CN115219171A

CN115219171A - Mecanum wheel test system

Info

Publication number: CN115219171A
Application number: CN202210715041.3A
Authority: CN
Inventors: 王天; 吉金鹏
Original assignee: Hangzhou Chengtian Technology Development Co Ltd
Current assignee: Hangzhou Chengtian Technology Development Co Ltd
Priority date: 2022-06-23
Filing date: 2022-06-23
Publication date: 2022-10-21

Abstract

The invention belongs to the technical field of Mecanum wheel performance testing, and particularly relates to a Mecanum wheel testing system which comprises a rack system, a detection system, a mounting system road condition simulation system and the like. The mounting system is used for mounting a Mecanum wheel device to be measured and comprises a main shaft sleeve, a mounting shaft, a wheel set mounting assembly and an orientation adjusting system, wherein the upper part of the mounting shaft is mounted in the main shaft sleeve and can only rotate around the axis of the mounting shaft relative to the main shaft sleeve, and the deflection direction can be adjusted under the control of the orientation adjusting system. In the invention, the wheel set mounting assembly in the mounting system can rotate along with the mounting shaft, and the orientation of the Mecanum wheel can be deflected through the arranged orientation adjusting system, so that the measured Mecanum wheel deflects relative to the road condition simulation system, and then the single Mecanum wheel can truly simulate various motion modes of the single Mecanum wheel in the whole walking device by matching with the road condition simulation system, therefore, the Mecanum wheel testing system can detect the motion performance of the Mecanum wheel in all directions.

Description

Mecanum wheel test system

Technical Field

The invention belongs to the technical field of Mecanum wheel performance testing, and particularly relates to a Mecanum wheel testing system.

Background

The most obvious structural characteristic of the Mecanum wheel is that a plurality of rollers are arranged on the wheel rim of the Mecanum wheel, the rollers are contacted with the ground in the walking process, and for a moving device provided with the Mecanum wheel, the moving device can realize the moving modes of back and forth movement, transverse movement, oblique movement, rotation, combination and the like through the mutual matching of four Mecanum wheels. At present, mecanum wheels are used in devices related to human body assistance and displacement, cargo transferring devices and mobile devices in more fields, and in the face of more and more different use scenes, various performances of the mecanum wheels need to have a standard, so that the mecanum wheels need to be tested. Based on the structural characteristics of a single Mecanum wheel and the difference between the motion of the single Mecanum wheel and the motion of the mobile device in a combined use state, the Mecanum wheel testing device needs to have the capability of completely simulating the live motion of the Mecanum wheel, and the existing testing device cannot meet the requirement, so that the performance of the Mecanum wheel cannot be tested in an all-round manner.

Disclosure of Invention

In view of the above background, the present invention is directed to a mecanum wheel testing system capable of making a single tested mecanum wheel completely simulate a live motion state, so as to test various performances of the mecanum wheel in an all-around and accurate manner.

In order to achieve the purpose, the invention provides the following technical scheme: the Mecanum wheel testing system comprises a rack system, a detection system, an installation system and a road condition simulation system below the installation system, wherein the road condition simulation system can simulate the road condition relative to the movement of Mecanum wheels; the Mecanum wheel testing system also comprises a control center, wherein the control center controls the detection system and all electric parts; the frame system comprises a main frame, and the mounting system is used for mounting the Mecanum wheel device to be tested and is mounted on the front side surface of the main frame through a connecting structure; the mounting system comprises a main shaft sleeve, a mounting shaft, a wheel set mounting assembly and an azimuth adjusting system, wherein the upper part of the mounting shaft is mounted in the main shaft sleeve and can only rotate around the axis of the mounting shaft relative to the main shaft sleeve, and the wheel set mounting assembly is mounted at the lower end of the mounting shaft; the azimuth adjusting system comprises an adjusting motor, a driving gear driven by the adjusting motor and an engaging gear which is arranged on the installation shaft and keeps coaxial with the installation shaft, and the driving gear is engaged with the engaging gear.

In the technical scheme, the detected Mecanum wheel is arranged below the mounting system, the Mecanum wheel can firstly rotate when the detection is started, and meanwhile, the road condition simulation system and the Mecanum wheel synchronously rotate, so that the real situation of the Mecanum wheel walking on the road surface is simulated.

