An active universal caster performance testing device and method

Abstract

The application discloses a kind of active universal caster performance testing device and method.The testing device includes caster sliding platform, caster test platform, pressure loading mechanism, force sensing mechanism and position sensing mechanism, etc.;When the performance of the caster is tested, the caster is clamped between caster sliding platform and caster test platform, and the caster can freely move on the caster test platform table;The pressure loading mechanism is at least used to load pressure to the caster in the direction perpendicular to the caster test platform table;The force sensing mechanism is at least used to detect the pressure value loaded on the caster;The position sensing mechanism is at least used to monitor the real-time position of the caster on the caster test platform table.The testing device and method provided by the application can accurately measure the parameters of active universal caster under different effective loads, which is beneficial to improve the development efficiency of mobile robot system and reduce the development cost.

Description

TECHNICAL FIELD

[0001] The present application relates to a universal caster testing device, in particular to an active universal caster performance testing device and method. BACKGROUND

[0002] At present, with the continuous expansion of the demand for domestic mobile robots AGV / AMR, the market size is growing rapidly. At the same time, high-tech enterprises in the industry are emerging, one of which focuses on the research and development of AGV / AMR core driving components. Active universal casters that can realize 360° frictionless steering and rolling functions have been designed and developed, mainly including decoupled active universal casters and double-hub active universal casters. The main technical features are flexible, zero turning radius, high driving efficiency, and accurate positioning. As the driving unit of AGV / AMR, it can improve the motion performance, is suitable for working in narrow spaces, and can realize complex motion trajectory planning.

[0003] Although the advantages of active universal casters are obvious, there is currently no device specifically designed to test their motion characteristics. The reason is that the universal caster is actively driven in both the rotation and rolling degrees of freedom. During testing, both rotation and rolling test requirements should be considered, and the design difficulty is high. In the traditional testing method, multiple casters are usually installed on the chassis of an AGV / AMR at the same time, and the performance parameters of a single caster are calculated based on the test results of the overall performance of the mobile robot. Due to this testing method, the chassis structure design, coupling relationship between casters, and other uncertain factors are increased, and it is also affected by the test environment, such as ground flatness, roughness, and slope, resulting in inaccurate measurement of the actual performance parameters of a single caster. SUMMARY

[0004] The purpose of the present application is to provide an active universal caster performance testing device and method to overcome the shortcomings of the prior art.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0006] Some embodiments of the present application provide an active universal caster performance testing device, which comprises a caster sliding platform, a caster testing platform, a pressure loading mechanism, a force sensing mechanism, and a position sensing mechanism. The table surface of the caster sliding platform is arranged in parallel with the table surface of the caster testing platform.

[0007] During performance testing of the active universal caster, the top end of the active universal caster is slidingly or rollingly fitted with the table surface of the caster sliding platform, and the caster component at the bottom end is arranged on the table surface of the caster testing platform, and the active universal caster can freely move on the table surface of the caster testing platform.

[0008] The pressure loading mechanism is used for loading pressure to the active universal caster in a set direction, which is perpendicular to the platform table of the caster testing platform.

[0009] The force sensing mechanism is used for detecting the pressure value loaded to the active universal caster.

[0010] The position sensing mechanism is used for monitoring the real-time position of the active universal caster on the platform table of the caster testing platform.

[0011] In some embodiments, the pressure loading mechanism is in transmission connection with any one of the caster sliding platform and the caster testing platform, which is in sliding or rolling cooperation with the guide rail extending in the set direction and is capable of moving to the other one of the caster sliding platform and the caster testing platform along the guide rail under the drive of the pressure loading mechanism.

[0012] In some embodiments, the pressure loading mechanism is connected with the pressure loading platform, the pressure loading platform is connected with the caster testing platform through the pressure conducting mechanism, and the force sensing mechanism is arranged between the pressure conducting mechanism and the caster testing platform.

[0013] In some embodiments, the force sensing device is used for detecting and calculating the pressure value loaded to the active universal caster and feeding back the pressure value to the control module of the pressure loading mechanism.

[0014] In some embodiments, the top end of the active universal caster is fixedly connected with the caster sliding plate, and the caster sliding plate is in sliding or rolling cooperation with the platform table of the caster sliding platform.

