ROS robot debugging device and debugging method

Abstract

The invention relates to the field of robot detection devices, and discloses an ROS robot debugging device and a debugging method.The ROS robot debugging device comprises a placing platform used for placing a robot, one side of the placing platform is connected with a monitoring mechanism, an electronic fence is arranged below the monitoring mechanism, and the electronic fence is used for preventing the robot from excessively moving; and the electronic fence is connected with the placement platform, the placement platform comprises a base making contact with the ground, a steering cylinder is rotationally connected to the base, a fixed box is fixedly connected to the top of the steering cylinder, a clamping box is clamped to the fixed box, and a second driver is fixedly connected into the fixed box. The safety of the robot is ensured, and different speeds and terrains can be adaptively changed through the placement platform, so that all-directional debugging is ensured, diversified debugging work can be conveniently carried out, damage and carrying of the robot are reduced, the debugging time and the debugging cost are reduced, and quick debugging work is facilitated.

Description

Technical Field

[0001] This invention relates to the field of robot inspection devices, and more particularly to a ROS robot debugging device and debugging method. Background Technology

[0002] ROS is not an "operating system" in the traditional sense, but rather an open-source robot development framework running on the Linux system. Through standardized tools, libraries, and communication protocols, it solves the problem of "reinventing the wheel" in robot development, allowing developers to more efficiently build core functions such as robot hardware control, perception, decision-making, and navigation. It is one of the most mainstream robot development platforms globally. After development is completed and input into a physical robot, data debugging and operational status monitoring are required to ensure stable operation during mass production.

[0003] Existing debugging devices typically involve debugging indoors on flat ground and then moving to different terrains or locations for further debugging. This method is time-consuming and cumbersome. Furthermore, the robot lacks corresponding protective measures during the debugging process, which can easily lead to damage to the robot and the sample, increasing the overall R&D cost of debugging. Summary of the Invention

[0004] To address the technical problem of inconvenient debugging, this invention provides a ROS robot debugging device and debugging method.

[0005] The present invention is achieved by the following technical solution: a ROS robot debugging device, including a placement platform for preventing the robot from moving excessively, a monitoring mechanism connected to one side of the placement platform, an electronic fence set below the monitoring mechanism, the electronic fence for preventing the robot from moving excessively, and the electronic fence connected to the placement platform.

[0006] As a further improvement to the above solution, the placement platform includes a base in contact with the ground, a steering cylinder rotatably connected to the base, a fixed box fixedly connected to the top of the steering cylinder, a snap-fit ​​box snapped onto the fixed box, a second driver fixedly connected inside the fixed box, a transmission gear connected to the output end of the second driver, a pulley connected to the snap-fit ​​box meshing on one side of the transmission gear, and one side of the pulley extending above the snap-fit ​​box, a gear ring fixedly connected to the outside of the steering cylinder, a first driver connected to the base meshing on one side of the gear ring, and a controller located inside the steering cylinder fixedly connected to the base.

[0007] As a further improvement to the above scheme, the placement platform also includes a fixed frame fixedly connected to the steering cylinder. Multiple telescopic rods three are fixedly connected to the fixed frame, and the moving end of the telescopic rod three is rotatably connected to an adjustment frame. An adjustment column connected to a pulley is rotatably connected inside the adjustment frame. The movement of the adjustment column causes the tilt angle of the pulley to change. One side of the adjustment frame is connected to a telescopic rod two connected to the fixed end of the telescopic rod three.

[0008] As a further improvement to the above scheme, a vibrator is also installed inside the placement platform and is fixedly connected to the steering cylinder. The actuator end of the vibrator is connected to a rigid column, and a counterweight is connected inside the fixed box.

[0009] As a further improvement to the above solution, the monitoring mechanism includes a pneumatic cylinder fixedly connected to the base, a mounting plate fixedly connected to the pneumatic cylinder, multiple cameras 1 and 2 fixedly connected to the mounting plate, a protective box 1 fixedly connected to the mounting plate between cameras 1 and 2, a winding assembly 1 installed inside the protective box 1, and a restraint ring 1 connected to the execution end of the winding assembly 1.

[0010] As a further improvement to the above solution, the electronic fence includes a fence 1 that is inserted into a card box. Fence 1 is connected to fence 2 via rods. Both fence 1 and fence 2 are equipped with guide rails. A restraining mechanism is connected inside the guide rails and is connected to the card box. Both fence 1 and fence 2 are rotatably connected to an opening door with the same curvature on one side.

