CN107402122B - Robot chassis driving test bed and test method - Google Patents
Robot chassis driving test bed and test method Download PDFInfo
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- CN107402122B CN107402122B CN201710582892.4A CN201710582892A CN107402122B CN 107402122 B CN107402122 B CN 107402122B CN 201710582892 A CN201710582892 A CN 201710582892A CN 107402122 B CN107402122 B CN 107402122B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
Abstract
The invention discloses a robot chassis driving test bed and a test method, wherein the robot chassis driving test bed comprises the following components: and a motor performance test unit including: the device comprises a first dynamometer and a first transmission device, wherein the first dynamometer is connected with one end of the first transmission device, and an output shaft of a motor to be tested is connected with the other end of the transmission device when in use; a terrain testing unit, the terrain testing unit comprising: the second dynamometer and the second transmission device; the second transmission device comprises a terrain transmission shaft and a terrain sleeve, one end of the terrain transmission shaft is connected to the second dynamometer, the terrain sleeve is sleeved on the terrain transmission shaft, and when the motor to be tested is in use, the motor to be tested is in contact with the terrain sleeve and can drive the terrain sleeve to rotate; the processing unit, the motor performance test unit and the topography test unit are connected to the processing unit in a communication way. And providing a test and test bed for testing, evaluating, optimizing and reliability of the chassis driving system, and establishing a chassis comprehensive test system.
Description
Technical Field
The invention relates to the field of performance detection, in particular to a robot chassis driving test bench and a test method.
Background
The robot chassis drive is a robot walking component and comprises a chassis structure, a driving motor, a driving board, a power board and the like. The basic working principle is that an upper computer (computer) gives a moving instruction, and a driving plate calculates and drives a motor to work, so that the robot can walk indoors. At present, the chassis driving test is an actual terrain test after the whole machine comes out, so that the product development time is long, the data of the working point of a typical terrain motor cannot be captured, and the motor driving capability, the efficiency, the cruising capability of the chassis and the like cannot be predicted and designed to be evaluated. Particularly, the driving wheel motor is used as a driving key component of the chassis of the robot, the dynamic performance and reliability of the driving wheel motor determine the moving overall performance of the robot, and the real condition of the driving motor running on a road surface is simulated, so that the overall running performance of the robot is tested. In view of the fact, the chassis test and experiment are completed by adopting a dividing module aiming at the robot chassis driving system. The new product development time is shortened, and the chassis functional units are tested, evaluated and optimized; the product platform is built, and the reliability test is significant.
Therefore, it is necessary to develop a robot chassis driving test bench and a test method for detecting the performance of a robot driving motor.
Disclosure of Invention
According to one aspect of the invention, a robot chassis driving test bed is provided, a chassis driving system is tested, evaluated, optimized and reliability is provided for the test and test bed, and a chassis comprehensive test system is established.
In order to achieve the above object, the present invention provides a robot chassis drive test stand, comprising:
a motor performance test unit, the motor performance test unit comprising: the device comprises a first dynamometer and a first transmission device, wherein the first dynamometer is connected with one end of the first transmission device, and an output shaft of a motor to be tested is connected with the other end of the transmission device when in use;
a terrain testing unit, the terrain testing unit comprising: the second dynamometer and the second transmission device;
the second transmission device comprises a terrain transmission shaft and a terrain sleeve, one end of the terrain transmission shaft is connected to the second dynamometer, the terrain sleeve is sleeved on the terrain transmission shaft, a motor to be tested is in contact with the terrain sleeve when the motor to be tested is used, and the motor to be tested can drive the terrain sleeve to rotate;
wherein, topography sleeve is a plurality of, and a plurality of topography sleeve's surface coefficient of friction is the same or different:
and the motor performance testing unit and the terrain testing unit are connected with the processing unit in a communication mode.
Preferably, the power measuring device further comprises a first rack base, and the first power measuring machine and the first transmission device are arranged on a table top of the first rack base.
Preferably, the electric motor mounting seat to be tested and the connecting flange plate are further included, the electric motor mounting seat to be tested is arranged on the table top of the first rack base in a sliding mode, the connecting flange plate is arranged at the top of the electric motor mounting seat to be tested, when the electric motor mounting seat is used, an output shaft of the electric motor to be tested is connected to the second transmission device, and the other end of the electric motor to be tested is fixed on the electric motor mounting seat to be tested through the connecting flange plate.
