CN111521409A

CN111521409A - Life testing device

Info

Publication number: CN111521409A
Application number: CN202010370332.4A
Authority: CN
Inventors: 张金钰; 任宝柱; 沈卓立; 方流; 高建磊
Original assignee: Jinguazi Technology Development Beijing Co ltd
Current assignee: Jinguazi Technology Development Beijing Co ltd
Priority date: 2020-04-30
Filing date: 2020-04-30
Publication date: 2020-08-11

Abstract

The invention provides a service life testing device, relates to the technical field of wheeled robot testing equipment, and is designed for solving the problem that the service life testing work of a wheeled robot in the prior art occupies a large space. The service life testing device is used for a wheeled robot and comprises a base, a testing assembly and a limiting assembly, wherein the testing assembly and the limiting assembly are arranged on the base and are separated by a set distance, the testing assembly comprises a load wheel rotatably arranged on the base, and the load wheel is used for supporting a traveling wheel of the wheeled robot; the limiting assembly is used for limiting the wheeled robot to a testing position. The service life testing device provided by the invention needs a small testing space, thereby greatly freeing the limitation on the field and being convenient to test.

Description

Life testing device

Technical Field

The invention relates to the technical field of wheeled robot testing equipment, in particular to a service life testing device.

Background

The mobile robot is an intelligent robot capable of autonomous operation and autonomous planning, and can replace human beings to work in dangerous and severe environments. The mobile robot can be divided into: wheeled, crawler-type and foot-type etc. in the aspect of the chassis detection of car, wheeled robot uses extensively.

The wheeled robot needs to be subjected to a life test in a research and development stage and a finished product stage. At present, the service life test work of the wheeled robot is generally carried out on the spot, and the occupied space is large, so that the test is inconvenient.

Disclosure of Invention

The invention aims to provide a service life testing device, which aims to solve the technical problem that the service life testing work of a wheeled robot in the prior art occupies a large space.

The service life testing device provided by the invention is used for a wheeled robot and comprises a base, a testing assembly and a limiting assembly, wherein the testing assembly and the limiting assembly are arranged on the base and are separated by a set distance, the testing assembly comprises a load wheel which is rotatably arranged on the base, and the load wheel is used for supporting a traveling wheel of the wheeled robot; the limiting assembly is used for limiting the wheeled robot to a testing position.

Furthermore, the number of the load wheels is the same as that of the walking wheels, and the walking wheels are supported on the load wheels in a one-to-one correspondence mode.

Further, the test assembly further comprises a bearing seat and a supporting shaft, the bearing seat is fixedly connected to the base, the supporting shaft is matched with a bearing hole of the bearing seat and penetrates through the bearing hole, and the load wheel is fixedly sleeved on the supporting shaft.

Furthermore, the number of the supporting shafts is the same as that of the load wheels, and the plurality of load wheels are fixedly sleeved on the plurality of supporting shafts in a one-to-one correspondence manner.

Further, the bearing seat is detachably and fixedly connected to the base.

Furthermore, the service life testing device further comprises an equal-height block, the equal-height block is fixedly arranged on the base, the limiting assembly is arranged on the equal-height block, and the equal-height block is used for enabling the wheeled robot in the testing position to be in a horizontal posture.

Furthermore, the limiting assembly comprises a first clamping arm and a second clamping arm which can be opened and closed relatively, the first clamping arm is fixedly arranged on the equal-height block, and a shell of the wheeled robot can be clamped between the first clamping arm and the second clamping arm.

Furthermore, the limiting assembly further comprises a fixing column and a fastening piece, wherein the fixing column is fixedly connected with the first clamping arm, the fixing column is provided with an external thread, and the second clamping arm is sleeved on the fixing column in a hollow mode; the fastener be provided with external screw thread complex internal thread, the fastener connect in soon the fixed column, just the fastener is located the second centre gripping arm deviates from one side of first centre gripping arm.

Furthermore, the base is provided with a plurality of groups of test assemblies and a plurality of groups of limit assemblies, and the plurality of groups of limit assemblies correspond to the plurality of groups of test assemblies one by one.

