Robot test fixture and robot

Abstract

The utility model relates to the technical field of robot test jigs, and specifically discloses a robot test jig and a robot, comprising a base, the upper end face of the base is fixedly connected with a test table top, the periphery of the upper end face of the test table top is fixedly connected with a blocking edge, two sides of the interior of the base are fixedly connected with first lifting mechanisms, and the two sides of the interior of the base are fixedly connected with second lifting mechanisms. A connecting plate is fixedly connected between the two first lifting mechanisms, the upper end face of the connecting plate is fixedly connected with an obstacle avoidance testing assembly extending out of the testing table top, a through opening is formed in the side, away from the obstacle avoidance testing assembly, of the testing table top, and a trafficability testing assembly is arranged on the inner side of the through opening. According to the utility model, the liftable obstacle avoidance test assembly and the trafficability test assembly are arranged, so that obstacle avoidance test and gradient trafficability test can be conveniently carried out on the robot, the functions are comprehensive, the gradient of the gradient trafficability test assembly can be adjusted, different test requirements can be met, the functions are comprehensive, and the use is convenient and fast.

Description

Technical Field

[0001] The utility model relates to the technical field of robot testing jigs, in particular to a robot testing jig and a robot. Background Art

[0002] To ensure that the robot can complete various tasks according to the design requirements, such as meeting the performance standards in terms of motion accuracy, force control, speed, etc., it is necessary to conduct multiple performance tests on the robot after production. Therefore, a variety of corresponding test fixtures will be used to promptly identify possible problems or failures in the robot's hardware, software or system integration, so that corrections and improvements can be made. It can also understand the robot's stable operation capabilities under different working conditions and time, and ensure its long-term and reliable operation.

[0003] For mobile robots, mobility testing is crucial. Current testing methods often involve placing obstacles and ramps on the ground. Testing at different slopes requires changing ramps, which is inconvenient, inefficient, and difficult to meet diverse testing needs. Therefore, those skilled in the art have developed a robot testing jig and robot to address the issues raised in the background art. Utility Model Content

[0004] The purpose of this utility model is to provide a robot test fixture and a robot to solve the following technical problems:

[0005] How to improve the convenience and efficiency of robot mobile testing.

[0006] The purpose of the utility model can be achieved through the following technical solutions:

[0007] A robot test fixture includes a base, an upper end surface of the base is fixedly connected to a test table, a retaining edge is fixedly connected to the periphery of the upper end surface of the test table, both sides of the interior of the base are fixedly connected to a first lifting mechanism, a connecting plate is fixedly connected between the two first lifting mechanisms, and the upper end surface of the connecting plate is fixedly connected to an obstacle avoidance test component extending from the test table;

[0008] A through opening is provided on a side of the test table away from the obstacle avoidance test component, and a passability test component is provided inside the through opening;

[0009] The passability test assembly includes a winding roller and a fixed shaft, the outer end of the winding roller is wound with a slope belt, and the other end of the slope belt is fixedly connected to the fixed shaft;

[0010] A second lifting mechanism is fixedly connected to the interior of the base below the slope belt, and a bracket is fixedly connected to the upper portion of the second lifting mechanism.

[0011] Furthermore, the first lifting mechanism includes a first housing, a first screw rod is rotatably connected to the interior of the first housing, a first lifting seat is sleeved on the outer end of the first screw rod and is slidably connected to the first housing, the first lifting seat is fixedly connected to the connecting plate, and a first motor whose output end is fixedly connected to the first screw rod is fixedly connected to the lower end of the first housing;

[0012] Furthermore, the bracket includes a frame body, a plurality of rollers are rotatably connected to the inner side of the frame body, the rollers are in contact with the lower end surface of the slope belt, a plurality of connecting columns are fixedly connected to the lower end of the frame body, and the second lifting mechanism includes a second shell, a second lifting seat is slidably sleeved on the interior of the second shell through a guide rod, and the second lifting seat is fixedly connected to the guide rod through a plurality of sleeve rods;

