CN104614194B - A kind of indoor lunar rover lunar soil interaction testing equipment - Google Patents
A kind of indoor lunar rover lunar soil interaction testing equipment Download PDFInfo
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- CN104614194B CN104614194B CN201510032982.7A CN201510032982A CN104614194B CN 104614194 B CN104614194 B CN 104614194B CN 201510032982 A CN201510032982 A CN 201510032982A CN 104614194 B CN104614194 B CN 104614194B
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- wheel
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Abstract
The present invention relates to a kind of indoor lunar rover lunar soil interaction testing equipment, including model casing, wheel unit, power unit and measurement and control unit, filling mould intends foundation soil in model casing, upper end is provided with guide rail, wheel unit includes wheel, top plate, lower plywood and guide pillar, top plate be arranged in parallel with lower plywood, and connected by guide pillar, wheel is connected to below lower plywood by connecting plate, lower plywood is set to be fixed together with wheel, top plate is slidably connected on guide rail, pressure wheel is on ground foundation simulation soil, power unit is connected with wheel, drive vehicle wheel rotation, be applied with wheel level to tractive force with vertical to load, measurement and control unit monitoring wheel is each to displacement and moment of torsion, and foundation soil pressure changing during wheels travel.Compared with prior art, by the equipment of the present invention, model test can be carried out indoors, the relevant information of stress variation in the driving performances such as net tractive force of wheel, skidding rate and the soil body is effectively obtained.
Description
Technical field
The invention belongs to technical field of civil engineering, tested more particularly, to a kind of indoor lunar rover-lunar soil interaction
Equipment.
Background technology
Lunar rover has its unique advantage and necessity as " the first soldier " of survey of deep space.Lunar rover is in moonwalk sheet
Said in matter and be related to the problem of Prosthesis interacts with lunar soil, directly decide the design of moon rover.Thus,
Row detector must be entered before the detection moon to test with the system model that simulative lunar soil interacts, therefore be necessary to lunar soil and detection
Device interaction mechanism carries out system in-depth study.And the interaction rule for recognizing lunar soil and detector is wherein urgently to solve
One of key scientific problems certainly.It is related to preparation and complicated mechanical characteristic, physical experiments and the numerical value of lunar soil ground
Three aspects of emulation technology.Existing lunar rover is mainly the excellent of research detector superstructure with lunar soil repercussion study
Change, fail in depth to analyze the complicated mechanical response of the lower lunar soil of wheel.Detect the fundamental force of the driving wheel travel conditions and soil of vehicle
Learn performance closely bound up, and it crosses the rutting deformation formed during lunar soil can directly reflect very much its driving wheel and lunar soil
Hauling ability situation during effect.Shape, weight and domain of influence of rut etc. will also reflect driving wheel and simulative lunar soil
Interaction relationship etc..The soil pressure change of the lower lunar soil of wheel can directly reflect influence mode and coverage of the wheel to soil.
Therefore, when entering the experiment of road wheel earth, the ride characteristic except investigating wheel, deformation and soil pressure Changeement to the lower lunar soil of wheel
Equally have very important significance.
