CN219255628U - Fire-fighting robot running performance comprehensive test device - Google Patents
Fire-fighting robot running performance comprehensive test device Download PDFInfo
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- CN219255628U CN219255628U CN202223420462.8U CN202223420462U CN219255628U CN 219255628 U CN219255628 U CN 219255628U CN 202223420462 U CN202223420462 U CN 202223420462U CN 219255628 U CN219255628 U CN 219255628U
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The utility model belongs to the technical field of fire-fighting equipment, and particularly relates to a comprehensive testing device for the running performance of a fire-fighting robot. The magnetic powder brake comprises a bearing frame, a rotating speed torque sensor, a magnetic powder brake and a data acquisition and controller; the bearing frame corresponds to the left driving wheel and the right driving wheel of the fire-fighting robot and is divided into a left driving test area and a right driving test area, and a plurality of rollers are arranged in the left driving test area and the right driving test area; the rollers are connected through gear transmission, the rollers at the end part are connected with the magnetic powder brake through a rotating speed torque sensor, the data acquisition and controller controls the magnetic powder brake to simulate resistance, and the rotating speed torque sensor transfers data information to the data acquisition and controller. The fire-fighting robot is arranged in a driving test area, and the generated driving force and the rotation speed information are transmitted to a rotation speed torque sensor through a transmission gear by two rows of metal rollers; the utility model can simulate various disaster relief scenes, has convenient operation and simple and reliable structure, and is beneficial to improving the existing detection level of the fire-fighting robot.
Description
Technical Field
The utility model belongs to the technical field of fire-fighting equipment, and particularly relates to a comprehensive testing device for the running performance of a wheel/track type fire-fighting robot.
Background
With the rapid development of national economy, technological innovation is more and more advanced, and people's life and property safety is guaranteed to receive further attention from relevant departments of the country, and the concepts of scientific fire control and technical fire control are also more and more deep. The high-tech equipment such as various novel fire robots, fire engines, mobile fire water cannons and the like are widely applied in the field of fire rescue, and can be seen in various disaster fields such as fire rescue, flood control, water drainage, earthquake rescue and the like. Therefore, the method has a far-reaching practical significance for evaluating the related performance indexes of various novel fire rescue equipment. At present, fire-fighting equipment needs to know accurate performance indexes under various use scenes in the face of complex disaster rescue environments. However, in the existing fire-fighting equipment inspection and detection work, most of the related tests of the fire-fighting robot running performance are still mainly a field running test performed on a test site, the simulation of real scenes is less, and in the test process, environmental influence factors such as site temperature, humidity and wind are larger, so that the test efficiency is low, consistency and repeatability are lacking, and the running performance of the fire-fighting robot under different scenes is accurately judged.
At present, no special test device for the running performance of the fire-fighting robot exists, and in the existing running performance test devices of running mechanisms in other fields, running performance tests are mostly carried out only for front-drive vehicles or rear-drive vehicles. However, most of the fire robots are light in weight, most of the driving modes are left-right symmetrically driven, and the fire robots have the characteristics of crawler-type and wheel-type traveling chassis and the like, and the existing traveling performance testing device cannot conduct traveling performance tests on various types of fire robots at the same time. Therefore, the design of the fire-fighting robot running performance test device capable of simulating various test scenes and aiming at dual purposes of various qualities, left and right driving and wheel type and crawler type chassis becomes urgent. The accuracy and efficiency of the fire-fighting robot running performance test can be improved to the greatest extent, and the scientificity of fire-fighting robot running performance evaluation is further improved.
Disclosure of Invention
The utility model aims to provide the running performance testing device for the wheel/track type fire-fighting robot, which has the advantages of high degree of automation, more simulation scenes, less influence factors, convenient operation and reliable performance, and can improve the test efficiency and the data accuracy of the running performance test of the fire-fighting robot.
