CN104122102B - Soil strength test board for wheel - Google Patents

Abstract

The invention relates to a wheel soil force testing platform, which comprises a test platform support, a wheel and a soil tank body interacting with the wheel, the soil tank body is arranged at the inner lower part of the test platform support, and the wheel is rolled on the upper surface of the soil tank body; The wheels are connected under the variable load mechanism through the steering mechanism, and the variable load mechanism is connected to the wheel driven drive mechanism through the vertical and horizontal moving mechanism, and is movably hoisted on the two upper beams of the test bench bracket; the rotating shaft of the wheel is directly connected to the active drive of the wheel. mechanism. The present invention can use the counterweight to change the weight of the wheel soil force test bench off-line, and simulate the magnitude of the force between the wheel and the ground under different vehicle weights; use the crank slider mechanism to change the distance between two magnets of the same sex, thereby Change the repulsive force between them, and simulate the function of the hover vehicle to change the vertical load of the wheel online in real time; use the active wheel drive mechanism and the wheel driven drive mechanism to simulate the active and driven two motion forms of the wheel.

Description

A wheel soil force test bench

technical field

The invention relates to a wheel soil force testing platform, in particular to a wheel soil force testing platform capable of changing the wheel-ground vertical force in real time on-line.

Background technique

There are large swamps, tidal flats, deserts and other soft ground environments on the surface of the earth, involving many industrial and agricultural sectors such as petroleum, mining, transportation, fishery, forestry, agriculture, and military fields. When off-road vehicles are running on soft ground, the running mechanism is prone to deep sinking, high resistance, low efficiency, severe skidding, and even inability to drive at all. Therefore, it is necessary to design and develop a soil force test bench for the study of running ) and soft soil, and optimize the design of the walking mechanism based on this to improve the soft ground passability.

The following issues should be considered in the design scheme of the wheel soil force test bench: First, reasonably determine the driving mode. Existing test benches usually use hub motor active drive alone (one example is the trolley device suitable for wheel mobility testing of planetary exploration vehicles disclosed in Chinese invention patent application No. 200610076321.5) or stepper motors alone to drive the test bench movement , so as to drive the wheels to do driven motion (an example of the lunar surface patrol device ground walking test system disclosed in the Chinese invention patent application number 201110429111.0), its disadvantage is that it cannot simulate both active and driven motion forms at the same time. Second, change the vertical load reasonably. Existing test benches usually change the vertical load off-line (one example is the trolley device suitable for the wheel movement performance test of planetary exploration vehicles disclosed in the Chinese invention patent application number 200610076321.5), that is, it is necessary to manually increase or decrease the counterweight to The disadvantage of changing the load force in the vertical direction of the wheel is that the load force in the vertical direction cannot be changed online in real time.

Based on the above requirements, the present invention proposes a wheel soil force test bench capable of measuring multiple soil parameters, simulating active and driven motion forms, and changing the vertical force of the wheel and ground in real time online.

Contents of the invention

The purpose of the present invention is to provide a wheel soil force testing platform for the defects of the prior art, which can measure multiple soil parameters, simulate two kinds of motion forms, active and driven, and can change the vertical position of the wheel in real time. to the force.

In order to achieve the above object, the present invention takes the following technical solutions:

A wheel soil force test bench, comprising a test bench support, a wheel and a soil tank body interacting with the wheel, characterized in that: the soil tank body is placed in the lower part of the test bench bracket, and the wheel is rolled on the The upper surface of the soil tank body; the wheels are connected below a variable load mechanism through a steering mechanism, and the variable load mechanism is connected to a wheel driven drive mechanism through a vertical and horizontal moving mechanism and is movably hoisted on the test platform On the two upper beams of the bracket; the rotating shaft of the wheel is directly connected with a wheel active driving mechanism.

The structure of the test bench support: two left uprights and two right uprights are parallel to each other along the vertical direction, and are respectively fixed and installed on four universal wheels of the test bench, and the two upper beams and the two lower beams are connected to each other along the horizontal direction. Parallel, the two ends are fixedly installed on the left column and the right column respectively, the two middle columns are parallel to the left column and the right column, and the two ends are respectively installed on the upper beam and the lower beam, and the two upper beams are respectively equipped with linear guide rails Seat, the linear guide rail is installed on the linear guide rail seat.

