Small recreation facility swivel chair linear velocity test method based on industrial robot

Abstract

The invention discloses a small recreation facility swivel chair linear velocity test method based on an industrial robot, and the method comprises the following steps: S1, adjusting the position of a swivel chair through a calibration device, and obtaining the diameter parameter of the swivel chair, S2, connecting a traction device with the swivel chair, enabling the swivel chair to obtain traction force, and enabling the direction of the traction force to be inclined with the axis of the swivel chair, and S3, connecting the robot with the swivel chair, s4, adjusting the output torque, the traction force and the direction of the motor, sensing the rotation angular velocity of the driving arm by a sensor so as to calculate the linear velocities of different positions of the swivel chair, and providing the traction force in the inclined direction by a traction device so as to simulate the stress condition of the swivel chair when a load exists in the rotation process. The rotation angle speed of the driving arm is detected through the sensor, and detection of different linear speed positions is completed by matching with the diameter parameter of the swivel chair, so that the sensor is more convenient to install and use.

Description

Technical Field

[0001] The invention relates to the technical field of testing equipment, and more particularly to a linear speed testing method of a rotating chair of a small amusement facility based on an industrial robot. Background Art

[0002] As a common entertainment facility in parks and amusement parks, swivel chairs require a variety of tests during their design and manufacture to determine their safety performance and ensure that tourists can use them safely.

[0003] At present, the linear speed test of the swivel chair is mostly carried out by directly placing the swivel chair on the base, setting a motor on the gantry to drive the swivel chair to rotate, and directly detecting the surface of the swivel chair with a sensor to complete the linear speed detection. Most of the time, the above method requires additional attachment or setting of detection points on the swivel chair to assist the sensor in identification and judgment, which is inconvenient to use. At the same time, in the linear speed test, it is necessary to simulate the operating conditions of the swivel chair under load. For this purpose, the method of directly placing sandbags on the swivel chair is mostly used. However, this method also has the problem of falling off and poor stability due to the movement of the sandbags themselves, so it needs to be improved. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a linear speed test method for a swivel chair of a small amusement facility based on an industrial robot, which is easy to use and has high test stability and strong result reliability.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A method for testing the linear speed of a swivel chair of a small amusement facility based on an industrial robot comprises the following steps: S1, installing the swivel chair on a base, adjusting the position of the swivel chair by a calibration device so that the axis of the swivel chair and the axis of the base are aligned with each other, and obtaining the diameter parameter of the swivel chair by the calibration device;

[0007] S2, connecting the traction device to the swivel chair so that the swivel chair obtains traction force, and the direction of the traction force is inclined to the axis of the swivel chair;

[0008] S3, connecting the robot to the swivel chair, aligning the motor shaft with the axis of the swivel chair, and driving the swivel chair to rotate;

[0009] S4. Adjust the motor output torque, traction force and direction. The sensor senses the angular velocity of the drive arm to calculate the linear velocity of the swivel chair at different positions.

[0010] As a further improvement of the present invention, the traction device includes a first traction block, a second traction block and a traction rod, a column is provided on the base, the column is used to receive a swivel chair, a swivel is provided on the base corresponding to the column, the swivel is sleeved on the column and rotatably connected to the column, a connecting unit is provided outside the column, the first traction block is connected to the column through the connecting unit, the two ends of the traction rod are respectively hinged to the first traction block and the second traction block, the second traction block is provided with a connecting hole and is connected to the seat through the connecting hole, the connecting unit is used to adjust the relative position of the first traction block and the column to adjust the inclination angle of the traction rod relative to the axis of the base, and the traction rod is used to provide traction force to the second traction block along the axis direction of the traction rod.

[0011] As a further improvement of the present invention, the traction rod includes an upper rod, a middle rod and a lower rod, one end of the middle rod is provided with a mounting hole and is threadedly connected to one end of the upper rod, the other end of the middle rod is provided with a telescopic hole and is telescopic with the lower rod, a spring is provided in the telescopic hole, and the lower rod is provided with a accommodating hole corresponding to the telescopic hole, both ends of the spring are respectively connected to the telescopic hole and the bottom of the accommodating hole, and the spring is used to drive the lower rod to move in the direction of the telescopic hole.

[0012] As a further improvement of the present invention, the connecting unit includes a slide rail, the slide rail is provided with a first scale along the length direction, one end of the slide rail is connected to a swivel, guide grooves are provided on both sides of the slide rail, the first traction block is provided with a guide block corresponding to the guide groove and is slidably connected to the guide groove, a locking mechanism is provided between the first traction block and the slide rail, and the locking mechanism is used to fix the relative position of the first traction block and the slide rail.

