CN114704733A - Robot vision balance control device for automatic driving system test - Google Patents
Robot vision balance control device for automatic driving system test Download PDFInfo
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- CN114704733A CN114704733A CN202210379019.6A CN202210379019A CN114704733A CN 114704733 A CN114704733 A CN 114704733A CN 202210379019 A CN202210379019 A CN 202210379019A CN 114704733 A CN114704733 A CN 114704733A
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- 238000012360 testing method Methods 0.000 title claims abstract description 19
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 35
- 238000012544 monitoring process Methods 0.000 claims abstract description 33
- 239000000725 suspension Substances 0.000 claims abstract description 33
- 238000013016 damping Methods 0.000 claims abstract description 24
- 210000005239 tubule Anatomy 0.000 claims abstract description 15
- 230000000694 effects Effects 0.000 claims abstract description 12
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims abstract description 10
- 235000017491 Bambusa tulda Nutrition 0.000 claims abstract description 10
- 241001330002 Bambuseae Species 0.000 claims abstract description 10
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims abstract description 10
- 239000011425 bamboo Substances 0.000 claims abstract description 10
- 238000012856 packing Methods 0.000 claims abstract description 3
- 238000007789 sealing Methods 0.000 claims description 31
- 238000009434 installation Methods 0.000 claims description 9
- 230000006978 adaptation Effects 0.000 claims description 5
- 239000002184 metal Substances 0.000 claims description 5
- 238000010030 laminating Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000035939 shock Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000000523 sample Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 210000003781 tooth socket Anatomy 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/28—Counterweights, i.e. additional weights counterbalancing inertia forces induced by the reciprocating movement of masses in the system, e.g. of pistons attached to an engine crankshaft; Attaching or mounting same
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Fluid-Damping Devices (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of automatic driving system testing, in particular to a robot vision balance control device for the automatic driving system testing, which comprises: the inner cavity of the arc-shaped mounting ring is movably provided with a connecting ball matched with the arc-shaped mounting ring, the upper end of the connecting ball is fixedly connected with a mounting seat, and the upper surface of the mounting seat is provided with a monitoring assembly; the suspension rod is fixed at the lower end of the outer side wall of the connecting ball and is vertically arranged; the arc-shaped attaching plates are distributed and attached to the outer side wall of the fixed block in an annular array; the beneficial effects are that: through the lower extreme fixedly connected with mount pad at the connection ball, the inner chamber packing of a sealed section of thick bamboo has hydraulic oil, and the inner chamber of a sealed section of thick bamboo passes through damping tubule and ring pipe intercommunication, when the monitoring subassembly receives vibrations, can produce damped effect to the slip of connecting rod to this can cushion the shock attenuation to the vibrations that the monitoring subassembly received, therefore avoided this device to receive vibrations and influence the monitoring to the road conditions.
Description
Technical Field
The invention relates to the technical field of automatic driving system testing, in particular to a robot vision balance control device for the automatic driving system testing.
Background
The main functions of the automatic driving system are bidirectional information transmission of the ground vehicle and comprehensive and emergency treatment of operation organization.
In the prior art, before the automatic driving system is put into the market, the system test is needed, so a robot vision balance control device matched with the automatic driving system is needed.
However, in the prior art, when an automatic driving system is tested, a driving vehicle can continuously jolt in the process of advancing, so that a radar probe and a camera in the robot vision balance control device vibrate, and the real-time monitoring of the robot vision balance control device on the front road condition is influenced. Therefore, the invention provides a robot vision balance control device for an automatic driving system test, which is used for solving the problems.
Disclosure of Invention
The invention aims to provide a robot vision balance control device for an automatic driving system test, which aims to solve the problem that a radar probe and a camera in the robot vision balance control device in the background technology are easy to vibrate to influence the monitoring of road conditions.
