CN112428302B - Synchronous lifting method for steps - Google Patents

Abstract

The invention provides a step synchronous lifting method, which comprises the following steps of S1, controlling a third lifting mechanism to work, wherein the third lifting mechanism drives each step to synchronously lift; s2, receiving the real-time output quantity of the third lifting mechanism fed back by the detection device; and step S3, adjusting the output quantity of the third lifting mechanism to a preset output quantity according to the received real-time output quantity of the third lifting mechanism, so that each step is lifted to a preset position synchronously. And each step is controlled to synchronously lift, so that the third lifting mechanism drives the elevator, and the hardware cost is reduced. When each step is lifted to a preset position synchronously, the height difference of the adjacent steps reaches a preset value, and the height differences of the adjacent steps are equal.

Description

Synchronous lifting method for steps

Technical Field

The invention relates to the technical field of special operation robot testing, in particular to a method for synchronously lifting steps.

Background

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

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

When the special operation robot is subjected to step climbing performance test, the height difference of the adjacent steps needs to be changed, and if each step adopts a lifting mechanism independently, the steps are driven to lift, so that the hardware cost is high.

Disclosure of Invention

The invention aims to solve the technical problem of providing a method for synchronously lifting steps, which can realize synchronous lifting of each step by adopting one drive, and adjust the height difference of adjacent steps to a preset value, thereby reducing the hardware cost.

The invention is realized in the following way: a method for synchronously lifting steps comprises

S1, controlling a third lifting mechanism to work, wherein the third lifting mechanism drives each step to synchronously lift;

S2, receiving the real-time output quantity of the third lifting mechanism fed back by the detection device;

And step S3, adjusting the output quantity of the third lifting mechanism to a preset output quantity according to the received real-time output quantity of the third lifting mechanism, so that each step is lifted to a preset position synchronously.

Further, the step S1 is further: the third lifting mechanism is controlled to work, the driving motor of the third lifting mechanism drives the fifth speed reducer, the fifth speed reducer drives the second spiral lifter of one of the steps to lift, and the second spiral lifters of the steps are connected through the transmission mechanism to realize linkage, so that the steps are lifted synchronously.

Further, the transmission mechanism is a sprocket chain transmission;

In the step S1, definition of synchronous lifting of each step: in the same time, each step is lifted to reach a designated height at the same time, so that the height difference of the adjacent steps is equal to and equal to a preset height difference; the principle of synchronous lifting is as follows:

Assume that, initially, the height difference between adjacent steps is H1,

Then the first step is lifted to the ground with the height of H1, the second step is lifted to the ground with the height of 2H1, the third step is lifted to the ground with the height of 3H1, the fourth step is lifted to the ground with the height of 4H1, the fifth step is lifted to the ground with the height of 5H1 … …, and so on, the nth step is lifted to the ground with the height of nH1;

If the preset height difference to be achieved by the adjacent steps is H2, wherein the units of H2 and H1 are the same;

the first step is lifted to the ground with the height of H2, the second step is lifted to the ground with the height of 2H2, the third step is lifted to the ground with the height of 3H2, the fourth step is lifted to the ground with the height of 4H2, the fifth step is lifted to the ground with the height of 5H2 … …, and so on, and the nth step is lifted to the ground with the height of nH2;

It can be derived that: the height difference is lifted from H1 to H2, the height of the first step to be lifted is H2-H1, the height of the second step to be lifted is 2H2-2H1, the height of the third step to be lifted is 3H2-3H1, the height of the fourth step to be lifted is 4H2-4H1, the height of the fifth step to be lifted is 5H2-5H1 … …, and so on, and the height of the nth step to be lifted is nH2-nH1; the steps can only synchronously rise or synchronously fall, so that if the height of each step required to rise or fall is positive, the step is indicated to rise; if negative, the value is decreased; therefore, the height ratio of the required lifting of each step can be obtained as follows: 1:2:3:4:5 … …: n is an arithmetic progression;

since the rise and fall are synchronous, the time t is the same, and according to the path formula s=vt, it can be derived that:

The first step speed is assumed to be x, the second step speed is assumed to be 2x, the third step speed is assumed to be 3x, the fourth step speed is assumed to be 4x, the fifth step speed is assumed to be 5x … … and so on, and the nth step speed is assumed to be nx;

assuming that the output rotation speed of the fifth speed reducer is A;

The second spiral elevator speed ratio of each step is B;

The lead of the second spiral lifter is C;

Sprocket chain drive input/output ratio: the first order is D1; the second order is D2; the third order is D3, and the fourth order is D4; the fifth order is D5 … … and so on, and the nth order is Dn;

Then the velocity formula for each step can be derived:

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

the speed of the second step 2x= ((a/B)/D2) C;

the speed of the third step 3 x= ((a/B)/D3) C;

the speed of the fourth step 4 x= ((a/B)/D4) C;

the speed of the fifth step 5 x= ((a/B)/D5) C;

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

Further, it is assumed that the fifth speed reducer is connected to the second screw lifter of the third step in order from low to high; then, the third step is direct connection, d3=1;

through 3 simultaneous equations: 3 x= ((a/B)/D3) C, … … ⑴

x=((A/B)/D1)*C，……⑵

D3=1，……⑶

D1=3×d3=3 can be derived;

from this, d2=1.5×d3=1.5;

D4=0.75*D3=0.75；

D5=0.6*D3=0.6；

……

Dn=3/n

The input-output ratio of the chain transmission of each chain wheel is required to be in accordance with the ratio, so that each step is ensured to synchronously lift and reach a preset height difference;

and similarly, when the fifth speed reducer is directly connected with a certain step, the input and output of the chain wheel and chain transmission of the step are 1, and then the input and output are substituted into an equation set to calculate.

