CN101539468B - Testing system for joint internal force of climbing worm type robot - Google Patents

Abstract

The invention discloses a testing system for joint internal force of a climbing worm type robot, consisting of a testing platform for joint internal force, a collecting card and a testing module for joint internal force. The testing platform for joint internal force consists of a movable work bench (1), a static work bench (2), an aluminum profile (3), a sensor base (4) and a pressure sensor (7).When the climbing worm type robot runs on the testing platform for joint internal force, the joint internal force information Ain is collected by a pressure sensor, a collecting card outputs digital joint internal force information Din after switch processing, and finally the digital joint internal force information Din is processed by the testing module for joint internal force to obtain digitaljoint internal force information Fout. The testing platform for joint internal force is used by coordinating the movable work bench and the static work bench, designed for measuring the joint internal force information Fout, thus eliminating the influence of mechanical friction to the measured value, and leading the joint internal force information Ain obtained by measurement to be capable of representing the combined force of internal force of all the absorption joints in the climbing worm type robot more truly.

Description

A test system for measuring the joint internal force of a wall-climbing worm robot

technical field

The invention relates to a test system for measuring force, more particularly, a test system for measuring the joint internal force of a wall-climbing worm robot.

Background technique

The movement of the wall-climbing worm robot relies on the suction cup and the working surface (such as the wall, glass surface, floor, etc.) to form a fixed constraint, and each adsorption joint uses longitudinal waves to move forward.

When the suction cups on the head adsorption joint and the tail adsorption joint of the wall-climbing worm robot are adsorbed to the working surface, the motion of all intermediate joints is a closed chain motion. The function of this closed chain motion is to complete the transmission and control of the waveform. The amplitude and form of the waveform. The wall-climbing worm robot is always in a redundant driving state in the closed chain motion stage. Due to the influence of fixed constraints and control errors, internal forces will be generated inside the wall-climbing worm robot, and its magnitude depends on the steering gear on each adsorption joint driving force. The internal force generated by the redundant drive will directly act on the suction cup. Excessive internal force will cause the suction cup to deform or even fail, thereby reducing the safety of the wall-climbing worm robot.

Contents of the invention

In order to test the influence of the internal forces generated by the first adsorption joint, the middle adsorption joint and the tail adsorption joint on the movement gait of the wall-climbing worm-type robot when the wall-climbing worm-type robot is working, the present invention designs a measuring wall-climbing worm-type robot. A test system for the internal force of robot joints. When the wall-climbing worm robot runs on the joint internal force test platform, the pressure sensor is used to collect the joint internal force information A _in , the acquisition card converts and outputs the digital joint internal force information D _in , and finally the digital joint internal force information is analyzed by the joint internal force test module D _in is processed to obtain joint internal force resultant information F _out . In order to measure the resultant force information F _out of the joint internal force, the joint internal force test platform is designed. Through the cooperation of the dynamic and static worktables and the spring, the influence of mechanical friction on the measured value of the pressure sensor is eliminated, so that the measured joint internal force information A _in can more realistically express the resultant internal force of each adsorption joint in the wall-climbing worm robot.

A test system for measuring the joint internal force of a wall-climbing worm robot of the present invention, the test system is composed of a joint internal force test platform, an acquisition card and a joint internal force test module;

The acquisition card outputs digital joint internal force information D _in to the joint internal force test module after preprocessing the received joint internal force information A _in ;

The joint internal force test module includes two parts: hardware and software; the hardware part refers to a computer installed with Windows2000/2003/XP operating system, and the software part refers to the ability to obtain joint internal force digital information through programming based on the graphical programming language of Labview 8.0 a program of processing power stored in the memory of the computer;

The joint internal force test platform is composed of a dynamic workbench, a static workbench, aluminum profiles, a sensor base and a pressure sensor;

The moving table includes a preload adjustment assembly, B adjustment seat, C adjustment seat, A glass plate, guide rail seat, guide rail and slider; the preload adjustment assembly is composed of A adjustment seat, bolts, nuts and springs;

The shape of A adjustment seat, B adjustment seat and C adjustment seat is "L" shape;

The two ends of the A glass plate are installed on the B adjustment seat and the C adjustment seat, the bottom of the A glass plate is equipped with a slider, and the upper part of the A glass plate is adsorbed by the A suction cup;