The azimuth adjusting system also comprises a braking assembly, the braking assembly is arranged on the main frame or the main shaft sleeve and comprises an electric propulsion mechanism and a braking body controlled by the electric propulsion mechanism, and the braking body can brake the installation shaft by contacting with the meshing gear or the installation shaft. Because mecanum wheel self's structural feature, it can take place the regular vibrations at the in-process of walking, and the installation axle in this scheme is the rotatable mode installation, brakes the installation axle through brake assembly, can make the installation axle stop steadily in the position of adjusting to avoid the influence of the vibrations of mecanum wheel to its position, this motion performance data of mecanum wheel of being convenient for accurate detection certain definite position that deflects.

The connecting structure comprises a fixed part fixedly connected with the main frame and a movable part fixedly connected with the main shaft sleeve, and the movable part can only do longitudinal reciprocating movement under the constraint of the fixed part; the Mecanum wheel testing system further comprises a balancing system, wherein the balancing system is provided with a guide pulley, a pull wire and a counterweight body, two ends of the pull wire penetrate through the guide pulley with fixed positions, the front end of the pull wire is connected with the mounting system, the rear end of the pull wire is connected with the counterweight body, and the weight of the mounting system is balanced through the counterweight body. The connecting structure with the structural characteristics is adopted to connect the mounting system and the main frame, so that the whole mounting system has the motion characteristic of vertical floating, a foundation is provided for detecting the vibration test of the Mecanum wheel, the weight of the mounting system is balanced through the counterweight system, the influence of the self weight of the mounting system on the motion of the Mecanum wheel can be eliminated, and the vibration data of the Mecanum wheel in no-load motion can be tested.

The Mecanum wheel test system also includes a load system that includes counterweight that is fully pressed against and moves with the mounting system. Different loads can be added to the mounting system by reasonably matching counterweight weights with different weights, and conditions are provided for testing vibration data of the Mecanum wheels under different loads.

The wheel set mounting assembly comprises an n-type mounting frame connected with the mounting shaft, the n-type mounting frame is provided with two parallel mounting arms extending downwards, a wheel shaft sleeve assembly I and a wheel shaft sleeve assembly II are symmetrically arranged at the same height at the lower parts of the two mounting arms, both the wheel shaft sleeve assembly I and the wheel shaft sleeve assembly II are provided with rotatable shaft sleeves, and one side of each shaft sleeve is provided with a positioning bolt II and fixes an inserted wheel shaft; there is motor element to set up on the installation arm at axle sleeve subassembly I's the back, and this motor element can drive axle sleeve subassembly I's axle sleeve and rotate. Firstly, the Mecanum wheel has two types of passive drive and self-drive, and the self-driven Mecanum wheel is directly arranged on an n-type mounting frame and automatically rotates during testing; for the passive drive Mecanum wheel, the passive drive Mecanum wheel is arranged on the n-type mounting frame by means of a wheel shaft sleeve assembly, and during detection, the arranged motor assembly drives the passive drive Mecanum wheel to rotate; in addition, the Mecanum wheel has a unidirectional shaft style and a bidirectional shaft style, and the wheel shaft sleeve assembly I and the wheel shaft sleeve assembly II which are symmetrically arranged can meet the requirement of the Mecanum wheel on the detection device due to the structural difference; in addition, for the self-driven Mecanum wheel, the output power is an important performance parameter, and the torque can be reversely tested by connecting the arranged motor assembly with the tested Mecanum wheel, so that the output power of the self-driven Mecanum wheel is reflected.

The wheel axle sleeve assembly I and the wheel axle sleeve assembly II can move upwards or downwards along the mounting arm and can be fixed at a certain height; the motor assembly is connected with the mounting arm through the longitudinal guide mechanism, the motor assembly can synchronously move along with the axle sleeve assembly I, and in addition, the longitudinal guide mechanism can also realize self locking, so that the motor assembly is fixed at a determined height. Firstly, different walking devices have different requirements on the size of a Mecanum wheel, so that the performance of the Mecanum wheels with different diameters needs to be detected, and the fixed heights of a wheel axle sleeve assembly I and a wheel axle sleeve assembly II can be adjusted according to actual conditions when the Mecanum wheel is installed by arranging the wheel axle sleeve assembly I and the wheel axle sleeve assembly II which can move longitudinally; some self-driven Mecanum wheels need to be provided with a damping structure when in use and also need to be tested for output power when the damping structure is in use, and the Mecanum wheel testing system can also meet the dynamic testing requirement because the wheel hub assembly I and the motor assembly can float up and down.

