A Mecanum wheel performance test platform

Abstract

The present invention relates to the technical field of Mecanum wheel performance testing, and specifically to a Mecanum wheel performance testing platform, comprising a first detection unit and a second detection unit. The second detection unit is arranged on the first detection unit and is used to test the wear resistance of the Mecanum wheel, and the first detection unit is used to test the flexibility of the Mecanum wheel. The present invention manually controls a detection trolley to move on a right-angle plate, and determines whether the quality of the Mecanum wheel is qualified based on distance data tested by a distance sensor, so that a fully qualified Mecanum wheel can be used for subsequent wear resistance performance tests, thereby improving the accuracy of the wear resistance performance test results. By cooperating with a contact circular plate, a simulated straight travel member, and a distance adjustment member, the friction resistance environment of the Mecanum wheel when the detection trolley is moving straight, sideways, and turning is simulated, thereby improving the credibility of the test data.

Description

Technical Field

[0001] The present 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 central 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 steering force of the wheel into a normal force on the wheel. 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, which can achieve all-round mobility more flexibly and conveniently. Mecanum wheels are mainly used in industrial fields, such as warehouse robots, forklifts or small robots. Since they are subject to friction during use, their wear resistance determines whether they will operate stably during use and the length of their service life.

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

[0004] In view of the above problems, the present invention provides a Mecanum wheel performance testing platform to address the technical issues in related technologies such as the limited testing environment and the lack of quality assurance, which results in unreliable and inaccurate experimental data and conclusions. To achieve the above objectives, the present invention provides the following technical solutions.

[0005] A Mecanum wheel performance test platform according to an embodiment of the present application includes a first detection unit and a second detection unit. 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 includes a square platform, a square frame plate is fixedly installed on the upper end of the square platform, four triangular frame plates are 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, and the four triangular frame plates form an X-shaped track extending along the diagonal of the square platform, and 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. The detection trolley is symmetrically assembled with wheel sets at the front and rear ends, and the wheel sets are composed of left-right symmetrical Mecanum wheels. Distance sensors are fixedly installed on all sides of the detection trolley, and a simulated straight-moving part is set 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 the triangular frame plate at the upper end of the square platform and on the right side. 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. 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. Motor 2 is fixedly installed in the U-shaped plate through the motor seat, and a contact circular plate is fixedly installed on the output shaft of motor 2 through a coupling. The lower end of the U-shaped plate is rotatably connected to the contact circular plate, and a distance adjusting part is provided on the U-shaped plate. A close-fitting part is provided between the distance adjusting parts, and a driving part is provided on the left side of the close-fitting part. 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, and a sprocket is symmetrically connected to the receiving groove for rotation. The sprockets are connected by a toothed chain belt transmission, and contact blocks are evenly fixedly installed on the surface of the toothed chain belt. Adjacent contact blocks are hinged, and 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. The front end of the square platform is fixedly installed with a motor seat, and the output shaft of the motor 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, and the rotation direction of the sprocket is opposite to the rotation direction of the Mecanum wheel. 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 provided at the upper end of the detection trolley, a slot that matches the block 1 is symmetrically opened on the lower side of the weight block, and a block 2 is symmetrically hinged on the upper side of the weight block, and the size of the block 1 and the block 2 are the same.

[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, and the U-shaped plate is symmetrically fixed with a guide rod, which slides left and right 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, and the left end of the left contact square column is provided with a double round head groove in the front-to-back direction, and a plurality of tooth grooves are provided in the double round head groove symmetrically up and down, and the multiple 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. Based on whether the distance changes, it is determined whether the detection trolley deviates from the running track, and ultimately the quality of the Mecanum wheel is determined.

