw and yaw axis bearing, the module that tests the speed comprises driftage mandrel base plate, encoder, encoder mount pad, synchronous band, small synchronous pulley, small pulley bearing cover, small pulley bearing, small pulley bearing mount pad, bearing pulls out tight bolt and big synchronous belt wheel, driftage mandrel base plate and big synchronous belt wheel are round ring body structurc, driftage mandrel base plate and big synchronous belt wheel are from top to bottom packed on the upper surface of rotation end of hydraulic rotary joint successively, small pulley bearing mount pad is inlaid on frame cover plate, the mandrel of small synchronous pulley, small pulley bearing pulls out tight bolt by bearing and is arranged on small pulley bearing mount pad, small pulley bearing cover is arranged on the lower surface of small pulley bearing mount pad, small synchronous pulley is arranged on the mandrel of small synchronous pulley, small synchronous pulley is connected by synchronous band with big synchronous belt wheel, encoder is arranged on the lower surface of frame cover plate by encoder mount pad, and the rotation axis of encoder and the mandrel of small synchronous pulley are coaxially arranged, yaw is arranged on the upper surface of driftage mandrel base plate by yaw axis bearing, and driftage mandrel cover plate mounts cover in yaw axis bearing,
Luffing angle measuring unit comprises potentiometer, shaft coupling, potentiometer mount pad, pitching mandrel, driftage mandrel, union lever, hydraulicefficiency pipeline path, the square frame of pitching and two pitching mandrel bearings, the bottom of driftage mandrel is arranged in yaw axis bearing by yaw, pitching mandrel is installed on the top of driftage mandrel, the square frame of pitching is arranged on the two ends of pitching mandrel by two pitching mandrel bearings, potentiometer is packed on the outer side wall of the square frame of pitching by potentiometer mount pad, the rotation axis of potentiometer is coaxially connect admittedly by shaft coupling and pitching mandrel, one end of union lever is packed on the square frame of pitching, the other end of union lever is provided with the bump contacted chip connecting interface, the upper end of bracing frame is provided with another bump contacted chip connecting interface, connect, between two bump contacted chips of interface, legged type robot is installed.
The present invention compared with prior art has following useful effect:
The turntable for legged type robot exercise testing of the present invention is provided with luffing angle measuring unit and linear velocity measuring unit, when legged type robot occurs to move up and down, legged type robot drives union lever to swing up and down, luffing is delivered in the main body of potentiometer by the square frame of pitching and potentiometer mount pad by union lever, and the rotation axis of potentiometer is not rotated because being connected by pitching mandrel and driftage mandrel, and then the displacement in legged type robot height direction shows as the change of resistance value of potentiometer, legged type robot luffing angle can be measured by the resistance value of potentiometer, conversing legged type robot again jumps highly,
In legged type robot moving process, the legged type robot driftage mandrel that is displaced through in the horizontal direction is delivered to and tests the speed on submodule block, it is delivered on encoder by synchronous belt wheel speedup, thus measure legged type robot linear velocity, by regulating the front and back position of tightening pulley governor lever in tightening pulley mount pad that tightening pulley can be regulated to be pressed in the tensioning power size synchronously brought, compensate the error of width between centers between two synchronous belt wheels and prevent synchronous band lax jumping tooth;
The turntable of the present invention can be used for condition monitoring and the overall performance checking of exercise testings such as using the legged type robot of external hydraulic pumping plant energy supply to carry out both forward and reverse directions continuous walking in plane under true road surface, to run, and hydraulic power transmission unit can transmit hydraulic efficiency oil and avoid oil pipe or wire winder device people in experiment. Luffing angle measuring unit utilizes potentiometer to measure legged type robot luffing angle, linear velocity measuring unit application band deceleration device code-disc robot measurement linear velocity;
For using, the legged type robot of external hydraulic pumping plant energy supply carries out condition monitoring and the overall performance test of the continuous exercise testing of both forward and reverse directions in plane under true road surface in the present invention, legged type robot local or the overall system experimental data in actual ground environment can be obtained quickly and accurately by the experiment turntable of the present invention, avoid tradition treadmill to run and test the speed middle running machine running tape speed to the impact of robot, thus more truly evaluate robot overall performance effect, for the design of robot system provides verification platform with control.
