Mecanum Wheel Test System

Abstract

The present invention belongs to the technical field of Mecanum wheel performance testing, and specifically relates to a Mecanum wheel testing system, which includes a frame system, a detection system, an installation system, a road condition simulation system, etc. The installation system is used to install the Mecanum wheel device to be tested, and includes a main shaft sleeve, an installation shaft, a wheel set installation component and an azimuth adjustment system. Among them, the upper part of the installation shaft is installed in the main shaft sleeve and can only rotate around its own axis relative to the main shaft sleeve, and can adjust the deflection direction under the control of the azimuth adjustment system. In the present invention, the wheel set installation component in the installation system rotates with the installation shaft, and the orientation of the Mecanum wheel can be deflected through the provided azimuth adjustment system, so that the Mecanum wheel to be tested deflects relative to the road condition simulation system. Then, in cooperation with the road condition simulation system, a single Mecanum wheel can truly simulate various movement modes in the entire walking device. Therefore, this Mecanum wheel testing system can comprehensively detect the movement performance of the Mecanum wheel.

Description

Technical Field

[0001] The present invention belongs to the technical field of the performance measurement of Mecanum wheels, and specifically relates to a Mecanum wheel test system. Background Art

[0002] The most obvious structural feature of a Mecanum wheel is that a plurality of rollers are provided on its rim, and the rollers contact the ground during walking. For a mobile device equipped with Mecanum wheels, generally, the cooperation of four Mecanum wheels enables the mobile device to achieve movement modes such as forward and backward movement, lateral movement, diagonal movement, rotation, and their combinations. Currently, Mecanum wheels are used in devices for assisting and shifting the human body, cargo transfer devices, and mobile devices in more fields. Facing more and more different usage scenarios, the performance of Mecanum wheels also needs a standard, which requires testing them. Based on the structural features of a single Mecanum wheel and the differences between the movement of a single Mecanum wheel in the combined usage state and the movement of the mobile device, the test device for Mecanum wheels needs to have the ability to fully simulate the actual movement of the Mecanum wheels, but the current test devices cannot meet this requirement, so the performance of Mecanum wheels cannot be tested comprehensively. Summary of the Invention

[0003] Aiming at the above background art, the purpose of the present invention is to provide a Mecanum wheel test system that can fully simulate the actual movement state of a single Mecanum wheel to be tested, so as to comprehensively and accurately test the performance of Mecanum wheels.

[0004] To achieve the above purpose, the present invention provides the following technical solution: A Mecanum wheel test system includes a frame system, a detection system, an installation system, and a road condition simulation system below the installation system, and the road condition simulation system can simulate the road conditions moving relative to the Mecanum wheels; the Mecanum wheel test system also includes a control center, where the control center controls the detection system and all electric components; the frame system includes a main frame, and the installation system is used to install the Mecanum wheel device to be tested and is installed on the front side of the main frame through a connection structure; the installation system includes a main shaft sleeve, an installation shaft, a wheel set installation component, and an azimuth adjustment system. The upper part of the installation shaft is installed in the main shaft sleeve and can only rotate around its own axis relative to the main shaft sleeve. The above-mentioned wheel set installation component is installed at the lower end of the installation shaft; the azimuth adjustment system includes an adjustment motor, a driving gear driven by the adjustment motor, and a meshing gear installed on the installation shaft and coaxial with it, and the driving gear meshes with the meshing gear.

[0005] In the above technical solution, the detected Mecanum wheel is installed below the installation system. When the detection starts, the Mecanum wheel will first rotate on its own axis. At the same time, the road condition simulation system rotates synchronously with the Mecanum wheel, so as to simulate the real situation of the Mecanum wheel walking on the road surface. Since the Mecanum wheel itself cannot deflect relative to the walking device, and the final movement direction of the walking device is the result of the combined action of multiple wheels, the orientation of the wheel itself and the movement direction may not be consistent. In this solution, the wheel set installation component in the installation system rotates with the installation shaft, and the orientation adjustment system can be used to deflect the orientation of the Mecanum wheel, so that the measured Mecanum wheel deflects relative to the road condition simulation system. Combined with the road condition simulation system, this can enable a single Mecanum wheel to truly simulate various movement modes in the entire walking device. Therefore, this Mecanum wheel test system can comprehensively detect the movement performance of the Mecanum wheel.

[0006] The orientation adjustment system further includes a braking component, which is arranged on the main frame or the main bushing. The braking component includes an electric propulsion mechanism and a braking body controlled by the electric propulsion mechanism. The braking body can brake the installation shaft by contacting the meshing gear or the installation shaft. Due to the structural characteristics of the Mecanum wheel itself, it will vibrate regularly during walking. In this solution, the installation shaft is installed in a rotatable manner. By braking the installation shaft through the braking component, the installation shaft can be stably stopped at the adjusted position, thus avoiding the influence of the vibration of the Mecanum wheel on its orientation. This is convenient for accurately detecting the movement performance data of the Mecanum wheel at a certain determined deflection orientation.

