A robot impact dumping test device

Abstract

The present invention belongs to the field of robot testing technology, and in particular to a robot impact and tipping test device, comprising a test bench, a test box fixed on one side of the test bench surface, and a controller fixed on the test box surface; an impact assembly is installed on the other side of the test bench surface; the device provides specific data support by evaluating the stability of the robot, and understands the robot's anti-tipping ability under impacts of different intensities in combination with the robot's tipping angle, which helps to optimize the robot's structural design and balancing performance, reduces errors caused by human factors, makes test results more reliable, can better design safety protection measures, and reduces damage and risks caused by tipping of the robot due to collision in actual use.

Description

Technical Field

[0001] The invention belongs to the technical field of robot testing, and in particular relates to a robot impact dumping testing device. Background Art

[0002] In today's era of rapid technological development, robots are increasingly used in various fields, from industrial production to medical care, from home services to scientific exploration. Robots play an important role. However, robots often face various complex environments and challenges in practical applications. Collision is a common situation. The collision test is used to evaluate the impact resistance of transport packages to multiple repetitive mechanical collisions during transportation and the protection of the packaging to the contents. Therefore, the robot's anti-collision ability and impact dumping performance are crucial to its reliability and safety in practical applications.

[0003] At present, the impact and tipping performance testing method for robots is relatively simple, and is usually carried out by cylinder impact. It is impossible to fully understand the performance of the robot under different impact intensities, and it is impossible to accurately control the impact speed and intensity of the robot. It is easily affected by factors such as air quality and air pressure stability. In addition, traditional cylinders may generate greater impact force when starting and stopping, causing greater stress on the structure and components of the robot, which increases the risk of damage to the robot. In order to solve the above problems, a robot impact and tipping test device is proposed in the present application. Summary of the invention

[0004] The present invention provides a robot impact dumping test device, which can effectively solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions: A robot impact dumping test device, comprising a test bench, a test box fixed to one side of the test bench surface, and a controller fixed to the surface of the test box;

[0006] An impact assembly is installed on the other side of the surface of the test bench, and the impact assembly includes an impact box fixed on the other side of the surface of the test bench, limit rods fixed on both sides of the inside of the impact box, and a push plate, an impact head, an impact pull rope, a first reversing wheel, a second reversing wheel, a winding roller, a fixed frame and a winding shaft for performing an impact test on the robot;

[0007] An interlocking assembly is installed on one side of the surface of the impact box, and the interlocking assembly includes two sets of support frames fixed to one side of the surface of the impact box, a driving shaft rotatably connected between the two sets of support frames, and a driving gear, a driven gear, a spline, a fixing plate, an electric telescopic rod and an interlocking lever for automatically controlling the interlocking between the driving shaft and the winding shaft;

[0008] A force measuring assembly is installed inside the test box, and the force measuring assembly includes two groups of support seats fixed to the surface of the test bench, a test frame arranged above the two groups of support seats, and a fixed seat, a push block, a pressure sensor, a spring and a force plate for detecting the impact force applied to the robot.

[0009] As a preferred robot impact dumping test device of the present invention, a pushing plate is arranged between the two groups of limit rods, and the pushing plate is slidably connected to the surface of the limit rod through a limit groove opened inside, an impact head is fixed on the surface of the pushing plate close to the test box, a through groove matching the impact head is opened on the surface of the impact box, impact pull ropes are symmetrically arranged on both sides of the impact head, a reversing wheel 1 is fixed on the side of the impact pull rope inside the impact box, a reversing wheel 2 is fixed on the side of the surface of the impact box close to the impact pull rope, two groups of fixing frames are fixed on one side of the surface of the impact box, a winding shaft is rotatably connected between the two groups of fixing frames, and winding rollers are fixed at both ends of the surface of the winding shaft.

[0010] As a preferred robot impact dumping test device of the present invention, the impact rope is respectively connected to the reversing wheel one and the reversing wheel two, one end of the impact rope is fixedly connected to the pushing plate, and the other end of the impact rope is wound around the surface of the winding roller, and a speed regulating motor is provided on the side of the impact box surface close to the winding shaft.

