CN109342084A - A kind of caterpillar type robot performance test stand - Google Patents
A kind of caterpillar type robot performance test stand Download PDFInfo
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- CN109342084A CN109342084A CN201811426249.3A CN201811426249A CN109342084A CN 109342084 A CN109342084 A CN 109342084A CN 201811426249 A CN201811426249 A CN 201811426249A CN 109342084 A CN109342084 A CN 109342084A
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- 238000011056 performance test Methods 0.000 title claims abstract description 13
- 238000012360 testing method Methods 0.000 claims abstract description 32
- 230000009194 climbing Effects 0.000 claims abstract description 18
- 230000000694 effects Effects 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 239000013589 supplement Substances 0.000 claims description 3
- 238000011144 upstream manufacturing Methods 0.000 claims description 3
- 238000005498 polishing Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 13
- 238000000034 method Methods 0.000 abstract description 3
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000005094 computer simulation Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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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
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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Abstract
It is low for crawler type fire-fighting robot testing stand detection efficiency in the prior art in order to solve the problems, such as, the present invention provides a kind of caterpillar type robot performance test stand, including belt component, vertical plate component, flat component and component is pullled, technical solution is: further including the combination slope for testing caterpillar robot climbing or stair climbing ability；Wherein, the backplate and the multiple movable components switched between step and plane along the arrangement of backplate length direction being arranged in two backplates that slope includes the vertically symmetrical setting in the left and right sides are combined.And the movable component can according to need and switch between slope and step.The movable component that the present invention can be switched by setting between step and plane changes the low problem of detection efficiency caused by needing two sets of detection devices to toggle in the process robot climbing, stair climbing aptitude tests in the past.
Description
Technical field
The present invention relates to robot detection fields, more particularly, to a kind of caterpillar type robot performance brief test platform.
Background technique
Caterpillar type robot performance test at present mostly carries out performance detection with computer simulation and actual place.Computer simulation ratio
More satisfactoryization lacks the sense of reality.Actual place test needs manpower and material resources higher cost.Lack semi-industrial in the lab
Verification experimental verification.
Currently, the testing stand common configuration complexity of the mobility detection for fire-fighting robot, especially crawler type machine
Device people needs replacing slope and step in climbing and when step-on testing, so that there are detection efficiencies is low for crawler type fire-fighting robot
Under problem.
Summary of the invention
Low for crawler type fire-fighting robot testing stand detection efficiency in the prior art, the present invention in order to solve the problems, such as
A kind of caterpillar type robot performance test stand is provided, the present invention meets " People's Republic of China's industry standards of public safety
GA892.1-2010 fire-fighting robot part 1: general technical specifications " defined " walking performance requirement ".
In order to solve the above-mentioned technical problem, a kind of caterpillar type robot performance test stand, including carried out for testing
The belt component of carrying machine people space rate and stopping power, be arranged on belt component for testing caterpillar robot sideslip
Vertical plate component, the flat component for testing caterpillar robot obstacle climbing ability and ability of toppling and for testing track machines
People's load capacity pulls component, its technical solution is that: it further include for testing caterpillar robot climbing or stair climbing ability
Combination slope；Wherein, the backplate and the edge being arranged in two backplates that slope includes the vertically symmetrical setting in the left and right sides are combined
Multiple movable components switched between step and plane of backplate length direction arrangement.And the movable component can according to need
Switch between slope and step.
The utility model has the advantages that the movable component that the present invention can be switched by setting between step and plane, changes previous
To robot climbing, need two sets of detection devices to toggle during stair climbing aptitude tests caused by detection efficiency it is low
Problem, the present invention in using driving unit (409) driving pull rod band moving cam (406) rotate, finally make movable plate (403) present
Two kinds of changeable forms of slope or successive steps increase detection efficiency without replacing detection device.Structure of the invention letter
Single, occupied area is small, is not necessarily to large space, reduces the cost of detection caterpillar type robot.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is schematic structural view of the invention.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is magnified partial view in Fig. 1.
Fig. 4 is combination slope top view.