Further, in the step S3, the way to adjust the output of the third lifting mechanism to the predetermined output is: and comparing the received real-time output quantity of the third lifting mechanism with a preset output quantity, and controlling the third lifting mechanism to stop working when the real-time output quantity and the preset output quantity are equal.

The invention has the following advantages: the step synchronous lifting method comprises the following steps of S1, controlling a third lifting mechanism to work, wherein the third lifting mechanism drives each step to synchronously lift; s2, receiving the real-time output quantity of the third lifting mechanism fed back by the detection device; and step S3, adjusting the output quantity of the third lifting mechanism to a preset output quantity according to the received real-time output quantity of the third lifting mechanism, so that each step is lifted to a preset position synchronously. And each step is controlled to synchronously lift, so that the third lifting mechanism drives the elevator, and the hardware cost is reduced. When each step is lifted to a preset position synchronously, the height difference of the adjacent steps reaches a preset value, and the height differences of the adjacent steps are equal.

Drawings

The invention will be further described with reference to examples of embodiments 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 a test system according to 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 ramp testing 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 lifting mechanism according to the present invention.

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

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

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

Fig. 14 is a perspective view of the first lifting mechanism of the present invention with the first lifting platform hidden.

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

Fig. 16 and 17 are perspective views of a barrier-crossing test apparatus according to the present invention.

Fig. 18 is a perspective view of the attachment of the obstacle crossing test unit to a horizontal mobile platform in accordance with the present invention.

Fig. 19 is a perspective view of a channel width over test apparatus according to the present invention.

Fig. 20 is an enlarged partial schematic view of C in fig. 19.

Fig. 21 and 22 are perspective views of a channel width crossing test device according to the present invention.

Fig. 23 and 24 are perspective views of the over-the-groove width testing device and the second lifting mechanism according to the present invention.

Fig. 25 is a perspective view of a step-up testing apparatus according to the present invention.

Fig. 26 is an exploded view of the raised 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 D-D sectional view of fig. 29.

Fig. 31 is a perspective view of a sprocket and chain drive mechanism according to the present invention.

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

Fig. 33 is a perspective view of the second lift mechanism of the present invention with the second lift platform hidden.

Fig. 34 is a flow chart of a method according to the present invention.

Reference numerals illustrate:

the climbing slope testing device 1, the sloping plate 11, the connecting block 111, the wheels 112,

The gradient adjusting device 12, the first lifting mechanism 121, the first support frame 1211, the first actuator 1212, the first slide group 1213, the wheel mount 12131, the roller 12132, the elliptical hole 12133, the first transmission module 1214, the first speed reducer 12141, the first rotation shaft 12142, the first driving sprocket 12143, the first driven sprocket 12144, the first sprocket 12145, the second sprocket 12146, the third sprocket 12147, the first sprocket shaft 12148, the first chain connection tension rod 12149, the first chain 121410, the first encoder 1215,

The first elevating platform 122, the connection plate 1221, the fixing frame 1222, the adjusting through hole 12221, the support plate 12222, the adjusting screw 122221, the rotation shaft 123, the spring buckle 124,

A crossing barrier test device 2, a barrier 21, a lifting device 22, a second support frame 221, a second actuator 222, a second transmission module 223, a second speed reducer 2231, a first screw lifter 2232, a first synchronous pulley 2233, a second encoder 2234, a guide rod 224, a linear bearing 225,

The crossing ditch width testing apparatus 3, the width adjusting apparatus 31, the third elevating mechanism 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 base 31125, the fourth sprocket 31126, the fifth sprocket 31127, the second chain connecting tension rod 31128, the second chain 31129, the sprocket fixing base 311210, the third encoder 3113, the horizontal moving platform 312, the third support frame 313, the light rail 314, the rail wheel 315,

The step-climbing test device 4, the synchronous lifting step 41, the step 411, the first step 4111, the second step 4112, the third step 4113, the fourth step 4114, the fifth step 4115, the third lifting mechanism 412, the driving motor 4121, the fifth speed reducer 4122, the fourth driving sprocket 4123, the fourth rotating shaft 4124, the fourth driven sprocket 4125, the fourth main power chain 4126, the second spiral lifter 4127, the input end 41271, the output lead screw 41272, the output nut 41273, the step frame 413, the step accommodating cavity 4131, the guide shaft 414, the linear bearing 415, the ninth sprocket 4161, the tenth sprocket 4162, the fourth chain 4163, the eleventh sprocket 4171, the twelfth sprocket 4172, the fifth chain 4173, the thirteenth sprocket 4181, the fourteenth sprocket 4182, the sixth chain 4183, the fifteenth sprocket 4191, the sixteenth sprocket 4192, the 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 shaft 42148, the third chain connection tension rod 42149, the third chain 421410, the fourth encoder 4215, the second lifting platform 422,

Fifth encoder 43, encoder support 44, second synchronous pulley 45, elevating platform 46, horizontal portion 461, slope portion 462;

and a controller 5.

Detailed Description

The inventive concept of the present invention is as follows:

By controlling each step 411 to synchronously lift, the third lifting mechanism 412 drives the device, thereby reducing hardware cost. And when each step 411 is lifted to a predetermined position in synchronization, the height difference between the adjacent steps 411 reaches a predetermined value, and the height differences between the adjacent steps 411 are equal.

Please refer to fig. 1 to 34.

