CN102636365A - Experimental device for ground adaption capability of nucleated reconnaissance robot - Google Patents
Experimental device for ground adaption capability of nucleated reconnaissance robot Download PDFInfo
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- CN102636365A CN102636365A CN2012101064622A CN201210106462A CN102636365A CN 102636365 A CN102636365 A CN 102636365A CN 2012101064622 A CN2012101064622 A CN 2012101064622A CN 201210106462 A CN201210106462 A CN 201210106462A CN 102636365 A CN102636365 A CN 102636365A
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Abstract
The invention discloses an experimental device for ground adaption capability of a nucleated reconnaissance robot. The experimental device comprises a platform, wherein the platform is connected with a lifting rod used for supporting the platform; two sides of the platform are respectively connected with a stair and a slope; in addition, the platform and the top of the stair are in rotating connection; the platform and the top of the slope are in rotating connection; a first side brake trundle and a first vibrator are arranged at the bottom of the slope; the slope is provided with a first dip angle sensor; a second side brake trundle and a second vibrator are arranged at the bottom of the stair; the stair is also provided with a second dip angle sensor; and the surface of the slope is a rough surface. The experimental device for the ground adaption capability of the nucleated reconnaissance robot has a simple structure, is convenient to use and does not need a complex control system, the ground adaption capability experiment environment of the nucleated reconnaissance robot can be provided for carrying out the experiments of climbing up and down the stair and climbing the slope and carrying out the antiknock experiment, and the working occasion of the robot under the real complex and rugged environment can be furthest simulated.
Description
Technical field
The present invention relates to the experimental provision of a kind of nuclear and chemical reconnaissance robot ground adaptive faculty.
Background technology
The biochemical leakage accident of nuclear takes place in; Nuclear and chemical reconnaissance robot can the personnel of getting into can't arrive, in confused situation or highly dangerous is regional; Carry out site disposal tasks such as nuclear radiation, chemistry, biology, sound, image scouting and sample collecting, radioactive source recovery, because of its dirigibility, high maneuverability and do not have characteristics nuclear and chemical reconnaissance robot such as injures and deaths and be used widely.And scene of the accident environment has complicacy and intellectual not; Therefore so must there be stronger ground adaptive faculty in robot in the complicated high-risk environment; General nuclear and chemical reconnaissance robot all adopts the crawler type move mode, and the ability stair activity can be climbed the slope; Also need under rugged complex environment, guarantee that strenuous vibration can not exert an influence to the robot operate as normal.These ground adaptive facultys are one of nuclear and chemical reconnaissance robot important technology indexs, also are the assurances of carrying out coring detection and environment reconnaissance mission.
In view of more and more widely to the research of nuclear and chemical reconnaissance robot; But also there is not a kind of special nuclear and chemical reconnaissance robot ground adaptive faculty experimental provision at present; The present invention can provide the ground adaptive faculty experimental situation of nuclear and chemical reconnaissance robot, carries out stair activity, climbing slope and shock resistance experiment.
Summary of the invention
The present invention proposes a kind ofly can satisfy the experimental provision that nuclear and chemical reconnaissance robot carries out the nuclear and chemical reconnaissance robot ground adaptive faculty of stair activity, the experiment of climbing slope and shock resistance.
The present invention adopts following technical scheme:
The experimental provision of a kind of nuclear and chemical reconnaissance robot ground adaptive faculty comprises: platform is connected with the elevating lever that is used for support platform at platform; Both sides at platform are connected with stair and slope respectively; And the top of platform and stair is rotationally connected, and the top on platform and slope is rotationally connected; Be provided with first Side-braking caster wheel and first Vib. in the bottom on slope, also be provided with first obliquity sensor on the slope; Be provided with second Side-braking caster wheel and second Vib. in the bottom of stair, on stair, also be provided with second obliquity sensor; On slope domatic, be provided with uneven surface.
The experimental provision of said nuclear and chemical reconnaissance robot ground adaptive faculty; When needs increase slope or stair angle, remove first Side-braking caster wheel and the second Side-braking caster wheel braking state, the elevating lever that is fixed on the platform bottom rises; First obliquity sensor and second obliquity sensor obtain slope and the current angle of inclination of stair respectively; When waiting to arrive required angle, elevating lever stop motion, first Side-braking caster wheel and the brake of second Side-braking caster wheel; When needs reduce slope or stair angle; Remove first Side-braking caster wheel and the second Side-braking caster wheel braking state; The elevating lever that is fixed on platform bottom descends, and first obliquity sensor and second obliquity sensor obtain slope and the current angle of inclination of stair respectively, when waiting to arrive required angle; Elevating lever stop motion, first Side-braking caster wheel and the brake of second Side-braking caster wheel.
The domatic uneven surface that is provided with on said slope has guaranteed can not glide when nuclear and chemical reconnaissance robot stops in the climbing process.
The bottom on said slope is provided with first Side-braking caster wheel and the stair bottom is provided with second Side-braking caster wheel; Both can guarantee that elevating lever was when motion; Stair or ramp angles change flexibly, conveniently moving in the time of can making the experimental provision carrying of whole nuclear and chemical reconnaissance robot ground adaptive faculty again.