Accompanying drawing explanation
Fig. 1 is the one-piece construction stereographic map of the turntable for legged type robot exercise testing of the present invention;
Fig. 2 is the vertical view of luffing angle measuring unit 1 in the specific embodiment of the invention one;
Fig. 3 is the front view of the specific embodiment of the invention one centerline velocities measuring unit 3;
Fig. 4 is the structural representation of module 17 of testing the speed in the specific embodiment of the invention one;
Fig. 5 is the structural representation of turntable frame 2 and power transmission unit 4 in the specific embodiment of the invention one.
Embodiment
Embodiment one: as shown in Fig. 1��5, the turntable for legged type robot exercise testing of present embodiment comprises luffing angle measuring unit 1, turntable frame 2, linear velocity measuring unit 3, power transmission unit 4, bracing frame 5 and two connection interfaces 6;
Turntable frame 2 comprises chassis body 39, hydraulic rotary joint mounting plate 37 and frame cover plate 33, frame cover plate 33 and hydraulic rotary joint mounting plate 37 from top to bottom level be packed in the top of chassis body 39, frame cover plate 33 is processed with center through hole;
Power transmission unit 4 comprises robotic end oil inlet pipe 31, robotic end used oil pipe 32, pump end oil inlet pipe 34, pump end used oil pipe 35 and hydraulic rotary joint 38, hydraulic rotary joint 38 is packed on the upper surface of hydraulic rotary joint mounting plate 37, one end of pump end oil inlet pipe 34 and pump end used oil pipe 35 all inboardend with hydraulic rotary joint 38 be connected, the other end of pump end oil inlet pipe 34 and pump end used oil pipe 35 is all connected with oil supply system; Robotic end oil inlet pipe 31 is all connected with the rotation end of hydraulic rotary joint 38 with one end of robotic end used oil pipe 32, and robotic end oil inlet pipe 31 is all connected with the hydraulic efficiency system of legged type robot with the other end of robotic end used oil pipe 32;
Linear velocity measuring unit 3 comprises driftage mandrel cover plate 16, test the speed module 17, yaw 18 and yaw axis bearing 19, the module that tests the speed 17 comprises driftage mandrel base plate 30, encoder 21, encoder mount pad 22, synchronous band 23, small synchronous pulley 24, small pulley bearing cover 25, small pulley bearing 26, small pulley bearing mount pad 27, bearing pulls out tight bolt 28 and big synchronous belt wheel 29, driftage mandrel base plate 30 and big synchronous belt wheel 29 are round ring body structurc, driftage mandrel base plate 30 and big synchronous belt wheel 29 are from top to bottom packed on the upper surface of rotation end of hydraulic rotary joint 38 successively, small pulley bearing mount pad 27 is inlaid on frame cover plate 33, the mandrel of small synchronous pulley 24, small pulley bearing 26 pulls out tight bolt 28 by bearing and is arranged on small pulley bearing mount pad 27, small pulley bearing cover 25 is arranged on the lower surface of small pulley bearing mount pad 27, small synchronous pulley 24 is arranged on the mandrel of small synchronous pulley 24, small synchronous pulley 24 is connected by synchronous band 23 with big synchronous belt wheel 29, encoder 21 is arranged on the lower surface of frame cover plate 33 by encoder mount pad 22, the rotation axis of encoder 21 and the mandrel of small synchronous pulley 24 are coaxially arranged,Yaw 18 is arranged on the upper surface of driftage mandrel base plate 30 by yaw axis bearing 19, and driftage mandrel cover plate 16 mounts cover in yaw axis bearing 19;
Luffing angle measuring unit 1 comprises potentiometer 7, shaft coupling 8, potentiometer mount pad 9, pitching mandrel 10, driftage mandrel 11, union lever 12, hydraulicefficiency pipeline path 13, the square frame 15 of pitching and two pitching mandrel bearings 14, the bottom of driftage mandrel 11 is arranged in yaw axis bearing 19 by yaw 18, pitching mandrel 10 is installed on the top of driftage mandrel 11, the square frame 15 of pitching is arranged on the two ends of pitching mandrel 10 by two pitching mandrel bearings 14, potentiometer 7 is packed on the outer side wall of the square frame 15 of pitching by potentiometer mount pad 9, the rotation axis of potentiometer 7 is coaxially connect admittedly by shaft coupling 8 and pitching mandrel 10, one end of union lever 12 is packed on the square frame 15 of pitching, the other end of union lever 12 is provided with the bump contacted chip connecting interface 6, the upper end of bracing frame 5 is provided with another bump contacted chip connecting interface 6, connect, between two bump contacted chips of interface 6, legged type robot is installed.
