Four-footed crawling robot for measuring response time of clamp

Abstract

The utility model discloses a four-footed crawling robot for measuring the response time of a clamp. A shell of the air cylinder is hinged to the machine body, and the pneumatic end of the air cylinder is connected with a power input shaft of the gear transmission mechanism through a push rod. The first sliding block I, the first sliding block II, the second sliding block I and the second sliding block II are respectively connected with the gear transmission mechanism through respective legs; the first first sliding block and the first second sliding block are both connected with the first side sliding rail in a sliding mode, and the second first sliding block and the second second sliding block are both connected with the second side sliding rail in a sliding mode. The first side sliding rail and the second side sliding rail are vertically arranged in parallel; and clamping devices are installed at one ends of the first first sliding block, the first second sliding block, the second first sliding block and the second second sliding block, the clamping devices of the first first sliding block and the first second sliding block are used for clamping a first side sliding rail, and the clamping devices of the second first sliding block and the second second sliding block are used for clamping a second side sliding rail. The utility model provides a novel clamp measuring device which utilizes gravity to measure the reaction time of a clamp.

Description

Technical Field

[0001] The utility model belongs to the technical field of testing mechanical components, in particular to a four-legged crawling robot used for measuring the reaction time of a clamp. Background Art

[0002] In the prior art, when performing reliability failure tests on a clamp, data of the clamp is usually collected directly during the opening and closing process of the clamp; there is no dedicated device for measuring the response time of the clamp. Utility Model Content

[0003] In response to the problems existing in the background technology, the utility model provides a quadruped crawling robot for measuring the reaction time of a clamp, and the technical solution includes: a solenoid valve group, a fuselage, a cylinder, a first side slide rail, a second side slide rail, a push rod, a gear transmission mechanism, a first leg on the first side, a second leg on the first side, a first leg on the second side, a second leg on the second side, a first slider, a first second slider, a second first slider, and a second second slider; wherein the shell of the cylinder arranged at the outer end of the fuselage is hinged to the fuselage, the pneumatic end of the cylinder is hinged to the first end of the push rod, and the second end of the push rod is connected to the power input shaft of the gear transmission mechanism by a key; the gear transmission mechanism is installed in the fuselage, the first slider is connected to the gear transmission mechanism via the first leg on the first side, the first second slider is connected to the gear transmission mechanism via the second leg on the first side, the second slider is connected to the gear transmission mechanism via the first leg on the second side, and the second second slider is connected to the gear transmission mechanism via the second leg on the second side;

[0004] The first slider and the first second slider are both slidably connected to the first side slide rail, the second slider and the second second slider are both slidably connected to the second side slide rail, and the first side slide rail and the second side slide rail are parallel and vertically arranged; one end of the first slider, the first second slider, the second first slider and the second second slider are all equipped with a clamp, the clamp of the first slider and the first second slider is used to clamp the first side slide rail, and the clamp of the second slider and the second second slider is used to clamp the second side slide rail; the clamp is connected to the pressure gas source through the solenoid valve group.

[0005] The fuselage includes: three pads, a cylinder mounting plate, a guide rail side gear mounting plate and an outer gear mounting plate. The two ends of the three pads are respectively fixed to the guide rail side gear mounting plate and the outer gear mounting plate. The cylinder mounting plate is fixed to one side of the outer gear mounting plate. The cylinder shell is hinged to the cylinder mounting plate.

[0006] The gear transmission mechanism includes: a large gear shaft, a first large gear, a first and second large gear, a second large gear, a second and second large gear, a power input shaft, a pinion shaft and a pinion, wherein the first large gear, the first and second large gear, the second and second large gear are all connected and installed between the guide rail side gear mounting plate and the outer gear mounting plate through a large gear shaft bearing, and the power input shaft and a large gear shaft are fixedly connected and coaxial as a whole; the pinion is connected and installed between the guide rail side gear mounting plate and the outer gear mounting plate through a pinion shaft bearing; the first and second large gears, the first and second large gears, the pinion, the second and second large gears are meshed in sequence.