True lunar soil is extremely precious, and true lunar soil domestic at present only has US President in 1978 and accesses 1 given during China
Gram.Due to obtaining the difficulty of a large amount of high-quality " being undisturbed " true lunar soil, therefore examination is used as using true lunar soil at the earth's surface
It is unpractical to test material.However, it is larger for the lunar soil quantity required for the wheel earth experiment of lunar soil engineering mechanics property research,
Therefore, being used for experimental study using simulative lunar soil turns into inevitable choice.Simulative lunar soil as true lunar soil a kind of substitute,
It can be good at reflecting the engineering mechanical properties and physico mechanical characteristic of lunar soil, by the mechanics of wheel earth experimental study simulative lunar soil
Characteristic, so that the mechanical characteristic for inferring true lunar soil is a kind of effective research method.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of indoor lunar rover-moon
Earth interaction testing equipment, in the case of testing difficulty in the original location, carries out model test, effectively obtains wheel and lead indoors
The relevant information of stress variation in the driving performances such as gravitation, skidding rate and the soil body.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of indoor lunar rover-lunar soil interaction testing equipment, including model casing, wheel unit, power unit and survey
Control filling mould in unit, described model casing and intend foundation soil, upper end is provided with guide rail, and described wheel unit includes wheel, upper strata
Plate, lower plywood and guide pillar, described top plate be arranged in parallel with lower plywood, and are connected by guide pillar, and described wheel passes through even
Fishplate bar is connected to below lower plywood, lower plywood is fixed together with wheel, described top plate is slidably connected on guide rail, institute
The pressure wheel stated is on ground foundation simulation soil, and described power unit is connected with wheel, drives and is applied on vehicle wheel rotation, described wheel
Added with level to tractive force with vertical to load, described measurement and control unit monitoring wheel is each to displacement and moment of torsion, and wheel row
Foundation soil pressure changing during sailing.
Described top plate is provided with directive wheel, is fastened on by directive wheel on guide rail, directive wheel is limited jointly with guide rail
Top plate is lateral and vertical to not producing change in displacement.
Described directive wheel is to be fastened on the top directive wheel of guide rail upper end, be fastened on the bottom guiding of guide rail lower end respectively
Wheel, and be fastened on guide rail side be directed laterally to wheel.
Described top plate is slidably connected with guide pillar, and described lower plywood and wheel can be produced by guide pillar and moved up and down,
By causing to constrain moving up and down for lower plywood and wheel, the wheel that guide pillar upper end is more than prediction through the height of top plate is maximum
Settling amount.
Described guide pillar upper end be provided with sleeve, between described guide pillar and sleeve use ball contact, with reduction during rub
Resistance.
It is bearing, the axle of wheel that described power unit, which is included in the middle of motor and variable-frequency governor, described wheel,
Hold one end to be connected with motor, the other end is connected with counterweight, described variable-frequency governor is connected with motor, is passed through
Variable-frequency governor adjusts the rotating speed of motor, to realize the regulation of wheel velocity.
Described lower plywood is provided with to be applied on the outside of the vertical loads to load, described model casing provided with branch for wheel
Frame, is provided with pulley on support, and steel strand wires one end hangs extension weight from above, and the other end is connected with wheel after bypassing landing pulley, set
The position of landing and number, it is ensured that hang weight and level is applied with to wheel to tractive force by steel strand wires, change level to traction
Power with vertical to load, to study the hauling ability of wheel；.
Vertical displacement sensor that described measurement and control unit includes, level are to displacement transducer, torque sensor, soil pressure
Box and strain acquirement instrument, described vertical displacement sensor are fixed on top plate, hook are set on lower plywood and vertical
Displacement transducer is connected, and measures wheel vertical displacement, described level is fixed on model casing to displacement transducer, in top plate
Upper to set hook connection level to displacement transducer, measurement wheel level sets wheel to displacement, described torque sensor
On intermediate bearing, the moment of torsion of wheel is measured, described soil pressure cell is embedded in ground foundation simulation soil, during measurement wheels travel
Foundation soil pressure change, described strain acquirement instrument is simultaneously with vertical displacement sensor, level to displacement transducer, torque sensing
Device and soil pressure cell connection, gather the data of each sensor and soil pressure cell.By vertical displacement sensor measure top plate with
Distance change calculates car by level to calculate wheel sinkage to displacement transducer calculated level change in displacement between lower plywood
Skidding rate is taken turns, its form performance is studied；By burying multiple soil pressure cells in soil layer, to study the soil body during wheels travel
Stress variation.