[0007] The connection structure includes a fixed part fixedly connected to the main frame and a movable part fixedly connected to the main bushing. The movable part can only move longitudinally back and forth under the constraint of the fixed part. This Mecanum wheel test system further includes a balance system, which has a guide pulley, a wire rope and a counterweight. The two ends of the wire rope pass through the position-fixed guide pulley. Its front end is connected to the installation system, and the rear end is connected to the counterweight, and the counterweight is used to balance the weight of the installation system itself. Using the connection structure with the above structural characteristics to connect the installation system and the main frame can make the entire installation system have the movement characteristics of floating up and down, which provides a basis for detecting the vibration test of the Mecanum wheel. By using the counterweight system to balance the weight of the installation system, the influence of the self-weight of the installation system on the movement of the Mecanum wheel can be eliminated, so that the vibration data of the Mecanum wheel during no-load movement can be tested.

[0008] This Mecanum wheel test system further includes a load system, which includes counterweight weights. The counterweight weights are completely pressed on the installation system and move together with the installation system. By reasonably matching counterweight weights of different weights, different loads can be added to the installation system, which provides conditions for testing the vibration data of the Mecanum wheel under different loads.

[0009] The wheel set mounting assembly includes an n-shaped mounting bracket connected to the mounting shaft. The n-shaped mounting bracket has two parallel mounting arms extending downward. At the same height at the lower parts of the two mounting arms, a wheel shaft sleeve assembly I and a wheel shaft sleeve assembly II are symmetrically arranged. Both the wheel shaft sleeve assembly I and the wheel shaft sleeve assembly II have rotatable shaft sleeves. A positioning bolt II is arranged on one side of the shaft sleeve to fix the inserted wheel shaft. On the back of the wheel shaft sleeve assembly I, a motor assembly is arranged on the mounting arm, and this motor assembly can drive the shaft sleeve of the wheel shaft sleeve assembly I to rotate. First, there are two types of Mecanum wheels: passive drive and self-drive. For self-drive Mecanum wheels, they will be directly mounted on the n-shaped mounting bracket and rotate by themselves during testing. For passive drive Mecanum wheels, they are mounted on the n-shaped mounting bracket with the help of the wheel shaft sleeve assembly. During detection, the set motor assembly drives the passive drive Mecanum wheel to rotate. In addition, Mecanum wheels have one-way shaft models and two-way shaft models. The symmetrically arranged wheel shaft sleeve assembly I and wheel shaft sleeve assembly II can meet the requirements of this structural difference of the Mecanum wheel for the detection device. In addition, for self-drive Mecanum wheels, their output power is an important performance parameter. The output power can be tested in reverse by connecting the set motor assembly to the Mecanum wheel to be tested, so as to reflect the output power of the self-driving Mecanum wheel.

[0010] The wheel shaft sleeve assembly I and the wheel shaft sleeve assembly II can move up or down along the mounting arm and can be fixed at a certain height. The motor assembly is connected to the mounting arm through a longitudinal guiding mechanism, and it can move synchronously with the wheel shaft sleeve assembly I. In addition, this longitudinal guiding mechanism can also achieve self-locking, so as to fix the motor assembly at a definite height. First, different walking devices have different requirements for the size of the Mecanum wheel. Therefore, it is necessary to detect the performance of Mecanum wheels with various different diameters. By setting the wheel shaft sleeve assembly I and the wheel shaft sleeve assembly II that can move longitudinally, the fixed height of the wheel shaft sleeve assembly I and the wheel shaft sleeve assembly II can be adjusted according to the actual situation when mounting the Mecanum wheel. Some self-drive Mecanum wheels need to be equipped with a shock absorption structure during use, and it is also necessary to test their output power when using the shock absorption structure. Since both the wheel shaft sleeve assembly I and the motor assembly can float up and down, this Mecanum wheel test system can also meet this dynamic test requirement.

[0011] The road condition simulation system includes a crawler device, which is located directly below the installation system and contacts the measured Mecanum wheel; the crawler device has a crawler assembly and a crawler motor for driving the movement of the crawler assembly. The crawler assembly includes an inner base belt and a road surface simulation belt covering the surface of the base belt, and the road surface simulation belt has an outer surface similar to the road condition; adhesive tapes are respectively arranged on the side where the base belt and the road surface simulation belt are attached, and the two are fixed together through the adhesive tapes to prevent relative sliding between the road surface simulation belt and the base belt. Different road surfaces have different roughnesses. By replacing the road surface simulation belt with different road surface characteristics, the scenario of the Mecanum wheel walking on different road surfaces can be simulated, thereby providing a basis for testing various performances of the Mecanum wheel when walking on different road surfaces.