Furthermore, the service life testing device also comprises a camera, and the camera is used for monitoring the testing condition of the wheeled robot in real time;

and/or the service life testing device further comprises a rotating speed sensor, and the rotating speed sensor is used for detecting the rotating speed of the travelling wheel;

and/or, the life test device further comprises a torque sensor, and the torque sensor is used for detecting the torque of the travelling wheel.

The service life testing device has the advantages that:

the service life testing device provided by the invention is used for testing the service life of the wheeled robot and comprises a base, a testing assembly and a limiting assembly, wherein the testing assembly and the limiting assembly are arranged on the base at intervals of a set distance; the limiting assembly is used for limiting the wheeled robot and limiting the wheeled robot to a testing position.

Before this life-span testing arrangement tests wheeled robot, place wheeled robot's walking wheel in the load wheel, utilize the load wheel to support the walking wheel to, utilize spacing subassembly to fix wheeled robot, in order to restrict wheeled robot in test position department, avoid wheeled robot to fall from the load wheel in the test procedure.

During testing, a driving motor of the wheeled robot is started, the driving motor is used for driving the traveling wheels to rotate, and the traveling wheels drive the load wheels to rotate under the action of friction force between the traveling wheels and the load wheels in the rotating process. During testing, the load wheel corresponded to the road surface in the field. Through the test procedure, change the rotational speed and the direction of rotation of the output shaft of driving motor, promptly: the working state of the driving motor of the traveling wheel under the rotating speed condition and the rotating direction condition is simulated, so that the simulation of the actual working state of the driving motor is achieved. After the travelling wheel rotates for a period of time, the service life of the tire can be determined by observing the wear degree of the tire, and meanwhile, the type of the driving motor can be selected according to the wear degree of the carbon brush of the driving motor. In addition, in the test process, certain load can be added on the wheeled robot to simulate the abrasion degree of the walking wheels when the wheeled robot is stressed by certain pressure and determine the parameters of the driving motor at the moment.

Compared with the prior art that the service life test of the wheeled robot can be only carried out on the spot, the service life test device provided by the invention has small test space, thereby greatly releasing the limitation on the field and having convenient test.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic view of an axis measurement structure of a wheeled robot when the wheeled robot is mounted on a life test device provided in an embodiment of the present invention;

fig. 2 is a schematic front view of a wheeled robot mounted on a life testing device according to an embodiment of the present invention;

fig. 3 is a schematic axial view of a life testing apparatus according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a wheeled robot for performing a life test by using the life testing apparatus according to the embodiment of the present invention, in which the wheeled robot is partially shown in a cross-sectional view.

Reference numerals:

010-life test devices; 020-wheeled robot;

100-a base; 200-a bearing seat; 300-supporting shaft; 400-a load wheel; 500-a spacing assembly; 600-equal-height blocks;

210-a connection hole;

510-a first gripper arm; 520-fixed columns; 530-a second gripper arm; 540-a fastener;

021-outer shell; 022-road wheels; 023-a mounting frame; 024-driving motor; 025-camera module.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on those shown in the drawings, which are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "mounted" in the description of the present invention are to be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; may be directly connected or may be connected through an intermediate medium. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. Furthermore, the terms "first" and "second" are used merely for convenience of description and do not imply relative importance to the components.

Fig. 1 is a schematic axial structure diagram of a wheeled robot 020 when being mounted in a life test device 010 provided in this embodiment, fig. 2 is a schematic front view structure diagram of the wheeled robot 020 when being mounted in the life test device 010 provided in this embodiment, and fig. 3 is a schematic axial structure diagram of the life test device 010 provided in this embodiment.

As shown in fig. 1 to 3, the present embodiment provides a life testing apparatus 010 for a wheeled robot 020, including a base 100, a testing component and a limiting component 500, wherein the testing component and the limiting component 500 are both disposed on the base 100 and spaced apart from each other by a set distance. Specifically, the testing assembly comprises a load wheel 400 rotatably arranged on the base 100, wherein the load wheel 400 is used for supporting a road wheel 022 of the wheeled robot 020; the restraining assembly 500 is used to restrain the wheeled robot 020 in a testing position.

