CN207300602U - A kind of magnetic adsorption wall climbing robot performance detecting platform - Google Patents
A kind of magnetic adsorption wall climbing robot performance detecting platform Download PDFInfo
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- CN207300602U CN207300602U CN201720978304.4U CN201720978304U CN207300602U CN 207300602 U CN207300602 U CN 207300602U CN 201720978304 U CN201720978304 U CN 201720978304U CN 207300602 U CN207300602 U CN 207300602U
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- climbing robot
- magnetic adsorption
- wall climbing
- adsorption wall
- magnetic
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Abstract
The utility model provides a kind of magnetic adsorption wall climbing robot performance detecting platform, including magnetic suck ability detection platform, its level is equipped with magnetic lower suction panel, and the lower section of lower suction panel is equipped with the shoring of piston rod straight up；The end of piston rod pumps through lower suction panel, and the end of the piston rod is also equipped with pressure sensor.Magnetic adsorption wall climbing robot performance detecting platform described in the utility model, it is easy to operate, it is safe.By ability detection platform of detecting a flaw, obstacle climbing ability detection platform, magnetic suck ability detection platform and extreme sport time detection device, the flaw detection ability to magnetic adsorption wall climbing robot, obstacle climbing ability, magnetic adsorbability and extreme sport time are detected respectively, and test result is precisely reliable.
Description
Technical field
The utility model belongs to climbing robot performance detection technical field, more particularly, to a kind of performance detecting platform.
Background technology
Magnetic adsorption wall climbing robot is a kind of common specialized robot, and completion is designed and developed in magnetic adsorption wall climbing robot
Afterwards, it is necessary to be detected to its main performance, to determine that it meets corresponding work requirements.Do not have also among existing technology
A kind of special purpose device being detected to magnetic adsorption wall climbing robot main performance, the existing mode that predominantly detects is by wall-climbing device
People is put into its specific working environment, allows it to work, its specific function is detected.It is existing to magnetic adsorption wall climbing
Robot performance's detection mode is there are heavy workload, security is low, operability is low, easily causes magnetic adsorption wall climbing robot breaking-up
Etc. unfavorable factor.
Utility model content
In view of this, the utility model is directed to a kind of magnetic adsorption wall climbing robot performance detecting platform, existing to solve
Have in technology, to magnetic adsorption wall climbing robot performance detection mode there are heavy workload, security is low, operability is low, easy
The problem of causing magnetic adsorption wall climbing robot to damage.
To reach above-mentioned purpose, what the technical solution of the utility model was realized in：
A kind of magnetic adsorption wall climbing robot performance detecting platform, including magnetic suck ability detection platform, its level are equipped with magnetic
Suction panel under property, the lower section of lower suction panel is equipped with the shoring of piston rod straight up；The end of piston rod passes through lower suction panel
Pump, and the end of the piston rod is also equipped with pressure sensor.
Further, the pressure sensor is spoke type pressure sensor.
Further, the upstream of the magnetic suck ability detection platform is equipped with obstacle climbing ability detection platform, it includes more baffle,
The upper end of more baffle is connected with some obstacle bars.
Further, the obstacle bar draws near and column distribution at a distance of the magnetic suck ability detection platform, and along this point
Cloth direction, the height of obstacle bar raise successively.
Further, the height of the obstacle bar is 1~8mm.
Further, the upstream of the obstacle climbing ability detection platform is equipped with flaw detection ability detection platform, it includes two pieces of levels
The fixed plate of setting, level is plugged with flaw detection plate between two fixed plates, and the lower end for plate of detecting a flaw is welded with the weld seam of different-thickness
Test plate (panel).
Further, every piece of fixed plate is equipped with lower support level close to the lower sidewall of the flaw detection plate, plate of detecting a flaw
The upper support level with lower support level overlap joint is equipped with close to the side wall upper part of fixed plate.
