CN101000282A - Multifunction test device for wheel motion performance of planetary detection robot - Google Patents
Multifunction test device for wheel motion performance of planetary detection robot Download PDFInfo
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Abstract
The invention relates to planet detecting robot car wheel moving performance multifunctional testing device. Test soil groove is connected with test bench on which drawing mechanism and the first tape wheel are set. The former is set the second tape wheel by synchronous belt. Connecting board is set between the synchronous belt and horizontal movement mechanism which is linked with the vertical one. Displacement sensor is connected with them. And the vertical movement mechanism is connected with forwarding drive mechanism by turning one. The invention can test not only car wheel rolling sinking quantity, pothook tractive force, driving torque, but also the turning sinking quantity, turning moment, and side force.
Description
Technical field
The present invention relates to a kind of proving installation of wheel movement performance.
Background technology
The planetary detecting robot car is the important equipment that the deep space star landing is surveyed.Because the motion of wheeled travel mechanism flexibly, quality and power consumption are all littler than crawler type and leg formula travel mechanism, and motion control is also simple than leg formula travel mechanism, so the external at present planetary detecting robot car of successful Application all adopts wheeled travel mechanism.Owing to the restriction of rugged surroundings such as the extraordinary temperature of deep space celestial body, radiation, complicated landforms, the planetary detecting robot car generally adopts the metallic wheel again, and the mechanical characteristic when wheel moves on probe satellite ball clay earth has material impact to the kinetic characteristic of car load.Therefore, need under the corresponding testing device simulated environment at first on earth, mechanical characteristic when wheel is moved on simulated soil is tested and is analyzed, mechanical characteristic when in view of the above wheel being moved on probe satellite ball clay earth is predicted and is assessed, and satisfies the requirement that the robot car moves with the performance that guarantees wheel under following deep space environment.At present such proving installation that relates in the disclosed documents and materials all is at a certain specific wheel, only tests the characteristic of its rolling movement, to the bad adaptability of aspects such as the size of tested wheel, configuration; In addition, can not test the mechanical characteristic of wheel divertical motion simultaneously.Therefore, on tested object adaptability and test function, all be further improved.
Summary of the invention
The multipurpose test system that the purpose of this invention is to provide a kind of wheel movement performance of planetary detecting robot car, the wheel movement performance testing device that it can solve existing planetary detecting robot car at be a certain specific wheel, only test the characteristic of its rolling movement, to the bad adaptability of aspects such as the size of tested wheel, configuration; In addition, can not test the problem of the mechanical characteristic of wheel divertical motion simultaneously.
The present invention includes testboard bay, experiment soil box and line slideway; The lower end of described experiment soil box and testboard bay is affixed, and line slideway fixedly is equipped with in the upper surface of testboard bay; The present invention also comprise pull mechanism, advancing drive mechanism, turn to driving mechanism, horizontal mobile mechanism, vertical movement mechanism, displacement transducer, band, first belt wheel, second belt wheel, first counterweight, web joint and belt wheel supporting seat synchronously; On the left end centre position of testboard bay upper surface the belt wheel supporting seat is housed fixedly, fixedly be equipped with on the right-hand member centre position of testboard bay upper surface and pull mechanism, on the described belt wheel supporting seat first belt wheel is housed, described pulling is equipped with second belt wheel that is in transmission connection by the synchronous band and first belt wheel in the mechanism, the upper surface of described web joint is affixed with the downside band of being with synchronously, the lower surface and the horizontal mobile mechanism of web joint are affixed, horizontal mobile mechanism and line slideway are slidingly connected, described horizontal mobile mechanism connects with vertical movement mechanism is moving, the upper end of described displacement transducer is connected with horizontal mobile mechanism, the lower end of displacement transducer is connected with vertical movement mechanism, vertical movement mechanism is connected with the described driving mechanism that turns to, turn to the lower end of driving mechanism to be connected with the upper end of advancing drive mechanism, described first counterweight is contained on the vertical movement mechanism.