[0011] As a preferred robot impact and dumping test device of the present invention, a reset plate is fixed to one side of the push plate, and a moving groove compatible with the reset plate is opened inside the push plate, a reset push rod is screwed to one side of the test box surface close to the reset plate, and the output end of the reset push rod corresponds to the surface of the reset plate, a blocking slider is sleeved on the end of the limit rod surface close to the reversing wheel one, a spring one is wound around the surface of the limit rod, and the two ends of the spring one are respectively fixed between the impact box and the blocking slider, the two ends of the push plate are symmetrically connected to the positioning pulleys, and a positioning slide groove compatible with the positioning pulley is opened inside the impact box.

[0012] As a preferred robot impact and dumping test device of the present invention, a driving gear is fixed to the middle part of the surface of the driving shaft, a driven gear is meshingly connected to the surface of the driving gear, an internal key of the driven gear is connected to a spline, and the spline is fixed to the surface of the winding shaft, a fixing plate is fixed between the two groups of the support frames, an electric telescopic rod is hinged on the surface of the fixing plate, an interlocking lever is hinged on the output end of the electric telescopic rod, and the interlocking lever is hinged inside the fixing plate.

[0013] As a preferred robot impact and dumping test device of the present invention, the speed regulating motor is screwed to the surface of one group of support frames, and a transmission worm is fixed to the output end of the speed regulating motor, a transmission worm wheel is meshingly connected to the surface of the transmission worm, and the transmission worm wheel is fixed to the surface of the drive shaft.

[0014] As a preferred robot impact dumping test device of the present invention, one side of the driven gear is rotatably connected with a rotating retaining ring, a blocking frame is fixed to the side of the impact box surface close to the rotating retaining ring, and a plurality of groups of springs in a ring array are fixed between the rotating retaining ring and the blocking frame.

[0015] As a preferred robot impact dumping test device of the present invention, two groups of fixed seats are fixed on one side of the test box close to the test frame, and the two groups of fixed seats are slidably connected with push blocks inside. A pressure sensor is fixed on one side of the test box close to the push block, and a spring three is fixed between the pressure sensor and the push block, and a force plate is provided on the side of the push block away from the spring three.

[0016] As a preferred robot impact dumping test device of the present invention, a plurality of groups of guide wheels are symmetrically fixed on opposite sides of the two groups of support seats, the surfaces of the guide wheels are slidably connected with dumping frames, and the two groups of test frames are fixed between the two groups of dumping frames, and a hinged seat is fixed on one side of the surface of the fixed seat, and two groups of mutually intersecting scissor-type hinged rods are hinged inside the hinged seat.

[0017] As a preferred robot impact dumping test device of the present invention, a push-pull frame is fixed on the surface of the push block, and the end of the push-pull frame away from the push block is respectively hinged with two scissor-type hinged rods, and fan gears are respectively fixed at the ends of the two scissor-type hinged rods, the two sets of fan gears are meshed and connected with each other, and the force plate is fixed at the ends of the scissor-type hinged rods, a waist plate is arranged between the test frame and the impact head, and several groups of symmetrically arranged waist reset cylinders are hinged between the waist plate and the test frame, and a pressure measuring cylinder is fixed between the end of the waist reset cylinder and the surface of the test frame. A measuring instrument, a restraint belt is fixed on the surface of the waist plate, a leg plate is arranged below the waist plate, and a plurality of groups of symmetrically arranged leg reset cylinders are hinged between the leg plate and the test frame, and a pressure measuring device is fixed between the end of the leg reset cylinder and the surface of the test frame, a standing base is fixed below the leg plate, a pressure sensor plate is fixed inside the standing base, a two-way push rod is screwed to the lower surface of the standing base, fixed calipers are symmetrically hinged at two output ends of the two-way push rod, and the fixed calipers are hinged to the surface of the standing base.

[0018] Compared with the prior art, the present invention has the following beneficial effects: the present invention has a scientific and reasonable structure and is safe and convenient to use:

[0019] 1. An impact component is provided, which can control the speed regulating motor to drive the impact head to impact the robot at different rotation rates, thereby providing comprehensive and accurate data for the impact dumping performance test of the robot, and can achieve a smoother starting and stopping process, reduce the instantaneous impact on the robot, and reduce the risk of damage. Compared with the traditional method of using a cylinder for impact testing, it can more accurately control the impact speed and strength of the robot, so as to adapt to different testing needs, and avoid the impact force of the traditional cylinder being affected by factors such as air quality and air pressure stability, which is difficult to accurately control. In addition, the traditional cylinder may generate a large impact force when starting and stopping, which causes greater stress on the structure and components of the robot, and is easy to cause greater stress on the structure and components of the robot.

