A test device for the gripping performance of an explosive disposal robot

Abstract

The present invention discloses a test device for the clamping performance of an explosive disposal robot, which specifically relates to the field of variable measurement test technology, including a test bench, a support, a retracting electric cylinder, a support shaft, and a radius variable measurement test mechanism; wherein the radius variable measurement test mechanism includes a guide groove plate, an induction strip, a radius sensor, a sleeve strip, a plurality of arc plates, a linkage electric cylinder, a linkage ring, and a guide ring; and also has a counterweight variable measurement test mechanism and a speed variable measurement test mechanism. The present invention adopts a radius variable measurement test mechanism, which has the advantages of being able to perform test measurement operations on explosives with different radius size variables, being able to perform multiple variable test measurements, having smaller test limitations, and having wider test measurement applicability, thereby solving the problem that it is difficult to perform test measurement operations on explosives with different radius size variables and explosives with different weight variables according to actual test needs, which leads to the problem that it is difficult to perform multiple variable test measurements and having large test limitations.

Description

Technical Field

[0001] The present invention relates to the technical field of variable measurement test, and more specifically, to a clamping performance test device for an explosive disposal robot. Background Art

[0002] The EOD robot gripping performance test device can simulate the gripping action of the EOD robot in actual operation. By capturing the motion trajectory of the robot arm in real time and measuring the gripping force and stability values, it ensures that the robot can accurately and stably grip the target object when handling explosives, avoiding dangerous situations such as falling off or accidental detonation during transportation or destruction. Secondly, through comprehensive testing of the gripping performance of the EOD robot, the robot's operating efficiency, stability and reliability can be evaluated, providing data support for subsequent improvements and optimizations.

[0003] In the existing published technical documents, the Chinese patent announcement number CN109752051A discloses a test device, which mainly includes a pressure sensor, a displacement sensor and an angular velocity sensor through the front-end sensor; the front-end sensor is communicatively connected to the data collector and the electrical integration unit, and the data collector and the electrical integration unit are communicatively connected to the data processing and display terminal. This invention can not only realize the real-time capture of the motion trajectory of the front-end mechanical arm of the police bomb disposal robot, but also measure the clamping force value and stability value of the mechanical arm; however, the test device still has the following problems.

[0004] Although the test device can measure the clamping force and stable value when testing the clamping performance of the bomb disposal robot, during the measurement test, since the explosives have different radius size variables and different weight variables, it is difficult to perform test measurement operations on explosives with different radius size variables and explosives with different weight variables according to actual test needs. This makes it difficult to perform multiple variable test measurements and the test has great limitations. Therefore, a bomb disposal robot clamping performance test device is needed. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides a device for testing the clamping performance of an explosive disposal robot.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: A holding performance test device for an explosive disposal robot, comprising a test bench, the upper surface of the test bench is fixedly connected with a pillar, and a contraction electric cylinder is fixedly installed on one side of the outer wall of the pillar, the output end of the contraction electric cylinder is fixedly connected with a support shaft, and a radius variable measurement test mechanism is installed above the support shaft; the radius variable measurement test mechanism comprises a guide groove disk fixedly installed above the support shaft, and the top of the pillar is fixedly connected with a sensing strip, a radius sensor is provided on one side of the sensing strip, and a sleeve strip is fixedly connected to the outer wall of the radius sensor; a plurality of arc plates are provided on one side of the sleeve strip, one of the arc plates is fixedly connected to the sleeve strip, and a linkage electric cylinder is installed on one side of the pillar and near the sleeve strip; a linkage ring is fixedly connected to the output end of the linkage electric cylinder, and a guide ring is slidably connected to the inner wall of the linkage ring, the inner wall of the guide ring is slidably connected to the pillar, and the guide groove disk is fixedly connected to the guide ring; a counterweight variable measurement test mechanism is provided on one side of the support shaft; a speed variable measurement test mechanism is provided on the other side of the support shaft.

[0007] Preferably, the support shaft is used to support the guide groove disk, and the cross-sectional area of ​​the top end of the support shaft is larger than the cross-sectional area of ​​the bottom end thereof, and the plurality of arc-shaped plates are arranged and arranged in a circular ring with equal spacing, and a gap is provided between two adjacent arc-shaped plates; the cross-sectional shapes of the plurality of arc-shaped plates are all arc-shaped, and the outer wall of the linkage ring is fixedly connected with a plurality of hinge blocks, and one side of the inner wall of each hinge block is fixedly connected with a connecting shaft, and a sleeve rod is rotatably connected with the outer wall of the connecting shaft; the inner wall of the sleeve rod is rotatably connected with a hinge shaft at a position away from the connecting shaft, and one end of the hinge shaft is fixedly connected with a sleeve block, and the inner wall of the sleeve block is slidably connected with a guide rod, and the guide rod is fixedly connected to the guide groove disk, and the plurality of sleeve blocks are slidably connected to the guide groove disk; one side of the sleeve block is fixedly connected with a sleeve strip, and the inner wall of the sleeve strip is slidably connected with two guide columns, and one end of the two guide columns is fixedly connected to the arc plate, and a first pressure sensor is installed above the guide column, and the arc plate and the sleeve strip are fixedly connected to the first pressure sensor.

