CN112782021B - Full-automatic testing equipment for cleaning component of intelligent sweeping robot and control method thereof - Google Patents
Full-automatic testing equipment for cleaning component of intelligent sweeping robot and control method thereof Download PDFInfo
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- CN112782021B CN112782021B CN202011640763.4A CN202011640763A CN112782021B CN 112782021 B CN112782021 B CN 112782021B CN 202011640763 A CN202011640763 A CN 202011640763A CN 112782021 B CN112782021 B CN 112782021B
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- 238000012360 testing method Methods 0.000 title claims abstract description 224
- 238000004140 cleaning Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000010408 sweeping Methods 0.000 title claims description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 110
- 238000007790 scraping Methods 0.000 claims abstract description 101
- 238000009434 installation Methods 0.000 claims abstract description 8
- 238000005299 abrasion Methods 0.000 claims description 48
- 238000006073 displacement reaction Methods 0.000 claims description 29
- 238000001514 detection method Methods 0.000 claims description 21
- 238000004088 simulation Methods 0.000 claims description 21
- 238000007664 blowing Methods 0.000 claims description 20
- 230000001681 protective effect Effects 0.000 claims description 18
- 238000001816 cooling Methods 0.000 claims description 16
- 238000003825 pressing Methods 0.000 claims description 11
- 239000000872 buffer Substances 0.000 claims description 10
- 239000000919 ceramic Substances 0.000 claims description 8
- 230000017525 heat dissipation Effects 0.000 claims description 8
- 238000003860 storage Methods 0.000 claims description 6
- 210000001503 joint Anatomy 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 claims description 2
- 238000005498 polishing Methods 0.000 claims 4
- 230000035515 penetration Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 5
- 238000005452 bending Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000007779 soft material Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/56—Investigating resistance to wear or abrasion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/02—Details
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/32—Investigating strength properties of solid materials by application of mechanical stress by applying repeated or pulsating forces
- G01N3/38—Investigating strength properties of solid materials by application of mechanical stress by applying repeated or pulsating forces generated by electromagnetic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0001—Type of application of the stress
- G01N2203/0005—Repeated or cyclic
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0014—Type of force applied
- G01N2203/0023—Bending
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/003—Generation of the force
- G01N2203/005—Electromagnetic means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/02—Details not specific for a particular testing method
- G01N2203/026—Specifications of the specimen
- G01N2203/0262—Shape of the specimen
- G01N2203/0278—Thin specimens
- G01N2203/0282—Two dimensional, e.g. tapes, webs, sheets, strips, disks or membranes
Abstract
The utility model relates to a soft product test's technical field that wears to resist wearing, especially, relate to a full-automatic test equipment of robot cleaning parts is swept to intelligence, which comprises a bod, be used for carrying out the wearing and tearing test mechanism of wearing and tearing test to the doctor-bar, be used for supplying the doctor-bar installation of carrying out the test put the thing platform and be used for driving the moving mechanism who puts the thing platform and remove, put the thing platform setting on the organism, moving mechanism sets up on the organism, wearing and tearing test mechanism includes the rotor, abrasive band and first driving piece, the rotor is provided with not less than two, abrasive band winds to establish on each rotor, the drive end and the rotor of first driving piece are connected, the segment that abrasive band is located between the rotor is used for realizing the wearing and tearing test to the doctor-bar with the doctor-bar butt of installing on putting the thing platform, moving mechanism can drive to put the thing platform and remove to wearing and tearing test mechanism department. The method has the effect of improving the accuracy of the test result of the scraping blade.
Description
Technical Field
The application relates to the field of abrasion resistance testing of soft products, in particular to full-automatic testing equipment and method for cleaning components of an intelligent sweeping robot.
Background
At present, in the intelligent household field, the cleanliness of the indoor environment is effectively improved by the aid of the intelligent sweeping robot, and the time and energy for cleaning the sanitation of personnel are reduced, so that the intelligent sweeping robot is widely focused and used.
At present, cleaning components of an intelligent sweeping robot are all arranged at the bottom of the robot, the cleaning components comprise a scraping blade for pushing ground dust or other foreign matters to move, the scraping blade is made of soft materials, and the service life of the scraping blade needs to be tested through a wear testing machine after the production of the scraping blade is completed. At present, in a wear testing machine for carrying out wear testing on a product made of soft materials, such as a rubber wear testing machine, the wear testing machine comprises a machine body and a grinding roller, the grinding roller is arranged on the machine body, the peripheral wall of the grinding roller is roughly provided with a scraping blade, an operator clamps and fixes the scraping blade on the machine body through a clamp and enables the scraping blade to abut against the grinding roller at one point, then the wear testing machine is started to enable the grinding roller to rotate, after the grinding roller rotates for a specified time, the operator takes down the scraping blade and observes the wear condition, so that whether the wear resistance of the scraping blade in the batch reaches a rated standard is judged, and whether the service life of the scraping blade in the batch can reach the rated standard is judged.
With respect to the related art described above, the inventors consider that there is a defect that the accuracy of the test results is poor.
Disclosure of Invention
In order to improve accuracy of a test result of the wiper blade, the application provides full-automatic test equipment for an intelligent sweeping robot sweeping component and a control method thereof.
In a first aspect, the application provides a full-automatic test equipment for cleaning components of an intelligent sweeping robot, which adopts the following technical scheme:
the utility model provides an intelligent robot cleans full-automatic test equipment of part, includes the organism, is used for carrying out wearing and tearing test mechanism, be used for supplying the scraping blade installation of carrying out the test put thing platform and be used for driving the moving mechanism who puts thing platform and remove, put thing platform setting on the organism, moving mechanism sets up on the organism, wearing and tearing test mechanism includes live-rollers, abrasive band and first driving piece, the live-rollers is provided with not less than two, abrasive band winds and establishes on each live-rollers, the driving end of first driving piece with one the live-rollers is connected, abrasive band is located the fragment between the live-rollers is used for with install thereby put the scraping blade butt on the thing platform and realize the wearing and tearing test to the scraping blade, moving mechanism can drive and put thing platform and remove to wearing and tearing test mechanism department.
Through adopting above-mentioned technical scheme, moving mechanism will be located the doctor-bar of putting on the thing platform and remove to between two rotor rolls, make the doctor-bar be used for with the one side butt of ground butt on the dull polish area that is located between two rotor rolls, make the whole one side of doctor-bar all can receive the wearing and tearing that the dull polish bag rotated and cause, simulate the wearing and tearing that the doctor-bar caused because of the friction with ground after using for a long time with the form of grinding the abrasive band wearing and tearing in the short time, only carry out the wearing and tearing test to the doctor-bar in contrast correlation technique, the test scene that has formed more nearly with doctor-bar actual use scene, make one side each point that the doctor-bar contacted with ground all can carry out the wearing and tearing test, whether the operator can still normally use through the wearing and tearing degree to one side each point that the doctor-bar is used for contacting with ground still accurately judging the doctor-bar after the wearing and tearing test of appointed time, and then judge whether the life of doctor-bar reaches the standard, the accuracy to doctor-bar life test result has been improved.