The bottom on said slope is provided with first Vib. and the stair bottom is provided with second Vib., and nuclear and chemical reconnaissance robot can or be climbed in climbing and carried out the shock resistance experiment in the building, and vibration frequency is adjustable.
The present invention compared with prior art, its remarkable advantage has:
1, in the application of nuclear and chemical reconnaissance robot; Need very strong ground adaptive faculty, carry out cross-country motor-driven task, stair activity, climbing slope at the rugged environment of complicacy; And to guarantee the reliability of robot electronic system under the sharp pounding environment; The present invention provides ground adaptive faculty experimental provision for nuclear and chemical reconnaissance robot, can guarantee the experiment of the Different Ground adaptive faculty of nuclear and chemical reconnaissance robot from main regulation stair or ramp slope and shockproofness.
2, the present invention is simple in structure, and is easy to use, need not complicated control system, and carrying flexibly.Provide nuclear and chemical reconnaissance robot different ground adaptive faculty experiments simultaneously, avoided can not find when needing to change different ground environments the awkward situation of suitable experimental situation.
When 3, nuclear and chemical reconnaissance robot carries out stair activity, the experiment of climbing slope under the prior art; The true environment that finds can often exceed the robot ability to work; Stair or ramp angles are excessive, carry out stair activity, climbing experiment runs into the robot rollover situation often, and robot is caused damage.The present invention can or climb the angle that progressively slowly increases nuclear and chemical reconnaissance robot speeling stairway or slope in the building process in climbing; Till nuclear and chemical reconnaissance robot can not be climbed building or climbing; Obtain the robot maximum operating range with this; Can directly obtain the angle on current speeling stairway of nuclear and chemical reconnaissance robot or slope through obliquity sensor; Obtaining the nuclear and chemical reconnaissance robot maximum exactly climbs the building or climbs ramp angles; This experiment method has effectively been avoided the nuclear and chemical reconnaissance robot experiment time to run into climbing or has been climbed the excessive dangerous situation that causes overturning of building angle, is guaranteeing to obtain the robot maximum operating range quickly and accurately under the nuclear and chemical reconnaissance robot inherently safe situation, for the most true and reliable ground Maximum Capability Envelope is provided in nuclear and chemical reconnaissance robot the executing the task afterwards.
4, nuclear and chemical reconnaissance robot is under rugged complex environment; Must guarantee that strenuous vibration can not exert an influence to the robot operate as normal; Shock resistance experiment under the prior art all is that robot is placed on the shaking platform, and experiment all is under the robot stationary state, to accomplish.And reality to be nuclear and chemical reconnaissance robot need be carry out reconnaissance mission climbing steep hills slope; Carry out indoor reconnaissance mission and stair activity; These tasks all are to need the high motor-driven dynamically completion fast of robot, and the present invention is provided with first Vib. and stair bottom and is provided with second Vib. in the bottom on slope, and nuclear and chemical reconnaissance robot can be in climbing slope or stair activity process; Carry out the shock resistance experiment; And vibration frequency is adjustable, for nuclear and chemical reconnaissance robot provides more real simulated environment, for operate as normal under the nuclear and chemical reconnaissance robot complex environment that road conditions are abominable afterwards, road is rugged is more added guarantee.
Description of drawings
Fig. 1 is a general structure synoptic diagram of the present invention.
Embodiment
Hereinafter combines accompanying drawing and specific embodiment that the experimental provision of nuclear and chemical reconnaissance robot of the present invention ground adaptive faculty is described in detail.
The experimental provision of a kind of nuclear and chemical reconnaissance robot ground adaptive faculty comprises: platform 3 is connected with the elevating lever 4 that is used for support platform at platform 3; Be connected with stair 1 and slope 2 respectively in the both sides of platform 3; And platform 3 is rotationally connected with the top of stair 1, and platform 3 is rotationally connected with the top on slope 2; 2 bottom is provided with first Side-braking caster wheel 51 and first Vib. 61 on the slope, on slope 2, also is provided with first obliquity sensor 71; Be provided with second Side-braking caster wheel 52 and second Vib. 62 in the bottom of stair 1, on stair, also be provided with second obliquity sensor 72; On slope 2 domatic, be provided with uneven surface.
The experimental provision of said nuclear and chemical reconnaissance robot ground adaptive faculty; When needs increase slope 2 or stair 1 angle, remove first Side-braking caster wheel 51 and second Side-braking caster wheel, 52 braking states, the elevating lever 4 that is fixed on the platform bottom rises; First obliquity sensor 71 and second obliquity sensor 72 obtain slope 2 and stair 1 current angle of inclination respectively; When waiting to arrive required angle, elevating lever 4 stop motions, first Side-braking caster wheel 51 and 52 brakes of second Side-braking caster wheel; When needs reduce slope 2 or stair angle 1; Remove first Side-braking caster wheel 51 and second Side-braking caster wheel, 52 braking states; The elevating lever 4 that is fixed on platform bottom descends, and first obliquity sensor 71 and second obliquity sensor 72 obtain slope 2 and stair 1 current angle of inclination respectively, when waiting to arrive required angle; Elevating lever 4 stop motions, first Side-braking caster wheel 51 and 52 brakes of second Side-braking caster wheel.
