CN116945230A - Wall climbing robot is with compound check out test set - Google Patents

Wall climbing robot is with compound check out test set Download PDF

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Publication number
CN116945230A
CN116945230A CN202310923318.6A CN202310923318A CN116945230A CN 116945230 A CN116945230 A CN 116945230A CN 202310923318 A CN202310923318 A CN 202310923318A CN 116945230 A CN116945230 A CN 116945230A
Authority
CN
China
Prior art keywords
force
wheel
tested
magnet
testing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310923318.6A
Other languages
Chinese (zh)
Inventor
章军福
孙正茂
李建伟
王宝玉
周义华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Jueji Special Equipment Co ltd
Original Assignee
Jiangsu Jueji Special Equipment Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangsu Jueji Special Equipment Co ltd filed Critical Jiangsu Jueji Special Equipment Co ltd
Priority to CN202310923318.6A priority Critical patent/CN116945230A/en
Publication of CN116945230A publication Critical patent/CN116945230A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095—Means or methods for testing manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • 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
    • G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests

Abstract

The application relates to a composite detection device for a wall climbing robot, which comprises: box, testing mechanism, drive mechanism, mounting bracket and chamber door, testing mechanism includes: the device comprises a stress plate, a force application plate, a force measurement sensor and a displacement sensor, wherein a transmission mechanism is connected with the stress plate and pushes a testing mechanism to slide in a box body; the mounting frame is detachably arranged in the box body, a wheel frame is arranged on the mounting frame and is used for mounting and fixing wheels to be tested, and the wheels to be tested can be in pressing contact with the force application plate; the setting that the chamber door opened and shut is provided with the magnet mounting bracket on the chamber door, and the magnet mounting bracket is used for installing fixed magnet that awaits measuring, awaits measuring the magnetic field force that the magnet can produce the absorption application of force board. The application adopts a group of testing mechanism and transmission mechanism to respectively realize the deformation of the wheels and the adsorption force of the magnets, so that the consistency of testing conditions is ensured, the testing precision is ensured to be consistent, and the strong relevance of the testing results is realized.

Description

Wall climbing robot is with compound check out test set
Technical Field
The application relates to the technical field of wall climbing robots, in particular to a composite detection device for a wall climbing robot.
Background
The application of the wall climbing robot mainly improves the special detection level for large metal tank equipment and large mechanical devices, improves the safety of maintenance personnel in operation in dangerous environments, reduces the operation risk, improves the working efficiency, and brings remarkable economic and social benefits. The method can be applied to enterprises such as petrochemical industry, shipbuilding, container wharf and the like, and can be used for carrying out special inspection such as flaw detection, thickness measurement and the like on the inner wall surface and the outer wall surface of a metal tank or a spherical tank, and sand blasting, rust removal, paint spraying, corrosion prevention and the like on the wall of the metal tank. Meanwhile, the device can carry different detection equipment to carry out flaw detection, thickness detection and corrosion detection.
The wall surface adsorption mode of the existing wall climbing robot mainly comprises the following steps: negative pressure adsorption, vacuum adsorption, magnetic adsorption, gas thrust adsorption, viscous adsorption, bionics adsorption and the like; for the magnetic adsorption type wall climbing robot, wheels and magnets are key components of the wall climbing robot, the deformation of the wheels and the adsorption force of the magnets are all theoretically calculated in design, the deformation of the wheels and the adsorption force of the magnets in an actual scene are influenced by a plurality of factors, certain deviation exists between the deformation of the wheels and the adsorption force of the magnets and the theoretical value, and if the deformation of the wheels and the adsorption force of the magnets cannot meet the theoretical requirement, two situations possibly occur: one is that the wheel deformation volume is too big under the absorptive power circumstances of normal magnet, then climb wall robot just can't move on the wall, and another is that wheel deformation volume is too little, and absorptive demand can not be reached to the absorptive power of magnet, then climb wall robot and will follow the wall and drop, and the normal use of wall robot can be influenced to above-mentioned two kinds of circumstances, consequently, need carry out actual measurement to the deflection of wheel and the absorptive power of magnet before climbing wall robot uses, revises the design according to measuring result.