Preferably, the wear testing mechanism further comprises a first mounting seat and a plane supporting member for supporting the abrasive belt segments between the rotating rollers, the first mounting seat is arranged on the machine body, the rotating rollers are arranged on the first mounting seat, the plane supporting member is arranged on the first mounting seat and between the rotating rollers, and the plane supporting member is arranged between the two abrasive belt segments arranged along the radial intervals of the rotating rollers.
Through adopting above-mentioned technical scheme, support the segment that the dull polish area is located between the live-rollers through plane support piece, realize the simulation to ground hardness, avoid the segment that the dull polish area is located between the live-rollers to lead to the deformation of dull polish area under the effect of doctor-bar self elasticity after the doctor-bar butt, improve the environment to doctor-bar wearing and tearing test and the similarity of doctor-bar in-service use scene, improved the accuracy to doctor-bar life test result.
Preferably, the planar support member is provided with at least two abrasive belt segments arranged at intervals along the radial direction of the rotating roller, the wear testing mechanism further comprises a first connecting member and a second driving member for driving the first connecting member to move, the second driving member is arranged on the planar support member, the first connecting member is connected with the driving end of the second driving member, and the rotating roller is rotationally connected to the second connecting member.
Through adopting above-mentioned technical scheme, but second driving piece drive first connecting piece is along the direction removal of keeping away from other live rollers, and then drive a live roller and remove along the direction of keeping away from other live rollers, and then make the dull polish area remain tensioning throughout when testing the doctor-bar, improve the anti deformation force of dull polish area section that is located between the live roller, avoid the dull polish area to be located the section of live roller and the doctor-bar butt back to lead to the deformation of dull polish area under the effect of doctor-bar self elasticity, improve the environment to the doctor-bar wearing and tearing test and the similarity of doctor-bar in-service use scene, improved the referent to doctor-bar life test result.
Preferably, the object placing table comprises a second connecting piece connected with the moving mechanism, a second mounting seat arranged on the second connecting piece and a die for providing a setting position for the scraping blade, wherein the die comprises a bottom die and a pressing block matched with the bottom die to clamp the scraping blade for being arranged on one side of the sweeping robot, the pressing block is detachably connected with the bottom die, a first through hole for the scraping blade extending out of the second through hole to pass through is formed in the second mounting seat, and a second through hole for the scraping blade to penetrate through on one side of the bottom die, which is used for being abutted against the ground, is formed in the bottom die;
the object placing table further comprises a third driving piece used for driving the second mounting seat to move along a direction close to or far away from the abrasive belt when the second mounting seat moves to the abrasion testing mechanism, the third driving piece is arranged on the second connecting piece, and the driving end of the third driving piece is connected with the second mounting seat.
By adopting the technical scheme, the scraping blade is arranged on the bottom die and is relatively fixed with the bottom die through the pressing block, and one side of the scraping blade, which is used for ground contact, extends out of the second through hole and the first through hole, so that the shaking of the scraping blade is prevented from affecting the normal test when the scraping blade is subjected to the abrasion test; the setting of third driving piece can make the doctor-bar not keep away from the abrasive band in the removal in-process of test again, waits that the doctor-bar removes to aim at behind the abrasive band section between two rotating rolls third driving piece and remove to with the abrasive band butt at the drive doctor-bar, and then avoid when moving the doctor-bar to the assigned position at moving mechanism doctor-bar has carried out the contact and produced wearing and tearing with the abrasive band, has improved the accuracy to doctor-bar life test result.
Preferably, the device further comprises a collision test mechanism for performing collision test on the scraping blade, wherein the collision test mechanism is arranged on the machine body, the collision test mechanism and the abrasion test mechanism are arranged at intervals, the collision test mechanism comprises a mounting assembly and a simulation floor tile piece, the mounting assembly is arranged on the machine body, the simulation floor tile piece is detachably connected to the mounting assembly, and the moving mechanism can drive the object placing table to move to the simulation floor tile piece;
the installation component includes third mount pad, fourth mount pad and fourth driving piece, the third mount pad sets up on the organism, the fourth driving piece sets up on the third mount pad, the fourth mount pad is connected with the drive end of fourth driving piece, simulation ceramic tile spare is connected with the fourth mount pad is removable, the fourth driving piece is used for driving the fourth mount pad and removes along being close to or keeping away from the direction of doctor-bar when putting the thing platform and removing to simulation ceramic tile spare department.
By adopting the technical scheme, the collision testing mechanism can test the service life of the scraping blade from the aspect of the bending resistance of the scraping blade, so that the variety of testing by the testing equipment is increased, and the universal applicability of the testing equipment is improved;
The simulated floor tile piece simulates a threshold at a door opening of an indoor room, the moving mechanism drives the scraping blade to move back and forth, so that multiple collisions between the scraping blade and the simulated floor tile piece are realized, after the designated collision times, an operator observes whether the scraping blade is broken or cracked, so that whether the bending resistance of the scraping blade reaches the standard is judged, and whether the service life of the scraping blade reaches the rated standard is judged;
the simulation ceramic tile piece can be changed according to the test requirement to improve the suitability of collision test mechanism to multiple test requirement, the setting of fourth driving piece can make the removal that drives simulation ceramic tile piece, and fourth driving piece drives simulation ceramic tile piece and removes the realization and give way to the doctor-bar when carrying out the wearing and tearing test, avoids the impact of the collision of simulation ceramic tile piece and doctor-bar to the accuracy of doctor-bar wearing and tearing test result.
Preferably, the scraping blade cooling device further comprises a blowing mechanism for cooling the scraping blade, the blowing mechanism is arranged on the machine body, the blowing mechanism and the abrasion testing mechanism are arranged at intervals, and the moving mechanism can drive the object placing table to move to the position aligned with the blowing mechanism.
Through adopting above-mentioned technical scheme, after wearing and tearing after a period, doctor-bar and dull polish area are because friction generates heat, easily cause the physical characteristic of doctor-bar to change, and moving mechanism regularly drives the doctor-bar to blowing mechanism department and cools down, makes the physical characteristic of doctor-bar resume to initial condition, and the dull polish area can also naturally cool down simultaneously, avoids influencing the accuracy of doctor-bar life test result because of object characteristic changes.
Preferably, the machine body is provided with a protective door covered on the machine body, the protective door is movably connected with the machine body, the machine body is provided with a door closing detection module, the door closing detection module is used for testing the closing of the protective door and outputting a door closing detection signal, and the door closing detection module is electrically connected with a power supply circuit of the full-automatic test equipment of the cleaning part of the intelligent sweeping robot.