A method for synchronously lifting steps comprises

Step S1, controlling a third lifting mechanism 412 to work, wherein the third lifting mechanism 412 drives each step 411 to synchronously lift;

s2, receiving the real-time output quantity of the third lifting mechanism fed back by the detection device; in the following embodiment, the detecting device is a fifth encoder 43

Step S3, according to the received real-time output quantity of the third lifting mechanism 412, the output quantity of the third lifting mechanism 412 is adjusted to a preset output quantity, so that each step 411 is synchronously lifted to a preset position.

By controlling the steps 411 to synchronously lift, the third lifting mechanism 412 drives, and only one driving motor 4121 is needed, so that the hardware cost is reduced. And when each step 411 is lifted to a predetermined position in synchronization, the height difference between the adjacent steps 411 reaches a predetermined value, and the height differences between the adjacent steps 411 are equal.

The step S1 is further: the third lifting mechanism 412 is controlled to work, the driving motor 4121 of the third lifting mechanism 412 drives the fifth speed reducer 4122, the fifth speed reducer 4122 drives the second spiral lifter 4127 of one of the steps 411 to lift, and the second spiral lifters 4127 of each step 411 are connected through a transmission mechanism to realize linkage, so that each step is lifted synchronously.

The transmission mechanism is a sprocket chain transmission; of course, in other embodiments, the transmission mechanism can also adopt a synchronous belt transmission mode, a gear transmission mode or the like.

In the step S1, definition of synchronous lifting of each step 411: in the same time, each step 411 is lifted up and down to a designated height at the same time, so that the height difference of the adjacent steps 411 is equal and equal to a predetermined height difference; the principle of synchronous lifting is as follows:

Assuming that the height difference between the adjacent steps 411 is H1 initially, the steps 411 are lifted up and down 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 first step is lifted to the ground with the height of H1, the second step is lifted to the ground with the height of 2H1, the third step is lifted to the ground with the height of 3H1, the fourth step is lifted to the ground with the height of 4H1, the fifth step is lifted to the ground with the height of 5H1 … …, and so on, the nth step is lifted to the ground with the height of nH1;

If the predetermined height difference to be reached by the adjacent step 411 is H2, the units of H2 and H1 are the same, for example, in mm.

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

It can be derived that: the height difference is lifted from H1 to H2, the height of the first step to be lifted is H2-H1, the height of the second step to be lifted is 2H2-2H1, the height of the third step to be lifted is 3H2-3H1, the height of the fourth step to be lifted is 4H2-4H1, the height of the fifth step to be lifted is 5H2-5H1 … …, and so on, and the height of the nth step to be lifted is nH2-nH1; the steps can only synchronously rise or synchronously fall, so that if the height of each step required to rise or fall is positive, the step is indicated to rise; if negative, the value is decreased; therefore, the height ratio of the required lifting of each step can be obtained as follows: 1:2:3:4:5 … …: n is an arithmetic progression;

For example: taking 5 steps as an example, assume that the step 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 from the ground, and the fifth step is 600mm from the ground.

If the height difference is raised to 200 a,

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 from the ground, and the fifth step is 1000mm from the ground.

It can be derived that: the height difference is increased from 120mm to 200mm, the first step is required 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 400mm.

Since the time t is the same, the formula can be obtained by substituting t and the altitude difference into the formula according to the path formula s=vt, and then:

The first step speed is assumed to be x, the second step speed is assumed to be 2x, the third step speed is assumed to be 3x, the fourth step speed is assumed to be 4x, the fifth step speed is assumed to be 5x … … and so on, and the nth step speed is assumed to be nx; in a specific embodiment, the speed unit of each step is mm/s; the output rotation speed of the fifth speed reducer is in r/s, and the lead of the second screw lifter 4127 is in mm; in other embodiments, other units may be used, and the unit change may be performed by unit conversion.

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

The second screw lifter 4127 of each step has a speed ratio of B;

The second screw lift 4127 has a lead of C, for example in mm;

Sprocket chain drive input/output ratio: the first order is D1; the second order is D2; the third order is D3, and the fourth order is D4; the fifth order is D5; … … by analogy, the nth order is Dn;

It can be derived that:

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

the speed of the second step 2x= ((a/B)/D2) C;

the speed of the third step 3 x= ((a/B)/D3) C;

the speed of the fourth step 4 x= ((a/B)/D4) C;

the speed of the fifth step 5 x= ((a/B)/D5) C;

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

Assuming a low to high order, the fifth speed reducer 4122 is connected to the second screw lifter of the third step; then, the third step is direct connection, d3=1;

through 3 simultaneous equations: 3 x= ((a/B)/D3) C, … … ⑴

x=((A/B)/D1)*C，……⑵

D3=1，……⑶

D1=3×d3=3 can be derived;

from this, d2=1.5×d3=1.5;

D4=0.75*D3=0.75；

D5=0.6*D3=0.6；

……

Dn=3/n；

The input-output ratio of the chain transmission of each chain wheel is required to be in accordance with the ratio, so that each step is ensured to synchronously lift and reach a preset height difference;

similarly, when the fifth speed reducer 4122 is directly connected to a certain step 411, the input/output of the sprocket-chain transmission of the step 411 is 1, and then the input/output is substituted into the equation set to calculate.

From this it can be calculated that:

1. in the case where the second screw lifter 4127 of each step 411 has a uniform speed ratio:

For example, assuming a sprocket for third and second step transmissions, wherein the number of teeth of the sprocket for third step is 10 teeth, then the number of teeth of the sprocket for second step is 15 teeth, the sprocket for second step and first step transmissions, wherein the sprocket for second step is 15 teeth, and the sprocket for first step is 30 teeth;

Assuming a sprocket for the third and fourth stage drive, wherein the third stage has a sprocket tooth count of 20 teeth, then the fourth stage has 15 teeth; a sprocket for fourth 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 ratios are satisfied. Not just the current number of teeth. In a specific implementation, the specification of the sprocket can be selected according to the ratio of the input speed ratio to the output speed ratio according to requirements.