Before using this life testing device 010 to test wheeled robot 020, place wheeled robot 020's walking wheel 022 in load wheel 400, utilize load wheel 400 to support walking wheel 022 to, utilize spacing subassembly 500 to fix wheeled robot 020 to restrict wheeled robot 020 in test position department, avoid wheeled robot 020 to fall from load wheel 400 in the test process.

During testing, a driving motor 024 of the wheeled robot 020 is started, a traveling wheel 022 is driven to rotate by the driving motor 024, and the traveling wheel 022 drives the load wheel 400 to rotate under the action of friction force between the traveling wheel 022 and the load wheel 400 in the rotating process. During testing, load wheel 400 corresponds to a road surface in the field. Through the test procedure, change the rotational speed and the direction of rotation of the output shaft of driving motor 024, namely: the working state of the driving motor 024 of the traveling wheel 022 under the rotating speed condition and the rotating direction condition is simulated, so that the simulation of the actual working state of the driving motor 024 is achieved. After the running wheel 022 rotates for a period of time, the service life of the tire can be determined by observing the wear degree of the tire, and meanwhile, the type of the driving motor 024 can be selected according to the wear degree of a carbon brush of the driving motor 024. In addition, in the test process, a certain load can be added on the wheeled robot 020 to simulate the wear degree of the walking wheels 022 when the wheeled robot 020 is subjected to a certain pressure and determine the parameters of the driving motor 024 at the moment.

The life testing device 010 simulates the actual road environment by using the load wheel 400, so that life testing of the wheeled robot 020 and model selection of the driving motor 024 can be completed at a fixed position, and compared with the prior art that life testing of the wheeled robot 020 can only be performed on the spot, the life testing device 010 provided by the invention has the advantages that the required testing space is small, the limitation on the field is greatly relieved, and the testing is convenient.

The factor that determines the life of the wheeled robot 020 is mainly the degree of tire wear of the road wheels 022. After the wheeled robot 020 works for a period of time, if the degree of wear of the tire is within a set degree, the service life of the wheeled robot 020 meets the design requirement; if the degree of wear of the tire exceeds the set degree, the service life of the wheeled robot 020 is not satisfied with the design requirement.

Fig. 4 is a schematic structural diagram of a wheeled robot 020 for performing a life test by using the life test apparatus 010 provided in this embodiment (the wheeled robot 020 is a partially sectional view). As shown in fig. 4, the wheeled robot 020 further includes a housing 021, a mounting bracket 023, and a camera module 025, where the number of the driving motors 024 is two, the two driving motors 024 are respectively located at two sides of the width direction of the housing 021, and are respectively mounted on the housing 021 through the mounting bracket 023; the two walking wheels 022 are in transmission connection with output shafts of the two driving motors 024 respectively and are used for driving the walking wheels 022 to rotate respectively. The camera module 025 is arranged on the shell 021 and used for meeting the camera shooting requirement of the wheeled robot 020 in the working process.

It should be noted that the wheeled robot 020 is a wheeled robot in the prior art, and how to detect a component and a device in the working process is the prior art well known to those skilled in the art, and this embodiment is not improved, and therefore, details are not described again.

Referring to fig. 1 to fig. 3, in the present embodiment, the base 100 may be a plate-shaped structure, and specifically, the base 100 may be a metal plate or a wood plate. So set up, simple structure easily realizes, has reduced this embodiment life-span testing arrangement 010's manufacturing cost.

Preferably, in the present embodiment, the test component and the limit component 500 are disposed at intervals along the length direction of the wheeled robot 020, and as shown in fig. 1 and fig. 3, when the wheeled robot 020 is placed in the life test device 010, the limit component 500 fixes one end of the wheeled robot 020 along the length direction thereof. So set up, can restrict wheeled robot 020 more stably in the test position, prevent that wheeled robot 020 from falling in the test process.

