Robot climbing and rolling function testing device

Abstract

The utility model relates to a robot climbing and rolling function testing device which comprises a supporting table, an overturning table top is arranged above the supporting table, a hinge seat stand column and a supporting stand column are arranged on the supporting table and located at the bottom of the overturning table top, a hinge seat is arranged on the hinge seat stand column, and a first hinge plate is arranged at the bottom of the overturning table top. A second hinge plate is arranged at the bottom of the overturning table top, a lifting arm is hinged to the second hinge plate through a second pin shaft, a trapezoidal lead screw is installed on the supporting table, a lead screw nut is installed on the trapezoidal lead screw, and connecting rods are fixed to the two sides of the lead screw nut; a vertical plate is arranged at the end of the connecting rod and hinged to the lifting arm, a rubber coating bearing is rotationally installed at the outer end of the vertical plate, a side sliding baffle and a supporting table are arranged on the top of the overturning table face, and a slope assembly is arranged on one side of the overturning table face. According to the utility model, the heeling experiment and the climbing experiment are combined together, so that the working efficiency is improved, the personal safety of personnel is ensured, and heeling and climbing verification can be carried out more simply and conveniently.

Description

Technical Field

[0001] The utility model relates to the technical field of function testing of inspection robots, in particular to a function testing device for the slope climbing and rollover of a robot. Background Art

[0002] Intelligent inspection robots have a very wide range of application scenarios, covering almost all fields that require regular inspections. These robots can perform a series of complex tasks by integrating advanced sensor technologies, artificial intelligence algorithms, and autonomous navigation systems, thereby improving work efficiency and safety.

[0003] Inspection robots need to verify the maximum rollover angle and slope climbing ability of the robots. Existing inspection robots often only conduct slope climbing verification, ignoring the test of the maximum rollover angle, or testing the two functions separately, resulting in low efficiency. Summary of the Utility Model

[0004] The utility model aims to solve the deficiencies of the existing technology and provides a function testing device for the slope climbing and rollover of a robot.

[0005] To achieve the above object, the utility model adopts the following technical solutions:

[0006] A function testing device for the slope climbing and rollover of a robot, comprising a support table, an overturning tabletop is arranged above the support table, two hinge seat columns are arranged at one end of the bottom surface of the support table under the overturning tabletop, and two support columns are arranged at the other end of the bottom surface of the overturning tabletop. A hinge seat is arranged on the hinge seat column, a first hinge plate is arranged on the bottom of the overturning tabletop corresponding to the hinge seat, and the first hinge plate and the hinge seat are hinged through a first pin shaft. Two second hinge plates are arranged at one end of the bottom of the overturning tabletop close to the support column, and a lifting arm is hinged to the second hinge plate through a second pin shaft. A trapezoidal lead screw is installed on the support table, a lead screw nut is installed on the trapezoidal lead screw, connecting rods are fixed on both sides of the lead screw nut, a vertical plate is arranged at the end of the connecting rod, and the vertical plate is hinged to the lifting arm. A rubber-coated bearing is rotatably installed at the outer end of the vertical plate. A side-slip baffle is arranged on one side of the top of the overturning tabletop far from the trapezoidal lead screw. A slope component is arranged on one side of the support table and the overturning tabletop.

[0007] An angle scale is arranged on the support table on one side of the overturning tabletop.

[0008] A maximum inclination angle control stop block is arranged at the rear end of the support table in the moving direction of the connecting rod.

[0009] A lead screw anti-rotation fixing part is installed at the end of the trapezoidal lead screw.

[0010] The slope component includes a slope bracket and a 15° slope plate arranged on the slope bracket. The highest end of the 15° slope plate is butted against the height when the overturning tabletop is level.

[0011] The beneficial effects of the present utility model are as follows: The present utility model combines the roll and climbing experiments, improves work efficiency, ensures the personal safety of personnel, and enables more simple and convenient roll and climbing verification. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a perspective view of the present utility model when the tipping tabletop has not risen;

[0013] Figure 2 is a front view of the present utility model when the tipping tabletop has not risen;

[0014] Figure 3 is a perspective view of the present utility model when the tipping tabletop has risen;

[0015] Figure 4 is a front view of the present utility model when the tipping tabletop has risen;

[0016] In the figures: 1 - support platform; 2 - tipping tabletop; 3 - articulated seat column; 4 - support column; 5 - articulated seat; 6 - first articulated plate; 7 - first pin shaft; 8 - second articulated plate; 9 - second pin shaft; 10 - lifting arm; 11 - trapezoidal lead screw; 12 - lead screw nut; 13 - connecting rod; 14 - vertical plate; 15 - rubber-coated bearing; 16 - side-slip baffle; 17 - ramp assembly; 18 - angle dial; 19 - maximum inclination control stop block; 20 - lead screw anti-rotation fixing part; 21 - n-shaped handle; 22 - support platform chassis.

