CN115200917A - Test cabin for equipment operation factory detection - Google Patents
Test cabin for equipment operation factory detection Download PDFInfo
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- CN115200917A CN115200917A CN202211133512.6A CN202211133512A CN115200917A CN 115200917 A CN115200917 A CN 115200917A CN 202211133512 A CN202211133512 A CN 202211133512A CN 115200917 A CN115200917 A CN 115200917A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
Abstract
The invention discloses a test cabin for equipment operation delivery test, and relates to the technical field of robot delivery test; in order to solve the problem of randomness; the portable multifunctional cabin comprises a cabin body, a base and a containing box, wherein the base and the containing box are fixedly installed at the bottom of the cabin body, barrier parts which are arranged in a non-uniform mode are arranged inside the base, the barrier parts comprise telescopic barrier components arranged at the bottom of the base, driving components used for controlling the telescopic barrier components to lift up and down and opening and closing control components used for controlling the driving components to open and close, and opening and closing signals are provided for the opening and closing control components on one side of the containing box. According to the invention, by arranging the Golgin nail plate, when the rolling ball enters the Golgin nail plate, the rolling ball is discharged from which outlet under the action of the blocking nail on the inner wall of the Golgin nail plate, the probability of the rolling ball is normally distributed and is completely random, so that the control of the electric control ball valve is realized by the impacting press closed type signal switch, and the completely random roadblock jacking control is realized.
Description
Technical Field
The invention relates to the technical field of factory test of robots, in particular to a test cabin for factory test of equipment operation.
Background
With the progress of robot technology, robots in various fields are widely applied, such as inspection robots, fire-extinguishing robots, transfer robots, etc., and in robot production lines, after assembly, performance of the robots needs to be tested.
Through retrieval, chinese patent publication No. CN113237688B discloses a robot, a method and an apparatus for testing obstacle avoidance performance of the robot, and a readable storage medium, wherein the robot includes a memory and a processor, the memory stores executable program codes, the processor calls the executable program codes stored in the memory, and executes the method for testing obstacle avoidance performance of the robot, the method includes controlling the robot to move from a test starting point to a test ending point, determining whether the robot collides with an obstacle before reaching the test ending point, if so, controlling the robot to return to the test starting point to perform the obstacle avoidance performance test again, if not, determining that the robot has successfully avoided an obstacle, and after the task of testing obstacle avoidance performance test is ended, outputting a test record of the task of testing obstacle avoidance performance.
The above patents suffer from the following disadvantages: the obstacle is fixed and can not be randomly changed, and because the terrain faced by the robot is unknown when the robot works, namely the terrain is random, the association degree of the test result and the actual working condition of the robot is low when the obstacle can not be randomly changed.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a test cabin for factory detection of equipment operation.
In order to achieve the purpose, the invention adopts the following technical scheme:
a test chamber for factory detection of equipment operation comprises a chamber body, a base and an accommodating box which are fixedly arranged at the bottom of the chamber body,
the inner part of the base is provided with non-uniformly arranged barrier parts, each barrier part comprises a telescopic barrier component arranged at the bottom of the base, a driving component used for controlling the lifting of the telescopic barrier component and an opening and closing control component used for controlling the opening and closing of the driving component, and a barrier control part used for providing opening and closing signals for the opening and closing control component is arranged on one side of the containing box.
Preferably: two sides of the cabin body are respectively provided with a cabin door and a blast part;
the base is close to hatch door one side fixed mounting has the air-inlet grille, the holding case is kept away from the one side of air-inlet grille and is seted up the return air inlet, and the same water conservancy diversion fan housing of outer wall fixed mounting of return air inlet and blast portion.
Further: the telescopic barrier component comprises a shell fixedly arranged at the bottom of the base and an inner boss integrally formed on the inner side of the shell, and the top of the inner boss is connected with a top plate through a pleated rubber cylinder;
the driving assembly comprises a guide shell fixedly arranged at the bottom of the shell, a plurality of connecting joints movably matched in the guide shell and a piston in sliding fit with the inner wall of the guide shell, the connecting joints are mutually connected in a head-to-tail rotating manner, and the two connecting joints at the extreme end are respectively connected to the outer walls of the top plate and the piston in a rotating manner;
the opening and closing control assembly comprises a gas collecting hood and an electric control ball valve fixedly arranged on the gas collecting hood and used for controlling the gas collecting hood to be opened and closed.