The bottom of the slider is provided with a card slot, which cooperates with the guide rail to make the slider slide on the guide rail;

There is a groove in the center of the guide rail seat, and a guide rail is installed in the groove;

The A adjustment seat is a one-piece molded part; the side panel of the A adjustment seat is provided with a B threaded hole, which is used to thread the threaded section of the bolt, so that the bolt is installed on the A adjustment seat; on the installation panel of the A adjustment seat There are A mounting hole and B mounting hole, and the A mounting hole is parallel to the B mounting hole. By placing screws in the two mounting holes, the A adjusting seat can be installed in the A threaded hole on the work panel of the aluminum profile. ;

The bolt is an integral molding; the bolt is provided with a threaded section and a polished rod section, and the outer diameter of the polished rod section is smaller than the threaded section;

The spring is sleeved on the bolt and located between the nut and the B adjustment seat;

The static workbench is composed of B glass plate and concave seat; the two ends of B glass plate are installed on A convex platform and B convex platform;

A convex platform and a convex platform B are arranged on the concave seat, and the bottom panel is between the convex platform A and the convex platform B, and the bottom panel is provided with a strip-shaped groove and a strip-shaped groove B. Screws are placed in the B-shaped groove to install the concave seat on the aluminum profile;

The B suction cup is adsorbed on the B glass plate;

In the present invention, the distance between the moving table and the static table is determined by the assembly position of the static table on the aluminum profile; the distance between the moving table and the static table is also the wall-climbing worm type robot. The distance between the first adsorption joint and the tail adsorption joint of ;

There are multiple A threaded holes on the working panel of the aluminum profile;

There is a light hole and a groove on the back plate of the sensor base, and a pressure sensor is installed in the groove; the screw is threaded through the light hole and connected to the threaded hole on the side panel of the aluminum profile, so that the sensor base The fixed connection between the seat and the aluminum profile;

The pressure sensor is in contact with the C adjustment seat.

The advantages of a test system for measuring the joint internal force of a wall-climbing worm robot of the present invention are:

(1) The joint internal force test platform applies the pre-tightening force through the nut and spring on the pre-tightening force adjustment component, and uses the pressure sensor to measure the tension and pressure generated by the wall-climbing worm robot during the movement, which provides the test module for the joint internal force Accurate and reliable motion gait information.

(2) The combined use of the spring and the guide rail slider balances the mechanical friction and makes the measurement result more accurate.

(3) choose NI DAQPad-6015/6016 type acquisition card, can provide response digital information for joint internal force test module in real time, thereby improved the test speed and efficiency of test system of the present invention.

(4) The joint internal force test module can draw the collected data into an image in real time through the PC, and display multiple performance parameters of the wall-climbing worm robot through the joint internal force processing interface.

(5) The distance between the dynamic and static two working platforms in the joint internal force test platform can be adjusted, which can measure the force of the joints of the wall-climbing worm robot with different joint numbers on the suction cup, which enhances the adaptability of the mechanical platform.

Description of drawings

Fig. 1 is a structural block diagram of a test system for measuring the joint internal force of a wall-climbing worm robot according to the present invention.

Fig. 2 is a diagram of the joint internal force processing interface in the joint internal force testing module of the present invention.

Fig. 3 is a structural diagram of the joint internal force testing platform of the present invention.

Fig. 3A is a working principle diagram of a wall-climbing worm-type robot acting on the joint internal force testing platform of the present invention.

Fig. 4 is a structural diagram of the movable workbench of the present invention.

Fig. 4A is an exploded view of the moving table of the present invention.

Fig. 5 is an exploded view of the static workbench of the present invention.

Fig. 6 is an assembly diagram of the pressure sensor and the sensor base of the present invention.

In the figure: 1. Moving table 11. Preload adjustment assembly 111. Bolt 111a. Thread section

111b. Polished rod section 112. Nut 113. Spring 114.A adjustment seat 114a. Side panel

114b.B Threaded Hole 114c. Mounting Panel 114d.A Mounting Hole 114e.B Mounting Hole 12.B Adjusting Seat

13.C adjustment seat 14.A glass plate 15. Guide rail seat 151. Groove 16. Guide rail

17. Slider 171. Card slot 2. Static workbench 21. B glass plate 22. Concave seat

221.A strip groove 222.B strip groove 223.A boss 224.B boss 225.Bottom panel

3. Aluminum profile 31. Working panel 32. A threaded hole 4. Sensor base 41. Optical hole

42. Groove 43. Backplane 5. A Suction Cup 6. B Suction Cup 7. Pressure Sensor

101. The first adsorption joint 102. The tail adsorption joint 103. The second adsorption joint

104. The third adsorption joint 105. The fourth adsorption joint 106. The fifth adsorption joint

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings.