[0011] As a further improvement to the above solution, the restraint mechanism includes a second protective box connected to the snap-fit ​​box, a flexible rotating cylinder rotatably connected to the second protective box, a second winding assembly inside the second protective box, and a steel cable wound on the second winding assembly; the restraint mechanism also includes a follower unit that is slidably sleeved with the first and second fences respectively, a connecting frame fixedly connected between the two follower units, the steel cable passing through the follower unit at the bottom and connected to the follower unit at the top, and a second restraint ring fixedly connected to the end of the steel cable, with a flexible ring sleeved inside the second restraint ring.

[0012] As a further improvement to the above scheme, both winding assembly one and winding assembly two are located in the driver three inside the protection box one or the protection box two. The output end of the driver three is connected to a transmission assembly. Some of the transmission assemblies are connected to a transmission shaft. One side of the transmission shaft is connected to a winding roller that is rotatably connected to the protection box two. The steel cable is wound on the winding roller. The top of the transmission assembly is connected to an electric caliper. The top of the electric caliper is connected to a sensor group that is fixedly connected to the protection box two.

[0013] As a further improvement to the above scheme, the follower unit includes a sliding block slidably connected to either fence one or fence two. A steel cable passes through the middle of the sliding block. Symmetrically arranged electromagnets are fixedly connected inside the sliding block. A spring is fixedly connected to one side of the electromagnet, and a moving plate slidably connected to the sliding block is fixedly connected to the other end of the spring. A clamping plate slidably connected to the sliding block is fixedly connected to one side of the moving plate. The two clamping plates are located on both sides of the steel cable. Rolling balls are rotatably connected to both the upper and lower sides of the sliding block. A friction plate slidably connected to the sliding block is provided on one side of the rolling ball. A fixed block is fixedly connected inside the sliding block. Telescopic rods 1 fixedly connected to the friction plates are fixedly connected to both sides of the fixed block. A guide ring for restraining the movement of the steel cable is connected to one side of the upper sliding block.

[0014] A debugging method for a ROS robot debugging device includes the following steps: S1: Place the robot on the pulley, and at the same time connect restraint ring two and protective box one to the robot's two arms and waist respectively; S2: Give instructions to the robot and adapt it by driving the pulley of the second protective box and the steering cylinder of the first driver. S3: Adaptively adjust the pulley angle to simulate different terrains and conduct drills and adjustments based on different data; S4: Slowly adjust the second protection box, the first drive and the second protection box until they stop, and then remove the corresponding robot.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Robots can be safely and stably debugged through electronic fences and monitoring systems, ensuring robot safety. Furthermore, the placement platform can adapt to different speeds and terrains to ensure comprehensive debugging.

[0016] 2. The compact design allows for easy and diverse debugging, reducing robot damage and handling, minimizing debugging time and costs, and facilitating rapid debugging. Attached Figure Description

[0017] Figure 1 This is an overall structural diagram of the present invention; Figure 2 This is a schematic diagram of the left side of the present invention; Figure 3 This is a partial structural diagram of the present invention; Figure 4 This is a partial front sectional view of the platform. Figure 5 This is a partial front view of the platform structure. Figure 6 This is a partial side view of the platform structure. Figure 7 This is a schematic diagram of the restraint mechanism from the front view. Figure 8 This is a front view structural diagram of the restraint mechanism; Figure 9 This is a schematic diagram of the front sectional view of the winding assembly; Figure 10 This is a partial front view of the winding assembly. Figure 11 This is a partial front view diagram of the follower unit.

[0018] Explanation of key symbols: 01. Base; 02. Steering cylinder; 03. Driver 1; 04. Fence 1; 05. Fence 2; 06. Camera 1; 07. Mounting plate; 08. Restraint ring 1; 09. Pneumatic cylinder; 11. Restraint mechanism; 12. Clip box; 13. Fixing box; 14. Pulley; 15. Camera 2; 16. Protection box 1; 17. Controller; 18. Driver 2; 19. Transmission gear; 20. Protection box 2; 21. Flexible rotating cylinder; 23. Steel cable; 24. Restraint ring 2; 25. Flexible 26. Guide ring; 27. Sliding block; 28. Connecting frame; 29. ​​Sensor group; 30. Electric caliper; 31. Drive shaft; 32. Transmission assembly; 33. Driver three; 34. Winding roller; 36. Rolling ball; 37. Fixed block; 38. Telescopic rod one; 39. Friction plate; 40. Electromagnet; 41. Moving plate; 42. Clamping plate; 50. Rigid column; 51. Vibrator; 52. Adjusting column; 53. Counterweight; 54. Adjusting frame; 55. Telescopic rod three; 56. Fixed frame. Detailed Implementation