[0013] As a further improvement of the present invention, the locking mechanism is a bolt symmetrically arranged along the length direction of the slide rail, and one end of the bolt passes through the first traction block and is locked against the slide rail.

[0014] As a further improvement of the present invention, an annular limiting layer is integrally provided on the base, a limiting ring is provided inside the limiting layer, the limiting ring is rotatably connected to the limiting layer, and the limiting ring is connected to one end of the slide rail away from the rotating ring.

[0015] As a further improvement of the present invention, the column is provided with two calibration grooves which are arranged vertically and cross each other, and the calibration groove is provided with a second scale along the length direction. The number of the calibration devices is 2 and they are respectively arranged in the two calibration grooves. The calibration device includes a linkage component and two calibration blocks. The linkage component is respectively connected to the two calibration blocks and drives the two calibration blocks to move at the same time. A calibration surface for resisting the swivel chair is formed on the calibration block, and the midpoint formed between the two calibration blocks is aligned with the axis of the base.

[0016] As a further improvement of the present invention, the linkage component includes a main rotating shaft and a secondary rotating shaft, both of which are rotatably connected to the base, the main rotating shaft and the secondary rotating shaft are provided with synchronous belts and are connected to each other through the synchronous belts, the calibration block is fixedly connected to the synchronous belt, a driving cavity is opened on one side of the main rotating shaft / secondary rotating shaft, a mainspring is provided in the driving cavity, both ends of the mainspring are respectively connected to the driving cavity and the base, the main rotating shaft is coaxially fixedly connected with a synchronous wheel, and the two synchronous wheels are meshed with each other.

[0017] As a further improvement of the present invention, the robot includes a moving arm group and a driving arm, the moving arm group is connected to the driving arm and drives the driving arm to move in three dimensions, the motor is arranged in the driving arm, and the output end of the motor is provided with a connecting rod and is connected to the swivel chair through the connecting rod.

[0018] As a further improvement of the present invention, a detection disk is provided on the connecting rod, a plurality of detection positions are provided in a circumferential direction of the detection disk, and the sensors are arranged corresponding to the detection positions.

[0019] Beneficial effects of the present invention:

[0020] 1. Calibration of the swivel chair by the calibration device can obtain the diameter parameters of the swivel chair while avoiding the misalignment between the swivel chair axis and the base axis, which may cause uneven force and poor stability of the swivel chair during rotation;

[0021] 2. Providing traction in the tilting direction through the traction device can simulate the stress condition of the swivel chair when there is a load during the rotation process, so as to improve the simulation authenticity;

[0022] 3. The sensor detects the rotation angle speed of the driving arm and cooperates with the diameter parameters of the swivel chair to complete the detection of different linear speed positions, making the installation and use of the sensor more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A flow chart is used for the present invention;

[0024] Figure 2 This is a schematic diagram of the overall installation of the present invention;

[0025] Figure 3 This is a schematic diagram of the chassis installation of the present invention;

[0026] Figure 4 This is a schematic cross-sectional diagram of the chassis installation of the present invention;

[0027] Figure 5 for Figure 3 A partial enlarged view;

[0028] Figure 6 It is a schematic diagram of the linkage components of the present invention;

[0029] Figure 7 Schematic diagram of the driving arm of the present invention.

[0030] Figure numerals: 1, upper turntable; 2, lower turntable; 3, connecting column; 4, base; 5, calibration device; 6, traction device; 7, motor; 8, sensor; 9, first traction block; 10, second traction block; 11, traction rod; 12, platform column; 13, swivel; 14, connecting hole; 15, upper rod; 16, middle rod; 17, lower rod; 18, mounting hole; 19, telescopic hole; 20, spring; 21, accommodating hole; 22, connecting block; 23, connecting part; 24, connecting platform; 25, mounting surface; 26, hinged rod ; 26. Slide rail; 27. First scale; 28. Guide groove; 29. ​​Guide block; 30. Locking mechanism; 31. Limiting layer; 32. Limiting ring; 33. Reserved hole; 34. Reinforcing rib; 35. Calibration groove; 36. Second scale; 37. Linkage component; 38. Calibration block; 39. Calibration surface; 40. Main shaft; 41. Second shaft; 42. Synchronous belt; 43. Drive cavity; 44. Spring; 45. Synchronous wheel; 46. Moving arm group; 47. Drive arm; 48. Connecting rod; 49. Detection disk; 50. Detection position. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments, wherein the same components are represented by the same reference numerals.