By adopting the technical scheme, the protection door protects the blowing mechanism, the object placing table, the abrasion testing mechanism and the collision testing mechanism on the machine body when the doctor blade performs service life test, and meanwhile, personnel injury caused by the fact that an operator mistakenly stretches hands to the abrasive belt or the moving track of the object placing table when the test is performed is avoided; the test equipment side can be electrified to run only after the protective door is completely closed, so that the safety of the test is improved.
Preferably, the machine body comprises an operation table and a bottom shell, the wear testing mechanism and the object placing table are arranged on the operation table, the operation table is hinged to the bottom shell, a supporting component used for supporting the operation table after the operation table rotates is arranged on the bottom shell, a buffer piece used for buffering in the rotation process of the operation table is arranged on the bottom shell, and the buffer piece is connected with the operation table.
Through adopting above-mentioned technical scheme, when the module to equipment inside is overhauld to needs, thereby the operator can rotate the operator's platform and make the drain pan inside expose, after the maintenance is accomplished, the operator reverse rotation operation panel to initial position, is provided with wearing and tearing testing mechanism and puts the thing platform on the operation panel, and weight is great, and the bolster buffers when the operation panel reverse rotation, avoids the operation panel to pound on the drain pan under inertia and gravity effect and causes test equipment impaired.
In a second aspect, the control method of the full-automatic test equipment for the cleaning component of the intelligent cleaning robot provided by the application adopts the following technical scheme:
a control method of full-automatic test equipment for cleaning components of an intelligent sweeping robot comprises the following steps:
a mode selection step of receiving a mode selection signal and selecting to operate the abrasion test step or the collision test step according to the mode selection signal;
the wear testing step includes:
a wear test starting step of outputting a wear test displacement signal to the moving mechanism;
outputting a doctor blade falling signal to a third driving piece;
outputting a wear test start signal to the first driving member;
judging whether the running time of the first driving piece is smaller than the preset abrasion interval time, if not, outputting a doctor blade abdication signal to the third driving piece, outputting an abrasion test reset signal to the moving mechanism, and outputting interrupt frequency information;
Judging whether the output frequency of the interruption frequency information is larger than a preset interruption frequency limit value, if so, outputting a wear stopping test signal, and if not, outputting a heat dissipation starting signal to a blowing mechanism;
judging whether the running time of the blowing mechanism is longer than the preset heat dissipation interval time, if so, outputting a heat dissipation stopping signal and returning to the abrasion test starting step;
the collision test step comprises the following steps:
a collision test starting step of outputting a collision test in-place signal to the fourth driving piece;
outputting a collision test reciprocating displacement signal to the moving mechanism and outputting reciprocating displacement frequency information;
judging whether the output times of the reciprocating displacement times information is larger than a preset limiting value of the reciprocating displacement times, outputting a collision stopping test signal if the output times of the reciprocating displacement times information is larger than the limiting value of the reciprocating displacement times, and returning to the collision test starting step if the output times of the reciprocating displacement times information is not larger than the limiting value of the reciprocating displacement times;
and outputting a collision test reset signal to the fourth driving piece.
By adopting the technical scheme, when the abrasion test is carried out, the temperature of the scraping blade is reduced after the abrasion time reaches the specified abrasion interval time, so that the decline of the accuracy of a test result caused by the fact that the physical property of the scraping blade is changed due to the temperature rise of the scraping blade caused by friction is avoided, meanwhile, the abrasion of the scraping blade is carried out for a plurality of times within the abrasion interval time, after the output times of the interrupt times information is larger than the limit value of the interrupt times, the abrasion of the scraping blade reaches the preset specified time, the abrasion test is automatically stopped at the moment, an operator can judge whether the service life of the scraping blade meets the standard or not by observing the abrasion degree of the scraping blade, the operation is convenient, and the accuracy of the test result of the service life test of the scraping blade is improved;
When the collision test is carried out, the test is automatically stopped after the reciprocating collision times reach the designated times, and an operator observes whether the scraping blade is broken or cracked, so that whether the bending resistance of the scraping blade reaches the standard is judged, whether the service life of the scraping blade reaches the rated standard is judged, and the operation is convenient.
Preferably, the method further comprises: and a safety monitoring step, namely judging whether the protective door is closed or not, and entering a mode selection step if the protective door is closed.
By adopting the technical scheme, the test equipment can be electrified to operate only after the protective door is completely closed, so that personnel injury caused by the fact that an operator mistakenly stretches hands to the abrasive belt or the moving track of the object placing table when a test is carried out is avoided, and the safety of the test is improved.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the abrasion of the scraping blade due to the abrasion between the scraping blade and the ground is simulated in a short time in the abrasion mode of the abrasive belt, a test scene close to the actual use scene of the scraping blade is formed, each point on one side of the scraping blade, which is in contact with the ground, can be subjected to abrasion test, an operator can judge whether the scraping blade can still be normally used after the abrasion test for a specified time or not more accurately through the abrasion degree of each point on one side of the scraping blade, the service life of the scraping blade is judged to reach the standard, and the accuracy of the service life test result of the scraping blade is improved;
2. The collision test mechanism can test the service life of the scraping blade from the aspect of the bending resistance of the scraping blade, so that the variety of test equipment for testing is increased, and the universal applicability of the test equipment is improved;
3. the moving mechanism regularly wears for a long time and the heating scraping blade is driven to the blowing mechanism for cooling, so that the physical characteristics of the scraping blade are restored to an initial state, and the influence on the accuracy of the life test result of the scraping blade due to the change of the characteristics of an object is avoided.
Drawings
FIG. 1 is a schematic view of a machine body, a wear testing mechanism, a collision testing mechanism and a placement table according to an embodiment of the present application;
FIG. 2 is a schematic view of a use state of the machine after rotation in the embodiment of the present application;
FIG. 3 is an exploded view of a wear testing mechanism in an embodiment of the present application;
FIG. 4 is an exploded view of another view of the wear testing mechanism in an embodiment of the present application;
FIG. 5 is a schematic view of the structure of the turning roll, the first link, the planar support and the second drive member in an embodiment of the present application;
FIG. 6 is an exploded view of a setting table in an embodiment of the present application;
FIG. 7 is an exploded view of an embodiment of the present application with a pallet having a wiper blade disposed in one die and the other die empty;
FIG. 8 is a schematic bottom view of a blower mechanism in an embodiment of the present application;
FIG. 9 is a schematic structural view of a crash test mechanism in an embodiment of the present application;
FIG. 10 is a schematic view of the displacement mechanism and the receiving platform in an embodiment of the present application;
FIG. 11 is a schematic diagram of the connection relationship among the screw, the displacement driving member, the slider, the third connecting member and the second connecting member in the embodiment of the present application;
FIG. 12 is an exploded view of a protective door, a first guide bar, a second guide bar, a first slide mount and a second slide mount according to an embodiment of the present application;
FIG. 13 is an exploded view of the guard door, first guide bar, second guide bar, first slide mount and second slide mount from another perspective in an embodiment of the present application;
fig. 14 is a schematic structural diagram of a fully automatic test device for cleaning components of the intelligent sweeping robot according to an embodiment of the present application;
fig. 15 is an enlarged view at a in fig. 12;
FIG. 16 is a flow chart of the security monitoring step and mode selection step in an embodiment of the present application;
FIG. 17 is a flowchart of the wear test steps in an embodiment of the present application;
fig. 18 is a flowchart of a collision test step in an embodiment of the present application.