The present invention has following beneficial effect: the present invention has excellent adaptability, the test needs of different-diameter, different in width, different configuration wheels can be satisfied, the mechanical characteristic such as sinkage, draw bar load, driving torque of wheel rolling movement under different slippage rates can be tested; Can test the mechanical characteristic of wheel divertical motion again; And sinkage, steering moment and side force can measure divertical motion under the different operating modes such as the biasing of the same axle steer of wheel, variable offset distance turns to the time.
Description of drawings
Fig. 1 is an one-piece construction front view of the present invention, Fig. 2 is the vertical view of Fig. 1, Fig. 3 is the left view of Fig. 1, Fig. 4 is that the front view that mechanism 4 and second belt wheel 16 are assembled together is dragged in holder, Fig. 5 is the one-piece construction front view of advancing drive mechanism 5, Fig. 6 is the left view of Fig. 5, Fig. 7 is the one-piece construction front view that turns to driving mechanism 6, Fig. 8 is the one-piece construction front view of horizontal mobile mechanism 7, Fig. 9 is the one-piece construction front view of vertical movement mechanism 8, Figure 10 is the front view of experiment soil box 2, and Figure 11 is the vertical view of Figure 10.
Embodiment
Embodiment one: in conjunction with Fig. 1～Fig. 3 present embodiment is described, present embodiment by testboard bay 1, experiment soil box 2, line slideway 3, pull mechanism 4, advancing drive mechanism 5, turn to driving mechanism 6, horizontal mobile mechanism 7, vertical movement mechanism 8, displacement transducer 9, be with 11, first belt wheel 14, second belt wheel 16, first counterweight 12, web joint 13 and belt wheel supporting seat 15 to form synchronously; Described experiment soil box 2 is affixed with the lower end of testboard bay 1, and line slideway 3 fixedly is equipped with in the upper surface of testboard bay 1; On the left end centre position of testboard bay 1 upper surface belt wheel supporting seat 15 is housed fixedly, fixedly be equipped with on the right-hand member centre position of testboard bay 1 upper surface and pull mechanism 4, first belt wheel 14 is housed on the described belt wheel supporting seat 15, described pulling is equipped with second belt wheel 16 that is in transmission connection with 11 and first belt wheel 14 by synchronously in the mechanism 4, the upper surface of described web joint 13 is with affixed with 11 downside band 11-1 synchronously, the lower surface of web joint 13 and horizontal mobile mechanism 7 are affixed, drag in holder under the driving of mechanism 47 of horizontal mobile mechanisms drag interaction backward, horizontal mobile mechanism 7 is slidingly connected with line slideway 3, described horizontal mobile mechanism 7 and 8 moving connections of vertical movement mechanism, the upper end of described displacement transducer 9 is connected with horizontal mobile mechanism 7, the lower end of displacement transducer 9 is connected with vertical movement mechanism 8, vertical movement mechanism 8 is connected with the described driving mechanism 6 that turns to, turn to the lower end of driving mechanism 6 to be connected with the upper end of advancing drive mechanism 5, described first counterweight 12 is contained on the vertical movement mechanism 8.Before the test, load onto soil in experiment soil box 2, soil property is simulated the soil property on the celestial body to be detected, utilizes sensor 9 to detect the vertical moving displacement (sinkage) of wheel 10.
Embodiment two: in conjunction with Fig. 1 and Fig. 4 present embodiment is described, the mechanism 4 that pulls of present embodiment forms by pulling code-disc 4-1, pull motor 4-2 and pulling speed reduction unit 4-3; The described code-disc 4-1 that pulls is contained in described pulling on the motor 4-2, the output shaft that pulls motor 4-2 is in transmission connection with the input shaft that pulls speed reduction unit 4-3, pull on the output shaft of speed reduction unit 4-3 described second belt wheel 16 is housed, pull motor 4-2 and pull the upper surface of speed reduction unit 4-3 and described testboard bay 1 affixed.Holder is dragged mechanism 4 by being with 7 of 11 pairs of horizontal mobile mechanisms drag interaction backward, the speed of regulating horizontal mobile mechanism 7 synchronously.Other composition and annexation are identical with embodiment one.