The road condition simulation system comprises a crawler device, wherein the crawler device is positioned under the mounting system and is in contact with the Mecanum wheels to be measured; the crawler device is provided with a crawler assembly and a crawler motor for driving the crawler assembly to move, wherein the crawler assembly comprises a base belt of an inner layer and a road surface simulation belt covered on the surface of the base belt, and the road surface simulation belt is provided with an outer surface similar to the road surface; the base tape and the road surface simulation tape are respectively provided with an adhesive tape on the surfaces which are attached to each other, and the base tape and the road surface simulation tape are fixed together through the adhesive tape to prevent the relative sliding between the road surface simulation tape and the base tape. Different road surfaces have different roughness, can simulate the scene that mecanum wheel walked on different road surfaces through changing the road surface simulation area that has different road surface characteristics to each item performance when walking on different road surfaces provides the basis for testing mecanum wheel.

The crawler device also comprises a guide roller arranged in parallel with the width direction of the crawler assembly, and two ends of the guide roller are provided with limiting discs with the diameter larger than that of the guide roller; the two limiting discs are symmetrically positioned on two sides of the crawler belt assembly, and the minimum distance between the two limiting discs is equal to the width of the road surface simulation belt; the crawler device comprises a guide roller parallel to the guide roller and a press roller located right above the crawler assembly, the press roller is movably arranged, can move upwards under the action of external force, and is pressed on the crawler assembly under the action of self gravity after losing the external force. When changing the road surface simulation area, with road surface simulation area bypass guide roll, the guide roll can prevent the skew of road surface simulation area, can also avoid road surface simulation area fold when improving change efficiency.

As a preferable scheme of the detection system, the detection system comprises a multi-dimensional force sensor, the multi-dimensional force sensor is installed at the joint of the installation shaft and the wheel set installation assembly, under the condition that the installation system is dead-weight or has a load, the road condition simulation system below the installation system can provide an upward pushing effect for the mecanum wheel along with the movement of the detected mecanum wheel, and the arranged multi-dimensional force sensor can measure the partial acting force of the pushing effect in each direction.

As another preferable aspect of the detection system, the detection system includes a vibration detection module including a vibration sensor mounted in a position that is kept stationary relative to the total boss. Based on the structural characteristics of the Mecanum wheel, the outermost contour of the measured Mecanum wheel is a regular polygon, so that the outermost contour of the measured Mecanum wheel can vibrate when contacting a road condition simulation system during movement, the roller can generate compression deformation at the moment, and the vibration condition of the Mecanum wheel during testing is recorded by detecting the longitudinal vibration of the mounting system under the condition that only the self weight of the mounting system or extra load exists, so that the compression deformation of the Mecanum wheel is reflected.

As another preferable scheme of the detection system, the detection system comprises a displacement test module, the whole displacement test module is mounted on the mounting system and comprises a displacement detection device and a vibration rod piece, wherein the upper end of the vibration rod piece is hinged with the vibration rod piece, and the lower end of the vibration rod piece is a target original piece identified by the displacement detection device; the displacement testing module further comprises a return spring which pushes the shock rod to move towards the Mecanum wheel to be tested, and the shock rod can contact the middle part of the roller on the wheel rim of the Mecanum wheel to be tested under the action of the return spring. Based on the structural characteristics of the Mecanum wheel, the outermost peripheral outline of the measured Mecanum wheel is a regular polygon, so that the measured Mecanum wheel can generate vibration when contacting a road condition simulation system during movement, and the vibration condition of the measured Mecanum wheel in the unloaded state can be tested through the displacement testing module.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic side view of an embodiment of a Mecanum wheel testing system provided in the present invention;

FIG. 2 is a schematic perspective view of the embodiment of the Mecanum wheel testing system shown in FIG. 1;

FIG. 3 is a schematic diagram of the counterweight of the balancing system of the embodiment of the Mecanum wheel testing system of FIG. 2;

FIG. 4 is a schematic structural diagram of a track in the road condition simulation system in the Mecanum wheel testing system of FIG. 2;

FIG. 5 is a schematic top view of a mounting system in an embodiment of a Mecanum wheel testing system;

FIG. 6 is a schematic diagram of a brake assembly in an embodiment of a Mecanum wheel testing system;

FIG. 7 is a side view of the lower portion of the mounting system in an embodiment of a Mecanum wheel testing system;

FIG. 8 is a schematic front view of the lower portion of the mounting system in an embodiment of a Mecanum wheel testing system;

FIG. 9 is a schematic diagram of a first orientation of the lower portion of the mounting system in an embodiment of a Mecanum wheel testing system;