The comprehensive testing device for the running performance of the fire-fighting robot is applied to the fire-fighting robots with the chassis driven by left and right symmetry, wherein the single-side wheels or the caterpillar of the chassis of the fire-fighting robot have independent control driving, and the control of the two-side wheels or the caterpillar is not affected;
the running performance testing device comprises a bearing frame, a cylindrical roller, a rotating speed torque sensor, a magnetic powder brake, a data acquisition and controller and a power supply;
the width direction of the bearing frame corresponds to the left driving wheel and the right driving wheel of the fire-fighting robot and is divided into a left driving test area and a right driving test area which are arranged in parallel; each driving test area is sequentially divided into: a drive control zone, a wheel/track test zone and a ramp zone;
the number of the cylindrical rollers is divided into a left cylindrical roller group and a right cylindrical roller group according to the number, the cylindrical rollers are arranged in parallel, and the two cylindrical roller groups are respectively arranged in two driving control areas of the bearing frame;
one end of each cylindrical roller is fixedly provided with a coaxial roller transmission gear, and the roller transmission gears can synchronously rotate along with the rotation of the cylindrical rollers;
the roller transmission gears of the cylindrical rollers which are adjacently arranged are rotationally connected through a linkage gear;
the other end of the cylindrical roller group, which is positioned closest to the driving control area, is provided with a rotating speed torque sensor which is provided with a transmission end and a load end; the driving end is fixedly connected with the other end of the cylindrical roller, and the load end is fixedly provided with a driving gear; the cylindrical roller, the rotating speed torque sensor and the transmission gear are coaxial;
the magnetic powder brake is fixedly arranged in the driving control area, a protruding rotating shaft of the magnetic powder brake is an output end, and a main rotating gear is fixedly arranged on the output end;
the transmission gear at the load end of the rotating speed torque sensor is in transmission connection with the main rotation transmission gear at the output end of the magnetic powder brake through a metal transmission chain;
the rotating speed and torque sensor and the magnetic powder brake are connected with the data acquisition and controller;
the power supply is connected with the rotating speed torque sensor, the magnetic powder brake and the data acquisition and control device and supplies power;
the ramp area is butted with the ground while being butted with the wheel/track test area, and is used for guiding the fire-fighting robot to move from the ground to the wheel/track test area.
In the utility model, the surface of the cylindrical roller is carved with patterns for increasing friction force.
In the utility model, the transmission end of the rotating speed torque sensor is fixedly connected with the other end of the cylindrical roller through a coupler.
In the utility model, the data acquisition and controller is a traditional industrial personal computer, and the braking torque of the magnetic powder brake can be adjusted by adjusting the current of the magnetic powder brake.
The working flow of the testing device of the utility model is as follows: the control current is sent out by the data acquisition and controller, the braking torque of the two groups of magnetic powder brakes is controlled respectively to simulate the resistance of the two groups of wheels/tracks of the fire-fighting robot, the resistance is converted to the cylindrical roller through the metal transmission chain, the counter force (friction force) generated after the corresponding resistance of the wheels/tracks is measured by the rotating speed torque sensor, and the data is fed back to the data acquisition and controller to provide data basis for the calculation of the driving state parameters of the follow-up fire-fighting robot. Meanwhile, the stability of the fire-fighting robot can be primarily judged according to the stability of the body form of the fire-fighting robot when the fire-fighting robot runs under different test resistances.
The utility model has the advantages of simple structure, effective simulation of various disaster relief scenes, convenient operation and reliable performance, and can rapidly test the running performance, the escaping performance and the performance of coping with complex road scenes of the fire-fighting robot, thereby improving the test efficiency and the data accuracy.
Drawings
FIG. 1 is a schematic diagram of a module connection according to the present utility model.
Fig. 2 is a schematic top view of the load-bearing frame structure of the present utility model.
Fig. 3 is a schematic view of a single cylindrical drum of the present utility model.
Fig. 4 is a schematic view of a cylindrical drum of the present utility model closest to a magnetic particle brake.
Fig. 5 is a schematic view of the arrangement of two adjacent cylindrical drums according to the present utility model.
Fig. 6 is a schematic diagram of the connection part of the rotational speed and torque sensor and the magnetic powder brake according to the present utility model.
Fig. 7 is a schematic view of the overall arrangement of the cylindrical drums of the wheel/track test area of the present utility model.
Fig. 8 is a schematic perspective view of the overall structure of the present utility model.
Reference numerals in the drawings: 1 is a bearing frame, 2 is a cylindrical roller, 3 is a rotating speed torque sensor, 4 is a magnetic powder brake, 5 is a data acquisition and controller, 6 is a power supply, 7 is a roller transmission gear, 8 is a linkage gear, 9 is a transmission gear, 10 is a main rotation gear, and 11 is a metal transmission chain.
