CN101900643B - Ramp testing device - Google Patents
Ramp testing device Download PDFInfo
- Publication number
- CN101900643B CN101900643B CN2010102274154A CN201010227415A CN101900643B CN 101900643 B CN101900643 B CN 101900643B CN 2010102274154 A CN2010102274154 A CN 2010102274154A CN 201010227415 A CN201010227415 A CN 201010227415A CN 101900643 B CN101900643 B CN 101900643B
- Authority
- CN
- China
- Prior art keywords
- ramp
- parallel
- planar
- base
- testing device
- 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.)
- Expired - Fee Related
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 39
- 230000003028 elevating effect Effects 0.000 claims description 25
- 239000000463 material Substances 0.000 claims description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract 1
- 238000002474 experimental method Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 238000013459 approach Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000009194 climbing Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000011056 performance test Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Abstract
The invention discloses a ramp testing device, comprising: a pedestal, comprising two supporting rods arranged in parallel, wherein a plurality of fixed rods are arranged between the supporting rod, and both ends of the supporting rod are provided with sliding chutes; a planar ramp and a lifting rod, wherein the planar ramp is parallel to the plane of the bottom surface, both ends of the lifting rod are fixed on the planar ramp and the bottom surface, and the lifting rod is vertical to the plane of the bottom surface; two identical inclined plane ramps, wherein one of the margins a and b of the two identical inclined plane ramps is respectively hinged with the two parallel margins of the planar ramp, the other margins c and d of the two identical inclined plane ramps are connected with the sliding chutes through slide blocks, a is parallel c and b is parallel to d. The device has simple structure, and is easy to manufacture and convenient to use, maintain and detach; the stability is good; and the height of the planar ramp and the angle between the inclined plane ramp and the ground can be accurately adjusted, which helps to accurately test the performance of robot.
Description
Technical field
The present invention relates to mobile robot's obstacle performance field tests, particularly a kind of ramp testing device.
Background technology
Robot is as the mankind's the novel tool of production; Reducing labor intensity, enhancing productivity and aspect such as optimization production pattern; Shown great superiority, the appearance of robot has liberated the mankind come out from dangerous, abominable and hard work environment to a certain extent.
The mobile robot can walk on some male and fomale(M&F), can be used for the work of the landform of more complicated, and is practical; The mobile robot can cross such as barriers such as rubble, stair stones; Can climb the not high step of ladder; The mobile robot can be gone by manual remote control, need emit big dangerous accomplishing of task to transfer to caterpillar type robot by the staff tradition and accomplish; The robot controllable velocity is fast, mobility strong, and paste ground run, and highly low, good concealment; Characteristics such as caterpillar type robot possesses then that mobility is good, small, dirigibility is high, control is convenient, intelligence and cheapness.
Mobile robot's purposes is wide, is applicable to open-air and mine work down; The mobile robot can install different load or ferreting device; Can carry out scouting, carry out indication of shots, serve as moving target mark, the on-the-spot remote monitoring of explosion, the long-range investigation of hazardous environment, explosive processings, searchs of tunnel internal object, tunnel search and rescue, chemical defence, the petroleum pipe line detection is keeped in repair and task such as pipeline wiring, can also carry out deep-sea exploration and downhole rescuing work etc.
For being engaged in outdoorsman robot, its cross-country ability there is certain requirement.Cross-country robot not only can be for military, can also be for mining, and the down-hole makes its driving become a big problem with open-air changeable landform.If a wheel loses enough frictions in vehicle robot action, will fast idle.Usually drive entirely can head it off in employing, and it is cross-country to leave highway, but handling capacity, and different layout design results is different.At first, it is high that want on the chassis, and the height on chassis is decided by diameter of tyres.Theoretically, the structural arrangement on chassis need be considered three indexs: approach angle, departure angle and pass through radius.Approach angle is exactly the slope that automobile can drive to much angles, and the angle that is formed by front-wheel and bumper determines.If approach angle is too little, the gradient is bigger, and wheel does not also go up a slope so, and bumper has just contacted the road surface.Departure angle is opposite, by edge decision behind trailing wheel and the car.If departure angle is enough not big, when changeing level road behind the automobile downhill so, trailing wheel does not also arrive level road, and vehicle body just scrapes the road surface, and trailing wheel is just unsettled, and car just can't go.