The structure of the wheel active driving mechanism and the steering mechanism: the wheel is installed on a transmission shaft, the left end of the transmission shaft is installed on the left end of a wheel bracket through a bearing, and is connected with an angular velocity sensor, and the right end is installed on the wheel through a bearing The right end of the bracket is connected with a torque sensor, a speed reducer and a hub motor in turn to form the active driving mechanism of the wheel: a vibration sensor is installed on the side of the wheel bracket, and a speed reducer, a steering motor and a The six-dimensional force sensor is connected, and the six-dimensional force sensor is connected with the counterweight box through a fixing plate.

The variable load mechanism: a crank motor is installed on a vertical slide rail frame, connected with a crank, a connecting rod, and a magnet slider in turn through a reducer, and the magnet slider is installed in a chute track , the chute is installed on an adjustment block, the adjustment block is installed on the counterweight box, and the counterweight is placed in the counterweight box; a pressure sensor is connected with the chute and the counterweight box respectively, and a magnet is installed on the pressure sensor and embedded in the chute track; the crank, connecting rod, magnet slider, and chute constitute a crank slider mechanism, and the adjustment block, counterweight box, counterweight and crank slider mechanism constitute the variable load mechanism.

The structure of the vertical and horizontal moving mechanism and the wheel driven drive mechanism: four slide rails are respectively connected with the counterweight box and a vertical slide rail frame, a linear displacement sensor is installed between the counterweight box and the vertical slide rail frame, and the vertical The slide rail frame is fixedly connected with a horizontal moving frame, and two linear guide rails are installed under the horizontal moving frame, and the linear guide rails are installed on two linear guide rail seats. Vertical and horizontal movement mechanism, a lead screw nut is fixedly installed on a lead screw nut fixing plate, a lead screw is screwed with the lead screw nut and one end is sequentially connected with a lead screw seat, a coupling, and a lead screw motor A fixed plate of the horizontal moving frame is fixedly connected with the horizontal moving frame, the fixed plate of the horizontal moving frame is connected with a screw nut fixing plate through bolts and nuts, the linear guide rail is installed under the horizontal moving frame, and the linear guide rail is installed on the straight line On the guide rail seat, the horizontal moving frame is fixedly connected with the vertical slide rail frame, the slide rails are respectively connected with the vertical slide rail frame and the counterweight box, and the screw motor, leading screw, linear guide rail, vertical and horizontal moving mechanism , The wheel bracket and the wheel constitute a wheel driven drive mechanism.

Compared with the prior art, the present invention has the following obvious outstanding substantive features and significant technical progress: first, the wheel can be driven by the hub motor alone, or the wheel can be used as a driven wheel, and the wheel can be driven by the screw motor alone driven movement. This drive wheel/driven wheel multi-modal simulation adds to the versatility of the test bench functionality. Second, using a simple mechanism (slider crank mechanism) and physical properties (same magnets repel each other), the force on the wheel in the vertical direction can be changed online and in real time. Third, the test bench and the soil tank body are independent bodies, and universal wheels are installed at the bottom, which is convenient for the handling of the test device and the replacement of different types of soil for the soil tank body. Fourth, the linear guide rail of the test bench is conducive to greatly reducing the force loaded on the lead screw, and in the active drive, the lead screw is separated from the horizontal moving frame, and the linear guide rail can replace the lead screw for horizontal movement.

Description of drawings

Figure 1 is the front view of the wheel soil force test bench

Figure 2 is the left view of the wheel soil force test bench

Figure 3 is the front view of the vertical and horizontal movement mechanism

Figure 4 is the left view of the vertical and horizontal movement mechanism

Figure 5 is a structural diagram of the variable load mechanism

Figure 6 is a structural diagram of the horizontal mobile bracket

Figure 7 is a structural diagram of the test bench support.

detailed description

Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. This embodiment is implemented on the premise of the technical solution of the present invention, and specific implementation methods and working processes are given, but the protection scope of the present invention is not limited to this embodiment.

