CN214265592U - Test system for slope climbing and ditch crossing width performance of special operation robot - Google Patents
Test system for slope climbing and ditch crossing width performance of special operation robot Download PDFInfo
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- CN214265592U CN214265592U CN202022245745.8U CN202022245745U CN214265592U CN 214265592 U CN214265592 U CN 214265592U CN 202022245745 U CN202022245745 U CN 202022245745U CN 214265592 U CN214265592 U CN 214265592U
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Abstract
The utility model provides a special type work robot climbing and wide performance's of ditch test system more, including climbing slope testing arrangement, wide testing arrangement and controller more ditch. The controller controls the first lifting mechanism to lift, so that the angle of the slope is adjusted to meet the test requirements of different slopes; the controller controls the driving device to drive the horizontal moving platform to move, so that the distance between the horizontal moving platform and the first lifting platform or other supporting objects is adjusted, and the test requirements of different trench widths are met.
Description
Technical Field
The utility model relates to a special type work robot test technical field, especially special type work robot climbing and the wide test system of performance of ditch more.
Background
The special operation robot is also called as a special robot, generally refers to a professional service robot, is a kind of robot which is rapidly developed and widely applied in recent years, and is applied to various industries of national economy in China. The application range of the system mainly comprises agriculture, electric power, construction, logistics, medical treatment, nursing, rehabilitation, security and rescue, military, nuclear industry, mining, petrochemical industry, municipal engineering and the like.
Because special type operation robots need to face various complicated operation environments, the performance requirements for the special type operation robots are high, and the performance requirements corresponding to different environments are different, so the special type operation robots generally need to perform performance tests.
The test equipment needs to be designed, and the climbing performance and the ditch-crossing width performance of the special operation robot need to be tested.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model lies in providing a special type work robot climbing and wide performance's of ditch test system more, can test special type work robot's climbing performance, wide performance more ditch.
The utility model discloses a realize like this: the special operation robot climbing and ditching performance testing system includes
The climbing slope testing device comprises an inclined plate and a slope regulating device; the gradient adjusting device comprises a first lifting mechanism and a first lifting platform; the first lifting platform is connected to the output end of the first lifting mechanism; the tail end of the inclined plate is movably connected with the front end of the first lifting platform;
the ditch-crossing width testing device comprises a width adjusting device; the width adjusting device comprises a driving device and a horizontal moving platform; the output end of the driving device is connected to the horizontal moving platform; the horizontal moving platform is arranged behind the first lifting platform;
and the controller is in communication connection with the first lifting mechanism and the driving device respectively.
Further, the first lifting mechanism comprises
A first support frame;
the output end of the first execution element is connected to the first lifting platform; the first actuator is communicatively coupled to the controller;
the first sliding group is connected with the first support frame in a sliding mode; the first lifting platform is fixedly connected to the first sliding group.
Further, the first lifting mechanism further comprises a first transmission module; the output end of the first execution element is connected to the first transmission module; the first transmission module is further connected to the first lifting platform.
Further, the first lifting mechanism further comprises a first encoder, and the first encoder is communicatively connected to the controller;
the first executing element is a motor;
the first transmission module comprises a first speed reducer, a first rotating shaft, a first driving chain wheel, a first driven chain wheel, a first chain wheel, a second chain wheel, a third chain wheel, a first chain wheel shaft, a first chain connecting tension rod, a first driving chain and a first chain;
the number of the first chain wheel, the second chain wheel and the third chain wheel is respectively 4; the sizes and the numbers of teeth of the first chain wheel, the second chain wheel and the third chain wheel are equal;
6 first chains are arranged;
6 first chain wheel shafts are arranged;
the number of the first chain connecting tension rods is 8;
the output shaft of the first actuating element is fixedly connected to the input end of the first speed reducer; the first driving chain wheel is fixedly sleeved on an output shaft of the first speed reducer;
the first driven chain wheel, the two first chain wheels and the two second chain wheels are fixedly sleeved on the first rotating shaft; the first rotating shaft is rotationally connected to the first support frame; the first encoder is connected to the first rotating shaft;
the first driving chain wheel and the first driven chain wheel are respectively meshed with the first driving chain;
6 first chain wheel shafts are rotationally connected to the first support frame, and each first chain wheel shaft is parallel to the first rotating shaft;
the two first chain wheel shafts and the first rotating shaft are arranged at the same height and are positioned below the first lifting platform, and each first chain wheel shaft is fixedly sleeved with one second chain wheel and one third chain wheel;
the other four first chain wheel shafts are arranged on the top of the first support frame in a rectangular shape with the same height and are positioned above the first lifting platform;
two of the first sprocket shafts on the top of the first support frame and the first rotating shaft are positioned in the same vertical plane, and each first sprocket shaft is fixedly sleeved with one first sprocket;
the other two first chain wheel shafts on the top of the first support frame and the two first chain wheel shafts below the first lifting platform are positioned in the same vertical plane, and each first chain wheel shaft is fixedly sleeved with a third chain wheel;
the first chain wheels above and below the first lifting platform are in one-to-one correspondence and meshed with the first chains, and each first chain is fixedly connected with two first chains which are connected with tensioning rods;
the second chain wheel on the first rotating shaft and the second chain wheel on the first chain wheel shaft which is arranged at the same height are meshed with the first chain in a one-to-one correspondence mode;
the third chain wheels above and below the first lifting platform are meshed with the first chains in a one-to-one correspondence manner, and each first chain is fixedly connected with two first chain connecting tension rods;
8 the tensioning rod is connected to first chain still respectively fixed connection in first lift platform.
