CN113970449A - Multifunctional Mecanum wheel size and performance comprehensive test bench - Google Patents
Multifunctional Mecanum wheel size and performance comprehensive test bench Download PDFInfo
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- CN113970449A CN113970449A CN202011547093.1A CN202011547093A CN113970449A CN 113970449 A CN113970449 A CN 113970449A CN 202011547093 A CN202011547093 A CN 202011547093A CN 113970449 A CN113970449 A CN 113970449A
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- mecanum wheel
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/013—Wheels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
Abstract
The invention discloses a multifunctional Mecanum wheel size and performance comprehensive test bench, which belongs to the technical field of Mecanum wheel performance test, and particularly relates to a multifunctional Mecanum wheel size and performance comprehensive test bench, which comprises a driving device and a test device, wherein the test device comprises a workbench, a third guide rail is fixedly arranged at the top of the workbench, the third guide rail is vertical to the outer walls of the left side and the right side of the workbench, two groups of the third guide rails are symmetrically arranged, the tops of the two groups of the third guide rails are slidably connected with a sliding frame, a second displacement sensor is fixedly arranged on the outer wall of the left side of the sliding frame, a second guide rail is arranged on the left side of the third guide rail, the second guide rail is fixedly arranged at the top of the workbench, the two groups of the second guide rails are symmetrically arranged, and the tops of the two groups of the second guide rails are slidably connected with a sliding plate, and the test device has the beneficial effects that: the driving motor drives the Mecanum wheel to rotate, dimension information is tested under the condition of no load, the performance of the Mecanum wheel is measured under the condition of heavy load, simulation loading is carried out through the loading oil cylinder, and the detection wheel simulates ground resistance through overturning of the damping motor.
Description
Technical Field
The invention relates to the technical field of Mecanum wheel performance testing, in particular to a multifunctional Mecanum wheel size and performance comprehensive test bench.
Background
The omnibearing moving mode of Mecanum wheel is based on the principle of a central wheel with many wheel axles positioned at the periphery of the wheel, these angle peripheral wheel axles can convert a portion of wheel steering force to a wheel normal force, on the wheel rim of which several small rollers are obliquely distributed, so that the wheel can be transversely slided, and the generatrix of the small roller is very special, when the wheel is rotated around the fixed wheel axle, the envelope curve of every small roller is cylindrical surface, and can continuously roll forward, and the Mecanum wheel is compact in structure and flexible in movement, so that it is a successful omnibearing wheel.
At present, mechanical performance of a single rod is tested in the Mecanum wheel test market, and the roller is driven to test through external force loading. Because the mecanum wheel is of a multi-rod structure, the condition that the load requirement deviation of the whole wheel is increased easily due to the fact that one roller is tested only, the measurement result is comparatively simple, and the mecanum wheel is integrally measured on the market, but the measured parameters are limited, so that an experimental device for comprehensively testing the mecanum wheel is needed to accurately measure the size precision, the performance and the like of the mecanum wheel.
The prior art has the following defects: the traditional Chinese patent CN105466702A discloses a Mecanum wheel comprehensive detection test experimental device, which is provided with a vertical loading system and a ground simulation device for measuring the bearing and motion performance of a Mecanum wheel, the device mainly carries out bearing experiments, the jumping and overall contour projection of the Mecanum wheel can not be collected, the power change of a driving motor and the size of generated axial force under different load conditions can not be known, in addition, the ground is simulated by using a conveying belt similar to a tank chain, the mechanical property is easy to damage, and a seam can damage the Mecanum wheel, and the mechanical property is particularly obvious under the heavy load condition.
Therefore, it is necessary to invent a multifunctional mecanum wheel size and performance comprehensive test bench.