On the basis of the scheme: the obstacle control part comprises a driving part, a random ball component and a random probability control component which are matched with each other.
The better scheme in the scheme is as follows: the random ball assembly comprises a guide pipe, a rotating wheel and a rolling ball, wherein the rotating wheel is rotatably connected to the inner wall of the guide pipe, the rolling ball is placed on the upper portion of the inner side of the guide pipe, the rotating wheel is fixedly connected with an output shaft of the driving piece, and a containing groove for containing the rolling ball is formed in the inner wall of the rotating wheel.
As a further scheme of the invention: the random probability control assembly comprises a Golgin nail plate fixed at the outlet of the guide pipe and a fold line pipe fixedly installed at the outlet of the Golgin nail plate, and a press closed type signal switch is installed at the bottom of the fold line pipe.
Meanwhile, the press closed type signal switch is in one-to-one control connection with the electric control ball valves, and the press closed type signal switch is in control connection with a power regulator of the blowing portion.
As a preferable aspect of the present invention: the press closed type signal switches at different positions correspond to different power magnitudes of the power regulator.
Meanwhile, the control method of the press closed type signal switch on the electric control ball valve comprises the following steps: assuming that the number of the outlets of the Golgin nail plate is n, the number of the outlets is nThe symmetry of the system is characterized in that the system has different probabilities
An outlet, wherein
Which are arranged in ascending order of probability as
；
A1: according to the use scene of the robot, determining the feasibility magnitudes of A, B, C and D occurring in the terrain of the scene, and sequencing, wherein the step assumes that the sequence is
；
A2: will be provided with
The outlets are divided into four probability intervals according to the number A, B, C and D of the height types of the roadblocks, the possibility sequence of the roadblocks and the number of the roadblock in each height type, wherein the four probability intervals are respectively k low probability interval outlets, q middle probability interval outlets, p high probability interval outlets and m extremely high probability intervals;
a3: and (3) controlling and connecting the press closed signal switches of the k low-probability interval outlets to k electric control ball valves in the type D, and respectively controlling and connecting the electric control ball valves in the types B, C and D, q middle-probability interval outlets matched with the electric control ball valves, p high-probability interval outlets and m extremely high-probability intervals by the method.
As a more preferable scheme of the invention: the power control logic of the press closed type signal switch and the power controller of the air blowing part is as follows:
b1: inputting initial starting power
；
The wind power can be determined according to specific scenes, climatic conditions and conventional working time periods, and the input power corresponding to the wind power is determined according to the wind power and the nameplate of the wind blowing part
；
B2: will be provided with
In each probability outlet, the median is taken as a zero point, namely the number is
I.e. its corresponding starting power
；
B3: determining the ascending and descending order amplitude M of the adjacent probability, and then numbering as
When the push-closed signal switch is triggered, the corresponding power of the air blowing part
Is composed of
。
The beneficial effects of the invention are as follows:
1. according to the invention, by arranging the Golgin nail plate, when the rolling ball enters the Golgin nail plate, the rolling ball is finally discharged from which outlet under the action of the blocking nail on the inner wall of the Golgin nail plate, the probability of the rolling ball is normally distributed and is completely random, so that the complete random roadblock jacking control is realized by controlling the electric control ball valve through the impacted press closed type signal switch.
2. According to the invention, the press closed type signal switch is connected with the power regulator, and the randomness of the power of the air blowing part is controlled by utilizing the randomness triggered by the press closed type signal switch, so that the randomness of wind resistance on the robot is enabled to be more consistent with the characteristic that wind power in the nature is not constant, and the test practicability is further increased.
3. According to the invention, the discharging driving of the rolling balls is indirectly controlled by the backflow wind speed, namely the power of the air blowing part, and the random power input of the air blowing part can lead the discharging intervals of the rolling balls to be random, so that the device has the superposition of random position and random time, the randomness of the whole system is further increased, and the testing compactness is further increased.
4. According to the invention, as the discharge probability of the rolling ball from the Golton nail plate is completely random, but the rolling ball has different probabilities and has normal distribution characteristics, and high probability and low probability points exist, the high-probability and low-probability press closed type signal switch can be specifically determined according to the specific working scene type of the robot and the height information of the roadblock in the scene, and the wind power information specifically determines the height type of the roadblock and the wind power connection of the high-probability and low-probability press closed type signal switch and the specific height type of the roadblock, and the probability is combined to be matched with the actual scene on the basis of complete randomness, so that the test is more effective.