[0032] like Figure 1-7 As shown, the swivel chair mentioned in this embodiment is composed of an upper turntable 1, a lower turntable 2 and a connecting column 3, wherein the upper turntable 1 is connected to the lower turntable 2 through the connecting column 3, and the upper turntable 1 is rotatable relative to the lower turntable 2, wherein the side of the upper turntable 1 away from the lower turntable 2 is used for installing chairs and other appliances.

[0033] Furthermore, a linear speed test method for a swivel chair of a small amusement facility based on an industrial robot includes the following steps: S1, installing the swivel chair on a base 4, adjusting the position of the swivel chair by a calibration device 5 so that the axis of the swivel chair is aligned with the axis of the base 4, and obtaining a diameter parameter of the swivel chair by the calibration device 5. The diameter parameter is specifically a parameter of the lower turntable 2, and the diameter of the upper turntable 1 can be directly obtained by measurement.

[0034] S2. Connect the traction device 6 to the swivel chair so that the swivel chair obtains traction, and the direction of the traction force is inclined to the axis of the swivel chair. When the swivel chair rotates under load, it is mainly affected by the pressure of the load itself and the centrifugal force generated when the load rotates. The combination of the two forms a traction force in the inclined direction. Therefore, providing the traction force in the inclined direction through the traction device 6 can ensure the authenticity of the simulation and improve the accuracy of the results.

[0035] S3, connect the robot to the swivel chair, align the rotating shaft of the motor 7 with the axis of the swivel chair, and drive the swivel chair to rotate. At this time, the output shaft of the motor 7, the swivel chair, and the axis of the base 4 are all aligned.

[0036] S4. Adjust the output torque, traction force and direction of the motor 7. The sensor 8 senses the angular velocity of the driving arm 47 to calculate the linear velocity of the swivel chair at different positions. Since the angular velocity of the rotating arm is consistent with the angular velocity of the swivel chair, the linear velocity of the position is measured based on the angular velocity of the driving arm 47 and the radius of the measuring point to complete the measurement effect. Since the sensor 8 senses the driving arm 47, the sensor 8 can obtain a larger installation range to facilitate its installation. At the same time, no additional operation is required on the swivel chair, which is easy to use.

[0037] When in use, the operator can adjust the output torque, traction force and direction according to different experimental needs to simulate the rotation of the swivel chair under different conditions, and complete the measurement of the linear speed through the sensor 8.

[0038] Preferably, the traction device 6 includes a first traction block 9, a second traction block 10 and a traction rod 11. A column 12 is provided on the base 4. The column 12 is used to receive a swivel chair. A swivel 13 is provided on the base 4 corresponding to the column 12. The swivel 13 is sleeved on the column 12 and rotatably connected to the column 12. A connecting unit is provided outside the column 12. The first traction block 9 is connected to the column 12 through the connecting unit. Both ends of the traction rod 11 are hinged to the first traction block 9 and the second traction block 10 respectively. A connecting hole 14 is provided on the second traction block 10 and is connected to the seat through the connecting hole 14. The connecting unit is used to adjust the relative position of the first traction block 9 and the column 12 to adjust the inclination angle of the traction rod 11 relative to the axis of the base 4. The traction rod 11 is used to provide traction to the second traction block 10 along the axis direction of the traction rod 11.

[0039] When in use, the second traction block 10 is connected to the upper turntable 1 through the connecting hole 14, which can be a screw. The upper turntable 1 is further rotated, and the first traction block 9 is driven to rotate through the traction rod 11. Due to the rotating connection of the swivel 13, the swivel 13 can be driven to rotate, so as to complete the continuous and stable traction of the upper turntable 1 during the rotation process.

[0040] The operator can calculate the magnitude and direction of the traction force according to the load on the upper turntable 1, and adjust the relative position of the first traction block 9 and the magnitude of the traction force corresponding to the traction rod 11 according to the calculation result, so as to complete the traction test under different load conditions.

