CN203534844U - Application test platform used for crawl-type robot performance research - Google Patents
Application test platform used for crawl-type robot performance research Download PDFInfo
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- CN203534844U CN203534844U CN201320632499.9U CN201320632499U CN203534844U CN 203534844 U CN203534844 U CN 203534844U CN 201320632499 U CN201320632499 U CN 201320632499U CN 203534844 U CN203534844 U CN 203534844U
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- 238000012360 testing method Methods 0.000 title claims abstract description 28
- 238000011160 research Methods 0.000 title claims abstract description 17
- 238000003466 welding Methods 0.000 claims abstract description 67
- 238000009434 installation Methods 0.000 claims abstract description 32
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 28
- 239000010959 steel Substances 0.000 claims abstract description 28
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 5
- 238000010276 construction Methods 0.000 claims description 19
- 239000012530 fluid Substances 0.000 claims description 12
- 239000010720 hydraulic oil Substances 0.000 claims description 8
- 238000011161 development Methods 0.000 abstract description 8
- 238000004088 simulation Methods 0.000 abstract description 2
- 238000003754 machining Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000002474 experimental method Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011990 functional testing Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000005493 welding type Methods 0.000 description 1
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Abstract
The utility model relates to the field of crawl-type robot performance research application tests for simulating large-scale steel structural member surface working conditions, and especially relates to an application test platform used for crawl-type robot performance research. The application test platform comprises a steel structural member, an overturn platform, a welding test piece installation platform, a support platform and a hydraulic driving system, wherein the steel structural member and the welding test piece installation platform are both fixedly installed on the overturn platform, the overturn platform is installed on the support platform through a bearing pedestal, the support platform is fixedly connected with the ground, and the hydraulic driving system is connected with the support platform; and piston rods are respectively hinged to sides of the overturn platform, and the piston rods are connected with the hydraulic driving system. The application test platform can be used in simulation experiments for simulating a plurality of working conditions, such as practical machining and detecting and the like, of a large-scale steel structural member, a development period of an intelligent robot can be shortened, development cost can be reduced, and reliability and applicability of an intelligent welding robot can be improved.
Description
Technical field
The utility model relates to a kind of creeping-type robot performance who simulates large-scale steel structure members surface operating mode and studies application testing field, relates in particular to a kind of application testing platform for creeping-type robot performance research.
Background technology
Exploitation is applicable to the Intelligent welding robot of existing large-scale steel structure members (comprising large ship, large-scale petrochemical container and pressure vessel, large-scale water turbine, harbour machinery, oil gas transport pipeline, offshore platform etc.) welding technology, can substitute the mode of existing manual welding, to reducing labor strength, improve weldquality and welding efficiency significant.
The exploitation of the existing more intelligent robot based on large-scale steel structure members welding technology and test, if the patent No. is CN201210185127.6, name is called the patent of invention of " a kind of autonomous formula double sides double arc welding robot system ".Large-scale steel structure members welding technology is comparatively complicated, in performance history for the Intelligent welding robot of this type of welding technology, relate to a large amount of system debugs and soldering test, but because steel construction piece mostly is Site Welding, in robot development's process, to site test, there is the problem that the cycle is long, cost is high, product rejection rate is high.
Welding experiment in existing robot development's process, due to condition restriction, can only on flat board, carry out the welding experiment of the straight weld of downhand welding, vertical position welding, horizontal position welding, and experimentation is comparatively complicated.
Summary of the invention
For what overcome that welding experimental facilities in existing creeping-type robot development process exists, can only on flat board, carry out the straight weld of downhand welding, vertical position welding, horizontal position welding, and the problem that experimentation is comparatively complicated, existing special proposition can be applicable to carry out in multiple creeping-type robot development process the application testing platform of large-scale steel structure members surface Work condition analogue experiment.
For achieving the above object, concrete scheme of the present utility model is as follows:
A kind of application testing platform for creeping-type robot performance research, it is characterized in that: comprise steel construction piece, overturn platform, welding piece mounting platform, support platform and fluid power system, described steel construction piece and welding piece mounting platform are all fixedly mounted on overturn platform, described overturn platform is arranged in support platform by bearing seat, described support platform is fixedly connected with ground, fluid power system is connected with support platform, a side at overturn platform is hinged with piston rod, and described piston rod is connected with fluid power system.
