Mecanum wheel performance test platform

Abstract

The invention relates to the technical field of Mecanum wheel performance testing, in particular to a Mecanum wheel performance testing platform, which comprises a first detection unit and a second detection unit, and is characterized in that the second detection unit is arranged on the first detection unit and is used for detecting the wear resistance of a Mecanum wheel; according to the Mecanum wheel detection device, the detection trolley is manually controlled to move on the right-angle plate, and whether the quality of the Mecanum wheel is qualified or not is judged according to distance data tested by the distance sensor, so that the completely qualified Mecanum wheel is conveniently used for carrying out a subsequent wear resistance test; the accuracy of the wear resistance detection result is improved, and the contact circular plate, the straight movement simulation piece and the distance adjusting piece are matched, so that the environment in which the Mecanum wheels suffer friction resistance when the detection trolley moves straight, moves sideways and turns is simulated, and the credibility of detection data is improved.

Description

Technical Field

[0001] The invention relates to the technical field of Mecanum wheel performance testing, in particular to a Mecanum wheel performance testing platform. Background Art

[0002] A Mecanum wheel is a universal wheel consisting of a center wheel and multiple peripheral axles distributed at an angle. The generatrix of these small rollers is at a 45° angle to the wheel axis. These peripheral axles at a 45° angle convert part of the wheel steering force into a wheel normal force. Depending on the direction and speed of each wheel, the final synthesis of these forces produces a resultant force vector in any required direction, thereby ensuring that the mounting platform of the Mecanum wheel can move freely in the direction of the final resultant force vector without changing the direction of the wheel itself. The Mecanum wheel has a compact structure and flexible movement, and can realize all-round mobile functions more flexibly and conveniently. The Mecanum wheel is mainly used in industrial fields, such as warehouse robots, forklifts or small robots. Since it will be subject to friction during use, its wear resistance determines whether it will operate stably during use and the length of its service life.

[0003] The traditional detection method is to directly test the Mecanum wheel after it is subjected to friction during multiple straight-moving processes. However, during use, the Mecanum wheel will move straight, sideways, diagonally, and turn, and will be subjected to friction resistance in different directions during various movements. Therefore, only testing the Mecanum wheel in the straight-moving state has a relatively single detection environment and is not reliable. Summary of the invention

[0004] In view of the above problems, the embodiment of the present application provides a Mecanum wheel performance testing platform to solve the technical problems in the related art that the testing environment is relatively single and the quality itself does not meet the standards, resulting in the experimental data and conclusions being unreliable and inaccurate. In order to achieve the above purpose, the embodiment of the present application provides the following technical solutions.

[0005] A Mecanum wheel performance test platform according to an embodiment of the present application comprises a first detection unit and a second detection unit, wherein the second detection unit is arranged on the first detection unit for detecting the wear resistance of the Mecanum wheel, and the first detection unit is used to detect the flexibility of the Mecanum wheel; the first detection unit comprises a square platform, a square frame plate is fixedly installed on the upper end of the square platform, four triangular frame plates are evenly fixedly installed on the upper end of the square platform in a circumferential direction, the triangular frame plates are isosceles right triangles, and the hypotenuses of the four triangular frame plates are respectively parallel to the four side walls of the square frame plates, the four triangular frame plates form an X-shaped track extending along the diagonal of the square platform, right-angled plates with different surface roughness are respectively fixedly installed on the left front and right rear of the upper end of the square platform, the two right-angled plates form a circular track, and the circular track is connected to the X-shaped track, and a detection trolley is placed on the upper end of the square platform, Wheel sets are symmetrically assembled at the front and rear ends of the detection trolley, and the wheel sets are composed of left-right symmetrical Mecanum wheels. Distance sensors are fixedly installed all around the detection trolley, and a simulated straight-moving part is arranged in the middle of the square platform; the second detection unit includes a right-angle bracket, and a right-angle bracket is fixedly installed in a triangular frame plate at the upper end of the square platform and located on the right side, and the right-angle bracket is an inverted L-shape, and a distance control cylinder is fixedly installed at the lower end of the horizontal section of the right-angle bracket, and a pressure sensor is fixedly installed at the front end of the distance control cylinder, and a U-shaped plate is fixedly installed at the telescopic end of the distance control cylinder, and a motor 2 is fixedly installed in the U-shaped plate through a motor seat, and a contact circular plate is fixedly installed on the output shaft of the motor 2 through a coupling, and the lower end of the U-shaped plate is rotatably connected to the contact circular plate, and a distance adjusting part is arranged on the U-shaped plate, and a close-fitting part is arranged between the distance adjusting parts, and a driving part is arranged on the left side of the close-fitting part, and the driving part is used to drive the close-fitting part to move in the front and rear directions.