[0019] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0020] Example 1: Please refer to Figure 1 - Figure 3 , A ROS robot debugging device includes a placement platform for preventing the robot from moving excessively. The platform can hold the robot to be debugged, thereby simulating different terrains to reduce equipment movement and site complexity. A monitoring mechanism is connected to one side of the placement platform, and an electronic fence is installed below the monitoring mechanism. The electronic fence is used to prevent the robot from moving excessively and is connected to the placement platform. The electronic fence restricts the robot's range to prevent damage caused by falls or other collisions during debugging and can also provide some resistance to the robot to be debugged, thereby increasing the complexity of the external environment during debugging. The monitoring mechanism is used to monitor the robot's movement details during the debugging process for easy subsequent review.

[0021] Example 2: Combination Figure 1 - Figure 4 This embodiment is an improvement on embodiment 1, further described in the following aspects: The platform includes a base 01 in contact with the ground. A steering cylinder 02 is rotatably connected to the base 01. A fixed box 13 is fixedly connected to the top of the steering cylinder 02. A snap-fit ​​box 12 is snapped onto the fixed box 13. The snap-fit ​​box 12 can be removed from the fixed box 13 for easy replacement of the equipment on the snap-fit ​​box 12. The steering cylinder 02 can rotate relative to the base 01 to drive the fixed box 13 and the snap-fit ​​box 12 to rotate. During debugging, it can adapt to the robot's turning and adjust the direction. A second driver 18 is fixedly connected inside the fixed box 13. The output end of the second driver 18 is driven by a transmission gear 19. One side of the transmission gear 19 is meshed with a pulley 14 connected to the snap-fit ​​box 12, and one side of the pulley 14 extends above the snap-fit ​​box 12. A gear ring is fixedly connected to the outside of the steering cylinder 02. One side of the gear ring is meshed with a device connected to the base 01. The connected driver 1 03 and the base 01 are fixedly connected to the controller 17 located inside the steering cylinder 02. Both the driver 2 18 and the driver 1 03 are existing mechanisms, which include motors and transmission components. The transmission components transmit torque using existing worm gears or gears, etc. The motor provides torque, and then the torque is output through the transmission components. The driver 2 18 drives the transmission gear 19 to rotate, and the driver 1 03 drives the steering cylinder 02 to rotate. The rotation of the transmission gear 19 drives the pulley 14 to rotate. The pulley 14 adopts a toothed synchronous belt. The rotation speed of the pulley 14 is adjusted in time according to the robot's walking speed during robot debugging to adapt to the debugging work. The controller 17 is a programmable controller that can adaptively input corresponding instructions, and then control the motors and other electrical equipment on this device through the controller 17.

[0022] The implementation principle of this application embodiment is as follows: When performing debugging work, the corresponding robot is placed on the pulley 14, and then the operation of the corresponding driver 2 18 and driver 1 03 is adaptively adjusted through the control of the controller 17 to drive the corresponding pulley 14 to move at a certain speed and the rotation angle of the steering cylinder 02, thereby adapting to the speed of the robot's walking direction and adapting to the progress of debugging work.

[0023] Example 3: Combination Figure 1 - Figure 6 This embodiment is an improvement on embodiment 1, further described in the following aspects: The platform also includes a fixed frame 56 fixedly connected to the steering cylinder 02. Multiple telescopic rods 55 are fixedly connected to the fixed frame 56, and the moving end of the telescopic rods 55 is rotatably connected to an adjustment frame 54. An adjustment column 52 connected to the pulley 14 is rotatably connected inside the adjustment frame 54. The movement of the adjustment column 52 causes the tilt angle of the pulley 14 to change. One side of the adjustment frame 54 is connected to a telescopic rod 2 connected to the fixed end of the telescopic rod 55. During adjustment, the telescopic rod 55 extends or retracts, and the telescopic rod 2 extends and retracts synchronously, which can control the angle of each corresponding pulley 14, thereby changing the tilt angle of the pulley 14, thus achieving the effect of adjusting for steep slopes or uneven roads.