The speed reduction unit 4-3 that pulls in the present embodiment is produced by the poly-prestige gearing company limited in Shanghai, and model is R17-10:1; Pull code-disc 4-1 and produced by Switzerland Faulhaber group, model is IE2-512.
Embodiment three: in conjunction with Fig. 1 and Fig. 8 present embodiment is described, the horizontal mobile mechanism 7 of present embodiment is made up of upper slide 7-3, two linear bearing 7-2 and four slide block 7-1; Described upper slide 7-3 is installed on four slide block 7-1, four slide block 7-1 and described line slideway 3 are slidingly connected, described two linear bearing 7-2 are contained in respectively in the through hole of upper slide 7-3, and the upper end of described displacement transducer 9 is connected with the lower surface of upper slide 7-3.So be provided with, it is simple in structure, can guarantee that horizontal mobile mechanism 7 slides on line slideway 3 freely.Other composition and annexation are identical with embodiment one.
Embodiment four: in conjunction with Fig. 1, Fig. 8 and Fig. 9 present embodiment is described, the vertical movement mechanism 8 of present embodiment is made up of lower skateboard 8-1, load plate 8-3 and two straight line optical axis 8-2; The upper end of described two straight line optical axis 8-2 is affixed with the lower surface of load plate 8-3 respectively, it is affixed that the lower end of two straight line optical axis 8-2 is passed the upper surface of the endoporus of pairing separately linear bearing 7-2 and described lower skateboard 8-1 respectively, the lower end of described displacement transducer 9 is connected with the upper surface of lower skateboard 8-1, described first counterweight 12 is contained in the center of the upper surface of load plate 8-3, applies vertical load to treat measuring car wheel 10; Vertical movement mechanism 8 is contained in the linear bearing 7-2 endoporus by straight line optical axis 8-2, and the horizontal mobile mechanism 7 of moving linearly movably connects with vertical movement mechanism 8 formations of doing vertical movement by straight line optical axis 8-2.Other composition and annexation are identical with embodiment one.
Embodiment five: in conjunction with Fig. 1 and Fig. 7 present embodiment is described, the driving mechanism 6 that turns to of present embodiment is made up of the first code-disc 6-1, detent 6-2, steer motor 6-3, speed reduction unit 6-4, the first housing 6-5 and six power/torque sensor 6-6; The described first code-disc 6-1, detent 6-2 and steer motor 6-3 from top to bottom successively the housing by separately be serially connected, the input shaft of the output shaft of steer motor 6-3 and speed reduction unit 6-4 is in transmission connection, the output shaft of speed reduction unit 6-4 is connected with the upper end of six power/torque sensor 6-6, the lower end of six power/torque sensor 6-6 is connected with described advancing drive mechanism 5, speed reduction unit 6-4 is installed in the first housing 6-5, and the first housing 6-5 is fixed on the lower skateboard 8-1.So be provided with, when turning to driving mechanism 6 to drive 5 rotations of advancing drive mechanism, can drive the wheel 10 that is connected in the advancing drive mechanism 5 and turn to and detect steering moment and side force, the first housing 6-5 plays the effect that turns to off-load.Other composition and annexation are identical with embodiment one.
Detent 6-2 in the present embodiment is produced by Japan three wooden companies, and model is 112-02-13; The first code-disc 5-3 is produced by Switzerland Faulhaber group, and model is IE2-512; Six power/torque sensor 6-6 are produced by U.S. ATI Automation Co., Ltd, and model is ATIOmega160-SI-1500-240; Speed reduction unit 6-4 restrains U.S. harmonic drive company limited by middle skill and produces, and model is XB3-60-160.