[0008] Preferably, a control host is fixedly installed on one side of the test bench, and a display screen is fixedly connected to an inclined surface of one side of the control host, a bracket is provided on one side of the linkage electric cylinder, the linkage electric cylinder and the guide ring are fixedly connected to the bracket, and the vertical cross-section of the bracket is L-shaped.

[0009] When the holding performance test device of the bomb disposal robot of this technology is in use, the linkage electric cylinder pushes the linkage ring downward, and at the same time, the linkage ring drives multiple hinged blocks to move downward synchronously, and the connecting shaft makes the top of the sleeve rod move downward, so that the hinge shaft drives the sleeve block to move left, and the sleeve block slides left along the inner wall of the guide groove plate, and the sleeve strip drives the first pressure sensor to move left. At the same time, the first pressure sensor drives the arc plate to move left, and multiple arc plates can move away from the center point of the guide ring synchronously. The sleeve strip drives the radius sensor to move left, and the radius sensor senses the distance value between the radius sensor and the sensing strip. When the radius value sensed by the radius sensor is the same as the radius size of the explosive object set by the control host, the linkage electric cylinder is closed by the control host. Then the holding component of the bomb disposal robot begins to clamp on the outer walls of multiple arc plates, and at the same time, the control host starts the contraction electric cylinder to drive the support shaft to move downward, and the support shaft no longer supports the guide groove plate, so that the holding performance test of explosives with different radius size variables can be realized.

[0010] Preferably, the counterweight variable measurement test mechanism comprises a sliding rod arranged on one side of the support shaft;

[0011] The slide bar is fixedly connected to the guide groove plate, and a plurality of positioning rings are fixedly connected to the outer wall of the slide bar, and the plurality of positioning rings are arranged equidistantly from top to bottom, and a concave positioning plate is fixedly installed on the upper surface of the positioning ring; a positioning support plate is provided on one side of the positioning ring, and a counterweight is slidably connected above the positioning support plate, a magnetic block is fixedly connected to one side of the counterweight, and an electromagnet is magnetically connected to one side of the magnetic block, and a pushing electric cylinder is fixedly installed on one side of the electromagnet;

[0012] A threaded sleeve is fixedly connected to one side of the pushing electric cylinder, and a guide frame is slidably connected to the outer wall of the threaded sleeve, a screw is threadedly connected to the inner wall of the threaded sleeve, a reduction motor is fixedly installed on the top of the guide frame, and the reduction motor is used to drive the screw to rotate, a support plate is installed on one side of the guide frame, the pillar and the guide frame are fixedly connected to the support plate, the top of the screw is fixedly connected to the output end of the reduction motor, and the outer wall of the screw is rotatably connected to the guide frame.

[0013] When the holding performance test device of the bomb disposal robot of this technology is in use, the electric cylinder is pushed to push the electromagnet to move right. The electromagnet is energized to attract the magnetic block. The magnetic block drives the counterweight to move right. The right side of the counterweight fits on the left side of the inner wall of the concave positioning plate. The electromagnet is turned off to stop attracting the magnetic block. Then the electric cylinder is pushed to drive the electromagnet to move left and shrink to its original position. Then the control host starts the reduction motor. The reduction motor drives the screw to rotate. The screw drives the threaded sleeve to move up under the action of the thread transmission force. The threaded sleeve drives the electric cylinder to move up. The electric cylinder drives the electromagnet to move up. The electromagnet moves up to the left side of the second magnetic block. The electromagnet magnetically fixes the second magnetic block. Then the electric cylinder is started to push the electromagnet to move right. The electromagnet drives the second magnetic block to move right. The second counterweight enters the left side of the inner wall of the second concave positioning plate.