Two-wheeled and car bottom minimum point (normally transmission shaft), 3 standardized circular arcs pass through radius exactly.Size decision automobile through radius can be crossed great dike type obstacle.If car to pass through radius too big, so when running into than the time, before the front-wheel of robot car lands through the little barrier of radius; Vehicle body or transmission shaft can touch obstacle, and automobile can be set up when serious, becomes " seesaw "; Also can't go, this moment, the transmission shaft of rear-guard can damage.
The 4th index is climbing capacity, and mainly by the engine torque decision, quality, slope friction coefficient and the gradient size with tire has relation to climbing capacity in addition.
First three design objective can be respectively drives through complete, or approach angle reasonable in design, departure angle and reach through modes such as radiuses.But the 4th index will reach through the engine of selecting reasonable power for use.Cause the excessive energy consumption of robot power excessive if the engine capacity of selecting for use is crossed conference, and do not drive steady etc.; If the engine capacity of selecting for use is too small, just cause the robot driving force too small, driving force is not enough, thereby can't climb up the bigger gradient.Therefore to select for use the suitable engine just need be, contrast through data and select suitable engine for use the robot experiment of climbing in a large number.After confirming engine,, robot is comprehensively analyzed, to reach the purpose of improving the robot design performance through some other performance index of all right robot measurement of ramp test.The ramp testing table can also as under the simulation mine, open-air experiment field, be used for test machine people's cross-country power, the test of downhole rescuing ability and practicality.
There are many kinds of ramp testing tables to be used for the experiment of robot and automobile at present, are used for the performance of test machine people, automobile, the speed of robot, acceleration etc. are tested evaluation, but also there is following defective in these ramp testing tables:
1, project organization is too complicated, is unfavorable for making, uses and maintenance;
Though 2 can regulate platform angle, can't confirm the size of angle, the parameter that causes recording is accurate inadequately, can't calculated performance;
3, because complex structure, the assembling of experiment porch, dismounting are all cumbersome, time and effort consuming, and occupy too big space when placing.
Summary of the invention
The technical matters that (one) will solve
The technical matters that technical scheme of the present invention will solve at first is to simplify the structure of the ramp testing table that is used for test machine people performance, makes it easy to make, use and keep in repair; Next is to make testing table can accurately regulate ramp angles, improves the precision of measurement parameter; Be to make testing table be convenient to assembly and disassembly once more.
(2) technical scheme
For this reason, the invention provides a kind of ramp testing device, comprising:
Base comprises the support bar of two parallel placements being provided with several fixed bars between the said support bar that the two ends of said support bar are provided with chute;
Planar ramp and elevating lever, said planar ramp are parallel to the plane at said base place, and the two ends of said elevating lever are fixed on said planar ramp and the base, and said elevating lever is perpendicular to the plane at base place;
Two identical ramp; Each limit a parallel with base of two said ramp and b are articulated and connected with two parallel edges of said planar ramp respectively; Each another limit c parallel with base of two said ramp is connected with said chute through slide block with d; Wherein a is parallel with c, and b is parallel with d.
Wherein, said elevating lever is marked with the scale that is used to regulate height.
The density of material of said base and elevating lever is greater than the density of material of said planar ramp and ramp.
Said elevating lever is connected through screw with said planar ramp, and tie point is positioned at the central point on every limit of said planar ramp.
Said support bar is connected through screw with fixed bar, and said fixed bar is perpendicular to support bar.
The width of said ramp is identical with the width of planar ramp.
(3) beneficial effect
Technical scheme provided by the invention has following beneficial effect: at first the present invention is simple in structure, is easy to making, use, maintenance and assembly and disassembly; Secondly because the quality of base greater than the quality in ramp, has reduced center of gravity, improved the stability of ramp testing device; The angle accurate and adjustable on the height of planar ramp and ramp and ground then helps accurate test machine people's performance.