Embodiment one:

1. Referring to Fig. 1～Fig. 7, this wheel soil strength test stand, comprises a test stand support A, a wheel 22 and a soil groove body 8 interacting with wheel 22, it is characterized in that: described soil groove body 8 places In the lower part of the test stand support A, the wheels 22 are rolled on the upper surface of the soil tank body 8; the wheels 22 are connected below a variable load mechanism C through a steering mechanism B, and the variable load mechanism C passes through a The vertical and horizontal moving mechanism D is connected to a wheel driven driving mechanism E and is movably hoisted on the two upper beams 3 of the test bench support A; the rotating shaft of the wheel 22 is directly connected to a wheel driving mechanism F.

Embodiment two:

This embodiment is basically the same as Embodiment 1, and the special features are as follows:

The structure of the test bench support A: two left columns 11 and two right columns 7 are parallel to each other in the vertical direction, and are respectively fixedly installed on four test bench universal wheels 17, and the two upper beams 3 and the two lower beams The crossbeams 9 are parallel to each other along the horizontal direction, and the two ends are fixedly installed on the left column 11 and the right column 7 respectively, and the two middle columns 12 are parallel to the left column 11 and the right column 7, and the two ends are respectively installed on the upper beam 3 and the lower beam 9 Above, the two upper beams 3 are respectively equipped with a linear guide rail seat 2, and a linear guide rail 14 is installed on the linear guide rail seat 2.

The structure of the wheel active drive mechanism F and the steering mechanism B: the wheel 22 is installed on a transmission shaft, the left end of the transmission shaft is installed on the left end of a wheel bracket 27 through a bearing, and is connected with an angular velocity sensor 30, the right end The bearing is installed on the right end of the wheel bracket 27, and is connected with a torque sensor 28, a speed reducer and an in-wheel motor 29 in turn to form the active driving mechanism F of the wheel: a vibration sensor 23 is installed on the side of the wheel bracket 27, and It is connected with a reducer 24, a steering motor 26 and a six-dimensional force sensor 25 in sequence, and the six-dimensional force sensor 25 is connected with the counterweight box 36 through a fixed plate.

The variable load mechanism C: a crank motor 40 is installed on a vertical slide rail frame 45, and is successively connected with a crank 31, a connecting rod 32, and a magnet slider 33 through a speed reducer, and the magnet slider 33 Installed in a chute 38 track, the chute 38 is installed on an adjustment block 37, the adjustment block 37 is installed on the counterweight box 36, and the counterweight 6 is placed in the counterweight box 36; a pressure sensor 35 and Described chute 38 links to each other with counterweight box 36, and a magnet 34 is installed on the pressure sensor 35, and is embedded in the track of chute 38; Described crank 31, connecting rod 32, magnet slider 33, chute 38 constitute a crank The slider mechanism, the adjustment block 37, the counterweight box 36, the counterweight 6 and the slider crank mechanism constitute the variable load mechanism C.

The structure of the vertical and horizontal moving mechanism D and the wheel driven drive mechanism E: four slide rails 5 are respectively connected with the counterweight box 36 and a vertical slide rail frame 45, and a linear displacement sensor 21 is installed on the counterweight box 36 and the vertical Between slide rail frame 45, vertical slide rail frame 45 is fixedly connected with a horizontal mobile frame 44, and two linear guide rails 14 are installed under horizontal mobile frame 44, and this linear guide rail 14 is installed on two linear guide rail seats 2, and described matching Heavy case 36, slide rail 5, vertical slide rail frame 45 and horizontal moving frame 44 constitute vertical and horizontal moving mechanism D, and a leading screw nut 41 is fixedly installed on a leading screw nut fixed plate 47, and a leading screw 48 and leading screw The nut 41 is screwed and one end is connected with a lead screw seat 13, a shaft coupling, and a lead screw motor 4 successively, and a horizontal moving frame fixing plate 46 is fixedly connected with the horizontal moving frame 44, and the horizontal moving frame fixing plate 46 is connected with the horizontal moving frame fixing plate 46. A leading screw nut fixed plate 47 is connected by bolt 42 and nut 43, and described linear guide rail 14 is installed under the horizontal moving frame 44, and linear guide rail 14 is installed on the linear rail seat 2, and described horizontal moving frame 44 and vertical slide rail frame 45 is fixedly connected, and the slide rail 5 is connected with the vertical slide rail frame 45 and the counterweight box 36 respectively, and the screw motor 4, the lead screw 48, the linear guide rail 14, the vertical and horizontal moving mechanism D, the wheel bracket 27 and the wheel 22 constitutes the wheel driven drive mechanism E.