Fig. 5 is the A-A direction view of Fig. 4.
Fig. 6 is enlarged drawing at E in Fig. 5.
Fig. 7 is the B direction view of Fig. 4.
Wherein, arrow direction indicates caterpillar robot direction of travel and conveying tape motion direction in Fig. 1.F in Fig. 7 with
Arrow indicates the direction of the power applied to pull rod.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under that premise of not paying creative labor
Embodiment shall fall within the protection scope of the present invention.
A kind of caterpillar type robot performance test stand of the present invention, for testing caterpillar robot space rate and system
Kinetic force, running deviation value, obstacle climbing ability and topple ability and load capacity, climbing or stair climbing ability；Wherein, for completing to carry out
Carrying machine people climbing or when stair climbing ability using to the combination slope 4 that can according to need transition status, the combination slope 4
Backplate 401 including the vertically symmetrical setting in the left and right sides and arranging in two backplates 401 along 401 length direction of backplate is set
Multiple movable components switched between step and plane, and the movable component can according to need between slope and step
Switching.
Specifically, the movable component includes the horizontal axis 402 being arranged between two backplates 401, one end such as Fig. 1 ~ 7
Movable plate 403 on horizontal axis 402 and first rotating shaft 405, cam 406, the second shaft 407, pull rod 408 are set；Wherein,
One shaft 405 is arranged between two backplates 401；Cam 406 is arranged in first rotating shaft 405 for being lifted or falling movable plate
403；The top place of cam 406 is provided with the second shaft 407 of spacing between greater than two backplates 401 of length；Any backplate 401
Side on be provided with arc-shaped groove 401A；Second shaft 407 extends to 401 outside of backplate by arc-shaped groove 401A；Its
In, the second shaft 407 that multiple movable components extend in outside same side guard plate 401 is connect with pull rod 408 simultaneously.
At this point, in order to control movable component movement, it may be considered that driving method be by 409 pushing drawing rod of driving unit
408 one end, so that the second shaft 407 on the tip of corresponding cam 406 is driven to be rotated up along arc-shaped groove 401A,
Pull rod 408 drives the cam 406 in all movable components all to rotate same angle, while cam 406 rotates upwards
Movable plate 403 is jacked up.In 401 slant setting of backplate, the movable plate 403 that cam 406 jacks up is parallel to the ground, multiple activities
Plate 403 forms continuous step.Likewise, when being slope by step side, driving unit 409 no longer to 408 applied force of pull rod,
Pull rod 408 makes the second shaft 407 be parked in arc-shaped groove since the cam 406 in gravity drives all movable component all resets
The bottom of 401A makes multiple movable plates 403 form smooth slope.Driving unit 409 can be stepper motor band moving cam, convex
Wheel is to the pressure thrust of pull rod 408.The change of state is realized by the positive and negative rotation of stepper motor.
In use, if adjacent activities plate 403 is likely to occur showing for out-of-flatness since the length of movable plate 403 is too long
As so the supplement plate 402A in gap between useful polishing adjacent activities plate 403 and horizontal axis 402 is arranged on the horizontal axis 402.
Supplement plate 402A is fixed between two backplates 401.
In use, in order to increase the rigidity of movable plate 403, the movable plate 403 is L-type and its long side and horizontal axis
402 connections, short side are arranged towards ground.The movable plate 403 of L-type increases rigidity to a certain extent.It is also possible to two
Multiple cams 406 are axially set in the first rotating shaft 405 between a backplate 401, reduce the distance between cam 406, increases and lives
The rigidity of movable plate 403.
The belt component 1 includes bracket 101 and is arranged in fast for testing caterpillar robot straight line on bracket 101
The conveyer belt 102 of degree；Conveyer belt 102 mainly completes space rate test, the test of straight trip sideslip and retardation test.Crawler type machine
Tool people walks on conveyer belt 102, and conveyer belt 102 is also operated to the same direction under the control of variable-frequency motor, is carried out according to test
The speed of the speed adjustment conveyer belt 102 of belt robot.It is tested the mode of caterpillar robot synchronous walking on conveyer belt 102
Carry out Road Simulation Test.Purpose shortens the length of test site.The test of space rate is completed on conveyer belt 102.
