CN104614194B - A kind of indoor lunar rover lunar soil interaction testing equipment - Google Patents

Abstract

The invention relates to an indoor lunar vehicle-lunar soil interaction test equipment, which includes a model box, a wheel unit, a power unit and a measurement and control unit. The model box is filled with simulated foundation soil, and the upper end is provided with a guide rail. The wheel unit includes a wheel, an upper plate, The lower plate and the guide post, the upper plate and the lower plate are arranged in parallel and connected by the guide post, the wheel is connected under the lower plate through the connecting plate, so that the lower plate and the wheel are fixed together, the upper plate is slidably connected to the guide rail, and the wheel is pressed on the On the simulated foundation soil, the power unit is connected to the wheels to drive the wheels to rotate. Horizontal traction and vertical loads are applied to the wheels. The measurement and control unit monitors the displacement and torque of the wheels in all directions, as well as the change of foundation soil pressure during the driving of the wheels. Compared with the prior art, the device of the present invention can carry out model tests indoors, and effectively obtain driving performance such as wheel traction, slip rate, and related information on stress changes in the soil.

Description

An indoor lunar rover-lunar soil interaction test equipment

technical field

The invention belongs to the technical field of civil engineering, and in particular relates to an indoor lunar vehicle-lunar soil interaction test equipment.

Background technique

As the "pioneer" of deep space exploration, the lunar rover has its unique advantages and necessity. Lunar rover walking on the lunar surface essentially involves the interaction between artificial devices and the lunar soil, which directly determines the design of the lunar rover. Therefore, before exploring the moon, a systematic model test of the interaction between the probe and the simulated lunar soil must be carried out, so it is necessary to conduct a systematic and in-depth study of the interaction mechanism between the lunar soil and the probe. Understanding the law of interaction between lunar soil and probes is one of the key scientific issues to be solved urgently. It involves three aspects: preparation and complex mechanical properties of lunar soil foundation, physical model test and numerical simulation technology. The existing research on the interaction between the lunar rover and the lunar soil is mainly to study the optimization of the upper structure of the probe, and fails to deeply analyze the complex mechanical response of the lunar soil under the wheel. The driving status of the detection vehicle's driving wheels is closely related to the basic mechanical properties of the soil, and the rut deformation formed when it passes through the lunar soil will directly reflect the traction performance of the driving wheels when they interact with the lunar soil. The shape, depth and influence area of the rut will also reflect the interaction between the driving wheel and the simulated lunar soil. The soil pressure change of the lunar soil under the wheel can directly reflect the way and scope of the impact of the wheel on the soil. Therefore, in the wheel-soil test, in addition to investigating the driving characteristics of the wheel, it is also of great significance to study the deformation of the lunar soil under the wheel and the change of soil pressure.

Real lunar soil is extremely precious. At present, there is only 1 gram of real lunar soil in China that was presented by the President of the United States when he visited China in 1978. Due to the difficulty of obtaining a large amount of high-quality "undisturbed" real lunar soil, it is unrealistic to use real lunar soil as a test material on the Earth's surface. However, the amount of lunar soil required for the lunar soil experiment is relatively large, so it is an inevitable choice to use simulated lunar soil for experimental research. As a substitute for the real lunar soil, the simulated lunar soil can well reflect the engineering mechanical properties and physical and mechanical properties of the lunar soil. The mechanical properties of the simulated lunar soil are studied by means of the wheel soil test, so as to infer that the mechanical properties of the real lunar soil are An effective research method.

Contents of the invention

The purpose of the present invention is exactly to provide a kind of indoor lunar rover-lunar soil interaction test equipment in order to overcome the defective that above-mentioned prior art exists, under the difficult situation of in-situ test, carry out model test indoors, obtain wheel traction effectively, Information about driving performance such as slip rate and stress changes in the soil.