[0041] Preferably, the traction rod 11 includes an upper rod 15, a middle rod 16 and a lower rod 17. One end of the middle rod 16 is provided with a mounting hole 18 and is threadedly connected to one end of the upper rod 15. The other end of the middle rod 16 is provided with a telescopic hole 19 and is telescopic with the lower rod 17. A spring 20 is provided in the telescopic hole 19. The lower rod 17 is provided with a accommodating hole 21 corresponding to the telescopic hole 19. Both ends of the spring 20 are respectively connected to the bottom of the telescopic hole 19 and the accommodating hole 21. More specifically, the bottom of the telescopic hole 19 and the accommodating hole 21 are both provided with connecting blocks 22, which are rotatably connected to the telescopic hole 19 / accommodating hole 21. Both ends of the spring 20 are respectively connected to two connecting blocks 22. The spring 20 is used to drive the lower rod 17 to move toward the telescopic hole 19.

[0042] In this embodiment, a connecting portion 23 is formed at one end of the upper rod 15 and the lower rod 17 that are separated from each other, and a connecting platform 24 is formed on the first traction block 9 and the second traction block 10. The connecting platform 24 is symmetrically provided with mounting surfaces 25, and a hinge rod 26 is provided between the two mounting surfaces 25. The connecting portion 23 is hinged to the hinge rod 26.

[0043] When in use, the middle rod 16 is rotated to move toward the upper rod 15, that is, the middle rod 16 is separated from the lower rod 17, and the spring 20 obtains elastic force, thereby achieving a traction effect through the elastic force of the spring 20. At the same time, the traction force is adjusted by adjusting the elastic force of the spring 20. At the same time, the extension and retraction of the upper rod 15 and the lower rod 17 can ensure the accuracy of the traction direction.

[0044] Preferably, the connecting unit includes a slide rail 26, which is provided with a first scale 27 along the length direction, one end of the slide rail 26 is connected to the swivel 13, guide grooves 28 are provided on both sides of the slide rail 26, the first traction block 9 is provided with a guide block 29 corresponding to the guide groove 28 and is slidably connected to the guide groove 28, and a locking mechanism 30 is provided between the first traction block 9 and the slide rail 26, and the locking mechanism 30 is used to fix the relative position of the first traction block 9 and the slide rail 26.

[0045] Specifically, the slide rail 26 is in an I-shape to provide high-strength anti-bending performance.

[0046] The setting of the slide rail 26 can realize the rapid adjustment of the position of the first traction block 9. At the same time, the locking method of the locking mechanism 30 can prevent the first traction block 9 from slipping on the slide rail 26 due to the traction force during the rotation process, thereby ensuring the stability of the position and the stability of the traction direction.

[0047] Preferably, the locking mechanism 30 is a bolt symmetrically arranged along the length direction of the slide rail 26 , and one end of the bolt passes through the first traction block 9 and abuts against and locks the slide rail 26 .

[0048] The provision of bolts enables rapid locking and separation of the first traction block 9 and the slide rail 26 . Meanwhile, in another manner, positioning holes may be provided on the slide rail 26 , and the positioning holes may be connected by bolts to further improve stability.

[0049] Preferably, an annular limiting layer 31 is integrally provided on the base 4 , a limiting ring 32 is provided inside the limiting layer 31 , the limiting ring 32 is rotatably connected to the limiting layer 31 , and the limiting ring 32 is connected to one end of the slide rail 26 away from the rotating ring 13 .

[0050] The setting of the limiting ring 32 can cooperate with the rotating ring 13 to provide fixation for both ends of the slide rail 26, thereby ensuring the stability of the slide rail 26 when the upper turntable 1 drives it to rotate.

[0051] In this embodiment, a plurality of reserved holes 33 are circumferentially provided on the side walls of the rotating ring 13 and the limiting ring 32 , and reinforcing ribs 34 are provided at both ends of the slide rail 26 , and the reinforcing ribs 34 are connected to the reserved holes 33 by bolts.

[0052] When in use, a suitable number of traction devices 6 can be selected according to specific load requirements to achieve multi-point traction on the upper turntable 1.

[0053] Preferably, two calibration grooves 35 which are arranged vertically and cross each other are provided on the column 12, and the calibration groove 35 is provided with a second scale 36 along the length direction. The number of calibration devices 5 is 2 and they are respectively arranged in the two calibration grooves 35. The calibration device 5 includes a linkage component 37 and two calibration blocks 38. The linkage component 37 is respectively connected to the two calibration blocks 38 and drives the two calibration blocks 38 to move at the same time. A calibration surface 39 for resisting the swivel chair is formed on the calibration block 38, and the midpoint formed between the two calibration blocks 38 is aligned with the axis of the base 4.