[0013] Furthermore, a second screw rod is rotatably connected to the middle portion of the second housing, the second lifting seat is sleeved with the second screw rod, a second motor is fixedly connected to the lower end of the second housing, and an output end of the second motor is fixedly connected to the second screw rod;

[0014] Furthermore, the fixed shaft is fixedly connected to the base, the winding roller includes a rotating shaft rotatably connected to the base, the outer end of the rotating shaft is rotatably sleeved with a cylinder, the outer end of the rotating shaft is fixedly sleeved with a torsion spring, and both ends of the torsion spring are fixedly connected to the inner wall of the cylinder;

[0015] Furthermore, transition plates are rotatably connected to both sides of the inner portion of the through opening, and one end of the transition plate contacts the upper surface of the slope belt;

[0016] Furthermore, the obstacle avoidance test assembly includes two baffles and two baffles, and a channel is formed between the two baffles;

[0017] The utility model further proposes a robot, comprising a robot body, wherein the robot body is arranged above the robot test fixture, and the robot body is capable of moving on the end surface of the test table;

[0018] Beneficial effects of the utility model:

[0019] The utility model is provided with a liftable obstacle avoidance test component and a passability test component, which are convenient for performing obstacle avoidance tests and slope passability tests on the robot. The liftable structure makes it convenient for the robot to use the test table to perform speed tests after the obstacle avoidance test component and the passability test component are stored in the base. The utility model has comprehensive functions. In addition, the slope of the slope passability test component can be adjusted to simulate slopes of different angles, which can meet different test requirements. The utility model has comprehensive functions, is convenient and quick to use, and has high testing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below with reference to the accompanying drawings.

[0021] Figure 1 This is the overall structural diagram of a robot test fixture proposed by the present invention;

[0022] Figure 2 This is a cross-sectional view of a robot testing fixture proposed by the present invention;

[0023] Figure 3 yes Figure 2 Enlarged view of point A in the middle;

[0024] Figure 4 The utility model is a cross-sectional view of a winding roller of a robot test fixture.

[0025] Reference numerals:

[0026] 1. Base; 2. Stop edge; 3. Test table; 4. Obstacle avoidance test assembly; 41. Stop column; 42. Baffle; 5. Through port; 6. Bracket; 61. Frame; 62. Roller; 63. Connecting column; 7. Passability test assembly; 71. Slope belt; 72. Fixed shaft; 73. Winding roller; 731. Cylinder; 732. Rotating shaft; 733. Torsion spring; 8. First lifting mechanism; 81. First shell; 82. First screw rod; 83. First lifting seat; 84. First motor; 9. Second lifting mechanism; 91. Second motor; 92. Second shell; 93. Second screw rod; 94. Second lifting seat; 95. Sleeve rod; 96. Guide rod; 10. Connecting plate; 11. Transition plate. DETAILED DESCRIPTION

[0027] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described 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 making creative efforts are within the scope of protection of the present invention.

[0028] Please see the attached Figures 1 to 4As shown, the robot test fixture in the embodiment of the present invention includes a base 1, the upper end face of the base 1 is fixedly connected to a test table 3, and the outer periphery of the upper end face of the test table 3 is fixedly connected to a retaining edge 2, and the provided retaining edge 2 can surround the edge of the test table 3 to prevent the robot from falling during testing. The inner sides of the base 1 are fixedly connected to a first lifting mechanism 8, and a connecting plate 10 is fixedly connected between the two first lifting mechanisms 8. The upper end face of the connecting plate 10 is fixedly connected to an obstacle avoidance test component 4 extending out of the test table 3. The provided first lifting mechanism 8 is used to drive the obstacle avoidance test component 4 to be lifted and lowered. After the obstacle avoidance test component 4 is lifted out of the test table 3, it is convenient for the robot to perform obstacle avoidance testing.

[0029] A through opening 5 is provided on the side of the test table 3 away from the obstacle avoidance test component 4, and a passability test component 7 is provided on the inner side of the through opening 5. The passability test component 7 includes a winding roller 73 and a fixed shaft 72, and a slope belt 71 is wound around the outer end of the winding roller 73.