Described steel construction piece is cambered surface, flat board, shaped face or track.
Described welding piece mounting platform comprises installation frame, back up pad, welding piece and quick-speed jigs, installation frame upper surface is hollow structure, back up pad is arranged on the inner side of installation frame upper surface, welding piece is placed between back up pad and installation frame, on described installation frame, be also installed with quick-speed jigs, described each welding piece is by quick-speed jigs and installation frame clamping and positioning.
Described back up pad is arranged on installation frame by bolt, in described back up pad, places welding piece.
Described welding piece is at least two, between described each welding piece, forms weld seam, and each welding piece clamps by quick-speed jigs and installation frame.
Described quick-speed jigs is the link-type fixture with four connecting rods.
Described fluid power system comprises hydraulic cylinder, Hydraulic Station, hydraulic oil pipe and control box, and described Hydraulic Station is connected with control box, and control box is connected with hydraulic cylinder by hydraulic oil pipe, and hydraulic cylinder is connected with piston rod.
Described hydraulic cylinder is two, and the pedestal of two hydraulic cylinders is hinged on support platform both sides, and each is connected each hydraulic cylinder with a piston rod, and the both sides of described two piston rods and overturn platform are hinged.
Described hydraulic cylinder is with lock valve.
The utility model has the advantage of:
1, the utility model can be used for simulating the emulation experiment of the operating modes such as the actual processing of multiple large-scale steel structure members, detection, can shorten the intelligent robot construction cycle, reduces cost of development, improve reliability and the applicability of Intelligent welding robot.
2, the utility model is simple in structure, easy to use, by rotation and the location of hydraulic drive system drives overturn platform, can realize the test of level, the multiple angles such as vertical, the processing of the different installation sites of workpiece in simulation actual condition, detection operating mode, have important engineering significance to the research of the system testing at creeping-type robot development initial stage and functional test.
3, the shape of the utility model steel construction piece can be cambered surface, flat board, shaped face or track, can simulate various working environment, makes test effect more reliable.
4, the utility model welding piece mounting platform can be realized the fixedly effect of welding piece, and the gap between each welding piece can be adjusted with actual requirement.
5, the utility model quick-speed jigs is easy to use, can adjust fast the position of welding piece, is also conducive to quick-replaceable welding piece.
6, the utility model hydraulic cylinder is with lock valve, and piston rod arrives behind any precalculated position, and lock valve auto lock oil circuit, realizes self-locking.
Accompanying drawing explanation
Fig. 1 is the utility model one-piece construction schematic diagram.
Fig. 2 is the utility model welding piece mounting platform structural representation.
Fig. 3 is the utility model schematic perspective view.
In figure, the 1st, steel construction piece, the 2nd, overturn platform, the 3rd, welding piece mounting platform, the 4th, piston rod, the 5th, bearing seat, the 6th, hydraulic cylinder, the 7th, support platform, the 8th, hinged pair, the 9th, hydraulic oil pipe, the 10th, control box, the 11st, Hydraulic Station, the 12nd, installation frame, the 13rd, back up pad, the 14th, welding piece, the 15th, quick-speed jigs, the 16th, weld seam.
Embodiment
A kind of application testing platform for creeping-type robot performance research comprises steel construction piece 1, overturn platform 2, welding piece mounting platform 3, support platform 7 and fluid power system, described steel construction piece 1 and welding piece mounting platform 3 are all fixedly mounted on overturn platform 2, described overturn platform 2 is arranged in support platform 7 by bearing seat 5, described support platform 7 is fixedly connected with ground, fluid power system is connected with support platform 7, a side at overturn platform 2 is hinged with piston rod 4, and described piston rod 4 is connected with fluid power system.
Steel construction piece 1 is cambered surface, flat board, shaped face or track.
