CN117928986A - Mecanum wheel performance test equipment and test method thereof - Google Patents
Mecanum wheel performance test equipment and test method thereof Download PDFInfo
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- CN117928986A CN117928986A CN202410118886.3A CN202410118886A CN117928986A CN 117928986 A CN117928986 A CN 117928986A CN 202410118886 A CN202410118886 A CN 202410118886A CN 117928986 A CN117928986 A CN 117928986A
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- 238000011056 performance test Methods 0.000 title claims abstract description 13
- 238000010998 test method Methods 0.000 title abstract description 5
- 238000012360 testing method Methods 0.000 claims abstract description 123
- 238000004088 simulation Methods 0.000 claims abstract description 72
- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 238000000034 method Methods 0.000 claims abstract description 24
- 230000000694 effects Effects 0.000 claims abstract description 16
- 238000012545 processing Methods 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims description 13
- 238000005299 abrasion Methods 0.000 claims description 11
- 239000000758 substrate Substances 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000000750 progressive effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000007493 shaping process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Abstract
The invention discloses Mecanum wheel performance test equipment and a test method thereof, wherein the Mecanum wheel performance test equipment comprises the following steps: the device comprises a processing machine table, a test pressurizing mechanism and a test simulation mechanism, wherein the test pressurizing mechanism and the test simulation mechanism are arranged on the processing machine table; the test pressurizing mechanism and the test simulating mechanism are arranged in parallel. The invention realizes the effect of simulating the bearing work of the Mecanum wheel by testing the pressurizing mechanism and the test simulation mechanism, can realize the work simulation of positive and anticlockwise rotation and transverse movement of the Mecanum wheel under a certain rotation speed and load, and can realize the effect of omnibearing detection. The device can simulate the bearing capacity and the walking mode of the Mecanum wheel under various movement modes, and can truly reproduce the performance of the Mecanum wheel under all working conditions. The comprehensive performance of the Mecanum wheel can be comprehensively evaluated by the method.
Description
Technical Field
The invention belongs to the technical field of test equipment, and relates to Mecanum wheel performance test equipment and a test method thereof.
Background
The omnidirectional movement of the Mecanum wheel is based on the principle of a central wheel having a plurality of wheel axles at the periphery of the wheel, the angled peripheral wheel axles translating a portion of the wheel steering force onto a wheel normal force; while the omnidirectional mobile platform based on the Mecanum wheel is increasingly widely applied, no test equipment can perform comprehensive evaluation at present for specific parameter work such as the bearing performance, roundness, service life, abrasion loss and the like of the Mecanum wheel.
Disclosure of Invention
In order to solve the technical problems, the invention adopts the following technical scheme:
A mecanum wheel performance test apparatus comprising: the device comprises a processing machine table, a test pressurizing mechanism and a test simulation mechanism, wherein the test pressurizing mechanism and the test simulation mechanism are arranged on the processing machine table; the test pressurizing mechanism and the test simulating mechanism are arranged in parallel;
the test pressurizing mechanism includes: the test wheel carrier, the pressurizing module for driving the test wheel carrier to move and feed to one side of the test simulation mechanism and the transverse moving module for driving the test wheel carrier to transversely move;
the test simulation mechanism includes: the road surface simulation wheel and the driving motor for driving the road surface simulation wheel to rotate.
As a further scheme of the invention: the test wheel frame in the test pressurizing mechanism is of a 匚 -shaped structure, and a wheel body mounting groove is formed in the test wheel frame and is used for mounting a Mecanum wheel to be tested;
wheel axle mounting holes are formed in the two side frame arms of the test wheel frame.
As a further scheme of the invention: the axle mounting hole is half open hole structure, and the upper end of axle mounting hole is provided with the axle apron, and the axle apron can be through the screw structure pressure knot on the axle mounting hole, realizes the fixed effect of shaft.
As a further scheme of the invention: wheel axle mounting holes with different mounting sizes are formed in the two side frame arms of the test wheel frame.
As a further scheme of the invention: the outer side positions of the frame arms at the two sides of the test wheel frame are provided with wheel axle supporting blocks, extension supporting holes corresponding to the wheel axle mounting holes are formed in the wheel axle supporting blocks, and the wheel axle cover plate can cover the wheel axle mounting holes and the extension supporting holes at the same time.
As a further scheme of the invention: the pressurization module includes: heavy load electric cylinder, feeding moving slide rail; the test wheel frame is in sliding fit with the feeding mobile slide rail.