Embodiment six: in conjunction with Fig. 1 and Fig. 5 present embodiment is described, the advancing drive mechanism 5 of present embodiment is made up of the second code-disc 5-1, the motor 5-2 that advances, advancing drive speed reduction unit 5-3, torque sensor 5-4, the second housing 5-5, left flange 5-6, left support plate 5-7, upper mounted plate 5-8, right support plate 5-9 and right flange 5-10; The right-hand member of the described second code-disc 5-1 is connected with the left end of the motor 5-2 that advances, the output shaft of motor 5-2 of advancing is connected with the input shaft of advancing drive speed reduction unit 5-3, the output shaft of advancing drive speed reduction unit 5-3 is connected with the input shaft of torque sensor 5-4, the mounting hole that the output shaft of torque sensor 5-4 passes left support plate 5-7 is connected with left flange 5-6, the second housing 5-5 is housed on the torque sensor 5-4, the lower end of advancing drive speed reduction unit 5-3 and torque sensor 5-4 is separately fixed on the base 5-7-1 of left support plate 5-7, described right flange 5-10 is coaxial and be oppositely arranged with left flange 5-6, the right-hand member of right flange 5-10 is connected with the cantilevered axle 5-9-1 of right support plate 5-9, the upper end slide 5-7-2 of left side support plate 5-7 and the upper end slide 5-9-2 of right support plate 5-9 are contained in respectively in the chute 5-8-1 of upper mounted plate 5-8, the upper end slide 5-7-2 of left side support plate 5-7 and the upper end slide 5-9-2 of right support plate 5-9 are connected with upper mounted plate 5-8 by attachment screw respectively, and the upper surface of upper mounted plate 5-8 is connected with the lower end of described six power/torque sensor 6-6.So be provided with, left side flange 5-6 is connected with wheel 10 respectively with right flange 5-10, the upper end slide 5-7-2 of left side support plate 5-7 and the upper end slide 5-9-2 of right support plate 5-9 all can be in the chute 5-8-1 of upper mounted plate 5-8 move left and right, left support plate 5-7 and right support plate 5-9 are moved in opposite directions or dorsad, two spans between the support plate can be regulated, the needs of different in width wheel can be satisfied; Move left support plate 5-7 and right support plate 5-9 in the same way, can regulate experiment soil box 2 interior soil turn to driving mechanism 6 centers of rotation relatively to wheel 10 strong points offset distance; Adjusting the back fixes left support plate 5-7 and right support plate 5-9 and fixed head 5-8 by attachment screw.Changing multi-form flange can make advancing drive mechanism 5 connect with the wheel of different configurations.Other composition and annexation are identical with embodiment one.
The torque sensor 5-4 of present embodiment is produced by U.S. cooper company, and model is LXT971; Advancing drive speed reduction unit 5-3 restrains U.S. harmonic drive company limited by skill in Beijing and produces, and model is XB3-60-160; The second code-disc 5-1 is produced by Switzerland Faulhaber group, and model is IE2-512.
Embodiment seven: in conjunction with Fig. 1, Figure 10 and Figure 11 present embodiment is described, the experiment soil box 2 of present embodiment is made up of base plate 2-1, two long side plate 2-2 and two short side plate 2-3; Described two long side plate 2-2, two short side plate 2-3 and base plate 2-1 surround experiment soil box 2, and experiment soil box 2 is affixed with the lower end of testboard bay 1.Simple in structure, easy making so is set.Other composition and annexation are identical with embodiment one.