[0006] According to an embodiment of the present invention, the simulated straight-moving member includes a sprocket, a receiving groove is provided in the middle of the square platform, a sprocket is symmetrically rotated in the receiving groove, the sprockets are connected by a toothed chain belt transmission, contact blocks are evenly fixedly installed on the surface of the toothed chain belt, adjacent contact blocks are hinged, a support plate is fixedly installed in the receiving groove and between the two sprockets, the upper end of the support plate is tightly attached to the lower end of the upper toothed chain belt, a motor 1 is fixedly installed at the front end of the square platform through a motor seat, the output shaft of the motor 1 is fixedly connected to the sprocket on the right through a coupling, the moving speed of the toothed chain belt is the same as the moving speed of the detection trolley and the moving direction is opposite, the rotation speed of the sprocket is the same as the rotation speed of the Mecanum wheel, the rotation direction of the sprocket is opposite to the rotation direction of the Mecanum wheel, and the contact blocks on the surface of the toothed chain belt simulate the environment in which the Mecanum wheel is subjected to friction resistance when the detection trolley is moving straight.

[0007] According to an embodiment of the present invention, a hook-shaped block 1 is symmetrically hinged on the upper side of the detection trolley, a weight block is arranged at the upper end of the detection trolley, a slot matching with block 1 is symmetrically provided on the lower side of the weight block, a block 2 is symmetrically hinged on the upper side of the weight block, and the size of block 1 is the same as that of block 2.

[0008] According to an embodiment of the present invention, the distance adjustment member includes a bidirectional screw, a bidirectional screw in the left and right directions is rotatably connected to the U-shaped plate, the bidirectional screw is symmetrically threaded with an L-shaped bracket, the U-shaped plate is symmetrically fixed with a guide rod, and the guide rod slides left and right and passes through the corresponding L-shaped bracket.

[0009] According to an embodiment of the present invention, the close-fitting member includes a guide block, a guide block is fixedly installed at the end of the horizontal section of the L-shaped bracket, the opposite ends of the guide block are slidably connected to contact square columns, the U-shaped plate is symmetrically fixed with tilting rods front and back, the bottom ends of the tilting rods are hinged with retractable square columns, and the left and right ends of the retractable square columns are respectively hinged to the corresponding contact square columns.

[0010] According to an embodiment of the present invention, the driving member includes motor three, the left end of the left guide block is fixedly installed with motor three, the output shaft of motor three is fixedly installed with an incomplete gear through a coupling, the left end of the left contact square column is provided with a double round head groove in the front-to-back direction, a plurality of tooth grooves are symmetrically provided in the double round head groove, the plurality of tooth grooves on the same side are linearly and evenly arranged along the contact square column, and the tooth grooves cooperate with the tooth blocks on the incomplete gear.

[0011] According to an embodiment of the present invention, the distance sensor measures the distance between the detection trolley and the square frame plate and the distance between the detection trolley and the hypotenuse of the triangular frame plate, and judges whether the detection trolley deviates from the running track according to whether the distance changes, and finally judges the quality of the Mecanum wheel.

[0012] According to an embodiment of the present invention, the right-angle plates with different surface roughnesses simulating the Mecanum wheel are used in different working sites to increase experimental data.

[0013] According to an embodiment of the present invention, the driving member controls the close contact member to move on a horizontal plane, simulating an environment in which the Mecanum wheel is subjected to frictional resistance when the detection vehicle is moving sideways, and the second motor drives the contact circular plate to rotate, simulating an environment in which the Mecanum wheel is subjected to frictional resistance when the detection vehicle is turning.