[0024] Example 4: Combination Figure 1 - Figure 11 shows the restraint mechanism. This embodiment, based on Embodiment 1, further improves upon the following: The platform is also equipped with a vibrator 51 that is fixedly connected to the steering cylinder 02. The actuator end of the vibrator 51 is connected to a rigid column 50, and a counterweight 53 is connected inside the fixed box 13. The vibrator 51 can generate vibration, which in turn drives the corresponding rigid column 50 to vibrate. After contacting the pulley 14, the rigid column 50 will drive the pulley 14 to generate irregular vibration, thereby further increasing the diversity of the debugging environment during the debugging process and meeting different conditions during debugging.

[0025] Example 5: Combination Figure 1 - Figure 11 This embodiment is an improvement on embodiment 1, further described in the following aspects: The monitoring mechanism includes a pneumatic cylinder 09 fixedly connected to the base 01, a mounting plate 07 fixedly connected to the pneumatic cylinder 09, and multiple cameras 1 06 and 2 15 fixedly connected to the mounting plate 07. A protective box 16 fixedly connected to the mounting plate 07 is provided between the cameras 1 06 and 2 15. A winding assembly 1 is provided inside the protective box 16. A restraint ring 1 08 is connected to the execution end of the winding assembly 1. The pneumatic cylinder 09 can drive the mounting plate 07 to adjust its height to adapt to robot debugging at different heights. The cameras 2 15 and 1 06 perform multi-directional monitoring to obtain more morphological data of the robot during the debugging process. The restraint ring 1 08 at the extension end of the protective box 16 is fitted onto the robot's neck or waist for protection.

[0026] The electronic fence includes a first fence 04 inserted into the card box 12. The first fence 04 is connected to a second fence 05 via rods. Both the first fence 04 and the second fence 05 are equipped with guide rails. A restraint mechanism 11 is connected inside the guide rails and is connected to the card box 12. One side of the first fence 04 and the second fence 05 is rotatably connected to an opening door with the same curvature. The height of the first fence 04 and the second fence 05 is appropriately selected according to the height of the robot. The first fence 04 and the second fence 05, together with the opening door on one side, form a circular area to limit the robot's walking range and provide protection for the robot. The outer part of the first fence 04 and the second fence 05 can be wrapped with flexible material according to specific usage needs to achieve a cushioning effect. The number of restraint mechanisms 11 is selected according to the debugging, ranging from 0 to 6, and their actuators are connected to the robot.

[0027] The restraint mechanism 11 includes a second protective box 20 connected to the snap-fit ​​box 12. A flexible rotating cylinder 21 is rotatably connected to the second protective box 20. A second winding assembly is provided inside the second protective box 20. A steel cable 23 is wound on the second winding assembly. The second protective box 20 restricts the second winding assembly inside. The flexible rotating cylinder 21 can adapt to the movement and direction of the steel cable 23 to ensure the extraction of the steel cable 23.

[0028] The restraint mechanism 11 also includes follower units that are slidably connected to fence 1 04 and fence 2 05 respectively. A connecting frame 28 is fixedly connected between the two follower units. A steel cable 23 passes through the follower unit at the bottom and is connected to the follower unit at the top. A restraint ring 24 is fixedly connected to the end of the steel cable 23. A flexible ring 25 is sleeved inside the restraint ring 24. The follower unit can move with the movement of the steel cable 23 to adapt to the robot's movement during the debugging process. The restraint ring 24 is sleeved on the corresponding robot limbs or other corresponding positions. The flexible ring 25 is made of flexible material to provide cushioning.

[0029] Both winding assembly one and winding assembly two are located in drive three 33 within protective box one 16 or protective box two 20. The output end of drive three 33 is connected to transmission assembly 32. Some parts of transmission assembly 32 are connected to transmission shaft 31. One side of transmission shaft 31 is connected to winding roller 34, which is rotatably connected to protective box two 20. Steel cable 23 is wound on winding roller 34. The top of transmission assembly 32 is connected to electric clamp 30. The top of electric clamp 30 is connected to sensor group 29, which is fixedly connected to protective box two 20. Like drive one 03 and drive two 18, drive three 33 can realize torque output. Then, through the transmission assembly 32, it drives the rotation of transmission shaft 31 and winding roller 34, which can realize winding or unwinding of steel cable 23. Electric clamp 30 is an existing mechanism. It can control the rotation speed of transmission shaft 31 by controlling the clamping of transmission shaft 31 until it is reduced to 0. Sensor group 29 observes and measures the internal rotation speed and torque to obtain data support.