FIG. 10 is a schematic diagram of a second azimuthal perspective of the lower portion of the mounting system in an embodiment of the Mecanum wheel testing system;

FIG. 11 is a schematic illustration of a disassembled structure of the motor assembly in the mounting system;

FIG. 12 is a schematic view of an arrangement of a driven Mecanum wheel in a Mecanum wheel testing system;

FIG. 13 is a schematic view of an alternative mounting configuration of a driven Mecanum wheel in a Mecanum wheel testing system;

FIG. 14 is a schematic view of an installation configuration of a self-driven Mecanum wheel in a Mecanum wheel testing system;

FIG. 15 is a schematic diagram of an auxiliary shaft assembly of the Mecanum wheel testing system;

FIG. 16 is a schematic view of another mounting configuration of a self-driven Mecanum wheel in a Mecanum wheel testing system.

Detailed Description

Embodiments of the present application will be described in detail with reference to the drawings and examples, so that how to implement technical means to solve technical problems and achieve technical effects of the present application can be fully understood and implemented.

Fig. 1 to 9 show an embodiment of a mecanum wheel testing system provided by the present invention, as shown in fig. 1, the whole mecanum wheel testing system includes a rack system 1, a detection system, a mounting system 2, a balancing system 3, a load system 4, a road condition simulation system 5, and a control center 61, wherein the control center 61 controls all power consumption components, and meanwhile, the control center 61 has a display device for displaying detection data of the detection system. The road condition simulation system 5 comprises a crawler 501, and the crawler 501 is positioned right below the mounting system 2 and contacts with the Mecanum wheels to be measured. Specifically, the rack system 1 comprises a main rack 101 arranged longitudinally, and the lower part of the main rack 101 supports the ground and is connected with a road condition simulation system 5 through bolts; a fixed arm 102 is fixedly arranged on the left side of the upper part of the main frame 101, and two longitudinal guide columns I105 which are longitudinally and symmetrically arranged are arranged on the fixed arm 102; the mounting system 2 includes a main shaft sleeve 201, a mounting shaft 203, a wheel set mounting assembly 204 and an orientation adjustment system, wherein the mounting shaft 203 is mounted in the main shaft sleeve 201 through an upper bearing and a lower bearing, an upper shaft cover 206 and a lower shaft shoulder 207 are respectively disposed at the upper end and the lower end of the main shaft sleeve 201, and the mounting shaft 203 can only rotate around its axis relative to the main shaft sleeve 201, the wheel set mounting assembly 204 is used for mounting a mecanum wheel to be tested, and is mounted at the lower end of the mounting shaft 203, a meshing gear 210 is coaxially and fixedly mounted on the mounting shaft 203, and a multidimensional force sensor 64 is disposed at a position where the lower end of the mounting shaft 203 is connected with the wheel set mounting assembly 204. As shown in fig. 5, the azimuth adjustment system mainly includes an adjustment motor 208, the adjustment motor 208 is disposed at the lower end of a side fixing arm I205 fixed at the front side of the main shaft housing 201, and a driving gear 209 engaged with a meshing gear 210 is installed on a rotating shaft of the adjustment motor 208, so that the deflection angle of the wheel set installation assembly 204 can be adjusted by controlling the rotation of the adjustment motor 208.

In order to ensure that the adjusted angle of the wheel set mounting assembly 204 cannot automatically deflect, the entire azimuth adjustment system further includes a brake assembly 2080, as shown in fig. 6, which is disposed on the main frame 101 and includes an electromagnetic telescopic shaft 2081 and a brake head 2082 disposed at an end of the electromagnetic telescopic shaft 2081, where the brake head 2082 faces the meshing gear 210, and can be engaged with the meshing gear 210 or disengaged from the meshing gear 210 under the control of the electromagnetic telescopic shaft 2081, so as to brake or release the brake on the mounting shaft 203. This prevents the mecanum wheels from shaking during travel, which would force the adjusted orientation to change.

In the present embodiment, the whole mounting system 2 is installed in a floating manner, as shown in fig. 5, two side bushings 202 are symmetrically arranged on two sides of the main bushing 201, the two side bushings 202 are respectively sleeved on the longitudinal guide pillar I105, and if shown, the longitudinal guide pillar I105 has a margin for the side bushings 202 to move up and down. In addition, a horizontal weight plate 402 is fixedly arranged above the main shaft sleeve 201 through a connecting arm 404, a hanging ring 403 is arranged above the weight plate 402, a weight 401 is placed on the weight plate 402 to provide load for a Mecanum wheel to be tested, as shown in fig. 1 and 2, a storage tray 104 is placed behind the main frame 101, and unused weights 401 are located in the storage tray 104.