Preferably, the electric power bench further comprises a first motor driving plate, wherein the first motor driving plate is arranged on the table top of the first bench base and can supply power for the motor to be tested.
Preferably, the power measuring device further comprises a second rack base, and the second power measuring machine and the second transmission device are fixed on the table top of the second rack base.
Preferably, the device further comprises a fixing seat, a screw rod sliding block, a pressure sensor and a hand wheel, wherein the fixing seat is arranged on the table top of the second rack base, the screw rod sliding block is arranged at the top of the fixing seat, the pressure sensor is arranged on the sliding block of the screw rod sliding block and is in communication connection with the processing unit, the hand wheel is connected with the screw rod of the sliding block screw rod, the motor to be detected is fixed on the screw rod sliding block during use, and the hand wheel can drive the motor to be detected to be close to and/or far away from the terrain sleeve.
Preferably, the device further comprises a second motor driving plate, wherein the second motor driving plate is arranged on the table top of the second rack base, and the second motor driving plate can supply power for the motor to be tested.
Preferably, the novel multifunctional support frame further comprises a plurality of support plates, a plurality of driven terrain transmission shafts and driven terrain sleeves, one ends of the plurality of support plates are fixed on the table top of the second rack base, the other ends of the plurality of support plates support the terrain transmission shafts and the driven terrain transmission shafts through bearings, and the driven terrain sleeves are sleeved on the driven terrain transmission shafts.
According to an aspect of the present invention, a robot chassis drive test method is provided, wherein the robot chassis drive test method includes:
connecting an output shaft of a motor to be tested to a first transmission device, starting the motor to be tested to obtain motion parameters of the motor to be tested through a first dynamometer, and sending the motion parameters to a processing unit;
taking down the motor to be tested, connecting an output shaft of the motor to be tested to a terrain transmission shaft, enabling the motor to be tested to be in contact with a terrain sleeve, starting the motor to be tested, obtaining terrain simulation motion parameters of the motor to be tested, and sending the terrain simulation motion parameters to a processing unit;
preferably, the method further comprises: connecting an output end of a motor to be tested to a first transmission device, installing a driving battery on a first motor driving plate, acquiring endurance information and power supply capability information of the driving battery through a first dynamometer, and sending the endurance information and the driving capability information to the processing unit; connecting the output end of a motor to be tested to the second transmission device, enabling the motor to be tested to be in contact with the terrain sleeve, installing a driving battery on the second driving board, acquiring terrain simulation driving capability information and terrain simulation power supply capability information of the driving battery under the condition of terrain simulation through the second dynamometer, and sending the terrain simulation driving capability information and the terrain simulation power supply capability information to the processing unit; the step of obtaining the terrain simulation motion parameters of the motor to be detected and sending the terrain simulation motion parameters to the processing unit comprises the following steps: through changing a plurality of topography sleeves, the motor that awaits measuring simultaneously with topography sleeve is basic mutually, obtains the topography simulation motion parameter of the motor that awaits measuring under the multiple topography state, and will topography simulation motion parameter sends to processing unit.
The invention has the beneficial effects that: the motor performance test unit is used for testing conventional specification parameters of the motor to be tested, the terrain test unit is used for testing actual operation parameters of the motor to be tested, the terrain test unit is used for simulating and simplifying the road surface running environment of the robot, and the performance of the chassis of the robot is tested according to the actual operation parameters. Under the condition of no prototype, the driving motor is directly used as a test object, and reliable working condition performance data are obtained. Aiming at different robot chassis, the working condition parameters are adjusted, so that one robot can realize multiple functions, and the chassis working condition performance test is completed.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings.
FIG. 1 shows a schematic diagram of a robotic chassis drive test rig structure according to one embodiment of the invention.
Fig. 2 shows a front view of a motor performance test unit according to an embodiment of the invention.
Fig. 3 shows a top view of a motor performance test unit according to one embodiment of the invention.
Fig. 4 shows a left side view of a motor performance test unit according to one embodiment of the invention.
FIG. 5 illustrates a front view of a terrain testing unit, according to one embodiment of the present invention.
FIG. 6 illustrates a top view of a terrain testing unit, according to one embodiment of the present invention.
FIG. 7 illustrates a left side view of a terrain testing unit, according to one embodiment of the present invention.