In the prior art, different devices are respectively adopted to measure the deformation of the wheel and the adsorption force of the magnet, and because the test precision of the different devices is inconsistent, the magnitude of the test force, the application mode of the test force and the application position of the test force are different when the measurement is carried out, so that the obtained test results have weak relevance, the test requirements are possibly met respectively, but the theoretical effect cannot be achieved when the device is assembled and used.
Disclosure of Invention
Therefore, the application aims to solve the technical problems that when different testing devices are adopted to test the deformation of the wheel and the adsorption force of the magnet respectively in the prior art, the relevance of the testing result is not strong due to the inconsistent precision of the different testing devices.
In order to solve the technical problems, the application provides a composite detection device for a wall climbing robot, comprising:
a case;
the testing arrangement sets up in the box, include: the force sensor is arranged between the force bearing plate and the force application plate, two ends of the force sensor are respectively connected to the force bearing plate and the force application plate, and a displacement sensor is also arranged on the force application plate;
the transmission mechanism is arranged at one side of the testing mechanism, the output end of the transmission mechanism is connected with the stress plate of the testing mechanism, and the transmission mechanism pushes the testing mechanism to slide in the box body;
the mounting frame is arranged on the other side of the testing mechanism and corresponds to the transmission mechanism, the mounting frame is detachably arranged in the box body, a wheel frame is arranged on the mounting frame and is used for mounting and fixing wheels to be tested, and the wheels to be tested can be in pressing contact with the force application plate;
the refrigerator door is opened and closed and is arranged on the refrigerator body, a magnet mounting rack is arranged on the refrigerator door and used for mounting and fixing a magnet to be tested, and the magnet to be tested can generate magnetic force for adsorbing the force application plate.
In one embodiment of the application, when the deformation of the wheel is tested, the mounting frame is fixed in the box body, the wheel to be tested is arranged on the mounting frame, the box door is opened, the transmission mechanism pushes the stress plate to enable the testing mechanism to slide towards the mounting frame, the force plate is abutted against the wheel to be tested, when the test value of the force sensor is changed, the displacement sensor is arranged to record the initial position, the transmission mechanism continuously applies pressure to the wheel to be tested through the testing mechanism, the corresponding values of the force sensor and the displacement sensor are recorded, and the corresponding relation between the deformation of the wheel and the applied pressure is obtained.
In one embodiment of the application, when the wheel deformation is tested, the pressure which can be borne by the wheel to be tested is set, the transmission mechanism continuously applies the pressure to the wheel to be tested through the testing mechanism, and when the pressure reaches the set maximum pressure, the displacement sensor records the end position. The relative distance between the initial position and the final position is the deformation of the wheel under the set pressure.
In one embodiment of the application, when the magnet is adsorbed and tested, the mounting frame is detached from the box body, the transmission mechanism drives the testing mechanism to move to the original position in the direction away from the box door, the magnet to be tested is arranged on the magnet mounting frame, the box door is closed, the transmission mechanism pushes the force bearing plate to enable the testing mechanism to slide towards the box door, the displacement sensor records the distance between the force bearing plate and the magnet in real time, the force sensor records the pressure change value of the force bearing plate in real time, and the corresponding values of the force sensor and the displacement sensor in the sliding process are recorded, so that the corresponding relation between the magnet attraction and the distance from the magnet is obtained.
In one embodiment of the application, when the magnet is subjected to adsorption test, the transmission mechanism pushes the force bearing plate, so that the transmission mechanism stops running when the force bearing plate moves to a set position, and the force sensor records the pressure data at the moment, namely the suction data of the magnet at the set position.
In one embodiment of the application, the test mechanism further comprises a guide shaft, the guide shaft is arranged in an extending mode along the sliding direction of the test mechanism, guide sleeves are arranged on the force application plate and the force bearing plate of the test mechanism, the guide sleeves are sleeved on the guide shaft, and the guide sleeves slide on the guide shaft along the extending direction of the guide shaft.
