CN211916892U - Robot chassis test fixture - Google Patents
Robot chassis test fixture Download PDFInfo
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- CN211916892U CN211916892U CN201922223126.6U CN201922223126U CN211916892U CN 211916892 U CN211916892 U CN 211916892U CN 201922223126 U CN201922223126 U CN 201922223126U CN 211916892 U CN211916892 U CN 211916892U
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- wheel
- driving wheel
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- robot chassis
- panel
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Abstract
The utility model discloses a robot chassis testing tool, which comprises a base frame, a panel, a driving wheel and a driven wheel; the installation cavity is arranged in the base frame, the panel is located in the installation cavity area and is provided with a through groove, the panel is fixedly connected onto the base frame, the driving wheel and the driven wheel are arranged in the installation cavity in equal height, the top of the driving wheel and the driven wheel is exposed out of the panel, and the distance between the driving wheel and the driven wheel is equal to the axle distance of the robot to be tested. During the use, place the robot chassis that needs the detection in this frock, the drive wheel is located the action wheel that corresponds, and non-drive wheel is located from the driving wheel, and when the robot chassis started the back, the robot drive wheel drove test equipment's action wheel, follows the rotation from the driving wheel simultaneously, guarantees that the relative position of robot chassis does not change, maintains on equipment. Therefore, in-situ test can be realized, the test field is greatly saved, and simultaneous test of multiple robots can be easily realized.
Description
Technical Field
The utility model belongs to the technical field of the chassis test, especially, relate to a robot chassis test fixture.
Background
After the robot chassis is developed, it needs to be tested, for example, it needs to calculate the wheel diameter of the robot chassis, whether there is deviation in displacement, and the like. When the chassis of the robot is tested at present, the robot needs to operate for a long time in a large field, and the requirement on the size of the tested space field is high. And for the simultaneous test of a plurality of robots, the requirement of the field is very wide, and higher requirements are provided for the test environment. And the general factory building can only provide simpler road condition simulation such as flat bottom, step obstacle, and the like, and the road condition that different output torques are required such as different climbing angles, different downhill angles, potholes and the like is difficult to realize. In addition, the available outdoor scenes are limited, and the workload of frequent transportation, map creation, and the like is large.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to prior art's weak point, provide one kind and realize the in situ test, save the robot chassis test fixture in test place.
The utility model provides a robot chassis testing tool, which comprises a base frame, a panel, a driving wheel and a driven wheel; the installation cavity is arranged in the base frame, the panel is located in the installation cavity area and is provided with a through groove, the panel is fixedly connected onto the base frame, the driving wheel and the driven wheel are arranged in the installation cavity in equal height, the top of the driving wheel and the driven wheel is exposed out of the panel, and the distance between the driving wheel and the driven wheel is equal to the axle distance of the robot to be tested.
In one embodiment, the base frame comprises a cross bar and a pair of base frames juxtaposed beneath the cross bar; the underframe is rectangular frame, including stand and connecting rod, and the middle part of each connecting rod all is equipped with a pair of enhancement post, strengthens and is equipped with the ear seat between the post.
Preferably, the driving wheel and the driven wheel respectively comprise a main shaft and a wheel body sleeved outside the main shaft, and the driving wheel and the driven wheel are assembled between the pair of lug seats through the main shaft; and a coder for detecting the rotation data of the wheel body is arranged outside the main shaft of the driving wheel.
In order to simulate different road conditions, a magnetic powder clutch is connected outside the driving wheel through a synchronous belt.
The synchronous belt is a toothed belt, and the magnetic powder clutch is characterized in that a belt wheel is arranged outside a main shaft of the driving wheel, a belt wheel is arranged outside a central shaft of the magnetic powder clutch, and the synchronous belt is a toothed belt.
The utility model discloses when using, on this frock is arranged in to the robot chassis that will detect, the drive wheel is located the action wheel that corresponds, and non-drive wheel is located from the driving wheel, and after the robot chassis starts, the robot drive wheel drives test equipment's action wheel, follows the rotation from the driving wheel simultaneously, guarantees that robot chassis relative position does not change, maintains on equipment. Therefore, in-situ test can be realized, the test field is greatly saved, and simultaneous test of multiple robots can be easily realized.
Drawings
Fig. 1 is an axial view of a preferred embodiment of the present invention.
Fig. 2 is an enlarged schematic view of the connection between the driving wheel and the magnetic particle clutch in the preferred embodiment.
Sequence numbers of the drawings:
1-base frame, 11-cross bar, 12-upright column, 13-connecting rod, 14-reinforcing column and 15-ear seat;
2-a panel;
3-driving wheel, 31-main shaft, 32-wheel body;
4, a driven wheel;
5, an encoder;
6-magnetic powder clutch;
7-toothed belt.
Detailed Description
As shown in fig. 1, the robot chassis testing tool disclosed in this embodiment includes a base frame 1, a panel 2, a driving wheel 3, and a driven wheel 4.
As shown in fig. 1, the base frame 1 includes a pair of cross bars 11 and a pair of bottom frames arranged in parallel under the cross bars, and the base frame is a rectangular frame with dimensions of 1080mm in length, 900mm in width and 186mm in height. The underframe is the rectangle frame that stand 12 and connecting rod 13 constitute, and four stands are as four high vertical settings, and the connecting rod is connected between a pair of stand as long limit to be equipped with a pair of enhancement post 14 in the middle part of connecting rod, four enhancement post support regions are the installation cavity, are provided with a pair of ear seat 15 on the connecting rod between the coexistence post simultaneously. The ear seat 15 is an L-shaped seat, the horizontal section of the ear seat is connected with the connecting rod, and the vertical section of the ear seat is embedded with a bearing for installing the driving wheel 3 and the driven wheel 4.
The panel 2 is a rectangular plate, and a through groove is formed in the rectangular plate corresponding to the installation cavity area in the rectangular frame, so that the driving wheel and the driven wheel can be exposed out of the panel after being installed.
As shown in fig. 1 and 2, the driving wheel 3 and the driven wheel 4 have the same structure, and both include a main shaft 31 and a wheel body 32 sleeved outside the main shaft, and an encoder 5 for detecting rotation data of the wheel body is disposed at an outer end of the driving wheel 3. Meanwhile, the damper is arranged outside the driving wheel to simulate different road conditions. In the embodiment, a gear is arranged outside a main shaft of the driving wheel to serve as a belt wheel, the damper selects the magnetic powder clutch 6, the gear is arranged outside the main shaft of the magnetic powder clutch, and the driving wheel is connected with the magnetic powder clutch through the toothed belt 7, so that the cooperative work of the driving wheel and the magnetic powder clutch is realized. The magnetic powder clutch is connected with the driving wheel to provide different loads required by road conditions such as climbing, descending, pothole and the like for the robot, and different output torques corresponding to different road conditions for the robot can be simulated.
When this embodiment of application is examined, place the robot chassis that will detect in this frock, the drive wheel is located the action wheel that corresponds, and the non-drive wheel is located from the driving wheel. After the robot chassis starts, the robot drive wheel drives test equipment's action wheel, follows the rotation from the driving wheel simultaneously, guarantees that the relative position in robot chassis does not change, maintains on equipment, drives the epaxial encoder of light after the action wheel is rotatory, detects the rotatory data of action wheel through the encoder. In a general state, the driving wheel and the driven wheel rotate along with the output rotating speed of the robot, and the driving wheel and the driven wheel are used for simulating the running test of the robot on a smooth ground. The torque load of the magnetic powder clutch can be set, the load is transmitted to the driving wheel through the synchronous belt, and the driving wheel applies the torque load to the chassis of the robot, so that the output torque test of the robot on different road conditions can be simulated.
By applying the tool, on one hand, whether the wheel diameter and the displacement of a chassis of the robot have deviation can be tested and calculated, whether an encoder is installed in place and whether data is jumped can be detected, on the other hand, the kinetic energy output by the robot can be transferred to a driven wheel of equipment, the rotation of a driving wheel of the robot is realized, but the body does not have displacement, so that the in-situ test can be realized, the test field is greatly saved, and the simultaneous test of a plurality of robots can be easily realized; and can also provide the required different loads of road conditions such as robot climbing, downhill path, hole through magnetic particle clutch, can simulate the different output torque that the robot corresponds different road conditions.
Claims (5)
1. The utility model provides a robot chassis test fixture which characterized in that: it comprises a base frame, a panel, a driving wheel and a driven wheel; the installation cavity is arranged in the base frame, the panel is located in the installation cavity area and is provided with a through groove, the panel is fixedly connected onto the base frame, the driving wheel and the driven wheel are arranged in the installation cavity in equal height, the top of the driving wheel and the driven wheel is exposed out of the panel, and the distance between the driving wheel and the driven wheel is equal to the axle distance of the robot to be tested.
2. The robot chassis test tool of claim 1, characterized in that: the base frame comprises a cross rod and a pair of bottom frames arranged below the cross rod in parallel; the underframe is rectangular frame, including stand and connecting rod, and the middle part of each connecting rod all is equipped with a pair of enhancement post, strengthens and is equipped with the ear seat between the post.
3. The robot chassis test tool of claim 2, wherein: the driving wheel and the driven wheel respectively comprise a main shaft and a wheel body sleeved outside the main shaft, and are assembled between the pair of lug seats through the main shaft; and a coder for detecting the rotation data of the wheel body is arranged outside the main shaft of the driving wheel.
4. The robot chassis test tool of claim 3, wherein: and the outside of the driving wheel is connected with a magnetic powder clutch through a synchronous belt.
5. The robot chassis test tool of claim 4, wherein: the magnetic powder clutch is characterized in that a belt wheel is arranged outside a main shaft of the driving wheel, a belt wheel is arranged outside a central shaft of the magnetic powder clutch, and the synchronous belt is a toothed belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922223126.6U CN211916892U (en) | 2019-12-12 | 2019-12-12 | Robot chassis test fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922223126.6U CN211916892U (en) | 2019-12-12 | 2019-12-12 | Robot chassis test fixture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211916892U true CN211916892U (en) | 2020-11-13 |
Family
ID=73323673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922223126.6U Active CN211916892U (en) | 2019-12-12 | 2019-12-12 | Robot chassis test fixture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211916892U (en) |
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2019
- 2019-12-12 CN CN201922223126.6U patent/CN211916892U/en active Active
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