[0015] In some embodiments, the platform table of the caster sliding platform is distributed with a plurality of universal ball eye bearings cooperating with the caster sliding plate, and the total pressure bearing capacity of the plurality of universal ball eye bearings is greater than the maximum load requirement of the active universal caster.

[0016] In some embodiments, the plurality of universal ball eye bearings are installed on the bearing installation platform, and the pressure bearing capacity of the bearing installation platform is greater than the maximum load requirement of the active universal caster.

[0017] In some embodiments, the active universal caster comprises a decoupled active universal caster or a double-hub active universal caster.

[0018] Some embodiments of the present application further provide a performance testing method of an active universal caster, which comprises the following steps:

[0019] The performance testing device of the active universal caster is provided.

[0020] The active universal caster to be tested is clamped between the caster sliding platform and the caster test platform;

[0021] The pressure loading mechanism applies pressure to the caster test platform through the pressure loading platform, so that the caster test platform moves along the guide rail to the caster sliding platform and loads the active universal caster with test pressure until the pressure value detected by the force sensing mechanism reaches the set value;

[0022] Test instructions are sent to the active universal caster, so that the active universal caster freely moves on the table top of the caster test platform, and various working performance parameters of the active universal caster under the test pressure are detected.

[0023] Compared with the prior art, the active universal caster performance test device provided by the embodiment of the application is designed according to the movement characteristics and performance test requirements of the active universal caster, can accurately measure various parameters of the active universal caster under different pressures, i.e., under different effective loads, and can more accurately evaluate the overall performance of the mobile robot AGV / AMR system before the development of the mobile robot AGV / AMR system, thereby improving the development efficiency, effectively saving the system development cost while fully exerting the performance advantages of the universal caster. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0025] Figure 1 is a structural schematic diagram of an active universal caster performance test device in an embodiment of the application. DETAILED DESCRIPTION

[0026] As described previously, in view of the deficiencies of the prior art, the inventors of the present application have long studied and practiced to propose an active universal caster performance testing device, which is designed in view of the technical features of active universal casters, such as high mobility, zero turning radius, high driving efficiency, accurate positioning, etc., and can meet the performance testing needs of a single active universal caster, and the testing contents include but are not limited to steering speed, steering angle, steering acceleration, rolling speed, positioning accuracy, rolling acceleration, driving efficiency, effective load, etc. Since the active universal caster is the core driving component of AGV / AMR, accurate measurement of its performance parameters can more accurately evaluate the overall performance of the mobile robot system before development, verify the feasibility of the design scheme, and improve the development efficiency. For example, by using the active universal caster performance testing device, the required maximum number of casters can be accurately selected according to the design requirements of AGV / AMR in terms of effective load, running speed, working environment, etc., and reference to the performance parameters of a single active universal caster, while fully exerting the performance advantages of the active universal caster, effectively saving system development costs, and improving development efficiency.

[0027] The active universal caster described in the specification can be of a type known in the art, and its main feature is to achieve active driving in two degrees of freedom of steering and rolling, and its categories include but are not limited to decoupled active universal caster, double-hub active universal caster, etc.

[0028] Among them, the main feature of the decoupled active universal caster is that the steering and rolling actions of the caster are realized by independent driving modules, and the steering and rolling are decoupled, that is, the steering action does not affect the rolling action, and the rolling action does not affect the steering action. Through speed control of the driving module, speed control of the caster in steering and rolling is realized. The categories of decoupled active universal caster include but are not limited to gear transmission decoupled active universal caster, steering / hub motor decoupled active universal caster.

[0029] The gear transmission decoupled active universal caster mainly uses two servo motors as driving modules to drive the caster steering and rolling respectively. The caster realizes steering and rolling decoupling through gear transmission design inside the caster.

[0030] The steering / hub motor decoupled active universal caster mainly uses a steering direct-drive torque motor and a hub motor to drive the caster steering and rolling respectively. The caster realizes steering and rolling decoupling through software control algorithm.

[0031] The double-wheel hub active universal caster mainly utilizes the cooperation of left and right two wheel hubs in rotation, forward rotation and reverse rotation, including the cooperation of each wheel hub in rotation direction and rotation speed, to realize the rotation action and rolling action of the universal caster. The two wheel hubs are symmetrically distributed, and the driving modules of each wheel hub are relatively independent. The categories of the double-wheel hub active universal caster include but are not limited to gear transmission double-wheel hub active universal caster and double-wheel hub motor active universal caster.