In one embodiment of the application, the transmission mechanism comprises:
a driving source;
the transmission wheel set comprises a driving wheel, a driven wheel and a synchronous belt sleeved outside the driving wheel and the driven wheel, and the driving wheel is connected with the output end of the driving source;
the ball screw rotates the nut, connect with said driven wheel, is driven by the said driven wheel to rotate;
the ball screw shaft is arranged in the ball screw rotating nut in a penetrating mode and is in threaded connection with the ball screw rotating nut, the position of the ball screw rotating nut is fixed, the ball screw shaft moves linearly relative to the ball screw rotating nut, and the end head of the ball screw shaft is connected with the stress plate of the testing mechanism.
In one embodiment of the present application, the wheel carrier includes: the diameter of the supporting column is larger than the inner aperture of the wheel to be tested, the supporting column is in interference fit with the wheel to be tested, the height of the supporting column is higher than that of the wheel to be tested, the plugging gasket is arranged at the top of the supporting column, and the plugging gasket limits the wheel to be tested to axially move along the supporting column.
In one embodiment of the application, a plurality of parallel grooves are formed in the box door, the magnet mounting frame is a clamping block which is arranged in the grooves in a sliding manner, two clamping blocks are arranged in each groove, and the magnet to be tested is clamped through the clamping blocks.
In one embodiment of the application, the box door is rotatably arranged on the box body through a rotating shaft and a hinging seat, and a connecting plate in locking connection with the box body is arranged on the box door.
Compared with the prior art, the technical scheme of the application has the following advantages:
according to the composite detection equipment for the wall climbing robot, the deformation test of the wheels and the adsorption force test of the magnet are integrally arranged in one equipment, so that the equipment for testing can be reduced, the test cost is saved, and the same test mechanism and transmission mechanism are arranged to respectively realize the deformation test of the wheels and the adsorption force test of the magnet.
The wheel to be tested and the magnet to be tested are fixedly assembled respectively by adopting different supporting structures, so that the wheel to be tested and the magnet to be tested can be matched with the testing mechanism and the transmission mechanism to complete the testing requirement, and meanwhile, the deformation testing of the wheel and the adsorption force testing of the magnet are not interfered with each other to influence, and the independent testing requirements can be completed.
Drawings
In order that the application may be more readily understood, a more particular description of the application will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, in which:
FIG. 1 is a schematic diagram of the overall structure of a composite detection device for a wall climbing robot of the present application;
FIG. 2 is a schematic diagram of the structure of the testing mechanism of the present application;
FIG. 3 is a schematic diagram of the transmission mechanism of the present application;
FIG. 4 is a schematic structural view of the wheel frame of the present application;
FIG. 5 is a schematic view of the structure of the door of the present application;
FIG. 6 is a schematic view of the structure of the magnet mount of the present application;
fig. 7 is a schematic structural view of the composite detection device for the wall climbing robot in detecting the deformation amount of the wheel;
FIG. 8 is a schematic view of the structure of the composite detecting device for a wall climbing robot of the present application at the time of detecting the attraction force to the magnet,
description of the specification reference numerals: 1. a case; 2. a testing mechanism; 21. a force-bearing plate; 22. a force application plate; 23. a load cell; 24. a displacement sensor; 25. a guide shaft; 26. a guide sleeve; 3. a transmission mechanism; 31. a driving source; 32. a transmission wheel set; 33. a ball screw rotates a nut; 34. a ball screw shaft; 4. a mounting frame; 5. a door; 51. a rotating shaft; 52. a hinge base; 53. a connecting plate; 6. wheel frame; 61. a support column; 62. a sealing gasket; 7. a magnet mounting rack; 71. a groove; 72. and clamping blocks.
Detailed Description
The present application will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the application and practice it.
As described above, the deformation of the wheel and the attraction force of the magnet are used as important parameter indexes for evaluating the magnetic attraction type wall climbing robot, and the normal use of the wall climbing robot can be ensured only if the parameters meet the design requirements, so that the measurement of the deformation of the wheel and the attraction force of the magnet is indispensable before the practical use; the inventor of the application discovers that by adopting different testing equipment, because the testing precision of the testing equipment is different, errors of measurement can occur, the relevance of the obtained testing results is not strong, and the deformation of the wheels and the adsorption force of the magnet can respectively meet the testing requirements, but the theoretical effect can not be achieved when the testing equipment is assembled and used;
meanwhile, when different devices are adopted to test the deformation of the wheel and the adsorption force of the magnet respectively, the force application component and the test component are used, and the parameters of force application and displacement are required to be detected, so the inventor proposes an idea that since the deformation of the wheel is similar to the devices required by the adsorption force test of the magnet, the detected parameters are similar, whether the deformation of the wheel and the adsorption force test of the magnet can be integrally arranged on one device or not can reduce the test device, the test cost is saved, and the same test mechanism and transmission mechanism are arranged to realize the deformation of the wheel and the adsorption force test of the magnet respectively.
