CN105652896B - A kind of turntable for legged type robot exercise testing - Google Patents
A kind of turntable for legged type robot exercise testing Download PDFInfo
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- CN105652896B CN105652896B CN201510975433.3A CN201510975433A CN105652896B CN 105652896 B CN105652896 B CN 105652896B CN 201510975433 A CN201510975433 A CN 201510975433A CN 105652896 B CN105652896 B CN 105652896B
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Abstract
A kind of turntable for legged type robot exercise testing, it is related to a kind of turntable of exercise testing.The present invention is solved the problems, such as currently without testing and the experimental provision of verification legged type robot locally or globally model machine performance.Small pulley bearing cover is mounted on the lower face of small pulley bearing mounting base, small synchronous pulley passes through synchronous band connection with big synchronous pulley, encoder is mounted on by encoder mounting base on rack cover lower face, yaw bearing is mounted on by yaw axis bearing on the upper surface of yaw mandrel bottom plate, and yaw mandrel cover plate lid is in yaw axis bearing；The lower part for yawing mandrel is mounted on by yaw bearing in yaw axis bearing, pitching mandrel is installed on pitching mandrel top, pitching square box is mounted on by pitching mandrel bearing on the both ends of pitching mandrel, potentiometer is packed in by potentiometer mounting base on the lateral wall of pitching square box, and potentiometer rotation axis is coaxial affixed by shaft coupling and pitching mandrel.The present invention is used for legged type robot exercise testing.
Description
Technical field
The present invention relates to a kind of turntables of robot motion experiment, and in particular to one kind is used for legged type robot exercise testing
Turntable.
Background technology
Legged type robot is the important branch of robot, and the movement characteristic of discontinuous support allows the robot to cross over
Rugged and broken landform, therefore legged type robot has huge application in occasions such as military operation, fire control and disaster rescue, polar expeditions
Prospect.
Since two thousand five, boston, U.S.A utility companies (Boston Dynamics) disclose it after more than ten in succession
Carry bionical quadruped robot BigDog and LS3 developed etc..Compared with Conventional drum and caterpillar type robot, legged type robot
With its remarkable locomitivity, load capacity, stable equilibrium's ability and unknown unstructured moving grids adaptability by science
The extensive concern on boundary, military circles and industrial quarters.And go deep into quadruped robot research, scholars begin one's study Robotic Dynamic
Under high speed walking or the high legged type robot to bear a heavy burden of research.
Legged type robot leg structure design at present using Bionic Design, has multi-joint rotary freedom, leg mostly
Spring, variation rigidity etc. " passive " elastic damping element is added in structure design also referring to biological characteristic, type of drive has mostly
Motor drives, hydraulic-driven, air pressure driving etc..In control plane, the legged type robot control thought based on SLIP models
It is widely used, while this method remains body movement substantive characteristics to the maximum extent, significantly reduces
The complexity for the model that degree of freedom in system increase is brought.
It is badly in need of a kind of experimental provision that can test and verify legged type robot performance at present.
Invention content
The present invention for solve currently without test and verification legged type robot locally or globally model machine performance experiment fill
The problem of putting, and then a kind of turntable for legged type robot exercise testing is provided.