[0030] The follower unit includes a sliding block 27 slidably connected to either fence 1 04 or fence 2 05. A steel cable 23 passes through the middle of the sliding block 27. Symmetrically arranged electromagnets 40 are fixedly connected inside the sliding block 27. A spring is fixedly connected to one side of each electromagnet 40, and a moving plate 41 slidably connected to the sliding block 27 is fixedly connected to the other end of the spring. A clamping plate 42 slidably connected to the sliding block 27 is fixedly connected to one side of the moving plate 41. The two clamping plates 42 are located on both sides of the steel cable 23. Rolling balls 36 are rotatably connected to both the upper and lower sides of the sliding block 27. A friction plate 39 slidably connected to the sliding block 27 is provided on one side of each rolling ball 36. A fixing block 37 is fixedly connected inside the sliding block 27. Telescopic rods 38, fixedly connected to the friction plates 39, are fixedly connected to both sides of the fixing block 37. The upper sliding block 27... A guide ring 26 is connected to one side to restrain the movement of the steel cable 23. The steel cable 23 can freely pass through the corresponding sliding block 27. When an external force needs to be applied during tilting or adjustment, the corresponding telescopic rod 38 or 48 can be controlled to force the friction plate 39 or the moving plate 41 to move. The movement of the friction plate 39 will apply a force to the rolling ball 36, making the rolling ball 36 rotate slower, thus restraining the entire robot's turning process. The movement of the moving plate 41 will drive the clamping plate 42 to clamp the steel cable 23, making the movement speed of the steel cable 23 slower, thus applying a force in a certain direction to adapt to the corresponding adjustment process. When the robot tilts or falls, the clamping plate 42 clamps the steel cable 23, and the friction plate 39 prevents the rolling ball 36 from moving, thereby limiting the overall spatial position of the robot and ensuring its safety.

[0031] Example 6: Combination Figure 1 - Figure 11 A debugging method for a ROS robot debugging device includes the following steps: S1: Place the robot on the pulley 14, and at the same time connect the restraint ring 24 and the protective box 16 to the robot's two arms and waist respectively; S2: Give instructions to the robot and adaptively drive the pulley 14 through the protection box 20 and drive the steering cylinder 02 through the driver 1 03; S3: Adaptively adjust the tilt angle of pulley 14 to simulate different terrains and conduct drills and adjustments with different data; S4: Slowly adjust the protection box 20, the driver 103 and the protection box 20 until they stop, and then take out the corresponding robot.

[0032] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A ROS robot debugging device, characterized in that, It includes a placement platform for preventing robots from moving excessively, with a monitoring device connected to one side of the placement platform and an electronic fence installed below the monitoring device. The electronic fence is used to prevent the robot from moving excessively and is connected to the placement platform.

2. The ROS robot debugging device as described in claim 1, characterized in that, The placement platform includes a base (01) in contact with the ground, a steering cylinder (02) rotatably connected to the base (01), a fixed box (13) fixedly connected to the top of the steering cylinder (02), a snap-fit ​​box (12) snapped onto the fixed box (13), a second driver (18) fixedly connected inside the fixed box (13), a transmission gear (19) being driven to the output end of the second driver (18), a pulley (14) connected to the snap-fit ​​box (12) being meshed on one side of the transmission gear (19), and one side of the pulley (14) extending above the snap-fit ​​box (12), a gear ring being fixedly connected to the outside of the steering cylinder (02), a first driver (03) connected to the base (01) being meshed on one side of the gear ring, and a controller (17) located inside the steering cylinder (02) being fixedly connected to the base (01).

3. The ROS robot debugging device as described in claim 2, characterized in that, The placement platform also includes a fixed frame (56) fixedly connected to the steering cylinder (02). Multiple telescopic rods (55) are fixedly connected to the fixed frame (56), and the moving end of the telescopic rods (55) is rotatably connected to an adjustment frame (54). An adjustment column (52) connected to the pulley (14) is rotatably connected inside the adjustment frame (54). The movement of the adjustment column (52) causes the tilt angle of the pulley (14) to change. A telescopic rod (2) connected to the fixed end of the telescopic rod (55) is connected to one side of the adjustment frame (54).