2. In the case where the second screw lifter 4127 of each step 411 is inconsistent in speed ratio,

For example, assume that the first-step helical lifting speed ratio is 12;

The second step spiral lifting speed ratio is 6;

the third-step spiral lifting speed ratio is 6;

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

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

Assuming a sprocket for the third and second step transmissions, wherein the sprocket of the third step uses 10 teeth, then the second step uses 15 teeth; a sprocket for driving a second step and a first step, the second step being 15 teeth, the first step being 15 teeth;

Assuming a sprocket for the third and fourth stage drive, wherein the third stage has a sprocket tooth count of 20 teeth, then the fourth stage has 15 teeth; a sprocket for fourth 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;

From this, it can be derived that: the speed ratio of the second spiral lifter is changed, the input-output ratio of the chain wheel and chain transmission is also changed along with the change, and then the spiral lifting speed ratio and the chain transmission input-output ratio are relatively combined. The synchronous ascending and descending of the steps are achieved.

In the step S3, the way to adjust the output of the third lifting mechanism to a predetermined output is: and comparing the received real-time output quantity of the third lifting mechanism with a preset output quantity, and controlling the third lifting mechanism to stop working when the real-time output quantity and the preset output quantity are equal.

Examples

An integrated performance test system for a special operation robot comprises

The climbing slope testing device 1 comprises a sloping plate 11 and a slope adjusting device 12; the gradient adjusting device 12 comprises a first lifting mechanism 121 and a first lifting 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 tail end of the inclined plate 11 is movably connected with the front end of the first lifting platform 122, and in a specific implementation, the inclined plate 11 and the first lifting platform 122 can be connected by means of hinging, 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 sloping 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 the connecting plate 1221 is also provided with a shaft hole; 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 three connecting blocks, and the rotating shaft 123 and the shaft holes are in clearance fit; spring buckles 124 are arranged at two ends of the rotating shaft, and two ends of the rotating shaft 123 are limited, so that the inclined plate 11 and the first lifting platform 122 are movably connected; the movable connection between the inclined plate 11 and the first lifting platform 122 has the function of adjusting the included angle between the inclined plate 11 and the first lifting platform 122 by adjusting the height of the first lifting platform 122 through the first lifting mechanism 121, and finally realizing the adjustment of the gradient of the inclined plate 11, thereby meeting the climbing test requirements of different gradients;

A specific climbing test mode is as follows: a control program is preset, the first lifting mechanism 121 is controlled by the controller 5 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 controls the special operation robot so that the bottom end of the inclined plate 11 climbs upwards, and whether the tester climbs the first lifting platform 122 is judged;

The semi-slope starting test can be performed, the special operation robot is controlled to climb onto the inclined plate 11, then the special operation robot is stopped, and then the special operation robot is controlled to restart to climb a slope to see whether the special operation robot can climb onto the first lifting platform 122;

when the grade test is completed, the height of the first lift platform 122 may be adjusted to adjust the swash plate to another test grade for retesting.

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

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

The specific road block crossing test mode is as follows:

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 third lifting mechanism 311 to move the horizontal moving platform 312 and the lifting device 22 together to the forefront end, and to be 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 controls the special working robot to move from the first lifting platform 122 to the roadblock 21 and the horizontal moving platform 312 to see whether the special working robot can cross the roadblock 21. After testing, the barrier 21 may be lowered by the controller 5 to be flush with the horizontal platform 312 or below the horizontal platform 312 as desired.

The ditch width crossing testing device 3 comprises a width adjusting device 31; the width adjusting device 31 comprises a third lifting mechanism 311 and a horizontal moving platform 312; the output end of the third lifting mechanism 311 is connected to the horizontal moving platform 312, so that the third lifting mechanism 311 drives the horizontal moving platform 312 to move, and further adjusts the interval between the horizontal moving platform 312 and the second lifting platform, namely the ditch width; the horizontal moving platform 312 is disposed behind the lifting device 22;

The specific test method is as follows: firstly, controlling a second lifting mechanism through a controller 5, and adjusting the height of the second lifting platform to be equal to the height of the horizontal moving platform 312;

Then, the third lifting mechanism 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 preset value, namely, a preset ditch width;

Next, the tester controls the special working robot to move from the horizontal moving platform 312 to the second lifting platform, and checks whether the special working robot can move to the second lifting platform.

The step climbing testing device 4 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, wherein the output end of the second lifting mechanism 421 is connected to the second lifting platform 422, so that the second lifting platform 422 is driven by the second lifting mechanism 421 to lift, and the second lifting platforms 422 are arranged at intervals behind the horizontal moving platform 312; the synchronous lifting step 41 comprises a plurality of steps 411 and a third lifting mechanism 412; the third lifting mechanism 412 drives the steps 411 to synchronously lift; a plurality of steps 411 are arranged behind the second lifting platform 422; and each step 411 is lifted synchronously, and after the synchronous lifting is completed, 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 the steps, and can be used as the last step, so that one step can be saved, and only the height difference between the second lifting platform 422 and the highest step 411 is required to be kept equal to the height difference between other adjacent steps.

The specific step climbing test mode is as follows: the test of descending or ascending steps can be carried out according to the requirement;

When the step is down:

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 the adjacent steps reaches a preset test requirement;

Then, the tester controls the special operation robot to move from the second lifting platform 422 to each step 411 and to descend downwards, so as to see whether the descending step test condition of the special operation robot meets the preset requirement; for example, see if a special work robot is overturned.

