A mobile robot drive unit detection apparatus

Abstract

The present application relates to the technical field of mobile robots, and provides a mobile robot driving unit detection device.The present application comprises a rack, a rotating component, a first mounting component and a load applying component;the outer circumferential surface of the rotating part of the rotating component is provided with at least one convex part and at least one concave part in the circumferential direction;the first mounting component comprises a first mounting seat which is liftable mounted in the rack and a first mounting plate which is fixed to the bottom of the first mounting seat;the first mounting plate is arranged to mount the driving wheel of the driving unit, and the rotation axis of the driving wheel is arranged to coincide with the projection of the rotation axis of the rotating part in the horizontal plane;the load applying component is arranged to apply downward load to the first mounting component, so that the driving wheel under test and the outer circumferential surface of the rotating part maintain extrusion force.The present application can detect the driving unit before installation, avoid the rework problem caused by the problem found after the driving unit is assembled and tested, improve the test efficiency and the subsequent robot production efficiency, etc.

Description

Technical Field

[0001] This invention relates to the field of mobile robot technology, and in particular to a mobile robot drive unit detection device. Background Technology

[0002] With the continuous development of technology, mobile robots are being used more and more widely in various fields. As a crucial component of mobile robots, the performance of the drive unit directly affects the robot's motion performance. Therefore, accurate testing of the drive unit to ensure its performance meets standards is key to guaranteeing the stable operation of the robot.

[0003] Existing testing methods typically involve road testing after the robot is fully assembled. During the overall testing of the mobile robot, if a problem or malfunction is found in the drive unit, a large-scale disassembly of the assembled robot is required to repair or replace the drive unit. This not only wastes the time and effort previously spent on assembly but may also lead to a decrease in the robot's accuracy and stability due to repeated disassembly and assembly, and may cause unnecessary damage or wear to other components, further increasing maintenance costs and complexity. Furthermore, if the drive unit repeatedly fails in multiple tests, multiple disassembly and repairs are necessary. This iterative process not only significantly increases the amount and difficulty of maintenance work but may also adversely affect the robot's overall performance and lifespan.

[0004] In summary, existing robot drive unit testing solutions suffer from problems such as inappropriate testing timing, difficulties in disassembly and repair, and potential performance degradation due to repeated disassembly. These issues not only affect the robot's production efficiency and performance but also increase maintenance costs and complexity. Therefore, developing a new drive unit testing solution that can effectively test the drive unit before installation, avoiding or reducing subsequent disassembly and repair work, is particularly important and urgent. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the above-mentioned problems existing in the prior art.

[0006] To address the aforementioned technical problems, in one aspect, the present invention provides a mobile robot drive unit detection device, comprising:

[0007] frame;

[0008] A rotating assembly includes a rotating member rotatably connected to the bottom of a frame; the outer peripheral surface of the rotating member is provided with at least one protrusion and at least one recess along the circumferential direction.

[0009] The first mounting assembly includes a first mounting base that is vertically mounted within a frame and a first mounting plate fixed to the bottom of the first mounting base; the first mounting plate is configured to mount the drive wheel of the drive unit, and the rotation axis of the drive wheel coincides with the projection of the rotation axis of the rotating component onto the horizontal plane.

[0010] A load application assembly, mounted on the frame, is configured to apply a downward load to the first mounting assembly to maintain a compressive force between the drive wheel and the outer circumferential surface of the rotating component during testing.

[0011] In one embodiment of the invention, the first mounting assembly further includes vertical slide rails disposed on both sides of the first mounting base and sliders adapted to the vertical slide rails; the vertical slide rails are mounted on the frame; and the sliders are mounted on the first mounting base.

[0012] In one embodiment of the invention, the load application assembly includes a force-applying arm, a force-applying bearing housing, a force-applying bearing, and a counterweight; one end of the force-applying arm is hinged to the frame, and the other end of the force-applying arm can float up and down; the force-applying bearing housing is located at the bottom of the force-applying arm near its hinge end, and the force-applying bearing is rotatably mounted on the force-applying bearing housing; a load portion for loading the counterweight is provided at a position of the force-applying arm away from its hinge end; the force-applying bearing housing and the force-applying bearing are located directly above the first mounting base; when the counterweight applies a force to the force-applying arm, the force-applying arm rotates downward and applies a downward load to the first mounting base through the force-applying bearing.