Further, the lower suction panel, more baffle, fixed plate are identical with the upper level of flaw detection plate, and lower suction
Power plate, more baffle, fixed plate three are affixed with supporting rack respectively；The upper horizontal of lower suction panel is equipped with upper suction panel, upper suction
Plate is affixed with supporting rack.
Further, the shoring is servo electric cylinders, it is affixed by electric cylinders frame made of aluminium section bar and support frame as described above.
Further, extreme sport time detection device is further included, it includes being vertically arranged on support frame as described above side wall
Apron conveyor, the driving shaft of apron conveyor are sequentially connected by the output shaft of synchronous belt and retarder, and retarder is connected with
Motor.
Relative to the prior art, magnetic adsorption wall climbing robot performance detecting platform described in the utility model has following excellent
Gesture：
Magnetic adsorption wall climbing robot performance detecting platform described in the utility model, it is easy to operate, it is safe.Can be real
Its main performance is detected in real time in present magnetic adsorption wall climbing robot design process, and testing result is accurate.By right
The weld seam test plate (panel) of flaw detection plate lower end different-thickness is detected a flaw, and detects the flaw detection ability of magnetic adsorption wall climbing robot.By crossing
The obstacle bar of different height, detects the obstacle climbing ability of magnetic adsorption wall climbing robot.Passed by shoring and matched pressure
Sensor, is altered in steps the distance between magnetic adsorption wall climbing robot and lower suction panel, realizes under different gap, magnetic adsorption wall climbing machine
The detection of the magnetic adsorbability of device people.By apron conveyor, under smaller space, realize and the magnetic adsorption wall climbing robot limit is transported
The detection of dynamic time.Pass through upper suction panel, walking and ability to work of the test magnetic adsorption wall climbing robot under suspended state.
Brief description of the drawings
The attached drawing for forming the part of the utility model is used to provide a further understanding of the present invention, this practicality is new
The schematic description and description of type is used to explain the utility model, does not form the improper restriction to the utility model.
In attached drawing：
Fig. 1 is the front view of the magnetic adsorption wall climbing robot performance detecting platform described in the utility model embodiment；
Fig. 2 is the flaw detection ability detection of the magnetic adsorption wall climbing robot performance detecting platform described in the utility model embodiment
The front view of platform；
Fig. 3 is the enlarged drawing of I parts in Fig. 2；
Fig. 4 is the obstacle climbing ability detection of the magnetic adsorption wall climbing robot performance detecting platform described in the utility model embodiment
The front view of platform；
Fig. 5 is the magnetic suck ability inspection of the magnetic adsorption wall climbing robot performance detecting platform described in the utility model embodiment
The main view of platform is surveyed to partial sectional view；
Fig. 6 is the extreme sport time of the magnetic adsorption wall climbing robot performance detecting platform described in the utility model embodiment
The right view of detection device.
Description of reference numerals：
1- flaw detection ability detection platforms；101- fixed plates；102- flaw detection plates；The upper support levels of 103-；Supporting table under 104-
Rank；2- obstacle climbing ability detection platforms；201- gets over baffle；202- obstacle bars；3- magnetic suck ability detection platforms；The upper suction of 301-
Plate；Suction panel under 302-；303- pressure sensors；304- electric cylinders framves；305- shorings；4- extreme sport time detection devices；
401- motors；402- retarders；403- synchronous pulleys；404- synchronous belts；405- apron conveyors；406- rolling bearing units；5- branch
Support.
Embodiment
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the utility model can
To be mutually combined.
In the description of the utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of description the utility model and simplifies description, rather than instruction
Or imply that signified device or element must have specific orientation, with specific azimuth configuration and operation, therefore be not understood that
For the limitation to the utility model.In addition, term " first ", " second " etc. are only used for description purpose, and it is not intended that instruction
Or imply relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined
Feature can express or implicitly include one or more this feature.In the description of the utility model, unless separately
It is described, " multiple " are meant that two or more.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in the description of the utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can mechanically connect or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the utility model.
The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
Such as Fig. 1-6, the utility model proposes a kind of magnetic adsorption wall climbing robot performance detecting platform, including magnetic suck ability
Detection platform 3, its level are equipped with magnetic lower suction panel 302, and the lower section of lower suction panel 302 is equipped with the support of piston rod straight up
Cylinder 305；The end of piston rod pumps through lower suction panel 302, and the end of the piston rod is also equipped with pressure biography
Sensor 303.
Lower suction panel 302 is rectangular steel plates, and intermediate position offers the circular hole passed through for the piston rod of shoring 305,
As shown in Figure 5.
Above-mentioned pressure sensor 303 is spoke type pressure sensor.
The upstream of above-mentioned magnetic suck ability detection platform 3 is equipped with obstacle climbing ability detection platform 2, it includes more baffle 201, more
The upper end of baffle 201 is connected with some obstacle bars 202.Obstacle bar 202 is the steel profiling bar of different height.For the ease of transport
And installation, manufacture cost is reduced, more baffle 201 can be fixed by polylith rectangle steel flat plate splicing and formed.More opened up on baffle 201
There is connecting hole, fastener is affixed through connecting hole and supporting rack 5.
Above-mentioned obstacle bar 202 draws near and column distribution at a distance of above-mentioned magnetic suck ability detection platform 3, and along the distribution side
To the height of obstacle bar 202 raises successively, as shown in Figure 4.
The height of above-mentioned obstacle bar 202 is 1~8mm.The height of obstacle bar 202 can be selected 1mm, 2mm, 3mm, 4mm, 5mm,
6mm、7mm、8mm。
The upstream of above-mentioned obstacle climbing ability detection platform 2 is equipped with flaw detection ability detection platform 1, as shown in Fig. 2, it includes two pieces
Horizontally disposed fixed plate 101, level is plugged with flaw detection plate 102, the lower end welding of flaw detection plate 102 between two fixed plates 101
There is the weld seam test plate (panel) of different-thickness.Weld seam test plate (panel) is arranged to the polylith of different-thickness, it can test magnetic adsorption wall climbing robot pair
The detection flaw detection ability of different depth weld seam.
Every piece of above-mentioned fixed plate 101 is equipped with lower support level 104 close to the lower sidewall of above-mentioned flaw detection plate 102, flaw detection
Plate 102 is equipped with the upper support level 103 with lower support level 104 overlap joint close to the side wall upper part of fixed plate 101.The structure passes through
Support of the ledge structure realization (as shown in Figure 3) of overlap joint to plate 102 of detecting a flaw, it is also square on the premise of ensureing that its installation is firm
Just the disassembling, assembling and replacing of flaw detection plate 102.
Above-mentioned lower suction panel 302, more baffle 201, fixed plate 101 are identical with the upper level of flaw detection plate 102 4, and
Lower suction panel 302, more baffle 201,101 three of fixed plate are affixed with supporting rack 5 respectively；The upper horizontal of lower suction panel 302 is set
There is upper suction panel 301, upper suction panel 301 and supporting rack 5 are affixed.Upper suction panel 301 is rectangular steel plates.
Above-mentioned shoring 305 is servo electric cylinders, it is affixed by electric cylinders frame 304 made of aluminium section bar and above-mentioned supporting rack 5.
The distance of stretch out and draw back of the piston rod of shoring 305 can be accurately controlled using servo electric cylinders.
Extreme sport time detection device 4 is further included, it includes being vertically arranged to board-like defeated on above-mentioned 5 side wall of supporting rack
Machine 405 is sent, the driving shaft of apron conveyor 405 is sequentially connected by the output shaft of synchronous belt 404 and retarder 402, retarder
402 are connected with motor 401, as shown in Figure 5,6.
Apron conveyor 405 includes driving shaft and the driven shaft of setting parallel with it, passes through between driving shaft and driven shaft
Sprocket wheel is provided with two band ear chains, is set up between the corresponding chain section of two band ear chains and is provided with rectangle steel bar.If
The rectangle steel bar of dry arranged adjacent moves under the drive with ear chain, forms conveyer belt.The output shaft of driving shaft and retarder
On be separately installed with a synchronous pulley 403 (as shown in Figure 5), completed between two synchronous pulleys 403 by synchronous belt 404 dynamic
The transmission of power.Driving shaft and driven shaft are respectively arranged in by rolling bearing units 406 on the side wall of supporting rack 5.The plate being vertically arranged
Formula conveyer 405 can be detected limit run time of the magnetic adsorption wall climbing robot under adsorbed state.
In use, magnetic adsorption wall climbing robot (hereinafter referred to as robot) is placed in fixed plate 101, robot is driven
Move forward.Robot first passes around flaw detection plate 102, and robot is to being installed on the weld seam of the different-thickness of flaw detection plate 102 lower end
Test plate (panel) carries out carrying out flaw detection, according to testing result, evaluates the ability that the detection of the robot is detected a flaw.
Robot continues to move forward, and after it is driven to more on baffle 201, starts crossing over blockage bar 202.Due to obstacle
Bar 202 can intuitively show that it is got over to set gradually from low to high according to the height for the obstacle bar 202 that robot is crossed
Barrier ability.
Robot continues to move forward, and the tapping for driving to lower suction panel 301 stops, and the piston rod of shoring 305 pushes away
Dynamic pressure force snesor 303 rises, and robot vertical is jacked up.Robot, which is often jacked up 1mm, to be stopped once, and staff is to pressure
The data that force snesor 303 is drawn are recorded.Until the data that pressure sensor 303 is drawn no longer are changed, stopping is examined
Survey.Recorded data is subtracted to the dead weight of robot, is the magnetic attraction that robot produces lower suction panel 301.
Robot is removed, make its absorption in the lower end of upper suction panel 301, the suction that can robot consolidate is detected with this
Invest on magnetic tablet.
Finally, robot is placed on apron conveyor 405, the rotating speed of regulation motor 401 and the traveling speed of robot
Spend it is consistent, robot absorption carry out non-dwell motion while apron conveyor 405, until its break down untill.Work
Make the time of personnel record robot operation, which is its extreme sport time.
Magnetic adsorption wall climbing robot performance detecting platform described in the utility model, it is easy to operate, it is safe.By right
The weld seam test plate (panel) of flaw detection 102 lower end different-thickness of plate is detected a flaw, and detects the flaw detection ability of magnetic adsorption wall climbing robot.By turning over
The more obstacle bar 202 of different height, detects the obstacle climbing ability of magnetic adsorption wall climbing robot.By shoring 305 and matched
Pressure sensor 303, the distance between magnetic adsorption wall climbing robot and lower suction panel 302 is altered in steps, realizes different gap
Under, the detection of the magnetic adsorbability of magnetic adsorption wall climbing robot.By apron conveyor 405, under smaller space, realize to magnetic
The detection of attached climbing robot extreme sport time.By upper suction panel 301, test magnetic adsorption wall climbing robot is in suspended state
Under walking and ability to work.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on, should be included in the utility model
Protection domain within.
Claims (10)
- A kind of 1. magnetic adsorption wall climbing robot performance detecting platform, it is characterised in that including：Magnetic suck ability detection platform (3), its level are equipped with magnetic lower suction panel (302), and the lower section of lower suction panel (302) is equipped with The shoring (305) of piston rod straight up；The end of piston rod pumps through lower suction panel (302), and the work The end of stopper rod is also equipped with pressure sensor (303).
- 2. magnetic adsorption wall climbing robot performance detecting platform according to claim 1, it is characterised in that：The pressure sensing Device (303) is spoke type pressure sensor.
- 3. magnetic adsorption wall climbing robot performance detecting platform according to claim 1 or 2, it is characterised in that：The magnetic The upstream of attached ability detection platform (3) is equipped with obstacle climbing ability detection platform (2), it includes more baffle (201), more baffle (201) Upper end be connected with some obstacle bars (202).
- 4. magnetic adsorption wall climbing robot performance detecting platform according to claim 3, it is characterised in that：The obstacle bar (202) draw near and column distribution at a distance of the magnetic suck ability detection platform (3), and along the distribution arrangement, obstacle bar (202) Height raise successively.
- 5. magnetic adsorption wall climbing robot performance detecting platform according to claim 4, it is characterised in that：The obstacle bar (202) height is 1~8mm.
- 6. magnetic adsorption wall climbing robot performance detecting platform according to claim 3, it is characterised in that：The obstacle climbing ability The upstream of detection platform (2) is equipped with flaw detection ability detection platform (1), it includes two pieces of horizontally disposed fixed plates (101), two pieces Level is plugged with flaw detection plate (102) between fixed plate (101), and the lower end of flaw detection plate (102) is welded with the weld seam examination of different-thickness Plate.
- 7. magnetic adsorption wall climbing robot performance detecting platform according to claim 6, it is characterised in that：Every piece of fixation Plate (101) is equipped with lower support level (104) close to the lower sidewall of the flaw detection plate (102), and flaw detection plate (102) is close to fixed The side wall upper part of plate (101) is equipped with the upper support level (103) with lower support level (104) overlap joint.
- 8. magnetic adsorption wall climbing robot performance detecting platform according to claim 6, it is characterised in that：The lower suction panel (302), it is identical with the upper level of flaw detection plate (102) four that baffle (201), fixed plate (101) are got over, and lower suction panel (302), more baffle (201), fixed plate (101) three are affixed with supporting rack (5) respectively；The upper horizontal of lower suction panel (302) is equipped with upper suction panel (301), and upper suction panel (301) and supporting rack (5) are affixed.
- 9. magnetic adsorption wall climbing robot performance detecting platform according to claim 8, it is characterised in that：The shoring (305) it is servo electric cylinders, it is affixed by electric cylinders frame (304) made of aluminium section bar and support frame as described above (5).
- 10. magnetic adsorption wall climbing robot performance detecting platform according to claim 8, it is characterised in that：Further include the limit Run duration detection device (4), it includes the apron conveyor (405) being vertically arranged on support frame as described above (5) side wall, board-like The driving shaft of conveyer (405) is sequentially connected by the output shaft of synchronous belt (404) and retarder (402), and retarder (402) is even It is connected to motor (401).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720978304.4U CN207300602U (en) | 2017-08-07 | 2017-08-07 | A kind of magnetic adsorption wall climbing robot performance detecting platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720978304.4U CN207300602U (en) | 2017-08-07 | 2017-08-07 | A kind of magnetic adsorption wall climbing robot performance detecting platform |
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| Publication Number | Publication Date |
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| CN207300602U true CN207300602U (en) | 2018-05-01 |
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ID=62448665
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720978304.4U Active CN207300602U (en) | 2017-08-07 | 2017-08-07 | A kind of magnetic adsorption wall climbing robot performance detecting platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107402139A (en) * | 2017-08-07 | 2017-11-28 | 清华大学天津高端装备研究院 | A kind of magnetic adsorption wall climbing robot performance detecting platform |
| CN110940538A (en) * | 2019-11-28 | 2020-03-31 | 浙江大学 | Wall climbing robot performance test system based on sensor data real-time acquisition |
-
2017
- 2017-08-07 CN CN201720978304.4U patent/CN207300602U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107402139A (en) * | 2017-08-07 | 2017-11-28 | 清华大学天津高端装备研究院 | A kind of magnetic adsorption wall climbing robot performance detecting platform |
| CN110940538A (en) * | 2019-11-28 | 2020-03-31 | 浙江大学 | Wall climbing robot performance test system based on sensor data real-time acquisition |
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