In order to achieve the purpose, the invention provides the following technical scheme: a robot vision balance control device for an autopilot system test, comprising:
the inner cavity of the arc-shaped mounting ring is movably provided with a connecting ball matched with the arc-shaped mounting ring, the upper end of the connecting ball is fixedly connected with a mounting seat, and the upper surface of the mounting seat is provided with a monitoring assembly;
the suspension rod is fixed at the lower end of the outer side wall of the connecting ball and is vertically arranged, the lower end of the suspension rod is fixedly connected with a fixed block and a balancing weight, and the outer side of the fixed block is provided with an annular pipe concentric with the fixed block; and
arc attaching plate, arc attaching plate is provided with a plurality ofly, and is a plurality of arc attaching plate is the lateral wall of annular array distribution laminating at the fixed block, a side fixedly connected with connecting rod of arc attaching plate, sealed section of thick bamboo has been cup jointed in the activity of the one end outside of connecting rod, the inner chamber of sealed section of thick bamboo is provided with the sealing plug of looks adaptation with it, the one end and the sealing plug fixed connection of connecting rod, the inner chamber packing of sealed section of thick bamboo has hydraulic oil, the damping tubule of the one end fixedly connected with of sealed section of thick bamboo and its intercommunication, the one end of damping tubule and the inner chamber intercommunication of annular pipe.
Preferably, one end of the annular pipe is provided with a first electromagnetic valve, two sides of the first electromagnetic valve are both provided with hydraulic oil pipes, the hydraulic oil pipes are communicated with the inner cavity of the annular pipe, and the middle of each hydraulic oil pipe is provided with a second electromagnetic valve.
Preferably, the installation sleeve and the annular tooth which are matched with the suspension rod are movably sleeved on the outer side of the middle of the suspension rod, the annular tooth is fixed on the upper end face of the installation sleeve, the upper end face of the annular tooth and the lower end face of the installation sleeve are both attached to a limiting ring, and the limiting ring is fixedly connected with the outer side wall of the suspension rod.
Preferably, one side of the annular tooth is provided with a driving gear in meshed connection with the annular tooth, a driving motor fixedly connected with the suspension rod is arranged above the driving gear, and the lower end of a rotating shaft of the driving motor is fixedly connected with the middle of the driving gear.
Preferably, the lateral wall fixed connection of installation sleeve has the square post of level setting, the tooth's socket has been seted up to a side of square post, the square cover of looks adaptation with it has been cup jointed in the outside activity of square post, the one end fixedly connected with limiting plate of square post.
Preferably, one side of the square sleeve is fixedly connected with a movable motor, the lower end of a rotating shaft of the movable motor is fixedly connected with a movable gear, and one side of the movable gear penetrates through the side of the square sleeve and is meshed with the tooth grooves.
Preferably, the lower surface of the square sleeve is fixedly connected with a metal block, an annular plate concentric with the suspension rod is arranged below the square column, and an annular magnet is fixedly embedded on the upper surface of the annular plate.
Preferably, the outer side wall of the annular plate is fixedly connected with a plurality of connecting frames distributed in an annular array, the upper end of each connecting frame is fixedly connected with the outer side wall of the corresponding arc-shaped mounting ring, and the connecting frames are fixedly connected with an external mounting frame.
Compared with the prior art, the invention has the beneficial effects that:
the invention is characterized in that the lower end of the connecting ball is fixedly connected with the mounting seat, the outer side of the fixed block is provided with the annular tube which is concentric with the fixed block, an arc-shaped jointing plate, a connecting rod, a sealing cylinder and a damping tubule are arranged between the fixed block and the annular tube, the connecting rod is movably spliced with the sealing cylinder, the inner cavity of the sealing cylinder is filled with hydraulic oil, the inner cavity of the sealing cylinder is communicated with the annular tube through the damping tubule, when the monitoring assembly is vibrated, the fixed block can swing and extrude the arc-shaped attaching plate to enable the connecting rod to slide along the length direction of the sealing cylinder, at the moment, hydraulic oil in the inner cavity of the sealing cylinder exchanges with the inner cavity of the annular tube through the damping tubules, but the apertures of the damping tubules are small, so that a damping effect can be generated on the sliding of the connecting rod, and then make the swing of fixed block receive the damping to this vibrations that can receive the monitoring subassembly are cushioned the shock attenuation, therefore have avoided this device to receive vibrations and influence the monitoring to the road conditions.