The purpose of the present invention can be achieved through the following technical solutions:

An indoor lunar vehicle-lunar soil interaction test equipment, including a model box, a wheel unit, a power unit, and a measurement and control unit. The simulated foundation soil is filled in the model box, and guide rails are provided on the upper end. The wheel unit includes wheels, The upper plate, the lower plate and the guide post, the upper plate and the lower plate are arranged in parallel, and are connected through the guide post, and the wheels are connected under the lower plate through the connecting plate, so that the lower plate and the wheel are fixed together, the The upper plate is slidably connected to the guide rail, the wheels are pressed on the simulated foundation soil, the power unit is connected with the wheels to drive the wheels to rotate, and horizontal traction and vertical loads are applied to the wheels. The advanced measurement and control unit monitors the displacement and torque of the wheels in all directions, as well as the changes in soil pressure of the foundation during the driving of the wheels.

The upper plate is provided with a guide wheel, and the guide wheel is clamped on the guide rail, and the guide wheel and the guide rail jointly limit the lateral and vertical displacement changes of the upper plate.

The guide wheels are respectively an upper guide wheel clamped on the upper end of the guide rail, a lower guide wheel clamped on the lower end of the guide rail, and a lateral guide wheel clamped on the side of the guide rail.

The upper plate is slidingly connected with the guide post, the lower plate and the wheel can move up and down through the guide post, and the upper end of the guide post passes through the upper plate at a height greater than the predicted wheel by causing the upper plate and the wheel to move up and down Maximum settlement.

The upper end of the guide post is provided with a sleeve, and ball contact is used between the guide post and the sleeve to reduce frictional resistance during the process.

The power unit includes a driving motor and a variable frequency speed regulator. The middle of the wheel is a bearing. One end of the bearing of the wheel is connected to the driving motor, and the other end is connected to the balance weight. The variable frequency speed regulator is connected to the driving motor , adjust the speed of the drive motor through the frequency converter to realize the adjustment of the wheel speed.

The lower plate is provided with a load that applies a vertical load to the wheels, and the outside of the model box is provided with a bracket, and a pulley is provided on the bracket, and one end of the steel strand hangs a heavy object, and the other end goes around the sliding pulley After connecting with the wheel, set the position and number of slides to ensure that the hanging weight exerts horizontal traction on the wheel through the steel strand, and change the horizontal traction and vertical load to study the traction performance of the wheel;

The measurement and control unit includes a vertical displacement sensor, a horizontal displacement sensor, a torque sensor, an earth pressure cell, and a strain acquisition instrument. The vertical displacement sensor is fixed on the upper board, and a hook and a vertical shaft are arranged on the lower board. The displacement sensor is connected to measure the vertical displacement of the wheel. The horizontal displacement sensor is fixed on the model box. A hook is set on the upper plate to connect the horizontal displacement sensor to measure the horizontal displacement of the wheel. The torque sensor is set in the middle of the wheel. On the bearing, the torque of the wheel is measured. The earth pressure cell is buried in the simulated foundation soil to measure the change of the foundation earth pressure during the running of the wheel. The strain collector is simultaneously connected with the vertical displacement sensor, the horizontal displacement sensor, the torque The sensors are connected to the earth pressure cell, and the data of each sensor and the earth pressure cell are collected. The vertical displacement sensor is used to measure the distance between the upper plate and the lower plate to calculate the wheel subsidence, and the horizontal displacement sensor is used to calculate the horizontal displacement change to calculate the wheel slippage rate and study its form performance; by embedding multiple earth pressure in the soil layer box to study soil stress changes during wheel running.

