CN114034500A

CN114034500A - Special type work robot climbing test's device

Info

Publication number: CN114034500A
Application number: CN202111447542.XA
Authority: CN
Inventors: 何永宁; 王小川
Original assignee: Shentong Special Robot Jiangsu Co ltd
Current assignee: Shentong Special Robot Jiangsu Co ltd
Priority date: 2021-11-30
Filing date: 2021-11-30
Publication date: 2022-02-11

Abstract

The invention discloses a climbing test device for a special working robot, which comprises a base, wherein a second motor is fixedly arranged at the middle position of the top of the base, a rotary head is arranged at the output end of the second motor, a rotary table is fixedly arranged at the top end of the rotary head, an installation frame is fixedly arranged on one side of the top of the rotary table, a threaded rotating shaft is movably arranged on the inner side of the installation frame, a second internal thread sleeve is sleeved on the threaded rotating shaft in a threaded manner, a connecting plate is fixedly arranged on one side of the second internal thread sleeve, a lifting table is fixedly arranged on one side of the connecting plate, an inclined plate is movably arranged on one side of the lifting table, wheel carriers are arranged at two ends of one side of the inclined plate, rolling wheels are movably arranged on the inner sides of the two wheel carriers, and a lapping seat is arranged on the other side of the top of the rotary table. The device has the characteristic of being convenient for carrying out buffer protection on the special robot when the slope is adjusted and tested by arranging a series of structures.

Description

Special type work robot climbing test's device

Technical Field

The invention relates to the technical field of special operation robot tests, in particular to a device for slope climbing tests of a special operation robot.

Background

Special type operation robots, also known as special robots, are used in the professional field, generally operated or used by specially trained personnel, to assist and/or replace robots performing tasks, and can be divided into, according to the major industries in which special type robots are used: agricultural robot, electric power robot, construction robot, commodity circulation robot, medical robot, nursing robot, rehabilitation robot, security protection and rescue robot, military robot, nuclear industrial robot, mineral robot, petrochemical industry robot, municipal engineering robot and other industrial robots, because special type work robot need face various complicated operational environment, consequently, the performance requirement to special type work robot is higher, and the performance requirement that different environment corresponds is also different moreover.

The special robot needs to be tested before using, the climbing performance of the special operation robot needs to be tested at present, the gradient needs to be adjusted in the testing process, most of the existing climbing testing devices are single in gradient, the gradient cannot be adjusted according to actual testing requirements, and the special operation robot has limitation in the using process.

Disclosure of Invention

The invention aims to provide a device for slope climbing test of a special working robot, which solves the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a device for climbing tests of special working robots comprises a base, wherein a second motor is fixedly mounted at the middle position of the top of the base, a rotary head is arranged at the output end of the second motor, a rotary table is fixedly mounted at the top end of the rotary head, a mounting frame is fixedly mounted at one side of the top of the rotary table, a threaded rotating shaft is movably mounted at the inner side of the mounting frame, a second internal thread sleeve is sleeved on the threaded rotating shaft in a threaded manner, a connecting plate is fixedly mounted at one side of the second internal thread sleeve, a lifting table is fixedly mounted at one side of the connecting plate, an inclined plate is movably mounted at one side of the lifting table, wheel carriers are arranged at two ends of one side of the inclined plate, rolling wheels are movably mounted at the inner sides of the two wheel carriers, a lapping seat is arranged at the other side of the top of the rotary table, two wheel grooves are formed in the top of the lapping seat, and are respectively positioned at the inner sides of the two wheel grooves, the equal fixed mounting in both sides of elevating platform has first guard plate, the equal fixed mounting in both sides of swash plate has the second guard plate, the equal movable mounting in four ends of base bottom has the removal wheel.

Preferably, the left side fixed mounting at swash plate top has the baffle, one side fixed mounting of baffle has four slide bars, four equal movable sleeve joint installs the sliding sleeve on the slide bar, four fixed mounting has the fly leaf between the sliding sleeve, one side fixed mounting of fly leaf has two connecting rods, one side of fly leaf is through two connecting rod fixed mounting has the buffer board, one side of buffer board is provided with the rubber pad, and four all the cover is equipped with the spring on the slide bar, the spring is located the sliding sleeve with between the baffle, and four the one end of slide bar all is provided with the stopper.

Preferably, the inboard fixed mounting of mounting bracket has the gag lever post, the movable sleeve joint is installed with the stop collar on the gag lever post, the stop collar with fixed mounting has the connecting block between the second internal thread cover.