Disclosure of Invention
Therefore, the invention provides a multifunctional Mecanum wheel size and performance comprehensive test board, which is characterized in that a driving motor is used for driving a Mecanum wheel to rotate, size information is tested under the condition of no load, the performance of the Mecanum wheel is measured under the condition of heavy load, a loading mechanism carries out simulation loading according to needs, a detection wheel is overturned by a damping motor to simulate ground resistance, and the problem that various detection data and curve graphs are presented is solved through software operation.
In order to achieve the above purpose, the invention provides the following technical scheme: a multifunctional Mecanum wheel size and performance comprehensive test bench comprises a driving device and a test device, wherein the test device comprises a workbench, a third guide rail is fixedly installed on the top of the workbench, the third guide rail is perpendicular to the outer wall positions of the left side and the right side of the workbench, the three guide rails are symmetrically provided with two sets, the tops of the two sets of the three guide rails are slidably connected with a sliding frame, a second displacement sensor is fixedly installed on the outer wall of the left side of the sliding frame, a second guide rail is arranged on the left side of the third guide rail, the second guide rail is fixedly installed on the top of the workbench, the two sets of the two guide rails are symmetrically provided, the tops of the two sets of the two guide rails are slidably connected with a sliding plate, the tops of the sliding plates are fixedly provided with first guide rails, the first guide rails are symmetrically provided with two sets, the first guide rails are parallel to the three guide rails, the tops of the guide rails are slidably connected with a detection wheel fixing frame, and detection wheels are movably installed on the inner wall of the detection wheel fixing frame, the detection wheel comprises a detection wheel fixing frame, and is characterized in that a loading oil cylinder is arranged on the left side of the detection wheel fixing frame, the loading oil cylinder is fixedly installed at the top of a sliding plate, the output end of the loading oil cylinder is fixedly connected to the outer wall of the left side of the detection wheel fixing frame, a scale is fixedly installed on the outer wall of the front end of the sliding plate, and the scale is parallel to the detection wheel fixing frame.
Preferably, the spring is fixedly installed at the top of the sliding frame, the spring is perpendicular to the outer wall of the left side of the sliding frame, and the two groups of springs are symmetrically arranged.
Preferably, the driving device comprises a driving motor, the top of the workbench is fixedly provided with a support, the top of the support is fixedly provided with a first speed reducer, the first speed reducer is fixedly arranged at the top of the support, the driving motor is fixedly connected to the outer wall of the first speed reducer, and the output end of the driving motor is fixedly connected with the input end of the first speed reducer.
Preferably, an output end of the speed reducer is fixedly connected with the coupler, the outer wall of the left side of the coupler is fixedly connected with the torque and speed sensor, a bearing seat is arranged on the outer side of the torque and speed sensor, the bearing seat is fixedly installed at the top of the support, the end part of the coupler is fixedly connected with the rotating shaft, and the end part of the rotating shaft is fixedly installed with the Mecanum wheel.
Preferably, the top of the bearing seat is fixedly provided with a laser sensor adjusting seat, the outer wall of the laser sensor adjusting seat is fixedly provided with a laser sensor, and the output end of the laser sensor is coincided with the axis of the shaft end.
Preferably, a first displacement sensor is fixedly mounted on the top of the Mecanum wheel, and an output end of the first displacement sensor coincides with a boundary point of the Mecanum wheel.
Preferably, a damping motor is arranged on the left side of the driving motor, the output end of the damping motor is fixedly connected with a second speed reducer, a connecting frame is fixedly installed on the outer wall of the front end of the second speed reducer, and the outer wall of the front end of the connecting frame is fixedly connected to the inner side outer wall of the detection wheel fixing frame.
Preferably, the bearing sensor is fixedly installed on the outer wall of the left side of the connecting frame and is located at the top of the outer wall of the left side of the connecting frame.
