CN113970449B - 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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- CN113970449B CN113970449B CN202011547093.1A CN202011547093A CN113970449B CN 113970449 B CN113970449 B CN 113970449B CN 202011547093 A CN202011547093 A CN 202011547093A CN 113970449 B CN113970449 B CN 113970449B
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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 overall movement of the mecanum wheel is based on the principle of a central wheel with a plurality of axles located around the wheel periphery, these angled peripheral axles transfer a portion of the wheel steering force to a normal wheel force, and have a plurality of small rollers distributed diagonally on its rim, so that the wheel can slide laterally.
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, meanwhile, the power change of a driving motor under different load conditions and the size of the generated axial force can not be known, in addition, the ground is simulated by a conveying belt similar to a tank chain, the Mecanum wheel is easy to damage and the seam can damage, and particularly under the heavy load condition, the Mecanum wheel comprehensive detection test experimental device is obvious.
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: the utility model provides a multi-functional mecanum wheel size and performance combined test platform includes drive arrangement and testing arrangement, testing arrangement includes the workstation, workstation top fixed mounting guide rail three, guide rail three with workstation left and right sides outer wall position is perpendicular, guide rail three symmetry is equipped with two sets ofly, two sets ofly three top sliding connection carriages of guide rail, carriage left side outer wall fixed mounting displacement sensor two, three left sides of guide rail are equipped with guide rail two, two fixed mounting of guide rail are at the workstation top, two symmetries are equipped with two sets ofly, two sets ofly two top sliding connection sliding plates of guide rail, sliding plate top fixed mounting guide rail one, guide rail one symmetry is equipped with two sets ofly, two sets ofly guide rail one is parallel with three positions of guide rail, a guide rail top sliding connection detection wheel mount, detection wheel mount inner wall movable mounting detection wheel, detection wheel mount left side is equipped with the loading hydro-cylinder, loading hydro-cylinder fixed mounting is at the sliding plate top, loading hydro-cylinder output fixed connection is on detection wheel mount left side outer wall, sliding plate front end outer wall fixed mounting scale, the scale is parallel with detection wheel mount.
Preferably, the top of the sliding frame is fixedly provided with springs, the springs are perpendicular to the outer wall of the left side of the sliding frame, and two groups of springs are symmetrically arranged.
Preferably, the driving device comprises a driving motor, a first workbench top is fixedly provided with a first support, a second support top is fixedly provided with a second support, a first speed reducer is fixedly arranged at the top of the second 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, and two sets of the second guide rails 10 are symmetrically arranged, the tops of the two groups of guide rails II 10 are connected with a sliding plate in a sliding mode (not marked in the figure), the tops of the sliding plates are fixedly provided with guide rails I9, the guide rails I9 are symmetrically provided with two groups, the positions of the two groups of guide rails I9 are parallel to the positions of the guide rails III 16, the tops of the guide rails I9 are connected with a detection wheel fixing frame 18 in a sliding mode, a detection wheel 8 is movably arranged on the inner wall of the detection wheel fixing frame 18, the left side of the detection wheel fixing frame 18 is provided with a loading oil cylinder 17, the loading oil cylinder 17 is fixedly arranged at the top of the 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 arranged 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 workbench 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 to be EEM33-70, the second displacement sensor 15 has the function of conveniently detecting the distance of the displacement of the sliding frame pushed by the extrusion spring 20 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, 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, has the ground form of simulating the Mecanum wheel 6 and directly carries out loading test on the Mecanum wheel 6, the loading oil cylinder 17 has the function of visually checking 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 first support (not labeled in the drawing) is fixedly mounted on the top of the worktable 19, a second support is fixedly mounted on the top of the first support, a first speed reducer 2 is fixedly mounted on the top of the first 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 first support has the functions of mounting 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, 2 output fixed connection shaft couplings 3 of speed reducer one, 3 left side outer wall fixed connection torque speed sensor 4 of shaft coupling, torque speed sensor 4 outside is equipped with bearing frame 5, bearing frame 5 fixed mounting is at a support top, 3 end fixed connection pivot (not marking in the figure) of shaft coupling, pivot end fixed mounting mecanum wheel 6, specifically, shaft coupling 3 has the effect of connecting pivot and 2 output of speed reducer one, and torque speed sensor 4 sets up to JN-DN3, and torque speed sensor 4 has the required moment of torsion of test drive mecanum wheel 6, and bearing frame 5 has the effect of supporting the pivot, and the pivot has the effect of installation mecanum wheel 6 and transmission;