Further, the front end bottom surface of the inclined plate is also provided with wheels, and the rotation axes of the wheels are horizontally arranged along the left-right direction.
Further, the width adjusting device also comprises
A second support frame; the horizontal moving platform is fixedly connected to the top of the second support frame;
two light rails are arranged, and the two light rails are laid in parallel along the front-back direction;
at least four rail wheels are provided, and the number of the rail wheels is even; the rail wheels are symmetrically arranged and are rotationally connected to the second support frame; each rail wheel is also connected with the light rail in a rolling way.
Further, the driving device comprises a second actuator, and an output end of the second actuator is connected to the second support frame.
Further, the driving device further comprises a second transmission module, and the output end of the second execution element is connected to the second transmission module; the second transmission module is connected to the second support frame.
Further, the second executing element is a motor;
the driving device further comprises a second encoder; the second encoder is also communicatively connected to the controller;
the second transmission module comprises a second speed reducer, a second driving chain wheel, a second driven chain wheel, a second rotating shaft, a rotating shaft fixing seat, a fourth chain wheel, a fifth chain wheel, a second chain connecting tension rod, a second chain, a second driving chain and a chain wheel fixing seat;
the size and the number of teeth of the fourth chain wheel and the fifth chain wheel are respectively equal;
two fourth chain wheels are arranged;
two fifth chain wheels are arranged;
the number of the second chain connecting tension rods is 4;
two second chains are arranged;
two chain wheel fixing seats are arranged; each chain wheel fixing seat is provided with a rotating shaft;
the output shaft of the second actuating element is fixedly connected to the input end of the second speed reducer;
the output shaft of the second speed reducer is fixedly sleeved with the second driving chain wheel;
the second driven chain wheel and the fourth chain wheel are fixedly sleeved on the second rotating shaft; two ends of the second rotating shaft are respectively and rotatably connected with a rotating shaft fixing seat; the second encoder is connected to the second rotating shaft;
the fifth chain wheels are fixedly sleeved on the rotating shaft in a one-to-one correspondence manner; the fourth chain wheel and the fifth chain wheel are arranged in equal height, and the two fourth chain wheels and the two fifth chain wheels are arranged in a rectangular shape;
each second chain is respectively sleeved on one fourth chain wheel and one fifth chain wheel;
every second chain fixedly connected with two the tensioning rod is connected to the second chain, and 4 the tensioning rod is connected to the second chain still respectively fixed connection in the second support frame.
The utility model has the advantages of as follows: the utility model provides a special type work robot climbing and wide performance's of ditch test system more, including climbing slope testing arrangement, wide testing arrangement and controller more ditch. The controller controls the first lifting mechanism to lift, so that the angle of the slope is adjusted to meet the test requirements of different slopes; the controller controls the driving device to drive the horizontal moving platform to move, so that the distance between the horizontal moving platform and the first lifting platform or other supporting objects is adjusted, and the test requirements of different trench widths are met.
Drawings
The invention will be further described with reference to the following examples with reference to the accompanying drawings.
Fig. 1 is a perspective view of the testing system of the present invention.
Fig. 2 is a front view of the test system of the present invention.
Fig. 3 is a top view of the test system of the present invention.
Fig. 4 and 5 are perspective views of the slope climbing testing device of the present invention.
Fig. 6 and 7 are perspective views of the swash plate according to the present invention.
Fig. 8 and 9 are perspective views of the first lifting platform according to the present invention.
Fig. 10 is a perspective view of the first elevating mechanism according to the present invention.
Fig. 11 is a partially enlarged schematic view of a in fig. 10.
Fig. 12 is a perspective view of the first elevating mechanism according to the present invention.
Fig. 13 is a partially enlarged schematic view of B in fig. 12.
Fig. 14 is a perspective view of the first lifting mechanism after hiding the first lifting platform.
Fig. 15 is a perspective view of a first transmission module according to the present invention.
Fig. 16 and 17 are perspective views of the trench width measurement device according to the present invention.
