Step climbing testing device

Abstract

The invention discloses a step climbing testing device which comprises a supporting frame, a lifting frame, a lifting control mechanism and a step assembly, step frames are arranged on the two sides of the supporting frame, guide shafts are arranged at the bottoms of the step frames in the height direction, one end of the lifting frame is hinged to the supporting frame, and the lifting control mechanism is arranged on the supporting frame and connected with the lifting frame. The lifting control mechanism is used for driving and controlling the step assembly to ascend and descend to a preset height position, the step assembly comprises step plates and supporting columns, the step plates and step openings of the step frame are arranged in a one-to-one correspondence mode, shaft sleeves are arranged on the two sides of the step plates, and the shaft sleeves are arranged on the outer sides of the guide shafts in a sleeving mode and can move up and down along the guide shafts. The first end of the supporting column is connected with the step plate, and a roller is arranged at the second end of the supporting column and abuts against the lifting frame. According to the invention, the height position of each step can be automatically and flexibly adjusted, so that diversified step test scenes are simulated to adapt to test tasks with multi-model equipment and multi-scene requirements.

Description

Technical Field

[0001] This invention belongs to the field of climbing test technology, and particularly relates to a stair climbing test device. Background Technology

[0002] In the research and development testing of devices such as robotic dogs and humanoid robots, it is necessary to test the walking performance of these devices. One important test is the stair climbing test. This involves constructing a stair platform and having the robotic dog or humanoid robot climb over it to verify its mobility.

[0003] However, in actual testing, different types of equipment (such as small inspection robot dogs and heavy-duty humanoid robots) have different limits for traversing steps, and the same equipment needs to deal with different step heights in different application scenarios. In existing step devices, the height of each step is fixed and cannot be adjusted, making it difficult to simulate diverse step scenarios and thus difficult to adapt to testing tasks that require multiple models of equipment and multiple scenarios. Summary of the Invention

[0004] The purpose of this invention is to solve at least one problem of the prior art and to provide a stair climbing test device.

[0005] To achieve the above objectives, the present invention proposes a step climbing test device, comprising a support frame, a lifting frame, a lifting control mechanism, and a step assembly. The support frame has stepped steps on both sides, and a guide shaft is provided at the bottom of the stepped steps along the height direction. One end of the lifting frame is hinged to the support frame. The lifting control mechanism is mounted on the support frame and connected to the lifting frame. The lifting control mechanism is used to drive and control the step assembly to rise and fall to a predetermined height. The step assembly includes a step plate and a support column. The step plate corresponds one-to-one with the step opening of the stepped steps. Bushings are provided on both sides of the step plate, and the bushings are fitted onto the outside of the guide shaft and can move up and down along the guide shaft. The first end of the support column is connected to the step plate, and the second end of the support column is provided with a roller that abuts against the lifting frame.

[0006] As an optional implementation, the lifting frame includes two parallel square tubes, with a connecting seat at the first end of each square tube. The support frame is fixedly equipped with two sets of bearing seats, each set of bearing seats including two parallel bearing seats. The bearing seats are fitted with bearings, and a rotating shaft connects two adjacent bearing seats in the same set. The rotating shaft is fitted with the bearings and the connecting seat. A baffle is provided on the side of the square tube, and the rollers of the support column abut against the square tube.

[0007] As an optional implementation, the support frame is provided with a first limit switch and a second limit switch for detecting the maximum lifting position of the lifting frame.

[0008] As an optional implementation, the lifting control mechanism includes a servo motor, a reducer, a transmission shaft, and a lifting transmission module. The servo motor is connected to the reducer, and the two ends of the reducer are respectively connected to the transmission shaft. The transmission shaft is connected to the lifting transmission module, and the lifting transmission module is connected to the lifting frame, which is used to drive the lifting frame to move to a predetermined height position.