Detailed Description
The utility model is applied to a wheeled or crawler type fire-fighting robot with a chassis driven by left and right symmetry, the chassis of the fire-fighting robot can be driven by independent control of a single-side wheel or crawler, and the control of the two-side wheels or crawler is not affected;
the utility model comprises a bearing frame 1, a cylindrical roller 2, a rotating speed torque sensor 3, a magnetic powder brake 4, a data acquisition and controller 5 and a power supply 6;
the width direction of the bearing frame 1 corresponds to the left driving wheel and the right driving wheel of the fire-fighting robot and is divided into a left driving test area and a right driving test area which are arranged in parallel; each driving test area is sequentially divided into: a drive control zone, a wheel/track test zone and a ramp zone; as shown in fig. 1 and 8.
The bearing frame 1 is formed by adopting a sheet metal stamping and bending process, the ramp area is a slope with a right triangle cross section, one end of the wheel/track test area is in butt joint with the ramp area, the whole bearing frame is in a cuboid shape, the height of the whole bearing frame is equal to that of the ramp area, and rectangular concave areas are symmetrically arranged in the wheel/track test area left and right; the other end of the wheel/track test area is in butt joint with a driving control area, the height of the driving control area is higher than that of the wheel/track test area, the internal space of the driving control area can be ensured to be provided with required equipment, and meanwhile, the driving control area can prevent the fire-fighting robot from advancing beyond the wheel/track test area;
the cylindrical rollers 2 are metal rollers and are divided into left and right cylindrical roller groups according to the number, the cylindrical rollers 2 are arranged in parallel, and the two cylindrical roller groups are respectively arranged in left and right concave areas of a driving control area of the bearing frame 1; as shown in fig. 1 and 8; the surface of the cylindrical roller is carved with patterns for increasing friction force.
Take a set of cylindrical rollers as an example:
one end of each cylindrical roller 2 near the outer side is fixedly provided with a coaxial roller transmission gear 7, and the roller transmission gears 7 can synchronously rotate along with the rotation of the cylindrical rollers 2;
the roller transmission gears 7 of the cylindrical rollers 2 which are adjacently arranged are rotationally connected through a linkage gear 8; as shown in fig. 5 and 7;
the side wall of the concave area of the wheel/track testing area is provided with a plurality of shaft holes, and the rotary shafts of the cylindrical roller 2 and the linkage gear 8 are mutually positioned by inserting the shaft holes corresponding to the rotary shafts, so that the cylindrical roller and the linkage gear can rotate in the concave area, which is a conventional technical means;
in the cylindrical roller group, one cylindrical roller 2 positioned closest to the driving control area is provided with a coaxial rotating speed torque sensor 3 at one end close to the inner side, and the rotating speed torque sensor 3 is provided with a transmission end and a load end; the transmission end is fixedly connected with the other end of the cylindrical roller 2 through a coupler, so that the rotating speed torque sensor 3 and the cylindrical roller 2 synchronously rotate; the load end is fixed with a coaxial transmission gear 9; the cylindrical roller 2, the rotating speed torque sensor 3 and the transmission gear 9 synchronously rotate; as shown in fig. 6.
The other cylindrical roller group is symmetrically arranged.
The driving control area is also divided into a left area and a right area, and corresponds to the two wheel/track test areas, and the driving control area is separated by a distance; the magnetic powder brake 4 is fixedly arranged in the driving control area, a protruding rotating shaft of the magnetic powder brake 4 is an output end, and a main rotating gear 10 is fixedly arranged on the output end; the output ends of the two magnetic powder brakes 4 are arranged opposite to each other and are positioned in a spaced area in the drive control area.
The transmission gear 7 at the load end of the rotating speed torque sensor 3 is in transmission connection with the main rotation transmission gear 10 at the output end of the magnetic powder brake 4 through a metal transmission chain 11; as shown in fig. 6.
According to the actual structural requirement, a supporting plate structure with a shaft hole can be arranged between the two driving control areas to assist in supporting the rotating shaft of the rotating speed torque sensor 3, so that the operation stability of the rotating speed torque sensor 3 is ensured; as shown in fig. 8.