As a further scheme of the invention: a pressurizing module of the test pressurizing mechanism is provided with a feeding substrate, and two sides of the feeding substrate are respectively arranged on the feeding moving slide rail through a slide block;
The sideslip module sets up on feeding the base plate, and this sideslip module includes: a traversing driving motor, a wheel carrier seat board and a pair of traversing guiding sliding rails; two sides of the wheel carrier seat board are respectively arranged on the feeding and moving slide rail through sliding blocks, and a group of transverse moving toothed rails are arranged at the lower end of the wheel carrier seat board; the transverse moving driving motor is arranged on the feeding substrate, a driving gear is arranged on an output shaft of the transverse moving driving motor, and the driving gear is meshed with the transverse moving toothed rail to realize transmission fit.
A method for testing performance of a Mecanum wheel, the method comprising the steps of:
s1: the Mecanum wheel to be tested is arranged on a test wheel frame, and the preparation work in the early stage of the test is carried out;
S2: the driving motor in the test simulation mechanism drives the pavement simulation wheel to rotate, meanwhile, the pressurizing module drives the Mecanum wheel to move towards the test simulation mechanism, and when the Mecanum wheel contacts with the pavement simulation wheel, the pavement simulation wheel drives the Mecanum wheel to rotate, and the position is calibrated as an initial position;
S3: the pressurizing module starts from an initial position, drives the Mecanum wheel to conduct pressurizing work in the direction of the road surface simulation wheel, and simulates a working state that the Mecanum wheel bears a weight and works in the working process;
After the Mecanum wheel is operated for a period of time in a pressurizing simulation mode, the pressurizing module drives the Mecanum wheel to exit the working position, and the surface abrasion degree of the Mecanum wheel is recorded; then continuing to perform pressurization simulation work, and performing abrasion test in a progressive increasing pressurization mode, so as to obtain abrasion values of the Mecanum wheel under each pressure value;
and in the simulation working process, a working posture mode of observing the Mecanum wheel is also needed, and when the working posture is abnormal, the test work is stopped, and the pressure value is calibrated as the maximum bearing pressure value of the Mecanum wheel.
As a further scheme of the invention: in the test step S3, the Mecanum wheel can be driven by the transverse movement module to move transversely, so that the effect of omnibearing wear resistance test is realized.
As a further scheme of the invention: when the initial position is calibrated, after the Mecanum wheel is contacted with the pavement simulation wheel, the pavement simulation wheel drives the Mecanum wheel to rotate, the pressurizing module can drive the Mecanum wheel to slowly back backwards until the Mecanum wheel is separated from the pavement simulation wheel, and the Mecanum wheel is slowly fed forwards through the pressurizing module, so that the most accurate initial position is calibrated.
The invention has the beneficial effects that: the test pressurizing mechanism and the test simulating mechanism realize the effect of simulating the bearing work of the Mecanum wheel, can realize the work simulation of the Mecanum wheel rotating positively and anticlockwise and moving transversely under a certain rotating speed and a certain load, can realize the effect of omnibearing detection,
The invention realizes comprehensive and deep measurement and test aiming at key indexes such as the bearing performance, the enveloping roundness, the service life, the abrasion loss and the like of the Mecanum wheel. The device can simulate the bearing capacity and the walking mode of the Mecanum wheel under various movement modes, and can truly reproduce the performance of the Mecanum wheel under all working conditions. The comprehensive performance of the Mecanum wheel can be comprehensively evaluated by the method, and the method and the device provide enough help for the scale of the mobile platform based on the Mecanum wheel.
Drawings
Fig. 1 is a schematic diagram of the structure of the present invention.
FIG. 2 is a schematic diagram of the test pressurizing mechanism according to the present invention.
Fig. 3 is a schematic structural view of the test wheel stand in the present invention.
FIG. 4 is a schematic diagram of a traversing module according to the present invention.
FIG. 5 is a schematic diagram of a test simulation mechanism according to the present invention.