Fig. 18 is a schematic structural diagram of a driving device according to the present invention.
Description of reference numerals:
the slope climbing test device 1, the inclined plate 11, the connecting block 111, the wheels 112,
a gradient adjusting device 12, a first lifting mechanism 121, a first support frame 1211, a first actuating element 1212, a first sliding group 1213, a wheel seat 12131, a roller 12132, an elliptical hole 12133, a first transmission module 1214, a first speed reducer 12141, a first rotating shaft 12142, a first driving sprocket 12143, a first driven sprocket 12144, a first sprocket 12145, a second sprocket 12146, a third sprocket 12147, a first sprocket shaft 12148, a first chain connecting tension rod 12149, a first chain 121410, a first encoder 1215,
the lifting device comprises a first lifting platform 122, a connecting plate 1221, a fixing frame 1222, an adjusting through hole 12221, a supporting plate 12222, an adjusting screw hole 122221, a rotating shaft 123 and a spring buckle 124;
a controller 2;
the crossing width testing device 3, the width adjusting device 31, the driving device 311, the second actuator 3111, the second transmission module 3112, the second speed reducer 31121, the second driving sprocket 31122, the second driven sprocket 31123, the second rotating shaft 31124, the rotating shaft fixing seat 31125, the fourth sprocket 31126, the fifth sprocket 31127, the second chain connecting tension rod 31128, the second chain 31129, the sprocket fixing seat 311210, the second encoder 3113, the horizontal moving platform 312, the second support frame 313, the light rail 314, and the track wheel 315;
connected to the ramp 4.
Detailed Description
The utility model discloses a design as follows:
the controller 2 controls the first lifting mechanism 121 to lift, so that the angle of the slope 11 is adjusted to meet the test requirements of different gradients; the controller 2 controls the driving device 311 to drive the horizontal moving platform 312 to move, so as to adjust the distance between the horizontal moving platforms 312.
Please refer to fig. 1 to 18.
The utility model discloses a special type work robot climbing and wide performance's of ditch test system more, include
The climbing slope testing device 1 comprises an inclined plate 11 and a slope regulating device 12; the gradient adjustment device 12 includes a first elevation mechanism 121 and a first elevation platform 122; the first lifting platform 122 is connected to the output end of the first lifting mechanism 121, so that the first lifting mechanism 121 drives the first lifting platform 122 to lift; the end of the inclined plate 11 is movably connected with the front end of the first lifting platform 122, and in specific implementation, the inclined plate 11 and the first lifting platform 122 can be connected by means of hinges, bearings, shafts, bolts and the like; for example, the structure in the embodiment shown in the drawings can be adopted, the two are connected through a rotating shaft, as shown in fig. 6 to 9, a connecting block 111 is arranged at the upper end of the inclined plate 11, and a shaft hole is formed in the connecting block 111; a connecting plate 1221 is arranged at the front end of the first lifting platform 122, and a shaft hole is also formed in the connecting plate 1221; two connecting plates 1221 are arranged on two sides of each connecting block 111, a rotating shaft 123 is embedded into shaft holes of the two connecting blocks, and the rotating shaft 123 is in clearance fit with the shaft holes; spring buckles 124 are arranged at two ends of the rotating shaft to limit two ends of the rotating shaft 123, so that the inclined plate 11 is movably connected with the first lifting platform 122; the inclined plate 11 is movably connected with the first lifting platform 122, so that the height of the first lifting platform 122 can be adjusted through the first lifting mechanism 121, the included angle between the inclined plate 11 and the first lifting platform 122 is adjusted, and finally the gradient of the inclined plate 11 is adjusted, so that the requirements of climbing tests with different gradients are met;
a specific climbing test mode is as follows: a control program is preset, the controller 2 controls the first lifting mechanism 121 to drive the first lifting platform 122 to lift, the first lifting platform 122 is adjusted to a corresponding height, the inclined plate 11 is adjusted to a required gradient, and then a tester operates the special work robot to enable the bottom end of the inclined plate 11 to climb upwards to see whether the special work robot can climb up the first lifting platform 122;
the semi-slope starting test can also be carried out, the special operation robot is controlled to climb onto the inclined plate 11, then the special operation robot is stopped, then the special operation robot is controlled to restart, the climbing is carried out, and whether the special operation robot can climb onto the first lifting platform 122 or not is judged;
after the slope test is completed, the height of the first lifting platform 122 can be adjusted, and the inclined plate 11 is adjusted to another test slope for retesting.