5. According to the invention, the pleated rubber cylinder is arranged as the telescopic guide piece, so that the lifting guide function of the top plate can be realized on one hand, the sealing can be ensured on the other hand, the leakage of airflow from the gap of the base is prevented, the stability of the airflow is ensured, and the flexible rubber cylinder also has certain flexibility, so that the collision damage caused when the robot cannot avoid obstacles is prevented.
6. According to the invention, the roadblock is lifted and lowered by utilizing backflow gas to drive, the arrangement of driving sources is reduced, the structural compactness is increased, and the transverse driving force can be converted into longitudinal displacement through the transmission of the connecting joint, so that the longitudinal space occupation is converted into the transverse space, and the robot needs to be displaced when avoiding the roadblock, so that the transverse space is sufficient, the space utilization of the device is reasonable, and the space occupation is reduced.
7. According to the invention, the wind and sand condition in the air can be simulated through the wind and sand simulation assembly, the water vapor atomizer can change the air humidity, and the air conditioning fan can change the temperature, so that the simulation of the actual gas environment is more real and appropriate, and the test effect is further improved.
Drawings
Fig. 1 is a schematic view of an overall structure of a test chamber for factory inspection of equipment according to the present invention;
fig. 2 is a schematic structural diagram of an obstacle portion of a test chamber for factory inspection of equipment according to the present invention;
fig. 3 is a schematic cross-sectional structural view of a telescopic barrier assembly of a test chamber for factory inspection during operation of equipment according to the present invention;
fig. 4 is a schematic cross-sectional structural view of a driving assembly and an opening and closing control assembly of a test cabin for factory detection during operation of equipment, which is provided by the invention;
fig. 5 is a schematic structural view of an obstacle control part of a test cabin for factory inspection during operation of equipment according to the present invention;
fig. 6 is a schematic structural diagram of a random ball assembly of a test chamber for factory inspection during operation of equipment according to the present invention;
fig. 7 is a schematic structural diagram of a random probability control assembly of a test chamber for factory inspection of equipment according to the present invention;
fig. 8 is a schematic structural view of a gas environment simulation part of a test chamber for factory inspection of equipment according to the present invention;
fig. 9 is a schematic structural diagram of a sand wind simulation assembly of a test chamber for factory testing during operation of equipment according to the present invention;
fig. 10 is a schematic control logic flow diagram of a test chamber for factory inspection of equipment according to the present invention.
In the figure: 1-cabin body, 2-obstacle part, 3-obstacle control part, 4-air inlet grille, 5-base, 6-containing box, 7-diversion fan cover, 8-gas environment simulation part, 9-blast part, 10-telescopic obstacle component, 11-drive component, 12-start and stop control component, 13-top plate, 14-pleated rubber cylinder, 15-shell, 16-inner boss, 17-connecting joint, 18-guide shell, 19-piston, 20-gas collecting hood, 21-electric control ball valve, 22-driving piece, 23-random ball component, 24-random probability control component, 25-26-guide pipe, 27-containing groove, 28-rotating wheel, 29-Golgin nail plate, 30-press closed signal switch, 31-folding pipe, 32-wind sand simulation component, 33-vapor atomizer, 34-air conditioning fan, 35-wind sand box, 36-opening valve and 37-sand discharge pipeline.
Detailed Description
The technical solution of the present patent will be further described in detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
Example 1:
the utility model provides an equipment operation is dispatched from factory and is detected and use test cabin, as shown in fig. 1, including the cabin body 1 and be fixed in base 5 and holding case 6 of the 1 bottom of the cabin body through the bolt, the inside of base 5 is provided with non-uniform arrangement's obstacle portion 2, obstacle portion 2 is including setting up in telescopic obstacle subassembly 10 of base 5 bottom, being used for control drive assembly 11 that telescopic obstacle subassembly 10 goes up and down and be used for control drive assembly 11 opens and close the control assembly 12 that opens and close, one side of holding case 6 is provided with and is used for doing open and close control assembly 12 provides the obstacle control portion 3 of opening and close signal.