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 coincided 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 a function of measuring axial force components of the mecanum wheel 6, the testing device 200 is connected with an external testing system, the testing system comprises an industrial control cabinet, an industrial personal computer, a data acquisition card and communication software, the industrial control cabinet has a function of installing a circuit controller to operate equipment and process collected data, the industrial personal computer is provided with a computer CPU, a hard disk, a memory, an external device and an interface, and is provided with an operating system, a control network and a protocol, information processing is convenient for the collected information, the data acquisition card has a function of automatically collecting non-electric quantity or electric quantity signals in a sensor testing unit and sending the signals to an upper computer for analysis and processing, and the communication software has a function of comprehensively processing the test information and displaying the test information through a 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 the driving motor 1 with the first speed reducer 2, the torque sensor 4 is connected with the first speed reducer 2 by the coupler 3 and is connected with the Mecanum wheel 6 by the bearing seat 5, the detection requirement under the condition of rated rotating speed of the 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 the spring 20 under the no-load condition, the micro-change of the radial dimension can cause the detection device to slightly move on the guide rail III 16, the maximum displacement value of the Mecanum wheel 6 detected by the second displacement sensor 15 is circular runout, the rotating Mecanum wheel 6 under the no-load condition is detected by the first displacement sensor 7 to carry out dense sampling, the section of the Mecanum wheel 6 is accurately detected, a loading oil cylinder 17 applies a loading force to the Mecanum wheel 6 through a detection wheel 8, the detection wheel drags the detection wheel 8 to simulate the ground in the opposite direction through a damping motor 12 and a speed reducer II 13, a guide rail I9 installed in the loading direction realizes adaptive loading to different diameter directions, a guide rail II 10 at the bottom can realize adaptive loading to different Mecanum wheel width directions, a bearing sensor 21 is installed in the direction of the guide rail II 10 and is 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 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 (3)
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 mounted 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), the third guide rail (16) is symmetrically provided with two groups, two groups are respectively arranged at the tops of the third guide rail (16) in a sliding connection manner, a second displacement sensor (15) is fixedly mounted at the outer wall of the left side of the sliding frame, a second guide rail (10) is arranged at the left side of the third guide rail (16), the second guide rail (10) is fixedly mounted at the top of the workbench (19), two groups are symmetrically provided at the second guide rail (10), two groups are respectively arranged at the tops of the second guide rail (10) in a sliding connection manner, a first guide rail (9) is fixedly mounted at the top of the sliding plate, a first guide rail (9) is symmetrically provided with two groups, the first guide rail (9) is parallel to the position of the third guide rail (16), a first guide rail (9) is fixedly connected at the top of the sliding connection manner, a detection wheel fixing frame (18), detection wheels (18) are movably mounted at the inner walls of the detection wheels (8), a loading oil cylinder (17) is arranged at the left side of the detection wheel fixing frame (18), an output end of the detection wheel fixing frame (22) is fixedly mounted at the outer wall of the fixing frame (17), the scale (22) is parallel to the detection wheel fixing frame (18), 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, the spring (20) is symmetrically provided with two groups, the driving device (100) comprises a driving motor (1), a first fixed installation support at the top of the workbench (19), a second fixed installation support at the top of the support, a first speed reducer (2) fixedly installed at the top of the support, a first driving motor (1) output end is fixedly connected with a first speed reducer (2) input end, a first speed reducer (2) output end is fixedly connected with a coupler (3), a coupler (3) left side outer wall is fixedly connected with a torque speed sensor (4), a bearing seat (5) is arranged on the outer side of the torque speed sensor (4), a bearing seat (5) is fixedly installed at the top of the support, a rotating shaft end of the coupler (3) is fixedly connected with a rotating shaft, a mecanum wheel (6) is fixedly installed at the end of the rotating shaft, a laser sensor adjusting seat (11) is overlapped with the laser sensor axis end and the laser sensor adjusting seat (11), the device is characterized in that a damping motor (12) is arranged on the left side of the driving motor (1), a second speed reducer (13) is fixedly connected with the output end of the damping motor (12), the damping motor and the second speed reducer drag the detection wheel to simulate the ground in the opposite direction, a 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).
2. The multi-functional mecanum wheel dimension and performance integrated test stand of claim 1, 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).
3. The integrated dimension and performance test bench for a multi-functional mecanum wheel of claim 2, wherein: the bearing sensor (21) is fixedly installed on the outer wall of the left side of the connecting frame (14), and the bearing sensor (21) is located on the top of the outer wall of the left side of the connecting frame (14).
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| CN202011547093.1A CN113970449B (en) | 2020-12-24 | 2020-12-24 | Multifunctional Mecanum wheel size and performance comprehensive test bench |
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| CN202011547093.1A CN113970449B (en) | 2020-12-24 | 2020-12-24 | Multifunctional Mecanum wheel size and performance comprehensive test bench |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN113970449A (en) | 2022-01-25 |
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