Described lateral wheel detachable connection has wheel to pierce, the form and quantity that wheel can be selected to pierce, to change wheel
Form, can pass through take turns thorn quantity and form research wheel pierce the mechanism of action.Two kinds of dismountable wheel thorns, wheel thorn can be set
It is highly preferred be 10mm and 20mm, screw hole of being drilled on smooth wheel, wheel transfixation is crossed screw and can be fixed on smooth wheel.
Compared with prior art, the present invention has advantages below and beneficial effect：
(1) by the testing equipment of the present invention, wheel experiment can realize that applying arbitrary size level in zone of reasonableness leads
Gravitation；
(2) wheel thorn is designed to detachable pattern, it is possible to achieve varying number, the wheel round pattern of different height are tried
Test；
(3) wheel experiment sets load to apply cushion cap steel plate, i.e. lower plywood, can apply arbitrary size in zone of reasonableness and erect
To load；
(4) wheel experiment can realize the traveling of arbitrary speed in certain limit；
(5) during wheel experiment traveling, can whole record wheels travel performance, including sinkage, slippage rate etc..
Brief description of the drawings
Fig. 1 is wheel overall structure diagram；
Fig. 2 is indoor lunar rover of the invention-lunar soil interaction experimental rig main structure diagram；
Fig. 3 is indoor lunar rover of the invention-lunar soil interaction experimental rig side structure schematic view.
Label in figure：1 is model casing, and 2 be safety glass, and 3 be angle steel, and 4 be channel-section steel, and 5 be wheel, and 6 be wheel thorn, and 7 be upper
Laminate, 8 be lower plywood, and 9 be guide pillar, and 10 be directive wheel, and 11 be loads, and 12 be counterweight, and 13 be pulley, and 14 is heavy to hang
Thing, 15 be guide rail, and 16 be vertical displacement sensor, 17 be level to displacement transducer, 18 be torque sensor, and 19 be driving electricity
Machine, 20 be bolt, and 21 be strain acquirement instrument, and 22 be variable-frequency governor, and 23 be soil pressure cell, and 24 be sleeve, and 25 be connecting plate, 26
For support.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
As shown in FIG. 1 to 3, a kind of indoor lunar rover-lunar soil interaction testing equipment, including model casing 1, wheel list
Filling mould intends foundation soil in member, power unit and measurement and control unit, model casing 1, and upper end is provided with guide rail 15, and wheel unit includes wheel
5th, top plate 7, lower plywood 8 and guide pillar 9, top plate 7 be arranged in parallel with lower plywood 8, and is connected by guide pillar 9, and wheel 5 passes through even
Fishplate bar 25 is connected to the lower section of lower plywood 8, lower plywood 8 is fixed together with wheel 5, top plate 7 is slidably connected on guide rail 15,
Wheel 5 is pressed on ground foundation simulation soil, and power unit is connected with wheel 5, is rotated with motor car wheel 5, and level is applied with wheel 5 to leading
Gravitation is with vertical to load, and measurement and control unit monitoring wheel 5 is each to ground soil pressure during displacement and moment of torsion, and wheels travel
Situation of change.
The design of model casing 1 mainly considers not causing boundary effect and as far as possible two factors of reduction soil amount, model casing 1
Bottom plate is steel plate, and surrounding uses safety glass 2, and bottom plate is tightly connected with surrounding by channel-section steel 4；Meanwhile, in order to ensure model casing
Steadiness, periphery skeleton welded using angle steel 3, and the upper end of model casing 1 is detachably connected with guide rail 15.
Top plate 7 is provided with directive wheel 10, is fastened on by directive wheel 10 on guide rail 15, directive wheel 10 and guide rail 15 are common
Limitation top plate 7 is lateral and vertical to not producing change in displacement.Directive wheel 10 is the upper guide for being fastened on the upper end of guide rail 15 respectively
To taking turns, be fastened on the bottom directive wheel of the lower end of guide rail 15, and be fastened on the side of guide rail 15 be directed laterally to wheel.Top plate 7 with
Guide pillar 9 is slidably connected, and lower plywood 8 and wheel 5 can be produced by guide pillar 9 and moved up and down, by causing 9 constraint lower plywoods 8 and car
Wheel 5 is moved up and down, and the upper end of guide pillar 9 is more than wheel 5 largest settlement of prediction through the height of top plate 7.The upper end of guide pillar 9 is set
Have sleeve 24, between guide pillar 9 and sleeve 24 use ball contact, with reduction during frictional resistance.