[0009] As an optional implementation, the lifting transmission module includes an annular transmission chain, a drive sprocket and a transmission sprocket meshing with the annular transmission chain, the drive sprocket being connected to a transmission shaft, the transmission sprocket being mounted on a support frame with a fastening seat, the annular transmission chain being provided with a lifting seat, the side of the lifting frame being provided with a slide rail, a slider being installed on the slide rail, and the slider being connected to the lifting seat.

[0010] As an optional implementation, the lifting transmission module is a gear and rack transmission module, which includes an annular transmission rack, a drive gear and a transmission gear meshing with the annular transmission rack. The drive gear is connected to a transmission shaft, and the transmission gear is mounted on a support frame with a fastening seat. The annular transmission rack is provided with a lifting seat, and a slide rail is provided on the side of the lifting frame. A slider is installed on the slide rail, and the slider is connected to the lifting seat.

[0011] As an optional implementation, the lifting control mechanism is a lifting push rod mechanism. The side of the lifting frame is provided with a slide rail, and a slider is installed on the slide rail. The slider is connected to the lifting seat, and the push rod end of the lifting push rod mechanism is connected to the slider on the side of the lifting frame.

[0012] As an optional implementation, the bottom of the support frame is provided with braked rollers and support corner seats.

[0013] As an optional implementation, the step climbing test device also includes an inbound support and an outbound support, wherein the outbound support is equipped with a lifting platform, and the inbound support and the lifting platform correspond to the lowest and highest positions of the step assembly, respectively.

[0014] As an optional implementation, a simulation adapter is provided at the upper end of the lifting frame, and the upper end of the simulation adapter is provided with a contoured surface. The roller at the second end of the support column contacts the contoured surface at the upper end of the simulation adapter. The simulation adapter is detachably connected to the lifting frame.

[0015] The beneficial effects of the present invention are as follows: The present invention uses a support frame to rotate and install a lifting frame. The support frame is equipped with multiple steps that can be raised and lowered. The lifting control mechanism drives and controls the rotation angle of the lifting frame to raise and lower the steps to a predetermined height position. The height position of each step can be automatically and flexibly adjusted, thereby simulating diverse step test scenarios to adapt to test tasks of multiple equipment models and multiple scenarios.

[0016] The features and advantages of the present invention will be described in detail through embodiments and in conjunction with the accompanying drawings. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention.

[0018] Figure 2 This is a side view of Embodiment 1 of the present invention.

[0019] Figure 3 This is the front view of Embodiment 1 of the present invention.

[0020] Figure 4 This is a top view of the left cross-section of Embodiment 1 of the present invention.

[0021] Figure 5 This is a schematic diagram of the structure of Embodiment 2 of the present invention.

[0022] Figure 6 This is a schematic diagram of the simulated adapter being installed on the lifting frame in Embodiment 2 of the present invention.

[0023] In the diagram: 1. Support frame; 2. Lifting frame; 3. Step plate; 4. Servo motor; 5. Circular transmission chain; 6. Lifting seat; 7. Inbound support; 8. Outbound support; 11. Stepped frame; 12. Guide shaft; 21. Slide rail; 22. Slider; 31. Support column; 51. Drive sprocket; 81. Lifting platform; 9. Simulation adapter; 91. Arc-shaped contour surface. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. In the description of this application, it should be noted that the terms "inner," "outer," etc., indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0026] The present invention will now be described in detail with reference to the accompanying drawings.

[0027] Example 1: See Figure 1 , Figure 2 , Figure 3 and Figure 4 This embodiment provides a step climbing test device, including a support frame 1, a lifting frame 2, a lifting control mechanism, and a step assembly. The support frame 1 has stepped step frames 11 on both sides, and a guide shaft 12 is provided at the bottom of the stepped step frames 11 along the height direction. One end of the lifting frame 2 is hinged to the support frame 1. The lifting control mechanism is set on the support frame 1 and connected to the lifting frame 2. The lifting control mechanism is used to drive and control the step assembly to rise and fall to a predetermined height position. The step assembly includes a step plate 3 and a support column 31. The step plate 3 is provided one-to-one with the step opening of the stepped step frame 11. Both sides of the step plate 3 are provided with bushings, which are sleeved on the outside of the guide shaft 12 and can move up and down along the guide shaft 12. The first end of the support column 31 is connected to the step plate 3, and the second end of the support column 31 is provided with a roller, which abuts against the lifting frame 2.