The present invention adopts the technical scheme that solve above-mentioned technical problem：
The turntable for legged type robot exercise testing of the present invention includes pitch angle measuring unit, turntable rack, line
Velocity measuring unit, power transmission unit, supporting rack and two connecting interfaces；
Turntable rack includes chassis body, hydraulic rotary joint installation and rack cover, rack cover and hydraulic swing switching
The head installing plate from top to bottom horizontal top for being packed in chassis body is machined with central through hole in rack cover；
Power transmission unit include robotic end oil inlet pipe, robotic end oil return pipe, pump end oil inlet pipe, pump end oil return pipe and
Hydraulic rotary joint, hydraulic rotary joint are packed on the upper surface of hydraulic rotary joint installing plate, pump end oil inlet pipe and pump end
One end of oil return pipe is connected with the fixing end of hydraulic rotary joint, pump end oil inlet pipe and pump end oil return pipe the other end with confession
Oil system connects；Round end of the one end of robotic end oil inlet pipe and robotic end oil return pipe with hydraulic rotary joint connects,
Hydraulic system of the other end of robotic end oil inlet pipe and robotic end oil return pipe with legged type robot connects；
Linear velocity measuring unit includes yaw mandrel cover board, speed measuring module, yaw bearing and yaw axis bearing, speed measuring module
Including yaw mandrel bottom plate, encoder, encoder mounting base, synchronous belt, small synchronous pulley, small pulley bearing cover, small pulley
Bearing, small pulley bearing mounting base, bearing pull out tight bolt and big synchronous pulley, and it is circle to yaw mandrel bottom plate and big synchronous pulley
Ring body structurc, yaw mandrel bottom plate and big synchronous pulley are from top to bottom packed in the upper end of the round end of hydraulic rotary joint successively
On face, small pulley bearing mounting base is inlaid in rack cover, and mandrel, the small band wheel bearing of small synchronous pulley are pulled out tightly by bearing
Bolt is mounted on small pulley bearing mounting base, and small pulley bearing cover is mounted on the lower face of small pulley bearing mounting base,
Small synchronous pulley is mounted on the mandrel of small synchronous pulley, and small synchronous pulley passes through synchronous band connection, coding with big synchronous pulley
Device is mounted on by encoder mounting base on the lower face of rack cover, and the rotation axis of encoder and the mandrel of small synchronous pulley are same
Axis is set；Yaw bearing is mounted on by yaw axis bearing on the upper surface of yaw mandrel bottom plate, and yaw mandrel cover plate lid is mounted in
In yaw axis bearing；
Pitch angle measuring unit includes potentiometer, shaft coupling, potentiometer mounting base, pitching mandrel, yaw mandrel, connection
Bar, fluid pressure line access, pitching square box and two pitching mandrel bearings；The lower part of yaw mandrel is mounted on by yaw bearing
In yaw axis bearing, pitching mandrel is installed on the top of yaw mandrel, and pitching square box is installed by two pitching mandrel bearings
On the both ends of pitching mandrel, potentiometer is packed in by potentiometer mounting base on the lateral wall of pitching square box, potentiometer
Rotation axis is coaxially affixed by shaft coupling and pitching mandrel, and one end of connecting rod is packed on pitching square box, connecting rod it is another
A bump contacted chip of connecting interface is provided on one end, the upper end of supporting rack is provided with another bump contacted chip of connecting interface, even
Legged type robot is installed between two bump contacted chips of connection interface.
The present invention has the advantages that compared with prior art：
The turntable for legged type robot exercise testing of the present invention is provided with pitch angle measuring unit and linear velocity is surveyed
Unit is measured, when legged type robot moves up and down, legged type robot drives connecting rod to swing up and down, and connecting rod is by bowing
Square box is faced upward pitching movement is transmitted in the main body of potentiometer with potentiometer mounting base, and the rotation axis of potentiometer is because pass through
Pitching mandrel is connected with yaw mandrel and does not rotate, and then the displacement of legged type robot short transverse shows as potentiometer
The variation of resistance value can measure out legged type robot pitch angle, then converse legged type robot by the resistance value of potentiometer
Jump height；
In legged type robot motion process, legged type robot displacement in the horizontal direction is transmitted to survey by yawing mandrel
It on fast submodule, is transmitted on encoder by synchronous pulley speedup, so as to measure legged type robot linear velocity, is opened by adjusting
Front and back position of the bearing up pulley adjusting rod in tensioning wheel mounting base can adjust the tensile force size that tensioning wheel is pressed on synchronous belt, mend
It repays the error of centre-to-centre spacing between two synchronous pulleys and prevents synchronous belt sag from jumping tooth；
The legged type robot that the turntable of the present invention may be used in the energy supply of external hydraulic pumping plant is put down under true road surface
Both forward and reverse directions continuous walking in face, the status monitoring for the exercise testings such as run and overall performance verify, hydraulic power transmission unit
Hydraulic oil can be transmitted and avoid oil pipe or wire winder device people in experiment.Pitch angle measuring unit measures foot using potentiometer
Formula robot pitch angle, linear velocity measuring unit apply band deceleration device code-disc robot measurement linear velocity；
The present invention is used to carry out under true road surface using the legged type robot that external hydraulic pumping plant energizes positive and negative in plane
The status monitoring of the continuous exercise testing in direction is tested with overall performance, can quickly and accurately be obtained by the experiment turntable of the present invention
Legged type robot partly or wholly experimental data of the system in actual ground environment is taken, is avoided during traditional treadmill runs and test the speed
Influence of the running machine running tape speed to robot is system of robot so as to more truly evaluate robot overall performance effect
The design of system provides verification platform with control.