The outer side of the wheel is detachably connected with spurs, the form and quantity of the spurs can be selected to change the form of the wheel, and the mechanism of action of the spurs can be studied through the number and form of the spurs. Two kinds of detachable thorns can be set, the height of the thorns is preferably 10mm and 20mm, screw holes are drilled on the smooth wheel, and the thorns can be fixed on the smooth wheel by screws.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

(1) By the test equipment of the present invention, the wheel test can realize applying any size horizontal traction within a reasonable range;

(2) The wheel thorns are designed as a detachable mode, which can realize different numbers and heights of wheel wheel modes for testing;

(3) The set load of the wheel test is applied to the steel plate of the cap, that is, the lower plate, and any vertical load within a reasonable range can be applied;

(4) The wheel test can realize driving at any speed within a certain range;

(5) During the wheel test driving process, the performance of the wheel can be recorded in the whole process, including the amount of subsidence, slip rate, etc.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the wheel;

Fig. 2 is the schematic structural diagram of the front view of the indoor lunar rover-lunar soil interaction test device of the present invention;

Fig. 3 is a side view structural schematic diagram of the indoor lunar rover-lunar soil interaction test device of the present invention.

Numbers in the figure: 1 is model box, 2 is toughened glass, 3 is angle steel, 4 is channel steel, 5 is wheel, 6 is wheel thorn, 7 is upper plate, 8 is lower plate, 9 is guide column, 10 is guide Wheel, 11 is the load, 12 is the balance weight, 13 is the pulley, 14 is the hanging weight, 15 is the guide rail, 16 is the vertical displacement sensor, 17 is the horizontal displacement sensor, 18 is the torque sensor, 19 is the driving motor , 20 is a bolt, 21 is a strain acquisition instrument, 22 is a frequency conversion governor, 23 is an earth pressure box, 24 is a sleeve, 25 is a connecting plate, and 26 is a support.

detailed description

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

Example

As shown in Figures 1 to 3, an indoor lunar vehicle-lunar soil interaction test equipment includes a model box 1, a wheel unit, a power unit, and a measurement and control unit. The model box 1 is filled with simulated foundation soil, and the upper end is provided with a guide rail 15. , the wheel unit includes a wheel 5, an upper plate 7, a lower plate 8 and a guide column 9, the upper plate 7 is arranged in parallel with the lower plate 8, and is connected through the guide column 9, and the wheel 5 is connected below the lower plate 8 through a connecting plate 25, so that The lower plate 8 and the wheel 5 are fixed together, the upper plate 7 is slidably connected to the guide rail 15, the wheel 5 is pressed on the simulated foundation soil, the power unit is connected to the wheel 5, and the wheel 5 is driven to rotate. For vertical loads, the measurement and control unit monitors the displacement and torque of the wheels 5 in all directions, as well as the changes in soil pressure of the foundation during the running of the wheels.

The design of the model box 1 mainly considers the two factors of not causing boundary effects and reducing the amount of soil as much as possible. The bottom plate of the model box 1 is made of steel plate, and the surrounding is made of tempered glass 2. The bottom plate and the surrounding are sealed and connected by channel steel 4; To ensure the stability, the surrounding frame is welded with angle steel 3, and the upper end of the model box 1 is detachably connected to the guide rail 15.

The upper plate 7 is provided with a guide wheel 10, and the guide wheel 10 is clamped on the guide rail 15. The guide wheel 10 and the guide rail 15 jointly limit the lateral and vertical displacement of the upper plate 7 from changing. The guide wheels 10 are respectively an upper guide wheel stuck on the upper end of the guide rail 15, a lower guide wheel stuck on the lower end of the guide rail 15, and a lateral guide wheel stuck on the side of the guide rail 15. The upper plate 7 is slidingly connected to the guide post 9, the lower plate 8 and the wheel 5 can move up and down through the guide post 9, and the upper end of the guide post 9 passes through the height of the upper plate 7 by causing the 9 to constrain the movement of the lower plate 8 and the wheel 5 Greater than the predicted maximum settlement of wheel 5. The upper end of the guide post 9 is provided with a sleeve 24, and ball contact is adopted between the guide post 9 and the sleeve 24 to reduce frictional resistance during the period.

The power unit includes a drive motor 19 and a frequency converter 22. The drive motor 19 is a 5RK60RGU-CF three-phase asynchronous motor for driving the wheels 5 to move. Bearing one end is connected with drive motor 19, and the other end is connected with balance counterweight 12, and frequency converter 22 is connected with drive motor 19, regulates the rotating speed of drive motor 19 by frequency converter 22, to realize the regulation of wheel 5 speeds.