Preferably, the top of mounting bracket fixed mounting has the third motor, the one end of screw thread pivot with the output fixed connection of third motor.

Preferably, the right side of swash plate is provided with the installation cover, the installation axle is inserted and is equipped with in the inside of installation cover, the spread groove has been seted up to the left side of elevating platform, the both sides of spread groove all are provided with the axle sleeve, the both ends of installing the axle insert two respectively the inside of axle sleeve.

Preferably, the base is internally provided with a mounting groove which is of a bottom opening structure, a rotating rod is movably mounted at the top of the inner side of the mounting groove, a middle block is arranged at the middle position of the rotating rod, two sections of reverse threads are arranged on the surface of the rotating rod, the two sections of reverse threads on the surface of the rotating rod are mutually and symmetrically distributed by taking the middle block as a symmetrical point, first internal thread sleeves are respectively mounted at the two sections of reverse threads on the surface of the rotating rod in a threaded sleeve manner, movable connecting pieces are respectively arranged at the bottoms of the two first internal thread sleeves, connecting rods are movably mounted at the bottoms of the two first internal thread sleeves through the movable connecting pieces, a lifting plate is movably mounted in the mounting groove, the bottom ends of the two connecting rods are respectively movably connected with the lifting plate through the two movable connecting pieces, and fixed rods are fixedly mounted at four ends of the bottom of the lifting plate, and the bottom of the lifting plate is fixedly provided with a bearing plate through four fixing rods.

Preferably, the inside both sides of mounting groove have all been seted up the spout, two the inboard equal fixed mounting of spout has two locating levers, the both sides of lifter plate all are provided with two position sleeves, four the position sleeve is movable sleeve joint respectively and is installed four on the locating lever.

Preferably, a first motor is fixedly mounted on one side of the base, and one end of the rotating rod is fixedly connected with the output end of the first motor.

Preferably, the top of the base is provided with an annular groove, the two sides of the bottom of the rotary table are fixedly provided with mounting rods, the bottom end of each mounting rod is movably provided with a universal wheel, and the universal wheel is located on the inner side of the annular groove.

Compared with the prior art, the invention has the beneficial effects that:

the third motor is controlled to enable the threaded rotating shaft to rotate, the threaded rotating shaft drives the second internal thread sleeve to lift, the second internal thread sleeve drives the lifting table to lift, the lifting table can drive the inclined plate to move while lifting, and further the inclined angle of the inclined plate can be changed, so that the device can adjust the gradient according to actual test requirements, and has strong adaptability in the using process;

the baffle is arranged on one side of the top of the inclined plate, four sliding rods are fixedly arranged on one side of the baffle, sliding sleeves are movably sleeved on the four sliding rods, a movable plate is fixedly arranged between the four sliding sleeves, two connecting rods are fixedly arranged on one side of the movable plate, a buffer plate is fixedly arranged on one side of the movable plate through the two connecting rods, a rubber pad is arranged on one side of the buffer plate, springs are sleeved on the four sliding rods, first protection plates are fixedly arranged on two sides of the lifting table, second protection plates are fixedly arranged on two sides of the inclined plate, a special robot to be tested can be effectively protected, when the robot climbs a slope, the robot can be prevented from being directly rushed out when sliding backwards when driving force is insufficient, force generated when the robot slides backwards can be effectively buffered, and damage of the robot can be reduced;

the second motor is controlled, the rotating head can rotate, the rotating head can drive the rotating platform to rotate, the rotating platform can drive the testing mechanism at the top of the rotating platform to rotate conveniently, the direction of the testing mechanism can be changed, a user can observe the testing mechanism in multiple angles conveniently, the use is convenient, meanwhile, the top of the base is provided with an annular groove, mounting rods are fixedly mounted on two sides of the bottom of the rotating platform, universal wheels are movably mounted at the bottom ends of the mounting rods and located on the inner sides of the annular groove, and the rotating platform can be supported in an auxiliary mode, so that the rotating platform is high in stability;

the first motor of control can make the bull stick rotate, the bull stick then makes two first internal thread cover or reverse movement simultaneously through the effect of two sections reverse screw threads, and then drives the lifter plate and go up and down, and then when needs remove, can make the lifter plate drive the bearing plate and rise, when removing the assigned position, make the lifter plate drive the bearing plate descend and contact with ground, support this device, make this device use stable, and then make this device be convenient for remove, and stability is strong during the use.