Drawings
FIG. 1 is a perspective view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structural connection of the arcuate mounting ring and connecting ball of the present invention;
FIG. 3 is a schematic view of the structural attachment of the arcuate mounting ring and annular plate of the present invention;
FIG. 4 is a schematic view of the connection of the square post and the square sleeve structure of the present invention;
FIG. 5 is a schematic view showing the positional relationship between the fixing block and the annular tube structure according to the present invention;
FIG. 6 is a schematic view of the interior of the sealing cylinder structure of the present invention.
In the figure: 1. an arc-shaped mounting ring; 2. a connecting ball; 3. a mounting seat; 4. a monitoring component; 5. a suspension rod; 6. a fixed block; 7. a balancing weight; 8. an annular tube; 9. an arc-shaped attaching plate; 10. a connecting rod; 11. a sealing cylinder; 12. a damping tubule; 13. a sealing plug; 14. a first solenoid valve; 15. a hydraulic oil pipe; 16. a second solenoid valve; 17. installing a sleeve; 18. an annular tooth; 19. a limiting ring; 20. a drive gear; 21. a drive motor; 22. a square column; 23. a tooth socket; 24. a square sleeve; 25. a moving motor; 26. a moving gear; 27. a metal block; 28. an annular plate; 29. a ring magnet; 30. and a connecting frame.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clear and fully described, embodiments of the present invention are further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are illustrative of some, but not all, embodiments of the invention and are not to be construed as limiting the scope of the invention, as those skilled in the art will recognize and appreciate that many other embodiments can be made without inventive faculty.
Referring to fig. 1 to 6, the present invention provides a technical solution: a robot vision balance control device for an autopilot system test, comprising: the arc-shaped mounting ring 1, the suspension rod 5 and the arc-shaped attaching plate 9.
Specifically, a connecting ball 2 matched with the arc-shaped mounting ring is movably mounted in an inner cavity of the arc-shaped mounting ring 1, a mounting seat 3 is fixedly connected to the upper end of the connecting ball 2, a monitoring component 4 is mounted on the upper surface of the mounting seat 3, the monitoring component 4 comprises a radar probe and a camera and is used for monitoring road conditions in real time, and the connecting ball 2 can rotate in the inner cavity of the arc-shaped mounting ring 1 to a certain degree, so that the monitoring angle of the monitoring component 4 can be adjusted;
secondly, the suspension rod 5 is fixed at the lower end of the outer side wall of the connecting ball 2 and is vertically arranged, the lower end of the suspension rod 5 is fixedly connected with the fixed block 6 and the balancing weight 7, the balancing weight 7 plays a role of balancing weight, the suspension rod 5 can be kept stable under the action of gravity of the balancing weight 7, so that the monitoring assembly 4 can stably monitor the front road condition, when the monitoring assembly 4 is vibrated to drive the connecting ball 2 to rotate, the suspension rod 5 can synchronously swing, and the swinging displacement of the balancing weight 7 at the lowest end of the suspension rod 5 is the largest;
further, be provided with concentric ring pipe 8 with it in the outside of fixed block 6, arc attaching plate 9 is provided with a plurality ofly, and a plurality of arc attaching plates 9 are the laminating of annular array distribution at the lateral wall of fixed block 6, and when suspension pole 5 swung, fixed block 6 removed thereupon and can produce the extrusion to the arc attaching plate 9 of its side for arc attaching plate 9 takes place to remove.