[0030] The interior of the base 1 is fixedly connected to a second lifting mechanism 9 below the slope belt 71, and a bracket 6 is fixedly connected above the second lifting mechanism 9. The second lifting mechanism 9 is provided to drive the bracket 6 to rise. After the bracket 6 is raised, the middle part of the slope belt 71 is lifted, so that slopes are formed on both sides of the slope belt 71. The height of the bracket 6 is adjusted by the second lifting mechanism 9, thereby adjusting the slope angle of the slope belt 71 to meet different testing requirements.

[0031] Specifically, when the bracket 6 is lifted up, the slope belt 71 is rolled up on the winding roller 73 and then partially unfolded, so that slopes are formed on both sides of the slope belt 71. The surface of the slope belt 71 is rough and has a certain friction, which facilitates the smooth passage of the robot.

[0032] The first lifting mechanism 8 includes a first shell 81, and the interior of the first shell 81 is rotatably connected to a first screw rod 82, the outer end of the first screw rod 82 is sleeved with a first lifting seat 83 that is slidably connected to the first shell 81, the first lifting seat 83 is fixedly connected to the connecting plate 10, and the lower end of the first shell 81 is fixedly connected to a first motor 84 whose output end is fixedly connected to the first screw rod 82. When the first lifting mechanism 8 is in use, the first motor 84 drives the first screw rod 82 to rotate, thereby driving the first lifting seat 83 to move, thereby driving the obstacle avoidance test assembly 4 to enter and exit the base 1.

[0033] The bracket 6 includes a frame 61, the inner side of the frame 61 is rotatably connected to a plurality of rollers 62, the rollers 62 are in contact with the lower end surface of the slope belt 71, the lower end of the frame 61 is fixedly connected to a plurality of connecting columns 63, the second lifting mechanism 9 includes a second shell 92, the interior of the second shell 92 is slidably connected to a second lifting seat 94 through a guide rod 96, the second lifting seat 94 is fixedly connected to the guide rod 96 through a plurality of sleeve rods 95, the middle part of the interior of the second shell 92 is rotatably connected to a second screw rod 93, the second lifting seat 94 is sleeved with the second screw rod 93, and the lower end of the second shell 92 A second motor 91 is fixedly connected, and the output end of the second motor 91 is fixedly connected to the second screw rod 93, and the bracket 6 is driven to rise and fall through the second lifting mechanism 9. Specifically, the second motor 91 drives the second screw rod 93 to rotate, thereby driving the second lifting seat 94 to move, thereby driving the bracket 6 connected to the second lifting seat 94 through the sleeve rod 95, and then adjusting the angle of the slope belt 71. At the same time, the bracket 6 contacts the slope belt 71 through multiple rotatable rollers 62, and the friction with the slope belt 71 is small, so the slope belt 71 can smoothly adjust the angle.

[0034] The fixed shaft 72 is fixedly connected to the base 1, and the winding roller 73 includes a rotating shaft 732 rotatably connected to the base 1. The outer end of the rotating shaft 732 is rotatably sleeved with a cylinder 731, and the outer end of the rotating shaft 732 is fixedly sleeved with a torsion spring 733. The two ends of the torsion spring 733 are fixedly connected to the inner wall of the cylinder 731. The elastic force of the torsion spring 733 enables the cylinder 731 to drive the slope belt 71 to be tightened. After the bracket 6 is lowered, the slope belt 71 can be reeled up by the winding roller 73.

[0035] Transition plates 11 are rotatably connected on both sides of the interior of the opening 5. One end of the transition plate 11 contacts the upper surface of the slope belt 71. The transition plate 11 is capable of rotating, and one end overlaps the slope belt 71 to block the gap between the slope belt 71 and the opening 5 to facilitate the passage of the robot.

[0036] The obstacle avoidance test component 4 includes two baffles 41 and two baffles 42. A channel is formed between the two baffles 42. The baffles 41 are set to serve as obstacles to facilitate the robot to perform obstacle avoidance tests. The two baffles 42 are set to simulate narrow and curved channels to facilitate testing.