Drawings

FIG. 1 is a schematic overall structure of the present invention;

FIG. 2 is a top view of the swash plate of the present invention;

FIG. 3 is a top view of the lift table of the present invention;

FIG. 4 is an enlarged view taken at A of FIG. 1 in accordance with the present invention;

fig. 5 is an enlarged view of the invention at B in fig. 1.

In the figure: 1. a base; 2. a first motor; 3. a second motor; 4. turning the head; 5. a turntable; 6. a mounting frame; 7. a limiting rod; 8. a threaded shaft; 9. a third motor; 10. a first guard plate; 11. a lifting platform; 12. a second guard plate; 13. a sloping plate; 14. a baffle plate; 15. a wheel carrier; 16. a roller; 17. a wheel groove; 18. setting up a seat; 19. a pressure bearing plate; 20. a lifting plate; 21. a middle block; 22. a rotating rod; 23. a slide bar; 24. a buffer plate; 25. a rubber pad; 26. installing a shaft; 27. installing a sleeve; 28. a limiting block; 29. a sliding sleeve; 30. a spring; 31. a connecting rod; 32. a movable plate; 33. connecting grooves; 34. a shaft sleeve; 35. a first internally threaded sleeve; 36. a movable connecting piece; 37. a connecting rod; 38. fixing the rod; 39. a moving wheel; 40. a chute; 41. a positioning sleeve; 42. an annular groove; 43. a universal wheel; 44. mounting a rod; 45. mounting grooves; 46. connecting blocks; 47. a limiting sleeve; 48. a second internally threaded sleeve; 49. a connecting plate; 50. and (5) positioning the rod.

Detailed Description

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

Referring to fig. 1-5, the present invention provides a technical solution: a technical scheme of a climbing test device of a special working robot comprises a base 1, a second motor 3 is fixedly installed at the middle position of the top of the base 1, a rotary head 4 is arranged at the output end of the second motor 3, a rotary table 5 is fixedly installed at the top end of the rotary head 4, an installation frame 6 is fixedly installed at one side of the top of the rotary table 5, a threaded rotating shaft 8 is movably installed at the inner side of the installation frame 6, a second internal thread sleeve 48 is installed on the threaded rotating shaft 8 in a sleeved mode through threads, a connecting plate 49 is fixedly installed at one side of the second internal thread sleeve 48, a lifting table 11 is fixedly installed at one side of the connecting plate 49, an inclined plate 13 is movably installed at one side of the lifting table 11, wheel carriers 15 are respectively arranged at two ends of one side of the inclined plate 13, rollers 16 are movably installed at the inner sides of the two wheel carriers 15, a lapping seat 18 is arranged at the other side of the top of the rotary table 5, two wheel grooves 17 are formed in the top of the lapping seat 18, the two rollers 16 are respectively located at the inner sides of the two wheel grooves 17, first protection plates 10 are fixedly mounted on two sides of the lifting platform 11, second protection plates 12 are fixedly mounted on two sides of the inclined plate 13, and moving wheels 39 are movably mounted at four ends of the bottom of the base 1.

Preferably, the left side fixed mounting at the top of swash plate 13 has baffle 14, one side fixed mounting of baffle 14 has four slide bars 23, four equal movable sleeve joints on the slide bar 23 are installed with sliding sleeve 29, fixed mounting has movable plate 32 between four sliding sleeve 29, one side fixed mounting of movable plate 32 has two connecting rods 31, one side of movable plate 32 has buffer board 24 through two connecting rods 31 fixed mounting, one side of buffer board 24 is provided with rubber pad 25, and all overlap on four slide bars 23 and be equipped with spring 30, spring 30 is located between sliding sleeve 29 and baffle 14, and the one end of four slide bars 23 all is provided with stopper 28, and then can effectually protect the special robot who tests, prevent it when the climbing, when drive power is not enough, directly dash out when backward the landing, can effectually cushion the power that produces when it slips, reduce its damage.

Preferably, the inner side of the mounting bracket 6 is fixedly provided with a limiting rod 7, the limiting rod 7 is movably sleeved with a limiting sleeve 47, and a connecting block 46 is fixedly arranged between the limiting sleeve 47 and a second internal thread sleeve 48, so that when the thread rotating shaft 8 rotates, the second internal thread sleeve 48 cannot rotate along with the rotation of the thread rotating shaft 8 and can only move up and down on the thread rotating shaft 8.

Preferably, the top of the mounting frame 6 is fixedly provided with a third motor 9, one end of the threaded rotating shaft 8 is fixedly connected with the output end of the third motor 9, and the threaded rotating shaft 8 is driven to rotate conveniently through the third motor 9.