[0020] 2. An interlocking component is set up to quickly perform multiple impact tests. There is no need for frequent manual complex adjustments to re-establish the transmission relationship. Testers can focus more on observing and recording test data, which greatly saves the preparation time between two impact tests, improves the overall test efficiency and the smoothness of the test work, and provides richer data for robot performance evaluation. For operators, this automatic reset design makes the operation of the equipment easier, reduces the difficulty of operation and the possibility of errors, and improves the ease of use and maintainability of the equipment.

[0021] 3. A force measuring component is set up to accurately measure the impact force received by the robot at the moment of collision, providing specific data support for evaluating the stability of the robot. Combined with the robot's tipping angle, the robot's anti-tipover ability under impacts of different intensities can be understood, which helps to optimize the robot's structural design and balance performance, reduce errors caused by human factors, make test results more reliable, and better design safety protection measures to reduce damage and risks caused by tipping of the robot due to collision in actual use. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ;

[0024] Figure 2 The overall structure of the present invention is shown in FIG. Figure 2 ;

[0025] Figure 3 It is a schematic diagram of the structure of the impact assembly in the present invention;

[0026] Figure 4A partial cross-sectional view of the impact assembly of the present invention;

[0027] Figure 5 It is a schematic diagram of the structure of the impact box and the interlocking assembly in the present invention;

[0028] Figure 6 It is a structural schematic diagram of the interlocking assembly in the present invention;

[0029] Figure 7 For the present invention Figure 6 A magnified image of point A;

[0030] Figure 8 It is a partial structural schematic diagram of the interlocking assembly in the present invention;

[0031] Fig. 9 It is a structural schematic diagram of the force measuring assembly in the present invention;

[0032] Fig.10 It is a schematic diagram of the local structure of the force measuring assembly in the present invention;

[0033] Fig.11 For the present invention Fig.10 The enlarged view of point B;

[0034] Fig.12 It is a structural schematic diagram of the test stand in the present invention;

[0035] Fig.13 It is a schematic structural diagram of the standing base in the present invention.

[0036] In the figure: 1, test bench; 2, test box; 21, controller; 3, impact assembly; 31, impact box; 32, limit rod; 33, push plate; 34, impact head; 35, impact pull rope; 36, reversing wheel 1; 37, reversing wheel 2; 38, winding roller; 39, fixed frame; 310, winding shaft; 311, reset plate; 312, reset push rod; 313, blocking slider; 314, spring 1; 315, positioning pulley; 316, speed regulating motor; 4, interlocking assembly; 41, support frame; 42, drive shaft; 43, transmission worm; 44, transmission worm wheel; 45, driving gear; 46, driven gear; 47, spline; 48, rotating ring; 49, spring 2; 410, Blocking frame; 411, fixed plate; 412, electric telescopic rod; 413, interlocking lever; 5, force measuring assembly; 51, support seat; 52, guide wheel; 53, tipping frame; 54, test frame; 55, fixed seat; 56, push block; 57, pressure sensor; 58, spring three; 59, hinged seat; 510, push-pull frame; 511, scissor-type hinged rod; 512, fan gear; 513, force plate; 514, waist reset cylinder; 515, waist plate; 516, restraint belt; 517, leg reset cylinder; 518, leg plate; 519, standing base; 520, pressure sensor plate; 521, two-way push rod; 522, fixed caliper; 523, pressure measuring device. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Example: Figure 1-Figure 13 As shown, the present invention provides a technical solution, a robot impact dumping test device, comprising a test bench 1, a test box 2 fixed to one side of the surface of the test bench 1, and a controller 21 fixed to the surface of the test box 2;

[0039] An impact assembly 3 is installed on the other side of the surface of the test bench 1, and the impact assembly 3 includes an impact box 31, a limit rod 32, a push plate 33, an impact head 34, an impact pull rope 35, a reversing wheel 1 36, a reversing wheel 2 37, a winding roller 38, a fixing frame 39, a winding shaft 310, a reset plate 311, a blocking slider 313, a spring 1 314, a positioning pulley 315 and a speed regulating motor 316;

