Walking test tool and test method thereof

Abstract

The invention relates to the technical field of test equipment, and particularly discloses a walking test tool and a test method thereof. The walking test tool comprises a supporting assembly, an excitation device, an annular track assembly, a robot body and a walking mechanism. The excitation device is arranged on the supporting assembly; the annular track assembly is rotationally connected to the excitation device through a rotating shaft; the robot body is connected to the supporting assembly. The walking mechanism is arranged on the robot body. The moving end of the walking mechanism is in transmission connection with the annular rail assembly. According to the walking test tool, the track length limitation is relieved, the walking mechanism can continuously run for a long time, meanwhile, the excitation device is used for applying reverse torque to rotation of the annular track assembly so as to simulate the walking mechanism to drive the robot body to climb, and the robot body can climb by controlling the reverse torque. The testing device can simulate testing under different gradient conditions, is simple to adjust, and meets the testing requirement of long climbing of the walking mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of testing equipment, and in particular to a walking test tool and a testing method thereof. Background Art

[0002] A rail-mounted robot is a robot that moves along a preset track and is usually used in scenarios that require precise control and stable movement. The rail-mounted robot achieves autonomous positioning and navigation through rail-mounted navigation, and can perform inspection tasks in harsh and special environments, such as full-time inspections in tunnels, warehouses, factories, pipe galleries, and other scenarios.

[0003] At present, the rail-mounted robot moves on the track through the walking mechanism. In order to ensure the performance, safety, stability and reliability of the walking mechanism, as well as the test collection of the service life test of the wearing parts and the power consumption data, the walking mechanism of the rail-mounted robot needs to be tested. In the prior art, a straight track with a slope is generally used for round-trip operation to test the application scenario of the walking mechanism under a certain slope of the track. However, this method makes it difficult to adjust the slope of the track and cannot meet the test requirements of the walking mechanism for long climbing. Summary of the invention

[0004] The purpose of the present invention is to provide a walking test tool and a testing method thereof, so as to solve the problem in the prior art that when a walking mechanism performs round-trip operation on a straight track with a slope, it is difficult to adjust the slope of the track and the testing requirements of the walking mechanism for long climbing cannot be met.

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

[0006] In one aspect, the present invention provides a walking test tool, comprising:

[0007] Support components;

[0008] An excitation device, wherein the excitation device is arranged on the support assembly;

[0009] An annular track assembly, wherein the annular track assembly is rotatably connected to the excitation device via a rotating shaft; the excitation device is used to apply a reverse torque to the rotation of the annular track assembly;

[0010] A robot body and a walking mechanism, wherein the robot body is connected to the supporting assembly, and the walking mechanism is arranged on the robot body; the moving end of the walking mechanism is transmission-connected to the annular track assembly for moving on the annular track assembly.

[0011] As an optional solution for the above-mentioned walking test tooling, the annular track assembly includes an arc track, a connecting rod and an adapter. The arc track and the connecting rod each include a plurality of arc tracks, and the plurality of arc tracks are arranged end to end in sequence to form an annular structure; one end of the connecting rod is fixedly connected to two adjacent arc tracks, and the other end of the connecting rod is fixedly connected to the adapter; the adapter is coaxially connected to the rotating shaft.

[0012] As an optional solution of the above-mentioned walking test tooling, the annular track assembly also includes a first connecting member, the end of the connecting rod is connected to a mounting plate, the end of the arc track is provided with a mounting groove, the mounting plate can be inserted into the mounting groove, and the first connecting member can pass through the arc track and be connected to the mounting plate.

[0013] As an optional solution of the above-mentioned walking test tooling, the annular track assembly also includes a second connecting member, the adapter is provided with a limiting groove, one end of the connecting rod is embedded in the limiting groove, and the second connecting member can pass through the connecting rod and be connected to the bottom of the limiting groove.

[0014] As an optional solution of the walking test fixture, rotary bearings are provided on opposite sides of the excitation device, and the rotating shaft is connected to the rotary bearings.

[0015] As an optional solution of the above-mentioned walking test tooling, the supporting assembly includes a base frame and a mounting frame, the mounting frame is vertically connected to the base frame, the excitation device is arranged on the mounting frame, and the robot body is connected to the base frame; the rotating surface of the annular track assembly is parallel to the mounting frame.

[0016] As an optional solution of the above-mentioned walking test tooling, the support assembly also includes a clamp, which is arranged on the mounting frame and sleeved on the outside of the excitation device.

[0017] As an optional solution of the above-mentioned walking test tooling, the support assembly also includes a connecting chain, one end of the connecting chain is connected to the base frame, and the other end of the connecting chain is detachably connected to the robot body through a hook and loop.