Referring to fig. 1, the application discloses a composite detection device for a wall climbing robot, comprising: the testing device comprises a box body 1, a testing mechanism 2, a transmission mechanism 3, a mounting rack 4 and a box door 5; the test mechanism 2 and the transmission mechanism 3 are both arranged in the box body 1, the test mechanism 2 is arranged in the box body 1 in a sliding way, and the transmission mechanism 3 is arranged on one side of the test mechanism 2 to provide power for the sliding of the test mechanism 2 in the box body 1;
the mounting frame 4 and the transmission mechanism 3 are correspondingly arranged on the other side of the testing mechanism 2, the mounting frame 4 is detachably arranged in the box body 1, the mounting frame 4 is provided with a wheel frame 6, the wheel frame 6 is used for mounting and fixing wheels to be tested, the transmission mechanism 3 can push the testing mechanism 2 to be pressed against the wheels to be tested, the transmission mechanism 3 continuously applies pushing force, the wheels to be tested can be deformed, and the testing of the wheel deformation can be realized as long as the deformation and the corresponding force are detected by the testing mechanism 2;
the refrigerator door 5 sets up in the outside of mounting bracket 4, the setting of refrigerator door 5 opening and shutting is in on the box 1 when refrigerator door 5 opens, can place the wheel on wheel frame 6, can not influence the deformation test of treating the test wheel, dismantle the mounting bracket 4 and take out from box 1, close refrigerator door 5 this moment, refrigerator door 5 with drive mechanism 3 corresponds the setting and is in the opposite side of test mechanism 2, be provided with magnet mounting bracket 7 on the refrigerator door 5, magnet mounting bracket 7 is used for installing fixed magnet that awaits measuring, the magnetic field force that awaits measuring magnet can produce and adsorb test mechanism 2, drive mechanism 3 drives after test mechanism 2 removes to the position that can be adsorbed by magnet stop, test mechanism 2 has just received the same and opposite two forces of direction, that is, the adsorption force of magnet and drive mechanism 3's pulling force, as long as detect the pulling force's size through test mechanism 2, just can detect the adsorption force size of magnetic field at this position, with drive mechanism 3 drives test mechanism 2 and removes in different positions, just can detect the adsorption force of magnet of different positions.
In this embodiment, set up mounting bracket 4 and chamber door 5 respectively as the fixing device of waiting to test wheel and waiting to test magnet, through the dismouting of mounting bracket 4 and the switch of chamber door 5, both satisfied waiting to test wheel and waiting to test magnet and can accomplish the test demand with test mechanism 2 and drive mechanism 3 cooperation respectively, make the deformation test of wheel and the adsorption affinity test mutual noninterference influence of magnet simultaneously, can accomplish respective independent test demand.
In addition, the same testing mechanism 2 and the same transmission mechanism 3 are arranged to respectively realize the deformation of the wheel and the adsorption force test of the magnet, because the testing precision of the testing mechanism 2 and the transmission mechanism 3 is consistent, the testing position is fixed, the testing force is fixed, and the output mode of the testing force is the same, even if the testing precision of the adopted testing mechanism 2 is not high, the consistency of the testing condition can be met, the strong relevance of the testing result is ensured, and the theoretical effect can be realized when the deformation of the tested wheel and the adsorption force of the magnet meet the design requirement and then are assembled for use.