[0054] When in use, four calibration blocks 38 are used to implement four-point positioning calibration of the lower turntable 2, thereby ensuring that the axis of the lower turntable 2 is aligned with the axis of the base 4.

[0055] Preferably, the linkage component 37 includes a main rotating shaft 40 and an auxiliary rotating shaft 41, and the main rotating shaft 40 and the auxiliary rotating shaft 41 are both rotatably connected to the base 4. The main rotating shaft 40 and the auxiliary rotating shaft 41 are provided with a synchronous belt 42 and are connected to each other through the synchronous belt 42. The calibration block 38 is fixedly connected to the synchronous belt 42. A driving cavity 43 is opened on one side of the main rotating shaft 40 / auxiliary rotating shaft 41, and a spring 44 is arranged in the driving cavity 43. The two ends of the spring 44 are respectively connected to the driving cavity 43 and the base 4. The main rotating shaft 40 is coaxially fixedly connected with a synchronous wheel 45, and the two synchronous wheels 45 are meshed with each other.

[0056] When in use, by moving the calibration block 38, the two calibration blocks 38 are separated from each other under the drive of the synchronous wheel 45. After the swivel chair is placed, the calibration block 38 contacts the side wall of the swivel chair. When the swivel chair is in an eccentric state, only part of the calibration block 38 contacts the swivel chair, so that the operator can judge and adjust its position. Only when all four calibration blocks 38 contact the lower turntable 2, the positioning of the lower turntable 2 is completed.

[0057] The calibration block 38 is automatically returned to its original position by means of the mainspring 44, the main shaft 40, the auxiliary shaft 41 and the synchronous belt 42, and the synchronous movement of the two points is achieved by means of the synchronous wheel 45, so as to facilitate use.

[0058] Preferably, the robot includes a moving arm group 46 and a driving arm 47. The moving arm group 46 is connected to the driving arm 47 and drives the driving arm 47 to move in three dimensions. The driving arm 47 group is a prior art and will not be described in detail here. The motor 7 is arranged in the driving arm 47, and a connecting rod 48 is provided at the output end of the motor 7 and is connected to the swivel chair through the connecting rod 48.

[0059] Preferably, a detection disk 49 is provided on the connecting rod 48, and a plurality of detection positions 50 are circumferentially provided on the detection disk 49, and the sensors 8 are arranged corresponding to the detection positions.

[0060] Specifically, the detection position 50 is a hole, and the sensor 8 is a photosensor 8. When the connecting rod 48 rotates, the detection disk 49 is driven to rotate, so that multiple holes / detection disk 49 surfaces correspond to the sensor 8 to achieve the angle detection function.

[0061] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. Test method for linear speed of rotating chairs in small amusement facilities based on industrial robots. Features: The method comprises the following steps: S1, installing a swivel chair on a base (4), adjusting the position of the swivel chair by means of a calibration device (5) so that the axis of the swivel chair and the axis of the base (4) are aligned with each other, and obtaining the diameter parameter of the swivel chair by means of the calibration device (5); S2, connecting the traction device (6) to the swivel chair so that the swivel chair obtains traction force, the direction of which is inclined to the axis of the swivel chair; S3, connecting the robot to the swivel chair, aligning the rotating shaft of the motor (7) with the axis of the swivel chair, and driving the swivel chair to rotate; S4, adjusting the output torque, traction force and direction of the motor (7), and the sensor (8) sensing the rotation angular velocity of the driving arm (47) to calculate the linear velocity of the swivel chair at different positions.

2. According to the method for testing the linear speed of a rotating chair of a small amusement facility based on an industrial robot according to claim 1, Features: The traction device (6) comprises a first traction block (9), a second traction block (10) and a traction rod (11); a platform column (12) is provided on the base (4); the platform column (12) is used to receive the swivel chair; the base (4) is provided with a swivel ring (13) corresponding to the platform column (12); the swivel ring (13) is sleeved on the platform column (12) and is rotatably connected to the platform column (12); a connection unit is provided outside the platform column (12); the first traction block (9) is connected to the platform column (12) via the connection unit; The two ends of the traction rod (11) are respectively hinged to the first traction block (9) and the second traction block (10); the second traction block (10) is provided with a connection hole (14) and is connected to the seat through the connection hole (14); the connection unit is used to adjust the relative position of the first traction block (9) and the platform column (12) so as to adjust the inclination angle of the traction rod (11) relative to the axis of the base (4); the traction rod (11) is used to provide the second traction block (10) with traction force along the axis of the traction rod (11).