Welding piece mounting platform 3 comprises installation frame 12, back up pad 13, welding piece 14 and quick-speed jigs 15, installation frame 12 upper surfaces are hollow structure, back up pad 13 is arranged on the inner side of installation frame 12 upper surfaces, welding piece 14 is placed between back up pad 13 and installation frame 12, on described installation frame 12, be also installed with quick-speed jigs 15, described each welding piece 14 is by quick-speed jigs 15 and installation frame 12 clamping and positioning.Back up pad 13 is arranged on installation frame 12 by bolt, in described back up pad 13, places welding piece 14.
Fluid power system comprises hydraulic cylinder 6, Hydraulic Station 11, hydraulic oil pipe 9 and control box 10, and described Hydraulic Station 11 is connected with control box 10, and control box 10 is connected with hydraulic cylinder 6 by hydraulic oil pipe 9, and hydraulic cylinder 6 is connected with piston rod 4.Hydraulic cylinder 6 is two, and the pedestal of two hydraulic cylinders 6 is hinged on support platform 7 both sides, and each hydraulic cylinder 6 is respectively connected with a piston rod 4, and described two piston rods 4 are hinged with the both sides of overturn platform 2.Hydraulic cylinder 6 is with lock valve.
As shown in Figure 1, steel construction piece 1 and welding piece mounting platform 3 connect firmly on overturn platform 2, overturn platform 2 is arranged on bearing seat 5 by bearing seat, bearing seat 5 connects firmly with support platform 7, support platform 7 connects firmly with ground, hydraulic cylinder 6 always has two, its pedestal is arranged in support platform 7 by 2 hinged secondary 8 symmetries respectively, the piston rod 4 of two hydraulic cylinders 6 is arranged on overturn platform 2 by two hinged pairs respectively, between hydraulic cylinder 6 and Hydraulic Station 11, by hydraulic oil pipe 9, form hydraulic circuit, control box 10 is by controlling the synchronization telescope of the piston rod 4 of two hydraulic cylinders 6, can realize overturn platform 2 around the rotation at bearing seat 5 centers, simultaneously steel construction piece 1 and welding piece mounting platform are all synchronizeed rotation with overturn platform 2, hydraulic cylinder 6 is furnished with lock valve, can in rotation process, realize stopping and locking of any turned position.As shown in Figure 2, the installation frame 12 of welding piece mounting platform 3 connects firmly on overturn platform 2, back up pad 13 is arranged on installation frame 12 inside, its position height is adjustable, welding piece 14 is placed in back up pad 13, and quick-speed jigs 15 connects firmly on installation frame 12, and quantity can increase and decrease according to the actual requirements, regulate after the width of weld seam 16, by quick-speed jigs 15, welding piece 14 is fixed.
As shown in Figure 3, large-scale steel structure members to be welded in the common composition actual condition of steel construction piece 1 and weld seam 16, climbing robot can be creeped along seam track on steel construction piece 1, and completes the welding of weld seam 16.Meanwhile, by hydraulic cylinder 6, drive overturn platform 2 to realize from vertically to the stop of horizontal all angles, can simulate in actual condition welding operating mode during the different installation site of steel construction piece.
Finally it should be noted that, the foregoing is only preferred embodiment of the present utility model and oneself, be not limited to the utility model, although the utility model is had been described in detail with reference to previous embodiment, for a person skilled in the art, its technical scheme that still can record aforementioned each embodiment is modified, or part technical characterictic is wherein equal to replacement.All within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (9)
1. the application testing platform for creeping-type robot performance research, it is characterized in that: comprise steel construction piece (1), overturn platform (2), welding piece mounting platform (3), support platform (7) and fluid power system, described steel construction piece (1) and welding piece mounting platform (3) are all fixedly mounted on overturn platform (2), described overturn platform (2) is arranged in support platform (7) by bearing seat (5), described support platform (7) is fixedly connected with ground, fluid power system is connected with support platform (7), a side at overturn platform (2) is hinged with piston rod (4), described piston rod (4) is connected with fluid power system.