In this device, obstacle control portion 3 can provide random opening and closing signal for opening and closing control assembly 12 to promote telescopic obstacle subassembly 10 through opening and closing control assembly 12 control drive assembly 11 and go up and down, thereby make telescopic obstacle subassembly 10 rise when hindering the robot motion completely at random, thereby more laminate with the topography of robot actual motion, guaranteed test validity.
Two sides of the cabin body 1 are respectively provided with a cabin door and a blast part 9; in this embodiment, the specific type of the air blowing part 9 is not limited, and may be a fan, a centrifugal fan, a high-power air pump, and the like, and preferably: the air blowing part 9 is a blade type axial flow fan, a cabin door is used for the robot to enter and exit, the air blowing part has a sealing function, and the air blowing part 9 can simulate the action of wind power when the robot is tested.
Through the arrangement of the air blowing part 9, directional air flow can be provided for the cabin body 1 when the air blowing part is started, so that a natural wind power scene in the walking process of the robot is simulated, and the test versatility is improved.
An air inlet grille 4 is fixed on one side, close to the cabin door, of the base 5 through bolts, an air return opening is formed in one side, far away from the air inlet grille 4, of the accommodating box 6, and the same air guide fan cover 7 is fixed on the outer wall of the air return opening and the outer wall of the air blowing part 9 through bolts; when the air blowing part 9 is started, wind power is provided for the cabin body 1, and after the air current flows through the cabin body 1, the air current flows back to the accommodating box 6 through the air inlet grille 4, flows back along the air outlet of the accommodating box 6, and returns to the air blowing part 9 again through the flow guide effect of the flow guide fan cover 7, so that stable annular air current is formed.
This device, through setting up air-inlet grille 4 and water conservancy diversion fan housing 7, it is through the effect of water conservancy diversion, with the gas that air-blast portion 9 blew out get into air inlet department of air-blast portion 9 again, can prevent the influence of outside air current to air-blast portion 9 power on the one hand, on the other hand also prevents the potential safety hazard that causes because of the negative pressure of air-blast portion 9 air intake adsorbs.
In order to solve the roadblock and the lifting problem thereof; as shown in fig. 2-4, the retractable barrier assembly 10 includes an outer shell 15 welded to the bottom of the base 5 and an inner boss 16 integrally formed inside the outer shell 15, the top of the inner boss 16 being connected to the top plate 13 by a shirred rubber tube 14.
The driving assembly 11 comprises a guide shell 18 welded at the bottom of the outer shell 15, a plurality of connecting joints 17 movably matched in the guide shell 18 and a piston 19 in sliding fit with the inner wall of the guide shell 18, the connecting joints 17 are mutually connected in a rotating mode end to end, and the two connecting joints 17 at the extreme end are respectively connected to the outer walls of the top plate 13 and the piston 19 in a rotating mode.
The start-stop control assembly 12 comprises a gas collecting hood 20 and an electrically controlled ball valve 21 fixed on the gas collecting hood 20 through bolts and used for controlling the on-off of the gas collecting hood 20.
When the electrically controlled ball valve 21 receives an opening signal, it controls the gas collecting hood 20 to be in a passage, and the backflow gas flow can act on the surface of the piston 19, so as to generate pressure on the piston 19 to move the piston, and thus the top plate 13 is driven to rise through the connecting joint 17 to form a road barrier.
This device is at first through setting up the plectrum rubber barrel 14 for flexible guide, and the one side of which can play the lift direction function of roof 13, and on the other hand can also guarantee sealedly, prevents that the air current from revealing from the breach of base 5, guarantees the air current stability to it still has certain flexibility, prevents the damage of colliding with that takes place when the robot can't keep away the barrier.
Secondly, utilize the gaseous drive of backward flow through the lift with the roadblock, reduce the driving source and arrange, increase the structure compactness to through the transmission of connecting node 17, it can turn into longitudinal displacement with horizontal drive power, thereby makes vertical space occupy and turns into transversely, and the robot needs the displacement when keeping away the barrier, and its horizontal space is sufficient, thereby makes device space utilization reasonable, reduces the space and occupies.
In order to solve the problem of randomness; as shown in fig. 5-7, the obstacle control unit 3 includes a driving member 22, a random ball assembly 23 and a random probability control assembly 24, the specific type of the driving member 22 is not limited in the present device, and in order to consider the linkage and random driving performance of the device, the driving member 22 is a wind turbine, and the air inlet thereof is located on the return side of the airflow.
