CN112297056A

CN112297056A - Testing device for step climbing performance of special operation robot

Info

Publication number: CN112297056A
Application number: CN202011077725.2A
Authority: CN
Inventors: 陈学强; 廖云诚; 王毓珩; 赵锋; 陈勇
Original assignee: Fuzhou Guohua Intelligent Technology Co Ltd
Current assignee: Fuzhou Guohua Intelligent Technology Co Ltd
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2021-02-02
Anticipated expiration: 2040-10-10
Also published as: CN112297056B

Abstract

The invention provides a device for testing the step climbing performance of a special operation robot, which comprises a synchronous lifting step and a synchronous lifting supporting platform, wherein the synchronous lifting step is arranged on the synchronous lifting supporting platform; the synchronous lifting supporting platform comprises a second lifting mechanism and a second lifting platform, and the output end of the second lifting mechanism is connected to the second lifting platform; the synchronous lifting steps comprise a plurality of steps and a third lifting mechanism; the third lifting mechanism drives a plurality of steps to synchronously lift; the steps are arranged behind the second lifting platform. The synchronous lifting supporting platform and the synchronous lifting steps are lifted so as to meet the test requirements of different height differences among the steps.

Description

Testing device for step climbing performance of special operation robot

Technical Field

The invention relates to the technical field of special operation robot testing, in particular to a device for testing the step climbing performance of a special operation robot.

Background

The special operation robot is also called as a special robot, generally refers to a professional service robot, is a kind of robot which is rapidly developed and widely applied in recent years, and is applied to various industries of national economy in China. The application range of the system mainly comprises agriculture, electric power, construction, logistics, medical treatment, nursing, rehabilitation, security and rescue, military, nuclear industry, mining, petrochemical industry, municipal engineering and the like.

Because special type operation robots need to face various complicated operation environments, the performance requirements for the special type operation robots are high, and the performance requirements corresponding to different environments are different, so the special type operation robots generally need to perform performance tests.

A test device is needed to be designed for testing the step climbing performance of the special operation robot.

Disclosure of Invention

The invention aims to solve the technical problem of providing a device for testing the step climbing performance of a special working robot, which can lift through a synchronous lifting supporting platform and a synchronous lifting step so as to meet the test requirements of different height differences among the steps.

The invention is realized by the following steps: a testing device for the step climbing performance of a special working robot comprises a synchronous lifting step and a synchronous lifting supporting platform;

the synchronous lifting supporting platform comprises a second lifting mechanism and a second lifting platform, and the output end of the second lifting mechanism is connected to the second lifting platform;

the synchronous lifting steps comprise a plurality of steps and a third lifting mechanism; the third lifting mechanism drives a plurality of steps to synchronously lift; the steps are arranged behind the second lifting platform.

Further, the second elevating mechanism comprises

A fourth support frame;

the output end of the fourth execution element is connected to the second lifting platform;

the second sliding group is connected to the fourth supporting frame in a sliding mode; the second lifting platform is fixedly connected to the second sliding group.

Further, the second lifting mechanism further comprises a fourth transmission module; the output end of the fourth execution element is connected to the fourth transmission module; the fourth transmission module is further connected to the second lifting platform.

Further, the second lifting mechanism further comprises a fourth encoder;

the fourth executing element is a motor;

the fourth transmission module comprises a fourth speed reducer, a third rotating shaft, a third driving chain wheel, a third driven chain wheel, a sixth chain wheel, a seventh chain wheel, an eighth chain wheel, a second chain wheel shaft, a third chain connecting tension rod, a third driving chain and a third chain;

4 sixth chain wheels, seventh chain wheels and eighth chain wheels are arranged respectively; the sizes and the numbers of teeth of the sixth chain wheel, the seventh chain wheel and the eighth chain wheel are all equal;

6 third chains are arranged;

6 second chain wheel shafts are arranged;

the number of the third chain connecting tension rods is 8;

an output shaft of the fourth execution element is fixedly connected to an input end of the fourth speed reducer; the third driving chain wheel is fixedly sleeved on an output shaft of the fourth speed reducer;

the third rotating shaft is rotationally connected to the fourth supporting frame; the fourth encoder is connected to the third rotating shaft;

the third driven chain wheel, the two sixth chain wheels and the two seventh chain wheels are fixedly sleeved on a third rotating shaft;

the third driving chain wheel and the third driven chain wheel are respectively meshed with the third driving power chain;

6 second chain wheel shafts are rotatably connected to the fourth support frame, and each second chain wheel shaft is parallel to the third rotating shaft;

the two second chain wheel shafts and the third rotating shaft are arranged at the same height and are positioned below the second lifting platform, and each second chain wheel shaft is fixedly sleeved with a seventh chain wheel and an eighth chain wheel;

the other four second chain wheel shafts are arranged on the top of the fourth supporting frame in a rectangular shape with the same height and are positioned above the second lifting platform;

two of the second chain wheel shafts on the top of the fourth supporting frame and the third rotating shaft are positioned in the same vertical plane, and each second chain wheel shaft is fixedly sleeved with a sixth chain wheel;

the other two second chain wheel shafts at the top of the fourth supporting frame and the two second chain wheel shafts below the second lifting platform are positioned in the same vertical plane, and each second chain wheel shaft is fixedly sleeved with an eighth chain wheel;

the sixth chain wheels above and below the second lifting platform are sleeved with one third chain in a one-to-one correspondence mode, and each third chain is fixedly connected with two third chains which are connected with tensioning rods;

the seventh chain wheel on the third rotating shaft and the seventh chain wheel on the second chain wheel shaft which is arranged at the same height are sleeved with a third chain in a one-to-one correspondence mode;

the eighth chain wheels above and below the second lifting platform are sleeved with one third chain in a one-to-one correspondence mode, and each third chain is fixedly connected with two third chains which are connected with tensioning rods;

8 the third chain is connected the tensioning rod and still respectively fixed connection in second lift platform.

Further, the third lifting mechanism comprises

A drive motor;

a fifth speed reducer; an output shaft of the driving motor is connected to the input end of the fifth speed reducer;

the fourth driving sprocket is fixedly sleeved on the output shaft of the fifth speed reducer;

a fourth rotating shaft;

the fourth driven chain wheel is fixedly sleeved on the fourth rotating shaft;

a fourth driving power chain, the fourth driving power chain and the fourth driving sprocket being engaged with a fourth driven sprocket;

each second spiral lifter comprises an input end, an output screw rod and an output nut; the output screw rod is connected with the output nut; the number of the second spiral lifters is equal to the number of the steps; the two ends of each step are fixedly connected with the two output nuts in a one-to-one correspondence manner, the output screw rods penetrate through the steps, and the output screw rods are vertically arranged; the input ends of the two second spiral lifters corresponding to one step are fixedly connected to two ends of the fourth rotating shaft in a one-to-one correspondence manner; the input ends of two adjacent second spiral lifters on the same side are connected together through a chain wheel-chain transmission mechanism, and the number of teeth of the chain wheel of each chain wheel-chain transmission mechanism is the same or different.

Further, also includes

A step frame having a step receiving cavity; each second spiral elevator is fixedly connected to the step frame; each step is positioned in the step containing cavity;

the guide shaft is fixedly connected to the step frame;

the number of the linear bearings is equal to that of the guide shafts; the guide shafts are embedded into inner rings of the linear bearings in a one-to-one correspondence manner; every the both ends of step are fixedly connected with linear bearing respectively, just the guiding axle pierces through the step, the guiding axle is vertical arrangement.