Embodiment three:

As shown in Figures 1 to 7, the wheel soil force test bench includes an infrared sensor receiving end 1, a linear guide rail seat 2, an upper beam 3, a screw motor 4, a slide rail 5, a counterweight 6, a right column 7, Soil tank body 8, lower beam 9, soil tank beam 10, left column 11, center column 12, screw seat 13, linear guide rail 14, soil tank linear guide rail 15, soil tank linear guide rail seat 16, test bench universal wheel 17 , earth tank body universal wheel 18, soil scraping mechanism 19, infrared sensor transmitter 20, linear displacement sensor 21, wheel 22, vibration sensor 23, speed reducer 24, six-dimensional force sensor 25, steering motor 26, wheel bracket 27, Torque sensor 28, hub motor 29, angular velocity sensor 30, crank 31, connecting rod 32, magnet slider 33, magnet 34, pressure sensor 35, counterweight box 36, adjustment block 37, chute 38, reducer 39, crank motor 40 , screw nut 41, bolt 42, nut 43, horizontal moving bracket 44, vertical slide rail bracket 45, horizontal moving bracket fixing plate 46, screw nut fixing plate 47 and lead screw 48; left column 11, right column 7, middle The upright column 12, the upper beam 3 and the lower beam 9 constitute the test bench support A. The left column 11 and the right column 7 of the test bench support A are parallel to each other along the vertical direction, and are respectively fixedly installed on the universal wheels 17 of the test bench to facilitate the handling of the test bench. The upper beam 3 and the lower beam 9 are parallel to each other along the horizontal direction. They are respectively installed on the left column 11 and the right column 7. In order to ensure the rigidity of the beam and prevent large deformation, the center column 12 is parallel to the left column 11 and the right column 7, and the two ends are respectively installed on the upper beam 3 and the lower beam 9. , The linear guide rail seat 2 is installed on the upper beam 3, and the linear guide rail 14 is installed on the linear guide rail seat 2.

As shown in Figure 5, crank 31, connecting rod 32, magnet slider 33, chute 38 constitute crank slider mechanism, adjusting block 37, counterweight box 36, counterweight 6 and crank slider mechanism constitute variable load mechanism C. The crank motor 40 is installed on the vertical slide rail frame 45, and is connected with the crank 31, the connecting rod 32, and the magnet slider 33 successively through the reducer 39. The magnet slider 33 is installed in the track of the chute 38, and the chute 38 is installed in the adjustment block. 37, the adjustment block 37 is installed on the counterweight box 36, the counterweight 6 is placed in the counterweight box 36, the weight of the test bench can be adjusted, the pressure sensor 35 is connected with the chute 38 and the counterweight box 36 respectively, and the magnet 34 is installed on the pressure sensor 35 on, and embedded in the chute 38 tracks. Obviously, during the movement of the slider crank mechanism, the distance between the magnet slider 33 and the magnet 34 placed on the pressure sensor 35 will change, resulting in a changing repulsive force, and the pressure sensor 35 can measure the change between the two magnets. The repulsive force of the wheel can be changed online in real time to realize the online real-time load changing function of the test bench.