[0012] The crawler device further includes a guide roller arranged parallel to the width direction of the crawler assembly. The two ends of the guide roller are provided with limit disks with a diameter larger than that of the guide roller; the two limit disks are symmetrically located on both sides of the crawler assembly, and the minimum distance between the two is equal to the width of the road surface simulation belt; the crawler device further includes a pressure roller parallel to the guide roller and located directly above the crawler assembly. The pressure roller is movably arranged and can move upward under the action of an external force, and presses on the crawler assembly under the action of its own gravity after losing the external force. When replacing the road surface simulation belt, the road surface simulation belt is wound around the guide roller, and the guide roller can prevent the road surface simulation belt from shifting, improving the replacement efficiency and avoiding wrinkles of the road surface simulation belt at the same time.

[0013] As a preferred solution of the detection system, the detection system includes a multi-dimensional force sensor, which is installed at the connection between the installation shaft and the wheel set installation assembly. Under the condition of the self-weight of the installation system or with a load, as the measured Mecanum wheel moves, the road condition simulation system below will give the Mecanum wheel an upward pushing force, and the multi-dimensional force sensor can measure the component forces of this pushing force in each direction.

[0014] As another preferred solution of the detection system, the detection system includes a vibration detection module, which includes a vibration sensor installed at a position relatively stationary with the total bushing. Based on the structural characteristics of the Mecanum wheel, the outermost peripheral contour of the measured Mecanum wheel is a regular polygon, so it will generate vibrations when contacting the road condition simulation system during movement. At this time, the roller will undergo compressive deformation. Under the condition of only the self-weight of the installation system or with an additional load, the vibration situation of the Mecanum wheel during the test is recorded by detecting the longitudinal vibration of the installation system, so as to reflect its compressive deformation amount.

[0015] As another preferred solution of the detection system, the detection system includes a displacement test module. The entire displacement test module is installed on the installation system and includes a displacement detection device and a vibrating rod hinged at the upper end. The lower end of the vibrating rod is the target component recognized by the displacement detection device. The displacement test module further includes a return spring that pushes the vibrating rod towards the measured Mecanum wheel, and under the action of the return spring, the vibrating rod can contact the middle part of the roller on the rim of the measured Mecanum wheel. Based on the structural characteristics of the Mecanum wheel, the outermost peripheral contour of the measured Mecanum wheel is a regular polygon, so it will vibrate when contacting the road condition simulation system during movement. This solution can test its vibration condition under no load through the displacement test module. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0017] Figure 1 is a schematic side view of an embodiment of the Mecanum wheel test system provided in the present invention;

[0018] Figure 2 is Figure 1 a schematic three-dimensional view of the embodiment of the Mecanum wheel test system shown;

[0019] Figure 3 is Figure 2 a schematic view of the structure of the counterweight in the balance system in the embodiment of the Mecanum wheel test system shown;

[0020] Figure 4 is Figure 2 a schematic view of the structure of the crawler in the road condition simulation system in the embodiment of the Mecanum wheel test system shown;

[0021] Figure 5 is a schematic view of the upper part of the structure of the installation system in the embodiment of the Mecanum wheel test system;

[0022] Figure 6 is a schematic view of the structure of the braking component in the embodiment of the Mecanum wheel test system;

[0023] Figure 7 is a schematic side view of the lower part of the structure of the installation system in the embodiment of the Mecanum wheel test system;

[0024] Figure 8 is a schematic front view of the lower part of the structure of the installation system in the embodiment of the Mecanum wheel test system;

[0025] Figure 9Schematic diagram of the first azimuth three-dimensional structure of the lower part of the installation system in the McNamara wheel test system embodiment;

[0026] Figure 10 Schematic diagram of the second azimuth three-dimensional structure of the lower part of the installation system in the McNamara wheel test system embodiment;

[0027] Figure 11 Schematic diagram of the split structure of the motor assembly in the installation system;

[0028] Figure 12 Schematic diagram of an installation structure of a driven McNamara wheel in the McNamara wheel test system;

[0029] Figure 13 Schematic diagram of another installation structure of a driven McNamara wheel in the McNamara wheel test system;

[0030] Figure 14 Schematic diagram of an installation structure of a self-driven McNamara wheel in the McNamara wheel test system;

[0031] Figure 15 Schematic diagram of the structure of the auxiliary shaft assembly of the McNamara wheel test system;

[0032] Figure 16 Schematic diagram of another installation structure of a self-driven McNamara wheel in the McNamara wheel test system.