[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 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. 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 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 test cart is manually controlled to move on a right-angle plate. The quality of the Mecanum wheel is determined based on the distance data tested by the distance sensor. This allows the use of fully qualified Mecanum wheels in subsequent wear resistance tests, thereby improving the accuracy of the wear resistance test results. By cooperating with the contact circular plate, the simulated straight-moving member, and the distance adjustment member, the friction resistance environment of the Mecanum wheel when the test cart is moving straight, sideways, and turning is simulated, thereby improving the credibility of the test 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 on 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 friction environment of the Mecanum wheels when sideways.

[0019] In addition to the technical problems solved by the embodiments of the present application, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any 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 plan structure provided according to an embodiment of the present invention is shown.

[0024] Figure 4 Shown Figure 3 A local enlarged view of point 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 top and cross-sectional plan structure of a retractable square column is shown.

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

[0029] 1. Detection unit 1; 11. Square platform; 12. Square frame plate; 13. Triangular frame plate; 14. Right-angle plate; 15. Detection trolley; 151. Clamping block 1; 152. Weight block; 153. Clamping slot; 154. Clamping block 2; 16. Distance sensor; 17. Simulated straight-moving element; 171. Sprocket; 172. Toothed chain belt; 173. Contact block; 174. Support plate; 175. Motor 1; 2. Detection unit 2; 21. Right-angle bracket; 22. Distance control cylinder; 23. Pressure sensor; 24. U-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] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0031] See 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 testing the wear resistance of the Mecanum wheel, and the first detection unit 1 is used to test 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. The triangular frame plates 13 are isosceles right triangles. , and the hypotenuses of the four triangular frame plates 13 are parallel to the four side walls of the square frame plate 12 respectively. The four triangular frame plates 13 form an X-shaped track extending along the diagonal of the square platform 11. The left front and right rear ends of the upper end of the square platform 11 are respectively fixed with right-angled plates 14 with different surface roughness. The two right-angled plates 14 form a circular track, and the circular track is connected to the X-shaped track. A detection trolley 15 is placed on the upper end of the square platform 11. The front and rear ends of the detection trolley 15 are symmetrically assembled with wheel sets, and the wheel sets 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 set 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 on the right side. The right-angle bracket 21 is an inverted L-shaped, 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. The output shaft of the motor 25 is fixedly installed with a contact circular plate 26 through a coupling. The 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 provided on the U-shaped plate 24. A close-fitting member 28 is provided between the distance adjusting members 27. A driving member 29 is provided on the left side of the close-fitting member 28. The driving member 29 is used to drive the close-fitting member 28 to move in the front and rear directions.

[0032] The inspection trolley 15 on the Mecanum wheel is manually controlled to move to the position directly below 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 inspection trolley 15, the distance adjustment member 27 contacts the left and right ends of the Mecanum wheel on the inspection trolley 15. At this time, the inspection 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 inspection 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 inspection trolley 15 is moving straight, sideways, and turning. The distance cylinder 22 applies pressure to the contact circular plate 26 at the lower end of the square plate 24. 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 adjustment 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 adjustment member 27 no longer contact the Mecanum wheel. At this time, the manual control inspection 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 inspection trolley 15 and the triangular frame plate 13, and the distance between the inspection 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 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 connected to the receiving groove for rotation. The sprockets 171 are connected by a toothed chain belt 172 for transmission. 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 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 on 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 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 Figure 5The upper side of the detection trolley 15 is symmetrically hinged with a hook-shaped block 151, and the upper end of the detection trolley 15 is provided with a weight block 152. The lower side of the weight block 152 is symmetrically provided with a slot 153 that cooperates with the block 151. The upper side of the weight block 152 is symmetrically hinged with a block 2 154, 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 conducting a wear resistance test, all weight blocks 152 are removed. When a weight block 152 needs to be added, first place another weight block 152 on the upper end face of the fixed weight block 152, and then break off 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 Figure 2 and Figure 3 The distance adjustment member 27 includes a bidirectional screw 271, which is rotatably connected to the left and right bidirectional screws 271 on the U-shaped plate 24. The bidirectional screws 271 are symmetrically threaded with L-shaped brackets 272 on the left and right sides. The U-shaped plate 24 is fixedly installed with guide rods 273 symmetrically on the left and right sides. The guide rods 273 slide left and right through the corresponding L-shaped brackets 272.