Of course, the position limiting assembly 500 may be disposed at other positions of the base 100, namely: the limiting assembly 500 can also be fixed at other positions of the wheeled robot 020, such as: one end of the wheeled robot 020 in the width direction thereof is fixed. As long as the wheeled robot 020 can be stably placed at the test position by the arrangement form of the stopper assembly 500, the present embodiment does not limit the specific position of the stopper assembly 500 on the base 100.

With continued reference to fig. 1 and 3, in the present embodiment, the number of the load wheels 400 is the same as the number of the traveling wheels 022, and the number of the traveling wheels 022 is also two, and the two traveling wheels 022 are supported on the two load wheels 400 in a one-to-one correspondence. When carrying out life-span test to wheel robot 020, two load wheels 400 can independently support two walking wheels 022 respectively to the completion is to the test of two walking wheels 022, so sets up, has reduced the manufacturing cost of load wheel 400.

In other embodiments, the number of the load wheels 400 may be one, and in this case, the load wheels 400 extend along the axial direction thereof, so that the wheel faces of the load wheels 400 can support two road wheels 022 at the same time.

Referring to fig. 1 to 3, in the present embodiment, the testing assembly may further include a bearing seat 200 and a supporting shaft 300, specifically, the bearing seat 200 is fixedly connected to the base 100, the supporting shaft 300 is matched with a bearing hole of the bearing seat 200 and passes through the bearing hole, and the load wheel 400 is fixedly sleeved on the supporting shaft 300. By the arrangement, the load wheel 400 is mounted on the base 100, and the mounting structure has good bearing performance and can well support the load wheel 400.

Preferably, in the present embodiment, the bearing housing 200 is detachably fixedly coupled to the base 100. Specifically, the bearing seat 200 is provided with a connecting hole 210, and correspondingly, the base 100 is provided with a fixing hole, wherein the connecting hole 210 is a unthreaded hole, the fixing hole is a threaded hole, and the threaded connector passes through the connecting hole 210 and is screwed into the corresponding fixing hole, so that the bearing seat 200 can be mounted on the base 100.

When the service life of the wheeled robot 020 needs to be simulated on different road surfaces, the bearing seat 200 can be detached from the base 100, the supporting shaft 300 and the load wheel 400 mounted on the supporting shaft 300 can be detached, the load wheel 400 made of different materials can be reinstalled on the supporting shaft 300, and the supporting shaft 300 mounted with the load wheel 400 can be mounted on the bearing seat 200, so that the purpose of simulating the wheeled robot 020 on different road surfaces can be achieved.

So set up for need not to change whole life-span testing arrangement 010, and rely on the load wheel 400 of changing different materials, just can accomplish wheeled robot 020 in the simulation on different kinds of road surfaces, increased this embodiment life-span testing arrangement 010's commonality. In addition, different testing requirements of the wheeled robot 020 can be met by replacing the load wheels 400 with different wheel diameters.

In this embodiment, the number of the supporting shafts 300 and the number of the load wheels 400 are the same, and the two load wheels 400 are fixedly sleeved on the two supporting shafts 300 in a one-to-one correspondence manner. So set up, not only can reduce the whole length of back shaft 300 to reduce the manufacturing degree of difficulty, moreover, can also make the load wheel 400 on the different back shafts 300 rotate the work simultaneously according to equidirectional not, with the simulation of realization wheeled robot 020 under complicated operating mode condition, thereby make the simulation result to wheeled robot 020 can be more comprehensive and accurate.

In other embodiments, as shown in fig. 3, there may be one support shaft 300.

With reference to fig. 2 and fig. 3, in this embodiment, the life testing apparatus 010 may further include an equal-height block 600, specifically, the equal-height block 600 is fixedly disposed on the base 100, and the limiting assembly 500 is disposed on the equal-height block 600, where the equal-height block 600 is configured to make the wheeled robot 020 in the testing position assume a horizontal posture. So set up for walking wheel 022 exerts the power in load wheel 400 vertical downwards all the time, thereby can simulate life-span testing arrangement 010's under the true road surface working life more accurately.