When carrying out in plane positive dirction or the continuous exercise testing of opposite direction when legged type robot: luffing angle measuring unit 1 is connected on linear velocity measuring unit 3 by part pitching mandrel 10, linear velocity measuring unit 3 is connected with turntable frame 2 by yaw axis bearing 19, hydraulic rotary joint 37 top flange dish in power transmission unit 4 is connected as a single entity with linear velocity measuring unit 3 by part driftage mandrel base plate 30, and the flange in the bottom of the hydraulic rotary joint 38 in power transmission unit 4 is connected with turntable frame 2 by hydraulic rotary joint retaining plate 37. And robot is connected with part union lever 12 by connecting interface 6, it is mounted to measurement and the restraint system of turntable frame 2; By connecting with the legged type robot end oil inlet pipe 31 in power transmission unit 3, robotic end oil outlet pipe 32, it is linked in the energy supply subsystem of experiment turntable.
Potentiometer 7 main body is affixed on the square frame 15 of pitching by potentiometer mount pad 8, and potentiometer 7 rotation axis is connected with pitching mandrel 10 by shaft coupling 8, and pitching mandrel 10 is affixed on driftage mandrel 11 through pitching mandrel bearing 14 screw thread.
When robot occurs to move up and down, robot drives union lever 12 to swing up and down. Luffing is delivered in the main body of potentiometer 7 by union lever 12 by pitching square frame 15 and potentiometer mount pad 9. And the rotation axis of potentiometer 7 is because be connected with driftage mandrel 11 not rotate by facing upward mandrel 10. And then the displacement in robot high speed direction shows as the change of resistance value of potentiometer. Robot luffing angle can be measured by the resistance value of potentiometer, then converse robot jump height. Should ensure that the ratio of robot relative jump height and union lever bar length is less than or equal to tan5 �� in an experiment, thus ensure that robot is similar at move in plane.
The robot mechanical constraint being displaced through union lever 12, the square frame 15 of pitching and pitching mandrel 10 in the horizontal direction is delivered on driftage mandrel 11. Below driftage mandrel 11, by driftage mandrel base plate 30, submodule block 17 is connected with testing the speed.
Big synchronous belt wheel 29 is hollow structure, is hydraulic rotary joint 38 and turnover oil pipe vacating space, and by being synchronously with 23 to be connected with small synchronous pulley 24. Encoder 21 main body is fixed on frame cover plate 33 by encoder mount pad 22, and encoder 21 rotation axis is connected to synchronous axial system on the mandrel of small synchronous pulley 24.Small pulley bearing mount pad 27 is embedded in the bore of frame cover plate 33, and is retrained the degree of freedom moved up and down by small pulley bearing cover 25. In legged type robot moving process, after legged type robot being displaced through driftage mandrel 11 is delivered on the submodule block 17 that tests the speed in the horizontal direction, it is delivered on encoder 21 by synchronous belt wheel speedup, measures legged type robot linear velocity. The tensioning power size that can regulate tightening pulley 20 by regulating the front and back position of tightening pulley governor lever 18 in tightening pulley mount pad 19 and be pressed on synchronous band 23, compensates the error of width between centers between two synchronous belt wheels and prevents synchronous band lax jumping tooth.
When carrying out legged type robot experiment, legged type robot moves centered by the center axis of turntable frame 2, the motion of legged type robot in sphere is approximately cylindrical surface by the constraint being less than or equal to tan5 �� by union lever 12 and robot motion's difference of altitude ratio, and makes the height change of robot motion symmetrical close to frame cover plate 33 horizontal plane. Whole turntable frame 2 mainly plays a part connect or fix other unit. Hydraulic rotary joint 38 has interior outer double-layer structure, and interior skin is uniform puts an oil-in and oil outlet, and interior outer oil inlet and outlet communicates respectively. Internal layer opposed outer layer still keeps this kind to communicate characteristic when rotating. The internal layer top of hydraulic rotary joint 38 is connected with driftage mandrel base plate 30 by bolt, and outer bottom is secured by bolts on the hydraulic rotary joint retaining plate 37 in frame. The oil inlet pipe 31 of robotic end connects with the upper flange of used oil pipe 32 with hydraulic rotary joint 38 and is communicated to internal layer, and pump end oil inlet pipe 34, used oil pipe 35 are connected to the skin of hydraulic rotary joint 38 by gas thread. By by the isolation on rotary freedom of robot and pump end hydraulicefficiency pipe, it is possible to avoid hydraulic oil pipe and turntable to be wound around, it is achieved the continuous rotary of robot on tangential movement direction.