Vertical plate component 2 includes setting up separately in 102 upstream end of conveyer belt and two pieces of metal plates of terminal, being arranged in caterpillar robot
The wireless distance finding sensor of ontology front and rear sides and computer for receiving wireless distance finding sensor, are mapped to two according to signal
Distance on the metal plate of side shows running deviation value.One block of steel plate is set at 102 terminal of conveyer belt, is set on track machines human body
Set laser sensor, laser sensor issues a signal on steel plate, caterpillar robot braking, by distance measuring sensor measurement braking away from
From.
Component 5 is pullled to be mainly used to test the load capacity of caterpillar robot.Loading section passes through spiral shell by pullling motor 502
Bolt, which is fixed on, to be pullled on bracket 501 or loading section can also be directly installed on 102 right support abutment of conveyer belt, is changed by 90 degree
It is connect to fixed pulley with caterpillar robot tail portion with wirerope, reduces the occupied area of entire platform, pull the stretching of motor 502
Wirerope is fixed to caterpillar robot tail portion, and can be according to static loading and dynamically load is required, and the parameters such as loading moment can
To be arranged on host computer and show.
The flat component 3 is including bottom plate 301, the idler wheel 302 that 301 bottom four corners of bottom plate are arranged in, setting in bottom plate
The slope board 304 for facilitating caterpillar robot to climb up of 301 sides and the use being arranged between idler wheel 302 and bottom plate 301
In the hydraulic cylinder 303 of adjustment bottom plate 301 angle over the ground；Wherein, the threaded hole for installing barrier 6 is provided on bottom plate 301；
The opposite side that bottom plate 301 connects slope board 304 passes through pin shaft connection with slope 4 is combined.
Obstacle detouring and test of toppling are completed on flat component 3.It welds one piece and cuts oblique steel plate as slope board in 301 one end of bottom plate
304, bottom plate 301 is climbed up convenient for caterpillar robot, the other end passes through pin shaft connection with slope 4 is combined.Pass through bolt on bottom plate 301
Fixation steel plate block realizes obstacle detouring test as barrier 6, can be with the removal of the obstacles 6 after having tested.Combine the backplate on slope 4
(401) pin hole is provided on；Bottom plate 301 is provided with the guide with pin hole cooperation far from the side of slope board 304.By pin when use
Nail insertion links together bottom plate 301 and combination slope 4.
The idler wheel 302 of four band brakes of lower installation of bottom plate 301, fills hydraulic cylinder 303 between idler wheel 302 and bottom plate 301.?
Under the premise of removing pin shaft, the angle of bottom plate 301 Yu ground is adjusted by the synchronous raising of the hydraulic cylinder 303 of side two, it is complete
It is tested at overturn-preventing.
It should be clear that: Fig. 1 is subject in directionality description described herein.
The foregoing is merely the preferred embodiment of invention, oneself, is not intended to limit the invention, all in spirit of the invention
With any modifications, equivalent replacements, and improvements made within principle etc., should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of caterpillar type robot performance test stand, including the skin for testing caterpillar robot space rate and stopping power
It is carried out with component (1), the vertical plate component for testing caterpillar robot running deviation value being arranged on belt component (1), for testing
The flat component (3) of carrying machine people obstacle climbing ability and ability of toppling and group is pullled for test caterpillar robot load capacity
Part (5), it is characterised in that: further include the combination slope (4) for testing caterpillar robot climbing or stair climbing ability；
Wherein, combination slope (4) includes the backplate (401) of the vertically symmetrical setting in the left and right sides and is arranged in two backplates (401)
The interior multiple movable components switched between step and plane arranged along backplate (401) length direction and the movable component can
To switch between slope and step as needed.