Detailed Description
The technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments, and the present application is not limited by the exemplary embodiments described herein. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the embodiments of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and include, for example, either permanently connected, removably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The invention provides referring to fig. 1 to 5, in an embodiment of the invention, a mecanum wheel performance test device includes: a processing machine 1, a test pressurizing mechanism 2 and a test simulating mechanism 3 which are arranged on the processing machine 1; the test pressurizing mechanism 2 and the test simulating mechanism 3 are arranged in parallel;
The test pressurizing mechanism 2 includes: the test wheel carrier 22, the pressurizing module 21 for driving the test wheel carrier 22 to move and feed to one side of the test simulation mechanism 3 and the transverse moving module 23 for driving the test wheel carrier 22 to transversely move;
The test simulation mechanism 3 includes: road surface simulation wheel 32 and driving motor 31 for driving road surface simulation wheel 32 to rotate; during the test work of the Mecanum wheel, the Mecanum wheel to be tested is arranged on the test wheel frame 22, and is driven to contact with the road surface simulation wheel 32 through the pressurizing module 21; the road surface simulation wheel 32 is driven by the driving motor 31 to rotate (forward rotation or reverse rotation), the use state of the simulated Mecanum wheel on the ground is realized through the road surface simulation wheel 32, and in the test process, the application of working pressure can be realized through the pressurizing module 21 in the test pressurizing mechanism 2, so that the working state of the simulated Mecanum wheel under the condition of bearing a weight is realized, and the test effect of the wear resistance is realized.
And the transverse movement work of the Mecanum wheel to be detected is realized through the transverse movement module 23, so that the omnibearing wear resistance test requirement is met.
Further, the test wheel frame 22 in the test pressurizing mechanism 2 is in a 匚 -shaped structure, and a wheel body mounting groove 221 is formed in the test wheel frame 22 and is used for mounting a Mecanum wheel to be tested;
Wheel shaft mounting holes 222 are formed in the two side frame arms of the test wheel frame 22, two ends of a wheel shaft of the Mecanum wheel to be tested are respectively mounted in the wheel shaft mounting holes 222, and the Mecanum wheel is mounted in the wheel body mounting groove 221.
The axle mounting hole 222 is in a half-open hole structure, and when the axle is mounted, the axle is put into the axle mounting hole 222 from the upper end; and the upper end of the axle mounting hole 222 is provided with an axle cover plate 223, and the axle cover plate 223 can be pressed and buckled on the axle mounting hole 222 through a screw structure, so that the effect of limiting and fixing the axle in the hole is realized.
In order to realize the test effect of the Mecanum wheels with different sizes, a plurality of wheel shaft mounting holes 222 with different mounting sizes are formed on the two side frame arms of the test wheel frame 22; in the process of installation test, operating personnel can carry out installation work according to actual wheel axle diameter to satisfy the installation demand of different size wheels body.
Further, in order to ensure that the test wheel frame 22 can provide sufficient supporting force in the wheel body test process, the outer side positions of the frame arms at two sides of the test wheel frame 22 are provided with wheel axle supporting blocks 225, the wheel axle supporting blocks 225 are provided with extending supporting holes 224 corresponding to the wheel axle mounting holes 222, the wheel axle supporting blocks 225 are matched with the test wheel frame 22 to provide supporting areas for the wheel axle, so that the stability of detection processing is improved, and the wheel axle cover plate 223 can cover the wheel axle mounting holes 222 and the extending supporting holes 224 at the same time.
Further, the pressurizing module 21 includes: a heavy load electric cylinder 211, a feed movement rail 212; the test wheel frame 22 is in sliding fit with the feeding mobile slide rail 212, the heavy-load electric cylinder 211 drives the test wheel frame 22 to feed and pressurize the test simulation mechanism 3 along the feeding mobile slide rail 212, and the pressurizing module 21 with the heavy-load electric cylinder 211 as a driving source can achieve the effect of accurate pressurizing of 100 kg to 5 tons, so that the pressurizing controllability is better, and the pressurizing precision is higher.
Further, a feeding substrate 24 is arranged on the pressurizing module 21 of the test pressurizing mechanism 2, and two sides of the feeding substrate 24 are respectively arranged on the feeding moving slide rail 212 through sliding blocks;
The traversing module 23 is disposed on the feeding substrate 24, and the traversing module 23 includes: a traversing drive motor 241, a wheel carrier seat plate 233, and a pair of traversing guide rails 232; both sides of the wheel carrier seat plate 233 are respectively arranged on the feeding and moving slide rail 212 through sliding blocks, and the lower end of the wheel carrier seat plate 233 is arranged on a group of transverse moving toothed rails 234; the sideslip driving motor 241 is installed on feeding base plate 24, installs drive gear 235 on the output shaft of sideslip driving motor 241, and drive gear 235 and sideslip rack 234 intermeshing realize transmission cooperation, realize the lateral shifting work of the Mecanum wheel of waiting to detect through sideslip module 23, satisfy the omnidirectional wearability test demand.