The random ball assembly 23 comprises a guide pipe 26, a rotating wheel 28 rotatably connected to the inner wall of the guide pipe 26 and a rolling ball 25 arranged on the upper portion of the inner side of the guide pipe 26, the rotating wheel 28 is fixedly connected with the output shaft of the driving part 22, and the inner wall of the rotating wheel 28 is provided with a containing groove 27 for containing the rolling ball 25.
Random probability control assembly 24 is including being fixed in the Golgin nail board 29 in stand pipe 26 exit and the broken line pipe 31 of being fixed in the Golgin nail board 29 exit through the bolt, press closed signal switch 30 is installed to the bottom of broken line pipe 31, press closed signal switch 30 and be connected with the control of automatically controlled ball valve 21 one-to-one, just press closed signal switch 30 and be connected with the power control appearance control of blast air portion 9, different positions press closed signal switch 30 to correspond the different power size of power control appearance.
The lifting stroke of the top plate 13 is different from the number of the top plates 13 with the same stroke, and the lifting stroke can be controlled according to the stroke limit of the piston 19, which is conventional knowledge of a person skilled in the art, and is not described in detail in this embodiment, the top plate 13 is divided into 4 according to the lifting stroke, which are m a types: 10cm, p B types: 30cm, q C-shaped 100cm and k D-shaped structures with the same height as the inner part of the cabin body 1.
In the device, when the airflow flows back, the driving part 22 is driven to rotate, so that the rotating wheel 28 is driven to rotate, the rolling ball 25 entering the containing groove 27 is discharged into the Golton nail plate 29, and the outlet of the Golton nail plate 29 is discharged to impact the sensing end of the pressing closed type signal switch 30, so that the pressing closed type signal switch 30 generates a closing signal which is used as an opening signal of the electric control ball valve 21 to control the opening of the roadblock.
This device is through setting up the Golgin nail board 29, because spin 25 gets into in the Golgin nail board 29, through the effect that Golgin nail board 29 inner wall blockked the nail, and final spin 25 is discharged from which export, and its probability is normal distribution, and completely random to the closed type signal switch 30 of pressing of rethread striking has realized the totally random roadblock jacking control to automatically controlled ball valve 21's control.
In addition, the device connects the press closed type signal switch 30 with the power regulator, and the randomness of the power of the air blowing part 9 is controlled by the randomness triggered by the press closed type signal switch 30, so that the randomness of wind resistance of the robot is ensured, the characteristic that the wind power in the nature is not constant is better met, and the test practicability is further improved.
In addition, the discharging driving of the rolling ball 25 is indirectly controlled by the backflow wind speed, namely the power of the air blowing part 9, and the random power input of the air blowing part 9 can lead the discharging intervals of the rolling ball 25 to be random, so that the device has the superposition of random position and random time, the randomness of the whole system is further increased, and the testing compactness is further increased.
In addition, although the discharge probability of the rolling ball 25 from the Golton nail plate 29 is completely random, the rolling ball has different probabilities and has normal distribution characteristics, and high probability and low probability points exist, so that the high-probability and low-probability pressing closed type signal switch 30 can be specifically determined according to the specific working scene type of the robot and the height information of the roadblock in the scene, the height information of the roadblock is specifically determined according to the height information of the wind power, the height type of the roadblock is specifically determined according to the height information of the roadblock, the wind power is connected, and the probability is combined with the actual scene on the basis of complete randomness, so that the test is more effective.
In the device, if the number of the outlets of the Golgin nail plate (29) is n, the symmetrical characteristic of the Golgin nail plate has different probabilities
An outlet, wherein
Which are arranged in ascending order of probability as
The connection control method for lifting and lowering the roadblock comprises the following steps:
a1: determining feasibility magnitudes of A, B, C and D appearing in the terrain of the scene according to the use scene of the robot, and sequencing, for example, in forest fire extinguishment, trees higher than the robot are relatively more, then gravels with low heights are arranged, then vegetation lower than the robot and still higher than legs of the robot is arranged, and then vegetation is sequenced in a probability increasing sequence to be smaller than the gravels and smaller than the trees; this step assumes a ranking of
；
A2: will be provided with
The outlets are divided into four probability intervals according to the number A, B, C and D of the height types of the roadblocks, the probability sequence of the roadblocks and the number of the roadblocks in each height type, wherein the four probability intervals are respectively k low probability interval outlets, q middle probability interval outlets, p high probability interval outlets and m extremely high probability intervals;
a3: and controlling and connecting the press closed signal switches 30 of the k low-probability interval outlets to the k electric control ball valves 21 in the type D, and controlling and connecting the B, C and D middle electric control ball valves 21 and q middle-probability interval outlets, p high-probability interval outlets and m high-probability intervals matched with the middle electric control ball valves 21 in the type D respectively by the method.