The invention has the beneficial effects that:
1. the Mecanum wheel is driven to rotate by the driving motor, dimension information is tested under the condition of no load, the performance of the Mecanum wheel is measured under the condition of heavy load, simulation loading is carried out by the loading oil cylinder, the detection wheel simulates ground resistance by overturning the damping motor, and various detection data and curve graphs are conveniently presented through software operation;
2. the manual measurement error can be reduced, the cross-sectional shape and the maximum circular run-out of the whole Mecanum wheel can be reflected, the cross-sectional shape and the maximum circular run-out can be displayed in a pattern mode, and the performance evaluation is visualized; the working state of the Mecanum wheel can be displayed in real time under the conditions of no load and different loads by arranging the driving motor and the torque rotating speed sensor, so that the precision of detecting the performance of the Mecanum wheel is improved;
3. can carry out long-time performance fatigue test to the mecanum wheel, can more truly simulate the operating mode that mecanum wheel car used for a long time, can verify its reliability.
Drawings
FIG. 1 is a three-dimensional view provided by the present invention;
fig. 2 is a top view provided by the present invention.
In the figure: the device comprises a driving device 100, a testing device 200, a driving motor 1, a first speed reducer 2, a coupler 3, a torque and rotation speed sensor 4, a bearing seat 5, a Mecanum wheel 6, a first displacement sensor 7, a detection wheel 8, a first guide rail 9, a second guide rail 10, a laser sensor adjusting seat 11, a damping motor 12, a second speed reducer 13, a connecting frame 14, a second displacement sensor 15, a third guide rail 16, a loading oil cylinder 17, a detection wheel fixing frame 18, a workbench 19, a spring 20, a bearing sensor 21 and a scale 22.
Detailed Description
The preferred embodiments of the present invention will hereinafter be described in conjunction with the appended drawings, it being understood that the preferred embodiments described herein are merely for the purpose of illustrating and explaining the present invention and are not intended to limit the present invention:
referring to the attached drawings 1-2, the comprehensive measurement of the size and performance of the multifunctional mecanum wheel provided by the invention comprises a driving device 100 and a testing device 200, specifically, the testing device 200 comprises a workbench 19, three guide rails 16 are fixedly installed on the top of the workbench 19, the three guide rails 16 are perpendicular to the outer walls of the left side and the right side of the workbench 19, two sets of the three guide rails 16 are symmetrically arranged, the tops of the two sets of the three guide rails 16 are slidably connected with a sliding frame (not labeled in the drawing), a second displacement sensor 15 is fixedly installed on the outer wall of the left side of the sliding frame, a second guide rail 10 is arranged on the left side of the three guide rails 16, the second guide rail 10 is fixedly installed on the top of the workbench 19, two sets of the two guide rails 10 are symmetrically arranged, the tops of the two sets of the two guide rails 10 are slidably connected with sliding plates (not labeled with pictures and texts), the tops of the sliding plates are fixedly installed with a first guide rail 9, and the first guide rails 9 are symmetrically arranged, the first two groups of guide rails 9 are parallel to the third group of guide rails 16, the top of the first guide rail 9 is connected with a detection wheel fixing frame 18 in a sliding mode, a detection wheel 8 is movably mounted on the inner wall of the detection wheel fixing frame 18, a loading oil cylinder 17 is arranged on the left side of the detection wheel fixing frame 18, the loading oil cylinder 17 is fixedly mounted on the top of a sliding plate, the output end of the loading oil cylinder 17 is fixedly connected to the outer wall of the left side of the detection wheel fixing frame 18, a scale 22 is fixedly mounted on the outer wall of the front end of the sliding plate, and the scale 22 is parallel to the detection wheel fixing frame 18;
