CN106289840A - A kind of for the experimental provisions driving walking mechanism and experimental technique more - Google Patents
A kind of for the experimental provisions driving walking mechanism and experimental technique more Download PDFInfo
- Publication number
- CN106289840A CN106289840A CN201610641852.8A CN201610641852A CN106289840A CN 106289840 A CN106289840 A CN 106289840A CN 201610641852 A CN201610641852 A CN 201610641852A CN 106289840 A CN106289840 A CN 106289840A
- Authority
- CN
- China
- Prior art keywords
- driver part
- motor
- resistance
- control
- energy consumption
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Abstract
The invention discloses a kind of for the experimental provisions driving walking mechanism and experimental technique more, driver part is compressed including at least two, one driver part, one directive wheel, Control card, accumulator, and motor can control parts, motor can be controlled parts and include energy regenerative battery parallel with one another, energy consumption resistance and super capacitor, motor can control parts respectively with compress driver part and the motor parallel of driver part, motor can be controlled parts and all be connected with accumulator, compress driver part and the belt pulley of driver part and directive wheel and be linked to be loop by belt series connection, the resistance of energy consumption resistance and the capacitance size of super capacitor all can be regulated by Control card；Utilize compression driver part to replace the multiple the most independent drive mechanism of experimental subject respectively, carry out the motion relative to working environment of the analog-driven mechanism by the relative motion between multiple compression driver parts；The present invention is that the theoretical research of independent many drive mechanisms provides the most feasible experiment porch.
Description
Technical field
The present invention relates to a kind of experimental provision, be specifically related to a kind of for the experimental provisions driving walking mechanism and experiment more
Method, belongs to robotics or electric vehicle engineering field.
Background technology
Along with the Internet and the development of intellectual technology, electric automobile, intelligent automobile and robotics have obtained more coming
The best development and application.But, on above-described automobile and robotics, the problem having a general character.The most electronic
All having two or more independent power part on automobile, intelligent automobile, robot running gear, each power part has again
An independent motor is had to drive.But in application process, the two or multiple independent power part are at a building ring
Border not the most independent completely, the effect that i.e. the two or multiple independent power part each other can be strong, need association
With controlling.Additionally, also assignment problem having energy etc. between the two or multiple power part.But, if at electronic vapour
Car, intelligent automobile and robot physically carry out Collaborative Control and the research of energy distribution of motor, and experimental situation will be very
Badly, cost is high and dangerous.
Summary of the invention
The present invention mainly solves the technical problem existing for prior art；Provide a kind of for driving walking mechanism more
Multifunction experiment apparatus and experimental technique.This experimental provision and experimental technique compensate at electric automobile, intelligent automobile or machine
Device people is physically doing experiment difficulty greatly, and cost is high, there is the deficiencies such as potential safety hazard, substantially increases conventional efficient, ensures
The safe and reliable of experiment is carried out.
The above-mentioned technical problem of the present invention is mainly addressed by following technical proposals:
It is a kind of for the experimental provisions driving walking mechanisms more, it is characterised in that: include that at least two compresses driver part, one
Driver part, a directive wheel, Control card, accumulator, and motor can control parts, and described compression driver part all includes skin
Belt wheel, belt hold-down mechanism and the motor of driving belt pulley, described driver part includes belt pulley and drives the electricity of belt pulley
Machine, described motor can control parts and include energy regenerative battery, energy consumption resistance and super capacitor parallel with one another, and described motor can control parts
Respectively with compression driver part and the motor parallel of driver part, described motor can be controlled parts and all be connected with accumulator, described pressure
Tight driver part and the belt pulley of driver part and directive wheel are linked to be loop by belt series connection, and described belt hold-down mechanism is used
In the belt compressed in respective pulley, above-mentioned all motors, accumulator, energy regenerative battery, energy consumption resistance and super capacitor are all provided with
The on and off switch being connected with Control card, the resistance of described energy consumption resistance and the capacitance size of super capacitor is had to be adjustable, and
Can be respectively by resistance size and the capacitance size of super capacitor of Control card regulation energy consumption resistance.
As preferably, described compression driver part has 2-4.
One utilizes above-mentioned experimental provision to carry out energy consumption experimental technique, it is characterised in that: to electric automobile, intelligent automobile
Or robot is when researching, described compression driver part is utilized to replace electric automobile, intelligent automobile or robot respectively
Multiple the most independent drive mechanism, simulating reality work drives by the relative motion between multiple compression driver parts
Mechanism is relative to the motion of working environment, and described working environment is road surface.