Description of the drawings
Fig. 1 is the overall structure stereogram of the turntable for legged type robot exercise testing of the present invention；
Fig. 2 is the vertical view of pitch angle measuring unit 1 in the specific embodiment of the invention one；
Fig. 3 is the front view of one centerline velocities measuring unit 3 of the specific embodiment of the invention；
Fig. 4 is the structure diagram of speed measuring module 17 in the specific embodiment of the invention one；
Fig. 5 is one intermediate station rack 2 of the specific embodiment of the invention and the structure diagram of power transmission unit 4.
Specific embodiment
Specific embodiment one：As shown in Fig. 1~5, the turntable for legged type robot exercise testing of present embodiment
Including pitch angle measuring unit 1, turntable rack 2, linear velocity measuring unit 3, power transmission unit 4, supporting rack 5 and two companies
Connection interface 6；
Turntable rack 2 includes chassis body 39, hydraulic rotary joint installing plate 37 and rack cover 33,33 He of rack cover
The from top to bottom horizontal top for being packed in chassis body 39 of hydraulic rotary joint installing plate 37 is machined with center in rack cover 33
Through-hole；
Power transmission unit 4 includes robotic end oil inlet pipe 31, robotic end oil return pipe 32, pump end oil inlet pipe 34, pump end
Oil return pipe 35 and hydraulic rotary joint 38, hydraulic rotary joint 38 are packed on the upper surface of hydraulic rotary joint installing plate 37,
Fixing end of the one end of pump end oil inlet pipe 34 and pump end oil return pipe 35 with hydraulic rotary joint 38 connects, and pumps 34 He of end oil inlet pipe
The other end of pump end oil return pipe 35 is connect with oil supply system；One end of robotic end oil inlet pipe 31 and robotic end oil return pipe 32
Round end with hydraulic rotary joint 38 connects, the other end of robotic end oil inlet pipe 31 and robotic end oil return pipe 32 with
The hydraulic system connection of legged type robot；
Linear velocity measuring unit 3 includes yaw mandrel cover board 16, speed measuring module 17, yaw bearing 18 and yaw axis bearing
19, speed measuring module 17 includes yaw mandrel bottom plate 30, encoder 21, encoder mounting base 22, synchronous belt 23, small synchronous pulley
24th, small pulley bearing cover 25, small band wheel bearing 26, small pulley bearing mounting base 27, bearing pull out tight bolt 28 and big synchronous belt
Wheel 29, yaw mandrel bottom plate 30 and big synchronous pulley 29 are torus structure, yaw mandrel bottom plate 30 and big synchronous pulley 29
It is from top to bottom packed in successively on the upper surface of round end of hydraulic rotary joint 38, small pulley bearing mounting base 27 is inlaid in machine
On frame cover board 33, mandrel, the small band wheel bearing 26 of small synchronous pulley 24 pull out tight bolt 28 mounted on small band wheel bearing by bearing
In mounting base 27, small pulley bearing cover 25 is mounted on the lower face of small pulley bearing mounting base 27, and small synchronous pulley 24 is pacified
On the mandrel of small synchronous pulley 24, small synchronous pulley 24 is connect with big synchronous pulley 29 by synchronous belt 23, encoder 21
It is mounted on by encoder mounting base 22 on the lower face of rack cover 33, rotation axis and the small synchronous pulley 24 of encoder 21
Mandrel is coaxially disposed；Yaw bearing 18 is mounted on by yaw axis bearing 19 on the upper surface of yaw mandrel bottom plate 30, yaws core
The lid of shaft-cup plate 16 is in yaw axis bearing 19；
Pitch angle measuring unit 1 includes potentiometer 7, shaft coupling 8, potentiometer mounting base 9, pitching mandrel 10, yaw core
Axis 11, connecting rod 12, fluid pressure line access 13, pitching square box 15 and two pitching mandrel bearings 14；It yaws under mandrel 11
Portion is mounted on by yaw bearing 18 in yaw axis bearing 19, and pitching mandrel 10 is installed on the top of yaw mandrel 11, pitching side
Shape frame 15 is mounted on by two pitching mandrel bearings 14 on the both ends of pitching mandrel 10, and potentiometer 7 passes through potentiometer mounting base 9
It being packed on the lateral wall of pitching square box 15, the rotation axis of potentiometer 7 is coaxial affixed with pitching mandrel 10 by shaft coupling 8,
One end of connecting rod 12 is packed on pitching square box 15, and one piece of company of connecting interface 6 is provided on the other end of connecting rod 12
Contact pin, the upper end of supporting rack 5 are provided with another bump contacted chip of connecting interface 6, are installed between two bump contacted chips of connecting interface 6
There is legged type robot.
