Testing device for mop driving module of cleaning robot

Abstract

The utility model discloses a testing device for a mop driving module of a cleaning robot, the mop driving module comprises a rotating motor and / or a lifting motor, the rotating motor and / or the lifting motor are / is connected with a first end of a mop mounting rod, the rotating motor is used for driving the mop mounting rod to rotate, and the lifting motor is used for driving the mop mounting rod to move up and down; the test device comprises a bearing table, a test accompanying mop and a controller, the bearing table is used for bearing a mop driving module, the bearing table comprises an opening, and a mop mounting rod penetrates through the opening; the test accompanying mop is detachably connected with the other end of the mop mounting rod; the controller is electrically connected with the rotating motor and / or the lifting motor so as to collect working parameters of the rotating motor and / or the lifting motor and judge whether the mop driving module is qualified or not. According to the testing device of the mop driving module of the cleaning robot, the qualification test is carried out on the mop driving module before installation, and the testing device is simple in structure, efficient and practical.

Description

Technical Field

[0001] The utility model relates to the field of cleaning robot component testing, in particular to a testing device for a mop drive module of a cleaning robot. Background Art

[0002] A cleaning robot is a small household service robot that can automatically complete cleaning tasks. It has drive wheels on its bottom that contact the ground to enable movement. During movement, the robot uses a mop drive module to drive the mop. The mop is in contact with the ground and moves at all times, allowing the robot to clean every room.

[0003] In order to ensure that the mop drive module of the cleaning robot functions normally when it leaves the factory, it is necessary to first test each component before assembling the cleaning robot to ensure that each component is fully functional before assembling the cleaning robot. Among them, it is necessary to test the various functions of the mop drive module. Therefore, there is an urgent need for a testing device to perform functional testing on the mop drive module. Utility Model Content

[0004] The main purpose of the present utility model is to propose a testing device for the mop drive module of a cleaning robot, aiming to solve the technical problem in the background technology that a testing device for testing the mop drive module of a cleaning robot is urgently needed to perform functional testing on the mop drive module before assembly.

[0005] To achieve the above objectives, the present invention provides a testing device for a mop drive module of a cleaning robot, wherein the mop drive module includes a rotating motor and / or a lifting motor, wherein the rotating motor and / or the lifting motor are connected to the first end of a mop mounting rod, the rotating motor is used to drive the mop mounting rod to rotate, and the lifting motor is used to drive the mop mounting rod to move up and down. The testing device includes:

[0006] A carrying platform, used to carry the mop drive module; the carrying platform includes an opening, the opening is for the mop mounting rod to pass through;

[0007] A test mop, which is detachably connected to the other end of the mop mounting rod;

[0008] A controller is electrically connected to the rotating motor and / or the lifting motor to collect working parameters of the rotating motor and / or the lifting motor to determine whether the mop drive module is qualified.

[0009] In some embodiments, the controller controls the rotating motor and / or the lifting motor to rotate forward and reverse, so as to test the working parameters during forward rotation and the working parameters during reverse rotation respectively; and / or,

[0010] The operating parameters include at least an operating current.

[0011] In some embodiments, the testing device further comprises a floor simulation member, wherein the floor simulation member is disposed below the supporting platform and is disposed opposite to the accompanying testing mop;

[0012] The ground simulation piece has a first test position, and the distance between the first test position and the mop drive module is a first preset distance, which is the distance between the mop drive module of the cleaning robot and the ground in a normal state; and / or,

[0013] The floor simulation component further has a second test position, which is away from the mop drive module and does not contact the accompanying test mop; and / or,

[0014] The ground simulation component further has a third test position, and the distance between the third test position and the mop drive module is a second preset distance, and the second preset distance is smaller than the first preset distance.

[0015] In some embodiments, the ground simulation member can be raised and lowered; the testing device further includes a first driving member, the ground simulation member is connected to an output end of the first driving member, and the first driving member is used to drive the ground simulation member to move.

[0016] In some embodiments, a pressure sensor is provided on the ground simulation component; the pressure sensor is located between the first driving component and the ground simulation component and is electrically connected to the controller;

[0017] The pressure sensor detects the pressure value of the test mop on the ground simulation component; and the controller determines whether the pressure value of the mop drive module on the ground is qualified according to the pressure value.