Reference numerals illustrate:
1. a first gantry base; 2. a first dynamometer; 3. a first transmission; 4. a motor to be tested; 5. a connecting flange plate; 6. a motor mounting seat to be tested; 7. a first motor driving plate; 8. a second gantry base; 9. a second dynamometer; 10. an elastic coupling; 11. a support plate; 12. a terrain sleeve; 13. a terrain transmission shaft; 14. a hand wheel; 15. a fixing seat; 16. a driven terrain sleeve; 17. a pressure sensor; 18. a screw rod sliding block; 19. and a second motor driving plate.
Detailed Description
The invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Embodiment 1
According to an aspect of the present invention, there is provided a robot chassis drive test stand comprising:
and a motor performance test unit including: the device comprises a first dynamometer and a first transmission device, wherein the first dynamometer is connected with one end of the first transmission device, and an output shaft of a motor to be tested is connected with the other end of the transmission device when in use;
a terrain testing unit, the terrain testing unit comprising: the second dynamometer and the second transmission device;
the second transmission device comprises a terrain transmission shaft and a terrain sleeve, one end of the terrain transmission shaft is connected to the second dynamometer, the terrain sleeve is sleeved on the terrain transmission shaft, and when the motor to be tested is in use, the motor to be tested is in contact with the terrain sleeve and can drive the terrain sleeve to rotate;
wherein, topography sleeve is a plurality of, and a plurality of topography sleeve's surface coefficient of friction is the same or different:
the processing unit, the motor performance test unit and the topography test unit are connected to the processing unit in a communication way.
Specifically, the motor performance test unit is used for testing conventional specification parameters of the motor to be tested, the terrain test unit is used for testing actual operation parameters of the motor to be tested, the terrain test unit is used for simulating and simplifying the road surface running environment of the robot, and the performance of the chassis of the robot is tested according to the actual operation parameters. Under the condition of no prototype, the driving motor is directly used as a test object, and reliable working condition performance data are obtained. Aiming at different robot chassis, the working condition parameters are adjusted, so that one robot can realize multiple functions, and the chassis working condition performance test is completed.
Specifically, the first dynamometer can be composed of a magnetic powder flow dynamometer, direct current parameters, a dynamometer controller, an instrument control system cabinet and special testing software for a motor. The system adopts a high-precision electric quantity sensor and a high-precision JC type torque rotation speed sensor. And (3) accurately measuring conventional specification parameters such as voltage, current, input power, rotating speed, torque, output power, efficiency and the like of the single-phase motor of various grades for the motor to be tested.
Specifically, the second dynamometer can be a magnetic powder dynamometer, so that actual operation parameter test is carried out on the motor to be tested, load torque of a performance test is provided for the motor to be tested, and the resistance of a robot running road is reproduced by matching with the surface friction of the terrain sleeve, so that the bench test can truly reflect the running condition of the robot road.
Specifically, a plurality of terrain sleeves can be sleeved on the terrain transmission shaft at the same time, and the surface friction forces of the sleeves sleeved on the terrain transmission shaft are the same or different.
In one example, the power meter further comprises a first rack base, and the first power meter and the first transmission device are arranged on a table top of the first rack base.
In one example, the motor mounting seat to be tested and the connecting flange plate are further included, the motor mounting seat to be tested is arranged on the table top of the first rack base in a sliding mode, the connecting flange plate is arranged at the top of the motor mounting seat to be tested, an output shaft of the motor to be tested is connected to the second transmission device in use, and the other end of the motor to be tested is fixed to the motor mounting seat to be tested through the connecting flange plate.
In one example, the apparatus further comprises a first motor drive board disposed on the table top of the first rack base, the first motor drive board capable of powering the motor to be tested.
More preferably, the first transmission is a connecting shaft link.
Specifically, through a motor performance testing unit, driving a motor to be tested to rotate according to parameters of a specification of the motor to be tested, and transmitting the rotating speed and the torque to a first dynamometer through a connecting flange plate and a connecting shaft connecting rod; the first dynamometer obtains rotating speed and torque parameters through a torque sensor and an encoder, obtains a conventional specification parameter test result of the motor to be tested, and finally the motor performance test unit sends the conventional specification parameter test result to the processing unit.
In one example, the power meter further comprises a second bench base, and the second power meter and the second transmission device are fixed on a table top of the second bench base.
