CN219649948U

CN219649948U - Test device

Info

Publication number: CN219649948U
Application number: CN202320729891.9U
Authority: CN
Inventors: 顾震江; 周洪辉
Original assignee: Uditech Co Ltd
Current assignee: Uditech Co Ltd
Priority date: 2023-03-23
Filing date: 2023-03-23
Publication date: 2023-09-08
Anticipated expiration: 2033-03-23

Abstract

The utility model belongs to the technical field of robot performance test, and relates to a testing device. The testing device comprises a plane testing table, a transmission assembly and a ramp assembly. The transmission assembly comprises a driving end, and the driving end and the plane test bench are in driving connection so as to drive the plane test bench to lift along the vertical direction. Opposite ends of the plane test bench are respectively hinged with a ramp component. The ramp component can extend or shrink along the extending direction of the ramp component, the extending direction of the ramp component and the vertical direction are intersected to form a preset angle, the structure is not limited by the height of the plane test bench when the gradient of the ramp component relative to the horizontal test bench or the horizontal ground is adjusted, the operation is more flexible, the simulation of scenes with different gradients and different heights is realized, and the scheme is more practical.

Description

Test device

Technical Field

The utility model belongs to the technical field of machine humanization energy testing, and particularly relates to a testing device.

Background

Wheel-type delivery robots are generally used in public places such as hotels and airports, and inevitably encounter an ascending road section or a descending road section during the delivery of the robots. The robot is provided with a plurality of types of sensors, and due to the limitation of the characteristics of the sensors, a certain blind area exists in a sensing area of the robot, and if the blind area exists, the braking function of the robot can be triggered due to the fact that the gradient cannot be sensed and the robot falls beyond the judging standard of the robot, the robot cannot walk. Therefore, before the robots are marketed, the specific testing device is used to test the processing capability of the robots facing different slopes and different heights, so as to ensure that the robots meet the optimal performance requirements.

However, in the prior art, the scene simulation situation of the test platform is single, and the requirements of users on different types of scenes cannot be met; and the test platform in the prior art has a relatively complex structure, so that the production cost is high.

Disclosure of Invention

The utility model aims to provide a testing device, which aims to solve the problems that in the prior art, the scene simulation condition of a testing platform is single, the requirements of users on different types of scenes cannot be met, and the testing platform has a complex structure, so that the production cost is high.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a test apparatus includes:

a planar test stand;

the transmission assembly comprises a driving end, and the driving end and the plane test bench are in driving connection so as to drive the plane test bench to lift along the vertical direction;

the opposite ends of the plane test bench are respectively hinged with a ramp component, one end, away from the plane test bench, of the ramp component is used for leaning against the ground of the wheel type distribution robot, the ramp component can extend or shrink along the extending direction of the ramp component, and the extending direction of the ramp component is intersected with the vertical direction.

In one embodiment, the ramp assembly further includes a telescopic ramp plate, the telescopic ramp plate including:

an extension;

a mounting part, one end of the extending part is slidingly mounted in the mounting part _， The other end of the extension part extends out of the mounting part and is a plane test boardAnd are respectively hinged to the side of the mounting portion of the corresponding ramp assembly away from the protruding portion.

In one embodiment, the ramp assembly includes a telescoping rack, the telescoping rack including:

a diagonal rod;

the hinge shaft is used for hinging the two inclined rods through the hinge shaft to form at least one group of scissor-shaped components, one end of each scissor-shaped component is connected to the mounting part, and the other end of each scissor-shaped component is connected to the extending part.

In one embodiment, the number of the scissor assemblies is plural, one end of each of the two diagonal rods of one scissor assembly corresponds to one end of each of the two diagonal rods of the adjacent scissor assembly in a one-to-one correspondence manner and is hinged through a hinge shaft, the scissor assembly located at one end of the expansion bracket is connected to the mounting portion, and the scissor assembly located at the other end of the expansion bracket is connected to the extending portion.

In one embodiment, the test device further comprises a guide structure comprising:

a slide bar;

the slide, slide bar sliding connection is in the slide, and one ramp component keep away from the one end of plane testboard and hinge in the slide bar one end of keeping away from the slide, and another ramp component keep away from the one end of plane testboard and hinge in the slide one end of keeping away from the slide bar.