The lower deck 8 is provided with a load 11 that applies a vertical load to the wheels 5, a support 26 is provided on the outside of the model box 1, and a pulley 13 is provided on the support 26. One end of the steel strand is hung with a heavy object 14, and the other end is bypassed. After sliding down the pulley 13, it is connected to the wheel 5, and the position and number of the sliding 13 are set to ensure that the hanging weight 14 exerts horizontal traction on the wheel 5 through the steel strand, and the horizontal traction and vertical load are changed to study the wheel 5. Traction performance;.

The measurement and control unit includes a vertical displacement sensor 16, a horizontal displacement sensor 17, a torque sensor 18, an earth pressure box 23, and a strain acquisition instrument 21. The vertical displacement sensor 16 is fixed on the upper plate 7, and the lower plate 8 is provided with a hook and The vertical displacement sensor 16 is connected to measure the vertical displacement of the wheel 5. The horizontal displacement sensor 17 is fixed on the model box 1. A hook is set on the upper plate 7 to connect the horizontal displacement sensor 17 to measure the horizontal displacement of the wheel 5. The torque sensor 18 Set on the intermediate bearing of the wheel 5, the model of the torque sensor 18 is SN-1050A to measure the torque of the wheel 5, the earth pressure cell 23 is embedded in the simulated foundation soil, and measures the change of the foundation soil pressure during the running of the wheel, and the strain acquisition instrument 21 is JM3840 The dynamic and static strain acquisition instrument is connected with the vertical displacement sensor 16, the horizontal displacement sensor 17, the torque sensor 18 and the earth pressure cell 23 at the same time, and collects the data of each sensor and the earth pressure cell 23. Measure the distance change between the upper floor 7 and the lower floor 8 by the vertical displacement sensor 16 to calculate the subsidence of the wheel 5, calculate the horizontal displacement change by the horizontal displacement sensor 17 to calculate the slip rate of the wheel 5, and study its form performance; A plurality of earth pressure cells 23 are buried in the vehicle to study the soil stress variation during the driving of the wheels.

The wheel 5 is a rigid wheel, made of aluminum alloy, with a diameter of 250mm, a width of 100mm, and a weight of 21.5kg. The outer side of the wheel 5 is detachably connected with a spur 6. The form and quantity of the spur 6 can be selected to change the form of the wheel 5. , the mechanism of action of the chakra 6 can be studied through the number and form of the chakra 6. Two kinds of detachable wheel thorns 6 can be set, and the height of the wheel thorns 6 is preferably 10mm and 20mm. On the smooth wheel 5, screw holes are drilled, and the wheel thorns 6 can be fixed on the smooth wheel by screws.

Wherein the guide rail 15, the support 26 and the frequency converter 22 are all fixed on the model box 1 by the bolt 20.

After the power is turned on, the frequency of the input current is changed by the frequency converter 22 to make the rotating speed of the driving motor 19 change within a certain range, so that the input torque can be measured by the torque sensor 18, and then the wheels 5 are driven at a certain speed. Drive forward at a constant speed. During the driving process, the balance counterweight 12 is added to the lower plate 8 and moves up and down together with the wheels 5 through the bearing. The upper plate 7 is stuck on the guide rail 15 through the guide wheel 10 and only has a horizontal displacement, so it can pass through the displacement sensor 16. The wheel settlement is obtained by measuring the change of the distance between the two layers of plates.

The above descriptions of the embodiments are for those of ordinary skill in the art to understand and use the invention. It is obvious that those skilled in the art can easily make various modifications to these embodiments, and apply the general principles described here to other embodiments without creative efforts. Therefore, the present invention is not limited to the above-mentioned embodiments. Improvements and modifications made by those skilled in the art according to the disclosure of the present invention without departing from the scope of the present invention should fall within the protection scope of the present invention.