[0007] The first leg on the first side, the second leg on the first side, the first leg on the second side, and the second leg on the second side have the same structure, and all include: a crawling plane connecting rod, a support leg connecting rod, a slider connecting plate, and a joint bearing; wherein the inner end of the crawling plane connecting rod is fixedly connected to the corresponding large gear shaft in the gear transmission mechanism, the second end of the crawling plane connecting rod is hinged to the outer end of the support leg connecting rod, the guide rail end of the support leg connecting rod is connected to the slider connecting plate via a joint bearing, the slider connecting plate is fixed to the corresponding slider, and the clamp is fixed to the corresponding slider connecting plate;

[0008] The connection position of the crawling plane connecting rod and the corresponding large gear shaft is on the guide rail side of the guide rail side gear mounting plate.

[0009] The crawl plane link is located in a vertical plane.

[0010] The hinge axis of the second end of the crawling plane connecting rod is parallel to the vertical plane.

[0011] A magnetic scale is installed on the first side slide rail and / or the second side slide rail, and a reading head is provided on one side of the slider below the slide rail. The reading head is fixed to the corresponding slider connecting plate through a reading head mounting plate.

[0012] The solenoid valve group includes: a five-port three-position solenoid valve and two three-port two-position solenoid valves. The gas inlet of the clamp corresponding to the first leg on the second side and the second leg on the first side is connected to the gas outlet of one three-port two-position solenoid valve through a three-way joint. The gas inlet of the clamp corresponding to the first leg on the first side and the second leg on the second side is connected to the gas outlet of another three-port two-position solenoid valve through a three-way joint. The two gas inlets of the cylinder are connected to the two gas outlets of the five-port three-position solenoid valve; the gas inlets of the five-port three-position solenoid valve and the three-port two-position solenoid valve are both connected to a source of pressurized gas.

[0013] The beneficial effects of the present invention are: providing a clamp measuring device that uses gravity to measure the reaction time of the clamp; when the robot crawls to a certain height, all the clamps are first released and then re-clamped after a period of time; the reaction time of the clamp is calculated by detecting the height difference between the specified height and the time when the device starts to decelerate through the reading head. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic structural diagram of an embodiment of a quadruped crawling robot for measuring the reaction time of a clamp according to the present invention;

[0015] Figure 2 The structural diagram of the fuselage is hidden in the embodiment of the present utility model.

[0016] Among them: 10-crawling plane connecting rod, 20-support leg connecting rod, 30-slider connecting plate, 40-spherical bearing, 100-fuselage, 101-pad, 102-cylinder mounting plate, 103-guide rail side gear mounting plate, 104-outer gear mounting plate, 200-cylinder, 210-push rod, 300-first side slide rail, 310-first side first leg, 320-first side second leg, 330-first first slide block, 340-first second slide block, 400-second side slide rail, 410-second side first leg, 420-second side second Second leg, 430-second slider, 440-second slider, 500-gear transmission mechanism, 510-large gear shaft, 531-first large gear, 532-first second large gear, 541-second large gear, 542-second second large gear, 550-power input shaft, 520-small gear shaft, 521-small gear, 600-solenoid valve group, 601-five-port three-position solenoid valve, 602-three-port two-position solenoid valve, 700-clamp, 800-magnetic scale, 810-reading head, 820-reading head mounting plate. DETAILED DESCRIPTION

[0017] The present invention will be described in further detail below with reference to the accompanying drawings.

[0018] like Figure 1 and Figure 2The embodiment of the utility model shown includes: a solenoid valve group 600, a fuselage 100, a cylinder 200, a first side slide rail 300, a second side slide rail 400, a push rod 210, a gear transmission mechanism 500, a first side first leg 310, a first side second leg 320, a second side first leg 410, a second side second leg 420, a first first slider 330, a first second slider 340, a second first slider 430, and a second second slider 440; wherein, the shell of the cylinder 200 provided at the outer end of the fuselage 100 is hinged to the fuselage 100, the pneumatic end of the cylinder 200 is hinged to the first end of the push rod 210, and the second end of the push rod 210 is connected to the power input shaft 550 of the gear transmission mechanism 500 by a key; the gear transmission mechanism 50 0 is installed in the fuselage 100, the first slider 330 is connected to the gear transmission mechanism 500 through the first-side first leg 310, the first-side second slider 340 is connected to the gear transmission mechanism 500 through the first-side second leg 320, the second-side slider 430 is connected to the gear transmission mechanism 500 through the second-side first leg 410, and the second-side second slider 440 is connected to the gear transmission mechanism 500 through the second-side second leg 420, so that the relative positions of the first slider 330, the first-side second slider 340, the second-side slider 430, and the second-side second slider 440 (i.e., the extended angles of the first-side first leg 310, the first-side second leg 320, the second-side first leg 410, and the second-side second leg 420) are changed by the extension and contraction of the cylinder 200.