Referring to Fig. 1, the present invention is a test system for measuring the joint internal force of a wall-climbing worm-type robot. The test system is composed of a joint internal force test platform, an acquisition card and a joint internal force test module.

The acquisition card is selected as NI DAQPad-6015/6016 model, and the acquisition card outputs digital joint internal force information D _in to the joint internal force test module after preprocessing the received joint internal force information A _in . What kind of processing the acquisition card performs on the received information is determined by the technology of the acquisition card manufacturer. In the present invention, only the information that can be output by the acquisition card conforms to the use of the joint internal force test module. The processing of the sensor output information on the acquisition card is a known technology, and will not be described in detail in the present invention.

The joint internal force testing module includes hardware and software. The hardware part refers to a computer (or PC, such as desktop computer, notebook computer, etc.) installed with Windows 2000/2003/XP operating system. The minimum configuration of the computer is: memory 512MB, CPU 1GHz, hard disk 40GB. The software part refers to the program with the ability to process digital information of joint internal force through programming based on the graphical programming language of Labview 8.0. The interface of the program is shown in Figure 2. The software part is stored in the memory of the PC. In the present invention, the joint internal force test module saves the received digital joint internal force information D _{in in} a text form ( ^* .txt) in the memory of the PC, and the saved text file can be used as a motion step for optimizing the design of the wall-climbing worm robot. The measurement standard of the state makes the wall-climbing worm robot crawl better on the working surface. In the present invention, through the interface shown in FIG. 2 , the tester can more intuitively observe the gait of the wall-climbing worm robot when it is moving through the "robot state parameter display" unit. The fitting curve in the motion process can be seen through the "data acquisition graphic display" unit. System tests are performed through the multiple "buttons" (circled ones, such as start, stop, pause, restart) of the device. In the present invention, the data collected by the pressure sensor and the processing of the sensor output data by the acquisition card are all determined by the selected device. The computer and software (the graphical programming language of Labview 8.0) used in the present invention mainly display the collected data information, and do not calculate the relevant quantities. Therefore, in this patent application, the information collected by the pressure sensor is not further processed. .

When the wall-climbing worm robot runs on the joint internal force test platform, the pressure sensor is used to collect the joint internal force information A _in , the acquisition card converts and outputs the digital joint internal force information D _in , and finally the digital joint internal force information is analyzed by the joint internal force test module D _in is processed to obtain joint internal force resultant information F _out . In order to measure the resultant force information F _out of the joint internal force, the joint internal force test platform is designed. Through the cooperation of the dynamic and static worktables and the spring, the influence of mechanical friction on the measured value of the pressure sensor is eliminated, so that the measured joint internal force information A _in can more realistically express the resultant internal force of each adsorption joint in the wall-climbing worm robot.

As shown in FIG. 3 , the joint internal force test platform is composed of a dynamic workbench 1 , a static workbench 2 , an aluminum profile 3 , a sensor base 4 and a pressure sensor 7 .

Referring to Fig. 3A, when the internal force resultant test is performed on the wall-climbing worm robot, the A suction cup 5 of the head adsorption joint 101 is in contact with the A glass plate 14 of the movable table 1, and the B suction cup 6 of the tail adsorption joint 102 is in contact with the static table. B glass plate 21 of 2 contacts, the second adsorption joint 103, the third adsorption joint 104, the fourth adsorption joint 105 and the fifth adsorption joint 106 form the middle adsorption joint of the wall-climbing worm robot. The number of intermediate adsorption joints is related to the robot's task execution. In the case of coordinated motion of the intermediate suction joint, this force generated by the motion will be collected by the pressure sensor 7 .

(1) Moving table 1

Referring to Fig. 4 and Fig. 4A, the moving table 1 includes a preload adjustment assembly 11, a B adjustment seat 12, a C adjustment seat 13, an A glass plate 14, a guide rail seat 15, a guide rail 16 and a slider 17. The preload adjustment assembly 11 is composed of an A adjustment seat 114 , a bolt 111 , a nut 112 and a spring 113 .