the worktable 19 has the functions of installing the driving device 100 and the testing device 200, the third guide rail 16 has the function of conveniently moving the sliding frame so as to accurately measure the section shape and the displacement of the maximum circular runout of the mecanum wheel 6 through the second displacement sensor 15, the sliding frame has the function of installing the second displacement sensor 15 to test the performance of the mecanum wheel 6, the second displacement sensor 15 is set as EEM33-70, the second displacement sensor 15 has the function of conveniently detecting the distance that the pressing spring 20 pushes the sliding frame to displace when the mecanum wheel 6 rotates so as to detect the displacement of the maximum circular runout of the mecanum wheel 6, the second guide rail 10 has the function of conveniently moving the sliding plate, the sliding plate has the function of installing the first guide rail 9, the first guide rail 9 has the function of installing the first detection wheel fixing frame 18, and the detection wheel fixing frame 18 has the function of installing the detection wheel 8, the detection wheel 8 is arranged on the surface of the detection wheel 8, the ground form of the Mecanum wheel 6 is simulated, the Mecanum wheel 6 is directly loaded and tested, the loading oil cylinder 17 has the effect of loading the Mecanum wheel 6, and the scale 22 has the effect of visually checking the displacement of the sliding plate;
further, a spring 20 is fixedly mounted at the top of the sliding frame, the spring 20 is perpendicular to the outer wall of the left side of the sliding frame, two groups of springs 20 are symmetrically arranged, specifically, the springs 20 are tightly attached to the Mecanum wheel 6 so as to receive micro-changes of the radial size of the Mecanum wheel 6 and push the sliding frame to slide at the top of the guide rail III 16, and the maximum circular runout value of the Mecanum wheel 6 is conveniently detected;
further, the driving device 100 includes a driving motor 1, a top portion of the workbench 19 is fixedly provided with a support (not labeled in the drawing), the top portion of the support is fixedly provided with a first speed reducer 2, the first speed reducer 2 is fixedly provided at the top portion of the support, the driving motor 1 is fixedly connected to the outer wall of the first speed reducer 2, the output end of the driving motor 1 is fixedly connected with the input end of the first speed reducer 2, specifically, the support has the functions of installing the first speed reducer 2 and the driving motor 1, the driving motor 1 is set to be PGL60, the driving motor 1 has the function of driving the mecanum wheel 6 to rotate, the first speed reducer 2 is set to be SNS142-025, and the first speed reducer 2 has the function of adjusting the rotating speed of the driving motor 1;
further, the output end of the first speed reducer 2 is fixedly connected with the coupler 3, the outer wall of the left side of the coupler 3 is fixedly connected with the torque and speed sensor 4, a bearing seat 5 is arranged on the outer side of the torque and speed sensor 4, the bearing seat 5 is fixedly installed at the top of the support, the end part of the coupler 3 is fixedly connected with a rotating shaft (not marked in the figure), the end part of the rotating shaft is fixedly installed with the mecanum wheel 6, specifically, the coupler 3 has the function of connecting the rotating shaft with the output end of the first speed reducer 2, the torque and speed sensor 4 is set to be JN-DN3, the torque and speed sensor 4 has the torque required by testing and driving the mecanum wheel 6, the bearing seat 5 has the function of supporting the rotating shaft, and the rotating shaft has the functions of installing the mecanum wheel 6 and driving;
further, a laser sensor adjusting seat 11 is fixedly installed at the top of the bearing seat 5, a laser sensor is fixedly installed on the outer wall of the laser sensor adjusting seat 11, the output end of the laser sensor is overlapped with the axis of the shaft end, specifically, the laser sensor adjusting seat 11 has the function of adjusting the direction of the laser sensor, the laser sensor is set to be BX-LV100N/R, and the laser sensor has the function of facilitating laser detection of the longitudinal displacement of the Mecanum wheel 6;
furthermore, a first displacement sensor 7 is fixedly mounted on the top of the Mecanum wheel 6, the output end of the first displacement sensor 7 is coincident with the boundary point of the Mecanum wheel 6, the first displacement sensor 7 is set to be MT40, the first displacement sensor 7 is provided with a boundary for identifying the sweeping of the Mecanum wheel 6 during rotation, and the change of circumferential displacement during the operation of the Mecanum wheel is measured, so that the sectional shape of the Mecanum wheel 6 is accurately identified;