Further, there are 5 said steps, 5 said steps from low to high denominate in proper order: a first step, a second step, a third step, a fourth step and a fifth step;

10 second spiral lifters are provided;

the chain wheel-chain transmission mechanism comprises two first chain wheel-chain transmission mechanisms, two second chain wheel-chain transmission mechanisms, two third chain wheel-chain transmission mechanisms and two fourth chain wheel-chain transmission mechanisms;

each first chain wheel-chain transmission mechanism comprises a ninth chain wheel, a tenth chain wheel and a fourth chain; the number of teeth of the ninth chain wheel is 12; the number of teeth of the tenth chain wheel is 15;

each second chain wheel-chain transmission mechanism comprises an eleventh chain wheel, a twelfth chain wheel and a fifth chain; the number of teeth of the eleventh chain wheel is 15; the number of teeth of the twelfth chain wheel is 20;

each third chain wheel-chain transmission mechanism comprises a thirteenth chain wheel, a fourteenth chain wheel and a sixth chain; the number of teeth of the thirteenth chain wheel is 10; the number of teeth of the fourteenth chain wheel is 15;

each fourth chain wheel-chain transmission mechanism comprises a fifteenth chain wheel, a sixteenth chain wheel and a seventh chain; the number of teeth of the fifteenth chain wheel is 15; the number of teeth of the sixteenth chain wheel is 15;

wherein, two sides of each step are respectively lifted by one second spiral lifter;

the input ends of the two second spiral lifters for lifting the first step are respectively and fixedly connected with a sixteenth chain wheel;

the input ends of the two second spiral lifters for lifting the second step are respectively and fixedly connected with a fourteenth chain wheel and a fifteenth chain wheel; wherein the sixteenth chain wheel and the fifteenth chain wheel which are positioned on the same side are respectively meshed with a seventh chain;

the input ends of the two second spiral lifters for lifting the third step are fixedly connected to the output shaft of the fifth speed reducer in a one-to-one correspondence manner; the input ends of the two second spiral lifters are respectively and fixedly connected with a twelfth chain wheel and a thirteenth chain wheel; wherein the fourteenth chain wheel and the thirteenth chain wheel which are positioned on the same side are respectively meshed with a sixth chain;

the input ends of the two second spiral lifters for lifting the fourth step are respectively and fixedly connected with the tenth chain wheel and the eleventh chain wheel; wherein the twelfth chain wheel and the eleventh chain wheel which are positioned on the same side are respectively meshed with a fifth chain;

the input ends of the two second spiral lifters for lifting the fifth step are respectively and fixedly connected with a ninth chain wheel; wherein the ninth sprocket and the tenth sprocket on the same side are engaged with one of the fourth chains, respectively.

Further, also includes

A fifth encoder;

the fifth encoder is fixed on the encoder support;

two second synchronous belt wheels are provided, wherein one second synchronous belt wheel is fixedly sleeved on the fourth rotating shaft; the other second synchronous belt wheel is fixedly sleeved on the fifth encoder;

a second synchronous belt; the second synchronous belts are sleeved on the two second synchronous belt wheels.

Further, the device also comprises a heightening platform; the heightening platform comprises a horizontal part and a slope part which are connected with each other; the horizontal part is arranged in front of the inlet of the synchronous lifting step.

The invention has the following advantages: the invention provides a device for testing the step climbing performance of a special operation robot, which comprises a synchronous lifting step and a synchronous lifting supporting platform, wherein the synchronous lifting step is arranged on the synchronous lifting supporting platform; the synchronous lifting supporting platform comprises a second lifting mechanism and a second lifting platform, and the output end of the second lifting mechanism is connected to the second lifting platform; the synchronous lifting steps comprise a plurality of steps and a third lifting mechanism; the third lifting mechanism drives a plurality of steps to synchronously lift; the steps are arranged behind the second lifting platform. The synchronous lifting supporting platform and the synchronous lifting steps are lifted so as to meet the test requirements of different height differences among the steps.

Drawings

The invention will be further described with reference to the following examples with reference to the accompanying drawings.

FIG. 1 is a perspective view of a test system according to the present invention.

FIG. 2 is a front view of the test system of the present invention.

FIG. 3 is a top view of a test system according to the present invention.

Fig. 4 and 5 are perspective views of the climbing test device according to the present invention.

Fig. 6 and 7 are perspective views of the swash plate according to the present invention.

Fig. 8 and 9 are perspective views of a first elevating platform according to the present invention.

Fig. 10 is a perspective view of a first elevating mechanism according to the present invention.

Fig. 11 is a partially enlarged schematic view of a in fig. 10.

Fig. 12 is a perspective view of a first elevating mechanism according to the present invention.

Fig. 13 is a partially enlarged schematic view of B in fig. 12.

Fig. 14 is a perspective view of the first lifting mechanism of the present invention after hiding the first lifting platform.

Fig. 15 is a perspective view of a first transmission module according to the invention.

Fig. 16 and 17 are perspective views of the over-road barrier testing device according to the present invention.

Fig. 18 is a perspective view of the connection of the over-the-road barrier testing device and the horizontal moving platform according to the present invention.

FIG. 19 is a perspective view of the wider test device of the present invention.

Fig. 20 is a partially enlarged schematic view of C in fig. 19.

Fig. 21 and 22 are perspective views of the test apparatus according to the present invention.

Fig. 23 and 24 are perspective views of the trenching width measuring apparatus and the second elevating mechanism according to the present invention.

Fig. 25 is a perspective view of the step climbing test device according to the present invention.

Fig. 26 is an exploded view of the elevated platform of the present invention.

Fig. 27 and 28 are perspective views of the synchronous lifting step according to the present invention.

Fig. 29 is a front view of the synchronous lifting step of the present invention.

Fig. 30 is a cross-sectional view taken along line D-D of fig. 29.

Fig. 31 is a perspective view of the sprocket-chain drive mechanism of the present invention.

Fig. 32 is a perspective view of the second elevating mechanism according to the present invention.

Fig. 33 is a perspective view of the second lifting mechanism of the present invention with the second lifting platform concealed.

Description of reference numerals:

the slope climbing test device 1, the inclined plate 11, the connecting block 111, the wheels 112,

a gradient adjusting device 12, a first lifting mechanism 121, a first support frame 1211, a first actuating element 1212, a first sliding group 1213, a wheel seat 12131, a roller 12132, an elliptical hole 12133, a first transmission module 1214, a first speed reducer 12141, a first rotating shaft 12142, a first driving sprocket 12143, a first driven sprocket 12144, a first sprocket 12145, a second sprocket 12146, a third sprocket 12147, a first sprocket shaft 12148, a first chain connecting tension rod 12149, a first chain 121410, a first encoder 1215,

a first lifting platform 122, a connecting plate 1221, a fixing frame 1222, an adjusting through hole 12221, a supporting plate 12222, an adjusting screw 122221, a rotating shaft 123, a spring fastener 124,

the crossing roadblock testing device 2, the roadblock 21, the lifting device 22, the second supporting frame 221, the second actuating element 222, the second transmission module 223, the second speed reducer 2231, the first spiral lifter 2232, the first synchronous belt pulley 2233, the second encoder 2234, the guide rod 224, the linear bearing 225,

the crossing width testing device 3, the width adjusting device 31, the driving device 311, the third actuator 3111, the third transmission module 3112, the third speed reducer 31121, the second driving sprocket 31122, the second driven sprocket 31123, the second rotating shaft 31124, the rotating shaft fixing seat 31125, the fourth sprocket 31126, the fifth sprocket 31127, the second chain connecting tension rod 31128, the second chain 31129, the sprocket fixing seat 311210, the third encoder 3113, the horizontal moving platform 312, the third support frame 313, the light rail 314, the track wheel 315,

the special working robot has a test device 4 for the step climbing performance, a synchronous lifting step 41, a step 411, a first step 4111, a second step 4112, a third step 4113, a fourth step 4114, a fifth step 4115, a third lifting mechanism 412, a driving motor 4121, a fifth speed reducer 4122, a fourth driving sprocket 4123, a fourth rotating shaft 4124, a fourth driven sprocket 4125, a fourth driving power chain 4126, a second spiral lifter 4127, an input end 41271, an output screw 41272, an output nut 41273, a step frame 413, a step accommodating cavity 4131, a guide shaft 414, a linear bearing 415, a ninth sprocket 4161, a tenth sprocket 4162, a fourth chain 4163, an eleventh sprocket 4171, a twelfth sprocket 4172, a fifth chain 4173, a thirteenth sprocket 4181, a fourteenth sprocket 4182, a sixth chain 4183, a fifteenth sprocket 4191, a sixteenth sprocket 4192, a seventh chain 4193,

the synchronous lifting support platform 42, the second lifting mechanism 421, the fourth support frame 4211, the fourth actuator 4212, the second sliding group 4213, the fourth transmission module 4214, the fourth speed reducer 42141, the third rotating shaft 42142, the third driving sprocket 42143, the third driven sprocket 42144, the sixth sprocket 42145, the seventh sprocket 42146, the eighth sprocket 42147, the second sprocket 42148, the third chain connecting tension rod 42149, the third chain 421410, the fourth encoder 4215, the second lifting platform 422,

a fifth encoder 43, an encoder support 44, a second timing pulley 45, a raising platform 46, a horizontal portion 461, a slope portion 462;

and a controller 5.