[0014] According to an embodiment of the present invention, the retractable square column includes a positioning square rod, the bottom end of the tilting rod is hinged with a positioning square rod, the left and right sides of the positioning square rod are slidably connected with connecting rods, the ends of the connecting rods are hinged to the corresponding contact square columns, and the connecting rods and the positioning square rods are fixedly connected by cylindrical springs; the cylindrical springs are used to balance the forces between the connecting rods.

[0015] It can be seen from the above technical solutions that the present invention has the following advantages:

[0016] 1. In the present invention, the detection trolley is manually controlled to move on the right-angle plate, and the quality of the Mecanum wheel is judged according to the distance data tested by the distance sensor, so that a fully qualified Mecanum wheel can be used for subsequent wear resistance test, and the accuracy of the wear resistance test result can be improved. The contact circular plate, the simulated straight-moving part and the distance adjustment part are matched to simulate the environment in which the Mecanum wheel is subjected to friction resistance when the detection trolley is moving straight, sideways and turning, so as to improve the credibility of the detection data.

[0017] 2. In the present invention, the number of weight blocks is changed as needed, thereby changing the load capacity of the Mecanum wheel, increasing the experimental data, and improving the credibility of the experimental data.

[0018] 3. In the present invention, under the positioning linkage of the retractable square column fixed at the midpoint, the contact square column on the right side reciprocates in the horizontal plane in the opposite direction to the contact square column on the left side, thereby rubbing the Mecanum wheels on both sides in the front-to-back direction, simulating the environment in which the Mecanum wheels are subjected to friction when traveling sideways.

[0019] In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by a Mecanum wheel performance testing platform provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0021] Figure 1 A schematic diagram of a main-view stereoscopic structure provided according to an embodiment of the present invention is shown.

[0022] Figure 2 A schematic diagram of a left-view stereoscopic structure provided according to an embodiment of the present invention is shown.

[0023] Figure 3 A schematic diagram of a main cross-sectional plane structure provided according to an embodiment of the present invention is shown.

[0024] Figure 4 Shows Figure 3 A local enlarged view of location N.

[0025] Figure 5 A schematic diagram of the left-side sectional plan structure of the card slot and the card block 1 is shown.

[0026] Figure 6 A schematic diagram of the left-side sectional plan structure of an incomplete gear, a double round head groove and a tooth groove is shown.

[0027] Figure 7 A schematic diagram of the cross-sectional plan structure of a retractable square column is shown.

[0028] The above drawings include the following reference numerals:

[0029] 1. Detection unit No. 1; 11. Square platform; 12. Square frame plate; 13. Triangular frame plate; 14. Right-angle plate; 15. Detection trolley; 151. Block 1; 152. Weight block; 153. Slot; 154. Block 2; 16. Distance sensor; 17. Simulated straight-moving member; 171. Sprocket; 172. Toothed chain belt; 173. Contact block; 174. Support plate; 175. Motor 1; 2. Detection unit No. 2; 21. Right-angle bracket; 22. Distance control cylinder; 23. Pressure sensor; 24. S-shaped plate; 25. Motor 2; 26. Contact circular plate; 27. Distance adjustment member; 271. Bidirectional screw; 272. L-shaped bracket; 273. Guide rod; 28. Close fitting member; 281. Guide block; 282. Contact square column; 283. Tilting rod; 284. Retractable square column; 2841. Positioning square rod; 2842. Connecting rod; 2843. Cylindrical spring; 29. ​​Driving member; 291. Motor 3; 292. Incomplete gear; 293. Double round head groove; 294. Tooth groove. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0031] See also Figure 1 and Figure 2A Mecanum wheel performance test platform includes a first detection unit 1 and a second detection unit 2. The second detection unit 2 is arranged on the first detection unit 1 for detecting the wear resistance of the Mecanum wheel, and the first detection unit 1 is used to detect the flexibility of the Mecanum wheel; the first detection unit 1 includes a square platform 11, a square frame plate 12 is fixedly installed on the upper end of the square platform 11, and four triangular frame plates 13 are evenly fixedly installed on the upper end of the square platform 11 in a circumferential direction, and the triangular frame plates 13 are isosceles right triangles. , and the hypotenuses of the four triangular frame plates 13 are respectively parallel to the four side walls of the square frame plate 12, the four triangular frame plates 13 form an X-shaped track extending along the diagonal of the square platform 11, and the left front and right rear of the upper end of the square platform 11 are respectively fixed with right-angle plates 14 with different surface roughness, and the two right-angle plates 14 form a circular track, and the circular track is connected to the X-shaped track, and a detection trolley 15 is placed on the upper end of the square platform 11, and the front and rear ends of the detection trolley 15 are symmetrically assembled with wheel groups, and the wheel groups are composed of left-right symmetrical wheat The detection trolley 15 is composed of Knam wheels, and distance sensors 16 are fixedly installed on all sides. A simulated straight-moving member 17 is arranged in the middle of the square platform 11; the second detection unit 2 includes a right-angle bracket 21, and a right-angle bracket 21 is fixedly installed in the triangular frame plate 13 at the upper end of the square platform 11 and located on the right side. The right-angle bracket 21 is an inverted L-shape, and a distance control cylinder 22 is fixedly installed at the lower end of the horizontal section of the right-angle bracket 21. A pressure sensor 23 is fixedly installed at the front end of the distance control cylinder 22, and a square-shaped plate is fixedly installed at the telescopic end of the distance control cylinder 22 24, a motor 25 is fixedly installed in the U-shaped plate 24 through a motor seat, a contact circular plate 26 is fixedly installed on the output shaft of the motor 25 through a coupling, a sensitive element of the pressure sensor 23 is installed on the lower surface of the contact circular plate 26, the lower end of the U-shaped plate 24 is rotatably connected to the contact circular plate 26, a distance adjusting member 27 is arranged on the U-shaped plate 24, a close-fitting member 28 is arranged between the distance adjusting members 27, a driving member 29 is arranged on the left side of the close-fitting member 28, and the driving member 29 is used to drive the close-fitting member 28 to move in the front-rear direction.