As preferably, when needing multiple drive mechanism active exercise of simulation experiment study object, described Control card
Control described accumulator to power to the motor of described compression driver part so that it is pulley rotation；And be also turned on and drive division
The energy consumption resistance of the motor parallel of part and super capacitor, make the belt pulley of driver part provide resistance to the rotation of belt, and lead to
Cross Control card and control the resistance value of energy consumption resistance in parallel with driver part and the capacitance of super capacitor to adjust resistance
Size.
As preferably, when needing multiple drive mechanism passive exercise of simulation experiment study object, such as electric automobile
Unpowered downslope motion, described Control card controls described accumulator to multiple compression driver parts for electrically disconnected so that it is without dynamic
Power；Meanwhile, the described accumulator of Control card control powers to the motor of described driver part so that it is pulley rotation, and then band
Dynamic the plurality of compression driver part rotates, and meanwhile, Control card can control the energy consumption resistance of respective pinch driver part and access
The capacitance of resistance value and super capacitor controls the velocity of rotation of respective pinch driver part.
The medicine have the advantages that and present invention achieves and at a fixing platform and environmentally can test, be not required to
Testing in complicated entity and actual environment, its structure and process are simple, and safety is convenient.
Accompanying drawing explanation
Accompanying drawing 1 is a kind of scheme schematic diagram for the Multi-function experimental methods driving walking mechanism of the present invention more.
1-compresses driver part A, 2-compression driver part B, 3-hold-down mechanism A, 4-hold-down mechanism B, 5-and drives belt pulley,
6-directive wheel, 7-belt, 8-super capacitor A, 9-energy regenerative battery A, 10-energy consumption resistance A, 11-super capacitor B, 12-energy regenerative battery
B, 13-energy consumption resistance B, 14-super capacitor C, 15-energy regenerative battery C, 16-energy consumption resistance C, 17-Control card, 18-accumulator.
Detailed description of the invention
Below by embodiment, and combine accompanying drawing, technical scheme is described in further detail.In figure,
A kind of for the multifunction experiment apparatus driving walking mechanism, described experimental provision includes more: compress driver part A1, pressure
Tight driver part B2, hold-down mechanism A3, hold-down mechanism B4, drive belt pulley 5, directive wheel 6, belt 7, super capacitor A8, energy regenerative
Battery A9, energy consumption resistance A10, super capacitor B11, energy regenerative battery B12, energy consumption resistance B13, super capacitor C14, energy regenerative battery
C15, energy consumption resistance C16, Control card 17, accumulator 18.
Described Control card 17 and accumulator 18 are installed together.Described super capacitor A8, energy regenerative battery A9 and energy power consumption
Resistance A10 is in parallel, and is connected in parallel on the two ends compressing driver part A1.Described super capacitor B11, energy regenerative battery B12 and energy consumption resistance
B13 is in parallel, and is connected in parallel on the two ends compressing driver part B2.Described super capacitor C14, energy regenerative battery C15 and energy consumption resistance C16
Parallel connection, and it is connected in parallel on the two ends of the motor driving belt pulley 5.Described belt 7 be wound on described compression driver part A1, directive wheel 6,
Compress driver part B2 and drive on belt pulley 5.Belt 7 is pressed on compression driver part A1 by described hold-down mechanism A3, and
Belt 7 can be adjusted in the parcel angle compressing on driver part A1 and the rate of tension of belt 7 by the compression of hold-down mechanism A3.Institute
State hold-down mechanism B4 to be pressed on by belt 7 on compression driver part B2, and belt 7 can be adjusted by the compression of hold-down mechanism B4
In the parcel angle compressed on driver part B2 and the rate of tension of belt 7.Described Control card 17 can control above-mentioned compression and drive
Components A 1, compression driver part B2, the operating driving belt pulley 5 and stopping, controlling energising and the disconnection of described accumulator 18,
All super capacitors, energy consumption resistance, the access of energy regenerative battery and disconnection can be controlled, and the access of all energy consumption resistances can be controlled
Value size.
A kind of for the functional experiment methods driving walking mechanism, including herein below more:
A, above-mentioned provided a kind of in the multifunction experiment apparatus driving walking mechanisms more, described compression driver part
A1 and compression driver part B2 can replace experimentation the object such as electric automobile, intelligent automobile or the two of robot of needs respectively
Individual independent driver part, being similar to of three or more than three driver parts.With compressing driver part A1 and compressing driver part
Relative motion between B2 and belt 7 carrys out in simulating reality work driver part relative to the motion on working environment such as road surface.