[0018] As an optional solution of the above-mentioned walking test tool, the walking test tool also includes an external power supply, and the external power supply is electrically connected to the robot body.

[0019] On the other hand, the present invention provides a testing method of a walking test tool, which is completed using the walking test tool as described above, and the testing method of the walking test tool comprises the following steps:

[0020] The required test slope is input through the control unit, and conversion is performed according to the test slope to control the excitation device to apply reverse torque to the annular track assembly;

[0021] The walking mechanism is controlled by the robot body to walk on the annular track assembly, and the track speed collected by the excitation device and the current value and voltage value input by the robot body are collected by the collection unit.

[0022] The beneficial effects of the present invention are:

[0023] The walking test fixture includes a support assembly, an excitation device, a circular track assembly, a robot body and a walking mechanism. The excitation device is arranged on the support assembly, and the circular track assembly is connected to the excitation device through a rotating shaft, so that the circular track assembly can rotate relative to the excitation device through the rotating shaft, and then rotate relative to the support assembly, wherein the robot body is connected to the support assembly, the walking mechanism is arranged on the robot body, and the moving end of the walking mechanism is connected to the circular track assembly for moving on the circular track assembly, so that the walking mechanism can be controlled by the robot body, and the walking mechanism can be moved on the circular track assembly. During the movement, since the support assembly can limit the displacement of the robot body, the circular track assembly rotates relative to the support assembly, thereby simulating the movement of the robot body driven by the walking mechanism. The walking test fixture removes the track length restriction and enables the walking mechanism to run continuously for a long time. At the same time, the excitation device is used to apply a reverse torque to the rotation of the circular track assembly, thereby simulating the walking mechanism driving the robot body to climb a slope, and by controlling the magnitude of the reverse torque, it can simulate the test under different slope conditions, and its adjustment is simple, meeting the test requirements of the walking mechanism for long climbing.

[0024] The testing method of the walking test fixture in the present invention is completed using the walking test fixture as described above. The testing method of the walking test fixture is simple to operate. By inputting the required test slope through the control unit, the reverse torque applied by the excitation device to the circular track assembly can be adjusted, so that the walking mechanism can perform a climbing simulation test at the test slope to test the structural safety, stability, service life test of wearing parts, power consumption and other data of the walking mechanism in different usage scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of the structure of a walking test tool provided in an embodiment of the present invention;

[0026] Figure 2 A first exploded view of a portion of a walking test tool provided by an embodiment of the present invention;

[0027] Figure 3A second exploded view of a portion of the walking test tooling provided by an embodiment of the present invention;

[0028] Figure 4 A schematic flow chart of a testing method for a walking test tool provided in an embodiment of the present invention.

[0029] In the figure:

[0030] 1. Support assembly; 11. Base; 12. Mounting frame; 13. Clamp; 14. Connecting chain; 2. Excitation device; 3. Annular track assembly; 31. Arc track; 311. Mounting groove; 32. Connecting rod; 321. Mounting plate; 33. Adapter; 331. Limiting groove; 34. First connecting member; 35. Second connecting member; 4. Rotating shaft; 5. Robot body; 6. Walking mechanism; 7. Rotating bearing. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0032] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0035] like Figure 1 to Figure 3 As shown, this embodiment provides a walking test tool for performing a comprehensive test on the walking mechanism 6.

[0036] The walking test fixture includes a support assembly 1, an excitation device 2, a ring track assembly 3, a robot body 5 and a walking mechanism 6. The excitation device 2 is arranged on the support assembly 1, and the ring track assembly 3 is rotatably connected to the excitation device 2 through a rotating shaft 4, so that the ring track assembly 3 can rotate relative to the excitation device 2 through the rotating shaft 4, and then rotate relative to the support assembly 1. Optionally, a rotating shaft 4 bearing is provided on both opposite sides of the excitation device 2, and the rotating shaft 4 is connected to the rotating shaft 4 bearing, so that the stability of the ring track assembly 3 during the rotation relative to the excitation device 2 through the rotating shaft 4 can be improved through the setting of the rotating shaft 4 bearing, and the ring track assembly 3 is prevented from shaking and affecting the accuracy of subsequent tests.

[0037] Among them, the robot body 5 is connected to the support assembly 1, the walking mechanism 6 is arranged on the robot body 5, and the moving end of the walking mechanism 6 is transmission-connected to the annular track assembly 3 for moving on the annular track assembly 3, so that the walking mechanism 6 can be controlled to walk through the robot body 5, and move on the annular track assembly 3 through the walking mechanism 6. During the movement, since the support assembly 1 can limit the displacement of the robot body 5, the annular track assembly 3 rotates relative to the support assembly 1, thereby simulating the movement of the robot body 5 driven by the walking mechanism 6. The walking test tooling removes the track length limitation and enables the walking mechanism 6 to run continuously for a long time.