[0032] The gear transmission double-wheel hub active universal caster mainly utilizes two servo motors as driving modules to control the corresponding wheel hubs through the gear transmission design inside the caster. The rotation direction and rotation speed of the two wheel hubs are controlled through software algorithm, to realize the steering motion and rolling motion of the universal caster.

[0033] The double-wheel hub motor active universal caster directly utilizes wheel hub motors as driving units, and the two wheel hub motors are symmetrically distributed, and each wheel hub motor is relatively independently controlled. The rotation direction and rotation speed of the two wheel hub motors are controlled through software algorithm, to realize the steering motion and rolling motion of the universal caster.

[0034] An aspect of some embodiments of the present application provides an active universal caster performance testing device, which comprises a caster sliding platform, a caster testing platform, a pressure loading mechanism, a force sensing mechanism and a position sensing mechanism, the table surface of the caster sliding platform is arranged in parallel with the table surface of the caster testing platform;

[0035] When the active universal caster is tested for performance, the top end of the active universal caster is slidingly or rollingly matched with the table surface of the caster sliding platform, and the bottom end of the caster component is arranged on the table surface of the caster testing platform, and the active universal caster can freely move on the table surface of the caster testing platform;

[0036] The pressure loading mechanism is used at least for loading pressure on the active universal caster along a set direction, and the set direction is perpendicular to the table surface of the caster testing platform;

[0037] The force sensing mechanism is used at least for detecting the pressure value loaded on the active universal caster;

[0038] The position sensing mechanism is used at least for monitoring the real-time position of the active universal caster on the table surface of the caster testing platform.

[0039] In some embodiments, the pressure loading mechanism is drivingly connected with any one of the caster sliding platform and the caster testing platform, which is slidingly or rollingly matched with a guide rail extending along the set direction and can move along the guide rail to the other one of the caster sliding platform and the caster testing platform under the drive of the pressure loading mechanism.

[0040] In some embodiments, the caster testing platform is slidingly or rollingly fitted with a guide rail, and the caster testing platform is connected with a pressure loading mechanism.

[0041] In some embodiments, a position sensing mechanism is attached to the caster testing platform.

[0042] In some embodiments, a force sensing mechanism is installed between the caster testing platform and the pressure loading mechanism.

[0043] In some embodiments, the caster testing platform is installed with a sliding block that is fitted with a guide rail.

[0044] In some embodiments, the pressure loading mechanism is connected with a pressure loading platform, the pressure loading platform is connected with the caster testing platform through a pressure conducting mechanism, and the force sensing mechanism is arranged between the pressure conducting mechanism and the caster testing platform.

[0045] In some embodiments, the force sensing device is used to detect and calculate the pressure value loaded on the active universal caster, and feed back the pressure value to the control module of the pressure loading mechanism.

[0046] In some embodiments, the position sensing mechanism includes, but is not limited to, any one or a combination of more than one of a capacitive pressure position sensing device, a resistive pressure position sensing device, a far infrared position sensing device, a contact position sensing device, and a visual recognition position sensing device.

[0047] In some embodiments, the pressure loading platform is arranged in parallel with the caster sliding platform and the caster testing platform.

[0048] In some embodiments, the pressure loading mechanism is further connected with a driving mechanism.

[0049] In some embodiments, the pressure loading mechanism is installed on a support platform.

[0050] In some embodiments, the support platform is arranged in parallel with the pressure loading platform, the caster sliding platform, and the caster testing platform.

[0051] In some embodiments, the active universal caster is fixedly connected with a caster sliding plate at the top end, and the caster sliding plate is slidingly or rollingly fitted with the caster sliding platform.

[0052] In some embodiments, the caster sliding platform is distributed with a plurality of universal ball eye bearings that are fitted with the caster sliding plate, and the total pressure bearing of the plurality of universal ball eye bearings is greater than the maximum load requirement of the active universal caster.

[0053] In some embodiments, the caster sliding plate is fixedly connected with the top of the active universal caster through a caster top fixing clamp.