[0013] In one embodiment of the invention, the load application assembly further includes a pressure sensor located at the center of the top of the first mounting base to measure the load applied by the force-applying arm.

[0014] In one embodiment of the invention, the load application assembly further includes limiting plates disposed on the front and rear sides of the frame and a buffer elastic member capable of generating vertical elastic deformation; the force arm is located in the two limiting plates, and the two ends of the buffer elastic member are respectively connected to the force arm and the frame.

[0015] In one embodiment of the invention, the application further includes a second mounting assembly, which includes a second mounting base horizontally opposite to the first mounting plate and a second mounting plate horizontally movably mounted on the second mounting base; the second mounting plate is used to mount a caster wheel, and by horizontal adjustment, the circumferential surface of the mounted caster wheel abuts against the side of the drive wheel mounted on the first mounting plate.

[0016] In one embodiment of the invention, the second mounting base is further provided with several vertically arranged adjustment mounting holes on both sides.

[0017] In one embodiment of the invention, the second mounting assembly further includes a spring sleeve, a compression spring, and a spring rod; the spring sleeve is horizontally fixed to the second mounting base; one end of the compression spring is coaxially inserted into the spring sleeve from the inner end of the spring sleeve, and the other end of the compression spring abuts against the center position of the second mounting plate; the spring rod is coaxially screwed into the spring sleeve from the outer end of the spring sleeve and abuts against the compression spring.

[0018] In one embodiment of the invention, the second mounting assembly further includes a plurality of linear bearings and a plurality of linear guide rods that slide in contact with each of the linear bearings; the linear bearings are horizontally fixed to the second mounting base and are evenly distributed around the axis of the spring sleeve; one end of each linear guide rod is fixedly connected to the second mounting plate, and the other end of each linear guide rod is coaxially inserted into the linear bearing.

[0019] In one embodiment of the invention, the rotating assembly further includes a rotating support fixed on the frame and a rotating shaft passing through the rotating component; both ends of the rotating shaft are rotatably connected to the rotating support, and one end of the rotating shaft protrudes beyond the rotating support.

[0020] The above-mentioned technical solution of the invention has the following advantages over the prior art:

[0021] The mobile robot drive unit testing device of this invention can test the drive unit before installation, identifying problems in advance and avoiding rework due to issues discovered during post-assembly testing, thus improving testing efficiency and subsequent robot production efficiency. It also avoids the overall performance degradation of the robot caused by frequent disassembly and assembly inaccuracies. Furthermore, it allows for individual testing of the drive unit without requiring road testing of the entire mobile robot, reducing testing space requirements. Additionally, it allows for individual testing of newly designed drive units without redesigning the entire mobile robot. Moreover, this application is highly adaptable, capable of testing drive units of various models and specifications. Attached Figure Description

[0022] To make the invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein:

[0023] Figure 1 This is a three-dimensional schematic diagram of the present invention;

[0024] Figure 2 This is a rear view of the present invention;

[0025] Figure 3 This is a schematic diagram showing the connection between the drive unit and the first mounting component;

[0026] Figure 4 A schematic diagram of the structure of the component that applies the load;

[0027] Figure 5 This is a schematic diagram showing the connection between the caster wheel assembly and the second mounting component.

[0028] Figure 6 This is a front view of the caster wheel assembly and the second mounting component;

[0029] Figure 7 for Figure 6 AA section view;

[0030] Figure 8 This is a schematic diagram of the rotating assembly.