[0032] The detection trolley 15 on the Mecanum wheel is manually controlled to move to the bottom of the distance control cylinder 22. At this time, the distance control cylinder 22 drives the square plate 24 to move downward, and the distance adjustment member 27 is adjusted at the same time. When the contact circular plate 26 at the lower end of the square plate 24 contacts the highest point of the Mecanum wheel on the detection trolley 15, the distance adjustment member 27 contacts the left and right ends of the Mecanum wheel on the detection trolley 15. At this time, the detection trolley 15 is manually controlled to move forward, and the straight-moving member 17 is simulated to move in the opposite direction. The movement speed of the simulated straight-moving member 17 is the same as the movement speed of the detection trolley 15. The motor 25 drives the contact circular plate 26 to rotate, and the parts of the distance adjustment member 27 are adjusted to reciprocate back and forth on the horizontal plane, thereby simulating the environment in which the Mecanum wheel is subjected to friction resistance when the detection trolley 15 is moving straight, sideways and turning. At the same time, the distance adjustment member 27 is manually controlled to move forward, and the distance adjustment member 27 is adjusted to move back and forth on the horizontal plane. The distance cylinder 22 applies pressure to the contact circular plate 26 at the lower end of the square plate 24, and the pressure sensor 23 displays the pressure on the Mecanum wheel. After a period of time, the Mecanum wheel stops rotating, the simulated straight-moving member 17 stops rotating, and the distance adjusting member 27 is manually adjusted. At the same time, the distance control cylinder 22 drives the square plate 24 to move upward until the parts on the contact circular plate 26 and the distance adjusting member 27 are no longer in contact with the Mecanum wheel. At this time, the manual control detection trolley 15 moves along the X-shaped track to the surface of the right-angle plate 14 with different surface roughness to move straight and sideways. The distance sensor 16 detects the distance between the detection trolley 15 and the triangular frame plate 13 and the distance between the detection trolley 15 and the right-angle plate 14. If the detected data does not change, the wear resistance of the Mecanum wheel meets the standard, otherwise, it does not meet the standard.