[0040] A collision box 31 is fixed on one side of the surface of the test bench 1, and limiting rods 32 are fixed on both sides of the inside of the collision box 31. A pushing plate 33 is arranged between the two groups of limiting rods 32, and the pushing plate 33 is slidably connected to the surface of the limiting rod 32 through the limiting groove opened inside, and an impact head 34 is fixed on the surface of the pushing plate 33 close to the test box 2. A through groove matching the impact head 34 is opened on the surface of the collision box 31, and impact pull ropes 35 are symmetrically arranged on both sides of the impact head 34. A reversing wheel 1 36 is fixed on the side of the collision box 31 close to the impact pull rope 35, and a reversing wheel 2 37 is fixed on the side of the collision box 31 close to the impact pull rope 35. Two groups of fixing frames 39 are fixed on one side of the surface of the collision box 31, and a winding shaft 310 is rotatably connected between the two groups of fixing frames 39, and winding rollers 38 are fixed on both ends of the surface of the winding shaft 310, and the impact pull rope 35 is respectively connected to the reversing wheel 1 36 and the reversing wheel 2 37. The cam 314 is provided with a plurality of springs 316 which are respectively provided on one side of the cam 314 and the springs 316 are provided on the other side of the cam 314. The cam 314 is provided with a plurality of springs 316 which are respectively provided on the cam 314 and the springs 316 are provided on the other side of the cam 314. The cam 314 is provided with a plurality of springs 316 which are respectively provided on the cam 314 and the springs 316 are provided on the other side of the cam 314.

[0041] An interlocking assembly 4 is installed on one side of the surface of the impact box 31, and the interlocking assembly 4 includes a support frame 41, a driving shaft 42, a transmission worm 43, a transmission worm wheel 44, a driving gear 45, a driven gear 46, a spline 47, a rotating ring 48, a spring 49, a blocking frame 410, a fixing plate 411, an electric telescopic rod 412 and an interlocking lever 413;

[0042] Two groups of support frames 41 are fixed on one side of the surface of the impact box 31 close to the winding shaft 310, and the speed regulating motor 316 is screwed to the surface of one group of support frames 41, and a driving shaft 42 is rotatably connected between the two groups of support frames 41. A transmission worm 43 is fixed to the output end of the speed regulating motor 316, and a transmission worm wheel 44 is meshedly connected to the surface of the transmission worm 43, and the transmission worm wheel 44 is fixed to the surface of the driving shaft 42. A driving gear 45 is fixed to the middle of the surface of the driving shaft 42, and a driven gear 46 is meshedly connected to the surface of the driving gear 45. The internal key of the driven gear 46 is connected to a spline 47, and the spline 47 is fixed to the winding shaft 42. The surface of the shaft 310 is rotatably connected to one side of the driven gear 46 with a rotating ring 48, a blocking frame 410 is fixed to the side of the surface of the impact box 31 close to the rotating ring 48, and a plurality of groups of springs 49 in a ring array are fixed between the rotating ring 48 and the blocking frame 410, a fixed plate 411 is fixed between the two groups of support frames 41, an electric telescopic rod 412 is hinged on the surface of the fixed plate 411, an interlocking lever 413 is hinged at the output end of the electric telescopic rod 412, the interlocking lever 413 is hinged inside the fixed plate 411, and the end of the interlocking lever 413 is tightly attached to the surface of the driven gear 46 away from the rotating ring 48.

[0043] A force measuring assembly 5 is installed inside the test box 2, and the force measuring assembly 5 includes a support seat 51, a guide wheel 52, a tipping frame 53, a test frame 54, a fixed seat 55, a push block 56, a pressure sensor 57, a spring three 58, an articulated seat 59, a push-pull frame 510, a scissor-type articulated rod 511, a fan gear 512, a force plate 513, a waist reset cylinder 514, a waist plate 515, a restraint belt 516, a leg reset cylinder 517, a leg plate 518, a standing base 519, a pressure sensor plate 520, a two-way push rod 521, a fixed caliper 522 and a pressure measuring device 523;