[0028] In use, the number of step plates can be set according to the usage requirements. The number of step plates can be 6, 7, 8, 9, or 10, as well as other numbers. A limit baffle is provided at the end of the guide shaft 12.

[0029] During operation, the lifting frame 2 is driven to rotate via the lifting control mechanism. Simultaneously, the lifting frame 2 rotates, causing each step plate 3 to move up and down along the guide shaft 12 via the support column 31. When the lifting frame 2 rotates counterclockwise, the step plates 3 move upwards; conversely, when the lifting frame 2 rotates clockwise, the step plates 3 move downwards. Once the step height of each step plate 3 is adjusted to the predetermined height position, the lifting control mechanism stops working and completes self-locking. To limit the maximum rotation angle of the lifting frame 2, an arc-shaped blocking element can also be installed on the support frame 1 near the lifting frame 2.

[0030] In this embodiment, refer to Figure 1 , Figure 2 and Figure 4The lifting frame 2 includes two parallel square tubes, with a connecting seat at the first end of each square tube. The support frame 1 is fixedly installed with two sets of bearing seats. Each set of bearing seats includes two parallel bearing seats. The bearing seats are fitted with bearings. A rotating shaft is connected between two adjacent bearing seats in the same set. The rotating shaft is fitted with the bearings and the connecting seat.

[0031] Furthermore, to increase the strength of the lifting frame 2, multiple reinforcing tubes can be connected between the two square tubes.

[0032] Furthermore, a baffle is provided on the side of the square tube. The baffle is designed to prevent the rollers from being misaligned and to ensure that the rollers can move within a certain range. The rollers of the support column abut against the square tube.

[0033] In other embodiments, the lifting frame 2 may also be a lifting plate, one end of which is hinged to the support frame 1, and rollers abut against the lifting plate.

[0034] In this embodiment, refer to Figure 2 The support frame 1 is equipped with a first limit switch and a second limit switch for detecting the maximum lifting position of the lifting frame 2. When the first limit switch and the second limit switch detect a signal, the lifting control mechanism stops driving the lifting frame to rotate.

[0035] In this embodiment, refer to Figure 1 , Figure 2 and Figure 4 The lifting control mechanism includes a servo motor 4, a reducer, a transmission shaft, and a lifting transmission module. The servo motor 4 is connected to the reducer, and the two ends of the reducer are respectively connected to the transmission shaft. The transmission shaft is connected to the lifting transmission module, and the lifting transmission module is connected to the lifting frame 2. It is used to drive the lifting frame 2 to move to a predetermined height position. The servo motor self-locks after the step plate 3 is raised and lowered to the predetermined height position.

[0036] In one embodiment of this invention, the lifting transmission module includes a ring-shaped transmission chain 5, a drive sprocket 51 meshing with the ring-shaped transmission chain 5, and a transmission sprocket. The drive sprocket 51 is connected to a transmission shaft, and the transmission sprocket is mounted on a support frame 1 using a fastening seat. The ring-shaped transmission chain 5 is provided with a lifting seat 6, and a slide rail 21 is provided on the side of the lifting frame 2. A slider 22 is fitted onto the slide rail 21 and is connected to the lifting seat 6. Both ends of the slide rail 21 are provided with stops to prevent the slider 22 from falling off due to overtravel.