Reference numerals illustrate: 1. a body; 11. an operation table; 111. a bump; 112. a support rod; 113. a first coaming; 1131. a first guide bar; 1132. a second guide bar; 1133. a first slider; 1134. a second slider; 1135. a first baffle; 1136. a door closing detection module; 1137. a first trigger block; 1138. a second trigger block; 114. a hand-held block; 1141. a buffer member; 115. a debris box; 116. a second chute; 117. a second coaming; 118. a slide rail; 119. a second baffle; 12. a bottom case; 121. a support block; 2. a wear testing mechanism; 21. grinding belt; 22. a first driving member; 23. a first mounting portion; 24. a second mounting portion; 25. a drive roll; 26. driven roller; 27. a first chute; 271. a first connector; 28. a planar support; 29. a second driving member; 3. a storage table; 31. a second connector; 32. a fixing plate; 321. a first mounting groove; 322. a first hole; 33. a connecting seat; 331. a second mounting groove; 332. a second hole; 333. positioning columns; 34. a third driving member; 35. a bottom die; 351. a die cavity; 352. a second through hole; 36. briquetting; 37. a cover plate; 4. a blowing mechanism; 41. a mounting frame; 42. a heat radiation fan; 5. a collision test mechanism; 51. simulating a floor tile member; 52. a third mount; 53. a fourth mount; 54. a fourth driving member; 6. a moving mechanism; 61. a support frame; 62. a slide block; 63. a third connecting member; 64. a screw rod; 65. a moving driving member; 7. a protective door; 71. a first door body; 72. and a second door body.
Detailed Description
The present application is described in further detail below in conjunction with figures 1-18.
The embodiment of the application discloses full-automatic test equipment of robot cleaning parts is swept to intelligence, refer to fig. 1 and 2, including organism 1, wearing and tearing testing mechanism 2, collision testing mechanism 5, mechanism 4 of blowing, mobile mechanism 6 and put thing platform 3, organism 1 includes operation panel 11 and drain pan 12, operation panel 11 is rectangular plate-shaped, operation panel 11 one side is articulated through the loose-leaf with drain pan 12 one side, cavity in the drain pan 12, drain pan 12 supports operation panel 11 from the bottom, wearing and tearing testing mechanism 2, collision testing mechanism 5, mechanism 4 of blowing, mobile mechanism 6 and put thing platform 3 all set up on operation panel 11.
Referring to fig. 2, a supporting block 121 is fixed at an inner wall of one end of the bottom shell 12, a bump 111 is fixed at the bottom end of the bottom surface of the operating platform 11, a supporting rod 112 is hinged on the bump 111 through a shaft, one end of the supporting rod 112 is connected with the bump 111, one end of the supporting rod 112, which is far away from the bump 111, can be supported on the supporting block 121 after the operating platform 11 is rotated, a dent is arranged on the top surface of the supporting block 121, one end of the supporting rod 112, which is far away from the bump 111, is embedded into the dent of the supporting block 121, so that the supporting rod 112 is prevented from moving when the operating platform 11 is supported, and thus the operating platform 11 is supported, and at the moment, the rotating angle of the operating platform 11 is smaller than 90 °.
Referring to fig. 1 and 2, a first enclosing plate 113 is fixed on the top surface of the operation table 11, the first enclosing plate 113 shields the wear testing mechanism 2, the collision testing mechanism 5, the blowing mechanism 4 and the object placing table 3 on the operation table 11 from the positions of two ends and one side, the two ends of the first enclosing plate 113 are fixed with hand-held blocks 114 for being held by an operator, two ends of the bottom shell 12 are provided with buffer parts 1141 for realizing buffer when the operation table 11 rotates reversely, namely, the operation table 11 rotates under the action of gravity, in the embodiment, the buffer parts 1141 are gas springs, one end of each buffer part 1141 is hinged with the bottom shell 12, and the other end is hinged with the hand-held blocks 114.
Referring to fig. 3 and 4, the wear testing mechanism 2 includes a first mounting seat, a rotating roller, a sanding belt 21 and a first driving member 22, wherein the first mounting seat includes a first mounting portion 23 and a second mounting portion 24, the first mounting portion 23 and the second mounting portion 24 are both plate-shaped, the first mounting portion 23 is fixed on the top surface of the operation table 11, the first mounting portion 23 is arranged perpendicular to the operation table 11, the rotating roller includes a driving roller 25 and a driven roller 26, the driving roller 25 is rotationally connected on one side of the first mounting portion 23, the first driving member 22 is a motor, an output shaft of the first driving member 22 is rotationally connected with the driving roller 25 through a coupling, one side of the first mounting portion 23 is fixed with a housing covered on the coupling, and the first driving member 22 is fixed on the housing;
One end of the driving roller 25 is rotationally connected with the first mounting part 23, the other side is rotationally connected with the second mounting part 24, the second mounting part 24 is parallel to the first mounting part 23 and is arranged at intervals along the width direction of the operation table 11 with the first mounting part 23, the first driving piece 22 is positioned at one side of the first mounting part 23 which is not far away from the second mounting part 24, the driving roller 25 is perpendicular to the first mounting part 23 and the second mounting part 24, and the driving roller 25 is rotationally connected with the second mounting part 24.
Referring to fig. 3 and 4, the first mounting portion 23 and the second mounting portion 24 are respectively provided with a first chute 27 on a surface facing each other, the wear testing device 2 further includes first connecting members 271, the first connecting members 271 are provided with two, the two first connecting members 271 are respectively embedded into the two first chutes 27, the first connecting members 271 and the first chute 27 are slidably connected along the length direction of the console 11, in this embodiment, the first connecting members 271 are in a waist-shaped sheet shape, the driven roller 26 is rotatably connected to the two first connecting members 271, the driven roller 26 is arranged parallel to the driving roller 25, the driving roller 25 and the driven roller 26 are two roller bodies with equal diameters, the driving roller 25 is provided with a height consistent with that of the driven roller 26, the abrasive belt 21 is wound around the driven roller 26 and the driving roller 25, and the segment of the abrasive belt 21 between the driven roller 26 and the driving roller 25 is horizontally arranged.