[0019] The first slider 330 and the first second slider 340 are both slidably connected to the first side slide rail 300, and the second slider 430 and the second second slider 440 are both slidably connected to the second side slide rail 400. The first side slide rail 300 and the second side slide rail 400 are both vertically arranged; one end of the first slider 330, the first second slider 340, the second first slider 430 and the second second slider 440 are all installed with a clamp 700, and the clamp 700 of the first slider 330 and the first second slider 340 is used to clamp the first side slide rail 300, and the clamp 700 of the second slider 430 and the second second slider 440 is used to clamp the second side slide rail 400; the clamp 700 is connected to the pressure gas source through the solenoid valve group 600.

[0020] like Figure 1 The fuselage 100 shown includes: three pads 101, a cylinder mounting plate 102, a guide rail side gear mounting plate 103 and an outer gear mounting plate 104. The two ends of the three pads 101 are respectively fixed to the guide rail side gear mounting plate 103 and the outer gear mounting plate 104. The cylinder mounting plate 102 is fixed to one side of the outer gear mounting plate 104. The shell of the cylinder 200 is hinged to the cylinder mounting plate 102.

[0021] like Figure 2The gear transmission mechanism 500 shown includes: a large gear shaft 510, a first large gear 531, a first second large gear 532, a second large gear 541, a second second large gear 542, a power input shaft 550, a pinion shaft 520 and a pinion 521, wherein the first large gear 531, the first second large gear 532, the second large gear 541 and the second second large gear 542 are all connected by a large gear shaft 510 bearing and mounted between the guide rail side gear mounting plate 103 and the outer gear mounting plate 104, the power input shaft 550 and a large gear shaft 510 are connected by a large gear shaft 510 bearing and mounted between the guide rail side gear mounting plate 103 and the outer gear mounting plate 104, 0 are fixedly connected as a whole and are coaxial; the small gear 521 is installed between the guide rail side gear mounting plate 103 and the outer gear mounting plate 104 through the small gear shaft 520 bearing connection; the first and second large gears 532, the first large gear 531, the small gear 521, the second large gear 541 and the second second large gear 542 are meshed in sequence, so that the first leg 310 on the first side and the second leg 320 on the first side are displaced in opposite directions, and the first leg 410 on the second side and the second leg 420 on the second side are displaced in opposite directions, and the first leg 310 on the first side and the second leg 410 on the second side are displaced in the same direction.

[0022] In this embodiment, the first leg 310 on the first side, the second leg 320 on the first side, the first leg 410 on the second side, and the second leg 420 on the second side have the same structure, and all include: a crawling plane link 10, a leg link 20, a slider connecting plate 30, and a joint bearing 40. The inner end of the crawling plane link 10 is fixed to the corresponding large gear shaft in the gear transmission mechanism 500 by a top screw, the second end of the crawling plane link 10 is hinged to the outer end of the leg link 20, and the guide rail end of the leg link 20 is fixed by a joint bearing. 40 is connected to the slider connecting plate 30, the slider connecting plate 30 is fixed to the corresponding slider, and the clamp 700 is fixed to the corresponding slider connecting plate 30; specifically, the connection position of the crawling plane link 10 and the corresponding large gear shaft is on the guide rail side of the guide rail side gear mounting plate 103; and the crawling plane link 10 moves in the vertical plane (parallel to the first side slide rail 300 and the second side slide rail 400), and the second end hinge axis of the crawling plane link 10 is parallel to the vertical plane, ensuring the crawlability of the entire embodiment.

[0023] In this embodiment, if Figure 1 As shown, a magnetic scale 800 is installed on the first side slide rail 300 (and / or the second side slide rail 400, depending on the requirements), and a reading head 810 is provided on one side of the slider (the first and second sliders 340) below the slide rail. The reading head 810 is fixed to the corresponding slider connecting plate 30 through a reading head mounting plate 820.

