CN110919698A - Device and method for testing robot threshold-passing life - Google Patents
Device and method for testing robot threshold-passing life Download PDFInfo
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- CN110919698A CN110919698A CN201911332158.8A CN201911332158A CN110919698A CN 110919698 A CN110919698 A CN 110919698A CN 201911332158 A CN201911332158 A CN 201911332158A CN 110919698 A CN110919698 A CN 110919698A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The invention discloses a device and a method for testing the threshold-passing life of a robot, wherein the device for testing the threshold-passing life of the robot comprises the following components: the running machine, the detection module and the PC end counting upper computer; the running machine is provided with a simulated ridge mechanism, the simulated ridge mechanism is perpendicular to the moving direction of a conveyor belt on the running machine, the detection module is used for detecting the times and the total experimental times of the robot passing through the simulated ridge mechanism and transmitting the times to the PC end counting upper computer, and the PC end counting upper computer counts the total times of the robot passing through the simulated ridge mechanism so as to obtain the ridge passing life of the robot. The device overcomes the problems that in the prior art, the accuracy of a test result of the robot in the service life of the over-threshold is low, the test path is variable, and the operation is complicated.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a device and a method for testing the service life of a robot passing a threshold.
Background
With the rapid development of the robot industry, the mobile robot is in the practical application process. The robot can touch the thresholds with different degrees, the structure, the chassis and the caster of the robot are tested when the thresholds are crossed every time, and the fatigue life of the crossed thresholds needs to be verified through a large number of times of crossing the thresholds in order to ensure the normal operation of the robot after the crossed thresholds.
In the prior art, the accuracy of a test result of the robot in the process of exceeding the limit service life is low, the test path is variable, and the operation is complicated.
Therefore, it is an urgent need to solve the above-mentioned problems to provide a testing apparatus and method for robot over-threshold life span, which can effectively overcome the above-mentioned technical problems during the use process.
Disclosure of Invention
Aiming at the technical problems, the invention aims to solve the problems that the accuracy of a test result of the robot over-threshold service life is low, the test path is variable, and the operation is complicated in the prior art, thereby providing the device and the method for testing the over-threshold service life of the robot, which can effectively overcome the technical problems in the use process.
In order to achieve the above object, the present invention provides a device for testing the threshold-passing life of a robot, the device comprising: the running machine, the detection module and the PC end counting upper computer; wherein,
the running machine is provided with a simulated ridge mechanism, the simulated ridge mechanism is perpendicular to the moving direction of a conveyor belt on the running machine, the detection module is used for detecting the times of the robot passing through the simulated ridge mechanism and the total experimental times, the times are transmitted to the PC end counting upper computer, and the PC end counting upper computer counts the total times of the robot passing through the simulated ridge mechanism so as to obtain the ridge passing life of the robot.
Preferably, the simulated threshold mechanism comprises: support columns and cross bars;
the both sides of treadmill respectively vertically be provided with the support column, be provided with the regulation hole along vertical direction on the support column, the both ends of horizontal pole are provided with the fixed axle along axial direction, the fixed axle at least part passes the regulation hole, just the fixed axle can be fixed on the regulation hole.
Preferably, the outer surface of the fixed shaft is provided with external threads, and the fixed shaft is fixed on the support column through the clamping action of at least two matched nuts.
Preferably, the simulated sill mechanism further comprises: a distance sensor disposed at a lower surface of the cross bar to detect a distance between the cross bar and a conveyor belt of the treadmill.
Preferably, the simulated sill mechanism further comprises:
and the level meter is used for detecting the levelness of the cross rod.
Preferably, the detection module at least comprises two groups of infrared technology sensors which are arranged on the treadmill and respectively positioned at two sides of the simulated ridge mechanism.
The invention also provides a method for testing the over-threshold life of the robot, which comprises the following steps:
placing the robot on the conveyor belt at rest and starting the treadmill;
and detecting the times and the total experimental times of the robot passing through the simulated ridge mechanism by using a detection module, and transmitting the times and the total experimental times to the PC side counting upper computer.
Preferably, before said placing the robot stationary on said conveyor belt and starting said treadmill, said method further comprises:
adjusting the speed of a conveying belt on the treadmill to a preset speed;
and adjusting the cross bar in the simulated ridge mechanism to a preset height.
Preferably, the method further comprises:
one end of a safety rope is fixed on the robot, and the other end of the safety rope is fixed on the running machine;
a tension sensor is arranged at one end of the safety rope and one end of the running machine; wherein,
and when the pulling force detected by the pulling force sensor is greater than the pulling force threshold value, controlling an emergency stop switch on the treadmill to start so as to stop the running of the treadmill.