Detailed Description

The invention concept of the invention is as follows:

the synchronous lifting supporting platform 42 and the synchronous lifting step 41 are lifted so as to meet the test requirements of different height differences among the steps 411.

Please refer to fig. 1 to 33.

The first embodiment is as follows: the invention provides a testing device 4 for the step climbing performance of a special operation robot, which comprises a synchronous lifting step 41 and a synchronous lifting supporting platform 42;

the synchronous lifting support platform 42 comprises a second lifting mechanism 421 and a second lifting platform 422, and an output end of the second lifting mechanism 421 is connected to the second lifting platform 422, so that the second lifting mechanism 421 drives the second lifting platform 422 to lift;

the synchronous lifting step 41 comprises a plurality of steps 411 and a third lifting mechanism 412; the third lifting mechanism 412 drives a plurality of the steps 411 to lift synchronously; a plurality of steps 411 are arranged behind the second lifting platform 422; each step 411 is lifted synchronously, and after the synchronous lifting is finished, the height difference of the adjacent steps is equal, so that the test requirements of different height differences of the adjacent steps are met.

In a specific implementation, the second lifting mechanism 421 and the third lifting mechanism 412 can be communicatively connected to the controller 5 and controlled by the controller;

specifically, a step climbing test mode: the lower step or the upper step can be tested according to the requirement;

when the step is descended:

the controller 5 controls the second lifting mechanism 421 and the third lifting mechanism 412 to work, and the second lifting platform 422 and each step 411 are adjusted to a preset height, so that the height difference of adjacent steps meets the preset test requirement;

then, the tester operates the special operation robot to move from the second lifting platform 422 to each step 411 and descend the steps, and whether the test condition of the lower steps of the special operation robot meets the preset requirement is judged; for example, see if a special work robot will tip over.

When going upstairs:

the controller 5 also controls the second lifting mechanism 421 and the third lifting mechanism 412 to work, and adjusts the second lifting platform 422 and each step 411 to a predetermined height, so that the height difference between adjacent steps meets a predetermined test requirement;

then, the tester controls the special operation robot to climb the steps from the lowest step to the direction of the second lifting platform 422, and whether the special operation robot can climb up is judged.

And when the upper step is tested, the special operation robot can be connected with the lower step for testing, namely, if the height difference of the lower step is the same as that of the upper step, the special operation robot can be controlled to turn around and directly climb the steps after the lower step is tested.

In a specific implementation, the fourth actuator 4212, the fourth encoder 4215, the driving motor 4121 and the fifth encoder 43 may be respectively connected to the controller 5 in a communication manner, and the controller may perform the control.

The second lifting mechanism 421 comprises

A fourth support 4211;

a fourth actuator 4212, an output end of the fourth actuator 4212 is connected to the second lifting platform 422;

a second sliding group 4213, which is slidably connected to the fourth support frame 4211; the second lifting platform 422 is fixedly connected to the second sliding group 4213. The second sliding group 4213 guides the lifting of the fourth actuator 4212, so that the movement is more accurate and smooth. In a specific implementation, the second sliding group 4213 and the first sliding group 1213 have the same structure.

The second lifting mechanism 421 further includes a fourth transmission module 4214; the output end of the fourth actuator 4212 is connected to the fourth transmission module 4214; the fourth transmission module 4214 is also connected to the second lifting platform 422. The fourth actuator 4212 drives the fourth transmission module 4214, so as to drive the second lifting platform to perform lifting movement.

The second lifting mechanism 421 further includes a fourth encoder 4215;

the fourth actuator 4212 is a motor;

the fourth transmission module 4214 comprises a fourth speed reducer 42141, a third rotating shaft 42142, a third driving sprocket 42143, a third driven sprocket 42144, a sixth sprocket 42145, a seventh sprocket 42146, an eighth sprocket 42147, a second sprocket shaft 42148, a third chain connecting tension rod 42149, a third driving power chain (not shown) and a third chain 421410; in the embodiment shown in the drawings, the second lifting mechanism 421 and the first lifting mechanism 121 have the same structure, and the lifting principle of the second lifting mechanism 421 is referred to that of the first lifting mechanism 121. The fourth transmission module 4214 and the first transmission module 1214 adopt the same transmission structure.

4 sixth chain wheels 42145, seventh chain wheels 42146 and eighth chain wheels 42147 are arranged respectively; the sizes and the numbers of teeth of the sixth chain wheel 42145, the seventh chain wheel 42146 and the eighth chain wheel 42147 are all equal;

6 third chains 421410;

6 second chain wheel shafts 42148;

the number of the third chain connecting tension rods 42149 is 8;

an output shaft of the fourth actuator 4212 is fixedly connected to an input end of the fourth speed reducer 42141; the third driving sprocket 42143 is fixedly sleeved on an output shaft of the fourth speed reducer 42141;

the third rotating shaft 42142 is rotatably connected to the fourth support 4211; the fourth encoder 4215 is connected to the third rotating shaft 42142;

the third driven chain wheel 42144, the two sixth chain wheels 42145 and the two seventh chain wheels 42146 are fixedly sleeved on a third rotating shaft 42142; in a specific implementation, the sixth chain wheel 42145, the seventh chain wheel 42146 and the third driven chain wheel 42144 are respectively connected to the third rotating shaft 42142 through keys, wherein two of the sixth chain wheel 42145 and the seventh chain wheel 42146 are in a group and are symmetrically arranged; bearings are sleeved at two ends of the third rotating shaft 42142 respectively and are installed in bearing seats, and the bearing seats are locked on the side surfaces of the fourth supporting frames 4211 through screws; the fourth encoder 4215 is mounted on the side of the fourth support 4211 by a bracket, and the fourth encoder 4215 is fixedly connected to the third rotating shaft 42142 by a reed-type coupling.

The third drive sprocket 42143 and the third driven sprocket 42144 are respectively engaged with the third drive power chain (not shown);

6 second sprocket shafts 42148 are rotatably connected to the fourth support frames 4211, and each of the second sprocket shafts 42148 is parallel to the third rotation shaft 42142;

the two second chain wheel shafts 42148 and the third rotating shaft 42144 are arranged at the same height and are positioned below the second lifting platform 422, and each second chain wheel shaft 42148 is fixedly sleeved with one seventh chain wheel 42146 and one eighth chain wheel 42147;

the other four second chain wheel shafts 42148 are arranged at the top of the fourth support frame 4211 in a rectangular shape with the same height and are positioned above the second lifting platform 422;

two second chain wheel shafts 42148 at the top of the fourth support frame 4211 and the third rotating shaft 42142 are positioned in the same vertical plane, and each second chain wheel shaft 42148 is fixedly sleeved with a sixth chain wheel 42145;

the other two second chain wheel shafts 42148 at the top of the fourth support frame 4211 and the two second chain wheel shafts 42148 below the second lifting platform 422 are positioned in the same vertical plane, and each second chain wheel shaft 42148 is fixedly sleeved with an eighth chain wheel 42147;

the sixth chain wheels 42145 above and below the second lifting platform 422 are sleeved with one third chain 421410 in a one-to-one correspondence manner to be meshed and connected, and each third chain 421410 is fixedly connected with two third chain connecting tension rods 42149;

the seventh chain wheel 42146 on the third rotating shaft 42142 and the seventh chain wheel 42146 on the second chain wheel shaft 42148 which are arranged at the same height are sleeved with a third chain 421410 in a one-to-one correspondence manner to be meshed and connected;

the eighth chain wheels 42147 above and below the second lifting platform 422 are sleeved with one third chain 421410 in a one-to-one correspondence manner, and each third chain 421410 is fixedly connected with two third chain connecting tension rods 42149;

the 8 third chain connecting tension rods 42149 are also respectively fixedly connected to the second lifting platform 422.