[0018] In some embodiments, the upper surface of the accompanying mop is provided with a speed measuring accessory;

[0019] The testing device of the mop drive module further includes a speed measuring component, which is located below the supporting platform and is arranged opposite to the speed measuring accessory. The speed measuring component cooperates with the speed measuring accessory to detect the rotation speed of the mop when it is driven by the rotary motor;

[0020] The speed measuring component is electrically connected to a controller, and the controller is used to determine whether the rotating motor is qualified according to the working parameters of the rotating motor and the rotating speed.

[0021] In some embodiments, the testing device further includes an in-position sensor, which is used to detect whether the mop drive module is placed on the supporting platform, and the in-position sensor is connected to the controller.

[0022] In some embodiments, the testing device further includes a positioning mechanism, which includes a second driving member and a limiting assembly, wherein the second driving member is connected to the supporting platform; the limiting assembly is provided on the second driving member and is located above the supporting platform; the limiting assembly is driven by the second driving member to move toward the mop drive module for limiting the displacement of the mop drive module.

[0023] In some embodiments, the limiting assembly includes a pressure plate connected to the output end of the second driving member. The pressure plate is driven by the second driving member to press the mop driving module to limit the vertical displacement of the mop driving module.

[0024] In some embodiments, the limiting assembly further includes a plurality of limiting columns, which are arranged on the side of the pressure plate facing the supporting platform, and a horizontal limiting space is formed between the plurality of limiting columns. The limiting columns are driven by the second driving member to abut against the supporting platform, thereby limiting the mop driving module within the horizontal limiting space.

[0025] The testing device of the mop drive module of the cleaning robot of the present invention places the mop drive module to be tested on a supporting platform by an operator or a manipulator, and then the rotating motor and / or the lifting motor of the mop drive module drives the mopping action to be tested for testing. During the test, the controller collects the operating parameters of the rotating motor and / or the lifting motor when they are working, and compares the collected operating parameters with the standard values ​​of the operating parameters stored in the controller. Through comparison and calculation, it is determined whether each motor of the tested mop drive module is qualified. The testing device has a simple structure, is efficient and practical, meets the urgent need for a functional test of the mop drive module of the cleaning robot, and can test whether the rotating motor and / or the lifting motor on the mop drive module are qualified, avoiding the time-consuming problem of disassembling the cleaning robot when damage is found after assembly is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a structural diagram of a mop drive module of a cleaning robot in one embodiment of the present utility model;

[0027] Figure 2 This is a structural diagram of a test mop in one embodiment of the present invention;

[0028] Figure 3 This is a structural diagram of a testing device for a mop drive module of a cleaning robot in one embodiment of the present utility model;

[0029] Figure 4 This is a schematic structural diagram of a first driving member, a ground simulation member, and a pressure sensor in one embodiment of the present utility model;

[0030] Figure 5 This is a structural diagram of a carrying platform in one embodiment of the present utility model;

[0031] Figure 6 Schematic diagram of the structure of the positioning mechanism in one embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the schemes 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.

[0033] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0034] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element.

[0035] In addition, the descriptions of "first," "second," etc. in this utility model are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this utility model.

[0036] Reference Figures 1 to 6 The present invention proposes a testing device for the mop drive module 1 of a cleaning robot, such as Figure 1 As shown, the mop drive module 1 includes a rotating motor 11 and / or a lifting motor 12, which are connected to the first end of the mop mounting rod 2. The rotating motor 11 is used to drive the mop mounting rod 2 to rotate, and the lifting motor 12 is used to drive the mop mounting rod 2 to move up and down. The test device includes:

[0037] The carrying platform 3 is used to carry the mop drive module 1; the carrying platform 3 includes an opening 30, and the opening 30 is for the mop mounting rod 2 to pass through;

[0038] The accompanying mop 4 is detachably connected to the other end of the mop mounting rod 2;

[0039] The controller is electrically connected to the rotating motor 11 and / or the lifting motor 12 to collect working parameters of the rotating motor 11 and / or the lifting motor 12 to determine whether the mop drive module 1 is qualified.