Referring to fig. 4 and 5, the wear testing mechanism 2 further includes a planar support 28, where the planar support 28 is in a trapezoidal block shape, two ends of the planar support 28 are respectively fixed with the first mounting portion 23 and the second mounting portion 24, the planar support 28 is located between the driving roller 25 and the driven roller 26, and the planar support 28 is located between two abrasive belt 21 segments radially spaced along the driving roller 25 and the driven roller 26, two planar supports 28 are spaced between the two abrasive belt 21 segments, and the two planar supports 28 are symmetrically arranged, and a side with a larger surface area of the planar support 28 is used for supporting the abrasive belt 21 segments located between the driving roller 25 and the driven roller 26.
Referring to fig. 4 and 5, the wear testing device 2 further includes a second driving member 29, where the second driving member 29 is fixed on the planar supporting member 28 near one side of the operating platform 11, the second driving member 29 is a cylinder with a piston rod horizontally extending and contracting, and the output end of the second driving member 29 is fixed to two first connecting members 271, the extending and contracting direction of the piston rod of the second driving member 29 is parallel to the length direction of the operating platform 11, and the second driving member 29 drives the first connecting member 271 to move in a direction away from the driving roller 25 so as to drive the driven roller 26 to move in a direction away from the driving roller 25, thereby keeping the abrasive belt 21 tensioned.
Referring to fig. 3 and 4, a chip box 115 is fixed to the operation table 11, the chip box 115 shields the abrasive belt 21 from a side of the abrasive belt 21 close to the operation table 11 and a side of the drive roller 25 away from the driven roller 26, one side of the chip box 115 is fixed to the first mounting portion 23, when the scraping blade is worn, worn chips remain on the abrasive belt 21 and move with the abrasive belt 21, one side of the abrasive belt 21 away from the operation table 11 moves from the driven roller 26 to the drive roller 25, under inertia, the chips on the abrasive belt 21 fall into the chip box 115 on the side of the drive roller 25 away from the driven roller 26, and then fall into the chip box 115 between the abrasive belt 21 and the operation table 11 under gravity.
Referring to fig. 6, the object placing table 3 includes a second connecting member 31, a second mounting seat, a mold and a third driving member 34, the operating table 11 is provided with two second sliding grooves 116, the second sliding grooves 116 are respectively located at one side of the first mounting portion 23 far away from the second mounting portion 24 and one side of the second mounting portion 24 far away from the first mounting portion 23, the second connecting member 31 is in an inverted arch shape, the bottom of the second connecting member 31 is located below the operating table 11, two sides of the second connecting member 31 protrude from the top surface of the operating table 11 from the second sliding grooves 116, two sides of the second connecting member 31 are slidably connected with the second sliding grooves 116 along the length direction of the operating table 11, and in combination with fig. 2, the bottom of the second connecting member 31 is connected with the moving mechanism 6.
Referring to fig. 6 and 7, the third driving member 34 is fixed on the surfaces facing each other on both sides of the second connection member 31, the third driving member 34 is a cylinder of which a piston rod vertically stretches and protrudes from the top to a cylinder body, and the second mounting seat is fixed on the top end of the piston rod of the third driving member 34. The piston rod of the third driving piece 34 stretches out under the initial state, at this moment, one surface of the scraping blade on the second installation seat, which is used for being in butt joint with the ground, is higher than the top surface of the abrasive belt 21, when the moving mechanism 6 drives the scraping blade on the second installation seat to move to be aligned with the abrasive belt 21, the third driving piece 34 drives the second installation seat to move downwards so as to enable the scraping blade to be in butt joint with the abrasive belt 21, and therefore abrasion test is conducted, when the scraping blade needs to leave from the abrasive belt 21, the third driving piece 34 drives the second installation seat to move upwards, and abrasion caused by contact between the scraping blade and the abrasive belt 21 in the moving process of the non-test is avoided.
Referring to fig. 6 and 7, the mold is mounted on a second mounting seat, a first through hole is formed in the second mounting seat for passing through one end of a wiper blade located on the mold and used for abutting against the ground, the second mounting seat comprises a fixing plate 32 and a connecting seat 33, the fixing plate 32 is a horizontal plate body, the fixing plate 32 is fixed with the driving end of a third driving piece 34, a first mounting groove 321 for embedding the connecting seat 33 is formed in the top surface of the fixing plate 32, the first mounting groove 321 is a groove, the connecting seat 33 is embedded in the first mounting groove 321, two first mounting grooves 321 and two connecting seats 33 are respectively formed at intervals in the length direction of the operating table 11, the first through hole comprises a first hole 322 and a second hole 332, the first hole 322 is formed in the bottom wall of the first mounting groove 321, the top surface of the connecting seat 33 is provided with a second mounting groove 331, the second mounting groove 331 is the recess, the second hole 332 is offered on the diapire of second mounting groove 331, first hole 322, the second hole 332 aligns and communicates with each other, the mould includes die block 35 and briquetting 36, die block 35 imbeds in the second mounting groove 331, one side of die block 35 top surface has been offered and has been supplied the preforming and be used for installing the die cavity 351 on sweeping the floor robot and briquetting 36 embedding, briquetting 36 and the vertical sliding connection of die cavity 351, briquetting 36 and die cavity 351 diapire cooperation centre gripping preforming, briquetting 36 accessible screw fixation is on die block 35, the second through hole 352 of vertical run through die block 35 has been offered at die block 35 middle part, second through hole 352 aligns and communicates with each other with first hole 322, second hole 332, the doctor blade is arranged in with ground butt one side from second through hole 352, first hole 322 and second hole 332 stretches to the fixed plate 32 below. The bottom die 35, the pressing block 36 embedded in the die cavity 351 and the top surface of the connecting seat 33 are flat, the upper cover of the connecting seat 33 is provided with a cover plate 37 for blocking the die and the connecting seat 33, and the bottom wall of the first mounting groove 321 is vertically fixed with a positioning column 333 penetrating through the connecting seat 33, and the positioning column 333 penetrates through the cover plate 37.
Referring to fig. 6 and 8, the blowing mechanism 4 includes a mounting frame 41 and a cooling fan 42, the mounting frame 41 is disposed between two second sliding grooves 116 and is fixed on the operation table 11, the mounting frame 41 and the first mounting portion 23 are spaced in the length direction of the operation table 11, the fixing plate 32 is located right above the mounting frame 41 in an initial state and the mounting frame 41 is located between two side portions of the second connecting piece 31, the cooling fan 42 is fixedly mounted on the mounting frame 41, a wind hole vertically penetrating the mounting frame 41 is formed in the top of the mounting frame 41, wind blown by the cooling fan 42 penetrates through the wind hole, and blowing and heat dissipation are performed on the wiper blade extending out of the first hole 322.