3. According to claim 2, the method for testing the linear speed of a rotating chair of a small amusement facility based on an industrial robot, Features: The traction rod (11) comprises an upper rod (15), a middle rod (16) and a lower rod (17); one end of the middle rod (16) is provided with a mounting hole (18) and is threadedly connected to one end of the upper rod (15); the other end of the middle rod (16) is provided with a telescopic hole (19) and is telescopic with the lower rod (17); a spring (20) is provided in the telescopic hole (19); the lower rod (17) is provided with a receiving hole (21) corresponding to the telescopic hole (19); two ends of the spring (20) are respectively connected to the telescopic hole (19) and the bottom of the receiving hole (21); the spring (20) is used to drive the lower rod (17) to move in the direction of the telescopic hole (19).

4. According to claim 2, the method for testing the linear speed of a rotating chair of a small amusement facility based on an industrial robot, Features: The connecting unit comprises a slide rail (26), the slide rail (26) is provided with a first scale (27) along the length direction, one end of the slide rail (26) is connected to the rotating ring (13), guide grooves (28) are provided on both sides of the slide rail (26), the first traction block (9) is provided with a guide block (29) corresponding to the guide groove (28) and is slidably connected to the guide groove (28), and a locking mechanism (30) is provided between the first traction block (9) and the slide rail (26), and the locking mechanism (30) is used to fix the relative position of the first traction block (9) and the slide rail (26).

5. According to claim 2, the method for testing the linear speed of a rotating chair of a small amusement facility based on an industrial robot, Features: The locking mechanism (30) is a bolt symmetrically arranged along the length direction of the slide rail (26), one end of the bolt passes through the first traction block (9) and abuts against and locks the slide rail (26).

6. According to claim 4, the method for testing the linear speed of a rotating chair of a small amusement facility based on an industrial robot, Features: An annular limiting layer (31) is integrally provided on the base (4), a limiting ring (32) is provided inside the limiting layer (31), the limiting ring (32) is rotatably connected to the limiting layer (31), and the limiting ring (32) is connected to one end of the slide rail (26) away from the rotating ring (13).

7. The method for testing the linear speed of a rotating chair of a small amusement facility based on an industrial robot according to claim 2, Features: The platform column (12) is provided with two calibration grooves (35) arranged vertically and intersecting each other, and the calibration grooves (35) are provided with a third scale along the length direction. The calibration devices (5) are two in number and are respectively arranged in the two calibration grooves (35). The calibration devices (5) include a linkage component (37) and two calibration blocks (38). The linkage component (37) is respectively connected to the two calibration blocks (38) and drives the two calibration blocks (38) to move simultaneously. The calibration blocks (38) are formed with calibration surfaces (39) for contacting the swivel chair, and the midpoint formed between the two calibration blocks (38) is aligned with the axis of the base (4).

8. The method for testing the linear speed of a rotating chair of a small amusement facility based on an industrial robot according to claim 7, Features: The linkage component (37) comprises a main rotating shaft (40) and a secondary rotating shaft (41), the main rotating shaft (40) and the secondary rotating shaft (41) are both rotatably connected to the base (4), the main rotating shaft (40) and the secondary rotating shaft (41) are provided with a synchronous belt (42) outside and are connected to each other through the synchronous belt (42), the calibration block (38) is fixedly connected to the synchronous belt (42), a driving cavity (43) is opened on one side of the main rotating shaft (40) / secondary rotating shaft (41), a spring (44) is arranged in the driving cavity (43), two ends of the spring (44) are respectively connected to the driving cavity (43) and the base (4), the main rotating shaft (40) is coaxially fixedly connected with a synchronous wheel (45), and the two synchronous wheels (45) are meshed with each other.

9. The method for testing the linear speed of a rotating chair of a small amusement facility based on an industrial robot according to claim 1, Features: The robot comprises a moving arm group (46) and a driving arm (47); the moving arm group (46) is connected to the driving arm (47) and drives the driving arm (47) to move in three dimensions; the motor (7) is arranged in the driving arm (47); a connecting rod (48) is provided at the output end of the motor (7) and is connected to the swivel chair via the connecting rod (48).

10. The method for testing the linear speed of a rotating chair of a small amusement facility based on an industrial robot according to claim 9, Features: The connecting rod (48) is provided with a detection disk (49), the detection disk (49) is provided with a plurality of detection positions (50) in a circumferential direction, and the sensor (8) is arranged corresponding to the detection positions.

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