In addition, a connecting rod 10 is fixedly connected to one side surface of the arc-shaped joint plate 9, a sealing cylinder 11 is movably sleeved outside one end of the connecting rod 10, a sealing plug 13 matched with the sealing cylinder 11 is arranged in an inner cavity of the sealing cylinder 11, one end of the connecting rod 10 is fixedly connected with the sealing plug 13, hydraulic oil is filled in the inner cavity of the sealing cylinder 11, one end of the sealing cylinder 11 is fixedly connected with a damping tubule 12 communicated with the sealing cylinder, one end of the damping tubule 12 is communicated with an inner cavity of the annular tube 8, when the arc-shaped joint plate 9 on one side of the fixing block 6 is extruded by the fixing block 6 to move, the connecting rod 10 on the arc-shaped joint plate 9 can contract into the inner cavity of the sealing cylinder 11, at the moment, the volume of the inner cavity of the sealing cylinder 11 is reduced, the hydraulic oil in the inner cavity of the sealing cylinder 11 enters the inner cavity of the annular tube 8 through the damping tubule 12, meanwhile, the pressure of the inner cavity of the annular tube 8 is increased, the hydraulic oil in the inner cavity of the annular tube 8 enters the inner cavities of other sealing cylinders 11, until the hydraulic oil pressure of 8 inner chambers of ring pipes is the same with the pressure of the hydraulic oil of 11 inner chambers of each sealing cylinder, and at the in-process that hydraulic oil flows, because the aperture of damping tubule 12 is less, and hydraulic oil self viscous force is big, the velocity of flow of hydraulic oil can receive the restriction, thereby can play the damping effect to the slip of connecting rod 10, and then can play the damping effect to the swing of suspension rod 5 and the rotation of monitoring subassembly 4, consequently, this device can play good damping shock attenuation effect to the vibrations that monitoring subassembly 4 received, avoided monitoring subassembly 4 because of receiving vibrations and unable fine real-time supervision road conditions.
Moreover, one end of the annular pipe 8 is provided with a first electromagnetic valve 14, both sides of the first electromagnetic valve 14 are provided with hydraulic oil pipes 15, the hydraulic oil pipes 15 are communicated with the inner cavity of the annular pipe 8, the middle part of the hydraulic oil pipes 15 is provided with a second electromagnetic valve 16, the two hydraulic oil pipes 15 are respectively used for filling hydraulic oil into the inner cavity of the annular pipe 8 and discharging the hydraulic oil, when the inner cavity of the annular pipe 8 is filled with hydraulic oil, the first electromagnetic valve 14 is closed, the hydraulic oil enters the inner cavity of the annular pipe 8 through one hydraulic oil pipe 15 and flows out of the inner cavity of the other hydraulic oil pipe 15, thereby ensuring that the hydraulic oil pressure in the inner cavity of the annular pipe 8 and the inner cavities of the plurality of sealing cylinders 11 is kept the same, closing the two second electromagnetic valves 16 after filling, and the first electromagnetic valve 14 is opened, the hydraulic oil can only flow and exchange in the inner cavity of the sealing cylinder 11 and the inner cavity of the annular pipe 8.
Secondly, the middle outer side of the suspension rod 5 is movably sleeved with a mounting sleeve 17 and an annular tooth 18 which are matched with the mounting sleeve 17 and the annular tooth 18, the annular tooth 18 is fixed on the upper end face of the mounting sleeve 17, the upper end face of the annular tooth 18 and the lower end face of the mounting sleeve 17 are both attached with a limiting ring 19, and the limiting ring 19 is fixedly connected with the outer side wall of the suspension rod 5, so that the mounting sleeve 17 and the annular tooth 18 can synchronously rotate, and the mounting sleeve 17 and the annular tooth 18 can only rotate but cannot move.
Furthermore, a driving gear 20 is arranged on one side of the annular tooth 18 and is in meshed connection with the annular tooth, a driving motor 21 is arranged above the driving gear 20 and is fixedly connected with the suspension rod 5, the lower end of the rotating shaft of the driving motor 21 is fixedly connected with the middle of the driving gear 20, the square column 22 drives the driving gear 20 to rotate when working, and the driving gear 20 is in meshed connection with the annular tooth 18 so as to drive the annular tube 8 and the mounting sleeve 17 to synchronously rotate.