Referring to fig. 6 and 9, the collision test mechanism 5 includes a mounting assembly and a simulation tile member 51, the mounting assembly is located between the mounting frame 41 and the first mounting portion 23, and there is a space between the mounting assembly and the mounting frame 41 and between the mounting frame 23 and the first mounting portion 23 in the length direction of the console 11, the mounting assembly includes a third mounting seat 52, a fourth mounting seat 53 and a fourth driving member 54, the third mounting seat 52 is fixed on the console 11, the fourth driving member 54 is fixed on the third mounting seat 52, the fourth driving member 54 is a cylinder, a piston rod of the fourth driving member 54 vertically stretches out and draws back from the top of the cylinder, the fourth mounting seat 53 is fixed on the top of the piston rod of the fourth driving member 54, the simulation tile member 51 is detachably connected with the fourth mounting seat 53 through screws, and an operator can replace the simulation tile member 51 with different materials or different shapes according to different test requirements. A second coaming 117 surrounding the third mounting base 52, the fourth driving member 54 and the fourth mounting base 53 is fixed to the console 11, and the floor tile simulating member 51 protrudes from the top of the second coaming 117. The fourth driving member 54 drives the simulation floor tile member 51 to descend when the wiper blade does not perform the collision test, so that the wiper blade moving under the drive of the moving mechanism 6 is allowed to be abdied, and when the collision test is required, the fourth driving member 54 drives the simulation floor tile member 51 to ascend, so that the wiper blade can collide with the side part of the simulation floor tile member 51.
Referring to fig. 10 and referring back to fig. 2, the moving mechanism 6 is disposed at the bottom of the console 11, the moving mechanism 6 includes a supporting frame 61, a sliding block 62, a third connecting member 63 and a moving driving assembly, the supporting frame 61 is fixed at the bottom of the console 11, the sliding block 62 is disposed in the supporting frame 61 and is slidably connected with the supporting frame 61 along the length direction of the console 11, the third connecting member 63 is in an inverted L-shaped block shape, the third connecting member 63 is fixed at two sides of the sliding block 62 and extends out of the supporting frame 61, one end of the third connecting member 63 is fixed with the sliding block 62, the other end is fixed with the bottom of the second connecting member 31, and the sliding of the sliding block 62 drives the movement of the third connecting member 63 and the second connecting member 31, thereby driving the wiper to move.
Referring to fig. 10 and 11, the moving driving assembly includes a screw 64 and a moving driving member 65, the screw 64 is disposed in the support 61 and is rotatably connected with the support 61, the slider 62 is screwed on the screw 64, the screw 64 penetrates the slider 62, the length direction of the screw 64 is consistent with the sliding direction of the slider 62, the moving driving member 65 is a motor, an output shaft of the moving driving member 65 is coaxially connected with the screw 64 through a coupling, and the moving driving member 65 is fixed at one end of the support 61. The moving driving member 65 is started to drive the scraping blade on the die to move to the designated position.
Referring to fig. 12 and referring back to fig. 1, first guide rods 1131 and second guide rods 1132 are disposed on inner walls of two ends of the first enclosing plate 113 in parallel, the first guide rods 1131 and the second guide rods 1132 are both fixed to the enclosing plate, the length direction of the first guide rods 1131 and the length direction of the second guide rods 1132 are consistent with that of the operating platform 11, the distance between the first guide rods 1131 and the operating platform 11 is larger than that between the second guide rods 1132 and the operating platform 11, first sliding seats 1133 are slidably connected to the first guide rods 1131 along the length direction of the first guide rods 1131, at least two first sliding seats 1133 are disposed at intervals along the length direction of the first guide rods 1131, in this embodiment, three second sliding seats 1134 are slidably connected to the second guide rods 1132 along the length direction of the second guide rods 1132, at intervals of the second sliding seats 1134 are disposed at intervals along the length direction of the second guide rods 1132, in this embodiment, three second sliding seats 1134 are disposed at intervals, and the height of the first sliding seats 1133 is higher than that of the second sliding seats 1134.
Referring to fig. 12 and 13, a protective door 7 covered on the console 11 is arranged on the console 11, the protective door 7 comprises a first door body 71 and a second door body 72, the first door body 71 and the second door body 72 are arc-shaped door bodies, the first door body 71 is fixed on a first sliding seat 1133, the second door body 72 is fixed on a second sliding seat 1134, the height of the first door body 71 is larger than that of the second door body 72, in combination with fig. 1, a sliding rail 118 is fixed on one side, exposed from a first coaming 113, of the top surface of the console 11, two sliding ways are arranged on the sliding rail 118 at intervals along the width direction of the console 11, the bottom end of the first door body 71 is embedded into one sliding way, which is far away from a second connecting piece 31, of the sliding rail 118, the bottom end of the second door body 72 is embedded into one sliding way, which is close to the second connecting piece 31, of the first door body 71 and the second door body 72 are both slidingly connected with the sliding rail 118 along the length direction of the console 11.
Referring to fig. 12 and 14, a first baffle 1135 for blocking the first and second guide rods 1131 and 1132 is fixed to the top of the first coaming 113. A second baffle 119 is fixed on one side of the top surface of the operation table 11 exposed from the first enclosing plate 113, the second baffle 119 shields the sliding rail 118, and the second baffle 119 covers the top surface of the operation table 11 in a matched manner with the first enclosing plate 113, the first door body 71 and the second door body 72.
Referring to fig. 12 and 15, a door closing detection module 1136 is disposed on the first enclosing plate 113, the door closing detection module 1136 is a micro switch, and in this embodiment, the micro switch selected by the door closing detection module 1136 is a normally open switch, two door closing detection modules 1136 are disposed on the door closing detection module 1136, the door closing detection module 1136 is fixed on the top of two opposite sides of the first enclosing plate 113, the bottoms of the first sliding seats 1133 located on two sides of the three first sliding seats 1133 are fixed with a first trigger block 1137 for pushing the movable terminals of the door closing detection module 1136, the bottoms of the second sliding seats 1134 located on two sides of the three second sliding seats 1134 are fixed with a second trigger block 1138 for pushing the movable terminals of the door closing detection module 1136, and the door closing detection module 1136 is electrically connected with a control system of the full-automatic test device for cleaning components of the intelligent robot, and the door closing detection module 1136 is used for testing the closing of the first door body 71 and the second door body 72 and outputting detection signals to the control system when the first door body 71 and the second door body 72 are completely closed. After the first door 71 and the second door 72 are closed, the control system receives the door closing detection signal and then runs the test flow.