[0014] Preferably, the speed variable measurement test mechanism includes a sleeve frame provided on the other side of the support shaft, and the sleeve frame is fixedly connected to the guide groove plate; a connecting frame is fixedly installed on one side of the sleeve frame, and an extrusion electric cylinder is fixedly installed on the bottom end of the connecting frame, and the output end of the extrusion electric cylinder is fixedly connected to a second pressure sensor, and the sensing end of the second pressure sensor is fixedly installed with a push shaft, and the outer wall of the push shaft is slidably connected with the inner wall of the sleeve frame; a speed sensor is fixedly installed on one end of the push shaft, and a contact roller is fixedly installed on the sensing end of the speed sensor, the speed sensor is used to sense the rotation speed of the contact roller, and the outer wall of the contact roller is a rough surface.

[0015] When the holding performance test device of the bomb disposal robot of this technology is used, when the guide groove plate moves down, it will drive the sleeve frame to move down synchronously, the connecting frame drives the extrusion electric cylinder to move down, the extrusion electric cylinder makes the second pressure sensor move down synchronously, and the push shaft drives the speed sensor to move down. Due to the specified friction between the contact roller and the support, this causes the contact roller to roll, so that the speed sensor can sense the rotation speed of the contact roller.

[0016] Technical effects and advantages of the present invention:

[0017] 1. The present invention adopts a radius variable measurement test mechanism, which starts the linkage electric cylinder by controlling the main engine. The linkage ring moves downward along the outer wall of the guide ring, and multiple hinge blocks move downward synchronously. The hinge block drives the connecting shaft to move downward, and the sleeve rod drives the hinge shaft to move left. In this way, the hinge shaft drives the sleeve block to move left, and the sleeve strip drives the first pressure sensor to move left. In this way, multiple arc plates can be synchronously moved away from the center point of the guide ring. When the radius value sensed by the radius sensor is the same as the radius size of the explosive object set by the control main engine, the linkage electric cylinder is closed by controlling the main engine, and the clamping parts of the bomb disposal robot begin to clamp on the outer walls of multiple arc plates. In this way, test measurement operations can be performed on explosives with different radius size variables, and multiple variable test measurements can be performed. The test limitations are smaller and the test measurement applicability is wider.

[0018] 2. The present invention uses a counterweight variable measurement test mechanism to control the host to start the push electric cylinder, which pushes the electric cylinder to push the electromagnet to move right, and the electromagnet drives the magnetic block to move right, and the magnetic block drives the counterweight weight to move right. The right side of the counterweight weight is attached to the left side of the inner wall of the concave positioning plate, and the electromagnet no longer magnetically attracts the magnetic block. The reduction motor drives the screw to rotate, and the screw drives the threaded sleeve to move up under the action of the thread transmission force, and pushes the electric cylinder to drive the electromagnet to move up, and the electromagnet magnetically fixes the second magnetic block. The push electric cylinder is started to push the electromagnet to move right, and the second counterweight weight enters the left side of the inner wall of the second concave positioning plate. The two counterweight weights can be placed on the upper surfaces of the two positioning rings respectively. The weight of the two positioning rings will be transferred to the slide rod after pressurization. Multiple arc plates can add different weights to the clamping components of the bomb disposal robot to realize weight variable test, and test measurement operations can be performed on explosives with different weight variables. Multiple variable test measurements can be performed, and the test limitations are smaller.

[0019] 3. The present invention utilizes a speed variable measurement test mechanism. The downward movement of the guide groove plate will drive the sleeve frame to move downward synchronously, the sleeve frame drives the connecting frame to move downward, the extrusion electric cylinder causes the second pressure sensor to move downward synchronously, and the second pressure sensor drives the push shaft to move downward. Due to the specified friction force between the contact roller and the support, this causes the contact roller to roll, and the speed sensor senses the rotation speed of the contact roller. In this way, explosives of different weights can be tested, and the sliding speed variable value generated on the clamping component of the bomb disposal robot can be used for multiple variable test measurements, and the test measurement has a wider applicability.

[0020] The interaction of the above multiple effects can firstly adjust to explosives with different radius size variables, and then perform test measurement operations. Secondly, multiple arc plates can add different weights to the clamping parts of the bomb disposal robot. Finally, there is a specified friction between the contact roller and the support, and the speed sensor senses the rotation speed of the contact roller. In summary, according to actual test needs, it is possible to adjust test measurement operations for explosives with different radius size variables and explosives with different weight variables, and multiple variable test measurements can be performed, and the test measurement applicability is wider. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the holding performance test device of the bomb disposal robot of the present invention.

[0022] Figure 2 It is a schematic diagram of the rear view structure of the holding performance test device of the bomb disposal robot of the present invention.

[0023] Figure 3 It is a schematic diagram of the vertical cross-section structure of the holding performance test device of the bomb disposal robot of the present invention.