[0024] In this embodiment, the solenoid valve group 600 includes: a five-port three-position solenoid valve 601 and two three-port two-position solenoid valves 602. The gas inlet of the clamp 700 corresponding to the first leg 410 on the second side and the second leg 320 on the first side is connected to the gas outlet of a three-port two-position solenoid valve 602 through a three-way joint. The gas inlet of the clamp 700 corresponding to the first leg 310 on the first side and the second leg 420 on the second side is connected to the gas outlet of another three-port two-position solenoid valve 600 through a three-way joint. The two gas inlets of the cylinder 200 are connected to the two gas outlets of the five-port three-position solenoid valve 601; the gas inlets of the five-port three-position solenoid valve 601 and the two three-port two-position solenoid valves 602 are both connected to a source of pressurized gas.

[0025] When working,

[0026] The reciprocating cylinder 200 drives the power input shaft 550 connected to the cylinder and the corresponding large gear shaft 510 to rotate through the push rod 210, and then the large gear shaft simultaneously drives the first large gear 531, the first second large gear 532, the second large gear 541, the second second large gear 542 and the small gear 521 to rotate, and the first leg 310 on the first side, the second leg 320 on the first side, the first leg 410 on the second side and the second leg 420 on the second side reciprocate with the reciprocating rotation of the gears; at the same time, the solenoid valve is used to control the clamping and release of the four clamps 700 to achieve the rise (or fall) of the embodiment.

[0027] When the embodiment rises to a certain height, all the clamps are released. When the device falls to a specified height, all the clamps are tightened immediately. Finally, according to the formula v = √2gh, for example, when the clamp is dropped 0.5m, a signal is given to the clamp, and v = 3.16m / s is obtained, that is, the speed of the clamp when it falls to the position where the controller gives the signal. Then according to the formula h = vt + 2 1 gt 2 Assuming that the distance between the signal and the start of deceleration is 0.05m, the time taken by the brake from receiving the signal to starting deceleration is t=0.0154s, which is the reaction time of the brake.

[0028] In this embodiment, the leg mechanism is swung back and forth by driving the gears with the cylinder, and the device is crawled upward by braking at different positions with the clamp. The guide rail and the slider are equipped with a reading head 810 to transmit height information, so that the computer connected to the reading head 810, the cylinder 200 and the solenoid valve group 600 can obtain the reaction time of the clamp through subsequent calculations.

Claims

1. A quadruped crawling robot for measuring the reaction time of a clamp, characterized in that: include: A solenoid valve group (600), a body (100), a cylinder (200), a first side slide rail (300), a second side slide rail (400), a push rod (210), a gear transmission mechanism (500), a first leg (310) on the first side, a second leg (320) on the first side, a first leg (410) on the second side, a second leg (420) on the second side, a first slider (330), a first second slider (340), a second first slider (430) and a second second slider (440); wherein the housing of the cylinder (200) arranged at the outer end of the body (100) is hinged to the body (100), and the pneumatic end of the cylinder (200) is hinged to the first leg of the push rod (210). The first end of the push rod (210) is hinged, and the second end of the push rod (210) is connected to the power input shaft (550) of the gear transmission mechanism (500) through a key; the gear transmission mechanism (500) is installed in the fuselage (100), the first slider (330) is connected to the gear transmission mechanism (500) through the first leg (310) on the first side, the first slider (340) is connected to the gear transmission mechanism (500) through the second leg (320) on the first side, the second slider (430) is connected to the gear transmission mechanism (500) through the first leg (410) on the second side, and the second slider (440) is connected to the gear transmission mechanism (500) through the second leg (420) on the second side; The first slider (330) and the first second slider (340) are both slidably connected to the first side slide rail (300), and the second slider (430) and the second second slider (440) are both slidably connected to the second side slide rail (400). The first side slide rail (300) and the second side slide rail (400) are parallel and vertically arranged. One end of the first slider (330), the first second slider (340), the second slider (430) and the second second slider (440) are all equipped with a clamp (700). The clamp (700) of the first slider (330) and the first second slider (340) is used to clamp the first side slide rail (300), and the clamp (700) of the second slider (430) and the second second slider (440) is used to clamp the second side slide rail (400). The clamp (700) is connected to a pressure gas source through an electromagnetic valve group (600).