[0040] In this embodiment, an operator or a robot places the mop drive module 1 to be tested on the supporting platform 3 , passes the mop mounting rod 2 of the mop drive module 1 through the opening 30 of the supporting platform 3 and mounts the accompanying mop 4 on the mop mounting rod 2 . The mop drive module 1 includes a rotary motor 11, which is connected to a first end of the mop mounting rod 2, and the other end of the mop mounting rod 2 is detachably connected to the test mop 4. The rotary motor 11 outputs a rotational force to drive the mop mounting rod 2 to rotate, thereby driving the test mop 4 installed on the mop mounting rod 2 to rotate. The rotation axis of the mop mounting rod 2 is collinear with the rotation axis of the test mop 4. The test mop 4 rotates to simulate the working state of the cleaning robot when the mop rotates to clean the floor when it is actually working. After controlling the rotary motor 11 to output the rotational force, the controller collects the working parameters of the rotary motor 11. The controller stores the standard values ​​of the normal working parameters of the rotary motor 11. After the controller collects the actual working parameters of the rotary motor 11, it is compared with the standard values ​​of the working parameters representing the normal working of the rotary motor 11. If the difference between the actual working parameters of the rotary motor 11 and the standard values ​​is within the allowable error range, the rotary motor 11 is judged to be qualified, otherwise it is judged to be unqualified.

[0041] The lifting motor 12 is used to drive the mop mounting rod 2 to move up and down, and the test mop 4 installed on the mop mounting rod 2 moves up and down accordingly to simulate the actual working conditions of the cleaning robot when it needs to move the mop up and down to apply different pressures to the ground or does not need to lift the mop when mopping the floor. The lifting motor 12 drives the mop mounting rod 2 to move the mop mounting rod 2 downward and collects the working parameters of the lifting motor 12 in the process. The controller also stores the standard values ​​of the normal working parameters of the lifting motor 12. The controller collects the values ​​of the actual working parameters of the lifting motor 12 and compares them with the standard values ​​representing the working parameters when the lifting motor 12 is working normally. If the difference between the values ​​of the actual working parameters of the lifting motor 12 and the standard values ​​is within the allowable error range, the lifting motor 12 is judged to be qualified, otherwise it is unqualified.

[0042] The operating parameters of the rotating motor 11 may be parameters such as the speed, torque, and operating current of the motor shaft, and the operating parameters of the lifting motor 12 may be parameters such as the lifting height, lifting speed, and operating current.

[0043] The testing device of the mop drive module 1 of the cleaning robot of the present invention can collect the operating parameters of the rotating motor 11 and / or the lifting motor 12 when they are working through the controller, and compare the collected operating parameters with the standard values ​​of the operating parameters stored in the controller. Through comparison and calculation, it is determined whether the mop drive module 1 of the cleaning robot is qualified. The testing device has a simple structure, is efficient and practical, and meets the urgent need for a functional test of the mop drive module 1 of the cleaning robot. It can further test whether the rotating motor 11 and / or the lifting motor 12 on the mop drive module 1 are qualified, avoiding the time-consuming problem of disassembling the cleaning robot when damage is found after assembly is completed.

[0044] In some embodiments, the controller proposed by the present invention controls the rotating motor 11 and / or the lifting motor 12 to rotate forward and reverse, so as to test the working parameters during forward rotation and the working parameters during reverse rotation respectively; and / or,

[0045] The operating parameters include at least the operating current.

[0046] In this embodiment, the controller can control the rotation motor 11 to rotate forward or reverse, thereby driving the mop mounting rod 2 to rotate forward or reverse, thereby driving the test mop 4 mounted on the mop mounting rod 2 to rotate forward or reverse, thereby simulating the operating state of the rotation motor 11 under the actual working environment of the mop drive module 1. Similarly, the controller controls the lift motor 12 to rotate forward or reverse, thereby controlling the lift motor 12 to drive the mop mounting rod 2 downward or upward, causing the test mop 4 mounted on the mop mounting rod 2 to move toward or away from the ground, thereby simulating the operating state of the lift motor 12 under the actual working environment of a cleaning robot. Furthermore, after driving the rotation motor 11 and / or lift motor 12 forward or reverse, the controller tests the operating parameters of these motors during operation and can collect and compare these operating parameters with the standard values ​​of the operating parameters stored in the controller to verify the compliance of the rotation motor 11 and lift motor 12.

[0047] The operating parameters of the rotating motor 11 and / or the lifting motor 12 include at least the operating voltage and the operating current of the rotating motor 11 and / or the lifting motor 12 when rotating forward and reverse. By detecting the operating voltage and the operating current, the stability of the rotating motor 11 and / or the lifting motor 12 when working can be determined. If the operating voltage and the operating current are relatively stable during operation and remain stable after multiple continuous tests, the tested motor can be determined to be qualified.