[0036] See Figure 2 、 Figure 3 、 Figure 4 、 Figure 6 and Figure 7 The close-fitting member 28 includes 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 U-shaped plate 24 is fixedly installed with tilting rods 283 symmetrically in front and back. 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 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 a 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 rods 2841 are fixedly connected by cylindrical springs 2843; the cylindrical springs 2843 balance the forces between the connecting rods 2842.

[0038] See Figure 4 、 Figure 6 and Figure 7The driving member 29 includes a motor three 291, and the left end of the guide block 281 on the left is fixedly installed with the motor three 291. The output shaft of the motor three 291 is fixedly installed with an incomplete gear 292 through a coupling. The left end of the contact square column 282 on the left is provided with a double round head groove 293 in the front-to-back direction. A plurality of tooth grooves 294 are symmetrically provided in the double round head groove 293. The multiple 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 three 291, thereby driving the contact square column 282 on the left to reciprocate on the horizontal plane. 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 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 Figure 1 The right-angle plates 14 with different surface roughness simulate the Mecanum wheel and are used in different working sites to increase experimental data.

[0041] See Figure 1 and Figure 2 The driving member 29 controls the contact member 28 to move on the horizontal plane, simulating the environment in which the Mecanum wheel is subjected to frictional 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 frictional resistance when the detection vehicle 15 is turning.

[0042] Working principle of the present invention: Step 1: First, place the inspection trolley 15 on the right-angle plate 14, and manually control the inspection 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 inspection 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 inspection trolley 15, the weight block 152 can be clamped on the inspection trolley 15 as needed, and the load capacity of the inspection trolley 15 can be changed according to the number of weight blocks 152.

[0043] Step 2: Use the corresponding distance sensor 16 to record the distance between the detection trolley 15 and the square frame plate 12, and between the detection trolley 15 and the triangular frame plate 13. If the distance data does not change, it indicates that the detection trolley 15 has not deviated during movement, and the quality of the Mecanum wheel is qualified. If deviated, a qualified Mecanum wheel is taken out and replaced with one of the Mecanum wheels on the detection trolley 15, and then the detection trolley 15 is controlled to move. If the distance data does not change, the replaced Mecanum wheel is unqualified, and the remaining three Mecanum wheels are qualified. 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 any of the remaining three Mecanum wheels on the detection trolley 15. Repeat the operation until the unqualified Mecanum wheel is found. If the distance data of the detection trolley 15 still changes after replacing the last Mecanum wheel, the unqualified rate of the Mecanum wheel is high, and no subsequent inspection 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 square plate 24 is moved downward. 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 to reciprocate back and forth on the horizontal plane. With the cooperation of the contact column 284, the right contact column 282 is driven to perform a reciprocating motion on the horizontal plane, thereby simulating the friction resistance of the Mecanum wheel when the detection trolley 15 is moving straight, sideways, and turning. At the same time, the distance control 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. Once the sprocket 171 stops rotating, the two-way screw 271 is manually rotated to drive the L-shaped bracket 272 to move in the opposite direction. 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 manual control detection trolley 15 moves 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 should be understood that the terms "center", "middle", "up", "down", "front", "back", "left", "right", "top", "bottom", "inside", "outside", "end", "axial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0046] Furthermore, the terms "first," "second," "number one," "number two," "one," and "two" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the technical features being described. In the description of the present invention, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0047] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "connected," "installed," and "connected" should be understood in a broad sense. For example, they may refer to fixed or detachable connections, integral or sliding connections; they may refer to mechanical or electrical connections; they may refer to direct or indirect connections via an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on 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 scope of protection of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A Mecanum wheel performance testing platform, characterized in that , including a No. 1 detection unit and a No. 2 detection unit. The No. 2 detection unit is arranged on the No. 1 detection unit for testing the wear resistance of the Mecanum wheel, and the No. 1 detection unit is used to test the flexibility of the Mecanum wheel; The detection unit No. 1 includes 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 the 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, and the four triangular frame plates form an X-shaped track extending along the diagonal of the square platform, and 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. A detection trolley is placed on the upper end of the square platform, and wheel sets are symmetrically assembled on 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 on all four sides of the detection trolley, and a simulated straight-moving member is provided in the middle of the square platform; The second detection unit includes a right-angle bracket, a right-angle bracket is fixedly installed in the triangular frame plate at the upper end of the square platform and on the right side, the right-angle bracket is an inverted L-shape, a distance control cylinder is fixedly installed at the lower end of the horizontal section of the right-angle bracket, a pressure sensor is fixedly installed at the front end of the distance control cylinder, a U-shaped plate is fixedly installed at the telescopic end of the distance control cylinder, a motor 2 is fixedly installed in the U-shaped plate through a motor seat, a contact circular plate is fixedly installed on the output shaft of motor 2 through a coupling, the lower end of the U-shaped plate is rotatably connected to the contact circular plate, a distance adjusting member is provided on the U-shaped plate, a close-fitting member is provided between the distance adjusting members, a driving member is provided on the left side of the close-fitting member, and the driving member is used to drive the close-fitting member to move in the forward and backward directions.