Still further, the traversing module 23 is further provided with a distance sensor 236, where the distance sensor 236 is disposed at two sides of the feeding substrate 24, for implementing a position test in the traversing process of the wheel carrier seat board 233, so as to implement a control effect of accurate traversing.
Further, the surface shaping of road surface simulation wheel 32 has simulation texture groove 321, and simulation texture groove 321 sets up the shaping along the surface of road surface simulation wheel 32, both can improve the area of contact with the Mecanum wheel through simulation texture groove 321, also can be better realize the effect on simulation road surface simultaneously, improves the test accuracy.
In order to achieve the effect of fixing the road surface simulation wheel 32, the test simulation mechanism 3 further includes: the fixing frame 34 is used for fixing the road surface simulation wheel 32, and the driving motor 31 is in transmission fit with the road surface simulation wheel 32 through the chain transmission mechanism 33.
The embodiment of the invention also provides a Mecanum wheel performance test method, which is realized based on the Mecanum wheel performance test equipment, and can realize the wear resistance of the Mecanum wheel under different carrier pressures, and the test method comprises the following steps:
s1: the Mecanum wheel to be tested is arranged on the test wheel frame 22 to carry out the preparation work in the early stage of test;
S2: the driving motor 31 in the test simulation mechanism 3 drives the road surface simulation wheel 32 to rotate, meanwhile, the pressurizing module 21 drives the Mecanum wheel to move towards the test simulation mechanism 3, and when the Mecanum wheel contacts with the road surface simulation wheel 32, the road surface simulation wheel 32 drives the Mecanum wheel to rotate, and the position is calibrated as an initial position;
S3: the pressurizing module 21 starts from an initial position, drives the Mecanum wheel to perform pressurizing work towards the direction of the road surface simulation wheel 32, and simulates a working state that the Mecanum wheel carries a weight and works in the working process;
after the Mecanum wheel is operated for a period of time in a pressurizing simulation operation, the pressurizing module 21 drives the Mecanum wheel to exit from the working position, and the surface abrasion degree of the Mecanum wheel is recorded; then continuing to perform pressurization simulation work, and performing abrasion test in a progressive increasing pressurization mode, so as to obtain abrasion values of the Mecanum wheel under each pressure value;
and in the simulation working process, a working posture mode of observing the Mecanum wheel is also needed, and when the working posture is abnormal, the test work is stopped, and the pressure value is calibrated as the maximum bearing pressure value of the Mecanum wheel.
Further, in the test step S3, the microphone wheel may be driven by the traverse module 23 to move laterally, so as to achieve the effect of omnibearing wear resistance test.
Further, when the initial position is calibrated, after the mecanum wheel contacts with the road surface simulation wheel 32, the road surface simulation wheel 32 drives the mecanum wheel to rotate, the pressurizing module 21 drives the mecanum wheel to slowly retract backwards until the mecanum wheel is separated from the road surface simulation wheel 32, and then the mecanum wheel is slowly fed forwards through the pressurizing module 21, so that the most accurate initial position is calibrated.
It is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A mecanum wheel performance test apparatus comprising: the device comprises a processing machine table, a test pressurizing mechanism and a test simulation mechanism, wherein the test pressurizing mechanism and the test simulation mechanism are arranged on the processing machine table; the test pressurizing mechanism and the test simulating mechanism are arranged in parallel;
the test pressurizing mechanism includes: the test wheel carrier, the pressurizing module for driving the test wheel carrier to move and feed to one side of the test simulation mechanism and the transverse moving module for driving the test wheel carrier to transversely move;
the test simulation mechanism includes: the road surface simulation wheel and the driving motor for driving the road surface simulation wheel to rotate.
2. The equipment for testing the performance of the Mecanum wheel according to claim 1, wherein a test wheel frame in the test pressurizing mechanism is of a 匚 -shaped structure, and a wheel body mounting groove is formed in the test wheel frame and is used for mounting the Mecanum wheel to be tested;
wheel axle mounting holes are formed in the two side frame arms of the test wheel frame.
3. The Mecanum wheel performance test equipment according to claim 1, wherein the wheel axle mounting hole is of a half-open hole structure, the upper end of the wheel axle mounting hole is provided with a wheel axle cover plate, and the wheel axle cover plate can be pressed and buckled on the wheel axle mounting hole through a screw structure to achieve the fixing effect of the wheel axle.