B, super capacitor A8, energy consumption resistance A10 in parallel for compression driver part A1 and energy regenerative battery A9 replace being tested
Super capacitor, energy consumption resistance and the energy regenerative battery that one of them driver part of object of study is in parallel.
C, super capacitor B11, energy consumption resistance B13 in parallel for compression driver part B2 and energy regenerative battery B12 replace institute real
Test another driver part of object of study super capacitor in parallel, energy consumption resistance and energy regenerative battery.
Relative motion between D, described compression driver part A1 and described compression driver part B2 and described belt 7 can be replaced
For the relative motion of driver part in institute's experimentation object Yu environment, if electric automobile wheel is relative to the motion on road surface.
E, when needing two driver part active exercises of simulation experiment study object, described Control card 17 controls institute
State accumulator 18 to power to described compression driver part A1 and described compression driver part B2, and make it rotate；And be also turned on
Energy consumption resistance C16 and super capacitor C14 with the motor parallel of described driving belt pulley 5 so that it is provide resistance to the rotation of belt 7
Power, i.e. gives and compresses driver part A1 and compress the rotation offer resistance of driver part B2, and can be by controlling energy consumption resistance C16's
The capacitance of resistance value and super capacitor C14 adjusts the size of resistance.
F, when needing two driver part passive exercises of simulation experiment study object, as electric automobile unpowered under
Moving in slope, described Control card 17 controls described accumulator 18 to described compression driver part A1 and described compression driver part B2
For electrically disconnected so that it is unpowered；Meanwhile, Control card 17 controls described accumulator 18 to the motor confession of described driving belt pulley 5
Electricity so that it is drive belt 7 to rotate, and then drive described compression driver part A1 and compress driver part B2 rotation.Meanwhile, control
Board 17 can control resistance value and the super capacitor A8 and super capacitor B11 of the access of energy consumption resistance A10 and energy consumption resistance B13
Capacitance control compress driver part A1 and compress driver part B2 velocity of rotation.
Embodiment 1:
With the Collaborative Control experiment of this invention simulation electric automobile or two independent driver parts of robot.Described Control card 17
Control described accumulator 18 to power to described compression driver part A1 and described compression driver part B2, and make it rotate；And with
Time connect the energy consumption resistance C16 in parallel with described driving belt pulley 5 and super capacitor C14 so that it is to belt 7 rotation provide hinder
Power, i.e. gives and compresses driver part A1 and compress the rotation offer resistance of driver part B2, and can be by controlling energy consumption resistance C16's
The capacitance of resistance value and super capacitor C14 adjusts the size of resistance.
The unequal situation of resistance suffered by two independent driver parts in working for simulating reality, by described hold-down mechanism
The compression degree of A3 and described hold-down mechanism B4 is adjusted to different state, i.e. thrust and belt 7, and to wrap up angle different.This
Time can control accumulator 18 to compressing driver part A1 and compressing the current value of driver part B2 by adjusting control algolithm, make
The two reaches the independent Collaborative Control driven of identical speed, i.e. research two.Meanwhile, can be by controlling energy consumption resistance C16's
The capacitance of resistance value and super capacitor C14 adjusts the size of resistance, can simulate two independences of electric automobile or robot
Resistance suffered by driving.
Embodiment 2:
With this invention simulation electric automobile or two independent driver part unpowered descending air speeds of robot and energy regenerative experiment, institute
State Control card 17 and control described accumulator 18 to described compression driver part A1 and described compression driver part B2 for electrically disconnected,
Make it unpowered；Meanwhile, Control card 17 controls described accumulator 18 and powers to described driving belt pulley 5 so that it is drive belt 7
Rotate, and then drive described compression driver part A1 and compress driver part B2 rotation.Meanwhile, Control card 17 can control energy consumption
The resistance value of the access of resistance A10 and energy consumption resistance B13 and the capacitance of super capacitor A8 and super capacitor B11 control pressure
Tight driver part A1 and the velocity of rotation of compression driver part B2.