In one embodiment, the number of guide structures is plural, and the plural guide structures are disposed in parallel and at intervals.

In one embodiment, the slide bar is provided with a plurality of first holes which are arranged at intervals along the extending direction of the slide bar;

the sliding seat is provided with a plurality of second holes which are arranged at intervals along the extending direction of the sliding seat;

the guide structure also comprises a positioning piece, wherein the positioning piece is used for penetrating any first hole and any second hole which are opposite to each other, so that the slide rod and the slide seat are relatively fixed.

In one embodiment, the guide structure further comprises a guide wheel rotatably disposed on one of the slide bar and the slide carriage, the guide wheel being disposed between the slide bar and the slide carriage.

In one embodiment, the drive end is provided with graduation marks.

In one embodiment, the testing device further comprises a gradiometer, the gradiometer and the ramp assemblies being arranged in a one-to-one correspondence for measuring the grade of the corresponding ramp assembly relative to the planar test bed.

The utility model has at least the following beneficial effects:

the test device is generally arranged on a horizontal plane test bench or the horizontal ground, the structure drives the plane test bench to realize vertical lifting through the arrangement of the driving end, and the two ends of the plane test bench, which are oppositely arranged, are respectively provided with a telescopic ramp component which stretches or contracts along the extending direction of the ramp component so as to adjust the gradient of the ramp component relative to the horizontal plane test bench or the horizontal ground. Compared with the prior art, when the slope of the slope assembly relative to the horizontal plane test bench or the horizontal ground is adjusted, the structure is not limited by the height of the plane test bench, so that the operation is more flexible, the simulation of scenes with different slopes and different heights is realized, and the scheme is more practical. In addition, this scheme structure is simpler, and is lower in processing cost.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a perspective view of a testing device of the present utility model;

FIG. 2 is an enlarged detail view of A in FIG. 1;

FIG. 3 is a perspective view of a first embodiment of a testing device;

fig. 4 is a perspective view of a telescopic frame of a second embodiment of the testing device.

Wherein, each reference sign in the figure:

1. a planar test stand; 20. a driving end; 200. scale marks; 3. a ramp assembly; 31. a telescopic frame; 310. a diagonal rod; 311. a hinge shaft; 32. a telescoping ramp plate; 320. an extension; 321. a mounting part; 33. a guide structure; 330. a slide bar; 331. a first hole; 332. a guide wheel; 333. a slide; 334. a second hole; 335. a positioning piece; 4. a gradiometer.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.

In the description of the present utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Interpretation definition: the upper and lower directions of each component part in the testing device are defined by the testing device in the normal running state.

As shown in fig. 1 to 4, the testing device of the present utility model includes a flat testing table 1, a transmission assembly, and a ramp assembly 3. In particular, the transmission assembly comprises a driving end 20, and the driving end 20 is in driving connection with the plane test bench 1 so as to drive the plane test bench 1 to lift in the vertical direction. Opposite ends of the flat test bench 1 are hinged with a ramp assembly 3. Furthermore, it is known from the background art that the test device is generally installed on a test site or a test platform. That is, the end of the ramp assembly 3 remote from the floor test stand 1 is adapted to rest against the ground upon which the wheeled dispensing robot walks. In particular, the ramp assembly 3 is capable of being extended or retracted in its direction of extension, the direction of extension of the ramp assembly 3 intersecting the vertical direction to form a predetermined angle, as shown in FIG. 1.

In summary, this structure drives the lift of vertical direction through setting up the drive end and realizes planar test board 1 to set up a ramp component that can stretch out and draw back respectively at the both ends of planar test board 1's relative setting, the ramp component extends or contracts along the extending direction of self, in order to adjust the slope size of ramp component for horizontal planar test board or level ground. Compared with the prior art, when the slope of the slope assembly relative to the horizontal plane test bench or the horizontal ground is adjusted, the structure is not limited by the height of the plane test bench 1, so that the operation is more flexible, the simulation of scenes with different slopes and different heights is realized, and the scheme is more practical. In addition, this scheme structure is simpler, and is lower in processing cost.