[0024] Figure 4It is a schematic diagram of the local structure of the vertical section of the connection between the guide ring and the guide groove plate of the present invention.

[0025] Figure 5 For the present invention Figure 4 Enlarged structural diagram at A in the middle.

[0026] Figure 6 It is a schematic diagram of the local structure of the vertical section of the connection between the sleeve block and the sleeve strip of the present invention.

[0027] Figure 7 It is a schematic diagram of the partial truncation structure of the counterweight variable measurement test mechanism of the present invention.

[0028] Figure 8 It is a bottom view structural schematic diagram of the holding performance test device for the explosive disposal robot of the present invention.

[0029] Fig. 9 It is a schematic diagram of the partial structure of the connection between the guide groove plate and the sleeve frame of the present invention.

[0030] Fig.10 It is a schematic diagram of the main structure of the speed variable measurement test mechanism of the present invention.

[0031] The accompanying drawings are marked as follows: 1, test bench; 2, pillar; 3, guide groove plate; 4, retracting electric cylinder; 5, support shaft; 6, induction strip; 7, radius sensor; 8, sleeve strip; 9, arc plate; 10, linkage electric cylinder; 11, linkage ring; 12, guide ring; 13, hinge block; 14, connecting shaft; 15, sleeve rod; 16, hinge shaft; 17, sleeve block; 18, guide rod; 19, sleeve strip; 20, guide column; 21, first pressure sensor; 22, control host; 23, Display screen; 24, bracket; 25, slide bar; 26, positioning ring; 27, concave positioning plate; 28, positioning support plate; 29, counterweight; 30, magnetic block; 31, electromagnet; 32, push cylinder; 33, threaded sleeve; 34, guide frame; 35, screw; 36, reduction motor; 37, support plate; 38, sleeve; 39, connecting frame; 40, extrusion cylinder; 41, second pressure sensor; 42, push shaft; 43, speed sensor; 44, contact roller. DETAILED DESCRIPTION

[0032] 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.

[0033] As attached Figure 1-10A device for testing the holding performance of an explosive disposal robot is shown, and is provided with a radius variable measurement test mechanism, a counterweight variable measurement test mechanism, and a speed variable measurement test mechanism. The settings of each mechanism and component can be adjusted according to actual test needs, and can perform test measurement operations on explosives with different radius size variables and explosives with different weight variables. Multiple variable test measurements can be performed, and the test measurement applicability is wider. The specific structural settings of each mechanism are as follows.

[0034] In this technical solution, as shown in the attached Figure 1-7 As shown, a radius variable measurement test mechanism is installed above the support shaft 5; the radius variable measurement test mechanism includes a guide groove plate 3 fixedly installed above the support shaft 5, and the top of the pillar 2 is fixedly connected to a sensing strip 6, a radius sensor 7 is provided on one side of the sensing strip 6, and a sleeve strip 8 is fixedly connected to the outer wall of the radius sensor 7; a plurality of arc plates 9 are provided on one side of the sleeve strip 8, one of the arc plates 9 is fixedly connected to the sleeve strip 8, and a linkage electric cylinder 10 is installed on one side of the pillar 2 and close to the sleeve strip 8; a linkage ring 11 is fixedly connected to the output end of the linkage electric cylinder 10, and a guide ring 12 is slidably connected to the inner wall of the linkage ring 11, the inner wall of the guide ring 12 is slidably connected to the pillar 2, and the guide groove plate 3 is fixedly connected to the guide ring 12; a counterweight variable measurement test mechanism is provided on one side of the support shaft 5; a speed variable measurement test mechanism is provided on the other side of the support shaft 5.

[0035] In this technical solution, as shown in the attached Figure 5-6 As shown, the outer wall of the linkage ring 11 is fixedly connected to a plurality of hinge blocks 13, and one side of the inner wall of each hinge block 13 is fixedly connected to a connecting shaft 14, and a sleeve rod 15 is rotatably connected to the outer wall of the connecting shaft 14; an articulated shaft 16 is rotatably connected to the inner wall of the sleeve rod 15 and away from the connecting shaft 14, and one end of the articulated shaft 16 is fixedly connected to a sleeve block 17, and a guide rod 18 is slidably connected to the inner wall of the sleeve block 17, and the guide rod 18 is fixedly connected to the guide groove plate 3, and a plurality of sleeve blocks 17 are slidably connected to the guide groove plate 3; a sleeve strip 19 is fixedly connected to one side of the sleeve block 17, and the inner wall of the sleeve strip 19 is slidably connected to two The guide column 20, one end of the two guide columns 20 are fixedly connected to the arc plate 9, and a first pressure sensor 21 is installed above the guide column 20. The arc plate 9 and the sleeve strip 19 are fixedly connected to the first pressure sensor 21, so that the linkage ring 11 drives multiple hinge blocks 13 to move downward synchronously, the connecting shaft 14 makes the top of the sleeve rod 15 move downward, the hinge shaft 16 drives the sleeve block 17 to move left, and the sleeve block 17 moves left along the outer wall of the guide rod 18. At the same time, the sleeve block 17 slides to the left along the inner wall of the guide groove plate 3, and the sleeve strip 19 drives the first pressure sensor 21 to move left, so as to realize the synchronous radius adjustment operation of multiple arc plates 9.