further, a damping motor 12 is arranged on the left side of the driving motor 1, the output end of the damping motor 12 is fixedly connected with a second speed reducer 13, a connecting frame 14 is fixedly installed on the outer wall of the front end of the second speed reducer 13, the outer wall of the front end of the connecting frame 14 is fixedly connected to the outer wall of the inner side of the detection wheel fixing frame 18, specifically, the damping motor 12 is set to be 6GU200K, the damping motor 12 has the function of providing simulated ground resistance, the connecting frame 14 has the function of installing the second speed reducer 13, the second speed reducer 13 is set to be SNS142-025, and the second speed reducer 13 has the function of adjusting the rotating speed of the damping motor 12;
further, a bearing sensor 21 is fixedly installed on the outer wall of the left side of the connecting frame 14, the bearing sensor 21 is located on the top of the outer wall of the left side of the connecting frame 14, specifically, the bearing sensor 21 has the function of measuring the axial component force of the mecanum wheel 6, the testing device 200 is connected with an external detection system, the detection system comprises an industrial control cabinet, an industrial personal computer, a data acquisition card and communication software, the industrial control cabinet has the functions of installing a circuit controller to operate equipment and process the acquired data, the industrial personal computer has a computer CPU, a hard disk, a memory, an external device and an interface, the data acquisition card has the functions of automatically acquiring non-electric quantity or electric quantity signals in the sensor measurement unit and sending the signals to the upper computer for analysis and processing, and the communication software has the function of comprehensively processing the test information and displaying the processed test information through the display.
The using process of the invention is as follows: when the invention is used, a person skilled in the art outputs torque by connecting a driving motor 1 with a speed reducer 2, a torque sensor 4 is connected with the speed reducer 2 by a coupler 3 and is connected with a Mecanum wheel 6 by a bearing seat 5, the detection requirement under the condition of rated rotating speed of Mecanum wheels with different diameters is realized by controlling the rotating speed of the Mecanum wheel 6, the Mecanum wheel 6 is tightly attached by the pressure of a spring 20 under the no-load condition, the micro-change of radial dimension can cause the detection device to move slightly on a guide rail III 16, a displacement sensor II 15 detects that the maximum displacement value of the Mecanum wheel 6 is circular runout, a displacement sensor I7 detects that the rotating Mecanum wheel 6 under the no-load condition carries out dense acquisition, thereby accurately detecting the section of the Mecanum wheel 6, a loading oil cylinder 17 applies a loading force to the Mecanum wheel 6 through a detection wheel 8, the detection wheel is dragged by a speed reducer 13 of a damping motor 12 in the opposite direction to simulate the ground, a first guide rail 9 arranged in the loading direction realizes adaptive loading to different diameter directions, a second guide rail 10 at the bottom can realize adaptive loading to different Mecanum wheel width directions, a bearing sensor 21 is arranged in the direction of the second guide rail 10 and used for measuring the axial force generated in the detection process of the Mecanum wheel 6, a data acquisition card acquires the parameters of an output torque and rotating speed sensor 4 of a driving motor in real time, and a dynamic response curve is formed through background operation calculation of software.
The above description is only a preferred embodiment of the present invention, and any person skilled in the art may modify the present invention or modify it into an equivalent technical solution by using the technical solution described above. Therefore, any simple modifications or equivalent substitutions made in accordance with the technical solution of the present invention are within the scope of the claims of the present invention.