The rotating speed and torque sensor 3 and the magnetic powder brake 4 are connected with the data acquisition and control device 5 through signal cables;
the power supply 6 is arranged at the position of the data acquisition and controller 5, can be integrally built in or externally arranged, and is electrically connected with the magnetic powder brake 4 and the data acquisition and controller 5 through an electric cable by the data acquisition and controller 5 to supply power for the whole testing device.
The data acquisition and controller adopts a traditional computer or an industrial personal computer, can perform conventional current adjustment, data calculation input and data reading of a rotating speed and torque sensor and display the data in a self-contained screen, and is a conventional prior art product.
The testing device of the utility model is used when:
firstly, the braking resistance moment of the magnetic powder brake is started to the maximum through the data acquisition and the controller, the cylindrical roller is limited to rotate through the metal transmission chain, the fire-fighting robot stably runs above the cylindrical roller in the wheel/track test area through the ramp area, the fire-fighting robot is stably fixed on the ground through the fixed binding rope, for example, one end of the fixed binding rope is bound on a hanging buckle which is buried in the ground in advance, the other end of the fixed binding rope is bound on the fire-fighting robot, and the fire-fighting robot is distributed in a bilateral symmetry mode, so that the fire-fighting robot can be pulled when the fire-fighting robot runs at full speed, accidents are avoided, and meanwhile, the fire-fighting robot is enabled to be kept stationary relative to the test device during the test.
The wheel/crawler type fire-fighting robot can fully contact with the metal roller; the metal roller is carved with patterns, enough friction force can be generated with the fire-fighting robot, and when the fire-fighting robot drives, the generated driving force and linear speed are transmitted to the metal roller, so that the driving force of the fire-fighting robot is tested, and even the dragging capacity, the straight running speed, the straight running deflection and the turning radius of the fire-fighting robot are tested.
Before the test starts, parameters such as the quality, the length, the width, the height and the like of the fire-fighting robot to be tested are input into the data acquisition and controller.
When the driving force is tested, the braking resistance moment of the magnetic powder brake is started to the maximum, and the starting data acquisition and the controller acquire torque data output by the rotating speed torque sensor; the driving fire-fighting robot outputs running power, the wheel/caterpillar generates reaction force (friction force) on the cylindrical roller, and the reaction force is sensed by the rotating speed torque sensor, so that torque data acquired by the rotating speed torque sensor are read, and test data are provided for the subsequent calculation of driving force values generated by the fire-fighting robot.
The dragging capability can be tested, the testing method is the same as that of the test driving force, and the dragging force is the same as the driving force value.
In addition, the data acquisition and the controller are used for controlling the braking resistance moment of the magnetic powder brake, so that the resistance on roads with different road conditions can be simulated, and the action state of the tested fire-fighting robot corresponding to the roads with different road conditions can be observed and counted; for example: the fire-fighting robot is driven to output running power to enable the fire-fighting robot to continuously run for 50m, the rotating speed data acquired by the rotating speed torque sensor is read and fed back to the data acquisition and controller, and data support is provided for the follow-up calculation of the straight running speed value of the fire-fighting robot and the straight running deviation quantity generated by the linear speed difference of the left side wheel/track and the right side wheel/track.
Further, the left magnetic powder brake and the right magnetic powder brake can be controlled by the data acquisition and the controller to generate different braking resistance moments, so that the left wheel/track and the right wheel/track of the fire-fighting robot pass through road surfaces with different surface textures under the condition of simulating complex road conditions, namely, the left wheel/track and the right wheel/track are subjected to different road surface resistances, and the running stability of the fire-fighting robot is tested under different running speeds; after the two rotating speed torque sensors acquire different torque data, information is sent back to the data acquisition and controller to be displayed, and a parameter basis is provided for the follow-up calculation of data such as straight running deflection and the like generated by the linear speed difference of the left wheel and the right wheel/the crawler of the fire-fighting robot;
or the stability of the left and right wheels/track in different directions driving turning can be tested, the braking resistance moment of the magnetic powder brake is controlled by the data acquisition and controller, and the resistance on roads with different road conditions is simulated; the fire-fighting robot is driven to turn in different directions of the left wheel and the right wheel/track, the rotation speed data acquired by the rotation speed torque sensors on the left side and the right side are read, and data support is provided for the stability of the follow-up calculation of the driving of the left wheel/track in different directions of the right wheel/track.