The turntable frame 2 of the present invention is connected with legged type robot by the connection interface 6 of union lever 12, is applicable to different driving mode and mode of motion, list foot or multi-foot robot system are tested;
The present invention connects robot and turntable frame 2 by union lever 12, by the kinematic constraint of legged type robot to taking rotating shaft central point as in the sphere of the centre of sphere, the relative movement height of legged type robot barycenter in motion is less than with the ratio of union lever 12 bar length or equals tan5 ��, thus the target that robot is tied in almost plane by realization to move;
Hydraulic oil source is placed on legged type robot motion place circumferential exterior to abdicate space of moving continuously, via being arranged in, hydraulicefficiency pipeline on the ground converges in the middle of turntable frame rotating shaft hydraulic oil source, pipeline is connected on hydraulic rotary joint and depends on union lever 12 to the legged type robot fuel feeding in motion, experiment ensure that, being arranged in hydraulicefficiency pipeline on the ground does not interfere robot horizontal motion, hydraulic power transmission unit is divided into inside and outside two layers, hydraulic power transmission unit makes robotic end hydraulic power line, luffing angle measuring apparatus random device people's synchronous axial system, outer liquid pressure pipeline is then fixed in stationary gantry to avoid oil pipe or wire winder device people in continuous exercise testing, thus achieve the just oppositely continuous exercise testing of legged type robot in plane, obtain and it is similar to consistent experiment effect with the planar motion of true ground,
Legged type robot can be carried out condition monitoring by turntable of the present invention, in experimentation, adopting the potentiometer in luffing angle measuring unit or other angle measurement unit to measure the luffing angle of connecting rod and then be scaled robot jumps highly, adopt the encoder in velocity measuring unit or other measurement device turntable rotational angular velocity and then be converted into the linear velocity of robot planar motion of testing the speed, condition monitoring and the checking of robot installation can be carried out by the sensor being integrated in robot system.
Embodiment two: as shown in Figure 1 and Figure 5, present embodiment turntable frame 2 is rectangular parallelepiped framework. So design, structure is simple, is easy to processing. Other composition and the relation of connection are identical with embodiment one.
Embodiment three: as shown in Figure 4, present embodiment small synchronous pulley 24 is 5:1 with the rotating ratio of big synchronous belt wheel 29. So design, it is possible to realize the amplification of rotating speed and the raising of measuring accuracy. Other composition and the relation of connection are identical with embodiment one or two.
Embodiment four: as shown in Figure 4, present embodiment linear velocity measuring unit 3 also comprises tightening pulley 20, tightening pulley governor lever 40 and tightening pulley mount pad 41, tightening pulley mount pad 41 is packed on the lower surface of frame cover plate 33, tightening pulley 20 is arranged on tightening pulley mount pad 41, and tightening pulley governor lever 40 is connected with tightening pulley 20. So design, by regulating the front and back position of tightening pulley governor lever 40 in tightening pulley mount pad 41, thus regulates tightening pulley 20 to be pressed in the synchronous tensioning power size being with on 23, compensates the error of width between centers between two synchronous belt wheels and prevents synchronous band lax jumping tooth. Other composition and the relation of connection are identical with embodiment three.
Embodiment five: as shown in Figure 1, present embodiment legged type robot rotates about the center axis of turntable frame 2, and the relative movement height of legged type robot barycenter in motion is less than or equal to tan5 �� with the lenth ratio of union lever 12. So design, such that it is able to the target that constraint legged type robot moves in almost plane. Other composition and the relation of connection are identical with embodiment one, two or four.
Embodiment six: as shown in Figure 2, the potentiometer 7 in present embodiment luffing angle measuring unit 1 is measured the luffing angle of union lever 12 and then is scaled robot and jumps highly. So design, can test and verify legged type robot performance index by the experimental installation of the present invention. Other composition and the relation of connection are identical with embodiment five.
Embodiment seven: as shown in Figure 3 and Figure 5, the encoder 21 measuring circurmarotate rotational angular velocity of present embodiment velocity measuring unit 3 and then be converted into the linear velocity of legged type robot planar motion, can carry out condition monitoring and the checking of legged type robot installation by the sensor being integrated in legged type robot system. So design, can test and verify legged type robot performance index by the experimental installation of the present invention. Other composition and the relation of connection are identical with embodiment five.