[0054] In some embodiments, the platform of the caster sliding platform is covered with universal ball eye bearings.

[0055] In some embodiments, the plurality of universal ball eye bearings are installed on a bearing installation platform, and the bearing installation platform has a bearing capacity greater than the maximum load requirement of the active universal caster.

[0056] Another method provided by some embodiments of the application is a performance testing method for an active universal caster, which comprises the following steps:

[0057] Providing the performance testing device for the active universal caster;

[0058] Clamping the active universal caster to be tested between the caster sliding platform and the caster testing platform;

[0059] Making the pressure loading mechanism apply pressure to the caster testing platform through the pressure loading platform, so that the caster testing platform moves along the guide rail to the caster sliding platform and loads the active universal caster with a test pressure until the pressure value detected by the force sensing mechanism reaches a set value;

[0060] Sending a test instruction to the active universal caster, so that the active universal caster freely moves on the platform of the caster testing platform, and detecting various working performance parameters of the active universal caster under the test pressure.

[0061] The technical solutions in the embodiments of the application will be described in detail below with reference to the drawings of the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, but not all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the application.

[0062] Please refer to Figure 1 As shown in the figure, the performance testing device for the active universal caster provided in a typical embodiment of the application has a box structure as a whole, which comprises a support platform 1, a caster sliding platform 2, a caster testing platform 3, a pressure loading platform 4, etc. The support platform 1 is arranged on the ground or other support surface through support feet 5.

[0063] Further, the specific dimensions of the box structure, such as length, width and height, can be determined according to the size of the active universal caster to be measured.

[0064] Further, the caster sliding platform 2, the caster testing platform 3, the pressure loading platform 4, and the support platform 1 are relatively parallel in the box structure. The tested active universal caster 8 (also referred to as caster below) is clamped between the caster sliding platform 2 and the caster testing platform 3 and can move flexibly along the XY plane in a three-dimensional coordinate system (i.e., the table surface of the caster testing platform 3).

[0065] Further, the category of the tested active universal caster includes but is not limited to the decoupled active universal caster and the double-hub active universal caster.

[0066] Further, the main function of the caster sliding platform is to ensure that the top end of the active universal caster can slide flexibly following the test instruction by overcoming the sliding frictional resistance during the test.

[0067] The table surface of the caster sliding platform is distributed with a plurality of universal ball eye bearings 6, which are installed on a bearing installation platform (not shown in the figure).

[0068] The main function of the universal ball eye bearing 6 is to ensure that the caster sliding plate 7 installed at the top end of the active universal caster can slide flexibly in all directions on the bearing surface. The number of the universal ball eye bearings is required to cover the entire bearing installation platform, and the total pressure of the universal ball eye bearings in contact with the caster sliding plate 7 is greater than the maximum load requirement of the active universal caster. For example, the universal ball eye bearing selected in the embodiment can bear a pressure of 50 kg, but can be higher or lower.

[0069] The main function of the bearing installation platform is to serve as an installation platform for the universal ball eye bearing, and its pressure bearing capacity is greater than the maximum load requirement of the active universal caster. For example, the bearing installation platform selected in the embodiment can bear a pressure of 300 kg, but can be higher or lower.

[0070] Further, the main function of the caster sliding plate 7 is to connect with the top end of the active universal caster, increase the contact area between the caster and the universal ball eye bearing, and ensure smooth movement of the caster in all directions in the test space. The rigidity of the caster sliding plate 7 is required to ensure that the caster does not deform during the maximum load test and the sliding frictional resistance fluctuation is small. For active universal casters with different top end configurations, corresponding caster top end fixing clamps (not shown in the figure) can be matched to facilitate the connection between the caster sliding plate 7 and the caster.

[0071] Further, the caster testing platform 3 cooperates with the caster sliding platform 2 and jointly acts on the active universal caster to enable the caster to move flexibly in the test space. The caster testing platform table surface is attached with a position sensing mechanism (not shown in the figure), and the bottom surface is installed with a force sensing mechanism 9 between the caster testing platform 3 and the pressure loading platform 4.