The profile of the A regulating seat 11, the B regulating seat 12 and the C regulating seat 13 is "L" shape.

The two ends of A glass plate 14 are installed on B adjusting seat 12, C adjusting seat 13, slide block 17 is installed on the bottom of A glass plate 14, and A sucker 5 is installed on the top of A glass plate 14. A suction cup 5 is a component on the first suction joint 101 (shown in FIG. 3A ).

The bottom of the slider 17 is provided with a slot 171 , and the slot 171 cooperates with the guide rail 16 so that the slider 17 can slide on the guide rail 16 .

A groove 151 is provided at the center of the guide rail seat 15 , and the guide rail 16 is installed in the groove 151 .

The A regulating seat 114 is an integral molding. The side panel 114a of the A adjusting seat 114 is provided with a B threaded hole 114b, and the B threaded hole 114b is used for threaded section 111a of the bolt 111, so that the bolt 111 is installed on the A adjusting seat 114; the mounting panel of the A adjusting seat 114 114c is provided with an A mounting hole 114d and a B mounting hole 114e. The A mounting hole 114d is kept parallel to the B mounting hole 114e. By placing screws in the two mounting holes, the A adjusting seat 114 can be installed on the aluminum profile 3. On the working panel 31 , four screws pass through the A mounting hole 114 d and the B mounting hole in pairs respectively and are threaded in the A threaded hole 32 provided on the working panel 31 of the aluminum profile 3 .

The bolt 111 is a one-piece molded part. The bolt 111 is provided with a threaded section 111a and a polished rod section 111b. The outer diameter of the polished rod section 111b is smaller than the threaded section 111a. The threaded section 111a has two functions. One is to realize the threaded connection with the B threaded hole 114b of the A adjusting seat 114 to realize the screw connection. 111 is installed on the A adjusting seat 114, and another function is that the nut 112 can adjust the pre-tightening force on the threaded section 111a. The end of the polished rod section 111b of the bolt 111 is tightly pressed against the side panel of the B adjustment seat 12 .

The spring 113 is sleeved on the bolt 111 and located between the nut 112 and the B adjusting seat 12 . The elastic coefficient of the spring 113 is 1Kg/mm.

(2) Static workbench 2

Referring to shown in FIG. 5 , the static workbench 2 is made up of a B glass plate 21 and a concave seat 22 . Both ends of the B glass plate 21 are installed on the A boss 223 and the B boss 224 .

Concave seat 22 is provided with A boss 223, B boss 224, between A boss 223 and B boss 224 is bottom panel 225, and bottom panel 225 is provided with A strip groove 221, B strip groove 222 The concave seat 22 is installed on the aluminum profile 3 by placing screws in the A bar-shaped groove 221 and the B bar-shaped groove 222 respectively.

B suction cup 6 is adsorbed on the B glass plate 21, which is also the tail suction cup of the robot (shown in FIG. 3A ).

In the present invention, the distance between the movable table 1 and the static table 2 is determined by the assembly position of the static table 2 on the aluminum profile 3 . The distance between the moving table 1 and the static table 2 is also the distance between the head adsorption joint 101 and the tail adsorption joint 102 of the wall-climbing worm robot.

(3) Aluminum profile 3

The aluminum profile 3 is a purchased part, and only needs to process a plurality of A threaded holes 32 on the selected work panel 31 . Through the cooperation of the A threaded hole 32 and the screw, a plurality of devices can be installed thereon.

(4) Sensor base 4

Referring to FIG. 6 , a light hole 41 and a groove 42 are provided on the back surface 43 of the sensor base 4 , and the pressure sensor 7 is installed in the groove 42 . Screws pass through the optical hole 41 and are screwed into threaded holes (not shown in the figure) on the side panel of the aluminum profile 3, thereby realizing the fixed connection between the sensor base 4 and the aluminum profile 3.

The pressure sensor 7 is in contact with the C adjustment seat 13 .

A test system for measuring the joint internal force of a wall-climbing worm robot of the present invention is to absorb the A suction cup 5 in the head adsorption joint 101 of the wall-climbing worm robot and the A glass plate 14 of the movable workbench 1 in the test platform, And the B suction cup 6 in the tail adsorption joint 102 is adsorbed to the B glass plate 21 of the static workbench 2 in the test platform. During the movement of the wall-climbing worm-type robot, the joint use of the dynamic and static workbenches and the spring eliminates the The influence of mechanical friction on the measured value of the pressure sensor makes the measured joint internal force information A _in more realistically express the resultant internal force of each adsorption joint in the wall-climbing worm robot.