2. a kind of caterpillar type robot performance test stand according to claim 1, it is characterised in that: movable component includes setting
Set movable plate (403) and first turn of the horizontal axis (402), one end setting between two backplates (401) on horizontal axis (402)
Axis (405), cam (406), the second shaft (407), pull rod (408) and driving unit (409)；
Wherein, first rotating shaft (405) is arranged between two backplates (401)；Cam (406) setting is used on first rotating shaft (405)
In being lifted or fall movable plate (403)；The top place of cam (406) is provided with spacing between greater than two backplates (401) of length
The second shaft (407)；Arc-shaped groove (401A) is provided on the side of any backplate (401)；Second shaft (407) passes through arc
Shape fluting (401A) extends on the outside of the backplate (401)；
Wherein, multiple movable components extend in the second shaft (407) of same side guard plate (401) outside while connecting with pull rod (408).
3. a kind of caterpillar type robot performance test stand according to claim 2, it is characterised in that: horizontal axis (402) setting
The supplement plate in gap between useful polishing adjacent activities plate (403) and horizontal axis (402) is arranged in the opposite side of movable plate (403)
(402A).
4. a kind of caterpillar type robot performance test stand according to claim 2 or 3, it is characterised in that: movable plate (403)
For L-type and its long side is connect with horizontal axis (402), and short side is arranged towards ground.
5. a kind of caterpillar type robot performance test stand according to claim 1, it is characterised in that: belt component (1) packet
The conveyer belt (102) for being used to test caterpillar robot space rate for including bracket (101) and being arranged on bracket (101)；
Vertical plate component includes setting up separately in conveyer belt (102) upstream end and two pieces of metal plates of terminal, being arranged in caterpillar robot sheet
The wireless distance finding sensor of body front and rear sides and computer for receiving wireless distance finding sensor；
Pullling component (5) includes setting pullling bracket (501) and pull bracket (501) in conveyer belt (102) upstream end side
The caterpillar robot offer for being used for travelling on conveyer belt (102) of upper setting pulls motor with direction of advance counter force
(502).
6. a kind of caterpillar type robot performance test stand according to claim 1, it is characterised in that: flat component (3) packet
Include bottom plate (301), setting in the idler wheel (302) of bottom plate (301) bottom four corners, setting in bottom plate (301) side for convenient
The slope board (304) and setting that caterpillar robot is climbed up are used to adjust bottom plate between idler wheel (302) and bottom plate (301)
(301) hydraulic cylinder (303) of angle over the ground；
Wherein, the threaded hole for installing barrier (6) is provided on bottom plate (301)；Bottom plate (301) connects slope board (304)
Opposite side with combine slope (4) pass through pin shaft connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811426249.3A CN109342084B (en) | 2018-11-27 | 2018-11-27 | Humanized energy test stand of crawler-type machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811426249.3A CN109342084B (en) | 2018-11-27 | 2018-11-27 | Humanized energy test stand of crawler-type machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109342084A true CN109342084A (en) | 2019-02-15 |
| CN109342084B CN109342084B (en) | 2024-05-24 |
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ID=65318182
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811426249.3A Active CN109342084B (en) | 2018-11-27 | 2018-11-27 | Humanized energy test stand of crawler-type machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110926842A (en) * | 2019-12-11 | 2020-03-27 | 浙江大学 | Wall surface testing device of wall-climbing robot with adjustable angle |
| CN113281064A (en) * | 2021-06-29 | 2021-08-20 | 山推工程机械股份有限公司 | Complete machine empty load test platform of crawler dozer and use method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110926842A (en) * | 2019-12-11 | 2020-03-27 | 浙江大学 | Wall surface testing device of wall-climbing robot with adjustable angle |
| CN113281064A (en) * | 2021-06-29 | 2021-08-20 | 山推工程机械股份有限公司 | Complete machine empty load test platform of crawler dozer and use method |
| CN113281064B (en) * | 2021-06-29 | 2022-05-06 | 山推工程机械股份有限公司 | Complete machine empty load test platform of crawler dozer and use method |
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| CN109342084B (en) | 2024-05-24 |
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