[0033] See also Figure 2 and Figure 3 The simulated straight-moving member 17 includes a sprocket 171, and a receiving groove is provided in the middle of the square platform 11. The sprocket 171 is symmetrically rotated in the receiving groove, and the sprockets 171 are connected to each other through a toothed chain belt 172 for transmission. Contact blocks 173 are evenly fixedly installed on the surface of the toothed chain belt 172, and adjacent contact blocks 173 are hinged. A support plate 174 is fixedly installed in the receiving groove and between the two sprockets 171. The upper end of the support plate 174 is tightly attached to the lower end of the upper toothed chain belt 172. A motor 175 is fixedly installed at the front end of the square platform 11 through a motor seat. The output shaft of the motor 175 is fixedly connected to the sprocket 171 on the right side through a coupling. The moving speed of the toothed chain belt 172 is the same as the moving speed of the detection trolley 15 and the moving direction is opposite. The contact block 173 on the surface of the toothed chain belt 172 simulates the environment in which the Mecanum wheel is subjected to friction resistance when the detection trolley 15 is moving straight.

[0034] See also Figure 5A hook-shaped block 151 is symmetrically hinged on the upper side of the detection trolley 15, a weight block 152 is arranged on the upper end of the detection trolley 15, and a slot 153 matching the block 151 is symmetrically opened on the lower side of the weight block 152, and a block 2 154 is symmetrically hinged on the upper side of the weight block 152, and the size of the block 151 and the block 2 154 are the same; the number of weight blocks 152 can be changed as needed. When performing wear resistance testing, all weight blocks 152 are removed. When adding weight blocks 152, first place another weight block 152 on the upper end surface of the fixed weight block 152, and then break out the block 2 154 on the fixed weight block 152 and insert it into the slot 153 on the placed weight block 152.

[0035] See also Figure 2 and Figure 3 The distance adjustment member 27 includes a bidirectional screw 271, and the bidirectional screw 271 is rotatably connected to the U-shaped plate 24 in the left and right directions. The bidirectional screw 271 is symmetrically threadedly connected to the L-shaped bracket 272. The U-shaped plate 24 is symmetrically fixed with a guide rod 273, and the guide rod 273 slides left and right to penetrate the corresponding L-shaped bracket 272.

[0036] See also Figure 2 , Figure 3 , Figure 4 , Figure 6 and Figure 7 The close-fitting member 28 includes a guide block 281, a guide block 281 is fixedly installed at the end of the horizontal section of the L-shaped bracket 272, and the opposite ends of the guide block 281 are slidably connected with contact square columns 282. The square-shaped plate 24 is symmetrically fixed with tilting rods 283, and the bottom ends of the tilting rods 283 are hinged with retractable square columns 284. The left and right ends of the retractable square columns 284 are respectively hinged to the corresponding contact square columns 282.

[0037] See also Figure 7 The retractable square column 284 includes a positioning square rod 2841, and the bottom end of the tilting rod 283 is hinged with the positioning square rod 2841. The left and right sides of the positioning square rod 2841 are slidably connected with connecting rods 2842. The ends of the connecting rods 2842 are hinged with the corresponding contact square columns 282. The connecting rods 2842 and the positioning square rod 2841 are fixedly connected by cylindrical springs 2843; the cylindrical springs 2843 balance the forces between the connecting rods 2842.

[0038] See also Figure 4 , Figure 6 and Figure 7The driving member 29 includes a motor 3 291, a motor 3 291 is fixedly installed on the left end of the guide block 281 on the left, an incomplete gear 292 is fixedly installed on the output shaft of the motor 3 291 through a coupling, a double round head groove 293 in the front-to-back direction is opened on the left end of the contact square column 282 on the left, and a plurality of tooth grooves 294 are opened symmetrically up and down in the double round head groove 293, and the plurality of tooth grooves 294 on the same side are linearly and evenly arranged along the contact square column 282, and the tooth grooves 294 cooperate with the tooth blocks on the incomplete gear 292; the incomplete gear 292 is driven to rotate by the motor 3 291, thereby driving the contact square column 282 on the left to reciprocate on the horizontal plane, and under the positioning linkage of the retractable square column 284 fixed at the midpoint, the lever principle is used to drive the contact square column 282 on the right to reciprocate on the horizontal plane in the opposite direction to the contact square column 282 on the left.

[0039] See also Figure 1 The distance sensor 16 measures the distance between the detection trolley 15 and the square frame plate 12 and the distance between the detection trolley 15 and the hypotenuse of the triangular frame plate 13. According to whether the distance changes, it is determined whether the detection trolley 15 deviates from the running track, and finally the quality of the Mecanum wheel is determined.