[0033] In the figure, there are a frame system 1, a mounting system 2, a balancing system 3, a load system 4, a road condition simulation system 5, a control center 61, a side fixing wall 62, a vibration sensor 63, a multi-dimensional force sensor 64, a rear fixing arm 65, a vibration rod 66, a return spring 67, a displacement detection device 68, a torque sensor 69, a main frame 101, a fixing arm 102, a top beam 103, a storage tray 104, a longitudinal guide post I 105, a protective net 106, a main shaft sleeve 201, a side shaft sleeve 202, a mounting shaft 203, a wheel set mounting assembly 204, a side fixing arm I 205, an upper shaft cover 206, a lower shaft shoulder 207, an adjusting motor 208, a braking assembly 2080, an electromagnetic telescopic shaft 2081, a braking head 2082, a driving gear 209, an engaging gear 210, an n-shaped mounting bracket 211, a wheel shaft sleeve assembly I 212, a wheel shaft sleeve assembly II 213, a motor assembly 214, a longitudinal sliding sleeve 215, a longitudinal guide shaft II 216, a back groove 217, a longitudinal displacement hole 218, a bolt sliding hole 219, a positioning bolt I 220, a sliding block 2100, a shaft sleeve 221, a positioning bolt II 222, a motor 223, a positioning cover 224, a motor fixing arm 225, a positioning chuck 226, a positioning bolt III 227, a mounting plate 2110, a coupling 2231, a connecting shaft 2232, a counterweight 301, a guiding pulley 302, a wire rope 303, a filling port 304, a discharge pipe 305, a counterweight weight 401, a counterweight plate 402, a lifting ring 403, a connecting arm 404, a crawler device 501, a crawler assembly 502, a guiding roller 503, a pressing roller 504, a base belt 505, a road surface simulation belt 506, an adhesive belt 507, a driven Mecanum wheel 700, a wheel shaft 701, a self-driven Mecanum wheel 800, a shock absorber frame 802, an auxiliary shaft assembly 900, a mounting bolt 901, and an auxiliary shaft 902. Detailed implementation manners

[0034] The following will, in conjunction with the accompanying drawings and embodiments, elaborate in detail on the implementation manners of the present application, so as to fully understand how the present application uses technical means to solve technical problems and achieve the realization process of technical effects and implement accordingly.

[0035] Figure 1-9 This is an embodiment of the Mecanum wheel test system provided by the present invention, as Figure 1As shown in the figure, the entire Mecanum wheel test system includes a frame system 1, a detection system, an installation system 2, a balancing system 3, a load system 4, a road condition simulation system 5, and a control center 61. The control center 61 controls all electrical components. At the same time, the control center 61 has a display device for displaying the detection data of the detection system. The road condition simulation system 5 includes a crawler device 501, which is located directly below the installation system 2 and contacts the Mecanum wheel to be tested. Specifically, the frame system 1 includes a general frame 101 arranged longitudinally. The lower part of the general frame 101 supports the ground and is bolted to the road condition simulation system 5. On the upper left side of the general frame 101, a fixed arm 102 is fixedly arranged, and there are two longitudinally symmetrically arranged longitudinal guide columns I 105 on the fixed arm 102. The installation system 2 includes a general bushing 201 arranged longitudinally, an installation shaft 203, a wheel set installation component 204, and an azimuth adjustment system. The installation shaft 203 is installed in the general bushing 201 through upper and lower bearings. An upper shaft cover 206 and a lower shaft shoulder 207 are respectively arranged at the upper end and the lower end of the general bushing 201, so that the installation shaft 203 can only rotate around its own axis relative to the general bushing 201. The above-mentioned wheel set installation component 204 is used to install the Mecanum wheel to be tested. It is installed at the lower end of the installation shaft 203, and a meshing gear 210 is coaxially fixedly installed on the installation shaft 203. A multi-dimensional force sensor 64 is arranged at the position where the lower end of the installation shaft 203 is connected to the wheel set installation component 204. As Figure 5 shown, the azimuth adjustment system mainly includes an adjustment motor 208, which is arranged at the lower end of a side fixed arm I 205 fixed to the front side of the general bushing 201. A driving gear 209 meshing with the meshing gear 210 is installed on the rotating shaft of the adjustment motor 208. Therefore, by controlling the rotation of the adjustment motor 208, the deflection angle of the wheel set installation component 204 can be adjusted.

[0036] To ensure that the angle of the adjusted wheel set installation component 204 will not deflect automatically, the entire azimuth adjustment system further includes a braking component 2080, as Figure 6 shown. This braking component is arranged on the general frame 101 and includes an electromagnetic telescopic plug shaft 2081 and a braking head 2082 arranged at the end of the electromagnetic telescopic plug shaft 2081. The braking head 2082 faces the meshing gear 210, and under the control of the electromagnetic telescopic plug shaft 2081, it can engage or disengage from the meshing gear 210, thereby braking or releasing the braking of the installation shaft 203. This can prevent the adjusted azimuth from changing due to vibration during the walking of the Mecanum wheel.