Preferably, the detection module uses an infrared counting sensor.
According to the technical scheme, the testing device for the over-threshold service life of the robot has the beneficial effects that when in use: the running machine is used for testing, the testing speed and the testing time are adjustable, and therefore the running speed of the robot can be simulated; the height of the simulated sill mechanism is adjustable, and sills with different heights are simulated; the detection module can accurately detect and count the times of the robot passing through the simulated ridge mechanism and the total times of experiments; according to the technical scheme, the accuracy of the test result can be improved, the operation is better, the PC terminal can visually display the number of times of passing the threshold of the test, and therefore the problems that in the prior art, the accuracy of the test result of the robot passing the threshold service life is low, the test path is variable, and the operation is complicated are solved.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of a device for testing the threshold-crossing life of a robot according to a preferred embodiment of the present invention;
fig. 2 is a flowchart of a method for testing the threshold-passing life of a robot according to a preferred embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1, the present invention provides a device for testing the threshold-passing life of a robot, the device comprising: the running machine 1, the detection module 8 and the PC end counting upper computer; wherein,
the running machine is provided with a simulated ridge mechanism, the simulated ridge mechanism is perpendicular to the moving direction of the conveying belt 2 on the running machine, the detection module is used for detecting the times and the total experimental times of the robot passing through the simulated ridge mechanism and transmitting the times to the PC end counting upper computer, and the PC end counting upper computer counts the total times of the robot passing through the simulated ridge mechanism so as to obtain the ridge passing life of the robot.
In the scheme, the running machine is used for testing, the testing speed and the testing time are adjustable, and therefore the running speed of the robot can be simulated; the height of the simulated sill mechanism is adjustable, and sills with different heights are simulated; the detection module can accurately detect and count the times of the robot passing through the simulated ridge mechanism and the total times of experiments; according to the technical scheme, the accuracy of the test result can be improved, the operation is better, the PC terminal can visually display the number of times of passing the threshold of the test, and therefore the problems that in the prior art, the accuracy of the test result of the robot passing the threshold service life is low, the test path is variable, and the operation is complicated are solved.
In a preferred embodiment of the present invention, the pseudo threshold mechanism includes: support posts 3 and cross bars 5; the utility model discloses a treadmill, including treadmill 1, support column 3, horizontal pole 5, fixed axle 7, the both sides of treadmill 1 respectively vertically be provided with respectively with support column 3, be provided with regulation hole 4 along vertical direction on the support column 3, the both ends of horizontal pole 5 are provided with fixed axle 7 along axial direction, fixed axle 7 at least part passes regulation hole 4, just fixed axle 7 can fix on regulation hole 4.
In the above scheme, the height of the sill is adjusted by adjusting the height of the cross rod 5, and the structure is very convenient to adjust and operate.
In a preferred embodiment of the invention, the outer surface of the fixed shaft 7 is provided with an external thread, said fixed shaft being fixed to the support column by the clamping action of at least two cooperating nuts 6.
In the above scheme, the position of the fixed shaft 7 is fixed by the clamping action of the two matched nuts 6 so as to adjust the height of the sill, and the structure can greatly improve the convenience of operation.
In a preferred embodiment of the present invention, the pseudo threshold mechanism further includes: a distance sensor provided at a lower surface of the cross bar 5 to detect a distance between the cross bar 5 and a conveyor belt of the treadmill.
In the scheme, the distance sensor can accurately measure the height of the threshold, so that subsequent data analysis is facilitated.
In a preferred embodiment of the present invention, the pseudo threshold mechanism further includes:
and the level meter is used for detecting the levelness of the cross rod.
In the above scheme, the level gauge can assist in adjusting the levelness of the cross rod so as to ensure that the cross rod is in a horizontal state, and the detection accuracy is indirectly improved.
In a preferred embodiment of the present invention, the detection module comprises at least two sets of infrared technology sensors, which are disposed on the treadmill and located on two sides of the simulated sill mechanism respectively.
In the above scheme, one of the infrared technical sensors is used for detecting the total times of the robot passing through the simulated ridge mechanism, the other infrared technical sensor is used for detecting the total times of the robot experiments, and the detected data is transmitted to the PC end counting upper computer through the communication module.
As shown in fig. 2, the present invention further provides a method for testing the threshold-passing life of a robot, wherein the method includes:
placing the robot on the conveyor belt at rest and starting the treadmill;
and detecting the times and the total experimental times of the robot passing through the simulated ridge mechanism by using a detection module, and transmitting the times and the total experimental times to the PC side counting upper computer.