[0040] See also Figure 1 The right-angle plates 14 with different surface roughness simulate the Mecanum wheel and are used in different working places to increase experimental data.

[0041] See also Figure 1 and Figure 2 The driving member 29 controls the close contact member 28 to move on the horizontal plane, simulating the environment in which the Mecanum wheel is subjected to friction resistance when the detection vehicle 15 is moving sideways. The motor 25 drives the contact circular plate 26 to rotate, simulating the environment in which the Mecanum wheel is subjected to friction resistance when the detection vehicle 15 is turning.

[0042] Working principle of the present invention: Step 1: First, place the detection trolley 15 on the right-angle plate 14, manually control the detection trolley 15 to move straight and sideways on the surface of the right-angle plate 14 with different surface roughness, observe the flexibility of the detection trolley 15 when moving straight and sideways, if it can change direction smoothly and quickly, the flexibility of the Mecanum wheel is qualified, otherwise it is unqualified. During the repeated movement of the detection trolley 15, the weight block 152 can be clamped on the detection trolley 15 as needed, and the load capacity of the detection trolley 15 can be changed according to the number of weight blocks 152.

[0043] Step 2: The distance between the detection trolley 15 and the square frame plate 12 and the distance between the detection trolley 15 and the triangular frame plate 13 are recorded by the corresponding distance sensor 16. If the distance data does not change, it indicates that the detection trolley 15 does not deviate during movement, and the quality of the Mecanum wheel is qualified. If deviate occurs, a Mecanum wheel with qualified quality is taken out and replaced with one of the Mecanum wheels on the detection trolley 15, and then the detection trolley 15 is continued to be controlled to move. If the distance data does not change, the replaced Mecanum wheel is of unqualified quality, and the remaining three Mecanum wheels are of qualified quality. If the distance data changes, the replaced Mecanum wheel is continued to be installed on the detection trolley 15, and the qualified Mecanum wheel is replaced with the remaining three on the detection trolley 15 at will, and the operation is continued to be repeated until the unqualified Mecanum wheel is found. If the distance data of the detection trolley 15 still changes after the last Mecanum wheel is replaced, the unqualified quality rate of the Mecanum wheel is high, and no subsequent detection is required.

[0044] Step 3: If the distance data does not change, or if the distance data does not change after replacing a qualified Mecanum wheel, the inspection trolley 15 on the qualified Mecanum wheel is manually moved to the bottom of the distance control cylinder 22, and all weight blocks 152 are removed. At this time, the distance control cylinder 22 drives the square plate 24 to move downward, and the bidirectional screw 271 is manually rotated to move the L-shaped bracket 272 toward each other. When the contact circular plate 26 at the lower end of the square plate 24 contacts the Mecanum wheel on the inspection trolley 15, the contact circular plate 26 at the lower end of the square plate 24 contacts the Mecanum wheel on the inspection trolley 15. After the touch, the bidirectional screw 271 continues to rotate until the contact square column 282 contacts the Mecanum wheel on the detection trolley 15. At this time, the detection trolley 15 is manually controlled to move, and at the same time, the motor 175 drives the sprocket 171 to rotate in the opposite direction, thereby driving the toothed chain belt 172 to move in the opposite direction. The movement speed of the toothed chain belt 172 is the same as the movement speed of the detection trolley 15. The motor 25 drives the contact circular plate 26 to rotate, and the motor 3 291 drives the contact square column 282 on the left side to reciprocate back and forth on the horizontal plane. With the cooperation of the contact square column 284, the right contact square column 282 is driven to perform a forward and backward reciprocating motion on the horizontal plane, thereby simulating the environment in which the Mecanum wheel is subjected to friction resistance when the detection vehicle 15 is moving straight, sideways and turning. At the same time, the contact circular plate 26 at the lower end of the square plate 24 is pressed by the distance control cylinder 22, and the pressure sensor 23 displays the pressure on the Mecanum wheel. After a period of time, the Mecanum wheel stops rotating. Once the sprocket 171 stops rotating, the bidirectional screw 271 is manually rotated to drive the L-shaped bracket 272 to move in opposite directions. At the same time, the distance control cylinder 22 drives the square plate 24 to move upward until the contact circular plate 26 and the contact square column 282 are no longer in contact with the Mecanum wheel. At this time, the detection trolley 15 is manually controlled to move to the surface of the right-angle plate 14 with different surface roughness to move straight and sideways. The distance sensor 16 is used to re-detect the distance between the detection trolley 15 and the triangular frame plate 13 and the distance between the detection trolley 15 and the right-angle plate 14. If the detected data does not change, the wear resistance of the Mecanum wheel meets the standard, otherwise, it does not meet the standard.