[0031] Explanation of reference numerals in the accompanying drawings: 100, frame; 110, frame; 111, upper limit of the lever arm; 112, lower limit of the lever arm; 120, counterweight area;

[0032] 200. Rotating assembly; 210. Rotating component; 211. Protrusion; 212. Recess; 220. Rotating support; 221. Base plate; 222. Bearing support seat; 223. Bearing seat; 224. Bearing; 230. Rotating shaft;

[0033] 300. First mounting component; 310. Vertical slide rail; 320. Slider;

[0034] 400 Load application assembly; 410 Force arm; 420 Counterweight; 430 Force application part; 431 Force application bearing housing; 432 Force application bearing; 440 Horizontal rotating shaft; 450 Bearing with seat; 460 Buffer elastic element; 470 Pressure sensor; 480 Limiting plate;

[0035] 500, Drive unit; 510, Drive wheel; 520, Servo motor; 530, Reducer; 540, First mounting plate; 550, First mounting base;

[0036] 600. Caster wheel assembly; 610. Caster wheel; 620. Second mounting plate; 621. Adjustment mounting hole;

[0037] 700, Second mounting assembly; 710, Second mounting base; 720, Sliding assembly; 731, Compression spring; 732, Spring sleeve; 733, Spring pressure rod. Detailed Implementation

[0038] The invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the invention, but the embodiments are not intended to limit the invention.

[0039] Reference Figures 1 to 8The present invention provides a mobile robot drive unit detection device, including a frame 100, a rotating component 200, a first mounting component 300, and a load application component 400.

[0040] in:

[0041] The frame 100 includes a frame 110 and a counterweight area 120 located on one side of the frame 110.

[0042] The rotating assembly 200 includes a rotating member 210 rotatably connected to the bottom of the frame 100. Specifically, the rotating assembly 200 is disposed on the bottom structure of the frame 110. The outer peripheral surface of the rotating member 210 has at least one protrusion 211 and at least one recess 212 along the circumferential direction. In this embodiment, the outer peripheral surface of the rotating member has an arcuate structure, and the protrusion 211 and recess 212 are formed at certain locations. Specifically, the outer peripheral surface of the rotating member 210 protrudes in a direction away from its rotation axis to form the protrusion 211. The outer peripheral surface of the rotating member 210 is recessed in a direction close to its rotation axis to form the recess 212. The protrusion 211 and recess simulate the situation where the drive wheel 510 of the mobile robot drive unit passes over pits and bumps on the ground in a real-world scenario, thereby improving the accuracy of the detection results of the drive wheel 510 of the drive unit 500. In some possible embodiments, to avoid frequent detection causing wear of the rotating member and affecting the detection results, the rotating member 210 includes a wheel body and a covering layer covering the outer peripheral surface of the wheel body. The outer circumference of the main body of the rotor is circular. The aforementioned protrusions and recesses are located on the outer circumference of the coating layer. When the coating layer is severely worn, the coating layer can be replaced directly without replacing the main body of the rotor.

[0043] The first mounting assembly 300 includes a first mounting base 550 that is vertically mounted within the frame 100 and a first mounting plate 540 fixed to the bottom of the first mounting base 550. The first mounting plate 540 is configured to mount the drive wheel 510 of the drive unit 500, with the rotation axis of the drive wheel 510 projecting onto the horizontal plane in tandem with the rotation axis of the rotating component 210. In this embodiment, the rotation axis of the drive wheel 510 and the rotation axis of the rotating component are both horizontally positioned, and their vertical projections onto the horizontal plane coincide. The drive wheel needs to be installed before testing. The drive wheel 510 is positioned above the rotating component 210, and the two are in contact. In this embodiment, the drive wheel is an integrated drive and reduction gear wheel with power input. The mounting plate has a flange surface adapted to the reducer mounting surface of the drive wheel for mounting the drive wheel, and the power input of the drive wheel is a drive motor connected to the reducer. That is, the drive unit 500 also includes a servo motor 520 and a reducer 530. The reducer 530 is mounted on the first mounting plate 540. The input end of the reducer 530 is connected to the servo motor 520, and the output end is connected to the drive wheel 510. The servo motor 520 drives the drive wheel 510 to rotate. Thus, during the testing process, the drive wheel 510, through its own rotation, drives the rotating component 210 to rotate. As the drive wheel 510 moves on the outer circumference of the rotating component 210, it can simulate the motion test of the drive wheel 510 on a smooth road surface and on undulating roads. Furthermore, the drive unit 500 can move vertically relative to the frame 100, thus adapting to various models and specifications of drive units 500 while meeting load testing requirements.