Principle of work:
In the turntable of the present invention in working process, legged type robot connects interface 6 by two and is constrained on the almost plane centered by turntable frame 2, connect, by two, pitching square frame 15 pitching and the rotation that interface 6 drives luffing angle measuring unit 1 top, and read luffing angle by potentiometer 7;
Rotary motion is passed to, by driftage mandrel 11 and driftage mandrel base plate 30, the module 17 that tests the speed by the square frame 15 of pitching, synchronous band 13 passes to encoder 21 after rotary motion speed being amplified, thus can obtain, by encoder 21 pulse signal, the velocity of rotation that legged type robot rotates around central shaft, the velocity of rotation of legged type robot is multiplied by the motion linear velocity that namely union lever bar length obtain robot;
Outside hydraulic efficiency oil enters hydraulic rotary joint 38 by pump end oil inlet pipe 34, and enter legged type robot system by legged type robot end oil inlet pipe 31 pump, it is connected with pump end used oil pipe 35 via hydraulic rotary joint 38 by legged type robot end oil outlet end 32, forms complete hydraulic circuit.
Claims (7)
1. the turntable for legged type robot exercise testing, it is characterised in that: the described turntable for legged type robot exercise testing comprises luffing angle measuring unit (1), turntable frame (2), linear velocity measuring unit (3), power transmission unit (4), bracing frame (5) and two connections interface (6);
Turntable frame (2) comprises chassis body (39), hydraulic rotary joint mounting plate (37) and frame cover plate (33), frame cover plate (33) and hydraulic rotary joint mounting plate (37) from top to bottom level be packed in the top of chassis body (39), frame cover plate is processed with center through hole on (33);
Power transmission unit (4) comprises robotic end oil inlet pipe (31), robotic end used oil pipe (32), pump end oil inlet pipe (34), pump end used oil pipe (35) and hydraulic rotary joint (38), hydraulic rotary joint (38) is packed on the upper surface of hydraulic rotary joint mounting plate (37), one end of pump end oil inlet pipe (34) and pump end used oil pipe (35) all inboardend with hydraulic rotary joint (38) be connected, the other end of pump end oil inlet pipe (34) and pump end used oil pipe (35) is all connected with oil supply system; One end of robotic end oil inlet pipe (31) and robotic end used oil pipe (32) all rotation end with hydraulic rotary joint (38) be connected, robotic end oil inlet pipe (31) is all connected with the hydraulic efficiency system of legged type robot with the other end of robotic end used oil pipe (32);
Linear velocity measuring unit (3) comprises driftage mandrel cover plate (16), the module that tests the speed (17), yaw (18) and yaw axis bearing (19), the module that tests the speed (17) comprises driftage mandrel base plate (30), encoder (21), encoder mount pad (22), synchronous band (23), small synchronous pulley (24), small pulley bearing cover (25), small pulley bearing (26), small pulley bearing mount pad (27), bearing pulls out tight bolt (28) and big synchronous belt wheel (29), driftage mandrel base plate (30) and big synchronous belt wheel (29) are round ring body structurc, driftage mandrel base plate (30) and big synchronous belt wheel (29) are packed on the upper surface of rotation end of hydraulic rotary joint (38) from top to bottom successively, small pulley bearing mount pad (27) is inlaid on frame cover plate (33), the mandrel of small synchronous pulley (24), small pulley bearing (26) pulls out tight bolt (28) by bearing and is arranged on small pulley bearing mount pad (27), small pulley bearing cover (25) is arranged on the lower surface of small pulley bearing mount pad (27), small synchronous pulley (24) is arranged on the mandrel of small synchronous pulley (24), small synchronous pulley (24) is connected by synchronous band (23) with big synchronous belt wheel (29), encoder (21) is arranged on the lower surface of frame cover plate (33) by encoder mount pad (22), the rotation axis of encoder (21) and the mandrel of small synchronous pulley (24) are coaxially arranged, yaw (18) is arranged on the upper surface of driftage mandrel base plate (30) by yaw axis bearing (19), and driftage mandrel cover plate (16) mounts cover in yaw axis bearing (19),
Luffing angle measuring unit (1) comprises potentiometer (7), shaft coupling (8), potentiometer mount pad (9), pitching mandrel (10), driftage mandrel (11), union lever (12), hydraulicefficiency pipeline path (13), the square frame of pitching (15) and two pitching mandrel bearing (14), the bottom of driftage mandrel (11) is arranged in yaw axis bearing (19) by yaw (18), pitching mandrel (10) is installed on the top of driftage mandrel (11), the square frame of pitching (15) is arranged on the two ends of pitching mandrel (10) by two pitching mandrel bearing (14), potentiometer (7) is packed on the outer side wall of the square frame of pitching (15) by potentiometer mount pad (9), the rotation axis of potentiometer (7) is connect with pitching mandrel (10) is coaxial admittedly by shaft coupling (8), one end of union lever (12) is packed in the square frame of pitching (15), the other end of union lever (12) is provided with the bump contacted chip connecting interface (6), the upper end of bracing frame (5) is provided with another bump contacted chip connecting interface (6), connect, between two bump contacted chips of interface (6), legged type robot is installed.