In one example, still include fixing base, lead screw slider, pressure sensor and hand wheel, the fixing base sets up on the mesa of second rack base, and the lead screw slider sets up in the top of fixing base, and pressure sensor sets up on the slider of lead screw slider, and communication connection is in processing unit, and the hand wheel is connected in the lead screw of slider lead screw, and the motor that awaits measuring is fixed at the lead screw slider during the use, can drive the motor that awaits measuring and be close to and/or keep away from the topography sleeve through rotating the hand wheel.
In one example, the motor drive system further comprises a second motor drive plate disposed on the table top of the second rack base, the second motor drive plate being capable of powering the motor to be tested.
In one example, still include backup pad, driven topography transmission shaft and driven topography sleeve, the backup pad is a plurality of, and the mesa at second rack base is fixed to the one end of a plurality of backup pads, and the other end passes through bearing support topography transmission shaft and driven topography transmission shaft, and driven topography sleeve cover is established on driven topography transmission shaft.
More preferably, the second transmission device further comprises an elastic coupling, one end of the elastic coupling is connected to the second dynamometer, and the other end of the elastic coupling is connected to the terrain transmission shaft.
Specifically, the terrain testing unit rotates the motor to be tested according to the working point parameters of the actual running load of the robot; the screw rod sliding block assembly is adjusted through a hand wheel; the motor to be tested is fully contacted with the driven terrain sleeve and the terrain sleeve, the contact parameters are matched with the read value of the pressure sensor and the output current of the motor to be tested and the actual terrain acquisition parameters, and under the condition of insufficient load, a load fixed value is applied to the terrain transmission shaft through the second dynamometer; this ensures that the vertical load applied to the motor to be tested is practically identical. The method comprises the steps of testing the reliability of a motor to be tested, testing key parameters such as the endurance and current protection value of a second motor driving plate and the like, and obtaining the actual operation parameter test result. And meanwhile, the terrain test unit sends the actual operation parameter test result to the processing unit.
More preferably, in order to better simulate the actual operation parameters of the robot chassis, the parameters of the simultaneous operation of the two motors to be tested are conveniently detected, two terrain sleeves are sleeved on the terrain transmission shaft, supporting plates are respectively arranged on two sides of the two terrain sleeves and support the terrain transmission shaft through bearings, and two fixed seats, a screw rod sliding block, a pressure sensor and a hand wheel are simultaneously arranged to be matched with the two motors to be tested.
More preferably, the display device further comprises a display unit and a storage unit, and the display unit and the storage unit are connected with the processing unit in a communication mode. After the measurement is finished, the processing unit sends the conventional specification parameter test result and the actual operation parameter test result to the display unit and the storage unit, the display unit displays the test result, and the storage unit stores the measurement result and is convenient to check.
Example 1:
FIG. 1 shows a schematic diagram of a robotic chassis drive test rig structure according to one embodiment of the invention. Fig. 2 shows a front view of a motor performance test unit according to an embodiment of the invention. Fig. 3 shows a top view of a motor performance test unit according to one embodiment of the invention. Fig. 4 shows a left side view of a motor performance test unit according to one embodiment of the invention. FIG. 5 illustrates a front view of a terrain testing unit, according to one embodiment of the present invention. FIG. 6 illustrates a top view of a terrain testing unit, according to one embodiment of the present invention. FIG. 7 illustrates a left side view of a terrain testing unit, according to one embodiment of the present invention.
As shown in fig. 1-7, the robot chassis drives a test stand comprising:
the motor performance testing unit comprises a first rack base 1 and a first transmission device 3, wherein a first dynamometer 2, a motor mounting seat 6 to be tested and a first motor driving plate 7 are arranged on the table top of the first rack base 1, the first dynamometer 2 is connected to the first transmission device 3, and a connecting flange plate 5 is arranged at the top of the motor mounting seat 6 to be tested.
A terrain testing unit, the terrain testing unit comprising: the table top of the second table frame base 8 is provided with a second dynamometer 9, a supporting plate 11, a fixed seat 15 and a second motor driving plate 19; wherein, second transmission includes topography transmission shaft 13 and topography sleeve 12, the one end of topography transmission shaft 13 is connected in second dynamometer 9, topography sleeve 12 is two, the cover is established on topography transmission shaft 13, the coefficient of friction of two topography sleeves 12 is the same, be provided with backup pad 11 in topography sleeve 12 both sides and support topography transmission shaft 13 through the bearing, be provided with two fixing bases 15 on the mesa, every fixing base 15 top is provided with lead screw slider 18, be provided with pressure sensor 17 on the slider of lead screw slider 18, pressure sensor 17 communication connection is in processing unit simultaneously, lead screw one end of slider lead screw 18 is connected with hand wheel 14.