Specifically, a horizontally arranged square column 22 is fixedly connected to the outer side wall of the mounting sleeve 17, a tooth groove 23 is formed in one side face of the square column 22, a square sleeve 24 matched with the square column 22 is movably sleeved on the outer side of the square column 22, a limiting plate is fixedly connected to one end of the square column 22, a moving motor 25 is fixedly connected to one side face of the square sleeve 24, a moving gear 26 is fixedly connected to the lower end of a rotating shaft of the moving motor 25, one side of the moving gear 26 penetrates through the side face of the square sleeve 24 and is meshed with the tooth groove 23, the moving gear 26 is driven to rotate when the moving motor 25 works, the moving gear 26 can drive the square sleeve 24 to slide in the length direction of the square column 22 through meshing transmission between the moving gear 26 and the tooth groove 23, and when the square sleeve 24 slides, the gravity center of the suspension rod 5 can change, the suspension rod 5 can deflect to one side, and then the rotation of the mounting sleeve 17 is matched, the suspension rod 5 can deflect to any direction, and then drive monitoring component 4 and carry out the regulation of arbitrary angle to this avoids when the automatic driving vehicle goes on the slope road surface, and monitoring component 4 can not monitor the condition of road conditions in time.
In addition, the metal block 27 is fixedly connected to the lower surface of the square sleeve 24, the annular plate 28 concentric with the suspension rod 5 is arranged below the square column 22, the annular magnet 29 is fixedly embedded in the upper surface of the annular plate 28, the outer side wall of the annular plate 28 is fixedly connected with a plurality of connecting frames 30 distributed in an annular array mode, the upper end of each connecting frame 30 is fixedly connected with the outer side wall of the arc-shaped mounting ring 1, the connecting frames 30 are fixedly connected with an external mounting frame, when the square sleeve 24 slides towards one end of the square column 22, the metal block 27 is gradually close to the annular magnet 29 and is attracted by the annular magnet 29, therefore, the suspension rod 5 can deflect greatly, and the angle adjustable range of the monitoring assembly 4 is enlarged.
When the device is used, when the monitoring component 4 is vibrated to drive the connecting ball 2 to rotate, the suspension rod 5 swings along with the vibration, at the moment, the fixed block 6 extrudes the arc-shaped attaching plate 9 to enable the arc-shaped attaching plate 9 to move, the connecting rod 10 on the arc-shaped attaching plate 9 can shrink into the inner cavity of the sealing barrel 11, then the volume of the inner cavity of the sealing cylinder 11 is reduced, the hydraulic oil in the inner cavity of the sealing cylinder 11 exchanges with the annular pipe 8 through the damping slim tube 12, however, the aperture of the damping tubule 12 is small, and the viscosity of the hydraulic oil is large, so that the flow rate of the hydraulic oil is limited, thereby damping the sliding of the connecting rod 10, furthermore, the damping effect can be achieved on the swinging of the suspension rod 5 and the rotation of the monitoring assembly 4, so that a good damping effect can be achieved on the vibration received by the monitoring assembly 4, and the condition that the monitoring assembly 4 cannot monitor the road condition well in real time due to the vibration is avoided;
when the vehicle drives to the slope road surface, because 5 lower extremes of suspension pole have hung balancing weight 7, the inclination that monitoring assembly 4 can't adjust itself along with the slope of vehicle, the road conditions in the place ahead is monitored just difficultly in monitoring assembly 4, need start driving motor 21 and moving motor 25 to drive installation sleeve 17 and rotate and square cover 24 slides this moment, thereby make 5 focus of suspension pole change and deflect, adjust the angle of monitoring assembly 4 with this, ensure that monitoring assembly 4 can monitor the road conditions in real time.
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 (8)
1. The utility model provides a robot vision balance control device is used in autopilot system test which characterized in that: the method comprises the following steps:
the device comprises an arc-shaped mounting ring (1), wherein a connecting ball (2) matched with the arc-shaped mounting ring is movably mounted in an inner cavity of the arc-shaped mounting ring (1), the upper end of the connecting ball (2) is fixedly connected with a mounting seat (3), and a monitoring assembly (4) is mounted on the upper surface of the mounting seat (3);
the suspension rod (5) is fixed at the lower end of the outer side wall of the connecting ball (2) and is vertically arranged, the lower end of the suspension rod (5) is fixedly connected with a fixed block (6) and a balancing weight (7), and an annular pipe (8) concentric with the fixed block (6) is arranged on the outer side of the fixed block (6); and
arc attaching plate (9), arc attaching plate (9) are provided with a plurality ofly, and a plurality of arc attaching plate (9) are the lateral wall of annular array distribution laminating at fixed block (6), a side fixedly connected with connecting rod (10) of arc attaching plate (9), sealed section of thick bamboo (11) has been cup jointed in the activity of the one end outside of connecting rod (10), the inner chamber of sealed section of thick bamboo (11) is provided with sealing plug (13) of looks adaptation with it, the one end and sealing plug (13) fixed connection of connecting rod (10), the inner chamber packing of sealed section of thick bamboo (11) has hydraulic oil, damping tubule (12) of the one end fixedly connected with of sealed section of thick bamboo (11) and its intercommunication, the one end of damping tubule (12) and the inner chamber intercommunication of annular pipe (8).