The ditch-width-crossing testing device 3 comprises a width adjusting device 31; the width adjusting device 31 comprises a driving device 311 and a horizontal moving platform 312; the output end of the driving device 311 is connected to the horizontal moving platform 312, so that the driving device 311 drives the horizontal moving platform 312 to move, and further, the distance between the horizontal moving platform 312 and the first lifting platform 122 or other supporting objects is adjusted, that is, the trench width; the horizontal moving platform 312 is arranged behind the first lifting platform 122;
the first test mode with wider trenches: firstly, the controller 2 controls the first lifting mechanism 121 to adjust the height of the first lifting platform 122 to be equal to the height of the horizontal moving platform 312;
then, the driving device 311 is controlled by the controller 2 to drive the horizontal moving platform 312 to move, and the distance between the horizontal moving platform 312 and the first lifting platform 122 is adjusted to a predetermined value, that is, a predetermined trench width;
next, the tester operates the special working robot to move from the first lifting platform 122 to the horizontal moving platform 312, and can see whether the special working robot can cross the horizontal moving platform 312.
After the test is completed, the special operation robot can be operated to return to the original path and get off the inclined plate 11, or according to the embodiment shown in fig. 1, the connecting slope 4 is added behind the horizontal moving platform 312, the special operation robot is directly operated to get off the connecting slope 4, of course, the connecting slope 4 can also adopt other structures, for example, a plate is directly adopted to be lapped on the horizontal moving platform 312 for the special operation robot to get off.
Second test mode with wider trench: digging a groove on the ground, installing the test system in the groove, and keeping the horizontal moving platform 312 at the same height as the ground; after the climbing test is completed, the controller 2 controls the first lifting mechanism 121 to adjust the first lifting platform 122 to be equal to the horizontal moving platform in height, controls the horizontal moving platform 312 to move to be adjacent to the first lifting platform 122, and then operates the special work robot to move from the first lifting platform 122 to the horizontal moving platform 312;
next, the controller 2 controls the driving device 311 to adjust the distance between the horizontal moving platform 312 and the sidewall of the ground to simulate the trench width, and then the test mode is the same as the first test mode with the trench width.
The third test mode for wider trenches:
the test system is installed on the ground, and a support frame is arranged behind the horizontal moving platform 312, for example, an object such as a table can be adopted, and the support frame is as high as the horizontal moving platform 312.
After the climbing test is completed, the controller 2 controls the first lifting mechanism 121 to adjust the first lifting platform 122 to be equal to the horizontal moving platform 312 in height, controls the horizontal moving platform 312 to move to be adjacent to the first lifting platform 122, and then operates the special work robot to move from the first lifting platform 122 to the horizontal moving platform 312;
next, the controller 2 controls the driving device 311 to adjust the distance between the horizontal moving platform 312 and the supporting frame to simulate the trench width, and then the test mode is the same as the first test mode with the trench width.
And the controller 2 is in communication connection with the first lifting mechanism 121 and the driving device 311 respectively, so that the control is realized by the controller. In a specific embodiment, the controller may adopt a PLC, for example, the model of the PLC is: siemens 6ES7215-1AG40-0XB 0.
In a specific embodiment, the first lifting mechanism 121 comprises
A first support 1211;
a first actuator 1212, an output end of the first actuator 1212 is connected to the first lifting platform 122; the first actuator 1212 is communicatively coupled to the controller 2; the controller 2 controls the first actuator 1212 to operate to drive the first lifting platform 122 to lift.
A first sliding group 1213, said first sliding group 1213 being slidably connected to said first support 1211; the first lifting platform 122 is fixedly connected to the first sliding group 1213. The first sliding group 1213 guides the lifting of the first lifting platform 122, so as to improve the accuracy of the lifting direction. In a specific embodiment, as shown in fig. 8 to 13, the first sliding group 1213 includes a wheel seat 12131, and a roller 12132 is disposed in the wheel seat 12131; elliptical holes 12133 are formed on two sides of the wheel seat 12131; four sides of the first lifting platform 122 are provided with a fixing frame 1222, the bottom surface of the fixing frame 1222 is provided with an adjusting through hole 12221, the fixing frame 1222 is provided with a supporting plate 12222, and the supporting plate 12222 is provided with an adjusting screw hole 122221. The wheel seat 12131 is fastened by a nut after passing through the elliptical hole 12133 and the adjusting through hole 12221 by a bolt, and the roller 12132 is attached to the inner side of the first support 1211 and is fastened into the adjusting screw hole 122221 by a screw to abut against the wheel seat 12131, thereby further ensuring the attachment of the roller 12132 to the inner side of the first support 1211. The elliptical holes 12133 allow the position of the roller 12132 to be adjusted to fit the inner surface of the first support 1211 more closely, thereby reducing the unevenness of the surface of the first support 1211, which may cause the roller 12131 to separate from the inner surface of the first support 1211;
in a specific embodiment, the first lifting mechanism 121 further includes a first transmission module 1214; an output of the first actuator 1212 is coupled to the first transmission module 1214; the first transmission module 1214 is also connected to the first elevating platform 122. The driving force of the first actuator 1212 is transmitted to the first elevating platform 122 through the first transmission module 1214.