[0037] In another embodiment of this invention, the lifting transmission module is a rack and pinion transmission module. The rack and pinion transmission module includes an annular transmission rack, a drive gear meshing with the annular transmission rack, and a transmission gear. The drive gear is connected to a transmission shaft, and the transmission gear is mounted on a support frame using a fastening seat. The annular transmission rack is provided with a lifting seat 6. A slide rail 21 is provided on the side of the lifting frame 2, and a slider 22 is fitted onto the slide rail 21. The slider 22 is connected to the lifting seat 6. Stops are provided at both ends of the slide rail 21 to prevent the slider 22 from falling off due to overtravel.

[0038] In other embodiments, the lifting control mechanism is a lifting push rod mechanism. A slide rail 21 is provided on the side of the lifting frame 2, and a slider 22 is mounted on the slide rail 21. The slider 22 is connected to the lifting seat 6, and the push rod end of the lifting push rod mechanism is connected to the slider 22 on the side of the lifting frame 2. The lifting push rod can be an electric push rod, a hydraulic push rod, or a pneumatic push rod.

[0039] In this embodiment, the bottom of the support frame 1 is provided with a roller with brakes and a support corner seat to facilitate the movement and fixation of the device.

[0040] In this embodiment, refer to Figure 1 , Figure 2 and Figure 4 The stair climbing test device also includes an inbound support 7 and an outbound support 8. The outbound support 8 is equipped with a lifting platform 81. The inbound support 7 and the lifting platform 81 correspond to the lowest and highest positions of the stair assembly, respectively. The inbound support 7 and the outbound support 8 are located at the inlet and outlet ends of the support frame 1, respectively. The lifting platform 81 is an existing lifting platform, and its lifting height changes with the height of the uppermost step 3 to ensure that the lifting platform 81 is flush with the uppermost step 3.

[0041] This invention utilizes a support frame with a rotating lifting frame. The support frame is equipped with multiple movable step plates that can be raised and lowered. A lifting control mechanism is used to drive and control the rotation angle of the lifting frame to raise and lower the step plates to a predetermined height. This allows for automated and flexible adjustment of the height of each step, thereby simulating diverse step test scenarios to adapt to test tasks requiring multiple equipment models and scenarios.

[0042] Example 2: See Figure 5 , Figure 6 The difference between Embodiment 2 and Embodiment 1 is that in Embodiment 2, a simulated adapter 9 is provided at the upper end of the lifting frame 2, and a contour surface 91 is provided at the upper end of the simulated adapter 9. The roller at the second end of the support column 31 contacts the contour surface 91 at the upper end of the simulated adapter 9.

[0043] The contour surface 91 has multiple peak areas and trough areas between adjacent peak areas, so that the contour surface has a wave-like undulation state.

[0044] In actual testing, the height of each step on a step device is usually consistent, meaning the step height is uniformly distributed. However, in real-world applications, we often encounter complex scenarios where the step height distribution is uneven. For example, some steps may be too high, while others may be too low. Traditional step devices cannot simulate such uneven step height distribution test scenarios.

[0045] In this invention, a simulation adapter is provided at the upper end of the lifting frame 2. The roller at the second end of the support column 31 contacts the contour surface at the upper end of the simulation adapter. The contour surface is in a wave-like state, which can adjust the height of each step plate. For example, the step plate corresponding to the peak area of ​​the contour surface will be higher, while the step plate corresponding to the trough area of ​​the contour surface will be lower. This creates a scenario with uneven step plate height distribution. This test scenario with uneven step plate height distribution is more in line with some actual scenarios faced by the equipment, thereby meeting diverse test requirements.

[0046] The simulation adapter 9 and the lifting frame 2 are detachably connected by bolts. This detachable connection facilitates the replacement of the simulation adapter 9. In actual testing, the required testing needs can be met by replacing the simulation adapter 9 with one that has a different contour surface.

[0047] This invention is not limited to the preferred embodiments described above. Anyone can derive other products in various forms under the guidance of this invention. However, regardless of any changes in shape or structure, any technical solution that is the same as or similar to this application falls within the protection scope of this invention.