[0044] Two groups of support seats 51 are fixed on the surface of the test bench 1, and a plurality of guide wheels 52 are symmetrically fixed on the opposite sides of the two groups of support seats 51. A tipping frame 53 is slidably connected to the surface of the guide wheel 52, and a test frame 54 is fixed between the two groups of tipping frames 53. Two groups of fixed seats 55 are fixed on the side of the test box 2 close to the test frame 54, and a push block 56 is slidably connected inside the two groups of fixed seats 55. A pressure sensor 57 is fixed on the side of the test box 2 close to the push block 56, and a spring is fixed between the pressure sensor 57 and the push block 56. Spring three 58, a hinge seat 59 is fixed on one side of the surface of the fixed seat 55, and two sets of mutually intersecting scissor-type hinged rods 511 are hinged inside the hinge seat 59, and a push-pull frame 510 is fixed on the surface of the push block 56, and the end of the push-pull frame 510 away from the push block 56 is respectively hinged to the two scissor-type hinged rods 511, and fan gears 512 are respectively fixed at the ends of the two scissor-type hinged rods 511, and the two sets of fan gears 512 are meshed and connected with each other, and a force plate 513 is fixed at the end of the scissor-type hinged rod 511, and a test frame 54 is provided between the impact head 34. A waist plate 515 is provided, and a plurality of groups of symmetrically arranged waist reset cylinders 514 are hinged between the waist plate 515 and the test frame 54, and a pressure measuring device 1 is fixed between the end of the waist reset cylinder 514 and the surface of the test frame 54, a restraint belt 516 is fixed to the surface of the waist plate 515, a leg plate 518 is provided below the waist plate 515, and a plurality of groups of symmetrically arranged leg reset cylinders 517 are hinged between the leg plate 518 and the test frame 54, and a pressure measuring device 1 is fixed between the end of the leg reset cylinder 517 and the surface of the test frame 54, Force measuring device 2, a standing base 519 is fixed below the leg plate 518, a pressure sensing plate 520 is fixed inside the standing base 519, a two-way push rod 521 is screwed to the lower surface of the standing base 519, two output ends of the two-way push rod 521 are symmetrically hinged with fixed calipers 522, and the fixed calipers 522 are hinged to the surface of the standing base 519, and sliding frames are installed between the waist plate 515 and the leg plate 518 at one end of the waist reset cylinder 514 and the leg reset cylinder 517 away from the pressure measuring device 523.

[0045] When the robot needs to be subjected to an impact dumping test, firstly, the robot's feet are stepped on the inside of the standing base 519 so that it stands on the surface of the pressure sensing plate 520, and the robot's legs are pressed against the surface of the leg plate 518. At this time, the pressure sensing plate 520 senses the pressure and sends an electrical signal to the controller 21. Then the controller 21 starts the two-way push rod 521 to drive the fixed caliper 522 to approach the robot's legs until it is clamped on the surface of the robot's legs. Then, the robot's waist is pressed against the surface of the waist plate 515, and the robot's waist and waist plate 515 are fixed with the restraint belt 516. Then, the robot can be fixed on the surface of the test frame 54, which is convenient for subsequent accurate acquisition. After the robot is hit, the tilting angle of the waist and legs is changed, and then the control parameters of the controller 21 are modified to control the rotation rate of the speed regulating motor 316. By starting the speed regulating motor 316, the transmission worm 43 can be driven to rotate, and then the transmission worm wheel 44 and the driving shaft 42 are driven to rotate between the two sets of support frames 41, thereby driving the driving gear 45 to rotate synchronously, and then the rotation of the driving gear 45 can drive the driven gear 46 to rotate. Under the action of the spline 47, the winding shaft 310 can be driven to rotate between the two sets of fixed frames 39, and then the winding rollers 38 at both ends of the surface can be driven to rotate synchronously, so that the impact rope 35 can be wound up. As the impact rope 35 is wound up, With the cooperation of reversing wheel 1 36 and reversing wheel 2 37, the push plate 33 can be pulled to move inside the impact box 31 and slide along the surface of the limit rod 32, so as to drive the impact head 34 to approach the surface of the robot. When the impact head 34 collides with the robot shell, the robot can be impacted to tilt, and the impact and dumping performance of the robot can be tested. By modifying the parameters of the controller 21 multiple times, the speed regulating motor 316 can be controlled to drive the impact head 34 to impact the robot at different rotation rates, thereby providing comprehensive and accurate data for the impact and dumping performance test of the robot. Different rotation rates mean that different strengths of impact can be generated. In this way, the tester can simulate It is necessary to simulate the different degrees of impact that the robot may suffer in various actual application scenarios to obtain more realistic and reliable test data. Secondly, obtaining test data of different intensities helps to gain a deeper understanding of the performance limits of the robot. By gradually increasing the impact intensity, it is possible to determine under what circumstances the robot will be damaged or its performance will degrade. This is crucial for optimizing the design of the robot and improving its reliability. It can help testers fully understand the robot's impact resistance and provide an important basis for the robot's optimized design and quality control. By gradually increasing the impact speed for testing, potential safety hazards can be discovered in a timely manner, such as loose parts and broken materials, so that improvements can be made before the product is put on the market.