Principle of work: control, regulate and to advance motor 5-2 and to pull the rotating speed of motor 4-2, can realize the rolling movement of wheel 10 under different slippage rates; Advancing drive torque when torque sensor 5-4 can measure wheel 10 rollings, displacement transducer 9 can be measured the sinkage of wheel 10, six power/torque sensor 6-6 can measure the draw bar load that wheel 10 advances, and the second code-disc 5-1 and holder are dragged code-disc 4-1 and detected respectively, feed back and advance motor 5-2 and pull rotating speed and the rotation displacement of motor 4-2; When wheel 10 rolling movements, detent 6-2 is in on-position, prevents that wheel 10 from deflecting.Regulate left support plate 5-7 and the position of right support plate 5-9 in the chute 5-8-1 of upper mounted plate 5-8 in the same way, can realize that under the driving of steer motor 6-3 wheel 10 no offset distances turn to, the biasing of different offset distances turns to; Sinkage when displacement transducer 9 can be measured wheel 10 and turns to, six power/torque sensor 6-6 can measure the steering moment of wheel 10, the first code-disc 6-1 can detect, feed back the turning velocity and the angle of rotation of wheel 10, and this moment, detent 6-2 was in release conditions.Leave the wheel that enough spaces can adapt to different-diameter between the axis of wheel 10 to be measured and the upper mounted plate 5-8; Regulate left support plate 5-7 and the position of right support plate 5-9 in the chute 5-8-1 of upper mounted plate 5-8 in opposite directions or dorsad, can regulate the span between the two, can satisfy the test needs of different in width wheel; Change the wheel that different left flange 5-6 and right flange 5-10 can adapt to different configurations.
Claims (6)
1, a kind of multipurpose test system of wheel movement performance of planetary detecting robot car, its composition comprise testboard bay (1), experiment soil box (2) and line slideway (3); Described experiment soil box (2) is affixed with the lower end of testboard bay (1), and line slideway (3) fixedly is equipped with in the upper surface of testboard bay (1); It is characterized in that it also comprise pull mechanism (4), advancing drive mechanism (5), turn to driving mechanism (6), horizontal mobile mechanism (7), vertical movement mechanism (8), displacement transducer (9), band (11), first belt wheel (14), second belt wheel (16), first counterweight (12), web joint (13) and belt wheel supporting seat (15) synchronously; On the left end centre position of testboard bay (1) upper surface belt wheel supporting seat (15) is housed fixedly, fixedly be equipped with on the right-hand member centre position of testboard bay (1) upper surface and pull mechanism (4), first belt wheel (14) is housed on the described belt wheel supporting seat (15), described pulling is equipped with second belt wheel (16) that is in transmission connection by synchronous band (11) and first belt wheel (14) in the mechanism (4), the upper surface of described web joint (13) is affixed with the downside band (11-1) of synchronous band (11), the lower surface of web joint (13) and horizontal mobile mechanism (7) are affixed, horizontal mobile mechanism (7) is slidingly connected with line slideway (3), described horizontal mobile mechanism (7) connects with vertical movement mechanism (8) is moving, the upper end of described displacement transducer (9) is connected with horizontal mobile mechanism (7), the lower end of displacement transducer (9) is connected with vertical movement mechanism (8), vertical movement mechanism (8) is connected with the described driving mechanism (6) that turns to, turn to the lower end of driving mechanism (6) to be connected with the upper end of advancing drive mechanism (5), described first counterweight (12) is contained on the vertical movement mechanism (8).
2, the multipurpose test system of the wheel movement performance of planetary detecting robot car according to claim 1 is characterized in that the described mechanism (4) that pulls forms by pulling code-disc (4-1), pull motor (4-2) and pulling speed reduction unit (4-3); The described code-disc (4-1) that pulls is contained in described pulling on the motor (4-2), the output shaft that pulls motor (4-2) is in transmission connection with the input shaft that pulls speed reduction unit (4-3), pull on the output shaft of speed reduction unit (4-3) described second belt wheel (16) is housed, pull motor (4-2) and pull speed reduction unit (4-3) affixed with the upper surface of described testboard bay (1).