The implementation principle of the full-automatic test equipment for the cleaning component of the intelligent sweeping robot is as follows: before testing, an operator places the scraping blade in the die groove 351, presses the scraping blade through the pressing block 36, fixes the pressing block 36 and the bottom die 35 through the screw, covers the cover plate 37 on the bottom die 35, and then controls the equipment to test the service life of the scraping blade after the first door body 71 and the second door body 72 are closed.
When the abrasion test is carried out, the piston rod of the third driving piece 34 stretches out in the initial state, at the moment, the bottom of the scraping blade is higher than the top surface of the abrasive belt 21, the moving driving piece 65 operates to drive the screw rod 64 to rotate, the sliding block 62 slides to drive the scraping blade positioned on the bottom die 35 to slide to the position above a segment of the abrasive belt 21 positioned between the driving roller 25 and the driven roller 26, the moving driving piece 65 stops operating, the first driving piece 22 operates, the abrasive belt 21 rotates, and then the third driving piece 34 drives the scraping blade to move downwards to abut against the abrasive belt 21, so that the abrasion test on the abrasive belt 21 is carried out;
after the specified time is passed in the abrasion test, the third driving member 34 drives the scraping blade to move up to the initial height, the moving driving member 65 drives the scraping blade to move to the initial position, namely drives the scraping blade to move to the upper part of the cooling fan 42, the cooling fan 42 operates to blow and cool the scraping blade, after the specified cooling time, the moving driving member 65 and the third driving member 34 operate again to drive the scraping blade to return to the abrasive belt 21 for abrasion, after the specified times are repeated, the abrasion test is stopped, the moving mechanism 6 moves the scraping blade to the initial position, an operator can open the first door body 71 or the second door body 72 to detach the scraping blade from between the pressing block 36 and the bottom die 35 and judge the abrasion condition of the scraping blade, so as to judge whether the service life of the scraping blade reaches the specified standard or not, and the life test of the scraping blade under the abrasion condition is completed.
When a collision test is carried out, the piston rod of the third driving piece 34 stretches out in an initial state, the bottom of the scraping blade is higher than the top surface of the abrasive belt 21, the fourth driving piece 54 drives the fourth mounting seat 53 to move upwards, so that the simulated floor tile piece 51 moves upwards, the top surface of the simulated floor tile piece 51 is higher than the bottom end of the scraping blade, the moving driving piece 65 operates to drive the screw rod 64 to reciprocate, the scraping blade between the bottom die 35 and the pressing block 36 repeatedly collides and deforms with the side part of the simulated floor tile piece 51, after the reciprocating frequency of the scraping blade reaches a designated frequency, the moving mechanism 6 moves the scraping blade to an initial position, the fourth driving piece 54 moves the simulated floor tile piece 51 to the initial position, an operator can open the first door body 71 or the second door body 72, detach the scraping blade from between the pressing block 36 and the bottom die 35 and judge the collision damage condition of the scraping blade, so as to judge whether the service life of the scraping blade reaches the designated standard or not, and complete life test of the scraping blade under the collision condition; when the collision test is carried out, the third driving piece 34 does not need to be operated, the bottom of the scraping blade is always higher than the frosted band 21, and the scraping blade is prevented from rubbing with the frosted band when the collision test is carried out.
Based on the full-automatic testing equipment for the cleaning component of the intelligent sweeping robot disclosed in the above embodiment, the embodiment of the application also discloses a control method for the full-automatic testing equipment for the cleaning component of the intelligent sweeping robot, referring to fig. 16, including:
Safety monitoring: judging whether the protective door is closed, if so, entering a mode selection step, and if not, judging whether the protective door is closed again.
Mode selection step: and receiving a mode selection signal, and selecting to operate the abrasion test step or the collision test step according to the mode selection signal. The operator selects to carry out the abrasion test or the collision test according to the actual test requirement.
Referring to fig. 17, the wear test steps include:
a wear test starting step of outputting a wear test displacement signal to the movable driving member;
outputting a doctor blade falling signal to a third driving piece;
outputting a wear test start signal to the first driving member;
judging whether the running time of the first driving piece is smaller than the preset abrasion interval time, if so, judging whether the running time of the first driving piece is smaller than the preset abrasion interval time again, if not, outputting a doctor blade abdication signal to the third driving piece, outputting an abrasion test reset signal to the moving mechanism, and outputting interrupt frequency information;
judging whether the output frequency of the interruption frequency information is larger than a preset interruption frequency limit value, outputting a wear stopping test signal if the output frequency is larger than the preset interruption frequency limit value, and outputting a heat dissipation starting signal if the output frequency is not larger than the preset interruption frequency limit value;
Judging whether the running time of the cooling fan is longer than the preset cooling interval time, if so, outputting a cooling stopping signal and returning to the abrasion test starting step, and if not, judging whether the running time of the cooling fan is longer than the preset cooling interval time again.
Referring to fig. 18, the collision test step includes:
a collision test starting step of outputting a collision test in-place signal to the fourth driving piece;
outputting a collision test reciprocating displacement signal to the moving mechanism and outputting reciprocating displacement frequency information;
judging whether the output times of the reciprocating displacement times information is larger than a preset limiting value of the reciprocating displacement times, outputting a collision stopping test signal if the output times of the reciprocating displacement times information is larger than the limiting value of the reciprocating displacement times, and returning to the collision test starting step if the output times of the reciprocating displacement times information is not larger than the limiting value of the reciprocating displacement times;
and outputting a collision test reset signal to the fourth driving piece.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (9)
1. Full-automatic test equipment of robot cleaning parts that sweeps floor of intelligence, its characterized in that: the automatic polishing machine comprises a machine body (1), a wear testing mechanism (2) for carrying out wear testing on a scraping blade, a storage table (3) for installing the scraping blade for testing, and a moving mechanism (6) for driving the storage table (3) to move, wherein the storage table (3) is arranged on the machine body (1), the moving mechanism (6) is arranged on the machine body (1), the wear testing mechanism (2) comprises rotating rollers, polishing belts (21) and first driving pieces (22), the rotating rollers are provided with at least two, the polishing belts (21) are wound on the rotating rollers, the driving ends of the first driving pieces (22) are connected with one rotating roller, a section of each polishing belt (21) between the rotating rollers is used for being in butt joint with the scraping blade installed on the storage table (3), so that the wear testing on the scraping blade is realized, and the moving mechanism (6) can drive the storage table (3) to the wear testing mechanism (2);
The full-automatic testing equipment for the cleaning part of the intelligent sweeping robot further comprises a collision testing mechanism (5) for performing collision testing on the scraping blade, the collision testing mechanism (5) is arranged on the machine body (1), the collision testing mechanism (5) and the abrasion testing mechanism (2) are arranged at intervals, the collision testing mechanism (5) comprises a mounting assembly and a simulation floor tile piece (51), the mounting assembly is arranged on the machine body (1), the simulation floor tile piece (51) is detachably connected to the mounting assembly, and the moving mechanism (6) can drive the object placing table (3) to move to the simulation floor tile piece (51);
the installation component includes third mount pad (52), fourth mount pad (53) and fourth driving piece (54), third mount pad (52) set up on organism (1), fourth driving piece (54) set up on third mount pad (52), fourth mount pad (53) are connected with the drive end of fourth driving piece (54), simulation ceramic tile spare (51) are connected with fourth mount pad (53) are removable, fourth driving piece (54) are used for driving fourth mount pad (53) along being close to or keeping away from the direction of doctor-bar when putting thing platform (3) removal to simulation ceramic tile spare (51) department.