[0044] The load application assembly 400 is mounted on the frame 100. The load assembly is configured to apply a downward load to the first mounting assembly 300 so that the drive wheel 510 under test maintains a pressing force on the outer peripheral surface of the rotating member 210, thereby simulating the motion detection of the drive wheel 510 under load and further improving the accuracy of the drive unit detection results.

[0045] Therefore, this embodiment allows for testing of the drive unit 500 before robot installation, enabling early detection of problems and avoiding rework due to issues discovered during post-assembly testing. This improves testing efficiency and subsequent robot production efficiency. It also avoids the overall performance degradation caused by frequent disassembly and assembly inaccuracies. Furthermore, the drive unit 500 can be tested independently without requiring road testing of the entire mobile robot, reducing testing space requirements. Additionally, newly designed drive units 500 can be tested separately without redesigning the entire mobile robot. Finally, this application is highly adaptable, capable of testing various models and specifications of drive units 500.

[0046] Furthermore, the first mounting assembly 300 also includes a vertical slide rail 310 and a slider 320. The vertical slide rail 310 is disposed on both sides of the first mounting base 550. The vertical slide rail 310 is adapted to the slider 320. The vertical slide rail 310 is mounted on the frame 100. The slider 320 is mounted on the first mounting base 550. Specifically, when the drive unit 500 moves up and down, the vertical slide rail 310 and the slider 320 constrain the drive unit 500 in the horizontal direction, making the operation more stable. In this embodiment, the number of vertical slide rails and sliders is set to an even number according to the installation space and size.

[0047] Further, the load application assembly 400 includes a force-applying arm 410, a force-applying part 430 (the force-applying part 430 includes a force-applying bearing seat 431 and a force-applying bearing 432), and a counterweight 420. One end of the force-applying arm 410 is hinged to the frame 100; this end is referred to as the hinge end of the force-applying arm 410. Specifically, a horizontal rotating shaft 440 is connected to the hinge end of the force-applying arm 410, and the horizontal rotating shaft 440 is rotatably connected to the frame 100 via a seated bearing 450. The seat of the seated bearing 450 is fixedly connected to the top of the frame 100, and the bearing of the seated bearing 450 is coaxially arranged with the horizontal rotating shaft 440 and rotatably connected to the seat of the seated bearing 450. The other end of the force-applying arm 410 can float up and down; this end is referred to as the free end of the force-applying arm 410. The force-applying bearing seat 431 is located at the bottom of the force-applying arm 410 near its hinge end. The force-applying bearing 432 is rotatably mounted on the force-applying bearing housing 431. A load portion for the counterweight 420 is provided on the force-applying arm 410 away from its hinge end. The force-applying bearing housing 431 and the force-applying bearing 432 are located directly above the first mounting base 550, and the force-applying bearing 432 is in rolling connection with the first mounting base 550. When the counterweight 420 applies a force to the force-applying arm 410, the force-applying arm 410 rotates downwards and applies a downward load to the first mounting base 550 through the force-applying bearing 432. Further, the load-applying assembly 400 also includes a buffer elastic member 460 capable of generating vertical elastic deformation. Both ends of the buffer elastic member 460 are connected to the free end of the force-applying arm 410 and the frame 100, respectively. Specifically, the frame 100 also has a column on the side of the counterweight area away from the hinge end of the force-applying arm; this column can be considered part of the frame 100. The bottom end of the buffer elastic member 460 is connected to this column via a connector. The other end of the buffer elastic element 460 is connected to the free end of the force-applying arm 410. The buffer elastic element 460 can be a spring. During the test of the drive wheel, its up-and-down movement causes the free end of the force-applying arm 410 to move up and down. The buffer elastic element 460 acts as a buffer to mitigate the vibration caused by the up-and-down movement of the force-applying arm 410. The load application assembly 400 also includes limiting plates 480 located on both sides of the frame 100 (i.e., in the width direction of the force-applying arm 410). The limiting plates 480 are fixed to the columns of the frame 100. The limiting plates 480 enclose a vertical limiting space. The free end of the force-applying arm 410 is located between the two limiting plates 480. The two limiting plates 480 are used to restrain the lateral sway of the force-applying arm 410 caused by the swaying of the counterweight 420. The counterweight 420 and the force-applying part 430 are connected to the bottom of the force-applying arm 410 at the middle position. Specifically, the counterweight 420 is positioned near the free end of the force-applying arm 410. The force-applying part 430 is positioned near the hinged end of the force-applying arm 410.Of course, the combination of the buffer elastic element and the counterweight in this embodiment can also simulate the detection of the drive wheel having an elastic buffer suspension, so as to adapt to different installation types of the drive unit, such as the case where the drive unit bears the robot load or does not bear the robot load.