Preferably, the right side of swash plate 13 is provided with mounting sleeve 27, and mounting axle 26 has been inserted to the inside of mounting sleeve 27, and connecting groove 33 has been seted up to the left side of elevating platform 11, and the both sides of connecting groove 33 all are provided with axle sleeve 34, and the inside of two axle sleeves 34 is inserted respectively at the both ends of mounting axle 26 for this device reasonable in design, swing joint between swash plate 13 and the elevating platform 11, and then make the inclination of swash plate 13 can change.

Preferably, the base 1 is provided with a mounting groove 45 inside, the mounting groove 45 is of a bottom opening structure, the top of the inner side of the mounting groove 45 is movably provided with a rotating rod 22, the middle position of the rotating rod 22 is provided with a middle block 21, the surface of the rotating rod 22 is provided with two reverse threads, the two reverse threads on the surface of the rotating rod 22 are symmetrically distributed by taking the middle block 21 as a symmetrical point, the two reverse threads on the surface of the rotating rod 22 are respectively provided with a first internal thread sleeve 35 in a threaded sleeve manner, the bottoms of the two first internal thread sleeves 35 are respectively provided with a movable connecting piece 36, the bottoms of the two first internal thread sleeves 35 are respectively and movably provided with a connecting rod 37 through the movable connecting piece 36, the inside of the mounting groove 45 is movably provided with a lifting plate 20, the bottom ends of the two connecting rods 37 are respectively and movably connected with the lifting plate 20 through the two movable connecting pieces 36, and four ends of the bottom of the lifting plate 20 are respectively and fixedly provided with a fixing rod 38, the bottom of lifter plate 20 has pressure-bearing plate 19 through four dead lever 38 fixed mounting, and then can make lifter plate 20 go up and down, and then when needs remove, can make lifter plate 20 drive pressure-bearing plate 19 and rise, when removing the assigned position for lifter plate 20 drives pressure-bearing plate 19 and descends and ground contact, supports this device, makes this device stable in utilization.

Preferably, the inside both sides of mounting groove 45 have all been seted up spout 40, and the equal fixed mounting in inboard of two spouts 40 has two locating levers 50, and the both sides of lifter plate 20 all are provided with two position sleeves 41, and four position sleeves 41 are movable sleeve joints respectively and install on four locating levers 50 for lifter plate 20 is stable when going up and down, can not squint.

Preferably, one side fixed mounting of base 1 has first motor 2, and the one end of bull stick 22 and the output fixed connection of first motor 2 are convenient for drive bull stick 22 and rotate.

Preferably, the annular groove 42 has been seted up at the top of base 1, and the equal fixed mounting in both sides of revolving stage 5 bottom has installation pole 44, and the bottom movable mounting of installation pole 44 has universal wheel 43, and universal wheel 43 is located the inboard of annular groove 42, can be to revolving stage 5 auxiliary stay, and stability is strong when making it rotate.

The working principle is as follows: the device can move through the moving wheel 39, when the device moves to a designated position, the first motor 2 is controlled to rotate the rotating rod 22, the rotating rod 22 simultaneously moves the two first internal thread sleeves 35 oppositely through the action of two sections of reverse threads on the surface of the rotating rod 22, so that the lifting plate 20 moves downwards, the lifting plate 20 drives the bearing plate 19 to move downwards to support the device, the third motor 9 is controlled to drive the threaded rotating shaft 8 to rotate, the threaded rotating shaft 8 drives the second internal thread sleeve 48 to lift, the second internal thread sleeve 48 drives the lifting platform 11 to lift, the lifting platform 11 can simultaneously drive the inclined plate 13 to move, so that the inclined angle of the inclined plate 13 can be changed, the second motor 3 is controlled to rotate the rotating head 4, the rotating head 4 can drive the rotating platform 5 to rotate, so that the rotating platform 5 can drive the testing mechanism on the top of the rotating platform to rotate, the orientation of the testing mechanism may be changed.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a device of special type work robot climbing test, includes base (1), its characterized in that: the improved turntable is characterized in that a second motor (3) is fixedly mounted at the middle position of the top of the base (1), the output end of the second motor (3) is provided with a rotary head (4), a rotary table (5) is fixedly mounted at the top end of the rotary head (4), a mounting frame (6) is fixedly mounted at one side of the top of the rotary table (5), a threaded rotary shaft (8) is movably mounted at the inner side of the mounting frame (6), a second inner threaded sleeve (48) is sleeved on the threaded rotary shaft (8) in a threaded manner, a connecting plate (49) is fixedly mounted at one side of the second inner threaded sleeve (48), a lifting table (11) is fixedly mounted at one side of the connecting plate (49), an inclined plate (13) is movably mounted at one side of the lifting table (11), wheel carriers (15) are arranged at the two ends of one side of the inclined plate (13), and rollers (16) are movably mounted at the inner sides of the wheel carriers (15), the opposite side at revolving stage (5) top is provided with takes seat (18), two race grooves (17), two have been seted up at the top of taking seat (18) gyro wheel (16) are located two respectively the inboard of race groove (17), the equal fixed mounting in both sides of elevating platform (11) has first guard plate (10), the equal fixed mounting in both sides of swash plate (13) has second guard plate (12), the equal movable mounting in four ends of base (1) bottom has removal wheel (39).