As shown in Fig. 3, Fig. 4 and Fig. 6, counterweight box 36, slide rail 5, vertical slide rail frame 45 and horizontal moving frame 44 constitute vertical and horizontal moving mechanism D, hub motor 29, wheel 22, wheel support 27 and vertical Form the active wheel driving mechanism F with the horizontal moving mechanism D, the leading screw motor 4, the leading screw 48, the linear guide rail 14, the vertical and horizontal moving mechanism D, the wheel support 27 and the wheel 22 constitute the wheel driven driving mechanism E. One end of leading screw 48 is installed in leading screw nut 41, and the end is connected with leading screw seat 13, coupling, leading screw motor 4 successively, and leading screw nut 41 is fixedly installed on leading screw nut fixing plate 47, and leading screw Nut fixed plate 47 is connected with horizontal mobile frame fixed plate 46 by bolt 42 and nut 43, and horizontal mobile frame fixed plate 46 is fixedly connected with horizontal mobile frame 44, and linear guide rail 14 is installed under horizontal mobile frame 44, and linear guide rail 14 is installed on the straight line. On the guide rail seat 2, the horizontal moving frame 44 is fixedly connected with the vertical slide rail frame 45, and the slide rail 5 is connected with the vertical slide rail frame 45 and the counterweight box 36 respectively to ensure the degree of freedom of the wheels in the vertical direction. In order to measure the driving wheel 22 The amount of sag, the linear displacement sensor 21 is installed between the counterweight box 36 and the vertical slide rail frame 45, the counterweight box 36 is connected with the six-dimensional force sensor 25, the steering motor 26, the speed reducer 24 and the wheel bracket 27 successively through the fixed plate, Wheel 22 is installed on the transmission shaft of wheel support 27, and transmission shaft left end is installed on wheel support 27 left ends by bearing, and is connected with angular velocity sensor 30, and angular velocity sensor 30 is used for measuring the angular velocity of wheel 22, and transmission shaft right end is installed on The right end of the wheel support 27 is connected with the torque sensor 28, the speed reducer and the hub motor 22 in turn. When the user removes the bolts 42 and nuts 43 connected between the lead screw nut fixing plate 47 and the horizontal moving frame fixing plate 46, so that the leading screw 48 is separated from the horizontal moving frame 44 below, the wheel hub motor 29 is used to drive the test separately. When the platform moves horizontally, the linear guide rail 14 replaces the lead screw 48 for horizontal movement, which can realize the active movement form of the wheel 22; Connected so that the leading screw 48 is integrated with the horizontal moving frame 44 below, the leading screw motor 4 is enabled to drive the leading screw 48 to rotate, and the horizontal moving frame 44 is driven to move in translation, so that the driven movement form of the wheel 22 can be realized; when the user will Leading screw nut fixed plate 47 is connected with horizontal mobile frame fixed plate 46 by bolt 42 and nut 43, and enable hub motor 29 and leading screw motor 4 simultaneously, control the rotating speed of hub motor 29 and leading screw motor 4, can realize wheel 22 Motion patterns at different slip rates.

The present invention is a wheel-soil force testing platform capable of changing the wheel-ground vertical force in real time on-line, and completes the wheel-ground force and moment test experiment by cooperating with the soil tank body 8 . The soil scraping mechanism 19 is installed on the soil tank linear guide rail 15, and the bottom of the soil scraping mechanism 19 is in contact with the soil in the soil tank body 8 to ensure the initial height and flatness of the soil, and it is connected with the counterweight box 36, the slide rail 5, and the vertical slide rail frame. 45 and the vertical and horizontal moving mechanism D that the horizontal moving frame 44 constitutes cooperate to ensure that before the test, the wheels 22 begin to test at the same height of the soil tank body 8; The left and right ends of the platform support A are symmetrically equipped with infrared sensor receiving ends 1 to ensure that the wheels 22 automatically stop moving when they reach both ends in the test; the soil tank body 8 can be moved by the soil tank universal wheel 18 installed at the bottom of the soil tank body 8, It is convenient to replace different types of soil.