[0038] At the same time, the excitation device 2 is used to apply a reverse torque to the rotation of the annular track assembly 3, thereby simulating the walking mechanism 6 driving the robot body 5 to climb a slope. By controlling the size of the reverse torque, it can simulate tests under different slope conditions. The adjustment is simple and meets the test requirements of the walking mechanism 6 for long climbing.

[0039] like Figure 2 and Figure 3 As shown, the annular track assembly 3 includes an arc track 31, a connecting rod 32 and an adapter 33. The arc track 31 and the connecting rod 32 each include a plurality of arc tracks 31, and the plurality of arc tracks 31 are arranged end to end in sequence to form an annular structure. One end of the connecting rod 32 is fixedly connected to two adjacent arc tracks 31 so that the two adjacent arc tracks 31 are connected. The other end of the connecting rod 32 is fixedly connected to the adapter 33, so that the plurality of arc tracks 31 can be fixed to the adapter 33 through the plurality of connecting rods 32, and the adapter 33 is the rotation center of the annular track assembly 3. At the same time, the adapter 33 is coaxially connected to the rotating shaft 4, so that the annular track assembly 3 is coaxially arranged with the rotating shaft 4.

[0040] Furthermore, the annular track assembly 3 also includes a first connecting member 34, the end of the connecting rod 32 is connected to a mounting plate 321, the end of the arc track 31 is provided with a mounting groove 311, the mounting plate 321 can be inserted into the mounting groove 311, and the first connecting member 34 can pass through the arc track 31 and be connected to the mounting plate 321, so that one side of the mounting plate 321 can be connected to a arc track 31 through the first connecting member 34, and the other side of the mounting plate 321 can be connected to the other side of the arc track 31 through the first connecting member 34, thereby realizing the connection between two adjacent arc tracks 31. At the same time, the annular track assembly 3 also includes a second connecting member 35, the adapter 33 is provided with a limiting groove 331, one end of the connecting rod 32 is embedded in the limiting groove 331, and the second connecting member 35 can pass through the connecting rod 32 and be connected to the bottom of the limiting groove 331, so that the connecting rod 32 can be clamped and limited through the limiting groove 331, thereby improving the installation accuracy of the connecting rod 32 on the adapter 33 and reducing the assembly difficulty of the annular track assembly 3.

[0041] like Figure 1As shown, the support assembly 1 includes a base 11 frame and a mounting frame 12, the mounting frame 12 is vertically connected to the base 11 frame, the excitation device 2 is arranged on the mounting frame 12, the robot body 5 is connected to the base 11 frame, and the rotation surface of the annular track assembly 3 is parallel to the mounting frame 12. The base 11 frame can support the walking test tooling as a whole to ensure the overall stability during the test. The excitation device 2 can be installed through the mounting frame 12, and the excitation device 2 and the annular track assembly 3 have a certain height, which is convenient for the arrangement of the robot body 5 and the walking mechanism 6. At the same time, the rotation surface of the annular track assembly 3 is parallel to the mounting frame 12, thereby preventing the base 11 frame and the mounting frame 12 from interfering with the rotation of the annular track assembly 3. Specifically, the support assembly 1 also includes a clamp 13, which is arranged on the mounting frame 12 and sleeved on the outside of the excitation device 2. The clamp 13 can realize the installation of the excitation device 2 on the mounting frame 12, and it is convenient to disassemble and replace the excitation device 2.

[0042] Furthermore, the support assembly 1 further includes a connecting chain 14, one end of which is connected to the base 11, and the other end of which is detachably connected to the robot body 5 through a hook, so that the robot body 5 can be fixedly connected to the base 11 through the connecting chain 14, thereby limiting the displacement of the robot body 5, wherein the hook can realize the rapid disassembly and installation between the robot body 5 and the connecting chain 14. Optionally, the robot body 5 and the base 11 are both provided with a lifting ring, one end of the connecting chain 14 is connected to the lifting ring, and the other end of the connecting chain 14 is connected to the lifting ring through the hook.

[0043] Furthermore, the walking test tooling also includes an external power supply, which is electrically connected to the robot body 5. Since the robot body 5 will not be displaced relative to the support assembly 1, the external power supply can be conveniently electrically connected to the robot body 5, thereby removing the power limitation inside the robot body 5 and realizing long-term continuous operation of the walking mechanism 6.

