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CN-121973277-A - Humanoid robot motion test platform

CN121973277ACN 121973277 ACN121973277 ACN 121973277ACN-121973277-A

Abstract

The invention provides a humanoid robot motion test platform which comprises a base, a belt type motion mechanism, a height adjusting device and a control system, wherein the height adjusting device comprises a linear driving mechanism, a first sliding mechanism, a second sliding mechanism and a braking mechanism, the bottom of the linear driving mechanism is hinged with the base, the first sliding mechanism is connected with the output end of the linear driving mechanism, the second sliding mechanism is in sliding fit with the first sliding mechanism and is connected with the test platform, and the braking mechanism is used for limiting relative motion of the first sliding mechanism and the second sliding mechanism. When the slope is changed, the two sliding mechanisms slide relatively to automatically compensate the space horizontal displacement difference and eliminate the lateral stress interference, and after the slope is changed, the sliding gap is locked laterally by the braking mechanism to form a rigid support.

Inventors

  • WANG SHIMING
  • YE QING
  • YANG ZHENNING
  • ZOU YANRONG
  • MA LONGLONG
  • LIU WEN
  • WANG LIMING

Assignees

  • 一工机器人银川有限公司

Dates

Publication Date
20260505
Application Date
20260409

Claims (10)

  1. 1. A height adjustment device for a humanoid robot motion test platform, for adjusting the grade of the test platform (200), characterized in that the device comprises: the bottom of the linear driving mechanism (110) is connected with the base (100) in a hinged manner; the first sliding mechanism (120) is connected with the power output end of the linear driving mechanism (110); the second sliding mechanism (130) is matched with the first sliding mechanism (120) to ensure that the first sliding mechanism and the second sliding mechanism move in parallel, and the second sliding mechanism (130) is connected with the test platform (200); and a brake mechanism (140) for restricting relative movement of the first slide mechanism (120) and the second slide mechanism (130).
  2. 2. The height adjustment device according to claim 1, wherein the brake mechanism (140) is mounted on at least one of the first slide mechanism (120) and the second slide mechanism (130).
  3. 3. The height adjustment device according to claim 1, wherein the braking mechanism (140) applies pressure to the first sliding mechanism (120) and the second sliding mechanism (130) in a direction perpendicular to the relative movement, thereby braking the relative movement.
  4. 4. A height adjustment device according to any one of claims 1-3, wherein the brake mechanism (140) is a rail clamp.
  5. 5. The height adjustment device according to claim 1, wherein the linear driving mechanism (110) is one of a trapezoidal screw elevator, a ball screw elevator, a linear stepper motor, and a motor-driven rack and pinion mechanism.
  6. 6. The height adjustment device according to claim 1, wherein the power take-off of the linear drive (110) is a screw (113).
  7. 7. The height adjusting device according to claim 1, wherein the linear driving mechanism (110) is a motor driving a worm gear and worm transmission pair (112) to act so as to drive a screw rod (113) to axially linearly move, wherein the bottom end of the screw rod (113) is rotationally connected with the base (100), and the upper section of the screw rod (113) is rotationally connected with the first sliding mechanism (120).
  8. 8. The height adjusting device according to any one of claims 5-7, wherein the active driving component of the linear driving mechanism is a servo motor (111).
  9. 9. A humanoid robot motion test platform, characterized in that, adopt the height adjustment device of any one of claims 1-8, the test platform still includes: The height adjusting devices support the belt type moving mechanism (210), the second sliding mechanism (130) of the height adjusting devices is connected to a frame body of the belt type moving mechanism (210), and the belt type moving mechanism (210) drives the annular belt to operate through the driving mechanism (220); the height adjusting devices are arranged at least at the front end and the rear end of the belt type movement mechanism (210).
  10. 10. The humanoid robot motion test platform of claim 9, further comprising a control system (300), the control system (300) being electrically connected to the linear drive mechanism (110), to the drive mechanism (220), and to the brake mechanism (140).

Description

Humanoid robot motion test platform Technical Field The invention relates to the technical field of robot testing, in particular to a humanoid robot motion testing platform. Background At present, in the development and evaluation system of the humanoid robot, the test of the movement performance is particularly critical, and the robot is required to adapt to different speeds, accelerations and complex gradient environments and continuously and stably run. Compared with the traditional wheel type or small-sized quadruped robot, the humanoid robot has the physical characteristics of huge dead weight, severe dynamic change of the gravity center and extremely strong impact force at the moment of landing of the foot end. But the products on the aspect of the robot motion test platform are fewer at present, and the functions are single. In the early stage of development of robots, common running machines or self-grinding simple equipment is usually used for testing, the size of a running platform of the equipment is small, various types of robots cannot be used at the same time, the adjusting parameters are also very limited, for example, the gradient can be adjusted in one direction, and the adjustable angle is small. When the existing robot test equipment is used for complex gradient simulation, a push rod motor or an air cylinder is generally adopted as a lifting driving source at the bottom. For example, patent application publication CN216967835U discloses a motion testing device for a foot-type robot, which mainly drives a supporting piece to lift and lower through a push rod motor at the bottom, and for example, patent application publication CN106625778a discloses a motion control testing platform for a foot-type bionic robot and a testing method, wherein a ramp road surface simulation platform also relies on a plurality of cylinders at the bottom to lift and support so as to change the gradient of a driving belt. However, the above conventional scheme of directly performing vertical lifting by using a push rod or an air cylinder has the following technical problems: 1. There are serious problems of kinematic interference and lateral stress. The lifting action of the running belt rack is essentially circular arc rotation taking one end as a hinging center. As the angle of the grade increases, the horizontal relative axial distance between the lifting stress point and the hinge center of the frame is necessarily dynamically reduced. However, the conventional connection manner that the two ends of the existing push rod or air cylinder are fixed is generally adopted, which leads to that the piston rod of the screw rod or air cylinder of the push rod inevitably bears extremely large lateral shearing and bending stress in the telescopic lifting process. The stress is extremely easy to cause mechanical clamping stagnation, unstably bent rod pieces and even broken structures, so that the equipment cannot meet the requirements of large-span and high-frequency gradient smooth switching. 2. The support stiffness and locking mechanism is not resistant to high frequency strong impact. When the test platform is used for coping with the specific high-frequency and heavy-load trampling impact of the humanoid robot, the requirement on structural rigidity is extremely high. For the existing scheme adopting the cylinder support, due to inherent gas compressibility of pneumatic transmission, when the robot foot end is stepped on severely and dynamically, the cylinder is extremely easy to generate elastic yield and repeatedly forced bounce. The lack of the supporting rigidity leads the whole platform to generate severe tremble and micro displacement slipping when in operation test, which not only leads the actual test gradient to deviate from the set value seriously, damages the signal-to-noise ratio and accuracy of test data, but also accelerates the fatigue loss of the core precision moving part. Disclosure of Invention The invention provides a humanoid robot motion test platform, which aims to solve the problems that in the prior art, the humanoid robot test platform is easy to mechanically interfere in the gradient adjustment process, and the platform has insufficient rigidity and is easy to vibrate and displace when facing high-frequency impact load. In order to solve the problems, the invention provides a height adjusting device for a humanoid robot motion test platform, which is used for adjusting the gradient of the test platform and comprises a linear driving mechanism, a first sliding mechanism, a second sliding mechanism and a braking mechanism, wherein the bottom of the linear driving mechanism is connected with a base in a hinged mode, the first sliding mechanism is connected with a power output end of the linear driving mechanism, the second sliding mechanism is matched with the first sliding mechanism to ensure parallel movement of the first sliding mechanism and the second sliding mechanism, the second slidi