The processing unit, the motor performance test unit and the topography test unit are connected to the processing unit in a communication way.
The second transmission device further comprises an elastic coupling 10, one end of the elastic coupling 10 is connected to the second dynamometer 9, and the other end of the elastic coupling is connected to the terrain transmission shaft 13.
The device further comprises a driven terrain transmission shaft and driven terrain sleeves 16, wherein the number of the support plates 11 is 2, one ends of the 2 support plates 11 are fixed on the table top of the second rack base 8, the other ends of the 2 support plates support the terrain transmission shaft 13 and the driven terrain transmission shaft through bearings, and the driven terrain sleeves 16 are sleeved on the driven terrain transmission shaft.
The display unit and the storage unit are connected with the processing unit in a communication mode.
When detecting the conventional specification parameters of the motor to be detected, one end of the motor to be detected is fixed on the table top of the first rack base 1 through the connecting flange 5 and the motor mounting seat 6 to be detected, the output shaft of the motor 4 to be detected is connected to the first dynamometer 2 through the first transmission device 3, and the conventional specification parameters such as voltage, current, input power, rotating speed, torque, output power, efficiency and the like of various grades of single-phase motors are accurately measured for the motor 4 to be detected through the first dynamometer 2. And meanwhile, the motor performance test unit sends the conventional specification parameter test result to the processing unit, and the processing unit sends the conventional specification parameter test result to the display unit and the storage unit.
When the performance of the chassis of the robot is tested according to the actual running parameters, the two motors 4 to be tested are respectively fixed on the two fixed seats 15 through the two screw rod sliding blocks 18, and the motors to be tested are rotated according to the working point parameters of the actual running load of the robot; the screw rod slide block 18 assembly is adjusted through the hand wheel 14; the motor 4 to be tested is fully contacted with the terrain sleeve 12 and the driven terrain sleeve 16, the contact parameters are based on the fact that the reading value of the pressure sensor 17 and the output current of the motor to be tested are matched with the actual terrain acquisition parameters, and under the condition of insufficient load, a load fixed value is applied to the terrain transmission shaft 13 through the second dynamometer 9; this ensures that the vertical load applied to the motor 4 to be measured corresponds to the actual one. The reliability of the motor to be tested is tested, and key parameters such as the endurance and current protection value of the second motor driving plate 19 are tested. Meanwhile, the terrain test unit sends the actual operation parameter test result to the processing unit, and the processing unit sends the actual operation parameter test result to the display unit and the storage unit.
Embodiment 2
According to another aspect of the present invention, there is provided a robot chassis drive test method including:
connecting an output shaft of a motor to be tested to a first transmission device, starting the motor to be tested to obtain motion parameters of the motor to be tested through a first dynamometer, and sending the motion parameters to a processing unit;
specifically, when the motor to be measured is used, the first dynamometer applies load to the motor to be measured, the load capacity is selected according to actual needs, the first dynamometer obtains the motion parameters of the motor to be measured, a user can obtain the motion parameters of the motor to be measured through the processing unit to compare with the motion parameters of the motor to be measured which are actually required, and then the motor to be measured can be determined to meet the requirements of normal use.
Taking down the motor to be tested, connecting an output shaft of the motor to be tested to a terrain transmission shaft, enabling the motor to be tested to be in contact with a terrain sleeve, starting the motor to be tested, obtaining terrain simulation motion parameters of the motor to be tested, and sending the terrain simulation motion parameters to a processing unit;
specifically, under the condition that the motor to be measured can meet the use requirement, load is applied to the motor to be measured through the terrain sleeve and the second dynamometer, the actual use condition of the motor to be measured is simulated, the terrain simulation parameters of the motor to be measured are obtained, and a user further considers whether the motor to be measured can meet the requirement of actual application based on the terrain simulation parameters.