[0048] In some embodiments, the operating parameters measured by the rotating motor 11 may also include the speed and torque of the rotating motor 11, measuring whether the speed output by the motor shaft is qualified and whether the motor output torque is sufficient. In addition, the temperature rise of the rotating motor 11 during continuous operation may also be tested. The temperature rise may reflect the heat dissipation performance of the rotating motor 11 under continuous operation. If the heat generation is too severe, it is unqualified.

[0049] The working parameters measured by the lifting motor 12 may also include parameters such as the vertical displacement amount, displacement accuracy, and running smoothness of the mop mounting rod 2 driven by the lifting motor 12 .

[0050] In some embodiments, the controller may include a PLC, which is responsible for interpreting and executing the control logic and algorithm. The drive circuit is used to provide the voltage and current drive signals required by the motor. The data acquisition card collects the current of the motor. The communication interface can use a CAN bus, analog interface, etc. to exchange information with the motor. The oscilloscope or display is used to display the status information of the motor and can visualize the operating parameters of each motor of the mop drive module 1 under test. The power supply module is used to provide a stable operating voltage for the controller and each motor. The button and control panel are used for human-computer interaction to input control instructions to the controller, thereby controlling the start and end of the test of each motor.

[0051] Reference Figure 3 and Figure 4 In some embodiments, the test device provided in the embodiment of the present invention further includes a floor simulation member 5, which is disposed below the supporting platform 3 and opposite to the accompanying test mop 4;

[0052] The ground simulation component 5 has a first test position, and the distance between the first test position and the mop drive module 1 is a first preset distance, which is the distance between the mop drive module 1 and the ground of the cleaning robot in a normal state; and / or,

[0053] The floor simulation component 5 further has a second test position, which is away from the mop drive module 1 and does not contact the accompanying test mop 4; and / or,

[0054] The ground simulation component 5 further has a third test position. The distance between the third test position and the mop drive module 1 is a second preset distance, and the second preset distance is smaller than the first preset distance.

[0055] In this embodiment, when the floor simulator 5 is in the first test position, a first preset distance exists between the floor simulator 5 and the mop drive module 1. This first preset distance represents the distance between the mop drive module 1 and the ground when installed on a finished cleaning robot under normal operating conditions. When the floor simulator 5 is in the first test position, the test mop 4 mounted on the mop drive module 1 contacts the floor simulator 5, simulating the contact between the test mop 4 and the ground when the finished cleaning robot is operating normally. When the floor simulator 5 is in the first test position, the controller activates the rotation motor 11 and / or the lift motor 12, measuring the operating parameters of both motors under simulated normal operating conditions.

[0056] When the floor simulation member 5 is in the second test position, the floor simulation member 5 is not in contact with the test mop 4 mounted on the mop drive module 1. At this time, the distance between the floor simulation member 5 and the second test position corresponds to the situation in which the test mop 4 is suspended in the air in the actual working environment of the finished cleaning robot. This simulates the working state of the mop drive module 1 in an unloaded state (the test mop 4 mounted on the mop mounting rod 2 is not in contact with the floor simulation member 5), and tests the operating parameters of the rotary motor 11 and / or the lifting motor 12 of the mop drive module 1 in this working state. It should be noted that when the floor simulation member 5 is in the second test position, the test mop 4 mounted on the mop mounting rod 2 is not in contact with the floor simulation member 5 before and after the lifting motor 12 drives the mop mounting rod 2 to move.

[0057] When the floor simulation member 5 is in the third test position, the floor simulation member 5 contacts the test mop 4 installed on the mop drive module 1. At this time, the distance between the floor simulation member 5 and the mop drive module 1 is a second preset distance, which is smaller than the first preset distance. The second preset distance simulates the situation in which the test mop 4 installed on the mop mounting rod 2 contacts the ground protrusion in the actual working condition of the finished cleaning robot, and tests the working parameters of the rotating motor 11 and / or lifting motor 12 of the mop drive module 1 in this working state.

[0058] It should be noted that when testing the same mop drive module 1, it is necessary to ensure that at least the first test position is tested, and the second test position and / or third test position can be tested optionally. However, when testing different mop drive modules 1, it is necessary to ensure that the test positions of each mop drive module 1 remain consistent. For example, if the first test position is tested on the first mop drive module 1, then at least the first test position should be tested on the second mop drive module 1 to ensure that the test conditions of different mop drive modules 1 are the same.