2. The Mecanum wheel performance testing platform according to claim 1, characterized in that: The simulated straight-moving member includes a sprocket, a receiving groove is provided in the middle of the square platform, and a sprocket is connected to the receiving groove with left-right symmetrical rotation. The sprockets are connected by a toothed chain belt transmission, and contact blocks are evenly fixedly installed on the surface of the toothed chain belt. Adjacent contact blocks are hinged, and 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. The front end of the square platform is fixedly installed with a motor 1 through a motor seat, and 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, and the rotation direction of the sprocket is opposite to the rotation direction of the Mecanum wheel. 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.

3. The Mecanum wheel performance testing platform according to claim 1, characterized in that: A hook-shaped card block 1 is symmetrically hinged on the upper side of the detection trolley, a weight block is provided on the upper end of the detection trolley, a card slot that matches the card block 1 is symmetrically opened on the lower side of the weight block, and a card block 2 is symmetrically hinged on the upper side of the weight block, and the size of the card block 1 and the card block 2 are the same.

4. The Mecanum wheel performance testing platform according to claim 1, characterized in that: The distance adjustment member includes a bidirectional screw, which is rotatably connected to the U-shaped plate with bidirectional screws in the left and right directions. The bidirectional screws are symmetrically threaded with L-shaped brackets on the left and right sides. The U-shaped plate is fixedly and symmetrically with guide rods, which slide left and right through the corresponding L-shaped brackets.

5. The Mecanum wheel performance testing platform according to claim 4, characterized in that: The close-fitting part 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, 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.

6. The Mecanum wheel performance testing platform according to claim 5, characterized in that: The driving part includes motor three, and motor three is fixedly installed on the left end of the guide block on the left. The output shaft of motor three is fixedly installed with an incomplete gear through a coupling. A double round head groove in the front-to-back direction is opened at the left end of the contact square column on the left. Multiple tooth grooves are opened symmetrically in the double round head groove. The multiple 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.

7. The Mecanum wheel performance testing platform according to claim 1, characterized in that: 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. According to whether the distance changes, it is determined whether the detection trolley deviates from the running track, and finally the quality of the Mecanum wheel is determined.

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

9. The Mecanum wheel performance testing platform according to claim 1, characterized in that: The driving member controls the contact member to move on the horizontal plane, simulating an environment in which the Mecanum wheel is subjected to frictional resistance when the detection vehicle is moving sideways. 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.

10. The Mecanum wheel performance testing platform according to claim 5, characterized in that: 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 with the corresponding contact square columns, and the connecting rods and the positioning square rods are fixedly connected by cylindrical springs.

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