The working principle of the fourth transmission module 4214 is as follows: an output shaft of the fourth actuator 4212 rotates to drive the third driving sprocket 42143 to rotate, and then drives the third driven sprocket 42144 to rotate, so as to drive the third rotating shaft 42142 and the sixth sprocket 42145 and the seventh sprocket 42146 thereon to rotate; the sixth chain wheel 42145 drives another sixth chain wheel 42145 and a third chain (not shown) to rotate through chain wheel meshing transmission, so that the second lifting platform 422 is driven to lift by the third chain connecting with the tension rod 42149; the seventh chain wheel 42146 drives another seventh chain wheel 42146 arranged at the same height for transmission through chain wheel meshing transmission, and then drives the eighth chain wheel 42147 to rotate, so as to drive the third chain 421410 to rotate, and finally drive the third chain connecting tension rod 42149 connected with the third chain to move up and down. The second lifting platform 422 is driven by 8 third chains which are symmetrically arranged and connected with a tension rod 421410 to lift; thereby realizing stable lifting.

The third lifting mechanism 412 comprises

A drive motor 4121;

a fifth reducer 4122; an output shaft of the driving motor 4121 is connected to an input end of the fifth speed reducer 4122;

the fourth driving sprocket 4123 is fixedly sleeved on an output shaft of the fifth speed reducer 4122;

a fourth rotating shaft 4124;

the fourth driven sprocket 4125 is fixedly sleeved on the fourth rotating shaft 4214;

a fourth driving chain 4126, the fourth driving chain 4126 and the fourth driving sprocket 4123 being engaged with the fourth driven sprocket 4125;

second screw lifters 4127, each of the second screw lifters 4127 including an input end 41271, an output screw 41272, and an output nut 41273; the output screw 41272 and the output nut 41273 are connected together; the number of the second screw lifters 4127 is equal to the number of the steps 411; two ends of each step 411 are fixedly connected with the two output nuts 41273 in a one-to-one correspondence manner, the output screw 41272 penetrates through the step 411, and the output screw 4212 is vertically arranged; the input ends of the two second spiral lifters 4127 corresponding to one step 411 are fixedly connected to two ends of the fourth rotating shaft 4214 in a one-to-one correspondence manner; the input ends of two adjacent second screw lifters 4127 on the same side are connected together by a sprocket-chain transmission mechanism, and the sprocket teeth numbers of the respective sprocket-chain transmission mechanisms are the same or different.

Also comprises

A step frame 413, the step frame 413 having a step receiving cavity 4131; each of the second spiral lifters 4127 is fixedly coupled to the step frame 413; each step 411 is located in the step receiving cavity 4131;

a guide shaft 414, wherein the guide shaft 414 is fixedly connected to the step frame 413;

linear bearings 415, the number of linear bearings 415 being equal to the number of guide shafts 414; the guide shafts 414 are embedded into the inner rings of the linear bearings 415 in a one-to-one correspondence; linear bearings 415 are fixedly connected to two ends of each step 411 respectively, the guide shafts 414 penetrate through the steps 411, and the guide shafts 414 are vertically arranged.

There are 5 said steps 411, 5 said steps 411 are named from low to high in proper order: a first step 4111, a second step 4112, a third step 4113, a fourth step 4114, and a fifth step 4115;

10 of the second screw lifters 4127;

the chain wheel-chain transmission mechanism comprises two first chain wheel-chain transmission mechanisms, two second chain wheel-chain transmission mechanisms, two third chain wheel-chain transmission mechanisms and two fourth chain wheel-chain transmission mechanisms; in the embodiment shown in the drawings, the synchronous lifting steps 41 are of an axisymmetric structure, and the center line of the steps is taken as a symmetry axis.

Each of the first sprocket-chain transmission mechanisms includes a ninth sprocket 4161, a tenth sprocket 4162, and a fourth chain 4163; the number of teeth of the ninth sprocket 4161 is 12; the number of teeth of the tenth sprocket 4162 is 15;

each of the second sprocket-chain transmission mechanisms includes an eleventh sprocket 4171, a twelfth sprocket 4172, and a fifth chain 4173; the number of teeth of the eleventh chain wheel 4171 is 15; the number of teeth of the twelfth sprocket 4172 is 20;

each of the third sprocket-chain drive mechanisms includes a thirteenth sprocket 4181, a fourteenth sprocket 4182 and a sixth chain 4183; the number of teeth of the thirteenth sprocket 4181 is 10; the number of teeth of the fourteenth chain wheel 4182 is 15;

each of the fourth sprocket-chain transmission mechanisms includes a fifteenth sprocket 4191, a sixteenth sprocket 4192 and a seventh chain 4193; the number of teeth of the fifteenth chain wheel 4191 is 15; the number of teeth of the sixteenth chain wheel 4192 is 15;

wherein, two sides of each step 411 are respectively lifted by one second spiral lifter 4127;

the input ends of the two second spiral lifters 4127 for lifting the first step 4111 are fixedly connected with a sixteenth sprocket 4192 respectively;

the input ends of the two second spiral lifters 4127 for lifting the second step 4112 are fixedly connected with a fourteenth chain wheel 4182 and a fifteenth chain wheel 4191, respectively; wherein said sixteenth sprocket 4192 and fifteenth sprocket 4191, which are located at the same side, are respectively engaged with said seventh chain 4193;

the input ends of the two second spiral lifters 4127 for lifting the third step 4113 are fixedly connected to the output shaft of the fifth speed reducer 4122 in a one-to-one correspondence manner; and the input ends of the two second spiral lifters 4127 are respectively fixedly connected to a twelfth sprocket 4172 and a thirteenth sprocket 4181; wherein said fourteenth sprocket 4182 and said thirteenth sprocket 4181 on the same side are respectively engaged with said sixth chain 4183;

the input ends of the two second spiral lifters 4127 for lifting the fourth step 4114 are fixedly connected with a tenth sprocket 4162 and an eleventh sprocket 4171, respectively; wherein said twelfth sprocket 4172 and eleventh sprocket 4171 on the same side are respectively engaged with said fifth chain 4173;

the input ends of the two second spiral lifters 4127 for lifting the fifth step 4115 are fixedly connected with a ninth sprocket 4161 respectively; wherein said ninth sprocket 4161 and tenth sprocket 4162 located at the same side are engaged with one said fourth chain 4163, respectively.

The chain wheel-chain transmission mechanism of each step can adopt a transmission mode such as synchronous belt transmission or gear transmission in other embodiments. The reason why the synchronous lifting can be realized by adopting the tooth numbers is as follows:

definition of synchronous ascending and descending of each step 411: in the same time, each step 411 needs to complete lifting at the same time to reach a specified height, so that the height difference of the adjacent steps 411 is equal and equal to the preset height difference;

assuming that initially, the height difference between the adjacent steps 411 is H1, the steps 411 are lifted and lowered synchronously: in the same time, the height difference of each step 411 is consistent, so that the lifting strokes of each step 411 are different,

then, the height of the first step from the ground is H1, the height of the second step from the ground is 2H1, the height of the third step from the ground is 3H1, the height of the fourth step from the ground is 4H1, the height of the fifth step from the ground is 5H1 … …, and so on, and the height of the nth step from the ground is nH 1;

if the predetermined height difference required to be achieved by the adjacent steps 411 is H2, wherein the units of H2 and H1 are the same, for example, the units are mm.