The unequal situation of resistance suffered by two independent driver parts in working for simulating reality, by described hold-down mechanism
The compression degree of A3 and described hold-down mechanism B4 is adjusted to different state, i.e. thrust and belt 7, and to wrap up angle different.This
Time can control the resistance value with compression driver part A1 energy consumption resistance A10 in parallel and super capacitor by adjusting control algolithm
The capacitance of A8, and control to change with the capacitance of compression driver part B2 energy consumption resistance B13 in parallel and super capacitor B11
Transformation tight driver part A1 and compression resistance suffered by driver part B2, and then by the two speed controlling in identical value.Meanwhile, may be used
Control to drive the rotating speed of belt pulley 5 by controlling accumulator 18 to the size driving belt pulley 5 power supply, and then control whole driving
The speed that belt pulley 5 rotates, gets final product electric automobile or the speed of robot ride in simulating reality work.
Claims (5)
1. one kind for the experimental provisions driving walking mechanisms more, it is characterised in that: include that at least two compresses driver part, one
Individual driver part, a directive wheel, Control card, accumulator, and motor can control parts, and described compression driver part all includes
Belt pulley, belt hold-down mechanism and the motor of driving belt pulley, described driver part includes belt pulley and drives belt pulley
Motor, described motor can control parts and include energy regenerative battery, energy consumption resistance and super capacitor parallel with one another, and described motor can control portion
Part respectively with compress driver part and the motor parallel of driver part, described motor can be controlled parts and all be connected with accumulator, described
Compress driver part and the belt pulley of driver part and directive wheel and be linked to be loop, described belt hold-down mechanism by belt series connection
For compressing the belt in respective pulley, above-mentioned all motors, accumulator, energy regenerative battery, energy consumption resistance and super capacitor are equal
It is provided with the on and off switch being connected with Control card, the resistance of described energy consumption resistance and the capacitance size of super capacitor and is adjustable,
And can be respectively by resistance size and the capacitance size of super capacitor of Control card regulation energy consumption resistance.
It is a kind of for the experimental provisions driving walking mechanism more, it is characterised in that: described compression is driven
Dynamic component has 2-4.
3. one kind utilizes experimental provision described in claim 1 to carry out the experimental technique tested, it is characterised in that: to electronic vapour
When car, intelligent automobile or robot research, described compression driver part is utilized to replace electric automobile, intelligence vapour respectively
Car or the multiple the most independent drive mechanism of robot, carry out simulating reality by the relative motion between multiple compression driver parts
In work, drive mechanism is relative to the motion of working environment, and described working environment is road surface.
A kind of experimental technique, it is characterised in that: drive when needing the multiple of simulation experiment study object
During motivation structure active exercise, described Control card controls described accumulator and powers to the motor of described compression driver part so that it is
Pulley rotation；And it is also turned on energy consumption resistance and the super capacitor of the motor parallel with driver part, make the skin of driver part
Belt wheel provides resistance to the rotation of belt, and by Control card control the energy consumption resistance in parallel with driver part resistance value and
The capacitance of super capacitor adjusts the size of resistance.
A kind of experimental technique, it is characterised in that: drive when needing the multiple of simulation experiment study object
During motivation structure passive exercise, described Control card controls described accumulator to multiple compression driver parts for electrically disconnected so that it is nothing
Power；Meanwhile, the described accumulator of Control card control powers to the motor of described driver part so that it is pulley rotation, and then
Driving the plurality of compression driver part to rotate, meanwhile, Control card can control the energy consumption resistance of respective pinch driver part and connect
Enter the capacitance of resistance value and super capacitor to control the velocity of rotation of respective pinch driver part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610641852.8A CN106289840A (en) | 2016-08-08 | 2016-08-08 | A kind of for the experimental provisions driving walking mechanism and experimental technique more |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610641852.8A CN106289840A (en) | 2016-08-08 | 2016-08-08 | A kind of for the experimental provisions driving walking mechanism and experimental technique more |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106289840A true CN106289840A (en) | 2017-01-04 |