[0036] In this technical solution, as shown in the attached Figure 1-4 As shown, a control host 22 is fixedly installed on one side of the test bench 1, and a display screen 23 is fixedly connected to an inclined surface on one side of the control host 22, so that the radius size measured in the test can be displayed on the display screen 23, and the rotation speed value of the contact roller 44 under different weight conditions can also be displayed. The control host 22 can also realize the driving and contraction operation of the contraction electric cylinder 4. A bracket 24 is provided on one side of the linkage electric cylinder 10, and the linkage electric cylinder 10 and the guide ring 12 are fixedly connected to the bracket 24, and the vertical cross-section shape of the bracket 24 is L-shaped, so that the bracket 24 can provide support force for the linkage electric cylinder 10, and the linkage electric cylinder 10 is more stable to use.

[0037] In this technical solution, as shown in the attached Figure 7 As shown, the counterweight variable measurement test mechanism includes a slide bar 25 arranged on one side of the support shaft 5; the slide bar 25 is fixedly connected to the guide groove plate 3, and the outer wall of the slide bar 25 is fixedly connected with a plurality of positioning rings 26, and the plurality of positioning rings 26 are arranged in sequence and equidistantly from top to bottom, and a concave positioning plate 27 is fixedly installed on the upper surface of the positioning ring 26.

[0038] A positioning support plate 28 is provided on one side of the positioning support plate 26, and a counterweight 29 is slidably connected above the positioning support plate 28. A magnetic block 30 is fixedly connected to one side of the counterweight 29, and an electromagnet 31 is magnetically connected to one side of the magnetic block 30, and a push cylinder 32 is fixedly installed on one side of the electromagnet 31; a threaded sleeve 33 is fixedly connected to one side of the push cylinder 32, and a guide frame 34 is slidably connected to the outer wall of the threaded sleeve 33, and a screw 35 is threadedly connected to the inner wall of the threaded sleeve 33, and a reduction motor 36 is fixedly installed on the top of the guide frame 34, and the reduction motor 36 is used to drive the screw 35 to rotate. A support plate 37 is installed on one side of the guide frame 34, and the pillar 2 and the guide frame 34 are fixedly connected to the support plate 37. The top of the screw 35 is fixedly connected to the output end of the reduction motor 36, and the outer wall of the screw 35 is rotatably connected to the guide frame 34.

[0039] In this technical solution, as shown in the attached Figure 8-10 As shown, the speed variable measurement test mechanism includes a sleeve frame 38 provided on the other side of the support shaft 5, and the sleeve frame 38 is fixedly connected to the guide groove plate 3;

[0040] A connecting frame 39 is fixedly installed on one side of the sleeve frame 38, and an extrusion electric cylinder 40 is fixedly installed on the bottom end of the connecting frame 39. A second pressure sensor 41 is fixedly connected to the output end of the extrusion electric cylinder 40, and a push shaft 42 is fixedly installed on the sensing end of the second pressure sensor 41. The outer wall of the push shaft 42 is slidably connected to the inner wall of the sleeve frame 38; a speed sensor 43 is fixedly installed on one end of the push shaft 42, and a contact roller 44 is fixedly installed on the sensing end of the speed sensor 43. The speed sensor 43 is used to sense the rotation speed of the contact roller 44, and the outer wall of the contact roller 44 is a rough surface.

[0041] The working principle of the clamping performance test device of the bomb disposal robot of the present invention is as follows:

[0042] Step 1: When preparing for speed variable measurement, the guide groove plate 3 supports the sleeve frame 38, and the sleeve frame 38 supports the connecting frame 39, and the connecting frame 39 provides a stable supporting force for the extrusion electric cylinder 40. The control host 22 starts the extrusion electric cylinder 40, and the extrusion electric cylinder 40 pushes the second pressure sensor 41 to move left. At the same time, the second pressure sensor 41 drives the push shaft 42 to move left, and the push shaft 42 moves left along the inner wall of the sleeve frame 38, so that the push shaft 42 drives the speed sensor 43 to move left, and the speed sensor 43 drives the contact roller 44 to move left, and the contact roller 44 is squeezed on the outer wall of the pillar 2. When the extrusion pressure value sensed by the second pressure sensor 41 is the same as the extrusion pressure value set by the control host 22, the extrusion electric cylinder 40 is closed by the control host 22, so that the contact roller 44 can achieve friction contact with the outer wall of the pillar 2 according to the specified extrusion force.