According to the above requirements, one end of the test mechanism 2 needs to be connected with the transmission mechanism 3, and the other end can be abutted against the wheel or generate an adsorption force with the magnet, and meanwhile, the test mechanism 2 needs to be capable of detecting a stress condition and a displacement condition, so, referring to fig. 2, in this embodiment, the test mechanism 2 comprises: the force-bearing plate 21 and the force-bearing plate 22 are provided, a force-bearing sensor 23 is arranged between the force-bearing plate 21 and the force-bearing plate 22, two ends of the force-bearing sensor 23 are respectively connected to the force-bearing plate 21 and the force-bearing plate 22, the transmission mechanism 3 is arranged to apply force to the force-bearing plate 21, the force is transmitted to the force-bearing plate 22 through the force-bearing sensor 23, the force-bearing force is detected through the force-bearing sensor 23, the testing mechanism 2 further comprises a displacement sensor 24, in the embodiment, the displacement sensor 24 is arranged as a grating sensor, a grating ruler is arranged on the outer side of the force-bearing plate 22, a cursor is arranged on the force-bearing plate 22, and the moving position of the force-bearing plate 22 is detected by detecting the moving position of the cursor on the grating ruler.
In this embodiment, in order to limit the sliding direction of the testing mechanism 2 in the box 1, the testing mechanism 2 further includes a guide shaft 25, the guide shaft 25 extends along the sliding direction of the testing mechanism 2, a guide sleeve 26 is disposed on the force application plate 22 and the force receiving plate 21 of the testing mechanism 2, the guide sleeve 26 is sleeved on the guide shaft 25, the guide sleeve 26 slides on the guide shaft 25 along the extending direction of the guide shaft 25, the sliding direction of the testing mechanism 2 is limited by the matching structure of the shaft sleeve, the contact surface of the force application plate 22 and the wheel to be tested is ensured to be a parallel surface, so that the uniformity of force application is ensured, and meanwhile, the distance between the force application plate 22 and the magnet to be tested is ensured to be equidistant, and the accuracy of testing is ensured.
Referring to fig. 3, the transmission mechanism 3 includes: the device comprises a driving source 31, a transmission wheel set 32, a ball screw rotating nut 33 and a ball screw shaft 34, wherein the transmission wheel set 32 consists of a driving wheel, a driven wheel and a synchronous belt, the driving wheel is connected with the output end of the driving source 31, the synchronous belt is sleeved outside the driving wheel and the driven wheel, the synchronous belt transmits the power of the driving wheel to the driven wheel so as to drive the driven wheel to rotate, the ball screw rotating nut 33 is connected with the driven wheel, the driven wheel drives the ball screw rotating nut 33 to synchronously rotate along with the driven wheel, the ball screw shaft 34 is penetrated in the ball screw rotating nut 33 and is in threaded connection with the ball screw rotating nut 33, the ball screw rotating nut 33 is fixed in position, the ball screw shaft 34 moves linearly relative to the ball screw rotating nut 33, and the end of the ball screw shaft 34 is connected with a stress plate 21 of the testing mechanism 2.
The transmission mechanism 3 of the embodiment adopts a screw structure to convert the rotational force provided by the driving source 31 into the linear force of the ball screw shaft 34, and applies the linear force to the stress plate 21 of the testing mechanism 2, so as to drive the testing mechanism 2 to slide linearly.
Referring to fig. 4, the mounting frame 4 of this embodiment is a cross bar structure, two ends of the mounting frame 4 are mounted on a bracket in the box 1, the mounting frame 4 is detachably connected with the bracket through bolts, the wheel frame 6 is disposed at a central position of the bracket, the wheel frame 6 protrudes from the bracket, and the wheel frame 6 includes: the diameter of the support column 61 is larger than the inner aperture of the wheel to be tested, the support column 61 is in interference fit with the wheel to be tested, and the wheel to be tested can be prevented from rotating after being sleeved on the support column 61;
and, set up the height of support stand 61 is higher than the height of test wheel, makes the complete suit of test wheel is outside support stand 61, guarantees the whole support of test wheel of support stand 61, shutoff packing ring 62 sets up the top of support stand 61, shutoff packing ring 62 restriction test wheel follows support stand 61 axial displacement to realize treating that test wheel is fixed axially and radially, prevent to wait to test the wheel and remove when the atress extrusion, guarantee the stability of test.
Referring to fig. 5, in order to realize opening and closing of the door 5, in this embodiment, the door 5 is rotatably disposed on the case 1 through a rotating shaft 51 and a hinge seat 52, a connecting plate 53 in locking connection with the case 1 is disposed on the door 5, and when the door 5 is closed, the door 5 is locked and connected with the case 1 through the connecting plate 53, so as to ensure closing of the door 5.