2. The special work robot climbing test device according to claim 1, characterized in that: swash plate (13) top left side fixed mounting has baffle (14), one side fixed mounting of baffle (14) has four slide bars (23), four equal movable sleeve joint installs sliding sleeve (29), four on slide bar (23) fixed mounting has fly leaf (32) between sliding sleeve (29), one side fixed mounting of fly leaf (32) has two connecting rods (31), one side of fly leaf (32) is through two connecting rod (31) fixed mounting has buffer board (24), one side of buffer board (24) is provided with rubber pad (25), and four all the cover is equipped with spring (30) on slide bar (23), spring (30) are located sliding sleeve (29) with between baffle (14), and four the one end of slide bar (23) all is provided with stopper (28).

3. The special work robot climbing test device according to claim 1, characterized in that: the inboard fixed mounting of mounting bracket (6) has gag lever post (7), movable sleeve joint installs stop collar (47) on gag lever post (7), stop collar (47) with fixed mounting has connecting block (46) between second internal thread bush (48).

4. The special work robot climbing test device according to claim 1, characterized in that: the top fixed mounting of mounting bracket (6) has third motor (9), the one end of screw thread pivot (8) with the output fixed connection of third motor (9).

5. The special work robot climbing test device according to claim 1, characterized in that: the right side of swash plate (13) is provided with installation cover (27), the installation axle (26) is inserted in the inside of installation cover (27), spread groove (33) have been seted up to the left side of elevating platform (11), the both sides of spread groove (33) all are provided with axle sleeve (34), insert two respectively at the both ends of installation axle (26) the inside of axle sleeve (34).

6. The special work robot climbing test device according to claim 1, characterized in that: the mounting groove (45) is formed in the base (1), the mounting groove (45) is of a bottom opening structure, a rotating rod (22) is movably mounted at the inner side of the mounting groove (45), a middle block (21) is arranged at the middle position of the rotating rod (22), two sections of reverse threads are arranged on the surface of the rotating rod (22), two sections of reverse threads on the surface of the rotating rod (22) are symmetrically distributed with the middle block (21) as a symmetrical point, first inner thread sleeves (35) are installed at two sections of reverse threads on the surface of the rotating rod (22) in a threaded sleeved mode, movable connecting pieces (36) are arranged at the bottoms of the first inner thread sleeves (35), connecting rods (37) are movably mounted at the bottoms of the first inner thread sleeves (35) through the movable connecting pieces (36), and a lifting plate (20) is movably mounted in the mounting groove (45), two the bottom of connecting rod (37) is respectively through two movable connecting piece (36) with lifter plate (20) swing joint, just four equal fixed mounting in end of lifter plate (20) bottom has dead lever (38), the bottom of lifter plate (20) is through four dead lever (38) fixed mounting has pressure-bearing plate (19).

7. The special work robot climbing test device according to claim 6, characterized in that: the inside both sides of mounting groove (45) have all been seted up spout (40), two equal fixed mounting in inboard of spout (40) has two locating levers (50), the both sides of lifter plate (20) all are provided with two position sleeve (41), four position sleeve (41) movable sleeve respectively connects and installs four on locating lever (50).

8. The special work robot climbing test device according to claim 6, characterized in that: one side fixed mounting of base (1) has first motor (2), the one end of bull stick (22) with the output fixed connection of first motor (2).

9. The special work robot climbing test device according to claim 1, characterized in that: annular groove (42) have been seted up at the top of base (1), the equal fixed mounting in both sides of revolving stage (5) bottom has installation pole (44), the bottom movable mounting of installation pole (44) has universal wheel (43), universal wheel (43) are located the inboard of annular groove (42).