[0046] It is worth noting that during this period, the movement of the push plate 33 can drive the positioning pulley 315 to slide in the positioning slide groove opened inside the impact box 31, which can not only position the movement of the push plate 33 and the impact head 34, ensuring that the force and direction of the impact are more accurate and the reliability of the test is improved, but also reduce friction resistance, greatly reducing the friction between the contact surface of the push plate 33 and the impact box 31, so that the push plate 33 and the impact head 34 can move more easily, and the movement of the push plate 33 is more stable and smooth, avoiding the jamming and instability caused by friction, and greatly reducing the energy required to drive the push plate 33 and the impact head 34, reducing energy consumption, as the push plate 33 drives the positioning pulley 315 to move When the push plate 33 contacts the surface of the blocking slider 313, it will push the blocking slider 313 to slide on the surface of the limit rod 32, and squeeze the spring 1 314 to deform and generate elastic force, thereby absorbing and dispersing the huge impact force generated by the push plate 33, preventing the push plate 33 from driving the positioning pulley 315 to make hard contact with the end of the impact box 31, causing damage due to the instantaneous strong force, and under the buffering effect of the spring 1 314, the impact of the robot on the impact head 34 will also be reduced, which can reduce damage to the robot's mechanical structures such as the shell and joints, and reduce the safety hazards such as splashing debris that may be generated during the collision. At the same time, the buffering effect of the spring is closer to the collision situation that the robot may encounter in the actual working environment, making the test results more valuable for reference.

[0047] Furthermore, the speed regulating motor 316 is used in conjunction with the reversing wheel 1 36 and the reversing wheel 2 37 to drive the impact rope 35 to drive the push plate 33 and the impact head 34 to perform an impact dumping performance test on the robot. Compared with the traditional cylinder impact test, the speed and strength can be controlled more accurately to adapt to different test requirements, and the impact force of the cylinder is avoided. It is difficult to accurately control the impact force of the cylinder due to factors such as air pressure stability, and a smoother starting and stopping process can be achieved, reducing the instantaneous impact on the robot and reducing the risk of damage. The cylinder may generate a large impact force when starting and stopping, causing greater stress on the structure and components of the robot. It has a lower maintenance cost and can work in a relatively harsh environment. The cylinder has high requirements on air quality, air pressure stability, etc., and may fail in some harsh environments.

[0048] When the impact head 34 hits the surface of the robot, the robot will tip over due to the impact, thereby driving the test frame 54 and the tipping frame 53 to flip over along the multiple sets of guide wheels 52 on the surface of the support seat 51, and the robot that is hit will transmit the impact force to the waist and legs. At this time, the robot's waist will transmit the impact force to the surface of the waist plate 515, and then the waist reset cylinder 514 will transmit and squeeze the pressure measuring device 1 at its end, and then measure the impact force on the robot's waist after the impact. Similarly, the pressure measuring device 2 at the end of the leg reset cylinder 517 can also be used to measure the robot's legs after the impact. The impact force borne by the waist and legs of the robot can provide an effective detection method for measuring the tilting angle after the robot's waist and legs are hit, which lays a foundation for accurately judging the posture and damage of the robot. The posture of the robot after the collision can be judged more accurately, and the two sets of pressure measuring devices 523 will transmit the measurement data to the controller 21 respectively, and then the controller 21 will receive and analyze the data, and then control the waist reset cylinder 514 and the leg reset cylinder 517 to open respectively. After opening, the waist reset cylinder 514 and the leg reset cylinder 517 will push the waist plate 515 and the leg plate 518 to move respectively, that is, The robot can be assisted and supported as a whole to help it recover its standing posture. During this period, the test frame 54 can be tilted to squeeze the force plate 513 toward one side of the fixed seat 55. The force plate 513 can be moved to squeeze the two sets of scissor-type hinged rods 511 under the action of the fan gear 512, and the angle can be changed, thereby driving the push-pull frame 510 to move toward one side of the fixed seat 55 synchronously, thereby driving the push block 56 to slide in the push groove opened inside the fixed seat 55, and squeezing the spring three 58 to deform and generate elastic force, thereby compressing the pressure sensor 57 to generate The controller 21 receives and analyzes the piezoelectric signal sent by the pressure sensor 57, so as to calculate the impact force received by the robot. It can accurately measure the impact force received by the robot at the moment of collision, and provide specific data support for evaluating the stability of the robot. Combined with the tipping angle of the robot, it can understand the robot's anti-tipping ability under impacts of different intensities, which is helpful to optimize the structural design and balance performance of the robot, reduce the errors caused by human factors, make the test results more reliable, and better design safety protection measures to reduce the damage and risks caused by the robot tipping over due to collision in actual use.