2. a kind of turntable for legged type robot exercise testing according to claim 1, it is characterised in that: turntable frame (2) is rectangular parallelepiped framework.
3. a kind of turntable for legged type robot exercise testing according to claim 1 and 2, it is characterised in that: small synchronous pulley (24) is 5:1 with the rotating ratio of big synchronous belt wheel (29).
4. a kind of turntable for legged type robot exercise testing according to claim 3, it is characterized in that: linear velocity measuring unit (3) also comprises tightening pulley (20), tightening pulley governor lever (40) and tightening pulley mount pad (41), tightening pulley mount pad (41) is packed on the lower surface of frame cover plate (33), tightening pulley (20) is arranged on tightening pulley mount pad (41), and tightening pulley governor lever (40) is connected with tightening pulley (20).
5. a kind of turntable for legged type robot exercise testing according to claim 1,2 or 4, it is characterized in that: legged type robot rotates about the center axis of turntable frame (2), the relative movement height of legged type robot barycenter in motion is less than or equal to tan5 �� with the lenth ratio of union lever (12).
6. a kind of turntable for legged type robot exercise testing according to claim 5, it is characterised in that: the potentiometer (7) in luffing angle measuring unit (1) is measured the luffing angle of union lever (12) and then is scaled robot and jumps highly.
7. a kind of turntable for legged type robot exercise testing according to claim 5, it is characterized in that: encoder (21) the measuring circurmarotate rotational angular velocity of velocity measuring unit (3) and then be converted into the linear velocity of legged type robot planar motion, condition monitoring and the checking of legged type robot installation can be carried out by the sensor being integrated in legged type robot system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510975433.3A CN105652896B (en) | 2015-12-22 | 2015-12-22 | A kind of turntable for legged type robot exercise testing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510975433.3A CN105652896B (en) | 2015-12-22 | 2015-12-22 | A kind of turntable for legged type robot exercise testing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105652896A true CN105652896A (en) | 2016-06-08 |
| CN105652896B CN105652896B (en) | 2018-07-06 |
Family
ID=56477696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510975433.3A Active CN105652896B (en) | 2015-12-22 | 2015-12-22 | A kind of turntable for legged type robot exercise testing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105652896B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112179547A (en) * | 2020-08-12 | 2021-01-05 | 上汽通用五菱汽车股份有限公司 | Six-component force sensor rotary application device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009078825A2 (en) * | 2007-12-18 | 2009-06-25 | Necati Hacikadiroglu | Pumpless balancing system for bipedal or multi - legged robots |
| CN102156054A (en) * | 2011-03-18 | 2011-08-17 | 西北工业大学 | Walking capacity tester of foot robot |
| CN102494910A (en) * | 2011-11-30 | 2012-06-13 | 北京航空航天大学 | Performance testing apparatus suitable for flexible legged robot |
| CN102840959A (en) * | 2012-09-21 | 2012-12-26 | 山东大学 | Single-leg impact control experiment platform for robot |
| CN102841602A (en) * | 2012-09-21 | 2012-12-26 | 山东大学 | Robot single-leg assembly control development performance test platform and method |
| CN103092193A (en) * | 2013-02-01 | 2013-05-08 | 山东交通学院 | Performance test platform of leg-foot type robot integrated hydraulic servo drive |
| CN103885446A (en) * | 2014-03-21 | 2014-06-25 | 浙江大学 | Doubleleg strength test experimental platform of foot type walking robot |
| CN104552236A (en) * | 2014-12-31 | 2015-04-29 | 北京理工大学 | Foot wheel type auto-kinetic movement platform based on parallel-connection six-freedom-degree movement mechanism |
-
2015
- 2015-12-22 CN CN201510975433.3A patent/CN105652896B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009078825A2 (en) * | 2007-12-18 | 2009-06-25 | Necati Hacikadiroglu | Pumpless balancing system for bipedal or multi - legged robots |