With reference to fig. 2 and fig. 3, in the present embodiment, the position limiting assembly 500 may include a first clamping arm 510 and a second clamping arm 530 that are opened and closed relatively, wherein the first clamping arm 510 is fixedly disposed on the contour block 600, and the housing 021 of the wheeled robot 020 can be clamped between the first clamping arm 510 and the second clamping arm 530.

Before using this life testing device 010 to test wheeled robot 020, can place wheeled robot 020's walking wheel 022 in load wheel 400, utilize load wheel 400 to support walking wheel 022, simultaneously, open second centre gripping arm 530 for first centre gripping arm 510, place wheeled robot 020's shell 021 behind first centre gripping arm 510, put down second centre gripping arm 530 to centre gripping wheeled robot 020 between first centre gripping arm 510 and second centre gripping arm 530, thereby stabilize wheeled robot 020 in the test position.

With reference to fig. 2 and fig. 3, in the present embodiment, the limiting assembly 500 may further include a fixing post 520 and a fastening member 540, specifically, the fixing post 520 is fixedly connected to the first clamping arm 510, the fixing post 520 is provided with an external thread, and the second clamping arm 530 is sleeved on the fixing post 520; the fastening member 540 is provided with an internal thread matching with the external thread, the fastening member 540 is screwed on the fixing column 520, and the fastening member 540 is located on one side of the second clamping arm 530 facing away from the first clamping arm 510.

After the shell 021 of the wheeled robot 020 is placed on the first clamping arm 510, the second clamping arm 530 is put down, so that the second clamping arm 530 is pressed on the shell 021; then, the fastener 540 is rotated to make the second clamping arm 530 tightly abut against the outer shell 021, so as to clamp and fix the outer shell 021, that is: the wheeled robot 020 is stabilized in the test position.

In other embodiments, the equal-height block 600 may be provided with a threaded hole, and a bolt that is engaged with the threaded hole is provided and a pressing plate is sleeved on the bolt, and the bolt is screwed into the threaded hole. When needing to fix wheeled robot 020, can overlap the shell 021 of wheeled robot 020 in equal altitude piece 600, simultaneously, press the clamp plate in the upper surface of shell 021, then, the rotating bolt makes the clamp plate closely butt in shell 021, accomplishes the fixed to shell 021, promptly: the wheeled robot 020 is fixed and stabilized at the test position.

In this embodiment, a plurality of sets of test components and a plurality of sets of limit components 500 may be disposed on the base 100, wherein the plurality of sets of limit components 500 correspond to the plurality of sets of test components one to one. So set up for this life-span testing arrangement 010 can accomplish the life-span test to a plurality of wheeled robot 020 simultaneously, has shortened test cycle, and efficiency of software testing improves greatly.

In this embodiment, the life testing device 010 may further include a camera, where the camera is configured to monitor a testing condition of the wheeled robot 020 in real time. Through setting up the camera, realized to wheel robot 020 test condition's real-time supervision and record, if: when the walking wheel 022 breaks down to cause stall, a tester can search the time of the stalling of the walking wheel 022 recorded by the camera to obtain the running time of the walking wheel 022, and after the fault is repaired, the test is continuously recorded. According to the arrangement, the automatic test of the wheel type robot 020 is realized, a tester does not need to pay attention to the test condition all the time, the labor intensity is reduced, the labor cost is saved, and the automation degree is higher.

It should be noted that how to use the camera to realize the real-time monitoring of the test condition of the wheel robot 020 is a prior art well known to those skilled in the art, and this embodiment does not improve this, and therefore, the detailed description is omitted.

In this embodiment, a rotation speed sensor may be further disposed in the life testing device 010, wherein the rotation speed sensor is used for detecting the rotation speed of the walking wheel 022. Through setting up speed sensor, can make the tester learn the current rotational speed of walking wheel 022 to compare with driving motor 024's output rotational speed, obtain transmission efficiency, thereby be convenient for carry out the lectotype and design to driving motor 024.