Wherein, still include: connecting an output end of a motor to be tested to a first transmission device, installing a driving battery on a first motor driving plate, acquiring endurance information and power supply capability information of the driving battery through a first dynamometer, and sending the endurance information and the driving capability information to the processing unit; connecting the output end of a motor to be tested to the second transmission device, enabling the motor to be tested to be in contact with the terrain sleeve, installing a driving battery on the second driving board, acquiring terrain simulation driving capability information and terrain simulation power supply capability information of the driving battery under the condition of terrain simulation through the second dynamometer, and sending the terrain simulation driving capability information and the terrain simulation power supply capability information to the processing unit; the step of obtaining the terrain simulation motion parameters of the motor to be detected and sending the terrain simulation motion parameters to the processing unit comprises the following steps: through changing a plurality of topography sleeves, the motor that awaits measuring simultaneously with topography sleeve is basic mutually, obtains the topography simulation motion parameter of the motor that awaits measuring under the multiple topography state, and will topography simulation motion parameter sends to processing unit.
Specifically, the same motor to be tested is adopted, the endurance information, the driving capability information, the terrain simulation driving capability information and the terrain simulation power supply capability information of the driving battery are obtained through testing by replacing different driving batteries, the driving detection most matched with the motor to be tested is obtained, and the optimal power supply strategy is found.
Specifically, by replacing different terrain sleeves, different terrain parameters are simulated, and the comprehensive reliability test of motor driving capability and structure, namely complete machine communication, is performed
It will be appreciated by persons skilled in the art that the above description of embodiments of the invention has been given for the purpose of illustrating the benefits of embodiments of the invention only and is not intended to limit embodiments of the invention to any examples given.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (5)
1. A robotic chassis drive test stand comprising:
a motor performance test unit, the motor performance test unit comprising: the device comprises a first dynamometer and a first transmission device, wherein the first dynamometer is connected with one end of the first transmission device, and an output shaft of a motor to be tested is connected with the other end of the first transmission device when in use;
a terrain testing unit, the terrain testing unit comprising: the second dynamometer and the second transmission device;
the second transmission device comprises a terrain transmission shaft and a terrain sleeve, one end of the terrain transmission shaft is connected to the second dynamometer, the terrain sleeve is sleeved on the terrain transmission shaft, a motor to be tested is in contact with the terrain sleeve when the motor to be tested is used, and the motor to be tested can drive the terrain sleeve to rotate;
wherein, topography sleeve is a plurality of, and a plurality of topography sleeve's surface coefficient of friction is the same or different:
the motor performance testing unit and the terrain testing unit are connected with the processing unit in a communication mode;
the power measuring device comprises a first rack base, a first power measuring machine and a first transmission device, wherein the first power measuring machine and the first transmission device are arranged on a table top of the first rack base;
the device comprises a first rack base, a first motor driving plate, a second rack base, a first motor driving plate and a second motor driving plate, wherein the first motor driving plate is arranged on the table top of the first rack base and can supply power for a motor to be tested;
the second power measuring machine and the second transmission device are fixed on the table top of the second rack base;
the novel multifunctional electric power tool comprises a first rack base, a second rack base, a processing unit, a fixed seat, a pressure sensor, a hand wheel, a pressure sensor and a hand wheel, wherein the fixed seat is arranged on the table top of the second rack base, the pressure sensor is arranged on the slide block of the screw slider, the pressure sensor is in communication connection with the processing unit, the hand wheel is connected with the screw rod of the screw slider, a motor to be measured is fixed on the screw rod slider during use, and the hand wheel can be rotated to adjust the motor to be measured to be close to or far away from a terrain sleeve.
2. The robot chassis driving test bench according to claim 1, further comprising a motor mounting seat to be tested and a connecting flange plate, wherein the motor mounting seat to be tested is slidably arranged on the table top of the first rack base, the connecting flange plate is arranged at the top of the motor mounting seat to be tested, an output shaft of the motor to be tested is connected with the second transmission device in use, and the other end of the motor to be tested is fixed on the motor mounting seat to be tested through the connecting flange plate.
3. The robotic chassis drive test bench of claim 1, further comprising a second motor drive plate disposed on a table top of the second bench base, the second motor drive plate being capable of powering a motor under test.