When the step is up, the following steps are formed:

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

then, the tester controls the special working robot to climb the step from the lowest step to the second lifting platform 422, and can see whether to climb up.

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

The controller 5 is communicatively connected to the first lifting mechanism 121, the lifting device 22, the third lifting mechanism 311, the second lifting mechanism 421, and the third lifting mechanism 412, respectively, so as to be controlled by the controller. In a specific embodiment, the controller may use a PLC, for example, the PLC is of the type: siemens 6ES7 215-1AG40-0XB0.

In a specific embodiment, the first lifting mechanism 121 includes

A first support 1211;

A first actuator 1212, wherein an output of the first actuator 1212 is connected to the first lift platform 122; the first actuator 1212 is communicatively coupled to the controller 5; the controller 5 controls the first actuator 1212 to operate, and drives the first lifting platform 122 to lift.

A first slide group 1213, the first slide group 1213 being slidably connected to the first support 1211; the first lifting platform 122 is fixedly connected to the first sliding group 1213. The lifting of the first lifting platform 122 is guided by the first slide group 1213, and the accuracy of the lifting direction is improved. 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 in two sides of the wheel seat 12131; the 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 nuts after passing through the oval holes 12133 and the adjusting through holes 12221 through bolts, and the roller 12132 is attached to the inner side surface of the first support frame 1211, and is locked into the adjusting screw hole 122221 to prop against the wheel seat 12131 through screws, so that the roller 12132 is further attached to the inner side surface of the first support frame 1211. The oval hole 12133 is configured to adjust the position of the roller 12132 to be more fit to the inner side of the first support 1211, so that the uneven surface of the first support 1211 can be reduced, and the roller 12131 and the inner side of the first support 1211 are separated;

In a specific embodiment, the first lifting mechanism 121 further includes a first transmission module 1214; the output end of the first actuator 1212 is connected to the first transmission module 1214; the first transmission module 1214 is also connected to the first lifting platform 122. The driving force of the first actuator 1212 is transmitted to the first lifting platform 122 via the first transmission module 1214.

In a specific embodiment, the first lifting mechanism 121 further includes 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 shaft 12142, the first encoder 1215 transmits 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 shaft 12142, so that the number of rotations of the first shaft 12142 reaches a predetermined value, thereby adjusting the first elevating 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 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 connection tension rod 12149, a first driving chain (not shown), and a first chain 121410;

The number of the first sprocket 12145, the second sprocket 12146 and the third sprocket 12147 is 4; the first sprocket 12145, the second sprocket 12146 and the third sprocket 12147 are all equal in size and number of teeth;

The number of the first chains 121410 is 6; the first sprocket shaft 12148 has 6;

8 first chain connecting tensioning rods 12149;

An output shaft of the first actuator 1212 is fixedly connected to an input end of the first speed reducer 12141; the first driving sprocket 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 may be double-row sprockets, respectively; of course, in other embodiments, a single row sprocket may be used;

The first driven sprocket 12144, the two first sprockets 12145 and the two second sprockets 12146 are fixedly sleeved on the first 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 particular embodiments, first sprocket 12145 and second sprocket 12146 may be single row sprockets, or both may be replaced with double row sprockets, in the embodiment 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 shaft 12142 by a key, where two of the first sprocket 12145 and the second sprocket 12146 are a group and are symmetrically arranged; bearings are sleeved at two ends of the first rotating shaft 12144 respectively, the bearings are arranged in bearing seats, and the bearing seats are locked on the side surfaces of the first supporting frame 1211 through screws; the first encoder 1215 is mounted on a side surface of the first support 1211 through a bracket, and a rotation output end of the first encoder 1215 is fixedly connected to the first rotation shaft 12142 through a reed coupling.

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

in a specific embodiment, as shown in fig. 12 and 15, two ends of each first sprocket shaft 1211 are embedded into a through hole of a supporting vertical plate, the supporting vertical plates are fixedly connected to the first support frame 1211, the first sprocket shafts 12148 and the through holes are in clearance fit, and driven wheel gaskets are fixedly connected to two end surfaces of the first sprocket shafts 12148 to prevent the first sprocket shafts 12148 from falling out of the through holes, and each first sprocket shaft 12148 is parallel to the first rotation shaft 12142;

wherein the two first sprocket shafts 12148 and the first rotating shaft 12142 are arranged at equal height and are positioned below the first lifting platform 122, and each first sprocket shaft 12148 is fixedly sleeved with one second sprocket 12146 and one third sprocket 12147;

The other four first sprocket shafts 12148 are arranged at the top of the first supporting frame 1211 in a rectangular shape and have the same height, and are located above the first lifting platform 122;

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

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

Wherein the first sprockets 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 connection tensioning rods 12149;

The second sprocket 12146 on the first shaft 12142 and the second sprocket 12146 on the first sprocket shaft 12148 arranged at the same height are engaged with the first chain 121410 in one-to-one correspondence;

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

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

The working 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 drive 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 sprocket 12145 drives the other first sprocket 12145 and the first vertically arranged chain 121410 to rotate through sprocket engagement transmission, so that the first chain is connected with the tensioning rod 12149 to drive the first lifting platform 122 to lift; the second sprocket 12146 drives another second sprocket 12146 with equal height to drive through sprocket engagement transmission, and then drives the third sprocket 12147 to rotate, thereby driving the vertically arranged first chain 121410 to rotate, and finally driving the first chain connecting tensioning rod 12149 connected with the first chain to move up and down. The first lifting platform 122 is driven by 8 symmetrically arranged first chain connecting tensioning rods 12149 to lift; thereby realizing stable lifting.