Description of drawings
Fig. 1 is the stereographic map of the ramp testing device of the embodiment of the invention;
Fig. 2 is the sectional view of the ramp testing device of the embodiment of the invention.
Wherein, 11: support bar; 13: fixed bar; 14: chute; 2: planar ramp; 3: elevating lever; 4: ramp; 41: slide block.
Embodiment
Below in conjunction with accompanying drawing and embodiment, specific embodiments of the invention describes in further detail.Following examples are used to explain the present invention, but are not used for limiting scope of the present invention.
As shown in Figure 1, be the stereographic map of the ramp testing device of the embodiment of the invention, present embodiment comprises base, planar ramp 2, several elevating levers 3 and two identical ramp 4.Wherein base comprises between 11, two support bars 11 of support bar of two parallel placements and is provided with several fixed bars 13, and the two ends of support bar 11 are provided with chute 14; All be fixed with elevating lever 3 on every limit of planar ramp 2, the other end of elevating lever 3 is fixedly connected with base, and elevating lever 3 is perpendicular to the plane of base and planar ramp 2; Each limit a and b parallel of two ramp 4 with base; Two parallel edges with planar ramp 2 are articulated and connected respectively; Each another limit c parallel with base of two ramp 4 is connected with the chute 14 of base through slide block 41 with d, and wherein a is parallel with c, and b is parallel with d.
Wherein, the width of ramp 4 is identical with the width of planar ramp 2, makes the planar ramp 2 that couples together form a neat road with ramp 4; Test for the robot car performance test.Elevating lever 3 is the scalable bar of regulating height, indicates exact scale above it, can accurately regulate the height of planar ramp 2, the angle on ramp 4 and ground.Behind the height of regulating elevating lever 3, the height of planar ramp 2 rises thereupon or descends, and drives moving of ramp 4; The slide block 41 that is connected with ramp 4 moves in chute 14; Make the angle on ramp 4 and ground increase or reduce that when the height of planar ramp 2 is fixed, the position of slide block 41 is also just fixing; Slide block 41 is fixed in the hole that sees through on support bar and the slide block 41 with pin then, and it is fixing also to be about to ramp 4.Elevating lever 3 also can be the part of base 1.The tie point of elevating lever 3 and planar ramp 2 can be positioned at the central point on every limit of planar ramp 2; Elevating lever 3 also can be the central point of support bar 11 with the tie point of support bar 11 and fixed bar 13; The central point of fixed bar 13 is to reach more stable supporting role.
The material selection steel frame construction of base in the present embodiment and elevating lever; The material selection wooden structures of planar ramp and ramp; The density of material of base and elevating lever is greater than the density of material of planar ramp and ramp; Guarantee the weight of the weight of base and elevating lever, reduce the center of gravity of self, also strengthened the stability of apparatus of the present invention simultaneously greater than the ramp; Wooden structures is adopted in the ramp on the other hand, and wooden structures can provide good friction force and damping capacity for the robot car performance test.
Can install various sensors additional on the planar ramp of present embodiment and/or the ramp, be used for the test of robot parameters.Applying flexible, extensive.
Do some tests in the face of the test performance of ramp testing device of the present invention down, as shown in Figure 2, be the sectional view of the ramp testing device of the embodiment of the invention; The approximate rectangular parallelepiped, wherein long b=54cm, wide a=50cm got of the experimental machine device people dolly of present embodiment.The length that the length of the ramp AE of ramp testing device is got 3.5 times of dollies is 3.5b.