The power control logic of the power controller for pressing the closed signal switch 30 and the blower unit 9 is as follows:
b1: inputting initial starting power
；
The wind power can be determined according to specific scenes, climatic conditions and conventional working time periods, and the input power corresponding to the wind power is determined according to the wind power and the nameplate of the blowing part 9
For example, a forest scene of an X area is determined, and the regular working time of the robot is 8 of 8-10 months: 00-12:00, then according to 8-10 months of the calendar year 8-10 months of region X: 00-12:00 the wind power data in the forest meteorological climate, which can be obtained by looking up the data, and the details are not repeated in this embodiment;
b2: will be provided with
In each probability outlet, the median is taken as a zero point, namely, the number is
I.e. its corresponding starting power
；
B3: determining the ascending and descending order amplitude M of the adjacent probability, and then numbering as
When the push-to-close type signal switch 30 is triggered, the corresponding blower 9 is powered
Is composed of
。
In this embodiment, the robot is put into the cabin door, the device is started, at this time, the air blowing part 9 generates directional air flow in the cabin body 1, so as to provide wind resistance for obstacle avoidance of the robot, and when the air flow flows back, the driving wheel 28 can be driven to rotate by the driving part 22, so as to discharge the rolling ball 25 from the outlet of the guide pipe 26, the rolling ball 25 enters the golton nail plate 29, and after passing through the random probability of normal distribution, the rolling ball is discharged from the outlet of the golton nail plate 29, and strikes the closed signal switch 30, so as to generate a signal, so that the signal of the closed signal switch 30 is pressed to control the opening of the specific electric control ball valve 21 and the power change of the air blowing part 9, and when the electric control ball valve 21 is opened, the air flow acts on the piston 19, so as to press the piston 19 to move, and the top plate 13 is driven to lift through the connecting joint 17, so as to realize the lifting of the obstacle.
Example 2:
a test chamber for factory testing of equipment operation is shown in figures 1-9, and aims to solve environmental problems; the present embodiment is modified from embodiment 1 in the following way: the top of water conservancy diversion fan housing 7 is provided with gas environment simulation portion 8, gas environment simulation portion 8 includes sand blown by the wind simulation subassembly 32, steam atomizing machine 33, air cooler 34, and in this embodiment, do not restrict steam atomizing machine 33 and air cooler 34's specific type, air cooler 34 possesses heat cold function can, steam atomizing machine 33 possesses the air humidifying function can, and it is prior art, comparatively ripe, also technical staff's in the field's conventionality is only, so this embodiment does not do the repeated description.
This embodiment is when using, and the sand wind condition in the air is simulated to accessible sand wind simulation subassembly 32, and steam atomizer 33 can change air humidity, and air cooler 34 can change the temperature to make the simulation to actual gas environment more truly pertinent, improved the test effect further.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. A test chamber for factory detection of equipment operation comprises a chamber body (1), a base (5) and an accommodating box (6) which are fixedly arranged at the bottom of the chamber body (1),
the inner portion of the base (5) is provided with non-uniformly arranged barrier portions (2), each barrier portion (2) comprises a telescopic barrier component (10) arranged at the bottom of the base (5), a driving component (11) used for controlling the lifting of the telescopic barrier component (10) and an opening and closing control component (12) used for controlling the opening and closing of the driving component (11), and a barrier control portion (3) used for providing opening and closing signals for the opening and closing control component (12) is arranged on one side of the accommodating box (6).
2. The test cabin for factory inspection of equipment operation according to claim 1, wherein two sides of the cabin body (1) are respectively provided with a cabin door and a blowing part (9);
the air inlet grille (4) is fixedly mounted on one side, close to the cabin door, of the base (5), the air return opening is formed in one side, far away from the air inlet grille (4), of the accommodating box (6), and the same air guide fan cover (7) is fixedly mounted on the air return opening and the outer wall of the air blowing portion (9).