4. The robot chassis drive test bench of claim 1, further comprising a plurality of support plates, a driven terrain drive shaft and a driven terrain sleeve, wherein one end of each of the plurality of support plates is fixed on the table top of the second rack base, the other end of each of the plurality of support plates supports the terrain drive shaft and the driven terrain drive shaft through bearings, and the driven terrain sleeve is sleeved on the driven terrain drive shaft.
5. A robotic chassis drive test method utilizing the robotic chassis drive test stand of claim 3, wherein the robotic chassis drive test method comprises:
connecting an output shaft of a motor to be tested to a first transmission device, starting the motor to be tested to obtain motion parameters of the motor to be tested through a first dynamometer, and sending the motion parameters to a processing unit;
taking down the motor to be tested, connecting an output shaft of the motor to be tested to a terrain transmission shaft, enabling the motor to be tested to be in contact with a terrain sleeve, starting the motor to be tested, obtaining terrain simulation motion parameters of the motor to be tested, and sending the terrain simulation motion parameters to a processing unit;
wherein, still include:
connecting an output end of a motor to be tested to a first transmission device, installing a driving battery on a first motor driving board, acquiring endurance information and power supply capacity information of the driving battery through a first dynamometer, and sending the endurance information and the power supply capacity information to the processing unit;
connecting the output end of a motor to be tested to the second transmission device, enabling the motor to be tested to be in contact with the terrain sleeve, installing a driving battery on the second motor driving board, acquiring terrain simulation driving capability information and terrain simulation power supply capability information of the driving battery under the condition of terrain simulation through the second dynamometer, and sending the terrain simulation driving capability information and the terrain simulation power supply capability information to the processing unit;
the step of obtaining the terrain simulation motion parameters of the motor to be detected and sending the terrain simulation motion parameters to the processing unit comprises the following steps: through changing a plurality of topography sleeves, the motor that awaits measuring simultaneously with topography sleeve contacts, obtains the topography simulation motion parameter of the motor that awaits measuring under the multiple topography state, and will topography simulation motion parameter sends to processing unit.
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| CN103148973A (en) * | 2013-03-08 | 2013-06-12 | 青岛科技大学 | Novel drive control system of chassis dynamometer |
| CN205610445U (en) * | 2016-03-25 | 2016-09-28 | 北京云迹科技有限公司 | In -wheel motor and wheeled robot drive chassis with high accuracy velocity feedback |
| CN106092604A (en) * | 2016-06-25 | 2016-11-09 | 浙江合众新能源汽车有限公司 | A kind of new-energy automobile power assembly tests system |
| CN205719580U (en) * | 2016-06-25 | 2016-11-23 | 浙江合众新能源汽车有限公司 | A kind of new-energy automobile power assembly tests system |
| CN106769105A (en) * | 2017-02-24 | 2017-05-31 | 山东大学 | A kind of power system of electric automobile and controller synthesis test-bed and method |
| CN207147764U (en) * | 2017-07-17 | 2018-03-27 | 北京云迹科技有限公司 | Robot chassis driving is test bed |
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2017
- 2017-07-17 CN CN201710582892.4A patent/CN107402122B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0417020A1 (en) * | 1989-09-05 | 1991-03-13 | CLEMESSY Société Anonyme | Test bench for simulating and verifying the rolling behaviour of vehicles |
| CN101750176A (en) * | 2010-01-19 | 2010-06-23 | 中国汽车技术研究中心 | Electric power measuring machine automatically centering automobile chassis |
| CN103148973A (en) * | 2013-03-08 | 2013-06-12 | 青岛科技大学 | Novel drive control system of chassis dynamometer |
| CN205610445U (en) * | 2016-03-25 | 2016-09-28 | 北京云迹科技有限公司 | In -wheel motor and wheeled robot drive chassis with high accuracy velocity feedback |
| CN106092604A (en) * | 2016-06-25 | 2016-11-09 | 浙江合众新能源汽车有限公司 | A kind of new-energy automobile power assembly tests system |
| CN205719580U (en) * | 2016-06-25 | 2016-11-23 | 浙江合众新能源汽车有限公司 | A kind of new-energy automobile power assembly tests system |
| CN106769105A (en) * | 2017-02-24 | 2017-05-31 | 山东大学 | A kind of power system of electric automobile and controller synthesis test-bed and method |
| CN207147764U (en) * | 2017-07-17 | 2018-03-27 | 北京云迹科技有限公司 | Robot chassis driving is test bed |
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| CN107402122A (en) | 2017-11-28 |
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