In a preferred embodiment of the invention, before said placing the robot stationary on said conveyor belt and starting said treadmill, said method further comprises:
adjusting the speed of a conveying belt on the treadmill to a preset speed;
and adjusting the cross bar in the simulated ridge mechanism to a preset height.
In a preferred embodiment of the present invention, the method further comprises:
one end of a safety rope is fixed on the robot, and the other end of the safety rope is fixed on the running machine;
a tension sensor is arranged at one end of the safety rope and one end of the running machine; wherein,
and when the pulling force detected by the pulling force sensor is greater than the pulling force threshold value, controlling an emergency stop switch on the treadmill to start so as to stop the running of the treadmill.
In the above scheme, the safety of the test can be effectively improved through the scheme, the running of the treadmill can be stopped through the emergency stop switch when the robot is abnormal in running, accidents are avoided, and the safety of testers is confirmed.
In a preferred embodiment of the invention, the detection module uses an infrared counting sensor.
The device and the method for testing the life of the robot passing the threshold overcome the problems that the accuracy of a test result of the life of the robot passing the threshold is low, a test path is variable, and the operation is complicated in the prior art.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (10)
1. A testing arrangement of robot threshold life-span that crosses, its characterized in that, the device includes: the running machine, the detection module and the PC end counting upper computer; wherein,
the running machine is provided with a simulated ridge mechanism, the simulated ridge mechanism is perpendicular to the moving direction of a conveyor belt on the running machine, the detection module is used for detecting the times of the robot passing through the simulated ridge mechanism and the total experimental times, the times are transmitted to the PC end counting upper computer, and the PC end counting upper computer counts the total times of the robot passing through the simulated ridge mechanism so as to obtain the ridge passing life of the robot.
2. The device of claim 1, wherein the simulated threshold mechanism comprises: support columns and cross bars;
the both sides of treadmill respectively vertically be provided with the support column, be provided with the regulation hole along vertical direction on the support column, the both ends of horizontal pole are provided with the fixed axle along axial direction, the fixed axle at least part passes the regulation hole, just the fixed axle can be fixed on the regulation hole.
3. The device of claim 2, wherein the outer surface of the fixing shaft is provided with external threads, and the fixing shaft is fixed on the supporting column by clamping action of at least two nuts which are matched with each other.
4. The device of claim 2, wherein the simulated threshold mechanism further comprises: a distance sensor disposed at a lower surface of the cross bar to detect a distance between the cross bar and a conveyor belt of the treadmill.
5. The device of claim 4, wherein the simulated threshold mechanism further comprises:
and the level meter is used for detecting the levelness of the cross rod.
6. The device of claim 1, wherein the detection module comprises at least two sets of infrared sensors disposed on the treadmill and respectively disposed on two sides of the simulated sill mechanism.
7. A method for testing the robot threshold-crossing life span, which uses the device for testing the robot threshold-crossing life span of any one of claims 1-6, wherein the method comprises:
placing the robot on the conveyor belt at rest and starting the treadmill;
and detecting the times and the total experimental times of the robot passing through the simulated ridge mechanism by using a detection module, and transmitting the times and the total experimental times to the PC side counting upper computer.
8. The method of claim 7, wherein prior to said placing the robot stationary on the conveyor belt and starting the treadmill, the method further comprises:
adjusting the speed of a conveying belt on the treadmill to a preset speed;
and adjusting the cross bar in the simulated ridge mechanism to a preset height.
9. The method of claim 7, further comprising:
one end of a safety rope is fixed on the robot, and the other end of the safety rope is fixed on the running machine;
a tension sensor is arranged at one end of the safety rope and one end of the running machine; wherein,
and when the pulling force detected by the pulling force sensor is greater than the pulling force threshold value, controlling an emergency stop switch on the treadmill to start so as to stop the running of the treadmill.
10. The method of claim 7, wherein the detection module uses an infrared counting sensor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911332158.8A CN110919698A (en) | 2019-12-21 | 2019-12-21 | Device and method for testing robot threshold-passing life |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111693090A (en) * | 2020-06-10 | 2020-09-22 | 上海有个机器人有限公司 | Robot pavement environment aging test method, medium, terminal and device |
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| GB9618446D0 (en) * | 1996-03-20 | 1996-10-16 | Mitchell Andrew J | Motion apparatus |
| CN1419115A (en) * | 2002-12-12 | 2003-05-21 | 东北大学 | Miniature foootball robot car property tester |
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| CN111693090A (en) * | 2020-06-10 | 2020-09-22 | 上海有个机器人有限公司 | Robot pavement environment aging test method, medium, terminal and device |
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