With respect to the balancing system 3, the main function is to balance the weight of the entire mounting system 2, thereby providing a no-load test condition for the mecanum wheel being tested. As shown in fig. 2, the balancing system 3 includes a weight 301 and a pulling line 303 connecting the weight 301 and the hanging ring 403, as shown in fig. 2, a top beam 103 is horizontally disposed on the top of the main frame 101, two guide pulleys 302 are fixedly mounted below the top beam 103, the pulling line 303 goes around the two guide pulleys 302 from above, wherein the weight 301 is suspended behind the main frame 101 and is surrounded by the protection net 106 disposed behind the main frame 101. Since the total weight may change due to the replacement of individual parts of the installation system 2, in order to keep the balance system 3 balanced, a hollow cavity is provided below the balance weight 301, the hollow cavity is used for filling solid particulate matters such as sand, a filling opening 304 is provided above the hollow cavity, a discharging pipe 305 is provided below the hollow cavity, and the discharging pipe 305 can make a pipe opening face up by rotating, so that the solid particulate matters can be prevented from flowing out, and can also make the pipe opening face down by rotating, so that the solid particulate matters can automatically flow out, and the purpose of adjusting the total weight of the balance weight 301 can be achieved.

Of course, when installing system 2 and balanced system 3 are in balanced state, can be for being surveyed mecanum wheel accurate loading through increasing counterweight 40, consequently, can increase different loads for installing system 2 through the counterweight 401 of the different weight of rational collocation, be convenient for test mecanum wheel under the different loads.

In the above technical solution, the detected mecanum wheel is installed below the mounting system 2, when the detection starts, the mecanum wheel can firstly rotate, and meanwhile, the road condition simulation system 5 and the mecanum wheel rotate synchronously, so as to simulate the real situation that the mecanum wheel travels on the road surface, because the mecanum wheel cannot deflect relative to the traveling device, and the final moving direction of the traveling device is a structure acted by a plurality of wheels together, the direction of the wheel itself and the moving direction may not be consistent, in the present solution, the wheel set mounting assembly 204 in the mounting system 2 can rotate along with the mounting shaft 203, and the direction of the mecanum wheel can deflect by the arranged direction adjusting system, so that the detected mecanum wheel deflects relative to the road condition simulation system 5, and then the road condition simulation system 5 is matched, so that the single actual mecanum wheel can truly simulate various omnibearing moving modes in the whole traveling device, and therefore, the mecanum wheel testing system can detect the moving performance of the mecanum wheel.

As shown in fig. 7, 8 and 9, the wheel set mounting assembly 204 includes an n-type mounting bracket 211 connected to the mounting shaft 203, the n-type mounting bracket 211 has two parallel mounting arms extending downward, first, a mounting plate 2110 is disposed at an upper portion of an inner side of one of the mounting arms, and further, a wheel axle housing assembly I212 and a wheel axle housing assembly II213 are symmetrically disposed at a same height at lower portions of the two mounting arms, each of the wheel axle housing assembly I212 and the wheel axle housing assembly II213 has a sliding block 2100, a rotatable axle housing 221 is transversely disposed at a middle portion of the sliding block 2100, one side of the axle housing 221 is provided with a positioning bolt II222, and an axle inserted into an axle hole thereof is fixed by the positioning bolt II 222; in addition, a motor assembly 214 is arranged on the mounting arm at the back of the wheel hub assembly I212, and a rotating shaft of the motor assembly 214 is connected with a connecting shaft 2232 arranged at the rear end of the hub 221 on the wheel hub assembly I212 through a coupling 2231 and can drive the hub 221 in the wheel hub assembly I212 to rotate. With respect to the wheelset mounting assembly 204, the axle housing assembly I212, the axle housing assembly II213, and the motor assembly 214 are mounted in an up-down slidable configuration: specifically, the mounting arm is shaped like a channel steel, a back groove 217 is formed in the back surface of the mounting arm, the transverse section of the mounting arm is U-shaped, a longitudinally extending bolt sliding hole 219 is formed in the side wall of the back groove 217, a longitudinally extending longitudinal shifting hole 218 is formed in the bottom surface of the back groove 217, the rear portion of the sliding block 2100 is located in the back groove 217, the front portion of the sliding block is located in the longitudinal shifting hole 218, in addition, a bolt hole is formed in the side surface of the sliding block 2100, a positioning bolt I220 is mounted in the bolt hole, the positioning bolt I220 penetrates through the corresponding bolt sliding hole 219, and when the positioning bolt I220 is screwed down, the positioning bolt I220 brakes the sliding block 2100 by pressing the anti-skidding surfaces on two sides of the bolt sliding hole 219; in addition, for the motor assembly 214, which includes a motor 223 and a motor mounting bracket, the motor 223 is a torque sensing motor, a torque sensor 69 is mounted on a rotating shaft thereof, and in a mounted state, the torque sensor 69 is fixed on the motor mounting bracket. As shown in fig. 10 and 11, the motor mounting bracket includes motor fixing arms 225 symmetrically arranged, and positioning covers 224 symmetrically arranged above and below the motor fixing arms 225, the motor 223 is installed in a space enclosed by the positioning covers 224 and the motor fixing arms 225, and front and rear ends of the motor are positioned by positioning chucks 226 at front and rear ends of the positioning covers 224; in addition, the motor fixing arm 225 is fixedly connected with two longitudinal sliding sleeves 215 which are connected together, meanwhile, the two longitudinal sliding sleeves 215 are movably sleeved on longitudinal guide shafts II216 which are symmetrically arranged on the side surfaces of the mounting arm, and as shown in FIG. 8, the longitudinal guide shafts II216 have length allowance for the longitudinal movement of the longitudinal sliding sleeves 215.