[0037] In this embodiment, the entire installation system 2 adopts a floating installation method, as Figure 5As shown, side bushings 202 are symmetrically arranged on both sides of the main bushing 201. The two side bushings 202 are respectively sleeved on the longitudinal guide post I 105, and as shown, the longitudinal guide post I 105 has a margin for the up and down movement of the side bushings 202. In addition, a horizontal counterweight disk 402 is fixedly arranged above the main bushing 201 through a connecting arm 404. A lifting ring 403 is arranged above the counterweight disk 402. The load is provided to the measured Mecanum wheel by placing counterweight weights 401 on the counterweight disk 402, as Figure 1 and Figure 2 shown, a storage disk 104 is arranged at the rear of the main frame 101. The unused counterweight weights 401 are located in the storage disk 104.

[0038] Regarding the balance system 3, its main function is to balance the weight of the entire installation system 2, so that the measured Mecanum wheel has a no-load test condition. As Figure 2 shown, the balance system 3 includes a counterweight body 301 and a wire rope 303 connecting the counterweight body 301 and the lifting ring 403. As Figure 2 shown, a top beam 103 is horizontally arranged at the top of the main frame 101. Two guide pulleys 302 are fixedly installed below the top beam 103. The aforementioned wire rope 303 passes around the two guide pulleys 302 from above. The counterweight body 301 is suspended at the rear of the main frame 101 and is surrounded by a protective net 106 arranged at the rear of the main frame 101. Since the replacement of individual components of the installation system 2 may cause a change in the total weight, in order to enable the balance system 3 to still maintain balance, a hollow cavity is provided below the counterweight body 301. This cavity is used to fill solid particulate matter, such as sand. A filling port 304 is arranged above the hollow cavity, and a discharge pipe 305 is arranged below. The discharge pipe 305 can be rotated to make the pipe orifice face upward, at this time, the solid particulate matter can be prevented from flowing out, or it can be rotated to make the pipe orifice face downward, so that the solid particulate matter automatically flows out to achieve the purpose of adjusting the total weight of the counterweight body 301.

[0039] Of course, when the installation system 2 and the balance system 3 are in a balanced state, the measured Mecanum wheel can be accurately loaded by adding counterweight weights 40. Therefore, by reasonably matching counterweight weights 401 of different weights, different loads can be added to the installation system 2, which is convenient for testing the Mecanum wheel under different loads.

[0040] In the above technical solution, the detected Mecanum wheel is installed below the installation system 2. When the detection starts, the Mecanum wheel will first rotate on its own axis. At the same time, the road condition simulation system 5 rotates synchronously with the Mecanum wheel, so as to simulate the real situation of the Mecanum wheel walking on the road surface. Since the Mecanum wheel itself cannot deflect relative to the walking device, and the final movement direction of the walking device is the result of the combined action of multiple wheels, the orientation of the wheel itself and the movement direction may not be consistent. In this solution, the wheel set installation component 204 in the installation system 2 rotates with the installation shaft 203, and the orientation adjustment system can be used to deflect the orientation of the Mecanum wheel, so that the measured Mecanum wheel deflects relative to the road condition simulation system 5. Combined with the road condition simulation system 5, this can enable a single Mecanum wheel to truly simulate various movement modes in the entire walking device. Therefore, the Mecanum wheel test system can comprehensively detect the movement performance of the Mecanum wheel.