In a specific embodiment, the first lifting mechanism 121 further comprises a first encoder 1215, and the first encoder 1215 is communicatively connected to the controller 2; the controller 2 controls the first actuator 1212 to operate according to a predetermined program, the first encoder 1215 counts the number of rotations of the first rotating shaft 12142, the first encoder 1215 sends pulse data to the controller 2, and the controller 2 adjusts the number of rotations of the output shaft of the first actuator 1212 according to the received pulse data, i.e., the number of rotations of the first rotating shaft 12142, so that the number of rotations of the first rotating shaft 12142 reaches a predetermined value, thereby adjusting the first lifting platform 122 to a predetermined height, and finally adjusting the swash plate 11 to a predetermined gradient.
The first actuator 1212 is a motor;
the first transmission module 1214 includes a first speed reducer 12141, a first rotating shaft 12142, a first driving sprocket 12143, a first driven sprocket 12144, a first sprocket 12145, a second sprocket 12146, a third sprocket 12147, a first sprocket shaft 12148, a first chain connecting tension rod 12149, a first driving power chain (not shown), and a first chain 121410;
4 first chain wheels 12145, 4 second chain wheels 12146 and 4 third chain wheels 12147 are arranged respectively; the first chain wheel 12145, the second chain wheel 12146 and the third chain wheel 12147 have equal size and tooth number;
6 of the first chains 121410; there are 6 first sprocket shafts 12148;
8 first chain connecting tension rods 12149;
the output shaft of the first actuating element 1212 is fixedly connected to the input end of the first speed reducer 12141; the first driving chain wheel 12143 is fixedly sleeved on the output shaft of the first speed reducer 12141; in a specific embodiment, the first driving sprocket 12143 and the first driven sprocket 12144 can be double-row sprockets; of course in other embodiments, a single row of sprockets could be used;
the first driven sprocket 12144, the two first sprockets 12145 and the two second sprockets 12146 are all fixedly sleeved on the first rotating shaft 12142; the first shaft 12142 is rotatably connected to the first support 1211, and the first encoder 1215 is connected to the first shaft 12142; in one embodiment, the first sprocket 12145 and the second sprocket 12146 can be single row sprockets or both can be replaced by double row sprockets, which is shown in the figures. In a specific implementation, the first sprocket 12145, the second sprocket 12146 and the first driven sprocket 12144 are respectively connected to the first rotating shaft 12142 by a key, wherein two of the first sprocket 12145 and the second sprocket 12146 are combined and arranged symmetrically; bearings are sleeved on two ends of the first rotating shaft 12144 respectively and are mounted in bearing seats, and the bearing seats are locked on the side surfaces of the first support 1211 through screws; the first encoder 1215 is mounted on a side of the first support 1211 through a bracket, and a rotation output end of the first encoder 1215 is fixedly coupled to the first rotation shaft 12142 through a reed coupling.
The first driving sprocket 12143 and the first driven sprocket 12144 are respectively engaged with the first driving power chain (not shown);
6 first sprocket shafts 12148 are rotatably connected to the first support frame 1211, in a specific embodiment, as shown in fig. 12 and 15, both ends of each first sprocket shaft 1211 are embedded into through holes of a support riser, the support riser is fixedly connected to the first support frame 1211, the first sprocket shafts 12148 and the through holes are in clearance fit, driven wheel pads are fixedly connected to both end surfaces of the first sprocket shafts 12148, so that the first sprocket shafts 12148 are prevented from falling off the through holes, and each first sprocket shaft 12148 is parallel to the first rotating shaft 12142;
the two first chain wheel shafts 12148 and the first rotating shaft 12142 are arranged at the same height and are located below the first lifting platform 122, and each first chain wheel shaft 12148 is fixedly provided with a second chain wheel 12146 and a third chain wheel 12147;
four other first sprocket shafts 12148 are arranged at the same height as a rectangle on the top of the first support 1211 above the first elevation platform 122;
two of the first sprocket shafts 12148 on the top of the first support 1211 and the first rotating shaft 12144 are located in the same vertical plane, and each of the first sprocket shafts 12148 is fixedly sleeved with one of the first sprockets 12145;
the other two first chain wheel shafts 12145 on the top of the first support frame 1211 and the two first chain wheel shafts 12148 below the first lifting platform 122 are located in the same vertical plane, and each first chain wheel shaft 12148 is fixedly sleeved with a third chain wheel 12147;
the first chain wheels 12145 above and below the first lifting platform 122 are engaged with one first chain 12140 in a one-to-one correspondence, and each first chain 121410 is fixedly connected with two first chain connecting tension rods 12149;
the second chain wheel 12146 on the first rotating shaft 12142 and the second chain wheel 12146 on the first chain wheel shaft 12148 which are arranged at the same height are meshed with the first chain 121410 in a one-to-one correspondence manner;
the third chain wheels 12147 above and below the first lifting platform 122 are engaged with one first chain 121410 in a one-to-one correspondence, and each first chain 121410 is fixedly connected with two first chain connecting tension rods 12149;
the 8 first chain connecting tension rods 12149 are also respectively fixedly connected to the first lifting platform 122.