[0048] Furthermore, the load application assembly 400 also includes a pressure sensor 470 located at the center of the top of the first mounting base 550. The pressure sensor 470 is vertically opposite to the force-applying bearing 432. The pressure sensor 470 is capable of measuring the load applied to the first mounting assembly by the force-applying arm 410. The force-applying bearing 432 is rollably connected to the top of the pressure sensor 470. In combination with the weight of the first mounting assembly, this embodiment is able to monitor the downward pressure applied to the drive unit 500.

[0049] Specifically, the counterweight 420 includes multiple weights of different sizes to simulate different loads. The weights are suspended from the lever arm 410 by steel wire ropes. In this embodiment, the lever arm 410 has a load portion for supporting the counterweight 420 at a position away from its hinge end. This load portion is designed with a perforated structure to hang the weights via the steel wire ropes. The counterweight 420 provides downward pressure to the lever arm 410, allowing the lever arm 410 to rotate around its hinge end. This causes the free end of the lever arm 410 and the force-applying portion 430 to float downwards, thereby applying a downward load to the drive unit 500 for load detection of the drive wheel 510 assembly. Furthermore, this structure in this embodiment reduces the amount of weights used. When the drive wheel 510 moves up and down, the force-applying part 430 and the pressure sensor 470 will move. The force-applying bearing 432 provided in this embodiment can greatly reduce the friction between the pressure sensor 470 and the force-applying part 430.

[0050] In some embodiments, the rotating assembly 200, the first mounting assembly 300, and the force-applying part 430 are disposed in the frame 110. A counterweight 420 is located in the counterweight area 120. A force-applying arm 410 spans the upper half of the frame 110 and the counterweight area 120, with its free end extending from the frame 110 into the counterweight area 120. An upper limit position 111 and a lower limit position 112 of the force-applying arm are installed in the frame 110 near the counterweight area 120. The upper limit position 111 and the lower limit position 112 are made of an elastic material to prevent the force-applying arm 410 from making a hard impact with the frame 100 when it floats up and down.

[0051] Furthermore, this application also includes a second mounting assembly 700 for testing the caster wheel device 600. The second mounting assembly 700 includes a second mounting base 710 horizontally opposite to the first mounting plate 540 and a second mounting plate 620 horizontally movably mounted on the second mounting base 710. The second mounting base 710 is connected to the side of the frame 100. The second mounting plate 620 is used to mount the caster wheel 610, and by horizontal adjustment, the circumferential surface of the mounted caster wheel 610 abuts against the side of the drive wheel 510 mounted on the first mounting plate 540. In this embodiment, the rotation of the drive wheel 510 drives the caster wheel 610 to roll, thereby enabling the testing of the rolling performance of the caster wheel 610. Furthermore, when the drive wheel 510 moves up and down, the distance from the point of tangency between the omnidirectional wheel 610 and the drive wheel 510 to the axis of the drive wheel 510 changes. This causes the omnidirectional wheel 610 to rotate during rolling, thus simulating the movement of the omnidirectional wheel 610 to detect its steering and ultimately test its service life. In other words, it can not only perform rotation testing but also steering testing of the omnidirectional wheel. Therefore, this embodiment can further improve the comprehensiveness of the testing.