Power unit includes motor 19 and variable-frequency governor 22, and motor 19 is different using 5RK60RGU-CF tri-
Motor is walked, is moved for driving moment 5, the model RB600 of variable-frequency governor 22, is bearing, the bearing of wheel 5 in the middle of wheel 5
One end is connected with motor 19, and the other end is connected with counterweight 12, and variable-frequency governor 22 is connected with motor 19, is passed through
Variable-frequency governor 22 adjusts the rotating speed of motor 19, to realize the regulation of the speed of wheel 5.
Lower plywood 8 is provided with applies the vertical loads 11 to load for wheel 5, and the outside of model casing 1 is provided with support 26,
Support 26 is provided with pulley 13, and steel strand wires one end hangs extension weight 14 from above, and the other end is connected after bypassing landing pulley 13 with wheel 5,
Position and the number of landing 13 are set, it is ensured that hang weight 14 and level is applied with to wheel 5 to tractive force by steel strand wires, change water
Put down to tractive force with vertical to load, to study the hauling ability of wheel 5；.
Vertical displacement sensor 16 that measurement and control unit includes, level are to displacement transducer 17, torque sensor 18, soil pressure
Box 23 and strain acquirement instrument 21, vertical displacement sensor 16 are fixed on top plate 7, and hook is set on lower plywood 8 with erecting
Connected to displacement transducer 16, measure the vertical displacement of wheel 5, level is fixed on model casing 1 to displacement transducer 17, on upper strata
Set hook connection level to displacement transducer 17 on plate 7, the measurement level of wheel 5 sets wheel 5 to displacement, torque sensor 18
Intermediate bearing on, the model SN-1050A of torque sensor 18 measures the moment of torsion of wheel 5, soil pressure cell 23 is embedded in simulation
In foundation soil, foundation soil pressure change during measurement wheels travel, strain acquirement instrument 21 is JM3840 sound state strain acquirements
Instrument, while being connected with vertical displacement sensor 16, level to displacement transducer 17, torque sensor 18 and soil pressure cell 23, is adopted
Collect the data of each sensor and soil pressure cell 23.Distance between top plate 7 and lower plywood 8 is measured by vertical displacement sensor 16
Change calculates the skidding rate of wheel 5 by level to calculate the sinkage of wheel 5 to the calculated level change in displacement of displacement transducer 17,
Study its form performance；By burying multiple soil pressure cells 23 in soil layer, become with studying resistance to shear of soil during wheels travel
Change.
Wheel 5 is rigid wheel, and using aluminium alloy rigid wheel, diameter 250mm, width 100mm, conduct oneself with dignity 21.5kg, outside wheel 5
Side detachable connection has wheel thorn 6, can select the form and quantity of wheel thorn 6, in the form of changing wheel 5, can pass through wheel
Pierce the mechanism of action of 6 quantity and form research wheel thorn 6.Two kinds of dismountable wheel thorns 6 can be set, and the highly preferred of wheel thorn 6 is
10mm and 20mm, screw hole of being drilled on smooth wheel 5, wheel thorn 6 can be fixed on smooth wheel by screw.
Its middle guide 15, support 26 and variable-frequency governor 22 are fixed on model casing 1 by bolt 20.