4. The ROS robot debugging device as described in claim 3, characterized in that, The placement platform is also equipped with a vibrator (51) that is fixedly connected to the steering cylinder (02). The vibrator (51) is connected to a rigid column (50) at its execution end. The fixed box (13) is connected to a counterweight (53).

5. The ROS robot debugging device as described in claim 4, characterized in that, The monitoring mechanism includes a pneumatic cylinder (09) fixedly connected to the base (01), a mounting plate (07) fixedly connected to the pneumatic cylinder (09), a plurality of cameras (06) and (15) fixedly connected to the mounting plate (07), a protective box (16) fixedly connected to the mounting plate (07) is provided between the cameras (06) and (15), and a winding assembly is provided inside the protective box (16), and a restraint ring (08) is connected to the execution end of the winding assembly.

6. The ROS robot debugging device as described in claim 5, characterized in that, The electronic fence includes a fence one (04) inserted into a card box (12). The fence one (04) is connected to a fence two (05) via a rod. Both fence one (04) and fence two (05) are provided with guide rails. A restraining mechanism (11) is connected inside the guide rails and is connected to the card box (12). One side of both fence one (04) and fence two (05) is rotatably connected to an opening door with the same curvature.

7. The ROS robot debugging device as described in claim 6, characterized in that, The restraint mechanism (11) includes a second protective box (20) connected to the snap box (12), a flexible rotating cylinder (21) is rotatably connected to the second protective box (20), and a second winding assembly is provided inside the second protective box (20), on which a steel cable (23) is wound. The restraint mechanism (11) also includes follower units that are slidably connected to fence one (04) and fence two (05) respectively. A connecting frame (28) is fixedly connected between the two follower units. The steel cable (23) passes through the follower unit at the bottom and is connected to the follower unit above. The end of the steel cable (23) is fixedly connected to restraint ring two (24). A flexible ring (25) is sleeved inside restraint ring two (24).

8. The ROS robot debugging device as described in claim 7, characterized in that, Both the first winding assembly and the second winding assembly are located in the third driver (33) inside the first protective box (16) or the second protective box (20). The output end of the third driver (33) is connected to a transmission assembly (32). Some of the transmission assembly (32) is connected to a transmission shaft (31). One side of the transmission shaft (31) is connected to a winding roller (34) that is rotatably connected to the second protective box (20). The steel cable (23) is wound on the winding roller (34). The top of the transmission assembly (32) is connected to an electric caliper (30). The top of the electric caliper (30) is connected to a sensor group (29) that is fixedly connected to the second protective box (20).

9. The ROS robot debugging device as described in claim 7, characterized in that, The follower unit includes a sliding block (27) slidably connected to either fence one (04) or fence two (05). The steel cable (23) passes through the middle of the sliding block (27). Symmetrically arranged electromagnets (40) are fixedly connected inside the sliding block (27). A spring is fixedly connected to one side of the electromagnet (40), and a moving plate (41) slidably connected to the sliding block (27) is fixedly connected to the other end of the spring. A clamping plate (42) slidably connected to the sliding block (27) is fixedly connected to one side of the moving plate (41). The two clamping plates are... The plate (42) is located on both sides of the steel cable (23). Rolling balls (36) are rotatably connected to both the upper and lower sides of the sliding block (27). A friction plate (39) is provided on one side of the rolling ball (36) and is slidably connected to the sliding block (27). A fixed block (37) is fixedly connected inside the sliding block (27). Telescopic rods (38) that are fixedly connected to the friction plate (39) are fixedly connected to both sides of the fixed block (37). A guide ring (26) that restrains the movement of the steel cable (23) is connected to one side of the upper sliding block (27).

10. A debugging method using a ROS robot debugging device as described in any one of claims 1-9, characterized in that, Includes the following steps: S1: Place the robot on the pulley (14), and connect the restraint ring two (24) and the protective box one (16) to the robot's two arms and waist respectively; S2: Give instructions to the robot and adaptively drive the pulley (14) through the second protective box (20) and drive the steering cylinder (02) through the first driver (03); S3: Adaptively adjust the tilt angle of the pulley (14) to simulate different terrains and conduct drills and adjustments with different data; S4: Slowly adjust the second protection box (20), the first driver (03) and the second protection box (20) until they stop, and take out the corresponding robot.

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