3. The test chamber for factory inspection of equipment operation according to claim 1, wherein the retractable barrier assembly (10) comprises an outer shell (15) fixedly mounted at the bottom of the base (5) and an inner boss (16) integrally formed on the inner side of the outer shell (15), the top of the inner boss (16) is connected with the top plate (13) through a pleated rubber cylinder (14);
the driving assembly (11) comprises a guide shell (18) fixedly mounted at the bottom of the shell (15), a plurality of connecting joints (17) movably matched in the guide shell (18) and a piston (19) in sliding fit with the inner wall of the guide shell (18), the connecting joints (17) are mutually connected in a head-to-tail rotating mode, and the two connecting joints (17) at the end parts are respectively connected to the outer walls of the top plate (13) and the piston (19) in a rotating mode;
the opening and closing control assembly (12) comprises a gas collecting hood (20) and an electric control ball valve (21) fixedly arranged on the gas collecting hood (20) and used for controlling the gas collecting hood (20) to be opened and closed.
4. The factory test chamber for equipment operation according to claim 1, wherein the obstacle control unit (3) comprises a driving member (22), a random ball assembly (23) and a random probability control assembly (24) which are matched with each other.
5. The test chamber for equipment operation factory testing according to claim 4, wherein the random ball assembly (23) comprises a guide pipe (26), a rotating wheel (28) rotatably connected to the inner wall of the guide pipe (26), and a rolling ball (25) placed at the upper part of the inner side of the guide pipe (26), the rotating wheel (28) is fixedly connected with the output shaft of the driving part (22), and the inner wall of the rotating wheel (28) is provided with a containing groove (27) for containing the rolling ball (25).
6. The test chamber for factory testing of equipment according to claim 4, wherein the random probability control assembly (24) comprises a Goldon nail plate (29) fixed at the outlet of the guide tube (26) and a fold line tube (31) fixed at the outlet of the Goldon nail plate (29), and the bottom of the fold line tube (31) is provided with a press-closed signal switch (30).
7. The test cabin for equipment operation factory detection according to claim 6, wherein the push-to-close type signal switch (30) is in one-to-one control connection with the electrically controlled ball valve (21), and the push-to-close type signal switch (30) is in control connection with a power regulator of the air blowing part (9).
8. The test chamber for factory inspection of equipment operation according to claim 7, wherein the push-to-close signal switch (30) at different positions corresponds to different power levels of the power conditioner.
9. The test chamber for the factory inspection of equipment according to claim 8, wherein the method for controlling the electrically controlled ball valve (21) by the pressing closed signal switch (30) comprises the following steps: if the number of the outlets of the Golgin nail plate (29) is n, the symmetrical characteristic of the Golgin nail plate has different probabilities
An outlet, wherein
Which are arranged in ascending order of probability as
；
A1: according to the use scene of the robot, determining the feasibility magnitude of the appearance of A, B, C and D in the terrain of the scene, and sequencing, wherein the step is assumed to be that the sequencing is
；
A2: will be provided with
The outlets are divided into four probability intervals according to the number A, B, C and D of the height types of the roadblocks, the probability sequence of the roadblocks and the number of the roadblocks in each height type, wherein the four probability intervals are respectively k low probability interval outlets, q middle probability interval outlets, p high probability interval outlets and m extremely high probability intervals;
a3: and (3) controlling and connecting the press closed signal switches (30) of the k low-probability interval outlets to k electric control ball valves (21) in the type D, and respectively controlling and connecting the B, C and D middle electric control ball valves (21) with q middle-probability interval outlets, p high-probability interval outlets and m extremely high-probability intervals matched with the middle electric control ball valves (21).
10. The test chamber for factory inspection of equipment according to claim 9, wherein the power control logic of the power controller of the push-close type signal switch (30) and the air blowing unit (9) is as follows:
b1: inputting initial starting power
；
The wind power can be determined according to specific scenes, climatic conditions and conventional working time periods, and the input power corresponding to the wind power is determined according to the wind power and the nameplate of the blowing part (9)
；
B2: will be provided with
In each probability outlet, the median is taken as a zero point, namely the number is
I.e. its corresponding starting power
；
B3: determining the ascending and descending order amplitude M of the adjacent probability, and then numbering as
When the push-to-close type signal switch (30) is triggered, the corresponding air blowing part (9) is powered
Is composed of
。
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| CN115200917B (en) | 2022-12-06 |
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