The above describes the general structure of the mecanum wheel test system provided by this embodiment, and in addition, the mecanum wheel test system includes a multi-dimensional force sensor 64, a vibration detection module, and a displacement test module in addition to the torque sensor 69 in the torque motor. Specifically, the multi-dimensional force sensor 64 is installed at the joint of the mounting shaft 203 and the wheelset mounting assembly 204, and in the case of the self weight or load of the mounting system 2, the lower road condition simulation system will provide an upward pushing action to the mecanum wheels along with the movement of the detected mecanum wheels, and the multi-dimensional force sensor 64 is arranged to measure the component acting force of the pushing action in each direction. The vibration detection module comprises a vibration sensor 63, the vibration sensor 63 is installed on the side face of the side shaft sleeve 202, the outermost periphery contour of the Mecanum wheel to be detected is a regular polygon, so that vibration can be generated when the Mecanum wheel is in contact with the road condition simulation system 5 during movement, the roller can be subjected to compression deformation at the moment, and under the condition that only the self weight of the installation system 2 or extra load exists, the vibration sensor 63 records the vibration condition of the Mecanum wheel under test by detecting the longitudinal vibration of the installation system 2, so that the compression deformation of the Mecanum wheel is indirectly reflected. As shown in fig. 7, the displacement testing module includes a "7" type rear fixing arm 65 fixedly connected to the middle of the n-type mounting bracket 211, a displacement detecting device 68 is disposed at the lower portion of the "7" type rear fixing arm 65, a shock bar 66 is disposed at one side of the "7" type rear fixing arm 65 close to the n-type mounting bracket 211, the upper end of the shock bar is hinged to the "7" type rear fixing arm 65, the lower end of the shock bar is provided with a target element recognized by the displacement detecting device 68, the displacement testing module further includes a return spring 67 for pushing the shock bar 66 to move toward the mecanum wheel to be tested, and the shock bar 66 can contact the middle of a roller on the rim of the mecanum wheel to be tested under the action of the return spring 67. Based on the structural characteristics of the Mecanum wheel, the outermost contour of the Mecanum wheel to be tested is a regular polygon, so that the Mecanum wheel can generate vibration when contacting the road condition simulation system 5 during movement, and the vibration condition of the Mecanum wheel can be tested in the scheme without load through the displacement testing module.