When legged type robot carries out in plane positive direction or the continuous exercise testing of negative direction：Pitch angle measuring unit
1 is connected to by part pitching mandrel 10 in linear velocity measuring unit 3, linear velocity measuring unit 3 by yaw axis bearing 19 with
Turntable rack 2 connects, and 37 top flange dish of hydraulic rotary joint in power transmission unit 4 yaws mandrel bottom plate 30 by part
It is connected as a single entity with linear velocity measuring unit 3, the flange in the bottom of the hydraulic rotary joint 38 in power transmission unit 4 passes through hydraulic swing
Adapter fixed plate 37 is connected with turntable rack 2.And robot is connected by connecting interface 6 with part connecting rod 12, is mounted to
The measurement of turntable rack 2 and restraint system；By with legged type robot end oil inlet pipe 31, the machine in power transmission unit 3
Device people brings out oil pipe 32 and connects, and is linked into the energy supply subsystem of experiment turntable.
7 main body of potentiometer is affixed to by potentiometer mounting base 8 on pitching square box 15, and 7 rotation axis of potentiometer passes through connection
Axis device 8 is connect with pitching mandrel 10, and pitching mandrel 10 passes through pitching mandrel bearing 14 to be affixed on yaw mandrel 11 with screw thread.
When robot moves up and down, robot drives connecting rod 12 to swing up and down.Connecting rod 12 passes through pitching
Pitching movement is transmitted to potentiometer mounting base 9 in the main body of potentiometer 7 by box 15.And the rotation axis of potentiometer 7 is because logical
Cross face upward mandrel 10 with yaw mandrel 11 be connected do not rotate.And then the displacement in robot high speed direction shows as potentiometer
The variation of resistance value.Robot pitch angle be can measure out by the resistance value of potentiometer, then converse robot jump height.
It should ensure that robot relative jump height and the ratio of connecting rod bar length are less than or equal to tan5 ° in an experiment, so as to ensure machine
People's approximation planar moves.
The mechanical constraint that robot displacement in the horizontal direction passes through connecting rod 12, pitching square box 15 and pitching mandrel 10
It is transmitted on yaw mandrel 11.11 lower section of yaw mandrel is connected by yawing mandrel bottom plate 30 with the submodule 17 that tests the speed.
Big synchronous pulley 29 is hollow structure, for hydraulic rotary joint 38 and into flowline vacating space, and passes through synchronization
Band 23 is connect with small synchronous pulley 24.21 main body of encoder is fixed to by encoder mounting base 22 in rack cover 33, coding
21 rotation axis of device is connected on the mandrel of small synchronous pulley 24 and rotates synchronously.Small pulley bearing mounting base 27 is embedded into rack cover
In 33 bore, and pass through the degree of freedom that the constraint of small pulley bearing cover 25 moves up and down.In legged type robot motion process,
After legged type robot displacement in the horizontal direction is transmitted on the submodule 17 that tests the speed by yawing mandrel 11, increased by synchronous pulley
Speed is transmitted on encoder 21, measures legged type robot linear velocity.By adjusting tensioning wheel adjusting rod 18 in tensioning wheel mounting base
Front and back position in 19 can adjust the tensile force size that tensioning wheel 20 is pressed on synchronous belt 23, compensate center between two synchronous pulleys
Away from error and prevent synchronous belt sag from jumping tooth.
When carrying out legged type robot experiment, legged type robot is moved centered on the central axis of turntable rack 2, passes through company
Extension bar 12 is approximate by movement of the legged type robot in spherical surface less than or equal to tan5 ° of constraint with robot motion's difference in height ratio
For cylindrical surface, and make the height change of robot motion symmetrical close to 33 horizontal plane of rack cover.Entire turntable rack 2 mainly rises
Connection or the effect of fixed other units.Hydraulic rotary joint 38 have ectonexine double-layer structure, ectonexine arrange one into
Hydraulic fluid port and oil outlet, and ectonexine oil inlet and outlet communicates respectively.Internal layer opposed outer layer still keeps this when rotating and communicates characteristic.