[0072] The caster testing platform 3 is also provided with a sliding block 10 at both ends, and is slidably connected with a guide rail 11 fixed on the inner wall of the box structure (the extension direction of the guide rail is defined as the z-axis direction of the three-dimensional coordinate system), and is further capable of sliding up and down along the guide rail 11 under the action of the pressure loading platform 4.

[0073] The position sensing mechanism is mainly used to obtain the real-time position of the caster on the caster testing platform through different sensing methods, which can be selected from the types known in the art, such as but not limited to position sensing devices based on capacitive pressure sensing, resistance pressure sensing, far infrared sensing, contact sensing, visual recognition, etc. In this embodiment, the contact sensing method is selected, but it is not limited thereto.

[0074] The force sensing mechanism 9 is mainly used to detect and calculate the pressure value loaded on the caster, i.e. the current load, and to feed back the pressure value to the control module of the pressure loading mechanism 12. The force sensing mechanism can also be selected from the force sensors known in the art.

[0075] Further, the pressure loading platform 4 is mainly used to load the caster testing platform 3 with pressure, test the effective load of the caster, and load different pressures according to the measurement requirements to measure the performance parameters of the caster under different loads.

[0076] The pressure loading platform 4 is connected with the caster testing platform 3 through a plurality of pressure transmission mechanisms 13 (which can also be considered as connecting mechanisms), and the force sensing mechanism 9 is distributed between the pressure transmission mechanisms 13 and the caster testing platform 3.

[0077] The pressure transmission mechanism 13 is mainly used to transmit the thrust generated by the pressure loading mechanism 12 to the force sensing mechanism 9, and to push the caster testing platform 3 to slide up and down along the guide rail 11.

[0078] The pressure loading mechanism 12 is mainly used to output pressure according to the test requirements, and to transmit the pressure to the caster testing platform 3 through the pressure transmission mechanism 13, so as to load and detect the active universal caster. The pressure loading mechanism 12 can also be selected from the types known in the art, and the main implementation methods include but are not limited to air bags, ball screws, guide springs, hydraulic devices, etc. In this embodiment, the ball screw is selected, but it is not limited thereto.

[0079] Further, the active universal caster performance testing device further comprises a driving mechanism 14. The main function of the driving mechanism 14 is to serve as a power source connected with the pressure loading mechanism 12 to output the pressure required for caster testing. According to different implementations of the pressure loading device, the driving mechanism used includes but is not limited to an air compressor, a servo motor, a hydraulic controller, etc. In this embodiment, the driving mechanism selected is a servo motor, but is not limited thereto.

[0080] Further, the support platform 1 serves as the mounting platform of the pressure loading mechanism 12 and the driving mechanism 14, and at the same time plays a role of stable support for the entire active universal caster testing platform.

[0081] The method for testing the performance of the active universal caster by using the active universal caster performance testing device of this embodiment can include:

[0082] The active universal caster 8 to be tested is clamped between the caster sliding platform 2 and the caster testing platform 3;

[0083] The driving mechanism 14 is operated, and then the pressure loading mechanism 12 applies pressure to the caster testing platform 3 through the pressure loading platform 4, so that the caster testing platform 3 moves along the guide rail 11 to the caster sliding platform 2 to load pressure on the caster 8, until the pressure value detected by the force sensing mechanism meets the testing requirement;

[0084] Test instructions are sent to the caster 8, so that the caster 8 freely moves on the table top of the caster testing platform 3, while the real-time position of the caster 8 is monitored by the position sensing mechanism, and various working parameters of the caster 8 under the pressure are measured by other monitoring devices.

[0085] Wherein, by adjusting the working state of the driving mechanism 14, the relative position of the caster testing platform 3 and the caster sliding platform 2 is adjusted, that is, the various parameters of a single active universal caster under different pressures, i.e. under different effective loads, can be accurately measured, and the test results can provide reliable basis for subsequent development of mobile robot AGV / AMR system, which can effectively reduce the development cost and improve the development efficiency while fully exerting the performance advantages of the active universal caster.

[0086] It should be noted that in this document, the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the elements defined by the statement "comprising" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0087] The above description is merely that of a specific implementation of the present application, and it should be noted that various modifications and improvements made by those skilled in the art without departing from the principles of the present application should also be considered as falling within the scope of the present application.