Then can know according to Fig. 2: FC=AE*sin α=3.5b*sin α,
AC＝AD+EF＝AE*cosα+EF＝3.5b*cosα+0.5b。
The data computation of platform each several part
Bringing following formula into, to get platform each several part design size as shown in the table:
Through above-mentioned experimental test, specifically the ramp testing device that is used for the performance test experiment of mobile robot ramp provided by the invention has following beneficial effect:
1, the symmetrical shape-designing of the present invention's employing not only makes outward appearance more attractive in appearance, has also played the effect of force balance; Simultaneously, robot can accomplish a series of actions such as upward slope, platform braking, descending voluntarily along ramp, need not artificial help and can leave experiment table automatically, has avoided the interference of human factor to experimental result;
2, the density of the submount material of apparatus of the present invention is greater than the density of ramp material, and base adopts steel frame construction, and planar ramp and ramp adopt wooden structures, guarantees the weight of base weight greater than ramp surface, has reduced center of gravity, has improved stability; Wooden structures provides good friction force and damping capacity simultaneously;
3, ramp and base adopt the slide block pin to be connected, the relative slip when having avoided ramp and steelframe base stressed, the assurance of strictness the precision of ramp angles, at utmost reduced the test error that causes owing to the ramp precision;
4, apparatus of the present invention adopt four height-adjustable columns that planar ramp is carried out stable support; The differential location of auxiliary slider pin, the present invention is simple in structure, and is with low cost; And reliability is high, is convenient to manufacturing, maintenance, replacing and lubricating detail, assembly and disassembly; Utilize the space more reasonable.
The above only is a preferred implementation of the present invention; Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from know-why of the present invention; Can also make some improvement and modification, these improve and modification also should be regarded as protection scope of the present invention.
Claims (6)
1. a ramp testing device is characterized in that, comprising:
Base comprises the support bar of two parallel placements being provided with several fixed bars between the said support bar that the two ends of said support bar are provided with chute;
Planar ramp and elevating lever, said planar ramp are parallel to the plane at said base place, and the two ends of said elevating lever are fixed on said planar ramp and the base, and said elevating lever is perpendicular to the plane at base place;
Two identical ramp; Each limit a parallel with base of two said ramp and b are articulated and connected with two parallel edges of said planar ramp respectively; Each another limit c parallel with base of two said ramp is connected with said chute through slide block with d; Wherein a is parallel with c, and b is parallel with d.
2. ramp testing device as claimed in claim 1 is characterized in that, said elevating lever is marked with the scale that is used to regulate height.
3. ramp testing device as claimed in claim 1 is characterized in that the density of material of said base and elevating lever is greater than the density of material of said planar ramp and ramp.
4. ramp testing device as claimed in claim 1 is characterized in that, said elevating lever is connected through screw with said planar ramp, and tie point is positioned at the central point on every limit of said planar ramp.
5. ramp testing device as claimed in claim 1 is characterized in that said support bar is connected through screw with fixed bar, and said fixed bar is perpendicular to support bar.
6. ramp testing device as claimed in claim 1 is characterized in that, the width of said ramp is identical with the width of planar ramp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102274154A CN101900643B (en) | 2010-07-07 | 2010-07-07 | Ramp testing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102274154A CN101900643B (en) | 2010-07-07 | 2010-07-07 | Ramp testing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101900643A CN101900643A (en) | 2010-12-01 |
| CN101900643B true CN101900643B (en) | 2012-09-05 |
Family
ID=43226367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102274154A Expired - Fee Related CN101900643B (en) | 2010-07-07 | 2010-07-07 | Ramp testing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101900643B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105241671B (en) * | 2015-10-27 | 2018-01-09 | 浙江联宜电机有限公司 | Scooter climbing testboard |