After switching on power, change the frequency of input current to make the rotating speed of motor 19 exist by variable-frequency governor 22
It is changed in certain limit, so input torque can be measured by torque sensor 18, then make wheel 5 with certain speed
Degree at the uniform velocity moves forward, and adds counterweight 12 together to be moved up and down with wheel 5 by bearing on lower plywood 8 during traveling, on
Laminate 7 is stuck on guide rail 15 by guide wheel 10 only has level to displacement, so two-ply can be measured by displacement transducer 16
Between distance change obtain wheel settling amount.
The above-mentioned description to embodiment is understood that for ease of those skilled in the art and using invention.
Person skilled in the art obviously can easily make various modifications to these embodiments, and described herein general
Principle is applied in other embodiment without passing through performing creative labour.Therefore, the invention is not restricted to above-described embodiment, ability
Field technique personnel are according to the announcement of the present invention, and not departing from improvement and modification that scope made all should be the present invention's
Within protection domain.
Claims (7)
1. a kind of indoor lunar rover-lunar soil interaction testing equipment, it is characterised in that including model casing (1), wheel unit,
Power unit and measurement and control unit, the interior filling mould of described model casing (1) intend foundation soil, and upper end is provided with guide rail (15), described car
Wheel unit includes wheel (5), top plate (7), lower plywood (8) and guide pillar (9), and described top plate (7) is parallel with lower plywood (8)
Set, and connected by guide pillar (9), described wheel (5) is connected to below lower plywood (8), described top plate (7), which is slided, to be connected
It is connected on guide rail (15), described wheel (5) is pressed on ground foundation simulation soil, and described power unit is connected with wheel (5), is driven
Wheel (5) is rotated, be applied with described wheel (5) level to tractive force with vertical to load, described measurement and control unit is monitored
Wheel (5) is each to foundation soil pressure changing during displacement and moment of torsion, and wheels travel；
Described lower plywood (8) is provided with applies the vertical loads (11) to load, described model casing (1) for wheel (5)
Outside is provided with support (26), and pulley (13) is provided with support (26), and steel strand wires one end hangs extension weight (14) from above, and the other end is bypassed
Pulley (13) is connected with wheel (5) afterwards, sets position and the number of pulley (13), it is ensured that hang weight (14) by steel strand wires to car
Wheel (5) is applied with level to tractive force；
Described measurement and control unit include vertical displacement sensor (16), level to displacement transducer (17), torque sensor (18),
Soil pressure cell (23) and strain acquirement instrument (21), described vertical displacement sensor (16) are fixed on top plate (7), under
Hook is set to be connected with vertical displacement sensor (16) on laminate (8), described level is fixed on mould to displacement transducer (17)
On molding box (1), hook connection level is set on top plate (7) to displacement transducer (17), described torque sensor (18)
On the intermediate bearing for setting wheel (5), described soil pressure cell (23) is embedded in ground foundation simulation soil, described strain acquirement instrument
(21) while with vertical displacement sensor (16), level to displacement transducer (17), torque sensor (18) and soil pressure cell
(23) connect, gather the data of each sensor and soil pressure cell (23).
2. a kind of indoor lunar rover according to claim 1-lunar soil interaction testing equipment, it is characterised in that described
Top plate (7) be provided with directive wheel (10), be fastened on by directive wheel (10) on guide rail (15), directive wheel (10) and guide rail
(15) limitation top plate (7) is lateral and vertical to not producing change in displacement jointly.
3. a kind of indoor lunar rover according to claim 2-lunar soil interaction testing equipment, it is characterised in that described
Directive wheel (10) be respectively be fastened on the top directive wheel of guide rail (15) upper end, be fastened on guide rail (15) lower end bottom be oriented to
Wheel, and be fastened on guide rail (15) side be directed laterally to wheel.
4. a kind of indoor lunar rover according to claim 2-lunar soil interaction testing equipment, it is characterised in that described
Top plate (7) be slidably connected with guide pillar (9), described lower plywood (8) and wheel (5) can be produced by guide pillar (9) and moved down
It is dynamic.