[0045] In the description of the present invention, it is necessary to understand that the terms "center", "middle", "up", "down", "front", "back", "left", "right", "top", "bottom", "inside", "outside", "end", "axial", "circumferential" 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 present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0046] In addition, the terms "first", "second", "number one", "number two", "one", "two" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. In the description of the present invention, "multiple" means at least two, such as two, three, etc., unless otherwise clearly and specifically limited.

[0047] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connect", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, a sliding connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, all equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A Mecanum wheel performance test platform, characterized in that , comprising a first detection unit (1) and a second detection unit (2), wherein the second detection unit (2) is arranged on the first detection unit (1) and is used to detect the wear resistance of the Mecanum wheel, and the first detection unit (1) is used to detect the flexibility of the Mecanum wheel; The first detection unit (1) comprises a square platform (11), a square frame plate (12) is fixedly mounted on the upper end of the square platform (11), four triangular frame plates (13) are evenly fixedly mounted on the upper end of the square platform (11) in a circumferential direction, the triangular frame plates (13) are isosceles right triangles, and the hypotenuses of the four triangular frame plates (13) are respectively parallel to the four side walls of the square frame plate (12), and the four triangular frame plates (13) form an X-shaped track extending along the diagonal line of the square platform (11), and the square platform (11) ) are respectively fixedly mounted at the left front and right rear of the upper end thereof with right angle plates (14) having different surface roughnesses, the two right angle plates (14) forming a circular track, and the circular track is connected to the X-shaped track; a detection trolley (15) is placed at the upper end of the square platform (11); wheel sets are symmetrically assembled at the front and rear ends of the detection trolley (15), and the wheel sets are composed of left-right symmetrical Mecanum wheels; distance sensors (16) are fixedly mounted around the detection trolley (15), and a simulated straight-moving member (17) is arranged in the middle of the square platform (11); The second detection unit (2) comprises a right-angle bracket (21), the right-angle bracket (21) is fixedly installed in a triangular frame plate (13) located at the upper end of the square platform (11) and on the right side, the right-angle bracket (21) is in an inverted L shape, a distance control cylinder (22) is fixedly installed at the lower end of the horizontal section of the right-angle bracket (21), a pressure sensor (23) is fixedly installed at the front end of the distance control cylinder (22), a square-shaped plate (24) is fixedly installed at the telescopic end of the distance control cylinder (22), and the square-shaped plate (24) is connected to the inner side of the square-shaped plate (24). A second motor (25) is fixedly mounted on the motor seat, a contact circular plate (26) is fixedly mounted on the output shaft of the second motor (25) through a coupling, the lower end of the square-shaped plate (24) is rotatably connected to the contact circular plate (26), a distance adjustment member (27) is arranged on the square-shaped plate (24), a close contact member (28) is arranged between the distance adjustment members (27), a driving member (29) is arranged on the left side of the close contact member (28), and the driving member (29) is used to drive the close contact member (28) to move in the front-rear direction.

2. A Mecanum wheel performance testing platform according to claim 1, characterized in that: The simulated straight-moving member (17) comprises a sprocket (171), a receiving groove is provided in the middle of the square platform (11), a sprocket (171) is symmetrically rotatably connected in the receiving groove, the sprockets (171) are connected to each other through a toothed chain belt (172), contact blocks (173) are evenly fixedly installed on the surface of the toothed chain belt (172), adjacent contact blocks (173) are hinged, a support plate (174) is fixedly installed in the receiving groove and located between the two sprockets (171), the upper end of the support plate (174) is in close contact with the lower end of the upper toothed chain belt (172), and the square platform (11 ) is fixedly mounted with a motor 1 (175) at the front end through a motor seat, the output shaft of the motor 1 (175) is fixedly connected to the sprocket (171) on the right side through a coupling, the moving speed of the toothed chain belt (172) is the same as the moving speed of the detection trolley (15) and the moving direction is opposite, the rotation speed of the sprocket (171) is the same as the rotation speed of the Mecanum wheel, and the rotation direction of the sprocket (171) is opposite to the rotation direction of the Mecanum wheel, and the contact block (173) on the surface of the toothed chain belt (172) simulates the environment in which the Mecanum wheel is subjected to friction resistance when the detection trolley (15) is moving straight.