Furthermore, the data collected by the rotating speed and torque sensor can be used as the calculation reference data basis of various subsequent other experimental data; for example:
the magnetic powder brake can test the turning radius of the left and right wheels/shoes when the wheels/shoes drive to turn in the same direction, and the braking resistance moment of the magnetic powder brake is controlled by the data acquisition and controller to simulate the resistance on roads with different road conditions. The fire-fighting robot is driven to turn in the same direction by the left wheel and the right wheel/track, the rotation speed data acquired by the rotation speed torque sensors on the left side and the right side are read, and data support is provided for the turning radius generated by the subsequent calculation of the linear speed difference between the left wheel and the right wheel/track.
While the above-described methods are illustrated and described as a series of structures for simplicity of explanation, it is to be understood and appreciated that the methods are not limited by the specific details, as some structures may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by those skilled in the art.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (3)
1. The comprehensive test device for the running performance of the fire-fighting robot is applied to the fire-fighting robot with a chassis which adopts a wheel type or a crawler type which is driven by left and right symmetry, wherein a single-side wheel or a crawler of the chassis of the fire-fighting robot has independent control driving, and the control of the two-side wheels or the crawler is not affected;
it is characterized in that the method is characterized in that, the device comprises a bearing frame, a cylindrical roller, a rotating speed torque sensor, a magnetic powder brake, a data acquisition and controller and a power supply;
the width direction of the bearing frame corresponds to the left driving wheel and the right driving wheel of the fire-fighting robot and is divided into a left driving test area and a right driving test area which are arranged in parallel; each driving test area is sequentially divided into: a drive control zone, a wheel/track test zone and a ramp zone;
the number of the cylindrical rollers is divided into a left cylindrical roller group and a right cylindrical roller group according to the number, the cylindrical rollers are arranged in parallel, and the two cylindrical roller groups are respectively arranged in two driving control areas of the bearing frame;
one end of each cylindrical roller is fixedly provided with a coaxial roller transmission gear, and the roller transmission gears can synchronously rotate along with the rotation of the cylindrical rollers;
the roller transmission gears of the cylindrical rollers which are adjacently arranged are rotationally connected through a linkage gear;
the other end of the cylindrical roller group, which is positioned closest to the driving control area, is provided with a rotating speed torque sensor which is provided with a transmission end and a load end; the driving end is fixedly connected with the other end of the cylindrical roller through a coupler, and the load end is fixedly provided with a driving gear; the cylindrical roller, the rotating speed torque sensor and the transmission gear are coaxial;
the magnetic powder brake is fixedly arranged in the driving control area, a protruding rotating shaft of the magnetic powder brake is an output end, and a main rotating gear is fixedly arranged on the output end;
the transmission gear at the load end of the rotating speed torque sensor is in transmission connection with the main rotation transmission gear at the output end of the magnetic powder brake through a metal transmission chain;
the rotating speed torque sensor and the magnetic powder brake are in data connection with the data acquisition and controller;
the power supply is connected with the rotating speed torque sensor, the magnetic powder brake and the data acquisition and control device and supplies power;
the ramp area is butted with the ground while being butted with the wheel/track test area, and is used for guiding the fire-fighting robot to move from the ground to the wheel/track test area.
2. The test device of claim 1, wherein the cylindrical drum has a friction-increasing pattern engraved on its surface.
3. The testing device of claim 1, wherein the driving end of the rotational speed and torque sensor is fixedly connected with the other end of the cylindrical drum through a coupling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223420462.8U CN219255628U (en) | 2022-12-20 | 2022-12-20 | Fire-fighting robot running performance comprehensive test device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223420462.8U CN219255628U (en) | 2022-12-20 | 2022-12-20 | Fire-fighting robot running performance comprehensive test device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219255628U true CN219255628U (en) | 2023-06-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223420462.8U Active CN219255628U (en) | 2022-12-20 | 2022-12-20 | Fire-fighting robot running performance comprehensive test device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219255628U (en) |
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2022
- 2022-12-20 CN CN202223420462.8U patent/CN219255628U/en active Active
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