4. The mecanum wheel performance test apparatus of claim 1 wherein a plurality of axle mounting holes of different mounting dimensions are formed in the two side frame arms of the test wheel frame.
5. A mecanum wheel performance testing apparatus according to claim 3, wherein the outer side positions of the frame arms on both sides of the testing wheel frame are provided with wheel axle supporting blocks, the wheel axle supporting blocks are formed with extension supporting holes corresponding to the wheel axle mounting holes, and the wheel axle cover plate can cover the wheel axle mounting holes and the extension supporting holes at the same time.
6. The mecanum wheel performance testing apparatus of claim 1 wherein the pressurizing module comprises: heavy load electric cylinder, feeding moving slide rail; the test wheel frame is in sliding fit with the feeding mobile slide rail.
7. The Mecanum wheel performance test equipment according to claim 6, wherein the pressurizing module of the test pressurizing mechanism is provided with a feeding substrate, and two sides of the feeding substrate are respectively arranged on the feeding moving slide rail through a slide block;
The sideslip module sets up on feeding the base plate, and this sideslip module includes: a traversing driving motor, a wheel carrier seat board and a pair of traversing guiding sliding rails; two sides of the wheel carrier seat board are respectively arranged on the feeding and moving slide rail through sliding blocks, and a group of transverse moving toothed rails are arranged at the lower end of the wheel carrier seat board; the transverse moving driving motor is arranged on the feeding substrate, a driving gear is arranged on an output shaft of the transverse moving driving motor, and the driving gear is meshed with the transverse moving toothed rail to realize transmission fit.
8. A mecanum wheel performance testing apparatus according to any one of claims 1-7, characterized in that the testing method comprises the steps of:
s1: the Mecanum wheel to be tested is arranged on a test wheel frame, and the preparation work in the early stage of the test is carried out;
S2: the driving motor in the test simulation mechanism drives the pavement simulation wheel to rotate, meanwhile, the pressurizing module drives the Mecanum wheel to move towards the test simulation mechanism, and when the Mecanum wheel contacts with the pavement simulation wheel, the pavement simulation wheel drives the Mecanum wheel to rotate, and the position is calibrated as an initial position;
S3: the pressurizing module starts from an initial position, drives the Mecanum wheel to conduct pressurizing work in the direction of the road surface simulation wheel, and simulates a working state that the Mecanum wheel bears a weight and works in the working process;
After the Mecanum wheel is operated for a period of time in a pressurizing simulation mode, the pressurizing module drives the Mecanum wheel to exit the working position, and the surface abrasion degree of the Mecanum wheel is recorded; then continuing to perform pressurization simulation work, and performing abrasion test in a progressive increasing pressurization mode, so as to obtain abrasion values of the Mecanum wheel under each pressure value;
and in the simulation working process, a working posture mode of observing the Mecanum wheel is also needed, and when the working posture is abnormal, the test work is stopped, and the pressure value is calibrated as the maximum bearing pressure value of the Mecanum wheel.
9. The method for testing the performance of the Mecanum wheel according to claim 8, wherein in the testing step S3, the Mecanum wheel is driven to move transversely by the traversing module, so that the effect of omnibearing wear resistance testing is achieved.
10. The method for testing the performance of the Mecanum wheel according to claim 8, wherein when the initial position is calibrated, after the Mecanum wheel is contacted with the road surface simulation wheel and the road surface simulation wheel drives the Mecanum wheel to rotate, the pressurizing module drives the Mecanum wheel to slowly retract backwards until the Mecanum wheel is separated from the road surface simulation wheel, and the Mecanum wheel is slowly fed forwards through the pressurizing module, so that the most accurate initial position is calibrated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410118886.3A CN117928986A (en) | 2024-01-29 | 2024-01-29 | Mecanum wheel performance test equipment and test method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410118886.3A CN117928986A (en) | 2024-01-29 | 2024-01-29 | Mecanum wheel performance test equipment and test method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117928986A true CN117928986A (en) | 2024-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410118886.3A Pending CN117928986A (en) | 2024-01-29 | 2024-01-29 | Mecanum wheel performance test equipment and test method thereof |
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| Country | Link |
|---|---|
| CN (1) | CN117928986A (en) |
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- 2024-01-29 CN CN202410118886.3A patent/CN117928986A/en active Pending
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