With respect to the mecanum wheel test system of the above configuration, it can be applied to the driven mecanum wheel 700 shown in fig. 12 and the self-driven mecanum wheel 800 shown in fig. 14, and also to the self-driven mecanum wheel 800 having a bidirectional axis shown in fig. 13. In addition, for the self-driven mecanum wheel 800 shown in fig. 14, which is mounted on the mounting plate 2110 through the shock-absorbing mount 802, during the test, the shock-absorbing mount 802 absorbs the shock of a part of the mecanum wheel, if it is desired to test the output power of the self-driven mecanum wheel 800 at this time, an auxiliary shaft assembly 900 shown in fig. 15 may be added, the auxiliary shaft assembly 900 is circular, the center of the auxiliary shaft assembly 900 is provided with an auxiliary shaft 902 perpendicular to the whole circle, and the whole auxiliary shaft assembly 900 can be mounted on the side of the self-driven mecanum wheel 800 through the mounting bolt 901, and the auxiliary shaft 902 can be coaxial with the self-driven mecanum wheel 800; as shown in fig. 16, by fixing auxiliary shaft 902 to wheel hub assembly I212 and then loosening positioning bolts I220 and positioning bolts III227, motor assembly 214 vibrates with self-driven mecanum wheel 800 and can also test the torque of self-driven mecanum wheel 800 by rotating in the opposite direction.

In this embodiment, the road condition simulation system 5 can simulate different road surfaces, specifically, the crawler device 501 has a crawler assembly 502 and a crawler motor for driving the crawler assembly 502 to move, where the crawler assembly 502 includes an inner base band 505 and a road surface simulation band 506 covering the surface of the base band 505, and the road surface simulation band 506 has an outer surface similar to the road surface, and adhesive tapes 507 are respectively disposed on the surfaces of the base band 505 and the road surface simulation band 506, which are attached together through the adhesive tapes 507 to prevent the road surface simulation band 506 and the base band 505 from sliding relatively, and a scene in which the mecanum wheel travels on different road surfaces can be simulated by replacing the road surface simulation band 506 with different road surface characteristics, thereby providing a basis for testing various performances of the mecanum wheel when traveling on different road surfaces. In addition, the crawler belt device 501 further comprises a guide roller 503 arranged in parallel with the width direction of the crawler belt assembly 502, and two ends of the guide roller 503 are provided with limiting discs with diameters larger than the diameters of the guide roller 503; the two limiting discs are symmetrically positioned on two sides of the crawler belt assembly 502, and the minimum distance between the two limiting discs is equal to the width of the road surface simulation belt 506; the track device 501 further comprises a press roller 504 which is parallel to the guide roller 503 and is located right above the track assembly 502, wherein the press roller 504 is movably arranged, can move upwards under the action of external force, and presses on the track assembly 502 under the action of self gravity after the external force is lost. When the road surface simulation belt 506 is replaced, the road surface simulation belt 506 is wound around the guide roller 503, the guide roller 503 can prevent the deviation of the road surface simulation belt 506, the replacement efficiency is improved, and the wrinkle of the road surface simulation belt 506 can be avoided, and the provided press roller 504 can press down the road surface simulation belt 506, so that the bonding between the road surface simulation belt 506 and the base belt 505 is firmer. In addition, in this embodiment, a horizontal support plate coated with teflon on the front surface is disposed on the frame of the track device 501, the front surface of the horizontal support plate is attached to the base band 505, and the horizontal support plate is located below the mecanum wheel to be measured, so as to sequentially ensure that the portion of the track assembly 502 that contacts the mecanum wheel during movement does not generate vibration, thereby achieving the effect of walking on the road surface.

As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, that a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.

It is noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in articles of commerce or systems including such elements.

The foregoing description shows and describes several preferred embodiments of the invention, but as aforementioned, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. Mecanum wheel test system, characterized by: the road condition simulation system comprises a rack system, a detection system, an installation system, a road condition simulation system below the installation system and a control center, wherein the control center controls the detection system and all electric components; the frame system comprises a main frame, and the mounting system is used for mounting the Mecanum wheel device to be tested and is mounted on the front side surface of the main frame through a connecting structure; the mounting system comprises a main shaft sleeve, a mounting shaft, a wheel set mounting assembly and an azimuth adjusting system, wherein the upper part of the mounting shaft is mounted in the main shaft sleeve and can only rotate around the axis of the mounting shaft relative to the main shaft sleeve, and the wheel set mounting assembly is mounted at the lower end of the mounting shaft; the azimuth adjusting system comprises an adjusting motor, a driving gear driven by the adjusting motor and an engaging gear which is coaxially arranged on the installation shaft and can synchronously rotate with the installation shaft, and the driving gear is engaged with the engaging gear.

2. A mecanum wheel testing system as defined in claim 1, wherein: the azimuth adjusting system also comprises a brake assembly, the brake assembly is arranged on the main frame or the main shaft sleeve and comprises an electric propulsion mechanism and a brake body controlled by the electric propulsion mechanism, and the brake body can brake the installation shaft by contacting with the meshing gear or the installation shaft.