[0017] The following will be described in detail with reference to the embodiments of the present utility model with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The principles and features of the present utility model will be described below with reference to the accompanying drawings. The examples given are only for explaining the present utility model and are not intended to limit the scope of the present utility model. In the following paragraphs, the present utility model will be described more specifically by way of example with reference to the accompanying drawings. According to the following description, the advantages and features of the present utility model will be clearer. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise scales, only for the purpose of conveniently and clearly assisting in explaining the purpose of the embodiments of the present utility model.

[0019] It should be noted that when a component is referred to as "fixed to" another component, it can be directly on the other component or there may also be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component at the same time. When a component is considered to be "disposed on" another component, it can be directly disposed on the other component or there may be an intermediate component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of this invention are intended only to describe specific embodiments and are not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0022] like Figures 1 to 4 As shown, a robot climbing and rolling function test device includes a support platform 1, a tilting table 2, an articulated seat column 3, a support column 4, an articulated seat 5, a first hinge plate 6, a first pin 7, a second hinge plate 8, a second pin 9, a lifting arm 10, a trapezoidal screw 11, a screw nut 12, a connecting rod 13, a vertical plate 14, a rubber-coated bearing 15, a side sliding baffle 16, a ramp assembly 17, an angle plate 18, a maximum inclination angle control block 19, a screw anti-rotation fixing part 20, an N-shaped handle 21, and a support platform base frame 22.

[0023] A support platform base frame 22 is provided at the bottom of the support platform 1 .

[0024] A tilting table 2 is provided above the support platform 1. The tilting table 2 is welded by 5mm thick steel plate and 30 square tube, which can meet the testing requirements of a 500kg inspection robot.

[0025] The upper surface of the support platform 1 is provided with two hinged seat columns 3 at one end of the bottom of the tilting table 2 and two supporting columns 4 at the other end of the bottom of the tilting table 2. A hinged seat 5 is provided on the hinged seat column 3. A first hinge plate 6 is provided at the bottom of the tilting table 2 corresponding to the hinged seat 5. The first hinge plate 6 and the hinged seat 5 are hingedly connected to the first pin 7. Two second hinge plates 8 are provided at one end of the bottom of the tilting table 2 close to the supporting column 4. The second hinge plate 8 is hingedly connected to a lifting arm 10 through a second pin 9. A trapezoidal screw 11 is installed on the support platform 1, and a screw nut 12 is installed on the trapezoidal screw 11. Connecting rods 13 are fixed on both sides of the screw nut 12. A vertical plate 14 is provided at the end of the connecting rod 13 and the vertical plate 14 is hinged to the lifting arm 10. A rubber-coated bearing 15 is rotatably installed at the outer end of the vertical plate 14. A side sliding baffle 16 is provided on the side of the top of the tilting table 2 away from the trapezoidal screw 11.

[0026] A slope component 17 is provided on one side of the support platform 1 and the tilting table 2. The slope component 17 includes a slope bracket and a 15° slope plate arranged on the slope bracket. The highest end of the 15° slope plate is aligned with the height of the tilting table 2 when it is flat.

[0027] The ramp component 17 is welded by 5-mm-thick steel plates and 30-square tubes, and can meet the test requirements of a 500-kg inspection robot.

[0028] The trapezoidal lead screw 11 and the lead screw nut 12 are both made of 42CrMo material, which has high strength and wear resistance, is suitable for high-load and high-precision application scenarios, and the surface treatment is hard chromium treatment, with a layer of metallic chromium coated on the surface to improve wear resistance and corrosion resistance.

[0029] According to the overall load-bearing requirements, design parameters such as the pitch diameter of the thread of the trapezoidal lead screw 11, the height of the nut, the number of engaged turns, the working pressure, and the helix angle are calculated to determine reasonable parameters, and the thread strength is verified to ensure that the shear strength and bending strength meet the design requirements. Due to the relatively large overall load-bearing, parameters such as the strength of the screw, the compressive stability of the screw, and the stiffness of the screw are verified to ensure that they can all meet the overall load-bearing requirements.

[0030] When designing the trapezoidal lead screw 11, ensure that the helix angle is less than the equivalent friction angle, so as to meet the self-locking condition of the trapezoidal lead screw 11; when the trapezoidal lead screw 11 meets the self-locking condition, the safety of personnel can be ensured even when the angle is reduced.

[0031] On the support table 1, an angle scale 18 is provided on one side of the tipping table 2. The angle scale 18 is made of 2-mm-thick stainless steel. When the tipping table 2 is tilted, readings can be taken on the scale of the angle scale 18.