5. a kind of indoor lunar rover according to claim 2-lunar soil interaction testing equipment, it is characterised in that described
Guide pillar (9) upper end be provided with sleeve (24), using ball contact between described guide pillar (9) and sleeve (24).
6. a kind of indoor lunar rover according to claim 1-lunar soil interaction testing equipment, it is characterised in that described
Power unit include in the middle of motor (19) and variable-frequency governor (22), described wheel (5) being bearing, wheel (5)
Bearing one end is connected with motor (19), and the other end is connected with counterweight (12), and described variable-frequency governor (22) is with driving
Dynamic motor (19) connection.
7. a kind of indoor lunar rover according to claim 1-lunar soil interaction testing equipment, it is characterised in that described
Wheel (5) on the outside of detachable connection have wheel thorn (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510032982.7A CN104614194B (en) | 2015-01-22 | 2015-01-22 | A kind of indoor lunar rover lunar soil interaction testing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510032982.7A CN104614194B (en) | 2015-01-22 | 2015-01-22 | A kind of indoor lunar rover lunar soil interaction testing equipment |
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| Publication Number | Publication Date |
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| CN104614194A CN104614194A (en) | 2015-05-13 |
| CN104614194B true CN104614194B (en) | 2017-07-28 |
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| CN201510032982.7A Expired - Fee Related CN104614194B (en) | 2015-01-22 | 2015-01-22 | A kind of indoor lunar rover lunar soil interaction testing equipment |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106769107B (en) * | 2016-12-11 | 2019-03-12 | 吉林大学 | A kind of Marsokhod wheel endurance test bed |
| CN106895984B (en) * | 2017-03-13 | 2019-05-03 | 五莲巨国机械有限公司 | A kind of scale model wheel sinkage and traction force test device |
| CN112345274B (en) * | 2020-10-30 | 2022-08-12 | 广东科学技术职业学院 | New energy automobile tire performance detecting system |
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| CN101000282A (en) * | 2006-12-15 | 2007-07-18 | 哈尔滨工业大学 | Multifunction test device for wheel motion performance of planetary detection robot |
| CN201923130U (en) * | 2011-01-19 | 2011-08-10 | 塔里木大学 | Anti-deviation walking system for indoor soil tank cart |
| CN103255754A (en) * | 2013-04-26 | 2013-08-21 | 同济大学 | Indoor inclined static cone penetration model test device |
| CN203337489U (en) * | 2013-05-24 | 2013-12-11 | 浙江辰鑫机械设备有限公司 | Asphalt wheel-rutting test device |
| CN104122102A (en) * | 2014-07-02 | 2014-10-29 | 上海大学 | Soil strength test board for wheel |
| CN104195941A (en) * | 2014-08-19 | 2014-12-10 | 中国路桥工程有限责任公司 | Bridge floor damage detecting vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6140536A (en) * | 1984-07-31 | 1986-02-26 | Shimadzu Corp | Running load testing apparatus |
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2015
- 2015-01-22 CN CN201510032982.7A patent/CN104614194B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101000282A (en) * | 2006-12-15 | 2007-07-18 | 哈尔滨工业大学 | Multifunction test device for wheel motion performance of planetary detection robot |
| CN201923130U (en) * | 2011-01-19 | 2011-08-10 | 塔里木大学 | Anti-deviation walking system for indoor soil tank cart |
| CN103255754A (en) * | 2013-04-26 | 2013-08-21 | 同济大学 | Indoor inclined static cone penetration model test device |
| CN203337489U (en) * | 2013-05-24 | 2013-12-11 | 浙江辰鑫机械设备有限公司 | Asphalt wheel-rutting test device |
| CN104122102A (en) * | 2014-07-02 | 2014-10-29 | 上海大学 | Soil strength test board for wheel |
| CN104195941A (en) * | 2014-08-19 | 2014-12-10 | 中国路桥工程有限责任公司 | Bridge floor damage detecting vehicle |
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