It is connected at the top of the internal layer of hydraulic rotary joint 38 by bolt with yaw mandrel bottom plate 30, outer bottom is secured by bolts in machine
In hydraulic rotary joint fixed plate 37 on frame.The oil inlet pipe 31 of robotic end and oil return pipe 32 are upper with hydraulic rotary joint 38
Flange connects and is communicated to internal layer, and pump end oil inlet pipe 34, oil return pipe 35 are connected to the outer of hydraulic rotary joint 38 by pipe screw thread
Layer.It is real by the way that robot with pumping end hydraulic tube being isolated on rotary freedom, can be wound to avoid hydraulic oil pipe and turntable
Continuous rotary of the existing robot on horizontal movement direction.
The turntable rack 2 of the present invention is connect by the connecting interface 6 of connecting rod 12 with legged type robot, suitable for different drives
Flowing mode is tested with forms of motion, monopodia or multi-foot robot system；
The present invention connects robot and turntable rack 2 by connecting rod 12, by the kinematic constraint of legged type robot arrive with turn
Axis center point is ratio that in the spherical surface of the centre of sphere, legged type robot barycenter relative motion height during exercise is grown with 12 bar of connecting rod
Value is less than or equal to tan5 °, so as to fulfill robot to be tied to the target that is moved in almost plane；
To concede continuous space, hydraulic oil source passes through circumferential exterior where hydraulic oil source is placed on legged type robot movement
It is converged among turntable rack shaft by the fluid pressure line for being arranged in ground, pipeline is connected on hydraulic rotary joint and the company of depending on
Legged type robot fuel feeding of the extension bar 12 into movement ensure that the fluid pressure line for being arranged in ground does not interfere robot water in experiment
Square to movement, hydraulic power transmission unit is divided into two layers inside and outside, and hydraulic power transmission unit makes robotic end hydraulic line, bows
Angle measurement unit random device people synchronous rotation is faced upward, outer layer hydraulic line is then fixed in stationary gantry real to avoid continuous movement
Middle oil pipe or wire winder device people are tested, it is achieved thereby that the forward and reverse continuous exercise testing of legged type robot planar, is obtained
Obtain consistent experiment effect approximate with the movement of true floor；
Turntable of the present invention can carry out status monitoring to legged type robot, during the experiment, be measured using pitch angle single
Potentiometer or other angle measurement units in member measure the pitch angle of connecting rod and then are scaled robot jump height, use
Encoder or other speed measuring device measuring circurmarotate rotational angular velocities in velocity measuring unit and then it is converted into robot plane fortune
Dynamic linear velocity can carry out status monitoring and the verification of robot installation by the sensor being integrated into robot system.
Specific embodiment two：As shown in Figure 1 and Figure 5, the chassis body (39) of present embodiment turntable rack (2) is length
Cube frame.It is so designed that, it is simple in structure, it is easy to process.Other compositions and connection relation are same as the specific embodiment one.
Specific embodiment three：As shown in figure 4, the rotating ratio of present embodiment small synchronous pulley 24 and big synchronous pulley 29
It is 5:1.It is so designed that, can realize the amplification of rotating speed and the raising of measurement accuracy.Other compositions and connection relation and specific reality
It is identical to apply mode one or two.
Specific embodiment four：As shown in figure 4, present embodiment linear velocity measuring unit 3 further includes tensioning wheel 20, tensioning
Wheel adjusting rod 40 and tensioning wheel mounting base 41, tensioning wheel mounting base 41 are packed on the lower face of rack cover 33, tensioning wheel 20
In tensioning wheel mounting base 41, tensioning wheel adjusting rod 40 is connect with tensioning wheel 20.It is so designed that, by adjusting tensioning wheel tune
Front and back position of the pole 40 in tensioning wheel mounting base 41 is big so as to adjust the tensile force that tensioning wheel 20 is pressed on synchronous belt 23
It is small, it compensates the error of centre-to-centre spacing between two synchronous pulleys and prevents synchronous belt sag from jumping tooth.Other compositions and connection relation with it is specific
Embodiment three is identical.