[0059] In some embodiments, the distance between the accompanying test mop 4 installed on the mop drive module 1 to be tested and the ground simulation component 5 can be manually adjusted by the operator, which can be achieved by adopting the setting form of a slider guide rail and a stop block set on the guide rail. The ground simulation component 5 is set on the slider, and the slider and the guide rail are slidably connected. When adjustment is needed, the position of the slider is adjusted to adjust the position of the ground simulation component 5, thereby changing the distance between the ground simulation component 5 and the accompanying test mop 4, and then the slider is locked on the guide rail by the stop block to realize manual adjustment of the distance between the ground simulation component 5 and the accompanying test mop 4.

[0060] Reference Figure 4 In some embodiments, the ground simulation member 5 proposed in the embodiment of the present utility model can be raised and lowered; the test device also includes a first driving member 6, the ground simulation member 5 is connected to the output end of the first driving member 6, and the first driving member 6 is used to drive the ground simulation member 5 to move.

[0061] In this embodiment, the floor simulation member 5 can be automatically raised and lowered by the first driving member 6. The floor simulation member 5 is connected to the output end of the first driving member 6. The first driving member 6 drives the floor simulation member 5 to move upward and downward, thereby moving the floor simulation member 5 closer to or farther from the mop drive module 1 to be tested placed on the support platform 3, specifically, closer to or farther from the accompanying mop 4 mounted on the mop drive module 1 to be tested. This achieves the first, second, and third test positions of the floor simulation member 5 in the aforementioned embodiment.

[0062] In some embodiments, the first driving member 6 can be a stepper motor or a servo motor, and the output of its output terminal is controlled by a preset program. For example, in the default state of the test device, the first driving member 6 drives the ground simulation member 5 to the first test position. After the first test position is tested, the ground simulation member 5 is moved to the second or third test position for testing. The first driving member 6 can be connected to a controller. If any test position fails the test, the controller sends a signal to control the first driving member 6 to stop.

[0063] In some embodiments, the surface of the floor simulator 5 that contacts the test mop 4 can be made of a variety of materials, such as tile, glass, carpet, or plastic, to simulate the various materials a finished cleaning robot might encounter in its actual working environment. This allows for testing the operating parameters of the motors in the mop drive module 1 under different material conditions. The controller can pre-store standard operating parameter values ​​for each motor in the mop drive module 1 for each material tested, facilitating comparison and testing.

[0064] Reference Figure 4 In some embodiments, a pressure sensor 51 is provided on the ground simulation member 5 of the embodiment of the present invention; the pressure sensor 51 is located between the first driving member 6 and the ground simulation member 5 and is electrically connected to the controller;

[0065] The pressure sensor 51 detects the pressure value of the test mop cloth 4 on the ground simulation component 5; the controller determines whether the pressure value of the mop cloth driving module 1 on the ground is qualified according to the pressure value.

[0066] In this embodiment, the principle of the pressure sensor 51 detecting the pressure value of the test mop 4 on the ground simulation part 5 is as follows: first, the ground simulation part 5 is adjusted to the first test position, and then the controller controls the lifting motor 12 on the mop driving module 1 to press down, so that the mop mounting rod 2 connected to the lifting motor 12 moves downward, driving the test mop 4 to move downward, so that the test mop 4 contacts the ground simulation part 5 in the first test position, and the test mop 4 presses the ground simulation part 5 as the lifting motor 12 continues to press down until the lifting motor 12 is pressed down to a preset distance. At this time, the pressure value of the test mop 4 pressing against the ground simulation part 5 is recorded by the pressure sensor 51. The controller stores the standard value of the pressure value of the lifting motor 12 driving the test mop 4 to press down in the first test position, and judges whether the lifting motor 12 is qualified by comparing the actually measured pressure value with the pre-stored standard value.

[0067] Similarly, the testing method for the third test position of different ground simulation elements 5 is the same as that for the first test position.

[0068] However, the difference in the second test position is that when the first drive member 6 drives the floor simulation member 5 to the second test position and the lifting motor 12 of the mop drive module 1 to be tested does not drive the accompanying mop 4 downward, the floor simulation member 5 and the accompanying mop 4 are not in contact. After the lifting motor 12 drives the accompanying mop 4 downward, the accompanying mop 4 and the floor simulation member 5 remain out of contact until the lifting motor 12 completes the downward movement. During the downward movement of the lifting motor 12, the pressure sensor 51 detects whether there is a change in the pressure value. If there is a change in the pressure value, it means that the lifting motor 12 of the mop drive module 1 is unqualified and the downward distance exceeds the preset standard value. In the above measurements, multiple measurements are used.