Specifically, the rotation speed sensor is mounted to the base 100.

In addition, in this embodiment, a torque sensor may be further disposed in the life testing device 010, wherein the torque sensor is configured to detect a torque of the road wheel 022. Through setting up torque sensor, can make the tester learn the current moment of torsion of walking wheel 022 to obtain and load the frictional force between the wheel 400, provide test data for the simulation condition on different kinds of road surfaces.

Specifically, the torque sensor is mounted to the base 100.

It should be noted that, in this embodiment, how to detect the rotation speed of the road wheel 022 by using the rotation speed sensor and how to detect the torque of the road wheel 022 by using the torque sensor are the prior art well known to those skilled in the art, and this is not improved in this embodiment, so details are not described again.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A life test device for a wheeled robot (020), comprising a base (100), a test component and a spacing component (500), wherein the test component and the spacing component (500) are both arranged on the base (100) and are separated by a set distance, wherein the test component comprises a load wheel (400) rotatably arranged on the base (100), and the load wheel (400) is used for supporting a walking wheel (022) of the wheeled robot (020); the limiting assembly (500) is used for limiting the wheeled robot (020) to a testing position.

2. The life span testing device according to claim 1, wherein the number of the load wheels (400) is the same as the number of the travel wheels (022), and the plurality of the travel wheels (022) are supported to the plurality of the load wheels (400) in a one-to-one correspondence.

3. The life test device of claim 2, wherein the test assembly further comprises a bearing seat (200) and a support shaft (300), the bearing seat (200) is fixedly connected to the base (100), the support shaft (300) is matched with a bearing hole of the bearing seat (200) and penetrates through the bearing hole, and the load wheel (400) is fixedly sleeved on the support shaft (300).

4. The life span testing device according to claim 3, wherein the number of the supporting shafts (300) is the same as that of the load wheels (400), and a plurality of the load wheels (400) are fixedly sleeved on the plurality of the supporting shafts (300) in a one-to-one correspondence.

5. The life test device according to claim 3, wherein said bearing housing (200) is removably fixedly connected to said base (100).

6. The life test device according to any one of claims 1 to 5, further comprising an equal-height block (600), wherein the equal-height block (600) is fixedly arranged on the base (100), the limiting assembly (500) is arranged on the equal-height block (600), and the equal-height block (600) is used for enabling the wheeled robot (020) in the test position to be in a horizontal posture.

7. The life test device of claim 6, wherein the position limiting assembly (500) comprises a first clamping arm (510) and a second clamping arm (530) which can be opened and closed relatively, the first clamping arm (510) is fixedly arranged on the contour block (600), and a housing (021) of the wheeled robot (020) can be clamped between the first clamping arm (510) and the second clamping arm (530).

8. The life test device of claim 7, wherein the limiting assembly (500) further comprises a fixing post (520) and a fastening member (540), wherein the fixing post (520) is fixedly connected with the first clamping arm (510), the fixing post (520) is provided with an external thread, and the second clamping arm (530) is freely sleeved on the fixing post (520); the fastener (540) is provided with an internal thread matched with the external thread, the fastener (540) is screwed on the fixing column (520), and the fastener (540) is positioned on one side of the second clamping arm (530) facing away from the first clamping arm (510).

9. The life testing device according to any one of claims 1 to 5, wherein a plurality of sets of testing components and a plurality of sets of limiting components (500) are arranged on the base (100), and the plurality of sets of limiting components (500) correspond to the plurality of sets of testing components one to one.

10. The life testing device according to any one of claims 1-5, characterized in that the life testing device further comprises a camera for monitoring a test condition of the wheeled robot (020) in real time;

and/or the service life testing device further comprises a rotating speed sensor, and the rotating speed sensor is used for detecting the rotating speed of the walking wheel (022);

and/or, the life test device further comprises a torque sensor, and the torque sensor is used for detecting the torque of the road wheel (022).