Specific embodiment five：As shown in Figure 1, central axis of the present embodiment legged type robot about turntable rack 2
It rotates, legged type robot barycenter relative motion height during exercise and the lenth ratio of connecting rod 12 are less than or equal to
tan5°.It is so designed that, so as to constrain the target that legged type robot moves in almost plane.Other compositions and connection are closed
System is identical with specific embodiment one, two or four.
Specific embodiment six：As shown in Fig. 2, the potentiometer 7 in present embodiment pitch angle measuring unit 1 is measured and is connected
The pitch angle of extension bar 12 and then it is scaled robot jump height.It is so designed that, can be surveyed by the experimental provision of the present invention
Examination and verification legged type robot performance indicator.Other compositions and connection relation are identical with specific embodiment five.
Specific embodiment seven：As shown in Figure 3 and Figure 5, the encoder 21 of present embodiment velocity measuring unit 3, which measures, turns
Platform rotational angular velocity and then the linear velocity for being converted into legged type robot plane motion, by being integrated into legged type robot system
Sensor can carry out status monitoring and the verification of legged type robot installation.It is so designed that, it can be with by the experimental provision of the present invention
Test and verification legged type robot performance indicator.Other compositions and connection relation are identical with specific embodiment five.
Operation principle：
In the turntable of the present invention in the course of work, legged type robot is constrained to by two connecting interfaces 6 with turntable machine
Come on almost plane centered on frame 2, the pitching that 1 top of pitch angle measuring unit is driven by two connecting interfaces 6 is rectangular
15 pitching of frame and rotation, and pass through potentiometer 7 and read pitch angle；
Pitching square box 15 communicates rotational motion to speed measuring module 17 by yawing mandrel 11 and yaw mandrel bottom plate 30,
Synchronous belt 13 passes to encoder 21 after rotary motion speed is amplified, so as to obtain sufficient formula by 21 pulse signal of encoder
Around the velocity of rotation of center axis rotation, the velocity of rotation of legged type robot is multiplied by connecting rod bar length and obtains robot for robot
Move linear velocity；
External hydraulic oil enters hydraulic rotary joint 38 by pumping end oil inlet pipe 34, and passes through the oil inlet of legged type robot end
Pipe 31 is pumped into legged type robot system, by legged type robot end oil outlet end 32 via hydraulic rotary joint 38 and pump end oil return pipe
35 are connected, and form complete hydraulic circuit.
Claims (7)
1. a kind of turntable for legged type robot exercise testing, it is characterised in that：It is described to be used for legged type robot exercise testing
Turntable include pitch angle measuring unit (1), turntable rack (2), linear velocity measuring unit (3), power transmission unit (4),
Supporting rack (5) and two connecting interfaces (6)；
Turntable rack (2) includes chassis body (39), hydraulic rotary joint installing plate (37) and rack cover (33), rack cover
(33) and hydraulic rotary joint installing plate (37) from top to bottom level is packed in the top of chassis body (39), rack cover (33)
On be machined with central through hole；
Power transmission unit (4) including robotic end oil inlet pipe (31), robotic end oil return pipe (32), pump end oil inlet pipe (34),
Pump end oil return pipe (35) and hydraulic rotary joint (38), hydraulic rotary joint (38) are packed in hydraulic rotary joint installing plate (37)
Upper surface on, pump end oil inlet pipe (34) and pump end oil return pipe (35) one end with the fixing end of hydraulic rotary joint (38) company
Logical, the other end of pump end oil inlet pipe (34) and pump end oil return pipe (35) is connect with oil supply system；Robotic end oil inlet pipe (31)
It is connected with round end of the one end of robotic end oil return pipe (32) with hydraulic rotary joint (38), robotic end oil inlet pipe (31)
It is connected with the other end of robotic end oil return pipe (32) with the hydraulic system of legged type robot；
Linear velocity measuring unit (3) includes yaw mandrel cover board (16), speed measuring module (17), yaw bearing (18) and yaw bearing
Seat (19), speed measuring module (17) include yaw mandrel bottom plate (30), encoder (21), encoder mounting base (22), synchronous belt
(23), small synchronous pulley (24), small pulley bearing cover (25), small band wheel bearing (26), small pulley bearing mounting base (27), axis