[0069] Reference Figure 2 In some embodiments, the upper surface of the accompanying mop 4 proposed in the embodiment of the present utility model is provided with a speed measuring accessory 41;

[0070] The testing device of the mop drive module 1 further includes a speed measuring component 7, which is located below the carrier 3 and is arranged opposite to the speed measuring accessory 41. The speed measuring component 7 cooperates with the speed measuring accessory 41 to detect the speed of the mop 4 when it is driven by the rotating motor 11;

[0071] The speed measuring component 7 is electrically connected to the controller, and the controller is used to determine whether the rotating motor 11 is qualified based on the working parameters and speed of the rotating motor 11.

[0072] In this embodiment, a speed-measuring accessory 41 is provided on the upper surface of the test mop 4. It is positioned opposite a speed-measuring element 7 located below the support platform 3. The speed-measuring element 7 detects the rotational speed of the test mop 4 when driven by a hand-rotating motor. The speed-measuring element 41 is a reflective sticker and the test element is a photoelectric sensor. The speed-measuring principle is illustrated by taking a reflective sticker as an example and a photoelectric sensor as an example: After the test mop drive module 1 is placed on the support platform 3, the speed-measuring accessory 41 of the test mop 4 mounted thereon is aligned with the speed-measuring element 7. Then, the rotary motor 11 is activated to rotate the test mop 4, simulating the actual operation of a finished cleaning robot in which the test mop 4 rotates to clean the floor. As the test mop 4 rotates, the speed-measuring accessory 41 also rotates. A photoelectric sensor is positioned above the rotational path of the speed-measuring accessory 41. As the test mop 4 rotates, the reflective sticker periodically passes by the photoelectric sensor, reflecting light back to the sensor's receiving end. The pulse signal output by the photoelectric sensor is sent to a controller for counting, and the rotational speed of the test mop 4 is determined based on the number of rotations and the time taken. Specifically, multiple sets of reflective stickers can be evenly spaced on the test mop 4 as markings. A photoelectric sensor is placed, and the reflective markers are detected when they pass through the sensor's receiving end. The photoelectric sensor records the number of times n the reflective stickers pass within a specific time t and sends it to the controller. The controller calculates the marker passing frequency: f = n / t. Because the reflective stickers are evenly spaced, there are m markers around the circumference. The rotation speed of the rotating motor 11 is: n = f / m. The controller stores the standard rotation speed ns of the rotating motor in this state. The measured rotation speed n is then compared with the standard rotation speed ns. If the difference between n and ns is within the allowable error range, the rotating motor 11 is operating normally. If the difference between n and ns is too large, the rotation speed of the rotating motor 11 is abnormal and the cause needs to be investigated. Repeating the measurement multiple times and taking the average value can improve measurement accuracy, thereby more accurately determining whether the rotating motor 11 is qualified.

[0073] In some embodiments, the reflective sticker and light sensor can be replaced with a magnetic element and a Hall effect sensor. Specifically, the speed measuring accessory 41 is a magnetic element, and the speed measuring element 7 is a Hall effect sensor. By installing at least one magnetic element on the test mop 4, when the test mop 4 is driven to rotate, the magnetic element passes through the Hall effect sensor, causing a change in the magnetic field in the Hall effect sensor to generate a count signal. The controller can then count the number of Hall effect sensor count signals output within a certain period of time. The actual speed of the rotating motor 11 is then calculated based on the number of magnetic elements installed, the rotation period, and the number of count signals. The actual speed is then compared with a standard speed value stored in the controller. If the difference between the two is within the allowable error range, the rotating motor 11 is operating normally. If the difference is too large, the rotating motor 11 speed is abnormal. Compared to the reflective sticker and light effect sensor solution, the magnetic element and Hall effect sensor solution is more resistant to external light influences and has higher measurement reliability. However, the addition of the magnetic element increases the mass of the test mop 4. In the default state, when the number of magnetic elements is small, their weight has a negligible impact on the rotating motor speed during the test.

[0074] Reference Figure 3 In some embodiments, the testing device proposed in the embodiment of the present invention further includes an in-position sensor 8, which is used to detect whether the mop drive module 1 is placed on the carrier platform 3, and the in-position sensor 8 is connected to the controller.