Claims (8)
1. A multi-functional mecanum wheel size and performance combined test platform, includes drive arrangement (100) and testing arrangement (200), its characterized in that: the testing device (200) comprises a workbench (19), a third guide rail (16) is fixedly installed at the top of the workbench (19), the third guide rail (16) is perpendicular to the outer wall of the left side and the right side of the workbench (19), two groups of the third guide rail (16) are symmetrically arranged, two groups of the third guide rail (16) are slidably connected with a sliding frame at the top, a second displacement sensor (15) is fixedly installed on the outer wall of the left side of the sliding frame, a second guide rail (10) is arranged on the left side of the third guide rail (16), the second guide rail (10) is fixedly installed at the top of the workbench (19), two groups of the second guide rail (10) are symmetrically arranged, the top of the second guide rail (10) is slidably connected with a sliding plate, a first guide rail (9) is fixedly installed at the top of the sliding plate, two groups of the first guide rail (9) are symmetrically arranged, the first guide rail (9) is parallel to the third guide rail (16), and a first guide rail (9) is slidably connected with a detection wheel fixing frame (18) at the top, detect wheel mount (18) inner wall movable mounting and detect wheel (8), it is equipped with loading cylinder (17) to detect wheel mount (18) left side, loading cylinder (17) fixed mounting is at the sliding plate top, loading cylinder (17) output end fixed connection is on detecting wheel mount (18) left side outer wall, sliding plate front end outer wall fixed mounting scale (22), scale (22) are parallel with detection wheel mount (18).
2. The multi-functional mecanum wheel dimension and performance integrated test stand of claim 1, wherein: the spring (20) is fixedly installed at the top of the sliding frame, the spring (20) is perpendicular to the outer wall of the left side of the sliding frame, and the two groups of springs (20) are symmetrically arranged.
3. The multi-functional mecanum wheel dimension and performance integrated test stand of claim 1, wherein: drive arrangement (100) includes driving motor (1), workstation (19) top fixed mounting support, support top fixed mounting speed reducer one (2), speed reducer one (2) fixed mounting is at the support top, driving motor (1) fixed connection is at speed reducer one (2) outer wall, driving motor (1) output and speed reducer one (2) input end fixed connection.
4. The multi-functional mecanum wheel dimension and performance integrated test stand of claim 3, wherein: the speed reducer I (2) is fixedly connected with the coupler (3) at the output end, the coupler (3) is fixedly connected with the torque and rotating speed sensor (4) at the outer wall of the left side, a bearing seat (5) is arranged on the outer side of the torque and rotating speed sensor (4), the bearing seat (5) is fixedly installed at the top of the support, the coupler (3) is fixedly connected with the rotating shaft at the end part, and the rotating shaft is fixedly installed with a Mecanum wheel (6).
5. The multi-functional mecanum wheel dimension and performance integrated test stand of claim 4, wherein: the device is characterized in that a laser sensor adjusting seat (11) is fixedly installed at the top of the bearing seat (5), a laser sensor is fixedly installed on the outer wall of the laser sensor adjusting seat (11), and the output end of the laser sensor coincides with the axis of the shaft end.
6. The multi-functional mecanum wheel dimension and performance integrated test stand of claim 4, wherein: and a first displacement sensor (7) is fixedly mounted at the top of the Mecanum wheel (6), and the output end of the first displacement sensor (7) is superposed with the boundary point of the Mecanum wheel (6).
7. The multi-functional mecanum wheel dimension and performance integrated test stand of claim 3, wherein: the damping motor (12) is arranged on the left side of the driving motor (1), the output end of the damping motor (12) is fixedly connected with the second speed reducer (13), the connecting frame (14) is fixedly installed on the outer wall of the front end of the second speed reducer (13), and the outer wall of the front end of the connecting frame (14) is fixedly connected to the inner side outer wall of the detection wheel fixing frame (18).
8. The multi-functional mecanum wheel dimension and performance integrated test stand of claim 7, wherein: the outer wall of the left side of the connecting frame (14) is fixedly provided with a bearing sensor (21), and the bearing sensor (21) is positioned at the top of the outer wall of the left side of the connecting frame (14).
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| CN211262089U (en) * | 2019-12-26 | 2020-08-14 | 杭州易博特科技有限公司 | Roundness testing tool for Mecanum wheel |
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