The technical solution of the first embodiment of the present utility model will now be explained in detail with reference to fig. 1 to 3.

In this embodiment, with continued reference to FIG. 2, the ramp assembly 3 also includes a telescopic ramp plate 32, the telescopic ramp plate 32 including an extension 320 and a mounting 321. One end of the extension 320 is slidably mounted in the mounting portion 321, and the other end of the extension 320 extends out of the mounting portion 321. Specifically, the mounting portion 321 is provided with a mounting cavity (not shown), and one end of the protruding portion 320 extends into the mounting cavity (not shown) and is displaceable relative to the mounting portion 321. Opposite ends of the flat test bench 1 are respectively hinged to the sides of the mounting portions 321 of the corresponding ramp assemblies 3 away from the protruding portions 320.

In one embodiment, a sliding rail (not shown) or guide portion is provided inside the mounting cavity (not shown) for guiding the protruding portion 320 to enhance the sliding stability of the protruding portion 320.

In other embodiments, the mounting cavity (not shown) may be a semi-enclosed structure or a fully enclosed structure.

Further, the testing device further includes a driving assembly, which is correspondingly connected to one side of the mounting portion 321 of the ramp assembly 3 away from the protruding portion 320, so as to drive the protruding portion 320 and the mounting portion 321 to generate displacement along the extending direction of the protruding portion 320.

Specifically, the ramp assemblies 3 at the opposite ends of the flat panel test bench 1 are respectively extended or contracted by the corresponding extension portions 320 and the mounting portions 321, and the extension or contraction actions of the ramp assemblies 3 at the opposite ends of the flat panel test bench 1 are independent of each other and do not interfere with each other. In use, more flexible scene simulation, namely scenes with different gradients, can be provided for the user. Furthermore, the slope of the ramp assembly 3 is not limited by the level of the flat test stand 1, and the structure is better in use experience than the prior art.

In one embodiment, referring to fig. 3, the testing device further includes a guiding structure 33, and the guiding structure 33 includes a slide bar 330 and a slide 333. The slide bar 330 is slidably connected to the slide 333, and one end of the ramp assembly 3 away from the flat test bench 1 is hinged to the end of the slide bar 330 away from the slide 333, and the other end of the ramp assembly 3 away from the flat test bench 1 is hinged to the end of the slide 333 away from the slide bar 330. Specifically, an end of the extension 320 of one of the ramp assemblies 3 distal from the corresponding mounting portion 321 is hinged to an end of the slide bar 330 distal from the slide 333; the end of the extension 320 of the other ramp assembly 3 remote from the corresponding mounting 321 is hinged to the end of the slider 333 remote from the slide bar 330.

In other embodiments, the drive assembly is drivingly connected to the slide bar 330 or the drive assembly is drivingly connected to the slide 333. The drive assembly may be configured as a linear drive motor.

In one embodiment, the number of the guide structures 33 is plural, and the plural guide structures 33 are arranged in parallel and at intervals.

In other embodiments, the width of the sliding base 333 along the horizontal direction is sufficiently wide, and only one guiding structure 33 is required.

In other embodiments, referring to fig. 3, the sliding rod 330 is provided with a plurality of first holes 331, and the plurality of first holes 331 are spaced apart along the extending direction of the sliding rod 330. Specifically, the slider 333 is provided with a plurality of second holes 334, and the plurality of second holes 334 are spaced apart along the extending direction of the slider 333. At this time, the user may manually push the slide bar 330 or the slide 333 so that the slide bar 330 slides along the slide 333 to extend or retract the ramp assemblies 3 at both ends of the flat panel test bench 1.

Further, referring to fig. 3, the guiding structure 33 further includes a positioning member 335, where the positioning member 335 is configured to penetrate through any one of the first holes 331 and any one of the second holes 334 that are opposite to each other, so that the slide rod 330 and the slide base 333 are relatively fixed.

In one embodiment, referring to fig. 3, the guiding structure 33 further includes a guiding wheel 332, where the guiding wheel 332 is rotatably disposed on one of the sliding rod 330 and the sliding seat 333, and the guiding wheel 332 is disposed between the sliding rod 330 and the sliding seat 333 for reducing sliding friction between the sliding rod 330 and the sliding seat 333 and enhancing stability during displacement of the sliding rod 330 and the sliding seat 333.