Claims (7)

1. An indoor lunar vehicle-lunar soil interaction test equipment is characterized in that it comprises a model box (1), a wheel unit, a power unit and a measurement and control unit, and the simulated foundation soil is filled in the described model box (1), and the upper end A guide rail (15) is provided, and the wheel unit includes a wheel (5), an upper plate (7), a lower plate (8) and a guide column (9), and the upper plate (7) and the lower plate (8) Arranged in parallel and connected by guide posts (9), the wheels (5) are connected below the lower plate (8), the upper plate (7) is slidably connected on the guide rail (15), and the wheels ( 5) Pressing on the simulated foundation soil, the power unit is connected to the wheel (5) to drive the wheel (5) to rotate, the wheel (5) is applied with horizontal traction force and vertical load, and the measurement and control The unit monitors the displacement and torque of the wheel (5) in all directions, as well as the variation of the foundation soil pressure during the running of the wheel; Described lower deck (8) is provided with the load (11) that applies vertical load for wheel (5), and described model box (1) outside is provided with support (26), and is provided with on support (26). Pulley (13) is arranged, steel strand one end hangs heavy object (14), and the other end walks around pulley (13) and is connected with wheel (5), and the position and number of pulley (13) are set to ensure hanging heavy object ( 14) Apply horizontal traction to the wheel (5) through the steel strand; The measurement and control unit comprises a vertical displacement sensor (16), a horizontal displacement sensor (17), a torque sensor (18), an earth pressure cell (23) and a strain acquisition instrument (21), and the vertical displacement sensor ( 16) be fixed on the upper deck (7), set the hook on the lower deck (8) to connect with the vertical displacement sensor (16), and the horizontal displacement sensor (17) is fixed on the model box (1), in The upper plate (7) is provided with a hook connected to the horizontal displacement sensor (17), the torque sensor (18) is provided on the intermediate bearing of the wheel (5), and the earth pressure box (23) is buried in the simulated foundation soil , the described strain acquisition instrument (21) is connected with the vertical displacement sensor (16), the horizontal displacement sensor (17), the torque sensor (18) and the earth pressure box (23) simultaneously, collects each sensor and the earth pressure box ( 23) data. 2. A kind of indoor lunar rover-lunar soil interaction test equipment according to claim 1, characterized in that, said upper plate (7) is provided with a guide wheel (10), which is locked by the guide wheel (10) Located on the guide rail (15), the guide wheels (10) and the guide rail (15) jointly limit the lateral and vertical displacement changes of the upper layer board (7). 3. A kind of indoor lunar rover-lunar soil interaction test equipment according to claim 2, characterized in that, the guide wheels (10) are respectively the upper guide wheels and the clamps on the upper end of the guide rail (15). The lower guide wheel that is located at the lower end of the guide rail (15), and the lateral guide wheel that is stuck on the side of the guide rail (15). 4. A kind of indoor lunar rover-lunar soil interaction test equipment according to claim 2, characterized in that, the described upper plate (7) is slidingly connected with the guide post (9), and the described lower plate (8) ) and wheels (5) can move up and down by guide post (9). 5. A kind of indoor lunar rover-lunar soil interaction test equipment according to claim 2, characterized in that, the upper end of the guide post (9) is provided with a sleeve (24), and the guide post (9) ) and the sleeve (24) adopt ball contact. 6. A kind of indoor lunar rover-lunar soil interaction test equipment according to claim 1, characterized in that, the power unit includes a drive motor (19) and a frequency converter (22), and the wheels (5) There is a bearing in the middle, one end of the bearing of the wheel (5) is connected with the drive motor (19), the other end is connected with the balance counterweight (12), and the frequency conversion speed regulator (22) is connected with the drive motor (19) . 7. The indoor lunar rover-lunar soil interaction test equipment according to claim 1, characterized in that, the outer side of the wheel (5) is detachably connected with a wheel spur (6).