[0041] Such as Figure 7 , Figure 8 , Figure 9As shown in the figure, the wheel set mounting assembly 204 includes an n-shaped mounting bracket 211 connected to the mounting shaft 203. The n-shaped mounting bracket 211 has two parallel mounting arms extending downward. First, a mounting plate 2110 is provided on the upper inner side of one of the mounting arms. In addition, a wheel shaft sleeve assembly I 212 and a wheel shaft sleeve assembly II 213 are symmetrically arranged at the same height at the lower parts of the two mounting arms. Both the wheel shaft sleeve assembly I 212 and the wheel shaft sleeve assembly II 213 have a sliding block 2100. A rotatable shaft sleeve 221 is transversely mounted in the middle of the sliding block 2100. A positioning bolt II 222 is provided on one side of the shaft sleeve 221, and the wheel shaft inserted into its shaft hole is fixed by the positioning bolt II 222. In addition, a motor assembly 214 is provided on the mounting arm on the back of the wheel shaft sleeve assembly I 212. The rotating shaft of the motor assembly 214 is connected to a connecting shaft 2232 at the rear end of the shaft sleeve 221 provided on the wheel shaft sleeve assembly I 212 through a coupling 2231, and can drive the shaft sleeve 221 in the wheel shaft sleeve assembly I 212 to rotate. Regarding the wheel set mounting assembly 204, the wheel shaft sleeve assembly I 212, the wheel shaft sleeve assembly II 213, and the motor assembly 214 are all mounted in a slidable-up-and-down structure: Specifically, the shape of the mounting arm is similar to that of a channel steel. A back groove 217 is provided on its back. The transverse cross-section of the mounting arm is U-shaped. Longitudinally extending bolt sliding holes 219 are provided on the side walls of the back groove 217, and longitudinally extending longitudinal displacement holes 218 are provided on the bottom surface of the back groove 217. The rear part of the sliding block 2100 is located in the back groove 217, and the front part is located in the longitudinal displacement hole 218. In addition, bolt holes are provided on the side surface of the sliding block 2100, and positioning bolts I 220 are installed in the bolt holes. The positioning bolts I 220 pass through the corresponding bolt sliding holes 219. When the positioning bolts I 220 are tightened, the positioning bolts I 220 brake the sliding block 2100 by pressing the anti-slip surfaces on both sides of the bolt sliding holes 219. In addition, for the motor assembly 214, it includes a motor 223 and a motor mounting bracket, and the motor 223 is a torque sensing motor. A torque sensor 69 is installed on its rotating shaft. In the installed state, the torque sensor 69 is fixed on the motor mounting bracket. As Figure 10 and Figure 11 shown, the motor mounting bracket includes symmetrically arranged motor fixing arms 225, and positioning covers 224 symmetrically arranged above and below the motor fixing arms 225. The motor 223 is installed in the space surrounded by the positioning covers 224 and the motor fixing arms 225, and the front and rear ends of the motor are positioned by positioning chucks 226 at the front and rear ends of the positioning covers 224. In addition, the motor fixing arms 225 are fixedly connected to two longitudinally sliding sleeves 215 connected together. At the same time, the two longitudinally sliding sleeves 215 are movably sleeved on longitudinally guiding shafts II 216 symmetrically arranged on the side of the mounting arm, and as Figure 8 shown, the longitudinally guiding shafts II 216 have a length allowance for the longitudinal movement of the longitudinally sliding sleeves 215.

[0042] The above content has introduced the general structure of the Mecanum wheel test system provided in this embodiment. In addition, this Mecanum wheel test system, in addition to the torque sensor 69 in the torque motor, also includes a multi-dimensional force sensor 64, a vibration detection module, and a displacement test module. Specifically, the multi-dimensional force sensor 64 is installed at the connection between the mounting shaft 203 and the wheel set mounting assembly 204. When the mounting system 2 is self-weight or has a load, as the Mecanum wheel to be detected moves, the road condition simulation system below will give an upward pushing effect to the Mecanum wheel. The set multi-dimensional force sensor 64 can measure the component forces of this pushing effect in each direction. The vibration detection module includes a vibration sensor 63, and this vibration sensor 63 is installed on the side of the side bushing 202. Since the outermost peripheral contour of the Mecanum wheel to be detected is a regular polygon, it will generate vibrations when contacting the road condition simulation system 5 during movement. At this time, the roller will undergo compressive deformation. When only the mounting system 2 is self-weight or has an additional load, the vibration sensor 63 records the vibration condition of the Mecanum wheel during the test by detecting the longitudinal vibration of the mounting system 2, thereby indirectly reflecting its compressive deformation amount. As Figure 7 shown, the displacement test module includes a "7"-shaped rear fixing arm 65 fixedly connected to the middle of the n-shaped mounting frame 211. A displacement detection device 68 is provided at the lower part of the "7"-shaped rear fixing arm 65. At the same time, a vibration rod 66 is provided on the side of the "7"-shaped rear fixing arm 65 close to the n-shaped mounting frame 211. The upper end of this vibration rod is hinged to the "7"-shaped rear fixing arm 65, and the lower end is provided with a target element recognized by the displacement detection device 68. The displacement test module also includes a return spring 67 that pushes the vibration rod 66 towards the Mecanum wheel to be detected, and under the action of the return spring 67, this vibration rod 66 can contact the middle of the roller on the rim of the Mecanum wheel to be detected. Based on the structural characteristics of the Mecanum wheel, the outermost peripheral contour of the Mecanum wheel to be detected is a regular polygon, so it will generate vibrations when contacting the road condition simulation system 5 during movement, and this solution can test its vibration condition without load through the displacement test module.