2. The intelligent robot cleaner assembly fully automatic test equipment of claim 1, wherein: the abrasion testing mechanism (2) further comprises a first mounting seat and a plane supporting piece (28) used for supporting the abrasive belt (21) segments between the rotating rollers, the first mounting seat is arranged on the machine body (1), the rotating rollers are arranged on the first mounting seat, the plane supporting piece (28) is arranged on the first mounting seat and between the rotating rollers, and the plane supporting piece (28) is arranged between the two abrasive belt (21) segments arranged along the radial intervals of the rotating rollers.
3. The intelligent robot cleaner assembly fully automatic test equipment of claim 2, wherein: the plane support piece (28) is provided with at least two abrasive belt (21) segments at intervals along the radial interval of the rotating roller, the abrasion testing mechanism (2) further comprises a first connecting piece (271) and a second driving piece (29) for driving the first connecting piece (271) to move, the second driving piece (29) is arranged on the plane support piece (28), the first connecting piece (271) is connected with the driving end of the second driving piece (29), and the rotating roller is rotationally connected to the second connecting piece (31).
4. The intelligent robot cleaner assembly fully automatic test equipment of claim 1, wherein: the object placing table (3) comprises a second connecting piece (31) connected with the moving mechanism (6), a second mounting seat arranged on the second connecting piece (31) and a die for providing a setting position for the scraping blade, wherein the die comprises a bottom die (35) and a pressing block (36) used for being matched with the bottom die (35) to clamp one side of the scraping blade, which is used for being arranged on the sweeping robot, the pressing block (36) is detachably connected with the bottom die (35), a first through hole for the passage of the scraping blade extending out from the second through hole (352) is formed in the second mounting seat, and a second through hole (352) for the penetration of one side of the scraping blade, which is used for being in butt joint with the ground, is formed in the bottom die (35);
The object placing table (3) further comprises a third driving piece (34) used for driving the second mounting seat to move along a direction close to or far away from the abrasive belt (21) when the second mounting seat moves to the abrasion testing mechanism (2), the third driving piece (34) is arranged on the second connecting piece (31), and the driving end of the third driving piece (34) is connected with the second mounting seat.
5. The intelligent robot cleaner assembly fully automatic test equipment of claim 1, wherein: the novel scraping blade cooling device is characterized by further comprising a blowing mechanism (4) for cooling the scraping blade, the blowing mechanism (4) is arranged on the machine body (1), the blowing mechanism (4) and the abrasion testing mechanism (2) are arranged at intervals, and the moving mechanism (6) can drive the object placing table (3) to move to the position aligned with the blowing mechanism (4).
6. The intelligent robot cleaner assembly fully automatic test equipment of claim 1, wherein: the intelligent floor sweeping robot cleaning component full-automatic test equipment comprises a machine body (1), and is characterized in that a protective door (7) covered on the machine body (1) is arranged on the machine body (1), the protective door (7) is movably connected with the machine body (1), a door closing detection module (1136) is arranged on the machine body (1), the door closing detection module (1136) is used for testing closing of the protective door (7) and outputting a door closing detection signal, and the door closing detection module (1136) is electrically connected with a control system of the intelligent floor sweeping robot cleaning component full-automatic test equipment.
7. The intelligent robot cleaner assembly fully automatic test equipment of claim 1, wherein: organism (1) is including operation panel (11) and drain pan (12), wearing and tearing testing mechanism (2) and put thing platform (3) setting are on operation panel (11), operation panel (11) are articulated on drain pan (12), be provided with on drain pan (12) and realize buffer (1141) of buffering in operation panel (11) rotation in-process, buffer (1141) are connected with operation panel (11).
8. A control method of a full-automatic test device for an intelligent sweeping robot cleaning component, characterized in that the control method of the full-automatic test device for an intelligent sweeping robot cleaning component is used for controlling the full-automatic test device for an intelligent sweeping robot cleaning component according to any one of claims 1 to 7, and the control method comprises the following steps:
a mode selection step of receiving a mode selection signal and selecting to operate the abrasion test step or the collision test step according to the mode selection signal;
the wear testing step includes:
a wear test starting step of outputting a wear test displacement signal to the moving mechanism;
outputting a doctor blade falling signal to a third driving piece;
outputting a wear test start signal to the first driving member;
Judging whether the running time of the first driving piece is smaller than the preset abrasion interval time, if not, outputting a doctor blade abdication signal to the third driving piece, outputting an abrasion test reset signal to the moving mechanism, and outputting interrupt frequency information;
judging whether the output frequency of the interruption frequency information is larger than a preset interruption frequency limit value, outputting a wear stopping test signal if the output frequency is larger than the preset interruption frequency limit value, and outputting a heat dissipation starting signal if the output frequency is not larger than the preset interruption frequency limit value;
judging whether the running time of the blowing mechanism is longer than the preset heat dissipation interval time, if so, outputting a heat dissipation stopping signal and returning to the abrasion test starting step;
the collision test step comprises the following steps:
a collision test starting step of outputting a collision test in-place signal to the fourth driving piece;
outputting a collision test reciprocating displacement signal to the moving mechanism and outputting reciprocating displacement frequency information;
judging whether the output times of the reciprocating displacement times information is larger than a preset limiting value of the reciprocating displacement times, outputting a collision stopping test signal if the output times of the reciprocating displacement times information is larger than the limiting value of the reciprocating displacement times, and returning to the collision test starting step if the output times of the reciprocating displacement times information is not larger than the limiting value of the reciprocating displacement times;
and outputting a collision test reset signal to the fourth driving piece.
9. The method for controlling the full-automatic test equipment for the cleaning component of the intelligent sweeping robot according to claim 8, further comprising:
And a safety monitoring step, namely judging whether the protective door is closed or not, and entering a mode selection step if the protective door is closed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011640763.4A CN112782021B (en) | 2020-12-31 | 2020-12-31 | Full-automatic testing equipment for cleaning component of intelligent sweeping robot and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011640763.4A CN112782021B (en) | 2020-12-31 | 2020-12-31 | Full-automatic testing equipment for cleaning component of intelligent sweeping robot and control method thereof |
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| CN112782021B true CN112782021B (en) | 2024-03-26 |
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