The ground height of the first step is H2, the ground height of the second step is 2H2, the ground height of the third step is 3H2, the ground height of the fourth step is 4H2, and the ground height of the fifth step is 5H 2;

then it can be derived: the height difference is lifted from H1 to H2, the height of the first step needing to be lifted is H2-H1, the height of the second step needing to be lifted is 2H2-2H1, the height of the third step needing to be lifted is 3H2-3H1, the height of the fourth step needing to be lifted is 4H2-4H1, the height of the fifth step needing to be lifted is 5H2-5H1 … … and the like, and the height of the nth step needing to be lifted is nH2-nH 1; each step can only be synchronously lifted or synchronously lowered, so that the lifting height required by each step is positive, and the step is lifted; if negative, then descending; therefore, the height ratio of the required lifting of each step is: 1:2:3:4:5 … …: n is an equal ratio sequence;

for example: taking 5 steps as an example, assuming that the height difference of each step is 120mm,

the first step is 120mm away from the ground, the second step is 240mm away from the ground, the third step is 360mm away from the ground,

the fourth step is 480mm away from the ground, and the fifth step is 600mm away from the ground.

If the height difference is raised to 200 f,

the first step is 200mm away from the ground, the second step is 400mm away from the ground, the third step is 600mm away from the ground,

the fourth step is 800mm away from the ground, and the fifth step is 1000mm away from the ground.

Then it can be derived: the height difference is increased from 120mm to 200mm, the first step needs to be lifted by 80mm, the second step is lifted by 160mm, the third step is lifted by 240mm, the fourth step is lifted by 320mm, and the fifth step is lifted by 400 mm.

Because synchronous lifting is carried out, the time t is the same, and according to a distance formula s-vt, t and the height difference are substituted into the formula, so that the following can be obtained:

the first step speed is assumed to be x, the second step speed is 2x, the third step speed is 3x, the fourth step speed is 4x, the fifth step speed is 5x … … and the like, and the nth step speed is nx; in a specific embodiment, the speed unit of each step is mm/s; the unit of the output rotating speed of the fifth speed reducer is r/s, and the unit of the lead of the second spiral elevator 4127 is mm; in other embodiments, other units can be used, and the unit change only needs unit conversion.

Assuming that the output rotation speed of the fifth speed reducer is A, for example, the unit is r/s;

the second spiral elevator 4127 of each step has a speed ratio of B;

the second helical lift 4127 has a lead of C, for example in mm;

input-output ratio of sprocket-chain transmission: first order D1; second order D2; the third order is D3, and the fourth order is D4; the fifth order is D5; … … and so on, the nth order is Dn;

then it can be derived:

the speed x of the first step is (a/B/D1) C;

the speed of the second step 2 ═ (a/B/D2) × C;

the speed of the third step, 3x ═ (a/B/D3) × C;

the speed of the fourth step, 3x ═ C (a/B/D4);

the speed of the fifth step 4x ═ C (a/B/D5) × C

… …, and so on, the speed of the nth step is nx ═ a/B/Dn × (C).

Assuming that, in order from low to high, the fifth reducer 4122 is connected to the second spiral lifter of the third step; then, the third step is a direct connection, and D3 is 1;

by 3 sets of simultaneous equations: fig. 3x (a/B/D3) × C, … …

x＝(A/B/D1)*C，……⑵

D3＝1，……⑶

D1-3 x D3-3 can be derived;

by analogy, D2 is 1.5 × D3 is 1.5;

D4＝0.75*D3＝0.75；

D5＝0.6*D3＝0.6；

……

Dn＝3/n；

that is, the input-output ratio of each chain wheel-chain transmission must meet the above ratio, so as to ensure that each step is lifted synchronously to reach the preset height difference;

by analogy, when the fifth speed reducer 4122 is directly connected with a certain step 411, the input and output of the sprocket-chain transmission of the step 411 is 1, and then the input and output are substituted into the equation set for calculation.

From this it can be calculated:

firstly, under the condition that the speed ratio of the second spiral elevator 4127 of each step 411 is consistent:

for example, suppose a third step sprocket with 10 teeth and a second step sprocket with 15 teeth, a first step sprocket with 15 teeth and a second step sprocket with 30 teeth;

assuming that the third and fourth sprockets are used for transmission, wherein the number of the third sprocket teeth is 20, the fourth sprocket teeth is 15; the chain wheel is used for fourth-order and fifth-order transmission, wherein the number of teeth of the fourth order is 15 teeth, and the number of teeth of the fifth order is 12 teeth;

other combinations of tooth numbers are possible as long as the step speed ratios are satisfied. Not only the current number of teeth. In specific implementation, the specification of the chain wheel can be selected according to the ratio of the input-output speed ratio according to requirements.

Secondly, in the case that the speed ratio of the second screw lifters 4127 is not uniform for each step 411,

for example, assume a first step helical step up-down speed ratio of 12;

the second step spiral lifting speed ratio is 6;

the spiral ascending and descending speed ratio of the third step is 6;

the fourth step spiral lifting speed ratio is 6;

the speed ratio of the fifth step of spiral lifting is 6;

assuming a third step and a second step drive sprocket, wherein the third step sprocket uses 10 teeth, the second step uses 15 teeth; second step and first step drive sprocket, second step use 15 teeth, first step use 15 teeth;

this can result in: the speed ratio of the second spiral elevator changes, the input-output ratio of the chain wheel-chain transmission also changes, and then the spiral elevator speed ratio and the chain transmission input-output ratio are relatively combined. Synchronous rising and falling of the steps is achieved.

Also comprises

A fifth encoder 43;

an encoder support 44, on which the fifth encoder 43 is fixed; in one embodiment, the encoder support 44 may be fixed directly to the ground, or may be fixed to other supporting objects, depending on the location.

There are two second synchronous pulleys 45, in a specific implementation, the two second synchronous pulleys 45 may have different sizes, as in the implementation shown in the drawings, the two second synchronous pulleys 45 have different sizes, and one of the second synchronous pulleys 45 is fixedly sleeved on the fourth rotating shaft 4124; the other second synchronous pulley 45 is fixedly sleeved on the fifth encoder 43;

a second timing belt (not shown); the second timing belt (not shown) is fitted over the second timing pulleys 45.

In a specific embodiment, a raised platform 46 is also included; the elevated platform 46 includes a horizontal portion 461 and a ramp portion 462 connected to each other; the horizontal part 461 is disposed in front of the entrance of the synchronous lifting step 41. The elevated platform 46 can be set according to the arrangement site, and the elevated platform 46 can be set optionally according to different sites, or the elevated platform 46 is not set.

Example two: the special operation robot climbs the testing arrangement 4 of step performance and other test equipment combination uses, as follows:

the invention discloses an integrated performance test system of a special operation robot, which comprises

The climbing slope testing device 1 comprises an inclined plate 11 and a slope regulating device 12; the gradient adjustment device 12 includes a first elevation mechanism 121 and a first elevation platform 122; the first lifting platform 122 is connected to the output end of the first lifting mechanism 121, so that the first lifting mechanism 121 drives the first lifting platform 122 to lift; the end of the inclined plate 11 is movably connected with the front end of the first lifting platform 122, and in specific implementation, the inclined plate 11 and the first lifting platform 122 can be connected by means of hinges, bearings, shafts, bolts and the like; for example, the structure in the embodiment shown in the drawings can be adopted, the two are connected through a rotating shaft, as shown in fig. 6 to 9, a connecting block 111 is arranged at the upper end of the inclined plate 11, and a shaft hole is formed in the connecting block 111; a connecting plate 1221 is arranged at the front end of the first lifting platform 122, and a shaft hole is also formed in the connecting plate 1221; two connecting plates 1221 are arranged on two sides of each connecting block 111, a rotating shaft 123 is embedded into shaft holes of the two connecting blocks, and the rotating shaft 123 is in clearance fit with the shaft holes; spring buckles 124 are arranged at two ends of the rotating shaft to limit two ends of the rotating shaft 123, so that the inclined plate 11 is movably connected with the first lifting platform 122; the inclined plate 11 is movably connected with the first lifting platform 122, so that the height of the first lifting platform 122 can be adjusted through the first lifting mechanism 121, the included angle between the inclined plate 11 and the first lifting platform 122 is adjusted, and finally the gradient of the inclined plate 11 is adjusted, so that the requirements of climbing tests with different gradients are met;

a specific climbing test mode is as follows: a control program is preset, the controller 5 controls the first lifting mechanism 121 to drive the first lifting platform 122 to lift, the first lifting platform 122 is adjusted to a corresponding height, the inclined plate 11 is adjusted to a required gradient, and then a tester operates the special work robot to enable the bottom end of the inclined plate 11 to climb upwards to see whether the special work robot can climb up the first lifting platform 122;

the semi-slope starting test can also be carried out, the special operation robot is controlled to climb onto the inclined plate 11, then the special operation robot is stopped, then the special operation robot is controlled to restart, the climbing is carried out, and whether the special operation robot can climb onto the first lifting platform 122 or not is judged;

after the slope test is completed, the height of the first lifting platform 122 can be adjusted, and the inclined plate is adjusted to another test slope for retesting.