In one embodiment, referring to fig. 1, the driving end 20 is provided with graduation marks 200 for precisely displaying the height position of the flat panel test stand 1 after being raised or lowered.

In one embodiment, the testing device further comprises a gradiometer 4, the gradiometer 4 and the ramp assemblies 3 being arranged in a one-to-one correspondence for measuring the grade of the corresponding ramp assembly 3 relative to the planar testing table 1.

A technical solution of the first embodiment of the present utility model will now be explained in detail with reference to fig. 4.

In this embodiment, the ramp assembly 3 includes a telescoping rack 31, the telescoping rack 31 including a diagonal 310 and a hinge shaft 311, the two diagonal 310 being hinged by a hinge shaft 311 to form at least one set of scissor assemblies.

One end of the scissor assembly is connected to the mounting portion 321, and the other end of the scissor assembly is connected to the extension 320, specifically, may be connected to an end of the extension 320 away from the mounting portion 321. At this time, the scissor assembly may be located below the protruding portion 320, which is used to support the protruding portion, and also can drive the protruding portion to slide along a mounting cavity (not shown) of the mounting portion 321.

In other embodiments, the other end of the scissor assembly is connected to the end of the protruding portion 320 near the mounting portion 321, and the scissor assembly is only used to drive the protruding portion to slide along the mounting cavity (not shown) of the mounting portion 321.

And, one end of the scissor assembly is slidably disposed with respect to the attached mounting 321, that is, during the extension and retraction of the scissor assembly, the ends of the two diagonal rods 310 of the scissor assembly may slide along one side of the mounting 321 so that they are closer to each other or further from each other. At the same time, the other end of the scissor assembly is slidably disposed relative to the attached extension 320, i.e., the ends of the two diagonal rods 310 of the scissor assembly can slide along one edge of the extension 320 during telescoping of the scissor assembly so that the two are either closer to each other or further apart from each other. The sliding state can be realized by a corresponding sliding groove or sliding rail structure, which is not listed here.

In other embodiments, one end of the scissor assembly is connected to the inside of the mounting cavity (not shown) of the mounting portion 321, and the other end of the scissor assembly is connected to the end of the extension portion that is adjacent to the mounting portion 321.

In one embodiment, as shown in fig. 4, the number of scissor assemblies is plural, one end of two diagonal rods 310 of a scissor assembly corresponds to one end of two diagonal rods 310 of an adjacent scissor assembly and is hinged by a hinge shaft 311, the scissor assembly at one end of the expansion bracket 31 is connected to the mounting portion 321, and the scissor assembly at the other end of the expansion bracket 31 is connected to the protruding portion 320.

The second embodiment is similar to the first embodiment except for the above structure, and the details are not repeated here.

In summary, the test device of the present utility model can simulate the following scenario:

1: the transmission assembly drives the plane test bench 1 to lift along the vertical direction, for example, the robot detects that the drop height is 10cm, the height is within 10cm, the robot is regarded as a ridge, no treatment is carried out, the height of the plane test bench 1 of the testing device is required to be lifted by 10cm, and similarly, if the risk drop height threshold of the robot is 15cm, the plane test bench 1 of the testing device can be lifted by 15cm.

2: the ramp assembly 3 is driven by the driving assembly to extend and retract the extension 320 along the extending direction, for example, the blind area of the robot is 60cm, the telescopic gradient is pulled to be within 60cm in front of the table top, and the testing device simulates a slope in the blind area sensed by the robot. And can also simulate different slopes for the slope test of robot. In addition, whether the robot can normally pass through the slope or not is tested, namely a perception algorithm for verifying that the robot faces a blind area scene.

The testing device of the utility model has the following advantages:

1: the device is when adjusting the slope size of ramp component for horizontal plane testboard or level ground, does not receive the restriction of plane testboard 1 height for the operation is more nimble, has realized the simulation of different slopes, the scene of co-altitude not, and this scheme is more practical.

2: the scheme has simpler structure and lower cost in processing.