[0032] The lifting arm 10 is bent from 4-mm-thick stainless steel material to ensure that the strength can support the requirements of the entire equipment.

[0033] On the support table 1, a maximum inclination control stop block 19 is provided at the rear end in the moving direction of the connecting rod 13.

[0034] A lead screw anti-rotation fixing part 20 is installed at the end of the trapezoidal lead screw 11. The lead screw anti-rotation fixing part 20 can use conventional products on the market. For example, a locking device with the model number LHF05 / 06 / 07-Q8 / 10 / 12 / 15 of Shenzhen Zhenlixiang Automation Technology Co., Ltd. can be used.

[0035] On the upper surface of the support table 1, two n-shaped handles 21 are provided on the opposite side of the side-slip baffle 16.

[0036] When the wheeled robot runs on the 15° ramp plate of the ramp component 17, it can be directly seen whether it can meet the climbing requirement of 15°.

[0037] When the wheeled robot passes through the 15° ramp plate of the ramp assembly 17 and reaches the overturning table 2, the side sliding baffle 16 must be in contact with the robot's tire, and the robot must be connected to the overturning table 2 using a safety rope. The safety rope must retain a certain margin to ensure that it can be discovered in the first time when the robot just starts to tilt. When starting the overturning test, a person uses a ratchet wrench to rotate the trapezoidal screw 11, driving the screw nut 12 to move, and the screw nut 12 drives the lifting arm 10, which supports the overturning table 2 to tilt. The speed of rotating the trapezoidal screw 11 should not be too fast, and attention should always be paid to the tightness of the safety rope. When the safety rope is tightened, stop rotating the screw 11 immediately, lock the screw anti-rotation fixing part 20, and record the angle at that time. After the recording is completed, rotate the trapezoidal screw 11 in the opposite direction to reduce the inclination angle of the overturning table 2 until the overturning table 2 returns to its initial position.

[0038] The utility model combines the roll and climb tests together, thereby improving work efficiency, ensuring the personal safety of personnel, and being able to perform roll and climb verification more simply and conveniently.

[0039] The above is an exemplary description of the present invention in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various improvements are made using the method concept and technical solution of the present invention, or they are directly applied to other occasions without improvement, they are all within the scope of protection of the present invention.

Claims

1. A robot climbing slope roll function test device, characterized in that The invention comprises a support platform (1), a tilting table (2) is provided above the support platform (1), two hinge seat columns (3) are provided on the upper surface of the support platform (1) at one end of the bottom of the tilting table (2), and two support columns (4) are provided at the other end of the bottom of the tilting table (2), a hinge seat (5) is provided on the hinge seat column (3), a first hinge plate (6) is provided at the bottom of the tilting table (2) corresponding to the hinge seat (5), the first hinge plate (6) and the hinge seat (5) are hingedly connected through a first pin shaft (7), two second hinge plates (8) are provided at one end of the bottom of the tilting table (2) close to the support column (4), and the second hinge plate (8) is provided at one end of the bottom of the tilting table (2) close to the support column (4). ) is hinged with a lifting arm (10) through a second pin shaft (9), a trapezoidal screw (11) is installed on the support platform (1), a screw nut (12) is installed on the trapezoidal screw (11), connecting rods (13) are fixed on both sides of the screw nut (12), a vertical plate (14) is provided at the end of the connecting rod (13), and the vertical plate (14) is hinged to the lifting arm (10), and a rubber-coated bearing (15) is rotatably installed at the outer end of the vertical plate (14), a side sliding baffle (16) is provided on the side of the top of the overturning table (2) away from the trapezoidal screw (11), and a ramp component (17) is provided on one side of the support platform (1) and the overturning table (2).

2. The robot climbing slope roll function test device according to claim 1, wherein An angle plate (18) is provided on the support platform (1) on one side of the tilting platform surface (2).

3. The robot climbing slope roll function testing device according to claim 2, characterized in that, A maximum inclination angle control block (19) is provided on the support platform (1) at the rear end in the moving direction of the connecting rod (13).

4. The robot climbing slope roll function test device according to claim 3, characterized in that, A screw anti-rotation fixing member (20) is installed at the end of the trapezoidal screw (11).

5. The robot climbing slope roll function test device according to claim 4, wherein The upper surface of the support platform (1) is provided with two N-shaped handles (21) on the side opposite to the side sliding baffle (16).

6. The robot climbing roll function test device according to claim 5, characterized in that The slope assembly (17) comprises a slope bracket and a 15-degree slope plate arranged on the slope bracket, wherein the highest end of the 15-degree slope plate is butted against the tilting table (2) at a height when the tilting table (2) is flattened.

7. The robot climbing and rolling function test device according to claim 6, wherein A support platform base frame (22) is provided at the bottom of the support platform (1).

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