[0049] After the impact and dumping test of the robot is completed, the interlocking lever 413 is driven to flip inside the fixed plate 411 by starting the electric telescopic rod 412, so that the driven gear 46 can be driven to slide along the surface of the spline 47, and the rotating ring 48 is pushed to squeeze the spring 2 49 to deform and generate elastic force, so that the meshing connection between the driven gear 46 and the driving gear 45 can be released, thereby releasing the transmission between the drive shaft 42 and the winding shaft 310, and then starting the reset push rod 312, so that the reset push rod 312 pushes the blocking slider 313 to drive the push plate 33 to move in the opposite direction along the surface of the limit rod 32 inside the impact box 31, and the impact rope 35 can be pulled to move, so that the winding roller 38 drives the winding shaft 310 to rotate in the opposite direction between the two sets of fixed frames 39, so that the wound impact rope 35 can be released, and the push plate 33 and the impact head 34 is reset and waits for the next impact test. When the push plate 33 and the impact head 34 are reset, the electric telescopic rod 412 and the reset push rod 312 are closed. Under the action of the rebound force of the spring 49, the driven gear 46 and the active gear 45 can be re-engaged, and the transmission relationship between the winding shaft 310 and the driving shaft 42 can be connected again. Multiple impact tests can be performed quickly without frequent manual complex adjustments to re-establish the transmission relationship. The tester can focus more on observing and recording the test data, which greatly saves the preparation time between two impact tests, improves the overall test efficiency and the fluency of the test work, and provides richer data for the robot performance evaluation. For the operator, this automatic reset design makes the operation of the equipment easier, reduces the difficulty of operation and the possibility of errors, and improves the ease of use and maintainability of the equipment.

[0050] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot impact dumping test device, comprising a test bench (1), a test box (2) fixed to one side of the surface of the test bench (1), and a controller (21) fixed to the surface of the test box (2); Features: An impact assembly (3) is installed on the other side of the surface of the test bench (1), and the impact assembly (3) comprises an impact box (31) fixed on the other side of the surface of the test bench (1), limit rods (32) fixed on both sides of the inside of the impact box (31), and a push plate (33), an impact head (34), an impact pull rope (35), a first reversing wheel (36), a second reversing wheel (37), a winding roller (38), a fixing frame (39) and a winding shaft (310) for performing an impact test on the robot; An interlocking assembly (4) is installed on one side of the surface of the impact box (31), and the interlocking assembly (4) comprises two groups of support frames (41) fixed on one side of the surface of the impact box (31), a driving shaft (42) rotatably connected between the two groups of support frames (41), and a driving gear (45), a driven gear (46), a spline (47), a fixing plate (411), an electric telescopic rod (412), and an interlocking lever (413) for automatically controlling the interlocking between the driving shaft (42) and the winding shaft (310); A force measuring assembly (5) is installed inside the test box (2), and the force measuring assembly (5) comprises two groups of support seats (51) fixed on the surface of the test bench (1), a test frame (54) arranged above the two groups of support seats (51), and a fixed seat (55), a push block (56), a pressure sensor (57), a spring three (58) and a force plate (513) for detecting the impact force of the robot. A push plate (33) is arranged between the two groups of limit rods (32), and the push plate (33) is slidably connected to the surface of the limit rod (32) through a limit groove provided inside. An impact head (34) is fixed on the side of the surface of the push plate (33) close to the test box (2). The surface of the impact box (31) A through groove matched with the impact head (34) is provided on the surface, and impact pull ropes (35) are symmetrically arranged on both sides of the impact head (34). A reversing wheel (36) is fixed on the side of the impact box (31) near the impact pull rope (35), and a reversing wheel (37) is fixed on the side of the surface of the impact box (31) near the impact pull rope (35). Two groups of fixing frames (39) are fixed on one side of the surface of the impact box (31), and a rewinding shaft (310) is rotatably connected between the two groups of fixing frames (39), and rewinding rollers (38) are fixed on both ends of the surface of the rewinding shaft (310). The impact pull rope (35) is respectively connected to the reversing wheel (36) and the reversing wheel (37). One end of the impact pull rope (35) The impact box (31) is fixedly connected to the push plate (33), and the other end of the impact rope (35) is wound around the surface of the winding roller (38). A speed regulating motor (316) is arranged on the side of the impact box (31) near the winding shaft (310). A reset plate (311) is fixed to one side of the push plate (33), and a moving groove matched with the reset plate (311) is opened inside the push plate (33). A reset push rod (312) is screwed to the side of the surface of the test box (2) near the reset plate (311), and the output end of the reset push rod (312) corresponds to the surface of the reset plate (311). A blocking slider (313) is sleeved on the end of the surface of the limit rod (32) near the reversing wheel (36). A spring (314) is wound around the surface of the positioning rod (32), and the two ends of the spring (314) are respectively fixed between the impact box (31) and the blocking slider (313), the two ends of the push plate (33) are symmetrically connected to the positioning pulley (315), and the inside of the impact box (31) is provided with a positioning groove matched with the positioning pulley (315), a driving gear (45) is fixed to the middle of the surface of the driving shaft (42), the surface of the driving gear (45) is meshingly connected to the driven gear (46), the internal key of the driven gear (46) is connected to the spline (47), and the spline (47) is fixed to the surface of the winding shaft (310), and a fixing plate (411) is fixed between the two groups of the support frames (41).The surface of the fixed plate (411) is hinged with an electric telescopic rod (412), the output end of the electric telescopic rod (412) is hinged with an interlocking lever (413), and the interlocking lever (413) is hinged inside the fixed plate (411). The speed regulating motor (316) is screwed to the surface of one of the support frames (41), and the output end of the speed regulating motor (316) is fixed with a transmission worm (43), the surface of the transmission worm (43) is meshingly connected with a transmission worm wheel (44), and the transmission worm wheel (44) is fixed to the surface of the driving shaft (42), one side of the driven gear (46) is rotatably connected with a rotating ring (48), and a blocking frame (410) is fixed on the side of the surface of the impact box (31) close to the rotating ring (48), and a plurality of groups of springs (49) in a ring array are fixed between the rotating ring (48) and the blocking frame (410).