3. A mecanum wheel testing system as defined in claim 1, wherein: the connecting structure comprises a fixed part fixedly connected with the main frame and a movable part fixedly connected with the main shaft sleeve, and the movable part can only do longitudinal reciprocating movement under the constraint of the fixed part; the Mecanum wheel testing system further comprises a balancing system, wherein the balancing system is provided with a guide pulley, a pull wire and a counterweight body, two ends of the pull wire penetrate through the guide pulley with fixed positions, the front end of the pull wire is connected with the mounting system, the rear end of the pull wire is connected with the counterweight body, and the weight of the mounting system is balanced through the counterweight body.

4. A mecanum wheel test system as claimed in claim 3 wherein: the Mecanum wheel test system also includes a load system that includes counterweight that is fully pressed against and moves with the mounting system.

5. A mecanum wheel testing system as defined in claim 1, wherein: the wheel set mounting assembly comprises an n-type mounting frame connected with the mounting shaft, the n-type mounting frame is provided with two parallel mounting arms extending downwards, a wheel shaft sleeve assembly I and a wheel shaft sleeve assembly II are symmetrically arranged at the same height at the lower parts of the two mounting arms, both the wheel shaft sleeve assembly I and the wheel shaft sleeve assembly II are provided with rotatable shaft sleeves, and one side of each shaft sleeve is provided with a positioning bolt II and fixes an inserted wheel shaft; there is motor element to set up on the installation arm at the back of wheel axle sleeve subassembly I, and this motor element can drive the axle sleeve rotation of wheel axle sleeve subassembly I.

6. The mecanum wheel test system of claim 5, wherein: the wheel axle sleeve assembly I and the wheel axle sleeve assembly II can move upwards or downwards along the mounting arm and can be fixed at a certain height; the motor assembly is connected with the mounting arm through the longitudinal guide mechanism, the motor assembly can synchronously move along with the wheel axle sleeve assembly I, and in addition, the longitudinal guide mechanism can also realize self-locking, so that the motor assembly is fixed at a determined height.

7. A mecanum wheel testing system as defined in claim 1, wherein: the road condition simulation system comprises a crawler device, the crawler device is positioned right below the mounting system and is in contact with the Mecanum wheels to be measured; the crawler device is provided with a crawler assembly and a crawler motor for driving the crawler assembly to move, wherein the crawler assembly comprises a base band of an inner layer and a road surface simulation band covered on the surface of the base band, and the road surface simulation band is provided with an outer surface which is the same as the road surface; an adhesive tape is provided on each of the surfaces of the base tape and the road surface simulating tape which are bonded to each other, and the base tape and the road surface simulating tape are fixed to each other by the adhesive tape.

8. The mecanum wheel testing system of claim 7, wherein: the crawler device also comprises a guide roller arranged in parallel with the width direction of the crawler assembly, and two ends of the guide roller are provided with limiting discs with the diameter larger than that of the guide roller; the two limiting discs are symmetrically positioned on two sides of the crawler belt assembly, and the minimum distance between the two limiting discs is equal to the width of the road surface simulation belt; the crawler device comprises a guide roller parallel to the guide roller and a press roller located right above the crawler assembly, the press roller is movably arranged, can move upwards under the action of external force, and is pressed on the crawler assembly under the action of self gravity after losing the external force.

9. The mecanum wheel testing system of any one of claims 1-8, wherein: the detection system comprises a multi-dimensional force sensor, and the multi-dimensional force sensor is arranged at the joint of the mounting shaft and the wheel set mounting assembly.

10. The mecanum wheel testing system of any one of claims 1-8, wherein: the detection system includes a shock detection module that includes a shock sensor mounted in a position that remains relatively stationary with respect to the quill and that records the shock of the mecanum wheel under test by detecting longitudinal shock of the mounting system.

11. A mecanum wheel testing system as claimed in any one of claims 1-8 wherein: the detection system comprises a displacement test module, the whole displacement test module is arranged on the mounting system and comprises a displacement detection device and a vibration rod piece, the upper end of the vibration rod piece is hinged with the vibration rod piece, and a target original piece recognized by the displacement detection device is arranged at the lower end of the vibration rod piece; the displacement test module also comprises a return spring which pushes the vibration rod to move towards the Mecanum wheel to be tested, and the vibration rod can contact the middle of the roller on the rim of the Mecanum wheel to be tested under the action of the return spring.