3. The Mecanum wheel performance testing platform according to claim 1, characterized in that: A hook-shaped clamping block (151) is symmetrically hinged on the upper side of the detection trolley (15), a weight block (152) is arranged on the upper end of the detection trolley (15), a clamping groove (153) matching with the clamping block (151) is symmetrically opened on the lower side of the weight block (152), and a clamping block (154) is symmetrically hinged on the upper side of the weight block (152), and the size of the clamping block (151) and the clamping block (154) are the same.

4. The Mecanum wheel performance testing platform according to claim 1, characterized in that: The distance adjusting member (27) comprises a bidirectional screw rod (271), the bidirectional screw rod (271) being rotatably connected to the U-shaped plate (24) in the left and right directions, the bidirectional screw rod (271) being symmetrically threadedly connected to an L-shaped bracket (272), the U-shaped plate (24) being symmetrically fixedly mounted with a guide rod (273), the guide rod (273) slidingly passing through the corresponding L-shaped bracket (272) in the left and right directions.

5. The Mecanum wheel performance testing platform according to claim 4, characterized in that: The close fitting member (28) comprises a guide block (281), the guide block (281) is fixedly installed at the end of the horizontal section of the L-shaped bracket (272), the opposite ends of the guide block (281) are slidably connected to contact square columns (282), the square-shaped plate (24) is symmetrically fixedly installed with tilting rods (283) in the front and rear directions, the bottom ends of the tilting rods (283) are hingedly connected to retractable square columns (284), and the left and right ends of the retractable square columns (284) are respectively hingedly connected to the corresponding contact square columns (282).

6. The Mecanum wheel performance testing platform according to claim 5, characterized in that: The driving member (29) comprises a motor three (291), the motor three (291) is fixedly mounted on the left end of the left guide block (281), an incomplete gear (292) is fixedly mounted on the output shaft of the motor three (291) via a coupling, a double round head groove (293) in the front-to-back direction is opened at the left end of the left contact square column (282), a plurality of tooth grooves (294) are symmetrically opened in the double round head groove (293), the plurality of tooth grooves (294) on the same side are linearly and evenly arranged along the contact square column (282), and the tooth grooves (294) are matched with the tooth blocks on the incomplete gear (292).

7. The Mecanum wheel performance testing platform according to claim 1, characterized in that: The distance sensor (16) measures the distance between the detection trolley (15) and the square frame plate (12) and the distance between the detection trolley (15) and the hypotenuse of the triangular frame plate (13), and judges whether the detection trolley (15) deviates from the running track according to whether the distance changes, and finally judges the quality of the Mecanum wheel.

8. The Mecanum wheel performance testing platform according to claim 1, characterized in that: The right-angle plates (14) with different surface roughness simulate the Mecanum wheel and are used in different working places to increase experimental data.

9. The Mecanum wheel performance testing platform according to claim 1, characterized in that: The driving member (29) controls the close contact member (28) to move on a horizontal plane, simulating an environment in which the Mecanum wheel is subjected to friction resistance when the detection trolley (15) is moving sideways. The second motor (25) drives the contact circular plate (26) to rotate, simulating an environment in which the Mecanum wheel is subjected to friction resistance when the detection trolley (15) is turning.

10. The Mecanum wheel performance testing platform according to claim 5, characterized in that: The retractable square column (284) comprises a positioning square rod (2841), the bottom end of the tilting rod (283) is hinged with the positioning square rod (2841), the left and right sides of the positioning square rod (2841) are slidably connected with connecting rods (2842), the ends of the connecting rods (2842) are hinged with the corresponding contact square column (282), and the connecting rods (2842) and the positioning square rod (2841) are fixedly connected by a cylindrical spring (2843).

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