Claims (2)

1. test macro of surveying joint internal force of climbing worm type robot, this test macro is made up of joint internal force test platform, capture card and joint internal force test module;

This capture card is with the joint internal force information A that receives _InThe digital joint internal force information D of output after pre-service _InGive the joint internal force test module;

This joint internal force test module includes hardware and software two parts; Hardware components is meant that one is equipped with the computing machine of Windows2000/2003/XP operating system, software section is meant to programme according to the graphical programming language of Labview 8.0 to have the program that obtains joint internal force digital information processing ability, and this procedure stores is in the storer of computing machine;

It is characterized in that: this joint internal force test platform is made up of moving worktable (1), quiet worktable (2), aluminium section bar (3), sensor base (4) and pressure transducer (7);

Moving worktable (1) includes pretightning force adjusting part (11), B adjustment seat (12), C adjustment seat (13), A glass plate (14), track base (15), guide rail (16) and slide block (17); This pretightning force adjusting part (11) is made up of A adjustment seat (114), bolt (111), nut (112) and spring (113);

The profile of A adjustment seat (114), B adjustment seat (12) and C adjustment seat (13) is " L " shape;

The two ends of A glass plate (14) are installed on B adjustment seat (12), the C adjustment seat (13), and the bottom of A glass plate (14) is equipped with slide block (17), and the top of A glass plate (14) is adsorbed with A sucker (5);

The bottom of slide block (17) is provided with draw-in groove (171), and this draw-in groove (171) cooperates with guide rail (16), slide block (17) is gone up at guide rail (16) slided;

The centre of track base (15) is provided with groove (151), and guide rail (16) is installed in this groove (151);

A adjustment seat (114) part that is formed in one; The side panel (114a) of A adjustment seat (114) is provided with B threaded hole (114b), and this B threaded hole (114b) be used to be threaded thread segment (111a) of bolt (111) realizes that bolt (111) is installed on the A adjustment seat (114); The installation panel (114c) of A adjustment seat (114) is provided with A mounting hole (114d), B mounting hole (114e), A mounting hole (114d) and B mounting hole (114e) keeping parallelism, by placing screws, then can realize A adjustment seat (114) is installed in the A threaded hole (32) on the working panel (31) of aluminium section bar (3) at these two mounting holes;

Bolt (111) part that is formed in one; Bolt (111) is provided with thread segment (111a), polished rod section (111b), and the external diameter of polished rod section (111b) is less than thread segment (111a);

Spring (113) is enclosed within on the bolt (111), and is positioned between nut (112) and the B adjustment seat (12);

Quiet worktable (2) is made up of B glass plate (21) and spill seat (22); The two ends of B glass plate (21) are installed on A boss (223), the B boss (224);

Spill seat (22) is provided with A boss (223), B boss (224), be bottom panel (225) between A boss (223) and the B boss (224), bottom panel (225) is provided with A bar-shaped trough (221), B bar-shaped trough (222), realizes spill seat (22) is installed on the aluminium section bar (3) by place screw respectively in A bar-shaped trough (221), B bar-shaped trough (222);

Be adsorbed with B sucker (6) on the B glass plate (21);

Spacing between moving worktable (1) and the quiet worktable (2) is to decide by the rigging position of quiet worktable (2) on aluminium section bar (3); Spacing between moving worktable (1) and the quiet worktable (2) also is the stem absorption joints (101) of climbing worm type robot and the spacing of afterbody absorption joints (102);

The working panel (31) of aluminium section bar (3) is provided with a plurality of A threaded holes (32);

The backboard face (43) of sensor base (4) is provided with unthreaded hole (41) and groove (42), and pressure transducer (7) is installed in the groove (42); Pass in the threaded hole on the side panel that this unthreaded hole (41) is threaded in aluminium section bar (3) by screw, thereby realize fixedlying connected sensor base (4) and aluminium section bar (3);

Pressure transducer (7) contacts with C adjustment seat (13).

2. the test macro of survey joint internal force of climbing worm type robot according to claim 1 is characterized in that: the elasticity coefficient of spring (113) is 1Kg/mm.

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