In order to mount the magnet to be tested on the box door 5, referring to fig. 6, a plurality of parallel grooves 71 are formed on the box door 5, the magnet mounting frame 7 is a clamping block 72 slidably disposed in the grooves 71, two clamping blocks 72 are disposed in each groove 71, the magnet to be tested is clamped by the clamping blocks 72, a plurality of groups of clamping blocks 72 are disposed in different grooves 71 according to the height of the magnet to be tested, and the distance between the two clamping blocks 72 in the same groove 71 can be adjusted according to the width of the magnet to be tested.
Referring to fig. 7, the composite detecting apparatus according to the present embodiment is used to test the deformation amount of the wheel, and includes two test schemes:
scheme 1, when testing the wheel deformation, mounting bracket 4 is fixed in box 1, the wheel setting that awaits measuring is in on mounting bracket 4, chamber door 5 is opened, chamber door 5 can not interfere with the wheel that awaits measuring and influence the test, through drive mechanism 3 promotes atress board 21 makes test mechanism 2 slides to mounting bracket 4 direction, force application board 22 butt is on the wheel that awaits measuring when the test numerical value of force transducer 23 changes, set up displacement sensor 24 and record initial position, drive mechanism 3 is last through test mechanism 2 to the wheel that awaits measuring exerts pressure, record force transducer 23 and displacement sensor 24's corresponding value obtains the wheel deflection and exerts the corresponding relation of pressure.
Scheme 2, when testing wheel deformation, set for the pressure that awaits measuring the wheel can bear, drive mechanism 3 is last through test mechanism 2 to the wheel that awaits measuring applies pressure, when pressure reaches the maximum pressure of settlement, displacement sensor 24 record termination position. The relative distance between the initial position and the final position is the deformation of the wheel under the set pressure.
Referring to fig. 8, the test of the magnet attraction force using the composite detection apparatus of the present embodiment includes two test schemes:
scheme 1, when the magnet adsorbs the test, mounting bracket 4 follows dismantle in the box 1, drive mechanism 3 drives the testing mechanism 2 is kept away from the direction of chamber door 5 removes to the origin position, the magnet setting of awaiting measuring is in on the magnet mounting bracket 7, chamber door 5 is closed, drive mechanism 3 promotes atress board 21 makes testing mechanism 2 slides to chamber door 5 direction, displacement sensor 24 real-time recording atress board and magnet's distance, force sensor 23 real-time recording atress board 22's pressure variation value, the corresponding value of record force sensor 23 and displacement sensor 24 in the slip in-process obtains magnet suction and distance magnet's corresponding relation.
In the scheme 2, when the magnet is to be adsorbed and tested, the force-bearing plate 21 is pushed by the transmission mechanism 3, so that the transmission mechanism 3 stops running when the force-bearing plate 21 moves to a set position, and the force sensor 23 records the pressure data at the moment, namely the attraction data of the magnet at the set position.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present application will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the application.

Claims (10)

1. Composite detection equipment for wall climbing robot, characterized by comprising:
a case;
the testing arrangement sets up in the box, include: the force sensor is arranged between the force bearing plate and the force application plate, two ends of the force sensor are respectively connected to the force bearing plate and the force application plate, and a displacement sensor is also arranged on the force application plate;
the transmission mechanism is arranged at one side of the testing mechanism, the output end of the transmission mechanism is connected with the stress plate of the testing mechanism, and the transmission mechanism pushes the testing mechanism to slide in the box body;
the mounting frame is arranged on the other side of the testing mechanism and corresponds to the transmission mechanism, the mounting frame is detachably arranged in the box body, a wheel frame is arranged on the mounting frame and is used for mounting and fixing wheels to be tested, and the wheels to be tested can be in pressing contact with the force application plate;
the refrigerator door is opened and closed and is arranged on the refrigerator body, a magnet mounting rack is arranged on the refrigerator door and used for mounting and fixing a magnet to be tested, and the magnet to be tested can generate magnetic force for adsorbing the force application plate.