[0043] Step 2: During the radius variable measurement test, the radius size of the explosive object is set on the control host 22, the linkage electric cylinder 10 is started through the control host 22, and the guide ring 12 supports the bracket 24, the bracket 24 supports the linkage electric cylinder 10, and the linkage electric cylinder 10 can be used stably, so that the linkage electric cylinder 10 pushes the linkage ring 11 to move downward, and the linkage ring 11 moves downward along the outer wall of the guide ring 12. At the same time, the linkage ring 11 drives multiple hinge blocks 13 to move downward synchronously, the hinge block 13 drives the connecting shaft 14 to move downward, the connecting shaft 14 makes the top of the sleeve rod 15 move downward, and the sleeve rod 15 drives the hinge shaft 16 to move left, so that the hinge shaft 16 drives the sleeve block 17 to move left, the sleeve block 17 moves left along the outer wall of the guide rod 18, and at the same time, the sleeve block 17 slides left along the inner wall of the guide groove plate 3, and the sleeve strip 19 drives the first pressure sensor 21 to move left.

[0044] At the same time, the first pressure sensor 21 drives the arc plate 9 to move leftward, and the multiple arc plates 9 can synchronously move away from the center point of the guide ring 12. The arc plate 9 drives the sleeve bar 8 to move leftward, and the sleeve bar 8 drives the radius sensor 7 to move leftward, and the distance between the radius sensor 7 and the sensing bar 6 increases. The radius sensor 7 senses the distance value between the radius sensor 7 and the sensing bar 6. When the radius value sensed by the radius sensor 7 is the same as the radius size of the explosive object set by the control host 22, the control host 22 closes the linkage electric cylinder 10. Then the clamping components of the bomb disposal robot begin to clamp on the outer walls of multiple arc-shaped plates 9, and at the same time, the control host 22 starts the contraction electric cylinder 4 to drive the support shaft 5 to move downward, and the support shaft 5 no longer supports the guide groove plate 3, thereby squeezing the arc-shaped plate 9, and the arc-shaped plate 9 squeezes the first pressure sensor 21. The arc-shaped plate 9 simultaneously drives the two guide columns 20 to move right, and the two guide columns 20 move right along the inner wall of the sleeve strip 19, and the sleeve strip 19 supports the first pressure sensor 21. In this way, the first pressure sensor 21 can sense whether the clamping force of the clamping components of the bomb disposal robot can meet the test requirements, and can realize the clamping performance test of explosives with different radius size variables.

[0045] Step 3: During the counterweight variable measurement test, the control host 22 starts to push the electric cylinder 32, and the electric cylinder 32 pushes the electromagnet 31 to move right. The electromagnet 31 is energized to magnetically attract the magnetic block 30. At the same time, the electromagnet 31 drives the magnetic block 30 to move right, and the magnetic block 30 drives the counterweight 29 to move right. The counterweight 29 slides along the inner wall of the positioning support plate 28 toward the inner wall of the concave positioning plate 27, and the counterweight 29 is supported by the positioning ring 26. The right side of the counterweight 29 is attached to the left side of the inner wall of the concave positioning plate 27. By controlling the host 22 to turn off the electromagnet 31, the electromagnet 31 no longer magnetically attracts the magnetic block 30, and then the electric cylinder 32 is pushed to drive the electromagnet 31 to move left and shrink to the original position. The electromagnet 31 is separated from the magnetic block 30, and the downward gravity of the positioning ring 26 can be increased through the first counterweight 29 at the bottom.

[0046] Then the control host 22 starts the reduction motor 36, and the support plate 37 provides a supporting force through the pillar 2, and the support plate 37 provides a supporting force for the guide frame 34, so that the reduction motor 36 drives the screw 35 to rotate, and the screw 35 drives the threaded sleeve 33 to move upward under the action of the thread transmission force, so that the threaded sleeve 33 slides along the inner wall of the guide frame 34, and at the same time, the threaded sleeve 33 drives the pushing electric cylinder 32 to move upward, and the pushing electric cylinder 32 drives the electromagnet 31 to move upward, and the electromagnet 31 moves to the left side of the second magnetic block 30, then the control host 22 turns off the reduction motor 36, and starts the electromagnet 31 at the same time, and the electromagnet 31 magnetically fixes the second magnetic block 30, and then starts the pushing electric cylinder 32 to push the electromagnet 31 to move right, and the electromagnet 31 drives the second magnetic block 30 to move right.