Claims

1. A stair climbing test device, characterized in that: The device includes a support frame, a lifting frame, a lifting control mechanism, and a step assembly. The support frame has stepped steps on both sides, with a guide shaft at the bottom of each stepped step along the height direction. One end of the lifting frame is hinged to the support frame. The lifting control mechanism is mounted on the support frame and connected to the lifting frame. The lifting control mechanism drives and controls the step assembly to rise and fall to a predetermined height. The step assembly includes a step plate and a support column. The step plate corresponds one-to-one with the step opening of the stepped step. Bushings are provided on both sides of the step plate, sleeved on the outside of the guide shaft and movable up and down along the guide shaft. The first end of the support column is connected to the step plate, and the second end of the support column has a roller that abuts against the lifting frame.

2. The stair climbing test device as described in claim 1, characterized in that: The lifting frame includes two parallel square tubes, with a connecting seat at the first end of each square tube. The support frame is fixedly equipped with two sets of bearing seats, each set including two parallel bearing seats. The bearing seats are fitted with bearings, and a rotating shaft connects two adjacent bearing seats in the same set. The rotating shaft is fitted with the bearings and the connecting seat. A baffle is provided on the side of the square tube, and the rollers of the support column abut against the square tube.

3. The stair climbing test device as described in claim 1, characterized in that: The support frame is equipped with a first limit switch and a second limit switch for detecting the maximum lifting position of the lifting frame.

4. The stair climbing test device as described in claim 1, characterized in that: The lifting control mechanism includes a servo motor, a reducer, a transmission shaft, and a lifting transmission module. The servo motor is connected to the reducer, and the two ends of the reducer are respectively connected to the transmission shaft. The transmission shaft is connected to the lifting transmission module, and the lifting transmission module is connected to the lifting frame, which is used to drive the lifting frame to move to a predetermined height position.

5. The stair climbing test device as described in claim 4, characterized in that: The lifting transmission module includes a ring-shaped transmission chain, a drive sprocket and a transmission sprocket meshing with the ring-shaped transmission chain. The drive sprocket is connected to the transmission shaft. The transmission sprocket is mounted on a support frame with a fastening seat. The ring-shaped transmission chain is provided with a lifting seat. The side of the lifting frame is provided with a slide rail. A slider is installed on the slide rail and connected to the lifting seat.

6. The stair climbing test device as described in claim 4, characterized in that: The lifting transmission module is a gear and rack transmission module, which includes an annular transmission rack, a drive gear and a transmission gear meshing with the annular transmission rack. The drive gear is connected to the transmission shaft, and the transmission gear is mounted on the support frame with a fastening seat. The annular transmission rack is provided with a lifting seat, and the side of the lifting frame is provided with a slide rail. A slider is installed on the slide rail, and the slider is connected to the lifting seat.

7. The stair climbing test device as described in claim 1, characterized in that: The lifting control mechanism is a lifting push rod mechanism. The side of the lifting frame is provided with a slide rail, and a slider is installed on the slide rail. The slider is connected to the lifting seat, and the push rod end of the lifting push rod mechanism is connected to the slider on the side of the lifting frame.

8. The stair climbing test device as described in claim 1, characterized in that: The bottom of the support frame is equipped with braked rollers and support corner brackets.

9. The stair climbing test device as described in claim 1, characterized in that: It also includes an inbound support and an outbound support, wherein the outbound support is equipped with a lifting platform, and the inbound support and the lifting platform correspond to the lowest and highest positions of the step assembly, respectively.

10. The stair climbing test device as described in claim 1, characterized in that: A simulation adapter is provided at the upper end of the lifting frame. The upper end of the simulation adapter has a contoured surface. The roller at the second end of the support column contacts the contoured surface at the upper end of the simulation adapter. The simulation adapter is detachably connected to the lifting frame.

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