Claims (4)

1. A wheel soil force test bench, comprising a test bench support (A), a wheel (22) and a soil tank body (8) interacting with the wheel (22), characterized in that: the soil tank body (8) Placed in the lower part of the test bench support (A), the wheels (22) are rolled on the upper surface of the soil tank (8); the wheels (22) are connected to a variable Below the load mechanism (C), the variable load mechanism (C) is connected to a wheel driven drive mechanism (E) through a vertical and horizontal movement mechanism (D) and is movably hoisted on the two sides of the test bench bracket (A). on the upper beam (3); the rotating shaft of the wheel (22) is directly connected to a wheel active drive mechanism (F); the variable load mechanism (C): a crank motor (40) is installed on a vertical slide rail frame (45) , connected in turn to a crank (31), a connecting rod (32), and a magnet slider (33) through a reducer, and the magnet slider (33) is installed in a chute (38) track, the The chute (38) is installed on an adjustment block (37), and the adjustment block (37) is installed on the counterweight box (36), and the counterweight (6) is placed in the counterweight box (36); a pressure sensor (35) They are respectively connected with the chute (38) and the counterweight box (36), and a magnet (34) is installed on the pressure sensor (35) and embedded in the track of the chute (38); the crank (31), connected Rod (32), magnet slide block (33), chute (38) constitute a crank slider mechanism, and described adjusting block (37), counterweight box (36), counterweight block (6) and crank slider mechanism constitute The variable load mechanism (C). 2. The wheel soil force test bench according to claim 1, characterized in that: the structure of the test bench bracket (A): two left uprights (11) and two right uprights (7) are parallel to each other along the vertical direction , respectively fixedly installed on the four universal wheels (17) of the test bench, the two upper beams (3) and the two lower beams (9) are parallel to each other along the horizontal direction, and the two ends are respectively fixedly installed on the left column (11) and on the right column (7), two middle columns (12) are parallel to the left column (11) and the right column (7), and the two ends are respectively installed on the upper beam (3) and the lower beam (9). A linear guide rail seat (2) is respectively installed on the root upper beam (3), and a linear guide rail (14) is installed on the linear guide rail seat (2). 3. The wheel soil force testing platform according to claim 1, characterized in that: the structure of the wheel active drive mechanism (F) and steering mechanism (B): the wheel (22) is installed on a transmission shaft , the left end of the transmission shaft is installed on the left end of a wheel bracket (27) through a bearing, and is connected with an angular velocity sensor (30), and the right end is installed on the right end of the wheel bracket (27) through a bearing, and is sequentially connected with a torque sensor (28), A speed reducer is connected with a hub motor (29) to form the wheel active drive mechanism (F); a vibration sensor (23) is installed on the side of the wheel support (27), and a speed reducer (24), A steering motor (26) is connected with a six-dimensional force sensor (25), and the six-dimensional force sensor (25) is connected with the counterweight box (36) through a fixed plate. 4. The wheel soil force testing platform according to claim 1, characterized in that: the structure of the vertical and horizontal moving mechanism (D) and the wheel driven driving mechanism (E): four slide rails (5) respectively The counterweight box (36) is connected with a vertical slide rail frame (45), and a linear displacement sensor (21) is installed between the counterweight box (36) and the vertical slide rail frame (45), and the vertical slide rail frame (45) and A horizontal moving frame (44) is fixedly connected, and two linear guide rails (14) are installed under the horizontal moving frame (44). ), slide rail (5), vertical slide rail frame (45) and horizontal moving frame (44) constitute the vertical and horizontal moving mechanism (D), and a lead screw nut (41) is fixedly mounted on a lead screw nut fixing plate (47 ), a lead screw (48) is screwed with a lead screw nut (41) and one end is connected with a lead screw seat (13), a coupling, and a lead screw motor (4) in turn, and one end moves horizontally The frame fixing plate (46) is fixedly connected with the horizontal moving frame (44), the horizontal moving frame fixing plate (46) is connected with a lead screw nut fixing plate (47) through bolts (42) and nuts (43), and the horizontal moving frame Install the linear guide rail (14) under (44), the linear guide rail (14) is installed on the linear guide rail seat (2), the horizontal moving frame (44) is fixedly connected with the vertical slide rail frame (45), and the sliding rail The rail (5) is connected with the vertical slide rail frame (45) and the counterweight box (36) respectively, and the screw motor (4), lead screw (48), linear guide rail (14), vertical and horizontal moving mechanism (D ), the wheel bracket (27) and the wheel (22) constitute the wheel driven drive mechanism (E).