[0043] Regarding the Mecanum wheel test system with the above structure, it can be applied to the driven Mecanum wheel 700 as shown in Figure 12 shown, and the self-driven Mecanum wheel 800 as shown in Figure 14 shown. At the same time, it can also be applied to the self-driven Mecanum wheel 800 with a bidirectional shaft as shown in Figure 13 shown. In addition, for the self-driven Mecanum wheel 800 as shown in Figure 14 shown, it is installed on the mounting plate 2110 through a shock absorber 802. During the test, the shock absorber 802 buffers the vibrations of part of the Mecanum wheel. If you want to test the output power of the self-driven Mecanum wheel 800 at this time, you can increase as shown in Figure 15The auxiliary shaft assembly 900 shown is circular. An auxiliary shaft 902 perpendicular to the entire circle is provided at its center. The entire auxiliary shaft assembly 900 can be installed on the side of the self-driven Mecanum wheel 800 through mounting bolts 901, and can make the auxiliary shaft 902 coaxial with the self-driven Mecanum wheel 800; as Figure 16 shown, by fixing the auxiliary shaft 902 to the wheel axle sleeve assembly I212, then loosening the positioning bolt I220 and the positioning bolt III227, at this time the motor assembly 214 will vibrate with the self-driven Mecanum wheel 800, and at the same time the torque of the self-driven Mecanum wheel 800 can be tested by reverse rotation.

[0044] In this embodiment, the road condition simulation system 5 can simulate different roads. Specifically, its crawler device 501 has a crawler assembly 502 and a crawler motor for driving the crawler assembly 502 to move. The crawler assembly 502 includes an inner base belt 505 and a road surface simulation belt 506 covering the surface of the base belt 505. The road surface simulation belt 506 has an outer surface similar to the road condition. Adhesive tapes 507 are respectively arranged on the side where the base belt 505 and the road surface simulation belt 506 are in contact, and the two are fixed together through the adhesive tapes 507 to prevent the road surface simulation belt 506 from sliding relative to the base belt 505. By replacing the road surface simulation belt 506 with different road surface characteristics, the scenario of the Mecanum wheel walking on different roads can be simulated, thereby providing a basis for testing various performances of the Mecanum wheel when walking on different roads. In addition, the crawler device 501 further includes a guide roller 503 arranged parallel to the width direction of the crawler assembly 502. Limiting disks with a diameter larger than that of the guide roller 503 are arranged at both ends of the guide roller 503; the two limiting disks are symmetrically located on both sides of the crawler assembly 502, and the minimum distance between them is equal to the width of the road surface simulation belt 506; the crawler device 501 further includes a pressure roller 504 parallel to the guide roller 503 and located directly above the crawler assembly 502. The pressure roller 504 is movably arranged and can move upward under the action of an external force, and presses on the crawler assembly 502 under the action of its own gravity after losing the external force. When replacing the road surface simulation belt 506, the road surface simulation belt 506 is wound around the guide roller 503. The guide roller 503 can prevent the road surface simulation belt 506 from shifting, improve the replacement efficiency and avoid wrinkles of the road surface simulation belt 506 at the same time. The arranged pressure roller 504 can press down the road surface simulation belt 506 to make the road surface simulation belt 506 adhere more firmly to the base belt 505. In addition, it should be noted that in this embodiment, a horizontal support plate with Teflon coated on the front is provided on the frame of the crawler device 501. The front of the horizontal support plate is attached to the base belt 505, and the horizontal support plate is located below the measured Mecanum wheel, so as to ensure that the part of the crawler assembly 502 in contact with the Mecanum wheel during movement will not vibrate, achieving the effect of walking on the road surface.

[0045] As used in the specification and claims, certain terms are used to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different names to refer to the same component. The specification and claims do not use the difference in names as a way to distinguish components, but rather use the difference in the functions of components as the criterion for distinction. As used throughout the specification and claims, the term "comprising" is an open-ended term and should be interpreted as "including but not limited to". "Substantially" means within an acceptable error range, and those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

[0046] It should be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a commodity or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent in such a commodity or system. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the commodity or system including the said element.

[0047] The above description shows and describes several preferred embodiments of the present invention. However, as mentioned above, it should be understood that the present invention is not limited to the forms disclosed herein, should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be changed within the scope of the inventive concept described herein through the above teachings or the techniques or knowledge in the relevant field. And any changes and variations made by those skilled in the art without departing from the spirit and scope of the present invention shall fall within the protection scope of the appended claims of the present invention.