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

In a specific embodiment, the lifting device 22 comprises

A second supporting 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 roadblock 21; the second actuator 222 is also communicatively coupled to the controller 5. The second actuator 222 is controlled by the controller 5 to work, so as to drive the roadblock 21 to lift.

In a specific embodiment, the lifting device 22 further includes 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, thereby driving the roadblock 21 to lift.

In a specific embodiment, the second transmission module 223 includes

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

A first screw lifter 2232, two of the first screw lifters 2232; the 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 screw lifters 2232 are respectively and fixedly connected to the roadblock 21;

Two first synchronous pulleys 2233, wherein the sizes of the two first synchronous pulleys 2233 can be different, and one first synchronous pulley 2233 is fixedly sleeved on an output shaft of the second speed reducer 2231;

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

A first timing belt (not shown) that is sleeved on the two first timing pulleys 2233;

Wherein, the second actuator 222 is a motor.

Working principle: the output shaft of the second actuator 22 rotates to drive the second speed reducer 2231 to work, so that the output shaft of the second speed reducer 2231 drives the first screw lifter 2232 to work, and the output shaft of the first screw lifter 2232 moves up and down to finally drive the roadblock 21 to lift. The second encoder 2234 detects the number of rotations of the output shaft of the second speed reducer 2231 by counting pulses, 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 by pulse signals, and the controller 5 sends signals to the second actuator 222 according to the received pulse data to adjust the rotation speed of the second actuator 222, so as to finally adjust the number of rotations of the second speed reducer 2231 to a predetermined requirement, thereby adjusting the lifting height of the roadblock 21.

In a specific embodiment, the lifting device 22 further comprises

The guide rods 224 are two, and 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, thereby improving the movement accuracy.

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

In practice, the lifting device 22 may be independently mounted on the ground or other support; in the illustrated embodiment, the second supporting frame 221 of the lifting device 22 is fixedly connected to the third supporting frame 313.

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

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

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

Rail wheels 315, wherein the rail wheels 315 are at least four and even in number; the rail wheels 315 are symmetrically arranged and fixedly connected to the third support 313; each of the rail wheels 315 is also slidably coupled to the light rail 314. In a specific implementation, the rail wheel 315 may use rail wheels, sliders, and other components.

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

In a specific embodiment, the third lifting mechanism 311 includes a third actuator 3111, and an output end of the third actuator 3111 is connected to the third support 313. The third support bracket 313 is driven to horizontally move by the third actuator 3111.

In a specific embodiment, the third lifting mechanism 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 313. The third actuator 3111 drives the third transmission module 3112 to move, and thus drives the third support 313 to move horizontally.

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

The third elevating mechanism 311 further includes a third encoder 3113; the third encoder 3113 is also communicatively coupled 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 rotating shaft 31124, a rotating shaft mount 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 mount 311210;

The fourth and fifth sprockets 31126 and 31127 are each identical in size and number of teeth;

Two of the fourth sprockets 31126;

Two of the fifth sprockets 31127;

4 second chain connecting tensioning rods 31128;

two of the second chains 31129;

The number of the chain wheel fixing seats 311210 is two; a rotating shaft 311211 is arranged on each sprocket fixing seat 311210;

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

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

The second driven sprocket 31123 and the fourth sprocket 31126 are fixedly sleeved on the second rotating shaft 31124; two ends of the second rotating shaft 31124 are respectively rotatably connected with a rotating 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; and the fourth and fifth sprockets 31126 and 31127 are arranged at equal heights, and the two fourth and fifth sprockets 31126 and 31127 are arranged in a rectangular shape;

each of the second chains 31129 is respectively sleeved on one of the fourth sprocket 31126 and one of the fifth sprocket 31127;

Two second chain connecting tensioning rods 31128 are fixedly connected to each second chain 31129, and four second chain connecting tensioning rods 31128 are also respectively and fixedly connected to the third supporting frame 313.

In a specific implementation, the sprocket fixing seat 311210 may be mounted on the bottom surface, and of course, may be mounted on other supports.

Working principle: the controller 5 controls the third actuator 3111 to operate, the output shaft of the third actuator 3111 rotates to drive the third reducer 31121 to operate, the second driving sprocket 31122 is driven to rotate, then the second driving sprocket 31123, the second rotating shaft 31124 and the fourth sprocket 31126 are driven to rotate, so as to drive the second chain 31129 to move, and finally the second chain connecting tensioning rod 31128 is driven to move horizontally, so that the horizontal moving platform 312 is driven to move horizontally, and the distance between the horizontal moving platform 312 and the second lifting platform 422 is adjusted, namely, the width of a ditch is simulated.

In a specific embodiment, the second lifting mechanism 421 includes

A fourth support 4211;

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

A second slide group 4213 slidably connected to the fourth support frame 4211; the second lifting platform 422 is fixedly connected to the second sliding group 4213. The lifting of the fourth actuator 4212 is guided by the second sliding group 4213, so that the movement is more accurate and stable. In a specific implementation, the second sliding group 4213 and the first sliding group 1213 adopt the same structure.

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 further connected to the second lifting platform 422. The fourth actuator 4212 drives the fourth transmission module 4214, and further drives the second lifting platform to perform lifting motion.

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 an electric motor;

The fourth transmission module 4214 comprises a fourth speed reducer 42141, a third rotation 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 connection 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 adopt the same structure, and the lifting principle of the second lifting mechanism 421 is referred to as the first lifting mechanism 121. The fourth gear module 4214 and the first gear module 1214 employ the same gear structure.