[0052] Furthermore, the second mounting base 710 is provided with several vertically arranged adjustment mounting holes 621 on both sides. This allows the mounting height of the second mounting base 710 on the frame 100 to be adjusted by adapting to the adjustment mounting holes 621 at different positions, thereby adjusting the casters 610 to accommodate drive wheels 510 of different sizes.

[0053] In some embodiments, the second mounting assembly 700 further includes a spring sleeve 732, a compression spring 731, and a spring pressure rod 733. The spring sleeve 732 is horizontally fixed to the second mounting base 710. One end of the compression spring 731 is coaxially inserted into the spring sleeve 732 from the inner end of the spring sleeve 732, and the other end of the compression spring 731 abuts against the center position of the second mounting plate 620. The spring pressure rod 733 is coaxially screwed into the spring sleeve 732 from the outer end of the spring sleeve 732 and abuts against the compression spring 731. In some embodiments, to prevent the compression spring 731 from bending and deforming when compressed, a guide rod inserted into the spring is horizontally provided at the center position of the second mounting plate 620.

[0054] Specifically, the spring sleeve 732 has a threaded hole at the end away from the second mounting base 710. The spring pressure rod 733 includes a rod portion and a first head and a second head located at both ends of the rod portion. The diameters of the first head and the second head are both larger than the threaded hole. The rod portion is threaded into the threaded hole. The first head is located inside the spring sleeve 732, and the second head is located outside the spring sleeve 732. By applying a load to the second head, the spring pressure rod 733 moves towards the compression spring 731, thereby compressing the compression spring 731 and thus performing load testing on the caster wheel 610. In this embodiment, the pressure on the caster wheel 610 can be adjusted by the amount of movement of the spring pressure rod 733. Therefore, this embodiment uses the spring pressure rod 733 to adjust the pressure of the compression spring 731, thereby achieving the life test of the caster wheel 610 under load, resulting in a stable and reliable structure.

[0055] In some embodiments, the second mounting assembly 700 further includes a sliding assembly 720. The sliding assembly 720 includes a plurality of linear bearings and a plurality of linear guide rods that slide in contact with each linear bearing. The linear bearings are horizontally fixed to the second mounting base 710 and are evenly distributed around the axis of the spring sleeve 732. One end of each linear guide rod is fixedly connected to the second mounting plate 620, and the other end of each linear guide rod is coaxially inserted into the linear bearing. The linear bearings offer stable operation and low cost.

[0056] Furthermore, the rotating assembly 200 also includes a rotating support 220 and a rotating shaft 230. The rotating support 220 is fixed to the frame 100 and includes a base plate 221, two bearing support seats 222, two bearing seats 223, and two bearings 224. The base plate 221 is fixed to the frame 100. The two bearing support seats 222 are vertically arranged and connected to the top of the base plate 221, and the bearing seats 223 are fixed to the top of the bearing support seats 222. Both ends of the rotating shaft 230 are rotatably connected to the two bearing seats 223 via bearings 224. The rotating shaft 230 passes through the rotating component 210, and the rotating shaft 230 and the rotating component 210 can be connected by a key. One end of the rotating shaft 230 protrudes beyond the rotating support 220, facilitating the connection of a dynamometer. The dynamometer is used to measure some data of the drive unit 500 during operation. The rotating component 200 in this embodiment has a simple and reliable structure.

[0057] Furthermore, the outer peripheral surface of the rotating component 210 is covered with a friction layer to increase the friction between the drive wheel 510 and the rotating component 210. In some embodiments, the friction layer may be made of PVC leather to minimize slippage of the drive wheel 510 and improve the accuracy of the detection results.

[0058] This application primarily addresses the problem of inappropriate timing of drive unit 500 testing in existing technologies. By testing the drive unit 500 before installation, potential problems can be identified early, avoiding subsequent disassembly and repair work. Furthermore, this application also solves the problems in existing technologies where a new mobile robot needs to be designed before testing the newly designed drive unit 500, and the inability to verify the design life of the drive unit 500. This application allows for testing of newly designed drive units 500 without altering the existing mobile robot structure, verifying their performance and design life, thereby optimizing the design and manufacturing process of the drive unit 500 and improving the stability and reliability of the mobile robot. Simultaneously, this application can conveniently test drive units 500 of various specifications and models, demonstrating strong adaptability and broad application prospects. This application can simultaneously perform relatively comprehensive testing of both the drive unit and the omnidirectional wheel device 600.