2. The apparatus of claim 1, wherein the robot vision balance control apparatus for the autopilot system test comprises: one end of the annular pipe (8) is provided with a first electromagnetic valve (14), two sides of the first electromagnetic valve (14) are respectively provided with a hydraulic oil pipe (15), the hydraulic oil pipes (15) are communicated with the inner cavity of the annular pipe (8), and the middle of each hydraulic oil pipe (15) is provided with a second electromagnetic valve (16).
3. The apparatus of claim 2, wherein the robot vision balance control apparatus for the autopilot system test comprises: the installation sleeve (17) and the annular tooth (18) of looks adaptation are cup jointed in the activity of the middle part outside of suspension pole (5), the up end at installation sleeve (17) is fixed in annular tooth (18), the up end of annular tooth (18) and the lower terminal surface of installation sleeve (17) are all laminated and are had spacing ring (19), lateral wall fixed connection of spacing ring (19) and suspension pole (5).
4. The apparatus of claim 3, wherein the robot vision balance control apparatus for the autopilot system test comprises: one side of annular tooth (18) is provided with drive gear (20) of being connected with it meshing, the top of drive gear (20) is provided with and hangs jib (5) fixed connection's driving motor (21), the lower extreme of driving motor (21) pivot and the middle part fixed connection of drive gear (20).
5. The vision balance control device for the robot for the autopilot system test as set forth in claim 4, wherein: the lateral wall fixed connection of installation sleeve (17) has square post (22) that the level set up, tooth's socket (23) have been seted up to a side of square post (22), square cover (24) of looks adaptation with it has been cup jointed in the outside activity of square post (22), the one end fixedly connected with limiting plate of square post (22).
6. The apparatus of claim 5, wherein the robot vision balance control apparatus for the autopilot system test comprises: one side fixedly connected with moving motor (25) of square cover (24), the lower extreme fixedly connected with moving gear (26) of moving motor (25) pivot, the side of square cover (24) is run through and tooth's socket (23) meshing is connected to one side of moving gear (26).
7. The apparatus of claim 6, wherein the robot vision balance control apparatus for the autopilot system test comprises: the lower surface fixed connection of square cover (24) has metal block (27), the below of square post (22) is provided with and hangs endocentric annular slab (28) of jib (5), the fixed surface of annular slab (28) inlays and has annular magnet (29).
8. The apparatus of claim 7, wherein the robot vision balance control apparatus for the autopilot system test comprises: the utility model discloses a mounting structure, including annular plate (28), lateral wall fixedly connected with of annular plate (28) is a plurality of link (30) that are the annular array and distribute, the upper end of link (30) and the lateral wall fixed connection of arc collar (1), link (30) and external mounting bracket fixed connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210379019.6A CN114704733B (en) | 2022-04-12 | 2022-04-12 | Robot vision balance control device for automatic driving system test |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210379019.6A CN114704733B (en) | 2022-04-12 | 2022-04-12 | Robot vision balance control device for automatic driving system test |
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| CN114704733A true CN114704733A (en) | 2022-07-05 |
| CN114704733B CN114704733B (en) | 2023-05-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116221578A (en) * | 2023-05-09 | 2023-06-06 | 聊城市开发区精诚建设工程咨询有限公司 | Survey system for homeland investigation and mapping and application method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN114704733B (en) | 2023-05-23 |
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