2. a kind of application testing platform for creeping-type robot performance research according to claim 1, is characterized in that: described steel construction piece (1) is cambered surface, flat board or track.
3. a kind of application testing platform for creeping-type robot performance research according to claim 2, it is characterized in that: described welding piece mounting platform (3) comprises installation frame (12), back up pad (13), welding piece (14) and quick-speed jigs (15), installation frame (12) upper surface is hollow structure, back up pad (13) is arranged on the inner side of installation frame (12) upper surface, welding piece (14) is placed between back up pad (13) and installation frame (12), on described installation frame (12), be also installed with quick-speed jigs (15), described each welding piece (14) is by quick-speed jigs (15) and installation frame (12) clamping and positioning.
4. a kind of application testing platform for creeping-type robot performance research according to claim 3, it is characterized in that: it is upper that described back up pad (13) is arranged on installation frame (12) by bolt the upper welding piece (14) of placing of described back up pad (13).
5. a kind of application testing platform for creeping-type robot performance research according to claim 4, it is characterized in that: described welding piece (14) is at least two, between described each welding piece (14), form weld seam (16), each welding piece (14) clamps by quick-speed jigs (15) and installation frame (12).
6. a kind of application testing platform for creeping-type robot performance research according to claim 5, is characterized in that: described quick-speed jigs (15) is the link-type fixture with four connecting rods.
7. a kind of application testing platform for creeping-type robot performance research according to claim 6, it is characterized in that: described fluid power system comprises hydraulic cylinder (6), Hydraulic Station (11), hydraulic oil pipe (9) and control box (10), described Hydraulic Station (11) is connected with control box (10), control box (10) is connected with hydraulic cylinder (6) by hydraulic oil pipe (9), and hydraulic cylinder (6) is connected with piston rod (4).
8. a kind of application testing platform for creeping-type robot performance research according to claim 7, it is characterized in that: described hydraulic cylinder (6) is two, the pedestal of two hydraulic cylinders (6) is hinged on support platform (7) both sides, each is connected each hydraulic cylinder (6) with a piston rod (4), and described two piston rods (4) are hinged with the both sides of overturn platform (2).
9. a kind of application testing platform for creeping-type robot performance research according to claim 8, is characterized in that: described hydraulic cylinder (6) is with lock valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320632499.9U CN203534844U (en) | 2013-10-14 | 2013-10-14 | Application test platform used for crawl-type robot performance research |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320632499.9U CN203534844U (en) | 2013-10-14 | 2013-10-14 | Application test platform used for crawl-type robot performance research |
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| Publication Number | Publication Date |
|---|---|
| CN203534844U true CN203534844U (en) | 2014-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320632499.9U Expired - Lifetime CN203534844U (en) | 2013-10-14 | 2013-10-14 | Application test platform used for crawl-type robot performance research |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203534844U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104977176A (en) * | 2015-05-29 | 2015-10-14 | 上海交通大学 | Leg mating unit device suitable for float-over installation model test |
| CN110926842A (en) * | 2019-12-11 | 2020-03-27 | 浙江大学 | Wall surface testing device of wall-climbing robot with adjustable angle |
-
2013
- 2013-10-14 CN CN201320632499.9U patent/CN203534844U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104977176A (en) * | 2015-05-29 | 2015-10-14 | 上海交通大学 | Leg mating unit device suitable for float-over installation model test |
| CN104977176B (en) * | 2015-05-29 | 2017-10-03 | 上海交通大学 | A kind of spud leg suitable for floating support mounting model test docks cell arrangement |
| CN110926842A (en) * | 2019-12-11 | 2020-03-27 | 浙江大学 | Wall surface testing device of wall-climbing robot with adjustable angle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180502 Address after: 610000 18 West core road, hi-tech West District, Chengdu, Sichuan Patentee after: DONGFANG ELECTRIC Co.,Ltd. Address before: 610036 Shu Han Road, Jinniu District, Chengdu, Sichuan Province, No. 333 Patentee before: DONGFANG ELECTRIC Corp. |
|
| TR01 | Transfer of patent right | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140409 |
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| CX01 | Expiry of patent term |