[0037] The utility model also proposes a robot, including a robot body, which is arranged above a robot test fixture, and the robot body can move on the end surface of a test table 3. The robot can move on the test table 3 and can pass through an obstacle avoidance test component 4 and a passability test component 7.

[0038] The above describes an embodiment of the present invention in detail. However, the above content is only a preferred embodiment of the present invention and should not be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent application of the present invention.

Claims

1. A robot test fixture, comprising a base (1), characterized in that: The upper end surface of the base (1) is fixedly connected to a test table (3), a retaining edge (2) is fixedly connected to the periphery of the upper end surface of the test table (3), both sides of the interior of the base (1) are fixedly connected to first lifting mechanisms (8), a connecting plate (10) is fixedly connected between the two first lifting mechanisms (8), and the upper end surface of the connecting plate (10) is fixedly connected to an obstacle avoidance test component (4) extending out of the test table (3); A through opening (5) is provided on a side of the test table (3) away from the obstacle avoidance test component (4), and a passability test component (7) is provided inside the through opening (5); The passability test assembly (7) comprises a winding roller (73) and a fixed shaft (72); a slope belt (71) is wound around the outer end of the winding roller (73); and the other end of the slope belt (71) is fixedly connected to the fixed shaft (72); A second lifting mechanism (9) is fixedly connected to the interior of the base (1) below the slope belt (71), and a bracket (6) is fixedly connected to the top of the second lifting mechanism (9).

2. The robot test fixture according to claim 1, characterized in that: The first lifting mechanism (8) comprises a first shell (81), the interior of the first shell (81) is rotatably connected to a first screw rod (82), the outer end of the first screw rod (82) is sleeved with a first lifting seat (83) slidably connected to the first shell (81), the first lifting seat (83) is fixedly connected to the connecting plate (10), and the lower end of the first shell (81) is fixedly connected to a first motor (84) whose output end is fixedly connected to the first screw rod (82).

3. The robot test fixture according to claim 1, characterized in that: The bracket (6) includes a frame (61), the inner side of the frame (61) is rotatably connected to a plurality of rollers (62), the rollers (62) are in contact with the lower end surface of the slope belt (71), the lower end of the frame (61) is fixedly connected to a plurality of connecting columns (63), the second lifting mechanism (9) includes a second shell (92), the interior of the second shell (92) is slidably connected to a second lifting seat (94) through a guide rod (96), and the second lifting seat (94) is fixedly connected to the guide rod (96) through a plurality of sleeve rods (95).

4. The robot test fixture according to claim 3, characterized in that: A second screw rod (93) is rotatably connected to the middle portion of the interior of the second shell (92), the second lifting seat (94) is sleeved with the second screw rod (93), the lower end of the second shell (92) is fixedly connected to a second motor (91), and the output end of the second motor (91) is fixedly connected to the second screw rod (93).

5. The robot test fixture according to claim 1, characterized in that: The fixed shaft (72) is fixedly connected to the base (1); the winding roller (73) comprises a rotating shaft (732) rotatably connected to the base (1); the outer end of the rotating shaft (732) is rotatably sleeved with a cylinder (731); the outer end of the rotating shaft (732) is fixedly sleeved with a torsion spring (733); and both ends of the torsion spring (733) are fixedly connected to the inner wall of the cylinder (731).

6. The robot test fixture according to claim 1, characterized in that: Both sides of the interior of the through opening (5) are rotatably connected with transition plates (11), and one end of the transition plate (11) contacts the upper surface of the slope belt (71).

7. The robot test fixture according to claim 1, characterized in that: The obstacle avoidance test assembly (4) comprises two blocking columns (41) and two blocking plates (42), with a channel formed between the two blocking plates (42).

8. A robot comprising a robot body, characterized in that: The robot body is arranged above the robot test fixture as claimed in any one of claims 1 to 7, and the robot body is capable of moving on the upper end surface of the test table (3).

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