The operating principle of the first transmission module 1214 is as follows: the output shaft of the first actuator 1211 rotates to drive the first driving sprocket 12143 to rotate, and then drives the first driven sprocket 12144 to rotate, thereby driving the first rotating shaft 12142 and the first sprocket 12145 and the second sprocket 12146 thereon to rotate; the first chain wheel 12145 drives another first chain wheel 12145 and a vertically arranged first chain 121410 to rotate through chain wheel meshing transmission, so that the first lifting platform 122 is driven to lift by the first chain connecting with the tension rod 12149; the second chain wheel 12146 drives another second chain wheel 12146 arranged at the same height for transmission through chain wheel meshing transmission, and then drives the third chain wheel 12147 for rotation, thereby driving the vertically arranged first chain 121410 to rotate, and finally driving the first chain connecting tension rod 12149 connected with the first chain connecting tension rod to move up and down. The first lifting platform 122 is driven by 8 first chains which are symmetrically arranged and connected with a tension rod 12149 to lift; thereby realizing stable lifting.
In a specific embodiment, the front end bottom surface of the sloping plate 11 is further provided with wheels 112, and the rotation axes of the wheels 112 are horizontally arranged in the left-right direction. The wheels 112 are provided to facilitate movement of the swash plate 11 and reduce friction. As shown in fig. 6, in a specific embodiment, a hanging ring may be further disposed on the inclined plate, so as to facilitate hoisting the inclined plate 11 during assembly.
In a specific embodiment, the width adjusting device 31 further comprises
A second support frame 313; the horizontal moving platform 312 is fixedly connected to the top of the second supporting frame 313;
two light rails 314 are arranged, and the two light rails 314 are laid in parallel along the front-back direction;
at least four rail wheels 315, wherein the number of the rail wheels 315 is even; the track wheels 315 are symmetrically arranged and rotatably connected to the second support frame 313; each of the rail wheels 315 is also rollingly connected to the light rail 314.
The horizontal movement of the second support frame 313 is guided by the light rail 314 and the rail wheels 315, so that the movement precision is ensured.
In a specific embodiment, the driving device 311 includes a second actuator 3111, and an output end of the second actuator 3111 is connected to the second supporting frame 313. The second actuator 3111 drives the second support 313 to move horizontally.
In a specific embodiment, the driving device 311 further includes a second transmission module 3112, and an output end of the second actuator 3111 is connected to the second transmission module 3112; the second transmission module 3112 is connected to the second support frame 313. The second actuator 3111 drives the second transmission module 3112 to move, and then drives the second support frame 313 to move horizontally.
In a specific embodiment, the second actuator 3111 is a motor;
the driving device 311 further includes a second encoder 3113; the second encoder 3113 is also communicatively connected to the controller 2;
the second transmission module 3112 includes a second speed reducer 31121, a second driving sprocket 31122, a second driven sprocket 31123, a second shaft 31124, a shaft fixing seat 31125, a fourth sprocket 31126, a fifth sprocket 31127, a second chain connecting tension rod 31128, a second chain 31129, a second driving chain (not shown) and a sprocket fixing seat 311210;
the fourth sprocket 31126 and the fifth sprocket 31127 are respectively equal in size and number of teeth;
two fourth sprockets 31126;
two fifth sprockets 31127;
there are 4 of the second chain connecting tension bars 31128;
two of the second chains 31129;
two sprocket fixing seats 311210 are provided; each chain wheel fixing seat 311210 is provided with a rotating shaft 311211;
an output shaft of the second actuator 3111 is fixedly connected to an input end of the second reducer 31121;
the output shaft of the second speed reducer 31121 is fixedly sleeved with the second driving sprocket 31122;
the second shaft 31124 is fixedly sleeved with the second driven sprocket 31123 and the fourth sprocket 31126; both ends of the second shaft 31124 are respectively rotatably connected with a shaft fixing seat 31125; the second encoder 3113 is connected to the second shaft 31124;
the fifth chain wheels 31127 are fixedly sleeved on the rotating shafts 311211 in a one-to-one correspondence manner; the fourth sprocket 31126 and the fifth sprocket 31127 are arranged at the same height, and the two fourth sprockets 31126 and the two fifth sprockets 31127 are arranged in a rectangular shape;
each of the second chains 31129 is respectively fitted over one of the fourth sprockets 31126 and the fifth sprocket 31127;
every second chain 31129 fixedly connected with two second chain connect the tensioning rod 31128, and 4 second chain connect the tensioning rod 31128 still respectively fixed connection in second support frame 313.