2. The composite detection device for a wall climbing robot according to claim 1, wherein: when the deformation of the wheels is tested, the mounting frame is fixed in the box body, the wheels to be tested are arranged on the mounting frame, the box door is opened, the transmission mechanism pushes the stress plate, the test mechanism slides towards the direction of the mounting frame, the force application plate is abutted to the wheels to be tested, when the test value of the force sensor changes, the displacement sensor is arranged to record the initial position, the transmission mechanism continuously applies pressure to the wheels to be tested through the test mechanism, the corresponding values of the force sensor and the displacement sensor are recorded, and the corresponding relation between the deformation of the wheels and the applied pressure is obtained.
3. The composite detection device for a wall climbing robot according to claim 2, wherein: when the wheel deformation is tested, the pressure which can be borne by the wheel to be tested is set, the transmission mechanism continuously applies pressure to the wheel to be tested through the testing mechanism, and when the pressure reaches the set maximum pressure, the displacement sensor records the end position. The relative distance between the initial position and the final position is the deformation of the wheel under the set pressure.
4. The composite detection device for a wall climbing robot according to claim 1, wherein: when the magnet is adsorbed and tested, the mounting frame is detached from the box body, the transmission mechanism drives the testing mechanism to move to the original position in the direction away from the box door, the magnet to be tested is arranged on the magnet mounting frame, the box door is closed, the transmission mechanism pushes the force bearing plate to enable the testing mechanism to slide towards the box door, the displacement sensor records the distance between the force bearing plate and the magnet in real time, the force sensor records the pressure change value of the force bearing plate in real time, records the corresponding values of the force sensor and the displacement sensor in the sliding process, and obtains the corresponding relation between the magnet attraction and the distance between the magnet.
5. The composite detection device for a wall climbing robot according to claim 4, wherein: when the magnet is subjected to adsorption test, the transmission mechanism pushes the force bearing plate, so that the transmission mechanism stops running when the force bearing plate moves to a set position, and the pressure data recorded by the force sensor at the moment is the attraction data of the magnet at the set position.
6. The composite detection device for a wall climbing robot according to claim 1, wherein: the test mechanism further comprises a guide shaft, the guide shaft extends along the sliding direction of the test mechanism, guide sleeves are arranged on the force application plate and the force bearing plate of the test mechanism, the guide sleeves are sleeved on the guide shaft, and the guide sleeves slide on the guide shaft along the extending direction of the guide shaft.
7. The composite detection device for a wall climbing robot according to claim 1, wherein: the transmission mechanism comprises:
a driving source;
the transmission wheel set comprises a driving wheel, a driven wheel and a synchronous belt sleeved outside the driving wheel and the driven wheel, and the driving wheel is connected with the output end of the driving source;
the ball screw rotates the nut, connect with said driven wheel, is driven by the said driven wheel to rotate;
the ball screw shaft is arranged in the ball screw rotating nut in a penetrating mode and is in threaded connection with the ball screw rotating nut, the position of the ball screw rotating nut is fixed, the ball screw shaft moves linearly relative to the ball screw rotating nut, and the end head of the ball screw shaft is connected with the stress plate of the testing mechanism.
8. The composite detection device for a wall climbing robot according to claim 1, wherein: the wheel carrier includes: the diameter of the supporting column is larger than the inner aperture of the wheel to be tested, the supporting column is in interference fit with the wheel to be tested, the height of the supporting column is higher than that of the wheel to be tested, the plugging gasket is arranged at the top of the supporting column, and the plugging gasket limits the wheel to be tested to axially move along the supporting column.
9. The composite detection device for a wall climbing robot according to claim 1, wherein: the magnet mounting rack is a clamping block which is arranged in the grooves in a sliding mode, two clamping blocks are arranged in each groove, and the magnet to be tested is clamped through the clamping blocks.
10. The composite detection device for a wall climbing robot according to claim 1, wherein: the box door is rotatably arranged on the box body through a rotating shaft and a hinging seat, and a connecting plate in locking connection with the box body is arranged on the box door.
CN202310923318.6A 2023-07-26 2023-07-26 Wall climbing robot is with compound check out test set Pending CN116945230A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310923318.6A CN116945230A (en) 2023-07-26 2023-07-26 Wall climbing robot is with compound check out test set

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310923318.6A CN116945230A (en) 2023-07-26 2023-07-26 Wall climbing robot is with compound check out test set

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