The crossing roadblock testing device 2 comprises a roadblock 21 and a lifting device 22, wherein the lifting device 22 is arranged behind the first lifting platform 122; the roadblock 21 is connected to the output end of the lifting device 22, so that the lifting device 22 drives the roadblock 21 to lift; the barricade 21 can be designed into various structures according to requirements, and in the embodiment shown in fig. 16, the barricade 21 is a cross bar. In one embodiment, the lifting device 22 may be mounted on the ground, a support, or in the embodiment shown, the lifting device 22 may be fixed to a third support frame of the horizontal moving platform 312.

The lifting device 22 drives the roadblock 21 to lift, so that the test requirements of roadblocks with different heights are met.

The specific way of crossing the roadblock is as follows:

firstly, the controller 5 controls the first lifting mechanism 121 to adjust the height of the first lifting platform 122 to be equal to the height of the horizontal moving platform 312;

then, the controller 5 controls the driving device 311 to move the horizontal moving platform 312 and the lifting device 22 together to the foremost end, which is adjacent to the first lifting platform 122;

then, the controller 5 controls the lifting device 22 to drive the roadblock 21 to lift to a preset height;

finally, the tester operates the special working robot to move from the first lifting platform 122 to the barricade 21 and the horizontal moving platform 312 to see whether the special working robot can pass over the barricade 21. After testing, the barricade 21 may be lowered by the controller 5 to be flush with the horizontal moving platform 312 or below the horizontal moving platform 312, as required.

The ditch-width-crossing testing device 3 comprises a width adjusting device 31; the width adjusting device 31 comprises a driving device 311 and a horizontal moving platform 312; the output end of the driving device 311 is connected to the horizontal moving platform 312, so that the driving device 311 drives the horizontal moving platform 312 to move, and further the distance between the horizontal moving platform 312 and the second lifting platform is adjusted, that is, the trench width; the horizontal moving platform 312 is arranged behind the lifting device 22;

the specific test mode is as follows: firstly, a controller 5 controls a second lifting mechanism to adjust the height of the second lifting platform to be equal to the height of the horizontal moving platform 312;

then, the driving device 311 is controlled by the controller 5 to drive the horizontal moving platform 312 to move, and the distance between the horizontal moving platform 312 and the second lifting platform is adjusted to a predetermined value, that is, a predetermined trench width;

then, the tester operates the special operation robot to move from the horizontal moving platform 312 to the second lifting platform, and determines whether the characteristic operation robot can move to the second lifting platform.

The special operation robot climbs the testing device 4 of the step performance, including synchronous lifting step 41 and synchronous lifting supporting platform 42; the synchronous lifting support platform 42 comprises a second lifting mechanism 421 and a second lifting platform 422, an output end of the second lifting mechanism 421 is connected to the second lifting platform 422, so that the second lifting mechanism 421 drives the second lifting platform 422 to lift, and the second lifting platform 422 is arranged behind the horizontal moving platform 312 at intervals; the synchronous lifting step 41 comprises a plurality of steps 411 and a third lifting mechanism 412; the third lifting mechanism 412 drives a plurality of the steps 411 to lift synchronously; a plurality of steps 411 are arranged behind the second lifting platform 422; each step 411 is lifted synchronously, and after the synchronous lifting is finished, the height difference of the adjacent steps is equal, so that the test requirements of different height differences of the adjacent steps are met.

The second lifting platform 422 is used as a parking platform after climbing steps, and can also be used as the last step, so that one step can be saved, and at the moment, the height difference between the second lifting platform 422 and the highest step 411 is kept equal to the height difference between the rest adjacent steps.

when the step is descended:

When going upstairs:

The controller 5 is in communication connection with the first lifting mechanism 121, the lifting device 22, the driving device 311, the second lifting mechanism 421 and the third lifting mechanism 412, respectively, and is controlled by the controller. In a specific embodiment, the controller may adopt a PLC, for example, the model of the PLC is: siemens 6ES7215-1AG40-0XB 0.

In a specific embodiment, the first lifting mechanism 121 comprises

A first support 1211;

a first actuator 1212, an output end of the first actuator 1212 is connected to the first lifting platform 122; the first actuator 1212 is communicatively coupled to the controller 5; the controller 5 controls the first actuator 1212 to operate to drive the first lifting platform 122 to lift.

A first sliding group 1213, said first sliding group 1213 being slidably connected to said first support 1211; the first lifting platform 122 is fixedly connected to the first sliding group 1213. The first sliding group 1213 guides the lifting of the first lifting platform 122, so as to improve the accuracy of the lifting direction. In a specific embodiment, as shown in fig. 8 to 13, the first sliding group 1213 includes a wheel seat 12131, and a roller 12132 is disposed in the wheel seat 12131; elliptical holes 12133 are formed on two sides of the wheel seat 12131; four sides of the first lifting platform 122 are provided with a fixing frame 1222, the bottom surface of the fixing frame 1222 is provided with an adjusting through hole 12221, the fixing frame 1222 is provided with a supporting plate 12222, and the supporting plate 12222 is provided with an adjusting screw hole 122221. The wheel seat 12131 is fastened by a nut after passing through the elliptical hole 12133 and the adjusting through hole 12221 by a bolt, and the roller 12132 is attached to the inner side of the first support 1211 and is fastened into the adjusting screw hole 122221 by a screw to abut against the wheel seat 12131, thereby further ensuring the attachment of the roller 12132 to the inner side of the first support 1211. The elliptical holes 12133 allow the position of the roller 12132 to be adjusted to fit the inner surface of the first support 1211 more closely, thereby reducing the unevenness of the surface of the first support 1211, which may cause the roller 12131 to separate from the inner surface of the first support 1211;

in a specific embodiment, the first lifting mechanism 121 further includes a first transmission module 1214; an output of the first actuator 1212 is coupled to the first transmission module 1214; the first transmission module 1214 is also connected to the first elevating platform 122. The driving force of the first actuator 1212 is transmitted to the first elevating platform 122 through the first transmission module 1214.

In a specific embodiment, the first lifting mechanism 121 further comprises a first encoder 1215, and the first encoder 1215 is communicatively connected to the controller 5; the controller 5 controls the first actuator 1212 to operate according to a predetermined program, the first encoder 1215 counts the number of rotations of the first rotating shaft 12142, the first encoder 1215 sends pulse data to the controller 5, and the controller 5 adjusts the number of rotations of the output shaft of the first actuator 1212 according to the received pulse data, i.e., the number of rotations of the first rotating shaft 12142, so that the number of rotations of the first rotating shaft 12142 reaches a predetermined value, thereby adjusting the first lifting platform 122 to a predetermined height, and finally adjusting the swash plate 11 to a predetermined gradient.