[0075] In this embodiment, after the mop drive module 1 is manually placed by an operator or automatically placed on the supporting platform 3 by a robot, the in-position sensor 8 detects the mop drive module 1 placed on the supporting platform 3. When the mop drive module 1 is detected, it indicates that its placement position is correct, and a confirmation signal is sent to the controller. The controller further controls the mop drive module 1 to test. On the contrary, if the mop drive module 1 is not detected, it indicates that its placement position is incorrect and further testing cannot be carried out. The in-position sensor 8 sends an alarm to the controller to prompt the operator to facilitate troubleshooting. Only when the in-position sensor 8 sends a qualified signal can the detection of the mop drive module 1 be started.

[0076] In some embodiments, the in-position sensor 8 can be a photoelectric sensor or a camera. The specific setting can be designed according to the actual needs of technical personnel in this field, and it can detect whether the mop drive module 1 is placed in the correct position of the supporting platform 3.

[0077] Reference Figure 6In some embodiments, the testing device provided in the embodiments of the present invention further includes a positioning mechanism 9, which includes a second driving member 91 and a limiting assembly 92. The second driving member 91 is connected to the supporting platform 3; the limiting assembly 92 is provided on the second driving member 91 and is located above the supporting platform 3; the limiting assembly 92 is driven by the second driving member 91 to move toward the mop driving module 1 for limiting the displacement of the mop driving module 1.

[0078] In this embodiment, after an operator manually or by a robot places the mop drive module 1 to be tested on the support platform 3, the in-position sensor 8 of the aforementioned embodiment can detect whether the mop drive module 1 is in place. A second drive member 91 is connected to the support platform 3 and provides a power source for the positioning mechanism 9. A limit assembly 92 is disposed on the second drive member 91 and is aligned with and oriented toward the mop drive module 1 placed on the support platform 3. The second drive member 91 drives the limit assembly 92 to move toward the mop drive module 1, preventing the mop drive module 1 from moving. During the testing of the motors of the mop drive module 1, it is necessary to ensure that the mop drive module 1 and the limit assembly 92 remain in contact at all times. After the test is completed, the second drive member 91 drives the limit assembly 92 to move away from the mop drive module 1, releasing the limit on the mop drive module 1. This ensures that the mop drive module 1 remains in a fixed position during the test, preventing positional shifts of the mop drive module 1 due to slippage or vibration caused by the motors during the test, thereby improving the repeatability and reliability of the test.

[0079] In some embodiments, the second driving member 91 can be a cylinder, a motor, or a Figure 3 The pressure rod shown in the figure is pulled to displace the limiting assembly 92 connected to the pressure rod so that the limiting assembly 92 contacts the mop drive module 1 placed on the supporting platform 3 to achieve the limiting effect.

[0080] Reference Figure 6 In some embodiments, the limiting assembly 92 proposed in the embodiment of the present invention includes a pressure plate 921, which is connected to the output end of the second driving member 91. The pressure plate 921 is driven by the second driving member 91 to press the mop driving module 1 to limit the vertical displacement of the mop driving module 1.

[0081] In this embodiment, an operator or a manipulator places the mop drive module 1 to be tested on the support platform 3. The positioning mechanism 9, via the second driving member 91, drives the pressure plate 921 to contact and press the mop drive module 1. The pressure generated by the contact limits the position of the mop drive module 1, and the pressure plate 921 is kept pressed against the mop drive module 1 throughout the entire test process, preventing the mop drive module 1 from moving vertically during the test. This prevents vibrations caused by the operation of the motors of the mop drive module 1 during the test from affecting the pressure test and the operating parameter test of each motor in the aforementioned embodiment, thereby improving the stability and reliability of the test.

[0082] Reference Figure 6 In some embodiments, the limiting assembly 92 proposed in the embodiment of the present utility model further includes a plurality of limiting columns 922. The limiting columns 922 are arranged on the side of the pressure plate 921 facing the supporting platform 3. A horizontal limiting space is formed between the plurality of limiting columns 922. The limiting columns 922 are driven by the second driving member 91 to abut against the supporting platform 3, thereby limiting the mop driving module 1 within the horizontal limiting space.