| CN106092612A (en) * | 2016-08-10 | 2016-11-09 | 中铁局集团有限公司 | Electromobile heavy duty experimental provision |
| CN108118575B (en) * | 2016-11-28 | 2021-03-02 | 沈阳新松机器人自动化股份有限公司 | Climbing testing arrangement |
| CN107020540B (en) * | 2017-06-06 | 2023-03-10 | 安徽理工大学 | Adjustable damping bracket of mine head sheave rope groove turning device |
| CN108051232A (en) * | 2017-11-30 | 2018-05-18 | 西安科技大学 | A kind of robot obstacle performance of combined deformation is test bed |
| CN108168830A (en) * | 2017-12-12 | 2018-06-15 | 重庆交通大学 | A kind of flow tunnel testing device simulated mountain area wind and influenced on structure |
| CN109708899A (en) * | 2018-12-19 | 2019-05-03 | 北京卫星环境工程研究所 | Variable-angle ramp for Mars surface simulation environment |
| CN113246177B (en) * | 2021-05-25 | 2022-05-17 | 闽南科技学院 | Research, development and debugging platform of industrial robot self equipment body |
| CN113703427B (en) * | 2021-09-01 | 2023-03-21 | 中煤科工集团重庆智慧城市科技研究院有限公司 | Test judgment method for mobile robot |
| CN114166536A (en) * | 2021-11-09 | 2022-03-11 | 南方电网科学研究院有限责任公司 | Cable trench cover board road surface analogue means |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2818249Y (en) * | 2005-07-29 | 2006-09-20 | 江苏通润机电集团有限公司 | Foldable ramp platform of vehicle |
| CN101162207A (en) * | 2006-10-13 | 2008-04-16 | 同方威视技术股份有限公司 | Slope device and vehicle mounted mobile vehicle inspection system with the same |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5544861A (en) * | 1994-05-03 | 1996-08-13 | Hein-Werner Corporation | Adjustable riser-ramp assembly |
| WO2006014165A1 (en) * | 2004-07-06 | 2006-02-09 | Nicoletti Robert J | Vehicle-actuated tilting hoist |
| CN201501391U (en) * | 2009-09-15 | 2010-06-09 | 天津港散货物流有限责任公司 | Bench for vehicle maintenance |
-
2010
- 2010-07-07 CN CN2010102274154A patent/CN101900643B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2818249Y (en) * | 2005-07-29 | 2006-09-20 | 江苏通润机电集团有限公司 | Foldable ramp platform of vehicle |
| CN101162207A (en) * | 2006-10-13 | 2008-04-16 | 同方威视技术股份有限公司 | Slope device and vehicle mounted mobile vehicle inspection system with the same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101900643A (en) | 2010-12-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101900643B (en) | Ramp testing device | |
| Heverly et al. | Traverse performance characterization for the Mars Science Laboratory rover | |
| CN204801748U (en) | Lift handling device | |
| Wang et al. | Development of search‐and‐rescue robots for underground coal mine applications | |
| CN106625778B (en) | Motion control test platform and test method for foot-type bionic robot | |
| US20160018379A1 (en) | Geomechanical Fluid-solid Coupling Testing Device for Water Inrush From Coal Mine Collapse Column | |
| CN113465728B (en) | Terrain awareness method, system, storage medium and computer equipment | |
| CN203020332U (en) | Satellite navigation and inertia measurement combined track measurement system | |
| CN104724297A (en) | Anti-toppling system used during carrier rocket vertical descending recovery | |
| CN214464389U (en) | Small-clear-distance tunnel monitoring and measuring trolley | |
| CN108489797B (en) | Large-dip-angle coal rock stratum mechanical property physical simulation and test device | |
| Yamada et al. | Development of a Blade‐type Crawler Mechanism for a Fast Deployment Task to Observe Eruptions on Mt. Mihara | |
| EP1289832B1 (en) | Airborne landing simulator | |
| CN206031766U (en) | Shock attenuation undercarriage, unmanned aerial vehicle and someone helicopter | |
| CN111649654A (en) | Method for detecting depth of gland step of underwater Christmas tree | |
| CN102490803B (en) | Wheel-type linked barrier-crossing traveling mechanism | |
| CN207379728U (en) | A kind of robot trench pavement test platform | |
| Li et al. | A novel explosion-proof walking system: Twin dual-motor drive tracked units for coal mine rescue robots | |
| CN215338942U (en) | Single-leg foot-ground interaction dynamics performance testing system of foot type robot | |
| Talalay et al. | Antarctic subglacial drilling rig: Part I. General concept and drilling shelter structure | |
| CN114277860A (en) | Multi-angle horizontal and upward-pulling combined loading inclined pile model test device | |
| CN205620139U (en) | Chassis testing arrangement | |
| CN207439585U (en) | Experiment porch in a kind of local wall stress overcoring method instrument room | |
| CN105157737A (en) | Multi-dimensional measuring platform with movable rail and control method thereof | |
| Li et al. | Four-point dynamic leveling method for drilling platform application |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120905 Termination date: 20140707 |
|
| EXPY | Termination of patent right or utility model |