The domatic uneven surface that is provided with on said slope 2 has guaranteed can not glide when nuclear and chemical reconnaissance robot stops in the climbing process.
The bottom on said slope 2 is provided with first Side-braking caster wheel 51 and is provided with second Side-braking caster wheel 52 with stair 1 bottom; Both can guarantee that elevating lever 4 was when motion; Stair 1 or slope 2 angles change flexibly, conveniently moving in the time of can making the experimental provision carrying of whole nuclear and chemical reconnaissance robot ground adaptive faculty again.
The bottom on said slope 2 is provided with first Vib. 61 and is provided with second Vib. 62 with stair 1 bottom, and nuclear and chemical reconnaissance robot can or be climbed in climbing and carried out the shock resistance experiment in the building, and vibration frequency is adjustable.
Claims (2)
1. the experimental provision of a nuclear and chemical reconnaissance robot ground adaptive faculty; It is characterized in that, comprising: platform (3) is connected with the elevating lever (4) that is used for support platform at platform (3); Be connected with stair (1) and slope (2) respectively in the both sides of platform (3); And platform (3) is rotationally connected with the top of stair (1), and platform (3) is rotationally connected with the top on slope (2); The bottom of (2) is provided with first Side-braking caster wheel (51) and first Vib. (61) on the slope, on slope (2), also is provided with first obliquity sensor (71); Be provided with second Side-braking caster wheel (52) and second Vib. (62) in the bottom of stair (1), on stair (1), also be provided with second obliquity sensor (72).
2. the experimental provision of nuclear and chemical reconnaissance robot according to claim 1 ground adaptive faculty is characterized in that, on slope (2) domatic, is provided with uneven surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101064622A CN102636365A (en) | 2012-04-12 | 2012-04-12 | Experimental device for ground adaption capability of nucleated reconnaissance robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101064622A CN102636365A (en) | 2012-04-12 | 2012-04-12 | Experimental device for ground adaption capability of nucleated reconnaissance robot |
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| CN102636365A true CN102636365A (en) | 2012-08-15 |
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| CN2012101064622A Pending CN102636365A (en) | 2012-04-12 | 2012-04-12 | Experimental device for ground adaption capability of nucleated reconnaissance robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105241671A (en) * | 2015-10-27 | 2016-01-13 | 浙江联宜电机有限公司 | Mobility scooter climbing test platform |
| CN110599851A (en) * | 2019-09-23 | 2019-12-20 | 辽宁机电职业技术学院 | Automobile road condition simulation device for experiential marketing |
| CN111312054A (en) * | 2019-12-06 | 2020-06-19 | 吉林大学 | Terrain simulation device for monitoring stress of hoof and foot of quadruped animal |
| CN113465958A (en) * | 2021-05-31 | 2021-10-01 | 中山小神童创新科技有限公司 | Stair climbing device test system and stair climbing device test method |
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| US6144180A (en) * | 1999-07-09 | 2000-11-07 | Chen; Chun-Ta | Mobile robot |
| JP2009008647A (en) * | 2007-02-14 | 2009-01-15 | Nsk Ltd | Apparatus and method for object recognition |
| CN201760877U (en) * | 2010-06-13 | 2011-03-16 | 上海中为智能机器人有限公司 | Deformable robot travelling mechanism suitable for all landforms |
| CN202614542U (en) * | 2012-04-12 | 2012-12-19 | 东南大学 | Experimental device for testing ground adaptive capacities of nuclear and chemical reconnaissance robot |
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2012
- 2012-04-12 CN CN2012101064622A patent/CN102636365A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6144180A (en) * | 1999-07-09 | 2000-11-07 | Chen; Chun-Ta | Mobile robot |
| JP2009008647A (en) * | 2007-02-14 | 2009-01-15 | Nsk Ltd | Apparatus and method for object recognition |
| CN201760877U (en) * | 2010-06-13 | 2011-03-16 | 上海中为智能机器人有限公司 | Deformable robot travelling mechanism suitable for all landforms |
| CN202614542U (en) * | 2012-04-12 | 2012-12-19 | 东南大学 | Experimental device for testing ground adaptive capacities of nuclear and chemical reconnaissance robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105241671A (en) * | 2015-10-27 | 2016-01-13 | 浙江联宜电机有限公司 | Mobility scooter climbing test platform |
| CN105241671B (en) * | 2015-10-27 | 2018-01-09 | 浙江联宜电机有限公司 | Scooter climbing testboard |
| CN110599851A (en) * | 2019-09-23 | 2019-12-20 | 辽宁机电职业技术学院 | Automobile road condition simulation device for experiential marketing |
| CN111312054A (en) * | 2019-12-06 | 2020-06-19 | 吉林大学 | Terrain simulation device for monitoring stress of hoof and foot of quadruped animal |
| CN113465958A (en) * | 2021-05-31 | 2021-10-01 | 中山小神童创新科技有限公司 | Stair climbing device test system and stair climbing device test method |
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Application publication date: 20120815 |