Claims

1. Mecanum wheel test system, characterized in that: It includes a frame system, a detection system, an installation system, and a road condition simulation system below the installation system, and also includes a control center. The control center controls the detection system and all electric components. The frame system includes a main frame. The installation system is used to install the measured Mecanum wheel device and is installed on the front side of the main frame through a connection structure. The installation system includes a main bushing, an installation shaft, a wheel set installation component, and an azimuth adjustment system. The upper part of the installation shaft is installed in the main bushing and can only rotate around its own axis relative to the main bushing. The above-mentioned wheel set installation component is installed at the lower end of the installation shaft. The azimuth adjustment system includes an adjustment motor, a driving gear driven by the adjustment motor, and a meshing gear coaxially installed on the installation shaft and capable of rotating synchronously with it, and the driving gear meshes with the meshing gear. The wheel set installation component includes an n-shaped installation frame connected to the installation shaft. The n-shaped installation frame has two parallel and downward-extending installation arms. At the same height at the lower part of the two installation arms, a wheel shaft sleeve assembly I and a wheel shaft sleeve assembly II are symmetrically arranged. Both the wheel shaft sleeve assembly I and the wheel shaft sleeve assembly II have rotatable bushings. A positioning bolt II is arranged on one side of the bushing to fix the inserted wheel shaft. There is a motor assembly on the installation arm on the back of the wheel shaft sleeve assembly I, and this motor assembly can drive the bushing of the wheel shaft sleeve assembly I to rotate. The wheel shaft sleeve assembly I and the wheel shaft sleeve assembly II can move up or down along the installation arm and can be fixed at a certain height. The motor assembly is connected to the installation arm through a longitudinal guiding mechanism, and it can move synchronously with the wheel shaft sleeve assembly I. In addition, this longitudinal guiding mechanism can also achieve self-locking, so as to fix the motor assembly at a determined height. An installation plate is arranged at the upper part inside one of the installation arms. The test system also includes an auxiliary shaft assembly. The auxiliary shaft assembly is circular, and an auxiliary shaft perpendicular to the whole circle is arranged at its center. And the whole auxiliary shaft assembly can be installed on the side of the self-driving Mecanum wheel through installation bolts and can make the auxiliary shaft coaxial with the self-driving Mecanum wheel.

2. The Mecanum wheel test system according to claim 1, wherein: The azimuth adjustment system also includes a braking component. This braking component is arranged on the main frame or the main bushing and includes an electric propulsion mechanism and a braking body controlled by the electric propulsion mechanism. This braking body can brake the installation shaft by contacting the meshing gear or the installation shaft.

3. The Mecanum wheel test system according to claim 1, characterized in that: The connection structure includes a fixed part fixedly connected to the main frame and a movable part fixedly connected to the main bushing. The movable part can only make longitudinal reciprocating movements under the constraint of the fixed part. This Mecanum wheel test system also includes a balance system. This balance system has a guiding pulley, a wire rope, and a counterweight. The two ends of the wire rope pass through the guiding pulley with a fixed position. Its front end is connected to the installation system, and the rear end is connected to the counterweight, and the weight of the installation system itself is balanced by this counterweight.

4. The Mecanum wheel test system according to claim 3, characterized in that: This Mecanum wheel test system also includes a load system. This load system includes counterweight weights, and the counterweight weights completely press on the installation system and move together with the installation system.

5. The Mecanum wheel test system according to claim 1, characterized in that: The road condition simulation system includes a crawler device, which is located directly below the installation system and contacts the measured Mecanum wheel; the crawler device has a crawler assembly and a crawler motor for driving the movement of the crawler assembly. The crawler assembly includes an inner baseband and a road surface simulation belt covering the surface of the baseband, and the road surface simulation belt has an outer surface identical to the road condition; adhesive tapes are respectively arranged on the surfaces of the baseband and the road surface simulation belt that are in contact with each other, and the two are fixed together through the adhesive tapes.

6. The Mecanum wheel test system according to claim 5, wherein: The crawler device further includes a guide roller arranged parallel to the width direction of the crawler assembly. Limiting discs with diameters larger than that of the guide roller are arranged at both ends of the guide roller; the two limiting discs are symmetrically located on both sides of the crawler assembly, and the minimum distance between the two is equal to the width of the road surface simulation belt; the crawler device further includes a pressure roller parallel to the guide roller and located directly above the crawler assembly. The pressure roller is movably arranged and can move upward under the action of an external force and press on the crawler assembly under the action of its own gravity after losing the external force.

7. The Mecanum wheel test system according to any one of claims 1-6, characterized in that: The detection system includes a multi-dimensional force sensor, which is installed at the connection between the installation shaft and the wheel set installation assembly.

8. The Mecanum wheel test system according to any one of claims 1-6, characterized in that: The detection system includes a vibration detection module, which includes a vibration sensor. The vibration sensor is installed at a position that remains relatively stationary with respect to the main shaft sleeve, and it records the vibration condition of the Mecanum wheel during the test by detecting the longitudinal vibration of the installation system.

9. The Mecanum wheel test system according to any one of claims 1-6, characterized in that: The detection system includes a displacement test module. The entire displacement test module is installed on the installation system and includes a displacement detection device and a vibration rod hinged at the upper end. A target component recognized by the displacement detection device is arranged at the lower end of the vibration rod; the displacement test module further includes a return spring for pushing the vibration rod towards the measured Mecanum wheel, and under the action of the return spring, the vibration rod can contact the middle part of the roller on the rim of the measured Mecanum wheel.

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