[0047] The second magnetic block 30 drives the second counterweight 29 to move right, and the second counterweight 29 enters the left position of the inner wall of the second concave positioning plate 27. Then, after the electromagnet 31 is closed, the electromagnet 31 is no longer magnetically fixed to the second magnetic block 30, and the electromagnet 31 can be driven to move left by pushing the electric cylinder 32. In this way, the two counterweights 29 can be placed on the upper surfaces of the two positioning rings 26 respectively. The weight of the two positioning rings 26 will be transferred to the slide rod 25 after pressurization, and the slide rod 25 will be transferred to the guide groove plate 3. The counterweight of the guide groove plate 3 drives multiple guide rods 18 to move downward, and the guide rod 18 drives the socket block 17 to move downward, and the socket block 17 drives the sleeve strip 19 to move downward, and the sleeve strip 19 can enable the first pressure sensor 21 to drive the arc plate 9 to move downward, so that multiple arc plates 9 can slide downward on the clamping component of the bomb disposal robot, and at the same time, the guide groove plate 3 drives the guide ring 12 to slide downward along the outer wall of the pillar 2.

[0048] Step 4: During the speed variable measurement test, when the guide groove plate 3 moves downward, the sleeve frame 38 will be driven to move downward synchronously, the sleeve frame 38 will drive the connecting frame 39 to move downward, the connecting frame 39 will drive the extrusion electric cylinder 40 to move downward, the extrusion electric cylinder 40 will make the second pressure sensor 41 move downward synchronously, the second pressure sensor 41 will drive the push shaft 42 to move downward, the push shaft 42 will drive the speed sensor 43 to move downward, and the speed sensor 43 will make the contact roller 44 move downward. Since there is a specified friction force between the contact roller 44 and the support 2, this will cause the contact roller 44 to roll, so that the speed sensor 43 can sense the rotation speed of the contact roller 44, and record it through the control host 22. If two counterweights 29 are counterweighted, the counterweight operation of the third counterweight 29 will be repeated if it is not enough, so as to test whether explosives of different weights will slide vertically on the clamping parts of the bomb disposal robot.

[0049] Step 5: When displaying the records, the radius size of the test measurement is displayed on the display screen 23, and the rotation speed value of the contact roller 44 under different weight conditions can also be displayed. This can realize different variable test measurements on the clamping performance of the bomb disposal robot, and the measurement applicability is wider.

[0050] The contents not described in detail in the specification belong to the prior art known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited, and conventional equipment can be used. In this technical solution, the electrical control components not mentioned are not shown in the figure because they belong to the prior art and will not be described here.

[0051] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A device for testing the gripping performance of an explosive disposal robot, comprising a test bench (1), the upper surface of the test bench (1) being fixedly connected to a support (2), and a retractable electric cylinder (4) being fixedly mounted on one side of an outer wall of the support (2), and an output end of the retractable electric cylinder (4) being fixedly connected to a support shaft (5), characterized in that: A radius variable measurement test mechanism is installed above the support shaft (5); The radius variable measurement test mechanism comprises a guide groove plate (3) fixedly mounted above a support shaft (5), and a sensing strip (6) is fixedly connected to the top of the support (2), a radius sensor (7) is provided on one side of the sensing strip (6), and a sleeve strip (8) is fixedly connected to the outer wall of the radius sensor (7); A plurality of arc-shaped plates (9) are provided on one side of the sleeve bar (8), one of the arc-shaped plates (9) is fixedly connected to the sleeve bar (8), and a linkage electric cylinder (10) is installed on one side of the support (2) and close to the sleeve bar (8); The output end of the linkage electric cylinder (10) is fixedly connected to a linkage ring (11), and the inner wall of the linkage ring (11) is slidably connected to a guide ring (12), the inner wall of the guide ring (12) is slidably connected to the support (2), and the guide groove plate (3) is fixedly connected to the guide ring (12); A counterweight variable measurement test mechanism is provided on one side of the support shaft (5); A speed variable measurement test mechanism is provided on the other side of the support shaft (5); The support shaft (5) is used to support the guide groove plate (3), and the cross-sectional area of ​​the top end of the support shaft (5) is larger than the cross-sectional area of ​​the bottom end thereof; The outer wall of the linkage ring (11) is fixedly connected to a plurality of hinge blocks (13); one side of the inner wall of each hinge block (13) is fixedly connected to a connecting shaft (14); and a sleeve rod (15) is rotatably connected to the outer wall of the connecting shaft (14); A hinge shaft (16) is rotatably connected to the inner wall of the sleeve rod (15) at a position away from the connecting shaft (14), and a sleeve block (17) is fixedly connected to one end of the hinge shaft (16), and a guide rod (18) is slidably connected to the inner wall of the sleeve block (17), the guide rod (18) is fixedly connected to the guide groove plate (3), and a plurality of sleeve blocks (17) are slidably connected to the guide groove plate (3); A sleeve strip (19) is fixedly connected to one side of the sleeve block (17); two guide columns (20) are slidably connected to the inner wall of the sleeve strip (19); one end of each of the two guide columns (20) is fixedly connected to the arc plate (9); a first pressure sensor (21) is installed above the guide column (20); and the arc plate (9) and the sleeve strip (19) are fixedly connected to the first pressure sensor (21).