| CN102156054A (en) * | 2011-03-18 | 2011-08-17 | 西北工业大学 | Walking capacity tester of foot robot |
| CN102494910A (en) * | 2011-11-30 | 2012-06-13 | 北京航空航天大学 | Performance testing apparatus suitable for flexible legged robot |
| CN102840959A (en) * | 2012-09-21 | 2012-12-26 | 山东大学 | Single-leg impact control experiment platform for robot |
| CN102841602A (en) * | 2012-09-21 | 2012-12-26 | 山东大学 | Robot single-leg assembly control development performance test platform and method |
| CN103092193A (en) * | 2013-02-01 | 2013-05-08 | 山东交通学院 | Performance test platform of leg-foot type robot integrated hydraulic servo drive |
| CN103885446A (en) * | 2014-03-21 | 2014-06-25 | 浙江大学 | Doubleleg strength test experimental platform of foot type walking robot |
| CN104552236A (en) * | 2014-12-31 | 2015-04-29 | 北京理工大学 | Foot wheel type auto-kinetic movement platform based on parallel-connection six-freedom-degree movement mechanism |
Non-Patent Citations (1)
| Title |
|---|
| 尹鹏等: "面向足式机器人的新型可调刚度柔性关节的设计及性能测试", 《机器人》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112179547A (en) * | 2020-08-12 | 2021-01-05 | 上汽通用五菱汽车股份有限公司 | Six-component force sensor rotary application device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105652896B (en) | 2018-07-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102147320B (en) | Method and device for testing axial rigidity and radial rigidity of rotary hydrostatic guide rail | |
| CN109264024B (en) | Comprehensive test platform for dynamic performance of aircraft steering engine | |
| CN104568575B (en) | Force-applying push rod device and multi-axial load loading machine | |
| CN101886982B (en) | Multifunctional vehicle dynamics dynamical characteristic test bed with loading device | |
| CN103085992A (en) | Spatial microgravity simulation experiment system | |
| CN106769021A (en) | A kind of industrial robot power unit reliability test bench | |
| CN103344253B (en) | A kind of multiaxial motion simulating turntable | |
| CN108444816B (en) | Rock mass structural plane cyclic shear tester and test method | |
| CN105277374B (en) | A kind of Electric Motor Wheel with Plumb load function is comprehensive performance test bed | |
| CN110346137A (en) | Automatic continuous dynamic loading method for the test of air-floating ball bearing bearer properties | |
| CN205656013U (en) | A test bench that is used for characteristic test of motor vehicle tire mechanics | |
| CN106802322A (en) | A kind of Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type | |
| CN103017743A (en) | Pull wire positioning instrument and measurement method thereof | |
| CN104062092B (en) | Measuring mechanism in ship model rotating arm experiment | |
| CN101726393B (en) | Piston pressure device | |
| CN105466371B (en) | The device and measuring method of survey aircraft undercarriage wheel shaft end position | |
| CN105652896A (en) | Rotary table for foot type robot movement experiment | |
| CN104034540A (en) | Railway vehicle bogie steering resistance characteristic determination test device and method | |
| CN205449360U (en) | Axle sways bearing friction characteristic measuring device under radial load combined action | |
| CN102072796B (en) | Solar battery array dynamic-measurement system | |
| CN113501148A (en) | Polar coordinate tracking type air-floatation pulley guide counterweight suspension micro-low gravity simulation system | |
| CN103033209A (en) | Three-dimensional motion testing device | |
| CN105115707B (en) | A kind of joint curved surface faying face dynamic characteristic test device and method of testing | |
| CN104267100B (en) | Dynamic test method for rail flaw detection | |
| CN206557155U (en) | A kind of Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Guo Wei Inventor after: Cha Fusheng Inventor after: Cai Changrong Inventor after: Li Mantian Inventor after: Wang Kenan Inventor after: Wang Pengfei Inventor before: Guo Wei Inventor before: Cai Changrong Inventor before: Li Mantian Inventor before: Wang Kenan Inventor before: Cha Fusheng Inventor before: Wang Pengfei |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |