Test equipment

Abstract

The present application relates to the field of testing technology, and provides a testing device, including: a rotating member, a column, and a driving component, wherein the rotating member is used to install a mounting portion of a wheel to be tested; one end of the column is rotatably connected to the rotating member, and the other end of the column is located below the rotating member; the driving component is located on one side of the rotating member, and the driving component is suitable for switching between a power storage state and a release state. In the power storage state, the driving component is used to accumulate a force that drives the rotating member to rotate, and the driving component switches from the power storage state to the release state to drive the rotating member to rotate. The testing device proposed in the present application, the rotating member transmits the driving force of the driving component to the wheel to be tested, so as to test the angle that the wheel to be tested can rotate, and then derive the performance of the wheel to be tested, which can be used to test casters to guide the caster selection of robots.

Description

Technical Field

[0001] The present application relates to the field of testing technology, and in particular to testing equipment. Background Art

[0002] Casters include fixed casters and movable casters. Movable casters are also called universal wheels. Casters can be used in a variety of movable equipment, such as robots, carts, etc.

[0003] For example, casters used in robots typically have an eccentricity. As the robot rotates, the caster rotates vertically, changing its direction to accommodate the robot's motion. The structure and performance of the caster influence the robot's kinematic performance. For example, the eccentricity significantly impacts caster rotation. However, the impact of caster deflection is rarely evaluated in related technologies, and there is no suitable equipment to address this issue. Summary of the Invention

[0004] This application aims to address at least one of the technical problems in the related art. To this end, this application proposes a testing device in which a rotating member transmits the driving force of a driving component to a tested wheel to measure the rotation angle of the tested wheel, thereby determining the performance of the tested wheel. This device can be used to test casters and guide the selection of casters for robots.

[0005] The testing device according to the first embodiment of the present application includes:

[0006] A rotating part, used for mounting a mounting portion of the wheel to be tested;

[0007] a column, one end of which is rotatably connected to the rotating member, and the other end of which is located below the rotating member;

[0008] The driving component is located on one side of the rotating member and is suitable for switching between a power storage state and a release state. In the power storage state, it is used to accumulate the force to drive the rotating member to rotate. The driving component switches from the power storage state to the release state to drive the rotating member to rotate.

[0009] The test equipment according to the embodiment of the present application includes a rotating member, a column, and a driving member. The driving member is used to provide a rotational driving force to the rotating member by storing force. When the rotating member is subjected to the driving force, it rotates around the axis of the column. The rotating member is used to install the wheel to be tested. The rotating member transmits the driving force to the wheel to be tested to test the angle that the wheel to be tested can rotate, and then the performance of the wheel to be tested is obtained. When the wheel to be tested is a caster used for a robot, factors such as the resistance distance that the caster needs to overcome during rotation and the friction between the caster and the ground are considered uniformly. The suitability of the caster is determined by the caster's rotation angle parameter, without having to directly install it on the robot for testing, thereby solving the problem of caster selection and evaluation being difficult.

[0010] According to one embodiment of the present application, the driving component includes a firing member, an elastic member and a sleeve, the elastic member is located in the sleeve, one end of the elastic member is connected to the firing member, and the other end of the elastic member is limited to the sleeve, and the restoring force of the elastic member is transmitted to the rotating member through the firing member.

[0011] According to one embodiment of the present application, the firing member is connected to the positioning member, the sleeve is provided with a first through hole and a second through hole connected to the first through hole, the first through hole extends along the extension and contraction direction of the elastic member, the second through hole is located on at least one side of the first through hole, and the positioning member is suitable for moving along the first through hole to the second through hole and being limited in the second through hole.

[0012] According to one embodiment of the present application, the sleeve is provided with a third through hole, and the third through hole extends along the extension and contraction direction of the elastic member. The sleeve is provided with a first scale mark, and the extension direction of the first scale mark is the same as the extension direction of the third through hole. The firing member is connected to the positioning member, and the positioning member is suitable for moving along the extension direction of the third through hole.

[0013] According to an embodiment of the present application, one of the column and the rotating member is connected to a detection component of an angle encoder, and the other is connected to a sensing component adapted to the detection component.

[0014] According to an embodiment of the present application, one of the cylinder and the rotating member is provided with a ring-shaped second scale mark, and the other is provided with an indication mark.

[0015] According to one embodiment of the present application, the rotating member is connected to a counterweight member.

[0016] According to one embodiment of the present application, a positioning ruler is further included, and the positioning ruler is used to be limited to one side of the wheel body of the tested wheel so that the wheel body is located on a preset surface.

[0017] According to an embodiment of the present application, a plate body is further included for supporting the wheel body of the tested wheel, wherein the plate body is located below the rotating member and is connected to the column.

[0018] According to one embodiment of the present application, the plate body is detachably connected to the column body, and the column body is detachably connected to the rotating member.

[0019] The above one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0020] The test equipment of the embodiment of the present application includes a rotating member, a column and a driving member. The driving member is used to provide the rotating member with a rotational driving force. The driving member is pre-charged to be in a power storage state. The driving force corresponding to the driving force required by the tested wheel is accumulated. When the rotating member is subjected to the driving force, it rotates around the axis of the column. The rotating member is used to install the tested wheel. The rotating member transmits the driving force to the tested wheel to test the angle that the tested wheel can rotate, and then the performance of the tested wheel is obtained. When the tested wheel is a caster used for a robot, factors such as the resistance distance that the caster needs to overcome during rotation and the friction between the caster and the ground are considered uniformly. The suitability of the caster is determined by the caster's rotation angle parameter, without having to directly install it on the robot for testing, thereby solving the problem of casters being difficult to select and evaluate.

[0021] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 is a schematic diagram of the three-dimensional structure of the test equipment provided in an embodiment of the present application;

[0024] Figure 2 yes Figure 1 Schematic diagram of the partially enlarged structure of part A in the middle;

[0025] Figure 3 is a schematic diagram of the top view of the test equipment provided in an embodiment of the present application;

[0026] Figure 4 yes Figure 3 Schematic diagram of the cross-sectional structure of AA.

[0027] Reference numerals:

[0028] 100, rotating part; 110, firing plate; 200, column; 210, guide sleeve; 300, driving part; 310, firing part; 320, sleeve; 321, first through hole; 322, second through hole; 330, positioning part; 340, column; 350, elastic part; 400, angle encoder; 410, detection part; 420, sensing part; 500, counterweight; 600, positioning ruler; 700, plate; 800, caster. DETAILED DESCRIPTION

[0029] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0030] In the description of the embodiments of the present application, it should be noted that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise specified, "multiple", "multiple roots", and "multiple groups" mean two or more.

[0031] In the description of the embodiments of this application, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on the specific circumstances.

[0032] In the embodiments of the present application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0033] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0034] The technical solution of the present application is used to solve the problem that it is difficult to evaluate the impact of the deflection of the caster 800 on the robot. The caster 800 is tested by a testing device, but it should be noted that the testing device is not limited to the testing of the caster 800. In the following embodiments, the test device is used to test the caster 800 of the robot as an example.

[0035] refer to Figures 1 to 4 As shown, an embodiment of the present application provides a testing device, including: a rotating member 100, a column 200 and a driving component 300, the rotating member 100 is used to install the mounting portion of the wheel to be tested; one end of the column 200 is rotatably connected to the rotating member 100, and the other end of the column 200 is located below the rotating member 100; the driving component 300 is located on one side of the rotating member 100, and the driving component 300 is suitable for switching between a power storage state and a release state. In the power storage state, it is used to accumulate the force that drives the rotating member 100 to rotate, and is switched from the power storage state to the release state by the driving component 300 to drive the rotating member 100 to rotate.

[0036] The rotating member 100 is used to install the caster 800 to be tested. The mounting portion of the caster 800 is fixedly connected to the rotating member 100. The rotating member 100 is rotatably connected to the column 200. The driving component 300 is used to drive the rotating member 100 to rotate around the axis of the column 200. The driving force provided by the driving component 300 is used to simulate the steering driving force provided by the robot to the caster 800. At the same time, the column 200 also plays the role of supporting the rotating member 100. Corresponding to the preset driving force, the limit position that the caster 800 can reach is obtained. The limit position corresponds to the limit center angle. Different limit center angles are used to characterize the comprehensive performance of the caster 800. Among them, Figure 3The dotted circle in the middle illustrates the motion circumference of the caster 800. Of course, the rotating member 100 only rotates about the axis of the column 200 when driven by the driving component 300. In other states, the rotating member 100 can remain stationary. The mounting portion of the caster 800 can be attached to the rotating member 100 by screws, clamping, or welding.

[0037] The driving component 300 can accumulate driving force in the power storage state, and provides instantaneous rotational driving force to the rotating member 100 through the energy accumulated in the power storage state; in the release state, the force of the driving component 300 is released.

[0038] Among them, the test equipment can be used directly on the ground, the column 200 is supported on the ground, the driving component 300 drives the rotating part 100 to rotate, and the rotating part 100 transmits the driving force to the caster 800. The caster 800 is affected by the friction of the ground and its own characteristics. After the caster 800 rotates to the extreme angle, the caster 800 and the rotating part 100 stop rotating. The extreme angle reached by the caster 800 can be used to characterize the comprehensive performance of the caster 800 to guide the selection of the caster 800 in the robot.

[0039] For example, two different models of casters 800, the driving component 300 provides the same driving force, the central angle corresponding to the extreme position where the first type of caster stops moving is 150°, and the central angle corresponding to the extreme position where the second type of caster stops moving is 180°, which indicates that the second type of caster has better flexibility. The robot can choose the second type of caster to ensure the flexibility of the robot's movement and turning.

[0040] In the embodiment of the present application, the test equipment can be used to coordinate the driving component 300, the rotating member 100 and the column 200 to uniformly consider factors such as the resistance distance that the caster 800 needs to overcome in order to rotate and the friction between the caster 800 and the ground. The suitability of the caster 800 can be determined by the rotation angle parameter of the caster 800, without having to directly install it on the robot for testing. Specifically, as the robot rotates, the caster 800 generates vertical rotation, thereby changing its forward direction to adapt to the movement of the entire robot. The driving component 300 cooperates with the rotating member 100 to simulate the rotational driving force of the robot's rotation. By measuring the magnitude of the driving force and the extreme angle at which the caster 800 stops rotating, the effects of the eccentricity, ground friction, etc. on the rotation of the caster 800 can be quantified, thereby solving the problem of the difficulty in selecting and evaluating the caster 800.

[0041] Next, the structure of the driving part 300 is provided.

[0042] Understandably, the reference Figure 1 and Figure 2As shown, the driving component 300 includes a firing member 310, an elastic member 350, and a housing 320. The elastic member 350 is located within the housing 320. One end of the elastic member 350 is connected to the firing member 310, and the other end of the elastic member 350 is limited to the housing 320. The restoring force of the elastic member 350 is transmitted to the rotating member 100 through the firing member 310. The driving force of the driving component 300 is the restoring force of the elastic member 350. The restoring force of the elastic member 350 is utilized to transmit the restoring force of the elastic member 350 to the rotating member 100 through the firing member 310. The structure is simple, and the restoring force of the elastic member 350 is a force that can be precisely controlled and adjusted. In addition, the structure is simple and does not consume electricity.

[0043] The firing member 310 moves into the housing 320, driving the elastic member 350 to generate elastic deformation, thereby accumulating a restoring force in the elastic member 350, releasing the restraint on the firing member 310. The restoring force of the elastic member 350 then drives the firing member 310 out of the housing 320. By pushing the firing member 310 into the housing 320, the user can cause the elastic member 350 to accumulate a restoring force. The restoring force of the elastic member 350 can be either a tensile or compressive force. The firing member 310 can be a rod-shaped structure, and the elastic member 350 can be a spring. The housing 320 serves to guide and restrain the elastic member 350, resulting in a simple structure.

[0044] Understandably, the reference Figure 1 and Figure 2 As shown, the firing member 310 is connected to the positioning member 330, and the sleeve 320 is provided with a first through hole 321 and a second through hole 322 connected to the first through hole 321. The first through hole 321 extends along the extension and contraction direction of the elastic member 350, and the second through hole 322 is located on at least one side of the first through hole 321. The positioning member 330 is adapted to move along the first through hole 321 to the second through hole 322 and be constrained within the second through hole 322. In other words, the positioning member 330 can move and adjust within the first through hole 321 and the second through hole 322, thereby driving the firing member 310 to move relative to the sleeve 320.

[0045] In this embodiment, the positioning member 330 cooperates with the through hole, allowing the elastic member 350 to provide a corresponding amount of force. Before use, the position of the firing member 310 can be adjusted by toggling the positioning member 330. Positioning the positioning member 330 in a position corresponding to the second through hole 322 allows the elastic member 350 to produce elastic deformation and accumulate a restoring force. When a driving force is required, the positioning member 330 is toggled again, allowing the positioning member 330 to be removed from the second through hole 322. The restoring force of the elastic member 350 is released, driving the firing member 310 to extend out of the sleeve 320 and driving the rotating member 100 to rotate. This is easy to operate and has a simple structure. The positioning member 330 and the firing member 310 can be fixedly connected as a whole. The positioning member 330 is a rod structure extending to one side of the firing member 310, which has a simple structure. The positioning member 330 and the firing member 310 can also be detachably connected to facilitate disassembly and assembly.

[0046] The number of second through holes 322 can be one or more as needed. Different second through holes 322 correspond to different positions in the direction of expansion and contraction of the elastic member 350, that is, corresponding to the elastic member 350 generating different magnitudes of restoring force. The positioning member 330 can be limited in one of the second through holes 322 to provide a restoring force, that is, to provide a function of driving the rotating member 100 to rotate. The number of second through holes 322 can represent that the driving force provided by the driving member 300 has the same gear, so as to provide different magnitudes of driving force as needed. Figure 1 and Figure 2 As shown, multiple second through holes 322 are located on the same side of the first through hole 321, and multiple second through holes 322 are arranged in parallel; or, second through holes 322 are arranged on both sides of the first through hole 321, which can increase the gears of the driving component 300, has a simple structure, and is easy to adjust the driving force.

[0047] The above embodiment provides a method for adjusting the driving force of the driving component 300. Another method for adjusting the driving force is provided below.

[0048] Different from the above embodiment, the sleeve 320 is provided with a third through hole (not shown in the figure), and the third through hole extends along the extension and contraction direction of the elastic member 350. The sleeve 320 is provided with a first scale mark, and the extension direction of the first scale mark is the same as the extension direction of the third through hole. The positioning member 330 is suitable for moving along the extension direction of the third through hole. The first scale mark can be used to identify the driving force corresponding to different positions of the third through hole. By pulling the positioning member 330 to the target position corresponding to the first scale mark, the corresponding driving force can be provided. The structure is simpler and the adjustment of the driving force is more flexible.

[0049] Based on the above, when the elastic member 350 is a spring, the spring's restoring force is related to the length of its extension or compression. By adjusting the position of the positioning member 330 relative to the third through-hole, the extension or compression length of the spring can be adjusted, thereby accurately controlling the driving force. When the elastic member 350 is a torsion spring, the driving force can also be precisely adjusted. The first scale mark can be attached to the surface of the sleeve 320 or engraved on the surface of the sleeve 320, and the specific selection can be based on needs.

[0050] Therefore, this embodiment differs from the above-mentioned solution of cooperating the first through hole 321 and the second through hole 322 in that the second through hole 322 is omitted, the first scale mark is added, the structure of the sleeve 320 is simplified, and the driving force adjustment is more flexible.

[0051] Understandably, the reference Figure 1 and Figure 3As shown, the rotating member 100 is provided with a firing plate 110, and the driving component 300 is suitable for acting on the firing plate 110, so as to facilitate the driving component 300 to locate the driving position, so as to ensure that the position and force of each drive are more accurate and reduce the operation error.

[0052] refer to Figure 1 As shown, the firing plate 110 is located on the upper surface of the rotating member 100, but the firing plate 110 can also be located on the side of the rotating member 100, which can be selected according to needs.

[0053] In the above embodiment, the restoring force of the elastic member 350 is used as the driving force. Different from the above embodiment, the driving member 300 can also provide the rotational driving force to the rotating member 100 through the swing impact force.

[0054] For example, a driving component 300 is provided on one side of the rotating part 100. The driving component 300 includes a pendulum rope and a weight. One end of the pendulum rope is connected to the weight, and the other end is fixed to the support column. The magnitude of the driving force can be adjusted by adjusting the starting point of the weight.

[0055] In the above embodiment, the performance of the caster 800 can be reflected by observing the extreme position where the caster 800 stops moving. Different from the above embodiment, another method of detecting the extreme angle of the caster 800 is provided.

[0056] Understandably, the reference Figure 3 and Figure 4 As shown, one of the column 200 and the rotating member 100 is connected to a detection component 410 of an angle encoder 400, and the other is connected to a sensing component 420 compatible with the detection component 410. During the rotation of the rotating member 100 relative to the column 200, the detection component 410 and the sensing component 420 generate relative motion, which can detect the angle of rotation of the rotating member 100 relative to the column 200, thereby automatically detecting the angular position of the caster 800. The detection results can be quantified, the structure is simple, and the cost is low.

[0057] Angle encoder 400 can be a photoelectric encoder or a magnetic encoder. In a photoelectric encoder, the sensing component 420 includes a grating element and the detection component 410 includes a sensor. In a magnetic encoder, the sensing component 420 includes a magnet and the detection component 410 includes a sensor. The detection component 410 of the magnetic encoder is located at the rotation center of the rotating member 100, and the rotation angle can be read by the magnetic encoder.

[0058] In the above embodiment, angle encoder 400 is used for angle detection. Unlike the above embodiment, one of the column 200 and the rotating member 100 is provided with a second circular scale mark, and the other is provided with an indicator mark. The scale mark is used to read the position of the rotating member 100 after rotation, that is, the extreme position of the caster 800, resulting in a simpler structure.

[0059] In some cases, when the rotating member 100 is in its initial position, the indicator marks the initial position of the second scale mark. When the rotating member 100 stops rotating, that is, when the caster 800 reaches its limit angle, the scale indicated by the indicator marks the rotation of the rotating member 100. The indicator mark can be provided on the rotating member 100 in the shape of an arrow or a pointer, with the second scale mark indicating circumferential angles, such as 0° to 360°. The second scale mark and the indicator mark can be attached to the rotating member 100 and the column 200 by adhesive bonding.

[0060] Understandably, the reference Figure 1 As shown, the rotating member 100 is connected to a counterweight 500 to simulate actual load conditions, ensuring that the pressure borne by the caster 800 matches the actual load, thereby more accurately evaluating the rotation of the caster 800. For example, the weight of the counterweight 500 matches the weight above the robot chassis, ensuring that the pressure borne by the caster 800 during the test is consistent with the pressure borne by the robot when installed, resulting in more accurate test results and the selection of casters 800 with better performance in the robot.

[0061] The counterweight 500 can be arranged on the top or side of the rotating member, and can be selected according to the needs. The counterweight 500 is detachably connected to the rotating member 100, which is convenient for replacing the counterweight 500 of different weights and shapes, and can be selected according to the needs.

[0062] Understandably, the reference Figure 1 As shown, the test equipment also includes a positioning ruler 600, which is used to limit the position on one side of the wheel body so that the wheel body is located on a preset surface to ensure that the initial position of the caster 800 remains consistent, reduce test deviation, and limit the caster 800 to a position completely perpendicular to the firing member 310 through the positioning ruler 600 to ensure that the driving force is perpendicular to the rotation axis of the caster 800.

[0063] The positioning ruler 600 can be a ruler or a rectangular block, which has a simple structure. It should be noted that before the driving component 300 provides driving force, the positioning ruler 600 is used to position the tested wheel. After the tested wheel is positioned, the positioning ruler 600 is removed to prevent the positioning ruler 600 from interfering with the testing process.

[0064] refer to Figure 1As shown, the rotating member 100 is connected to the two casters 800, and the side surfaces of the two casters 800 are made coplanar through the positioning ruler 600, ensuring that the directions of the two casters 800 are consistent.

[0065] In the above embodiment, the column 200 can be directly supported by the ground. Different from the above embodiment, the testing equipment also includes a plate 700, which is located below the rotating part 100. The plate 700 is used to support the wheel body of the tested wheel. The plate 700 is connected to the column 200, and the caster 800 can be tested on different plates 700.

[0066] The plate body 700 can be made of different materials and have different friction coefficients as required. For example, the plate body 700 can be a floor tile, a wooden floor, a cement board, etc.

[0067] It is understandable that the plate 700 is detachably connected to the column 200 so as to replace the plate 700 and facilitate the testing of the caster 800. By replacing the plate 700, the running conditions of different casters 800 on different ground surfaces can be tested.

[0068] It is understood that the column 200 and the rotating member 100 are detachably connected to facilitate the disassembly and assembly of the rotating member 100 and the replacement of different rotating members 100. A guide sleeve 210 or a bearing is provided between the rotating member 100 and the column 200 to reduce the rotational friction between the rotating member 100 and the column 200.

[0069] Among them, the rotating part 100 is used to simulate the chassis of the robot. According to different models of the robot, the shape of the chassis and the number of casters 800 installed on the chassis can be adjusted. The rotating part 100 is replaceable to test the casters 800 suitable for various models of robots.

[0070] The rotating member 100 can be detachably connected to the caster 800, the counterweight 500, the plate 700 and other components, so as to simulate the operation of the caster 800 under different conditions.

[0071] The rotating member 100 is detachably connected to multiple test wheels, and multiple test wheels can be tested simultaneously. Figure 4 As shown, the rotating member 100 is detachably connected to two casters 800, allowing simultaneous testing of both casters 800. The two casters 800 are arranged side by side, either front to back or side to side, allowing the paired casters 800 to rotate about the axis of the column 200. Front and rear universal wheels are positioned corresponding to the robot's chassis, and simultaneous testing of the front and rear universal wheels ensures that test results more closely reflect actual usage. Of course, the rotating member 100 can also be connected to one, three, or even more casters 800, depending on the number of casters 800 used on the robot.

[0072] Combine Figures 1 to 4As shown, by installing two casters 800 on the rotating member 100, a counterweight 500 can be added to the rotating member 100. The rotating member 100 is also provided with a firing plate 110, which is fired by the firing member 310 of the driving component 300. In addition, a magnetic encoder is installed in the center of the rotating member 100. The column 200 has a slot for mounting a magnet. The magnet is installed on the column 200. When the magnetic encoder on the rotating member 100 is energized, the rotation angle of the rotating member 100 can be measured. The driving component 300 includes a firing member 310, a sleeve 320, an elastic member 350, and a column 340. An elastic member 350 is mounted within the housing 320. The firing member 310 generates firing potential energy by compressing the elastic member 350. After compression, the elastic member 350 defines three second through-holes 322, which position the positioning member 330 within the second through-holes 322. Once the drive component 300 is adjusted, the positioning member 330 is removed from the second through-holes 322, releasing the elastic member 350 and triggering the firing. This triggering imparts rotational energy to the rotating member 100. The presence of three second through-holes 322 allows for three levels of firing force. Before firing, the caster 800 must be positioned perpendicular to the firing member 310 using the positioning ruler 600, which is then removed. After the rotating part 100 is fired, the rotating part 100 starts to rotate, driving the caster 800 to rotate. Due to the different eccentricities of the caster 800, the rotation needs to overcome different resistance torques. In addition, there is friction between the caster 800 and the plate 700 during rotation. Under the combined effect of these two factors, the kinetic energy obtained by the rotating part 100 will be gradually consumed, so that it stops at a certain position. The final rotation angle of the rotating part 100 is read by the magnetic encoder, and then the comprehensive resistance between different casters 800 and their corresponding base plates under the same load is evaluated to determine which caster 800 is more suitable, which solves the problem of evaluating the comprehensive performance of the robot caster 800. By comprehensively considering various factors such as the weight of the robot, the number of casters 800, the material of the casters 800 and the ground, etc., the operation evaluation of the caster 800 is realized, and quantitative evaluation parameters are obtained to guide selection and design.

[0073] The above embodiments are intended only to illustrate the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications, or equivalent substitutions of the technical solutions of the present application do not depart from the spirit and scope of the technical solutions of the present application and should be encompassed by the claims of the present application.

Claims

1. A testing device, characterized in that: include: A rotating part, used for mounting a mounting portion of the wheel to be tested; a column, one end of which is rotatably connected to the rotating member, and the other end of which is located below the rotating member; a driving component, located on one side of the rotating member, adapted to switch between a power storage state and a release state, wherein in the power storage state, the driving component is used to store a force for driving the rotating member to rotate, and the driving component is used to switch from the power storage state to the release state to drive the rotating member to rotate; The driving component includes a firing member, an elastic member and a sleeve. The elastic member is located in the sleeve. One end of the elastic member is connected to the firing member, and the other end of the elastic member is limited to the sleeve. The restoring force of the elastic member is suitable for being transmitted to the rotating member through the firing member.

2. The testing device according to claim 1, characterized in that The firing member is connected to the positioning member, and the sleeve is provided with a first through hole and a second through hole connected to the first through hole, the first through hole extends along the extension and contraction direction of the elastic member, and the second through hole is located on at least one side of the first through hole, and the positioning member is suitable for moving along the first through hole to the second through hole and being limited in the second through hole.

3. The testing device according to claim 1, wherein: The sleeve is provided with a third through hole, and the third through hole extends along the extension and contraction direction of the elastic member. The sleeve is provided with a first scale mark, and the extension direction of the first scale mark is the same as the extension direction of the third through hole. The firing member is connected to the positioning member, and the positioning member is suitable for moving along the extension direction of the third through hole.

4. The testing device according to claim 1, wherein: One of the column and the rotating member is connected to a detection component of an angle encoder, and the other is connected to a sensing component adapted to the detection component.

5. The testing device according to claim 1, characterized in that One of the column and the rotating member is provided with a ring-shaped second scale mark, and the other is provided with an indication mark.

6. The testing device according to claim 1, wherein: The rotating member is connected with a counterweight member.

7. The testing device according to any one of claims 1 to 6, characterized in that It also includes a positioning ruler, which is used to limit one side of the wheel body of the tested wheel so that the wheel body is located on a preset surface.

8. The testing device according to any one of claims 1 to 6, characterized in that It also includes a plate body for supporting the wheel body of the tested wheel, the plate body is located below the rotating member, and the plate body is connected to the column.

9. The testing device according to claim 8, characterized in that The plate body is detachably connected to the column body, and the column body is detachably connected to the rotating member.

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