The first actuator 1212 is a motor;

the first transmission module 1214 includes a first speed reducer 12141, a first rotating shaft 12142, a first driving sprocket 12143, a first driven sprocket 12144, a first sprocket 12145, a second sprocket 12146, a third sprocket 12147, a first sprocket shaft 12148, a first chain connecting tension rod 12149, a first driving power chain (not shown), and a first chain 121410;

4 first chain wheels 12145, 4 second chain wheels 12146 and 4 third chain wheels 12147 are arranged respectively; the first chain wheel 12145, the second chain wheel 12146 and the third chain wheel 12147 have equal size and tooth number;

6 of the first chains 121410; there are 6 first sprocket shafts 12148;

8 first chain connecting tension rods 12149;

the output shaft of the first actuating element 1212 is fixedly connected to the input end of the first speed reducer 12141; the first driving chain wheel 12143 is fixedly sleeved on the output shaft of the first speed reducer 12141; in a specific embodiment, the first driving sprocket 12143 and the first driven sprocket 12144 can be double-row sprockets; of course in other embodiments, a single row of sprockets could be used;

the first driven sprocket 12144, the two first sprockets 12145 and the two second sprockets 12146 are all fixedly sleeved on the first rotating shaft 12142; the first shaft 12142 is rotatably connected to the first support 1211, and the first encoder 1215 is connected to the first shaft 12142; in one embodiment, the first sprocket 12145 and the second sprocket 12146 can be single row sprockets or both can be replaced by double row sprockets, which is shown in the figures. In a specific implementation, the first sprocket 12145, the second sprocket 12146 and the first driven sprocket 12144 are respectively connected to the first rotating shaft 12142 by a key, wherein two of the first sprocket 12145 and the second sprocket 12146 are combined and arranged symmetrically; bearings are sleeved on two ends of the first rotating shaft 12144 respectively and are mounted in bearing seats, and the bearing seats are locked on the side surfaces of the first support 1211 through screws; the first encoder 1215 is mounted on a side of the first support 1211 through a bracket, and a rotation output end of the first encoder 1215 is fixedly coupled to the first rotation shaft 12142 through a reed coupling.

The first driving sprocket 12143 and the first driven sprocket 12144 are respectively engaged with the first driving power chain (not shown);

6 first sprocket shafts 12148 are rotatably connected to the first support frame 1211, in a specific embodiment, as shown in fig. 12 and 15, both ends of each first sprocket shaft 1211 are embedded into through holes of a support riser, the support riser is fixedly connected to the first support frame 1211, the first sprocket shafts 12148 and the through holes are in clearance fit, driven wheel pads are fixedly connected to both end surfaces of the first sprocket shafts 12148, so that the first sprocket shafts 12148 are prevented from falling off the through holes, and each first sprocket shaft 12148 is parallel to the first rotating shaft 12142;

the two first chain wheel shafts 12148 and the first rotating shaft 12142 are arranged at the same height and are located below the first lifting platform 122, and each first chain wheel shaft 12148 is fixedly provided with a second chain wheel 12146 and a third chain wheel 12147;

four other first sprocket shafts 12148 are arranged at the same height as a rectangle on the top of the first support 1211 above the first elevation platform 122;

two of the first sprocket shafts 12148 on the top of the first support 1211 and the first rotating shaft 12144 are located in the same vertical plane, and each of the first sprocket shafts 12148 is fixedly sleeved with one of the first sprockets 12145;

the other two first chain wheel shafts 12145 on the top of the first support frame 1211 and the two first chain wheel shafts 12148 below the first lifting platform 122 are located in the same vertical plane, and each first chain wheel shaft 12148 is fixedly sleeved with a third chain wheel 12147;

the first chain wheels 12145 above and below the first lifting platform 122 are engaged with one first chain 12140 in a one-to-one correspondence, and each first chain 121410 is fixedly connected with two first chain connecting tension rods 12149;

the second chain wheel 12146 on the first rotating shaft 12142 and the second chain wheel 12146 on the first chain wheel shaft 12148 which are arranged at the same height are meshed with the first chain 121410 in a one-to-one correspondence manner;

the third chain wheels 12147 above and below the first lifting platform 122 are engaged with one first chain 121410 in a one-to-one correspondence, and each first chain 121410 is fixedly connected with two first chain connecting tension rods 12149;

the 8 first chain connecting tension rods 12149 are also respectively fixedly connected to the first lifting platform 122.

The operating principle of the first transmission module 1214 is as follows: the output shaft of the first actuator 1211 rotates to drive the first driving sprocket 12143 to rotate, and then drives the first driven sprocket 12144 to rotate, thereby driving the first rotating shaft 12142 and the first sprocket 12145 and the second sprocket 12146 thereon to rotate; the first chain wheel 12145 drives another first chain wheel 12145 and a vertically arranged first chain 121410 to rotate through chain wheel meshing transmission, so that the first lifting platform 122 is driven to lift by the first chain connecting with the tension rod 12149; the second chain wheel 12146 drives another second chain wheel 12146 arranged at the same height for transmission through chain wheel meshing transmission, and then drives the third chain wheel 12147 for rotation, thereby driving the vertically arranged first chain 121410 to rotate, and finally driving the first chain connecting tension rod 12149 connected with the first chain connecting tension rod to move up and down. The first lifting platform 122 is driven by 8 first chains which are symmetrically arranged and connected with a tension rod 12149 to lift; thereby realizing stable lifting.

In a specific embodiment, the front end bottom surface of the sloping plate 11 is further provided with wheels 112, and the rotation axes of the wheels 112 are horizontally arranged in the left-right direction. The wheels 112 are provided to facilitate movement of the swash plate 11 and reduce friction. As shown in fig. 6, in a specific embodiment, a hanging ring may be further disposed on the inclined plate, so as to facilitate hoisting the inclined plate 11 during assembly.

In a specific embodiment, the lifting device 22 comprises

A second support frame 221;

the second actuator 222, the second actuator 222 is fixedly connected to the second supporting frame 221; the output end of the second actuator 222 is connected to the barrier 21; the second actuator 222 is also communicatively coupled to the controller 5. The controller 5 controls the second actuator 222 to operate, so as to drive the roadblock 21 to ascend and descend.

In a specific embodiment, the lifting device 22 further comprises a second transmission module 223; the second actuator 222 is connected to the second transmission module 223, and the second transmission module 223 is also connected to the barrier 21. The second actuator 222 operates to drive the second transmission module 223 to move, so as to drive the roadblock 21 to ascend and descend.

In a specific embodiment, the second transmission module 223 comprises

A second speed reducer 2231, the second speed reducer 2231 being a dual output shaft; the input end of the second speed reducer 2231 is fixedly connected to the output end of the second actuator 222;

two first screw lifters 2232, the first screw lifters 2232; output shafts of the second speed reducers 2231 are fixedly connected to the input ends of the first spiral lifters 2232 in a one-to-one correspondence manner; the output ends of the two first spiral lifters 2232 are respectively and fixedly connected to the roadblock 21;

two first synchronous pulleys 2233 are provided, the two first synchronous pulleys 2233 may have different sizes, and one of the first synchronous pulleys 2233 is fixedly sleeved on an output shaft of the second reducer 2231;

a second encoder 2234, another first synchronous pulley 2233 is fixedly connected to the second encoder 2234; the second encoder 2234 is communicatively connected to the controller 5; the second encoder 5 is also rotatably connected to the second support frame 221;

a first synchronous belt (not shown) which is sleeved on the two first synchronous pulleys 2233;

wherein the second actuator 222 is a motor.

The working principle is as follows: an output shaft of the second actuator 22 rotates to drive the second speed reducer 2231 to operate, so that the output shaft of the second speed reducer 2231 drives the first spiral elevator 2232 to operate, and the output shaft of the first spiral elevator 2232 moves up and down to finally drive the roadblock 21 to ascend and descend. The second encoder 2234 detects the number of rotations of the output shaft of the second speed reducer 2231 through pulse counting, and the second encoder 2234 feeds back the number of rotations of the output shaft of the second speed reducer 2231 to the controller 5 through a pulse signal, and the controller 5 sends a signal to the second actuator 222 according to the received pulse data, and adjusts the rotation speed of the second actuator 222, so as to finally achieve the adjustment of the number of rotations of the second speed reducer 2231 to a predetermined requirement, thereby adjusting the height of the roadblock 21 to be lifted.