2. The explosive disposal robot gripping performance test device according to claim 1, characterized in that: The plurality of arc-shaped plates (9) are arranged in a circular ring with equal spacing, and a gap is provided between two adjacent arc-shaped plates (9); The cross-sectional shapes of the plurality of arc-shaped plates (9) are all arc-shaped.

3. The explosive disposal robot gripping performance test device according to claim 1, characterized in that: A control host (22) is fixedly mounted on one side of the test bench (1), and a display screen (23) is fixedly connected to an inclined surface on one side of the control host (22).

4. The explosive disposal robot gripping performance test device according to claim 1, characterized in that: A bracket (24) is provided on one side of the linkage electric cylinder (10); the linkage electric cylinder (10) and the guide ring (12) are both fixedly connected to the bracket (24); and the vertical cross-section of the bracket (24) is L-shaped.

5. The explosive disposal robot gripping performance test device according to claim 1, characterized in that: The counterweight variable measurement test mechanism comprises a sliding rod (25) arranged on one side of the support shaft (5); The slide bar (25) is fixedly connected to the guide groove plate (3), and a plurality of positioning rings (26) are fixedly connected to the outer wall of the slide bar (25). The plurality of positioning rings (26) are arranged in sequence and equidistantly from top to bottom, and a concave positioning plate (27) is fixedly installed on the upper surface of the positioning ring (26); A positioning support plate (28) is provided on one side of the positioning ring (26), a counterweight (29) is slidably connected above the positioning support plate (28), a magnetic block (30) is fixedly connected to one side of the counterweight (29), and an electromagnet (31) is magnetically connected to one side of the magnetic block (30), and a driving electric cylinder (32) is fixedly installed on one side of the electromagnet (31); A threaded sleeve (33) is fixedly connected to one side of the pushing electric cylinder (32), and the outer wall of the threaded sleeve (33) is slidably connected to a guide frame (34), the inner wall of the threaded sleeve (33) is threadedly connected to a screw rod (35), a reduction motor (36) is fixedly installed at the top of the guide frame (34), and the reduction motor (36) is used to drive the screw rod (35) to rotate, and a support plate (37) is installed on one side of the guide frame (34), and the pillar (2) and the guide frame (34) are fixedly connected to the support plate (37).

6. The explosive disposal robot gripping performance test device according to claim 5, characterized in that: The top end of the screw rod (35) is fixedly connected to the output end of the reduction motor (36), and the outer wall of the screw rod (35) is rotationally connected to the guide frame (34).

7. The explosive disposal robot gripping performance test device according to claim 1, characterized in that: The speed variable measurement test mechanism comprises a sleeve frame (38) provided on the other side of the support shaft (5), and the sleeve frame (38) is fixedly connected to the guide groove plate (3); A connecting frame (39) is fixedly mounted on one side of the sleeve frame (38), and an extrusion electric cylinder (40) is fixedly mounted on the bottom end of the connecting frame (39), an output end of the extrusion electric cylinder (40) is fixedly connected to a second pressure sensor (41), a sensing end of the second pressure sensor (41) is fixedly mounted to a push shaft (42), and an outer wall of the push shaft (42) is slidably connected to an inner wall of the sleeve frame (38); A speed sensor (43) is fixedly mounted on one end of the push shaft (42), and a contact roller (44) is fixedly mounted on the sensing end of the speed sensor (43).

8. The device for testing the holding performance of an explosive ordnance disposal robot according to claim 7, characterized in that: The speed sensor (43) is used to sense the rotation speed of the contact roller (44), and the outer wall of the contact roller (44) is a rough surface.

Images