4 Sixth sprockets 42145, seventh sprocket 42146 and eighth sprocket 42147; the sixth sprocket 42145, the seventh sprocket 42146 and the eighth sprocket 42147 are all equal in size and number of teeth;

the number of the third chains 421410 is 6;

the number of the second chain wheel shafts 42148 is 6;

8 third chain connecting tensioning rods 42149;

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

The third rotating shaft 42142 is rotatably connected to the fourth supporting frame 4211; the fourth encoder 4215 is connected to the third rotation shaft 42142;

The third driven sprocket 42144, the two sixth sprockets 42145 and the two seventh sprockets 42146 are all fixedly sleeved on the third rotating shaft 42142; in a specific implementation, the sixth sprocket 42145, the seventh sprocket 42146, and the third driven sprocket 42144 are respectively connected to the third rotating shaft 42142 by keys, wherein two of the sixth sprocket 42145 and the seventh sprocket 42146 are a group and are symmetrically arranged; bearings are sleeved at two ends of the third rotating shaft 42142 respectively, the bearings are arranged 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 supporting frame 4211 through a bracket, and meanwhile, the fourth encoder 4215 is fixedly connected to the third rotating shaft 42142 through a reed type coupling.

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

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

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

the other four second sprocket shafts 42148 are arranged at the top of the fourth supporting frame 4211 in a rectangular shape and are located above the second lifting platform 422;

two second sprocket shafts 42148 and the third rotating shaft 42142 on the top of the fourth supporting frame 4211 are located in the same vertical plane, and each second sprocket shaft 42148 is fixedly sleeved with one sixth sprocket 42145;

The other two second sprocket shafts 42148 on the top of the fourth supporting frame 4211 and the two second sprocket shafts 42148 below the second lifting platform 422 are located in the same vertical plane, and each second sprocket shaft 42148 is fixedly sleeved with one eighth sprocket 42147;

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

the seventh sprocket 42146 on the third rotating shaft 42142 and the seventh sprocket 42146 on the second sprocket shaft 42148 arranged at equal height are correspondingly sleeved with a third chain 421410 one by one for meshed connection;

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

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

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

In a specific embodiment, the third lifting mechanism 412 includes

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

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

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

a fourth rotation shaft 4124;

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

A fourth drive chain 4126, said fourth drive chain 4126 and said fourth drive sprocket 4123 being meshed with a fourth driven sprocket 4125;

Second screw elevators 4127, each of said second screw elevators 4127 comprising an input 41271, an output lead screw 41272 and an output nut 41273; the output screw 41272 is connected with the output nut 41273; the number of second screw lifters 4127 is equal to twice the number of steps 411; two ends of each step 411 are fixedly connected to two output nuts 41273 in a one-to-one correspondence manner, the output screw rod 41272 penetrates through the steps 411, and the output screw rods 4212 are vertically arranged; the input ends of the two second spiral lifters 4127 corresponding to one of the steps 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 spiral lifters 4127 on the same side are connected together through a chain wheel and chain transmission mechanism, and the teeth numbers of the chain wheels of each chain wheel and chain transmission mechanism are the same or different.

In a specific embodiment, also comprises

A step frame 413, said step frame 413 having a step receiving cavity 4131; each of the second screw lifters 4127 is fixedly connected to the step frame 413; each of the steps 411 is located within the step-receiving cavity 4131;

A guide shaft 414, the guide shaft 414 being 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 manner; the two ends of each step 411 are respectively and fixedly connected with a linear bearing 415, the guide shaft 414 penetrates through the steps 411, and the guide shafts 414 are vertically arranged.

In a specific embodiment, the number of steps 411 is 5, and the number of 5 steps 411 is named 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 second spiral lifters 4127;

The chain wheel and chain transmission mechanism comprises two first chain wheel and chain transmission mechanisms, two second chain wheel and chain transmission mechanisms, two third chain wheel and chain transmission mechanisms and two fourth chain wheel and chain transmission mechanisms; in the embodiment shown in the drawings, the synchronous lifting step 41 has an axisymmetric structure, and the center line of the step is taken as the 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 eleventh sprocket 4171 has a number of teeth of 15; the twelfth sprocket 4172 has a tooth count of 20;

Each third sprocket chain transmission mechanism comprises a thirteenth sprocket 4181, a fourteenth sprocket 4182 and a sixth chain 4183; the thirteenth sprocket 4181 has a number of teeth of 10; the number of teeth of the fourteenth sprocket 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 sprocket 4191 is 15; the sixteenth sprocket 4192 has a tooth number of 15;

Wherein both sides of each of the steps 411 are lifted and lowered by one of the second screw lifters 4127, respectively;

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

the input ends of the two second spiral lifters 4127 lifting the second step 4112 are fixedly connected with a fourteenth sprocket 4182 and a fifteenth sprocket 4191 respectively; wherein the sixteenth sprocket 4192 and the fifteenth sprocket 4191 on the same side are engaged with one of the seventh chains 4193, respectively;

The input ends of the two second spiral lifters 4127 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 fixedly connected to a twelfth sprocket 4172 and a thirteenth sprocket 4181, respectively; wherein the fourteenth sprocket 4182 and thirteenth sprocket 4181 on the same side are engaged with one of the sixth chains 4183, respectively;

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

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

The driving motor 4121 drives the fifth speed reducer 4122 to work, and then drives the second spiral lifter 4127 of the third step to lift, and drives the second spiral lifters 4127 of the rest steps to synchronously work through the chain and chain transmission mechanisms of the respective sprockets, so that the respective steps 411 are driven to synchronously lift to a predetermined position, and the height difference of the respective steps reaches a predetermined height difference.