In a specific embodiment, the lifting device 22 further comprises

Two guide rods 224, the top ends of the two guide rods 224 are fixedly connected to the roadblock 21; the guide rod 224 guides the lifting of the roadblock 21, so that the movement precision is improved.

Two linear bearings 225 are provided, and the two linear bearings 225 are fixedly connected to the second support frame 221; the guide rods 224 are also embedded in the linear bearings 225 in a one-to-one correspondence.

In an implementation, the lifting device 22 can be separately erected on the ground or other supports; in the embodiment shown in the figure, the second support frame 221 of the lifting device 22 is fixedly connected to the third support frame 313.

In a specific embodiment, the width adjusting device 31 further comprises

A third support frame 313; the horizontal moving platform 312 is fixedly connected to the top of the third supporting frame 313;

two light rails 314 are arranged, and the two light rails 314 are laid in parallel along the front-back direction;

at least four rail wheels 315, wherein the number of the rail wheels 315 is even; the track wheels 315 are symmetrically arranged and rotatably connected to the third support frame 313; each of the rail wheels 315 is also rollingly connected to the light rail 314.

The light rail 314 and the rail wheel 315 guide the horizontal movement of the third support frame 313, so as to ensure the movement precision.

In a specific embodiment, the driving device 311 includes a third actuator 3111, and an output end of the third actuator 3111 is connected to the third supporting frame 313. The third actuator 3111 drives the third support 313 to move horizontally.

In a specific embodiment, the driving device 311 further includes a third transmission module 3112, and an output end of the third actuator 3111 is connected to the third transmission module 3112; the third transmission module 3112 is connected to the third support frame 313. The third actuator 3111 drives the third transmission module 3112 to move, and then drives the third support frame 313 to move horizontally.

In a specific embodiment, the third actuator 3111 is a motor;

the driving device 311 further includes a third encoder 3113; the third encoder 3113 is also communicatively connected to the controller 5;

the third transmission module 3112 includes a third speed reducer 31121, a second driving sprocket 31122, a second driven sprocket 31123, a second shaft 31124, a shaft fixing seat 31125, a fourth sprocket 31126, a fifth sprocket 31127, a second chain connecting tension rod 31128, a second chain 31129, a second driving chain (not shown) and a sprocket fixing seat 311210;

the fourth sprocket 31126 and the fifth sprocket 31127 are respectively equal in size and number of teeth;

two fourth sprockets 31126;

two fifth sprockets 31127;

there are 4 of the second chain connecting tension bars 31128;

two of the second chains 31129;

two sprocket fixing seats 311210 are provided; each chain wheel fixing seat 311210 is provided with a rotating shaft 311211;

an output shaft of the third actuator 3111 is fixedly connected to an input end of the third reducer 31121;

the output shaft of the third speed reducer 31121 is fixedly sleeved with the second driving sprocket 31122;

the second shaft 31124 is fixedly sleeved with the second driven sprocket 31123 and the fourth sprocket 31126; both ends of the second shaft 31124 are respectively rotatably connected with a shaft fixing seat 31125; the third encoder 3113 is connected to the second shaft 31124;

the fifth chain wheels 31127 are fixedly sleeved on the rotating shafts 311211 in a one-to-one correspondence manner; the fourth sprocket 31126 and the fifth sprocket 31127 are arranged at the same height, and the two fourth sprockets 31126 and the two fifth sprockets 31127 are arranged in a rectangular shape;

each of the second chains 31129 is respectively fitted over one of the fourth sprockets 31126 and the fifth sprocket 31127;

every second chain 31129 fixedly connected with two second chain connect the tensioning rod 31128, and 4 the second chain connect the tensioning rod 31128 still respectively fixed connection in third support frame 313.

In one embodiment, the sprocket mounting 311210 can be mounted on the bottom surface, but can be mounted on other supports.

The working principle is as follows: controller 5 controls third executor 3111 work, the output shaft of third executor 3111 is rotatory, and drive third speed reducer 31121 work, drives second drive sprocket 31122 is rotatory, then drives from the second movable chain wheel 31123, second pivot 31124, fourth sprocket 31126 are rotatory, thereby drive second chain 31129 motion finally drives second chain and connects tension bar 31128 horizontal migration, thereby realizes driving horizontal migration platform 312 carries out horizontal migration, thereby adjusts interval between horizontal migration platform 312 and the second lift platform 422, simulation ditch width promptly.

In a specific embodiment, the second lifting mechanism 421 includes

A fourth support 4211;

a fourth actuator 4212, an output end of the fourth actuator 4212 is connected to the second lifting platform 422; the fourth actuator is communicatively coupled to the controller;

In a specific embodiment, the second lifting mechanism 421 further includes a fourth transmission module 4214; the output end of the fourth actuator 4212 is connected to the fourth transmission module 4214; the fourth transmission module 4214 is also connected to the second lifting platform 422. The fourth actuator 4212 drives the fourth transmission module 4214, so as to drive the second lifting platform to perform lifting movement.

In a specific embodiment, the second lifting mechanism 421 further includes a fourth encoder 4215, and the fourth encoder 4215 is communicatively connected to the controller 5;

the fourth actuator 4212 is a motor;

6 third chains 421410;

6 second chain wheel shafts 42148;

the number of the third chain connecting tension rods 42149 is 8;

In a specific embodiment, the third lifting mechanism 412 comprises

A drive motor 4121; the driving motor 4121 is communicatively connected to the controller 5;

a fourth rotating shaft 4124;

In a specific embodiment, the method further comprises

In a specific embodiment, there are 5 steps 411, and the 5 steps 411 are named sequentially from low to high: a first step 4111, a second step 4112, a third step 4113, a fourth step 4114, and a fifth step 4115;

10 of the second screw lifters 4127;

In a specific embodiment, the method further comprises

A fifth encoder 43; the fifth encoder 43 is also communicatively connected to the controller 5;

Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.

Claims

1. The utility model provides a special type work robot climbs testing arrangement of step performance which characterized in that: comprises a synchronous lifting step and a synchronous lifting supporting platform;

2. The special work robot of claim 1, wherein the testing device for the step climbing performance is characterized in that: the second lifting mechanism comprises

A fourth support frame;

3. The special work robot of claim 2, wherein the testing device for the step climbing performance is characterized in that: the second lifting mechanism further comprises a fourth transmission module; the output end of the fourth execution element is connected to the fourth transmission module; the fourth transmission module is further connected to the second lifting platform.

4. The special work robot of claim 3, wherein the testing device for the step climbing performance is characterized in that: the second lifting mechanism further comprises a fourth encoder;

the fourth executing element is a motor;

6 third chains are arranged;

6 second chain wheel shafts are arranged;

the number of the third chain connecting tension rods is 8;

5. The special work robot of claim 1 or 2, wherein the test device for the step climbing performance of the special work robot comprises: the third lifting mechanism comprises

A drive motor;

a fourth rotating shaft;

the fourth driven chain wheel is fixedly sleeved on the fourth rotating shaft;

6. The special work robot of claim 5, wherein the testing device for the step climbing performance is characterized in that: also comprises

the guide shaft is fixedly connected to the step frame;

7. The special work robot of claim 6, wherein the testing device for the step climbing performance is characterized in that: the number of the steps is 5, and the 5 steps are named from low to high in sequence: a first step, a second step, a third step, a fourth step and a fifth step;

10 second spiral lifters are provided;

8. The special work robot of claim 7, wherein the testing device for the step climbing performance is characterized in that: also comprises

A fifth encoder;

the fifth encoder is fixed on the encoder support;

9. The special work robot of claim 1, wherein the testing device for the step climbing performance is characterized in that: also comprises a heightening platform; the heightening platform comprises a horizontal part and a slope part which are connected with each other; the horizontal part is arranged in front of the inlet of the synchronous lifting step.