It holds and pulls out tight bolt (28) and big synchronous pulley (29), yaw mandrel bottom plate (30) and big synchronous pulley (29) are torus knot
Structure, yaw mandrel bottom plate (30) and big synchronous pulley (29) are from top to bottom packed in the round end of hydraulic rotary joint (38) successively
Upper surface on, small pulley bearing mounting base (27) is inlaid in rack cover (33), the mandrel of small synchronous pulley (24), small band
Wheel bearing (26) pulls out tight bolt (28) on small pulley bearing mounting base (27) by bearing, small pulley bearing cover (25)
On the lower face of small pulley bearing mounting base (27), small synchronous pulley (24) is mounted on the mandrel of small synchronous pulley (24)
On, small synchronous pulley (24) is connect with big synchronous pulley (29) by synchronous belt (23), and encoder (21) is installed by encoder
For seat (22) on the lower face of rack cover (33), the rotation axis and the mandrel of small synchronous pulley (24) of encoder (21) are same
Axis is set；Yaw bearing (18) on the upper surface of yaw mandrel bottom plate (30), yaws core by yaw axis bearing (19)
Shaft-cup plate (16) lid is in yaw axis bearing (19)；
Pitch angle measuring unit (1) including potentiometer (7), shaft coupling (8), potentiometer mounting base (9), pitching mandrel (10),
Yaw mandrel (11), connecting rod (12), fluid pressure line access (13), pitching square box (15) and two pitching mandrel bearings
(14)；By yaw bearing (18) in yaw axis bearing (19), pitching mandrel (10) is worn for the lower part of yaw mandrel (11)
Mounted in the top of yaw mandrel (11), pitching square box (15) is by two pitching mandrel bearings (14) mounted on pitching mandrel
(10) on both ends, potentiometer (7) is packed in by potentiometer mounting base (9) on the lateral wall of pitching square box (15), current potential
The rotation axis of device (7) is coaxial affixed by shaft coupling (8) and pitching mandrel (10), and one end of connecting rod (12) is packed in pitching side
On shape frame (15), a bump contacted chip of connecting interface (6), the upper end of supporting rack (5) are provided on the other end of connecting rod (12)
Another bump contacted chip of connecting interface (6) is provided with, legged type robot is installed between two bump contacted chips of connecting interface (6).
2. a kind of turntable for legged type robot exercise testing according to claim 1, it is characterised in that：Turntable rack
(2) chassis body (39) is cuboid framework.
3. a kind of turntable for legged type robot exercise testing according to claim 1 or 2, it is characterised in that：It is small same
The rotating ratio for walking belt wheel (24) and big synchronous pulley (29) is 5:1.
4. a kind of turntable for legged type robot exercise testing according to claim 3, it is characterised in that：Linear velocity is surveyed
Amount unit (3) further includes tensioning wheel (20), tensioning wheel adjusting rod (40) and tensioning wheel mounting base (41), tensioning wheel mounting base (41)
It is packed on the lower face of rack cover (33), tensioning wheel (20) is in tensioning wheel mounting base (41), tensioning wheel adjusting rod
(40) it is connect with tensioning wheel (20).
5. a kind of turntable for legged type robot exercise testing according to claim 1,2 or 4, it is characterised in that：Foot
Formula robot rotates about the central axis of turntable rack (2), the relative motion of legged type robot barycenter during exercise
The lenth ratio of height and connecting rod (12) is less than or equal to tan5 °.
6. a kind of turntable for legged type robot exercise testing according to claim 5, it is characterised in that：Pitch angle
Potentiometer (7) in measuring unit (1) measures the pitch angle of connecting rod (12) and then is scaled robot jump height.
7. a kind of turntable for legged type robot exercise testing according to claim 5, it is characterised in that：Tachometric survey
Encoder (21) the measuring circurmarotate rotational angular velocity of unit (3) and then the linear velocity for being converted into legged type robot plane motion are led to
Status monitoring and the verification of legged type robot installation can be carried out by crossing the sensor being integrated into legged type robot system.
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| CN201510975433.3A CN105652896B (en) | 2015-12-22 | 2015-12-22 | A kind of turntable for legged type robot exercise testing |
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| CN201510975433.3A CN105652896B (en) | 2015-12-22 | 2015-12-22 | A kind of turntable for legged type robot exercise testing |
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