3: the testing device with the structure can test multiple performances of the robot, and has stronger practicability and compatibility.

In alternative scenarios, the test device may also be used in other wheeled mobile machines, such as: a mobile sweeper, a mobile mopping machine, a dispensing robot or a vehicle, etc.

The foregoing description of the preferred embodiments of the utility model is not intended to limit the utility model to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the utility model are intended to be included within the scope of the utility model.

Claims

1. A test device, comprising:

a plane test stand (1);

the transmission assembly comprises a driving end (20), and the driving end (20) is in driving connection with the plane test bench (1) so as to drive the plane test bench (1) to lift along the vertical direction;

the plane test bench comprises a plane test bench body, a ramp component (3), wherein one end of the plane test bench body (1) is away from the ramp component (3), the other end of the plane test bench body (1) is used for leaning against the ground of the wheel type distribution robot, the ramp component (3) can extend or shrink along the extending direction of the ramp component, and the extending direction of the ramp component (3) is intersected with the vertical direction.

2. The test device according to claim 1, wherein the ramp assembly (3) further comprises a telescopic ramp plate (32), the telescopic ramp plate (32) comprising:

an extension (320);

a mounting part (321), one end of the extending part (320) is slidingly mounted in the mounting part (321) _， The other end of the extending part (320) extends out of the mounting part (321), and the opposite ends of the plane test bench (1) are respectively hinged with the corresponding mounting parts (321) of the ramp assembly (3) farFrom one side of the extension (320).

3. The testing device according to claim 2, wherein the ramp assembly (3) comprises a telescopic frame (31), the telescopic frame (31) comprising:

a diagonal rod (310);

the hinge shaft (311), two diagonal rods (310) are hinged through the hinge shaft (311) to form at least one group of scissor-shaped components, one end of each scissor-shaped component is connected with the mounting part (321), and the other end of each scissor-shaped component is connected with the extending part (320).

4. A test device according to claim 3, wherein the number of said scissor assemblies is plural, one end of two of said diagonal rods (310) of one of said scissor assemblies is in one-to-one correspondence with one end of two of said diagonal rods (310) of an adjacent one of said scissor assemblies and is hinged by one of said hinge shafts (311), said scissor assembly at one end of said telescopic frame (31) is connected to said mounting portion (321), and said scissor assembly at the other end of said telescopic frame (31) is connected to said projecting portion (320).

5. The test device according to any one of claims 1-4, further comprising a guiding structure (33), the guiding structure (33) comprising:

a slide bar (330);

slide (333), slide bar (330) sliding connection in slide (333), and one ramp assembly (3) keep away from the one end of plane testboard (1) articulated in slide bar (330) keep away from slide (333) one end, another ramp assembly (3) keep away from plane testboard (1) one end articulated in slide (333) keep away from slide bar (330) one end.

6. The test device according to claim 5, wherein the number of the guide structures (33) is plural, and the guide structures (33) are arranged in parallel and at intervals.

7. The test device of claim 5, wherein the test device comprises a plurality of test elements,

the sliding rod (330) is provided with a plurality of first holes (331), and the plurality of first holes (331) are arranged at intervals along the extending direction of the sliding rod (330);

the sliding seat (333) is provided with a plurality of second holes (334), and the second holes (334) are arranged at intervals along the extending direction of the sliding seat (333);

the guide structure (33) further comprises a positioning piece (335), and the positioning piece (335) is used for penetrating any first hole (331) and any second hole (334) which are opposite to each other, so that the sliding rod (330) and the sliding seat (333) are relatively fixed.

8. The test device according to claim 7, wherein the guiding structure (33) further comprises a guiding wheel (332), the guiding wheel (332) being rotatably arranged on one of the sliding bar (330) and the slide (333), the guiding wheel (332) being located between the sliding bar (330) and the slide.

9. A test device according to claim 1, wherein the drive end (20) is provided with graduation marks (200).

10. The test device according to claim 1, further comprising a gradiometer (4), the gradiometer (4) and the ramp assembly (3) being arranged in a one-to-one correspondence for measuring the grade of the corresponding ramp assembly (3) relative to the planar test bench (1).