Claims

1. An active universal caster performance testing device, characterized in that, The application relates to a performance testing device for an active universal caster, which comprises the following parts: a caster sliding platform, the top surface of which is provided with a plurality of universal ball eye bearings; a caster testing platform, the top surface of which is arranged in parallel with the top surface of the caster sliding platform; a caster sliding plate, which is fixedly connected to the top end of the active universal caster to be tested, and when the performance of the active universal caster is tested, the active universal caster is clamped between the caster sliding platform and the caster testing platform, the caster sliding plate is in rolling cooperation with the top surface of the caster sliding platform through the plurality of universal ball eye bearings, the active universal caster can freely move on the top surface of the caster testing platform, and the total pressure bearing capacity of the plurality of universal ball eye bearings is greater than the maximum load requirement of the active universal caster; a pressure loading mechanism, which is in transmission connection with the caster sliding platform or the caster testing platform, the caster sliding platform or the caster testing platform is in sliding cooperation or rolling cooperation with a guide rail extending in a set direction and can move along the guide rail under the driving of the pressure loading mechanism, so that pressure is loaded on the active universal caster in the set direction, and the set direction is perpendicular to the top surface of the caster testing platform; a force sensing mechanism, which is installed between the caster testing platform and the pressure loading mechanism, is used for detecting and calculating the pressure value loaded on the active universal caster, and feeds back the pressure value to a control module of the pressure loading mechanism; and a position sensing mechanism, which is used for monitoring the real-time position of the active universal caster on the top surface of the caster testing platform.

2. The active universal caster performance testing device of claim 1, wherein: The caster testing platform is in sliding cooperation or rolling cooperation with the guide rail, and the caster testing platform is connected with the pressure loading mechanism.

3. The active universal caster performance testing device of claim 1, wherein: The top surface of the caster testing platform is attached with the position sensing mechanism.

4. The active universal caster performance testing device of claim 1, wherein: The position sensing mechanism comprises any one or a combination of multiple kinds of position sensing devices, such as a capacitive pressure position sensing device, a resistance type pressure position sensing device, a far infrared position sensing device, a contact type position sensing device and a visual recognition position sensing device.

5. The active universal caster performance testing device of claim 1, wherein: The pressure loading mechanism is connected with a pressure loading platform, the pressure loading platform is connected with the caster testing platform through a pressure transmission mechanism, and the force sensing mechanism is arranged between the pressure transmission mechanism and the caster testing platform.

6. The active universal caster performance testing device of claim 5, wherein: The pressure loading platform is arranged in parallel with the caster sliding platform and the caster testing platform.

7. The active universal caster performance testing device of claim 5, wherein: The pressure loading mechanism is further connected with a driving mechanism.

8. The active universal caster performance testing device of claim 5, wherein: The pressure loading mechanism is installed on a support platform.

9. The active universal caster performance testing device of claim 1, wherein: The caster testing platform is provided with a sliding block matched with the guide rail.

10. The active universal caster performance testing device of claim 1, wherein: The top surface of the caster sliding platform is filled with universal ball eye bearings.

11. The active universal caster performance testing device of claim 1, wherein: The plurality of universal ball eye bearings are installed on a bearing installation platform, and the pressure bearing capacity of the bearing installation platform is greater than the maximum load requirement of the active universal caster.

12. The active universal caster performance testing device of claim 1, wherein: The caster sliding plate is fixedly connected with the top end of the active universal caster through a caster top end fixing clamp.

13. The active universal caster performance testing device of claim 1, wherein: The active universal caster comprises a decoupling type active universal caster or a double-wheel hub active universal caster.

14. A method of testing the performance of a powered caster, comprising: The application further relates to a performance testing method for an active universal caster, which comprises the following steps: providing the performance testing device for the active universal caster according to any one of claims 1-13; clamping the active universal caster to be tested between the caster sliding platform and the caster testing platform; The pressure loading mechanism applies pressure to the caster testing platform through the pressure loading platform, so that the caster testing platform moves along the guide rail to the caster sliding platform and loads the testing pressure to the active universal caster until the pressure value detected by the force sensing mechanism reaches the set value; The testing instruction is sent to the active universal caster, so that the active universal caster freely moves on the table top of the caster testing platform, and the working performance parameters of the active universal caster under the testing pressure are detected.

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