[0059] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A mobile robot drive unit detection device, characterized in that: include: frame; A rotating assembly includes a rotating member rotatably connected to the bottom of the frame; the outer peripheral surface of the rotating member is provided with at least one protrusion and at least one recess along the circumferential direction; The first mounting assembly includes a first mounting base that is vertically mounted within the frame and a first mounting plate fixed to the bottom of the first mounting base; the first mounting plate is configured to mount a drive wheel of the drive unit, and the rotation axis of the drive wheel coincides with the projection of the rotation axis of the rotating component onto the horizontal plane. A load application assembly, mounted on the frame, is configured to apply a downward load to the first mounting assembly to maintain a pressing force between the drive wheel and the outer peripheral surface of the rotating component during testing. The second mounting assembly includes a second mounting base horizontally opposite to the first mounting plate and a second mounting plate horizontally movably mounted on the second mounting base; the second mounting plate is used to mount casters, and by horizontal adjustment, the circumferential surface of the mounted casters abuts against the side of the drive wheel mounted on the first mounting plate. The second mounting assembly also includes a spring sleeve, a compression spring, and a spring rod; the spring sleeve is horizontally fixed to the second mounting base; one end of the compression spring is coaxially inserted into the spring sleeve from the inner end of the spring sleeve, and the other end of the compression spring abuts against the center position of the second mounting plate; the spring rod is coaxially screwed into the spring sleeve from the outer end of the spring sleeve and abuts against the compression spring.

2. The mobile robot drive unit detection device according to claim 1, characterized in that, The first mounting assembly also includes vertical slide rails disposed on both sides of the first mounting base and sliders adapted to the vertical slide rails; the vertical slide rails are mounted on the frame; the sliders are mounted on the first mounting base.

3. The mobile robot drive unit detection device according to claim 1, characterized in that: The load application assembly includes a force-applying arm, a force-applying bearing housing, a force-applying bearing, and a counterweight. One end of the force-applying arm is hinged to the frame, and the other end of the force-applying arm can float up and down. The force-applying bearing housing is located at the bottom of the force-applying arm near its hinge end, and the force-applying bearing is rotatably mounted on the force-applying bearing housing. A load portion for loading the counterweight is provided at a position away from the hinge end of the force-applying arm. The force-applying bearing housing and the force-applying bearing are located directly above the first mounting base. When the counterweight applies a force to the force-applying arm, the force-applying arm rotates downward and applies a downward load to the first mounting base through the force-applying bearing.

4. The mobile robot drive unit detection device according to claim 3, characterized in that: The load application assembly also includes a pressure sensor located at the center of the top of the first mounting base to measure the load applied by the force-applying arm.

5. The mobile robot drive unit detection device according to claim 3, characterized in that: The load application assembly also includes limiting plates located on the front and rear sides of the frame and a buffer elastic element capable of vertical elastic deformation; the force arm is located between the two limiting plates, and the two ends of the buffer elastic element are respectively connected to the force arm and the frame.

6. The mobile robot drive unit detection device according to claim 1, characterized in that: The second mounting base is also provided with several vertically oriented adjustment mounting holes on both sides.

7. The mobile robot drive unit detection device according to claim 1, characterized in that: The second mounting assembly also includes multiple linear bearings and multiple linear guide rods that slide in contact with each linear bearing; the linear bearings are horizontally fixed to the second mounting base and are evenly distributed around the axis of the spring sleeve; one end of each linear guide rod is fixedly connected to the second mounting plate, and the other end of each linear guide rod is coaxially inserted into the linear bearing.

8. The mobile robot drive unit detection device according to claim 1, characterized in that: The rotating assembly further includes a rotating support fixed to the frame and a rotating shaft passing through the rotating component; both ends of the rotating shaft are rotatably connected to the rotating support, and one end of the rotating shaft protrudes beyond the rotating support.

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