In one embodiment, the sprocket mounting 311210 can be mounted on the bottom surface, but can be mounted on other supports.
The working principle is as follows: controller 2 controls second executor 3111 work, the output shaft of second executor 3111 is rotatory, drives second speed reducer 31121 work, drives second drive sprocket 31122 is rotatory, then drives from the second movable chain wheel 31123, second pivot 31124, fourth sprocket 31126 are rotatory, thereby drive second chain 31129 motion finally drives second chain and connects tensioning rod 31128 horizontal migration, thereby realizes driving horizontal migration platform 312 carries out horizontal migration, thereby adjusts the interval between horizontal migration platform 312 and first lift platform 122 or other support objects, simulation ditch width promptly.
Although specific embodiments of the present invention have been described, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the claims appended hereto.
Claims (9)
1. Special type work robot climbing and wide performance's of ditch test system, its characterized in that: the device comprises an incline climbing test device, a slope adjusting device and a slope measuring device, wherein the incline climbing test device comprises an inclined plate and the slope adjusting device; the gradient adjusting device comprises a first lifting mechanism and a first lifting platform; the first lifting platform is connected to the output end of the first lifting mechanism; the tail end of the inclined plate is movably connected with the front end of the first lifting platform;
the ditch-crossing width testing device comprises a width adjusting device; the width adjusting device comprises a driving device and a horizontal moving platform; the output end of the driving device is connected to the horizontal moving platform; the horizontal moving platform is arranged behind the first lifting platform;
and the controller is in communication connection with the first lifting mechanism and the driving device respectively.
2. The special working robot climbing and ditching performance testing system according to claim 1, characterized in that: the first lifting mechanism comprises
A first support frame;
the output end of the first execution element is connected to the first lifting platform; the first actuator is communicatively coupled to the controller;
the first sliding group is connected with the first support frame in a sliding mode; the first lifting platform is fixedly connected to the first sliding group.
3. The special working robot climbing and ditching performance testing system according to claim 2, characterized in that: the first lifting mechanism further comprises a first transmission module; the output end of the first execution element is connected to the first transmission module; the first transmission module is further connected to the first lifting platform.
4. The special working robot hill climbing and ditch width performance testing system according to claim 3, characterized in that: the first lifting mechanism further comprises a first encoder, and the first encoder is communicatively connected to the controller;
the first executing element is a motor;
the first transmission module comprises a first speed reducer, a first rotating shaft, a first driving chain wheel, a first driven chain wheel, a first chain wheel, a second chain wheel, a third chain wheel, a first chain wheel shaft, a first chain connecting tension rod, a first driving chain and a first chain;
the number of the first chain wheel, the second chain wheel and the third chain wheel is respectively 4; the sizes and the numbers of teeth of the first chain wheel, the second chain wheel and the third chain wheel are equal;
6 first chains are arranged;
6 first chain wheel shafts are arranged;
the number of the first chain connecting tension rods is 8;
the output shaft of the first actuating element is fixedly connected to the input end of the first speed reducer; the first driving chain wheel is fixedly sleeved on an output shaft of the first speed reducer;
the first driven chain wheel, the two first chain wheels and the two second chain wheels are fixedly sleeved on the first rotating shaft; the first rotating shaft is rotationally connected to the first support frame; the first encoder is connected to the first rotating shaft;
the first driving chain wheel and the first driven chain wheel are respectively meshed with the first driving chain;
6 first chain wheel shafts are rotationally connected to the first support frame, and each first chain wheel shaft is parallel to the first rotating shaft;
the two first chain wheel shafts and the first rotating shaft are arranged at the same height and are positioned below the first lifting platform, and each first chain wheel shaft is fixedly sleeved with one second chain wheel and one third chain wheel;
the other four first chain wheel shafts are arranged on the top of the first support frame in a rectangular shape with the same height and are positioned above the first lifting platform;
two of the first sprocket shafts on the top of the first support frame and the first rotating shaft are positioned in the same vertical plane, and each first sprocket shaft is fixedly sleeved with one first sprocket;
the other two first chain wheel shafts on the top of the first support frame and the two first chain wheel shafts below the first lifting platform are positioned in the same vertical plane, and each first chain wheel shaft is fixedly sleeved with a third chain wheel;
the first chain wheels above and below the first lifting platform are in one-to-one correspondence and meshed with the first chains, and each first chain is fixedly connected with two first chains which are connected with tensioning rods;
the second chain wheel on the first rotating shaft and the second chain wheel on the first chain wheel shaft which is arranged at the same height are meshed with the first chain in a one-to-one correspondence mode;
the third chain wheels above and below the first lifting platform are meshed with the first chains in a one-to-one correspondence manner, and each first chain is fixedly connected with two first chain connecting tension rods;
8 the tensioning rod is connected to first chain still respectively fixed connection in first lift platform.