[0044] This embodiment also provides a method for testing a walking test tool, such as Figure 4 As shown, the testing method of the walking test tool is completed using the walking test tool as described above, and the testing method of the walking test tool includes the following steps:

[0045] The required test slope is input through the control unit, and conversion is performed according to the test slope to control the excitation device 2 to apply reverse torque to the annular track assembly 3;

[0046] The robot body 5 controls the walking mechanism 6 to walk on the annular track assembly 3 , and at the same time, the track speed collected by the excitation device 2 and the current value and voltage value input by the robot body 5 are collected by the collection unit.

[0047] The testing method of the walking test tooling provided in this embodiment is simple to operate. By inputting the required test slope through the control unit, the reverse torque applied by the excitation device 2 to the annular track assembly 3 can be adjusted, so that the walking mechanism 6 can perform a climbing simulation test at the test slope to test the structural safety, stability, service life test of wearing parts, power consumption and other data of the walking mechanism 6 in different usage scenarios.

[0048] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A walking test tool, characterized in that: include: Support assembly (1); An excitation device (2), wherein the excitation device (2) is arranged on the support assembly (1); An annular track assembly (3), the annular track assembly (3) being rotatably connected to the excitation device (2) via a rotating shaft (4); the excitation device (2) being used to apply a reverse torque to the rotation of the annular track assembly (3); A robot body (5) and a walking mechanism (6), wherein the robot body (5) is connected to the support assembly (1), and the walking mechanism (6) is arranged on the robot body (5); the moving end of the walking mechanism (6) is transmission-connected to the annular track assembly (3) for moving on the annular track assembly (3).

2. The walking test tool according to claim 1, characterized in that: The annular track assembly (3) comprises an arc track (31), a connecting rod (32) and an adapter (33); the arc track (31) and the connecting rod (32) each comprise a plurality of arc tracks (31), and the plurality of arc tracks (31) are arranged end to end in sequence to form an annular structure; one end of the connecting rod (32) is fixedly connected to two adjacent arc tracks (31), and the other end of the connecting rod (32) is fixedly connected to the adapter (33); the adapter (33) is coaxially connected to the rotating shaft (4).

3. The walking test tool according to claim 2, characterized in that: The annular track assembly (3) further comprises a first connecting member (34), the end of the connecting rod (32) is connected to a mounting plate (321), the end of the arc track (31) is provided with a mounting groove (311), the mounting plate (321) can be inserted into the mounting groove (311), and the first connecting member (34) can pass through the arc track (31) and be connected to the mounting plate (321).

4. The walking test tool according to claim 2, characterized in that: The annular track assembly (3) further comprises a second connecting member (35), the adapter (33) is provided with a limiting groove (331), one end of the connecting rod (32) is embedded in the limiting groove (331), and the second connecting member (35) can pass through the connecting rod (32) and be connected to the bottom of the limiting groove (331).

5. The walking test tool according to claim 1, characterized in that: Rotating shaft (4) bearings are provided on opposite sides of the excitation device (2), and the rotating shaft (4) is connected to the rotating shaft (4) bearings.

6. The walking test tool according to claim 1, characterized in that: The support assembly (1) comprises a base (11) frame and a mounting frame (12), wherein the mounting frame (12) is vertically connected to the base (11) frame, the excitation device (2) is arranged on the mounting frame (12), and the robot body (5) is connected to the base (11) frame; the rotation surface of the annular track assembly (3) is parallel to the mounting frame (12).

7. The walking test tool according to claim 6, characterized in that: The support assembly (1) further comprises a clamp (13), wherein the clamp (13) is arranged on the mounting frame (12) and sleeved on the outside of the excitation device (2).

8. The walking test tool according to claim 6, characterized in that: The support assembly (1) further comprises a connecting chain (14), one end of the connecting chain (14) being connected to the base (11) frame, and the other end of the connecting chain (14) being detachably connected to the robot body (5) via a hook and loop.

9. The walking test tool according to any one of claims 1 to 8, characterized in that: The walking test tool also includes an external power supply, which is electrically connected to the robot body (5).

10. A method for testing a walking test tool, characterized in that: The walking test tool is used as described in any one of claims 1 to 9, and the testing method of the walking test tool comprises the following steps: A required test slope is inputted through a control unit, and conversion is performed according to the test slope to control the excitation device (2) to apply a reverse torque to the annular track assembly (3); The walking mechanism (6) is controlled by the robot body (5) to walk on the annular track assembly (3), and the track speed collected by the excitation device (2) and the current value and voltage value input by the robot body (5) are collected by a collection unit.

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