In a specific embodiment, also comprises

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

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

Two second synchronous pulleys 45, in a specific implementation, the sizes of the two second synchronous pulleys 45 may be different, as in the implementation shown in the drawings, the sizes of the two second synchronous pulleys 45 are different, 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 two second timing pulleys 45.

In a specific embodiment, further comprising a raised platform 46; the elevating platform 46 includes a horizontal portion 461 and a slope portion 462 connected to each other; the horizontal portion 461 is provided before the entrance of the synchronous lifting step 41. The elevating platform 46 may be arranged according to the arrangement site, the elevating platform 46 may be selectively arranged according to the site, or the elevating platform 46 may not be arranged.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that the specific embodiments described are illustrative only and not intended to limit the scope of the invention, and that equivalent modifications and variations of the invention in light of the spirit of the invention will be covered by the claims of the present invention.

Claims (2)

1. The method for synchronously lifting the steps is characterized by comprising the following steps of: comprising

S1, controlling a third lifting mechanism to work, wherein the third lifting mechanism drives each step to synchronously lift;

S2, receiving the real-time output quantity of the third lifting mechanism fed back by the detection device;

Step S3, according to the received real-time output quantity of the third lifting mechanism, adjusting the output quantity of the third lifting mechanism to a preset output quantity, so that each step is lifted to a preset position synchronously;

the step S1 is further: the third lifting mechanism is controlled to work, a driving motor of the third lifting mechanism drives a fifth speed reducer, the fifth speed reducer drives a second spiral lifter of one of the steps to lift, and the second spiral lifters of the steps are connected through a transmission mechanism to realize linkage, so that the steps are lifted synchronously;

the transmission mechanism is a sprocket chain transmission;

In the step S1, definition of synchronous lifting of each step: in the same time, each step is lifted to reach a designated height at the same time, so that the height difference of the adjacent steps is equal to and equal to a preset height difference; the principle of synchronous lifting is as follows:

Assume that, initially, the height difference between adjacent steps is H1,

Then the first step is lifted to the ground with the height of H1, the second step is lifted to the ground with the height of 2H1, the third step is lifted to the ground with the height of 3H1, the fourth step is lifted to the ground with the height of 4H1, the fifth step is lifted to the ground with the height of 5H1 … …, and so on, the nth step is lifted to the ground with the height of nH1;

If the preset height difference to be achieved by the adjacent steps is H2, wherein the units of H2 and H1 are the same;

the first step is lifted to the ground with the height of H2, the second step is lifted to the ground with the height of 2H2, the third step is lifted to the ground with the height of 3H2, the fourth step is lifted to the ground with the height of 4H2, the fifth step is lifted to the ground with the height of 5H2 … …, and so on, and the nth step is lifted to the ground with the height of nH2;

It can be derived that: the height difference is lifted from H1 to H2, the height of the first step to be lifted is H2-H1, the height of the second step to be lifted is 2H2-2H1, the height of the third step to be lifted is 3H2-3H1, the height of the fourth step to be lifted is 4H2-4H1, the height of the fifth step to be lifted is 5H2-5H1 … …, and so on, and the height of the nth step to be lifted is nH2-nH1; the steps can only synchronously rise or synchronously fall, so that if the height of each step required to rise or fall is positive, the step is indicated to rise; if negative, the value is decreased; therefore, the height ratio of the required lifting of each step can be obtained as follows: 1:2:3:4:5 … …: n is an arithmetic progression;

since the rise and fall are synchronous, the time t is the same, and according to the path formula s=vt, it can be derived that:

The first step speed is assumed to be x, the second step speed is assumed to be 2x, the third step speed is assumed to be 3x, the fourth step speed is assumed to be 4x, the fifth step speed is assumed to be 5x … … and so on, and the nth step speed is assumed to be nx;

assuming that the output rotation speed of the fifth speed reducer is A;

The second spiral elevator speed ratio of each step is B;

The lead of the second spiral lifter is C;

Sprocket chain drive input/output ratio: the first order is D1; the second order is D2; the third order is D3, and the fourth order is D4; the fifth order is D5 … … and so on, and the nth order is Dn;

Then the velocity formula for each step can be derived:

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

the speed of the second step 2x= ((a/B)/D2) C;

the speed of the third step 3 x= ((a/B)/D3) C;

the speed of the fourth step 4 x= ((a/B)/D4) C;

the speed of the fifth step 5 x= ((a/B)/D5) C;

… … and so on, the speed nx= ((a/B)/Dn) C of the nth step;

Assuming a low to high order, the fifth speed reducer is connected to the second screw lift of the third step; then, the third step is direct connection, d3=1;

through 3 simultaneous equations: 3 x= ((a/B)/D3) C, … … ⑴

x=((A/B)/D1)*C，……⑵

D3=1，……⑶

D1=3×d3=3 can be derived;

from this, d2=1.5×d3=1.5;

D4=0.75*D3=0.75；

D5=0.6*D3=0.6；

……

Dn=3/n

The input-output ratio of the chain transmission of each chain wheel is required to be in accordance with the ratio, so that each step is ensured to synchronously lift and reach a preset height difference;

and similarly, when the fifth speed reducer is directly connected with a certain step, the input and output of the chain wheel and chain transmission of the step are 1, and then the input and output are substituted into an equation set to calculate.

2. A method for synchronously lifting steps according to claim 1, wherein: in the step S3, the way to adjust the output of the third lifting mechanism to a predetermined output is: and comparing the received real-time output quantity of the third lifting mechanism with a preset output quantity, and controlling the third lifting mechanism to stop working when the real-time output quantity and the preset output quantity are equal.