2. A quadruped crawling robot for measuring the reaction time of a clamp according to claim 1, characterized in that: The body (100) comprises: three pads (101), a cylinder mounting plate (102), a guide rail side gear mounting plate (103) and an outer gear mounting plate (104); two ends of the three pads (101) are respectively fixed to the guide rail side gear mounting plate (103) and the outer gear mounting plate (104); the cylinder mounting plate (102) is fixed to one side of the outer gear mounting plate (104); and the housing of the cylinder (200) is hinged to the cylinder mounting plate (102).

3. A quadruped crawling robot for measuring the reaction time of a clamp according to claim 2, characterized in that: The gear transmission mechanism (500) comprises: a large gear shaft (510), a first large gear (531), a first second large gear (532), a second large gear (541), a second second large gear (542), a power input shaft (550), a pinion shaft (520) and a pinion (521), wherein the first large gear (531), the first second large gear (532), the second large gear (541) and the second second large gear (542) are all connected and mounted on a large gear shaft (510) through a bearing. Between the guide rail side gear mounting plate (103) and the outer gear mounting plate (104), a power input shaft (550) and a large gear shaft (510) are integrally fixed and coaxial; the small gear (521) is mounted between the guide rail side gear mounting plate (103) and the outer gear mounting plate (104) via a bearing connection of the small gear shaft (520); the first and second large gears (532), the first and second large gears (531), the small gear (521), the second and second large gears (541) and the second and second large gears (542) are meshed in sequence.

4. A quadruped crawling robot for measuring the reaction time of a clamp according to claim 3, characterized in that: The first leg (310) on the first side, the second leg (320) on the first side, the first leg (410) on the second side and the second leg (420) on the second side have the same structure, and all include: a crawling plane connecting rod (10), a support leg connecting rod (20), a slider connecting plate (30) and a joint bearing (40); wherein, the inner end of the crawling plane connecting rod (10) is fixedly connected to the corresponding large gear shaft in the gear transmission mechanism (500), the second end of the crawling plane connecting rod (10) is hinged to the outer end of the support leg connecting rod (20), the guide rail end of the support leg connecting rod (20) is connected to the slider connecting plate (30) through the joint bearing (40), the slider connecting plate (30) is fixed to the corresponding slider, and the clamp (700) is fixed to the corresponding slider connecting plate (30).

5. A quadruped crawling robot for measuring the reaction time of a clamp according to claim 4, characterized in that: The connection position between the crawling plane connecting rod (10) and the corresponding large gear shaft is on the guide rail side of the guide rail side gear mounting plate (103).

6. A quadruped crawling robot for measuring the reaction time of a clamp according to claim 4, characterized in that: The crawling plane connecting rod (10) is located in a vertical plane.

7. A quadruped crawling robot for measuring the reaction time of a clamp according to claim 4, characterized in that: The hinge axis of the second end of the crawling plane connecting rod (10) is parallel to the vertical plane.

8. A quadruped crawling robot for measuring the reaction time of a clamp according to any one of claims 4 to 6, characterized in that: A magnetic scale (800) is installed on the first side slide rail (300) and / or the second side slide rail (400), and a reading head (810) is provided on one side of a slider below the slide rail. The reading head (810) is fixed to the corresponding slider connecting plate (30) via a reading head mounting plate (820).

9. The quadruped crawling robot for measuring the reaction time of a clamp according to claim 1, characterized in that: The solenoid valve group (600) comprises: a five-port three-position solenoid valve (601) and two three-port two-position solenoid valves (602); the gas inlet of the clamp (700) corresponding to the first leg (410) on the second side and the second leg (320) on the first side is connected to the gas outlet of one three-port two-position solenoid valve via a three-way joint; the gas inlet of the clamp (700) corresponding to the first leg (310) on the first side and the second leg (420) on the second side is connected to the gas outlet of another three-port two-position solenoid valve via a three-way joint; the two gas inlets of the cylinder (200) are connected to the two gas outlets of the five-port three-position solenoid valve (601); and the gas inlets of the five-port three-position solenoid valve (601) and the three-port two-position solenoid valve are both connected to a source of pressurized gas.

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