3, the multipurpose test system of the wheel movement performance of planetary detecting robot car according to claim 1 is characterized in that described horizontal mobile mechanism (7) is made up of upper slide (7-3), two linear bearings (7-2) and four slide blocks (7-1); Described upper slide (7-3) is installed on four slide blocks (7-1), four slide blocks (7-1) are slidingly connected with described line slideway (3), described two linear bearings (7-2) are contained in respectively in the through hole of upper slide (7-3), and the upper end of described displacement transducer (9) is connected with the lower surface of upper slide (7-3).
4, the multipurpose test system of the wheel movement performance of planetary detecting robot car according to claim 3 is characterized in that described vertical movement mechanism (8) is made up of lower skateboard (8-1), load plate (8-3) and two straight line optical axises (8-2); The upper end of described two straight line optical axises (8-2) is affixed with the lower surface of load plate (8-3) respectively, it is affixed that the lower end of two straight line optical axises (8-2) is passed the upper surface of the endoporus of pairing separately linear bearing (7-2) and described lower skateboard (8-1) respectively, the lower end of described displacement transducer (9) is connected with the upper surface of lower skateboard (8-1), and described second counterweight (12) is contained on the upper surface of load plate (8-3).
5, the multipurpose test system of the wheel movement performance of planetary detecting robot car according to claim 1 is characterized in that the described driving mechanism (6) that turns to is made up of first code-disc (6-1), detent (6-2), steer motor (6-3), speed reduction unit (6-4), first housing (6-5) and six power/torque sensors (6-6); Described first code-disc (6-1), detent (6-2) and steer motor (6-3) from top to bottom successively the housing by separately be serially connected, the input shaft of the output shaft of steer motor (6-3) and speed reduction unit (6-4) is in transmission connection, the output shaft of speed reduction unit (6-4) is connected with the upper end of six power/torque sensors (6-6), the lower end of six power/torque sensors (6-6) is connected with described advancing drive mechanism (5), speed reduction unit (6-4) is installed in first housing (6-5), and first housing (6-5) is fixed on the lower skateboard (8-1).
6, the multipurpose test system of the wheel movement performance of planetary detecting robot car according to claim 1 is characterized in that described advancing drive mechanism (5) is made up of second code-disc (5-1), the motor that advances (5-2), advancing drive speed reduction unit (5-3), torque sensor (5-4), second housing (5-5), left flange (5-6), left support plate (5-7), upper mounted plate (5-8), right support plate (5-9) and right flange (5-10); The right-hand member of described second code-disc (5-1) is connected with the left end of the motor that advances (5-2), the output shaft of motor (5-2) of advancing is connected with the input shaft of advancing drive speed reduction unit (5-3), the output shaft of advancing drive speed reduction unit (5-3) is connected with the input shaft of torque sensor (5-4), the mounting hole that the output shaft of torque sensor (5-4) passes left support plate (5-7) is connected with left flange (5-6), second housing (5-5) is housed on the torque sensor (5-4), the lower end of advancing drive speed reduction unit (5-3) and torque sensor (5-4) is separately fixed on the base (5-7-1) of left support plate (5-7), described right flange (5-10) is coaxial and be oppositely arranged with left flange (5-6), the right-hand member of right flange (5-10) is connected with the cantilevered axle (5-9-1) of right support plate (5-9), the upper end slide (5-7-2) of left side support plate (5-7) and the upper end slide (5-9-2) of right support plate (5-9) are contained in the chute interior (5-8-1) of upper mounted plate (5-8) respectively, the upper end slide (5-7-2) of left side support plate (5-7) and the upper end slide (5-9-2) of right support plate (5-9) are connected with upper mounted plate (5-8) respectively, and the upper surface of upper mounted plate (5-8) is connected with the lower end of described six power/torque sensors (6-6).
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| CN100498270C (en) * | 2006-04-21 | 2009-06-10 | 北京航空航天大学 | Trolley for testing planetary detection vehicle wheel moving performance |
-
2006
- 2006-12-15 CN CNB2006101511476A patent/CN100458396C/en not_active Expired - Fee Related
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