5. The special working robot climbing and trenching width performance testing system according to any one of claims 1 to 4, characterized in that: the front end bottom surface of swash plate still is equipped with the wheel, just the axis of rotation of wheel is along left and right sides direction horizontal arrangement.
6. The special working robot climbing and ditching performance testing system according to claim 1, characterized in that: the width adjusting device also comprises
A second support frame; the horizontal moving platform is fixedly connected to the top of the second support frame;
two light rails are arranged, and the two light rails are laid in parallel along the front-back direction;
at least four rail wheels are provided, and the number of the rail wheels is even; the rail wheels are symmetrically arranged and are rotationally connected to the second support frame; each rail wheel is also connected with the light rail in a rolling way.
7. The special working robot hill climbing and ditch width performance testing system according to claim 6, characterized in that: the driving device comprises a second execution element, and the output end of the second execution element is connected to the second support frame.
8. The special working robot hill climbing and ditch width performance testing system according to claim 7, characterized in that: the driving device further comprises a second transmission module, and the output end of the second execution element is connected to the second transmission module; the second transmission module is connected to the second support frame.
9. The special working robot hill climbing and ditch width performance testing system according to claim 8, characterized in that: the second executing element is a motor;
the driving device further comprises a second encoder; the second encoder is also communicatively connected to the controller;
the second transmission module comprises a second speed reducer, a second driving chain wheel, a second driven chain wheel, a second rotating shaft, a rotating shaft fixing seat, a fourth chain wheel, a fifth chain wheel, a second chain connecting tension rod, a second chain, a second driving chain and a chain wheel fixing seat;
the size and the number of teeth of the fourth chain wheel and the fifth chain wheel are respectively equal;
two fourth chain wheels are arranged;
two fifth chain wheels are arranged;
the number of the second chain connecting tension rods is 4;
two second chains are arranged;
two chain wheel fixing seats are arranged; each chain wheel fixing seat is provided with a rotating shaft;
the output shaft of the second actuating element is fixedly connected to the input end of the second speed reducer;
the output shaft of the second speed reducer is fixedly sleeved with the second driving chain wheel;
the second driven chain wheel and the fourth chain wheel are fixedly sleeved on the second rotating shaft; two ends of the second rotating shaft are respectively and rotatably connected with a rotating shaft fixing seat; the second encoder is connected to the second rotating shaft;
the fifth chain wheels are fixedly sleeved on the rotating shaft in a one-to-one correspondence manner; the fourth chain wheel and the fifth chain wheel are arranged in equal height, and the two fourth chain wheels and the two fifth chain wheels are arranged in a rectangular shape;
each second chain is respectively sleeved on one fourth chain wheel and one fifth chain wheel;
every second chain fixedly connected with two the tensioning rod is connected to the second chain, and 4 the tensioning rod is connected to the second chain still respectively fixed connection in the second support frame.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022245745.8U CN214265592U (en) | 2020-10-10 | 2020-10-10 | Test system for slope climbing and ditch crossing width performance of special operation robot |
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| CN202022245745.8U CN214265592U (en) | 2020-10-10 | 2020-10-10 | Test system for slope climbing and ditch crossing width performance of special operation robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114559467A (en) * | 2022-02-23 | 2022-05-31 | 深圳优地科技有限公司 | Robot climbing performance testing method and system and testing controller |
| CN116141384A (en) * | 2023-04-14 | 2023-05-23 | 唐山数派信息科技有限公司 | Industrial robot operation test engineering workbench |
| CN114559467B (en) * | 2022-02-23 | 2024-06-04 | 深圳优地科技有限公司 | Robot climbing performance test method, system and test controller |
-
2020
- 2020-10-10 CN CN202022245745.8U patent/CN214265592U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114559467A (en) * | 2022-02-23 | 2022-05-31 | 深圳优地科技有限公司 | Robot climbing performance testing method and system and testing controller |
| CN114559467B (en) * | 2022-02-23 | 2024-06-04 | 深圳优地科技有限公司 | Robot climbing performance test method, system and test controller |
| CN116141384A (en) * | 2023-04-14 | 2023-05-23 | 唐山数派信息科技有限公司 | Industrial robot operation test engineering workbench |
| CN116141384B (en) * | 2023-04-14 | 2023-09-29 | 唐山数派信息科技有限公司 | Industrial robot operation test engineering workbench |
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