[0083] In this embodiment, the mop drive module 1 to be tested is placed on the supporting platform 3 by an operator or a manipulator, and then the pressure plate 921 is driven by the second driving member 91 to press the mop drive module 1. At the same time, a plurality of limiting posts 922 arranged on the side of the pressure plate 921 facing the supporting platform 3 abut against the supporting platform 3, and limit the mop drive module 1 to be tested within the horizontal limiting space formed between the plurality of limiting posts 922, so that the horizontal displacement of the mop drive module 1 to be tested is limited within the horizontal limiting space. The pressure plate 921 and the plurality of limiting posts 922 cooperate to position the mop drive module 1 to be tested, so that both the vertical displacement and the horizontal displacement are limited during the test, thereby further improving the stability and reliability of the test.

[0084] The above description is only part or preferred embodiments of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural transformations made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A testing device for a mop drive module of a cleaning robot, wherein the mop drive module includes a rotating motor and / or a lifting motor connected to a first end of a mop mounting rod, the rotating motor is used to drive the mop mounting rod to rotate, and the lifting motor is used to drive the mop mounting rod to move up and down, characterized in that: The testing device comprises: A carrying platform for carrying the mop drive module; the carrying platform includes an opening for the mop mounting rod to pass through; A test mop, which is detachably connected to the other end of the mop mounting rod; A controller is electrically connected to the rotating motor and / or the lifting motor to collect working parameters of the rotating motor and / or the lifting motor to determine whether the mop drive module is qualified.

2. The testing device according to claim 1, wherein: The controller controls the rotating motor and / or the lifting motor to rotate forward and reverse, so as to test the working parameters during forward rotation and the working parameters during reverse rotation respectively; and / or, The operating parameters include at least an operating current.

3. The testing device according to claim 1, wherein: It also includes a ground simulation piece, which is arranged below the carrying platform and opposite to the accompanying test mop; The ground simulation piece has a first test position, and the distance between the first test position and the mop drive module is a first preset distance, which is the distance between the mop drive module of the cleaning robot and the ground in a normal state; and / or, The floor simulation component further has a second test position, which is away from the mop drive module and does not contact the accompanying test mop; and / or, The ground simulation component further has a third test position, and the distance between the third test position and the mop drive module is a second preset distance, and the second preset distance is smaller than the first preset distance.

4. The testing device according to claim 3, characterized in that: The ground simulation member can be raised and lowered; the testing device further comprises a first driving member, the ground simulation member is connected to an output end of the first driving member, and the first driving member is used to drive the ground simulation member to move.

5. The testing device according to claim 4, characterized in that: A pressure sensor is provided on the ground simulation component; the pressure sensor is located between the first driving component and the ground simulation component and is electrically connected to the controller; The pressure sensor detects the pressure value of the test mop on the ground simulation component; and the controller determines whether the pressure value of the mop drive module on the ground is qualified according to the pressure value.

6. The testing device according to claim 1, wherein: The upper surface of the accompanying mop is provided with a speed measuring accessory; The testing device of the mop drive module further includes a speed measuring component, which is located below the supporting platform and is arranged opposite to the speed measuring accessory. The speed measuring component cooperates with the speed measuring accessory to detect the rotation speed of the mop when it is driven by the rotary motor; The speed measuring component is electrically connected to a controller, and the controller is used to determine whether the rotating motor is qualified according to the working parameters of the rotating motor and the rotating speed.

7. The testing device according to claim 1, characterized in that It also includes an on-site sensor, which is used to detect whether the mop drive module is placed on the supporting platform, and the on-site sensor is connected to the controller.

8. The testing device according to claim 1, wherein: The utility model further includes a positioning mechanism, which includes a second driving member and a limiting assembly, wherein the second driving member is connected to the supporting platform; the limiting assembly is provided on the second driving member and is located above the supporting platform; the limiting assembly is driven by the second driving member to move toward the mop drive module to limit the displacement of the mop drive module.

9. The testing device according to claim 8, characterized in that: The limiting assembly includes a pressing plate connected to the output end of the second driving member. The pressing plate is driven by the second driving member to press the mop driving module to limit the vertical displacement of the mop driving module.

10. The testing device according to claim 9, characterized in that: The limiting assembly also includes a plurality of limiting columns, which are arranged on the side of the pressure plate facing the supporting platform. A horizontal limiting space is formed between the plurality of limiting columns. The limiting columns are driven by the second driving member to abut against the supporting platform, thereby limiting the mop driving module within the horizontal limiting space.

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