2. The robot impact dumping test device according to claim 1, characterized in that: Two groups of fixed seats (55) are fixed on one side of the test box (2) close to the test frame (54), and push blocks (56) are slidably connected inside the two groups of fixed seats (55). A pressure sensor (57) is fixed on one side of the test box (2) close to the push block (56), and a spring three (58) is fixed between the pressure sensor (57) and the push block (56). A force plate (513) is provided on one side of the push block (56) away from the spring three (58).

3. The robot impact dumping test device according to claim 2, characterized in that: A plurality of guide wheels (52) are symmetrically fixed on opposite sides of the two groups of support seats (51); the surfaces of the guide wheels (52) are slidably connected to the tipping frames (53); and the two groups of test frames (54) are fixed between the two groups of tipping frames (53); a hinge seat (59) is fixed on one side of the surface of the fixed seat (55); and two groups of mutually intersecting scissor-type hinged rods (511) are hingedly connected inside the hinge seat (59).

4. The robot impact dumping test device according to claim 3, characterized in that: A push-pull frame (510) is fixed to the surface of the push block (56), and one end of the push-pull frame (510) away from the push block (56) is respectively hinged to two scissor-type hinged rods (511), and fan gears (512) are respectively fixed at the ends of the two scissor-type hinged rods (511), and the two sets of fan gears (512) are meshed and connected with each other, and the force plate (513) is fixed at the ends of the scissor-type hinged rods (511), and a waist plate (515) is arranged between the test frame (54) and the impact head (34), and a plurality of groups of symmetrically arranged waist reset cylinders (514) are hinged between the waist plate (515) and the test frame (54), and a pressure measuring device (523) is fixed between the end of the waist reset cylinder (514) and the surface of the test frame (54), and the waist plate (515) A restraint belt (516) is fixed on the surface, a leg plate (518) is arranged below the waist plate (515), and a plurality of groups of symmetrically arranged leg reset cylinders (517) are hinged between the leg plate (518) and the test frame (54), and a second pressure measuring device (524) is fixed between the end of the leg reset cylinder (517) and the surface of the test frame (54), a standing base (519) is fixed below the leg plate (518), a pressure sensor plate (520) is fixed inside the standing base (519), a two-way push rod (521) is screwed to the lower surface of the standing base (519), and two output ends of the two-way push rod (521) are symmetrically hinged with fixed calipers (522), and the fixed calipers (522) are hinged to the surface of the standing base (519).

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