Family
ID=57665971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610641852.8A Pending CN106289840A (en) | 2016-08-08 | 2016-08-08 | A kind of for the experimental provisions driving walking mechanism and experimental technique more |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106289840A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7219396B2 (en) * | 2005-06-14 | 2007-05-22 | Chih-Ching Hsieh | Belt tightening device with display for displaying tension |
| CN202221338U (en) * | 2011-09-15 | 2012-05-16 | 南京三埃工控股份有限公司 | High-simulation belt weigher simulation load device |
| CN103645346A (en) * | 2013-12-02 | 2014-03-19 | 中国西电电气股份有限公司 | An analog device and calibration method for mechanical characteristics of a velometer for detecting and calibrating a switch |
| CN204964163U (en) * | 2015-08-27 | 2016-01-13 | 上汽通用汽车有限公司 | A test bench for simulating road surface popping rock strikes |
| CN105319992A (en) * | 2015-11-27 | 2016-02-10 | 武汉大学 | Multi-function test platform for high-voltage transmission line robot |
-
2016
- 2016-08-08 CN CN201610641852.8A patent/CN106289840A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7219396B2 (en) * | 2005-06-14 | 2007-05-22 | Chih-Ching Hsieh | Belt tightening device with display for displaying tension |
| CN202221338U (en) * | 2011-09-15 | 2012-05-16 | 南京三埃工控股份有限公司 | High-simulation belt weigher simulation load device |
| CN103645346A (en) * | 2013-12-02 | 2014-03-19 | 中国西电电气股份有限公司 | An analog device and calibration method for mechanical characteristics of a velometer for detecting and calibrating a switch |
| CN204964163U (en) * | 2015-08-27 | 2016-01-13 | 上汽通用汽车有限公司 | A test bench for simulating road surface popping rock strikes |
| CN105319992A (en) * | 2015-11-27 | 2016-02-10 | 武汉大学 | Multi-function test platform for high-voltage transmission line robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102289965B (en) | Vehicle driving simulator with heavy-load wideband response | |
| CN103226903B (en) | Dynamic simulation model of electrified high speed railway and simulation method thereof | |
| CN106124221A (en) | Braking simulation experiment method based on electric automobile regenerative braking performance test stand | |
| CN103738427A (en) | Continuous hopping robot with single leg and adjustable overhead postures | |
| CN104112036A (en) | Method for simulating series-parallel hybrid power electromobile | |
| CN105396264B (en) | A kind of full mimicry exercycle with generating function | |
| CN107416071A (en) | Automatical pilot transportation vehicle | |
| CN105320138A (en) | Control method for tracking motion speed and motion track of rehabilitation training robot at the same time | |
| CN202620639U (en) | Road condition simulating riding body builder | |
| CN104616562B (en) | Rail type flight simulator having continuous overload simulation capability | |
| CN106289840A (en) | A kind of for the experimental provisions driving walking mechanism and experimental technique more | |
| CN106476546A (en) | A kind of land sky double-purpose cameras people | |
| CN206086944U (en) | General self -propelled remote control platform of agricultural machinery based on caterpillar base plate | |
| CN105928715B (en) | Simulated dual motor driven electric car regenerative braking performance test stand and test method | |
| CN205269036U (en) | Active analog simulation equipment of 360 degrees all -round high speeds of biax | |
| CN206756455U (en) | Vehicle drive system integrated synthesis testing stand | |
| CN105319992B (en) | A kind of ultra-high-tension power transmission line robot Multi-function experimental platform | |
| CN105435456A (en) | Double-shaft 360-degree all-dimensional high-speed movement feeling analog simulation device | |
| CN206824431U (en) | A kind of aerospace partses Special reforming equipment | |
| CN202856420U (en) | Power supply system | |
| CN206575077U (en) | A kind of power coaster detachably assembles car body mechanism | |
| CN202669530U (en) | Microcomputer speed regulation and control device special for electromobile | |
| CN207439581U (en) | A kind of road simulation dynamometer | |
| CN206427281U (en) | A kind of unmanned aerial vehicle ejecting frame | |
| CN205730238U (en) | Push-and-pull rod-type cycling intelligent modelling system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wu Gongping Inventor after: Fan Fei Inventor after: Guo Lei Inventor after: Cao Qi Inventor after: Yu Jianyou Inventor after: Yang Shoudong Inventor after: Yang Jingbo Inventor after: Yang Song Inventor after: Liu Ming Inventor after: Yang Zhiyong Inventor before: Wu Gongping Inventor before: Wu Xinqiang Inventor before: Guo Lei Inventor before: Yang Zhiyong Inventor before: Fan Fei Inventor before: Yang Song Inventor before: Fu Bo Inventor before: Zheng Jinpeng Inventor before: Shi Lei Inventor before: Liu Hongwei |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170511 Address after: 430072 Hubei Province, Wuhan city Wuchang District of Wuhan University Luojiashan Applicant after: Wuhan University Applicant after: State Grid Corporation of China Applicant after: STATE GRID JILIN ELECTRIC POWER COMPANY LIMITED BAISHAN POWER SUPPLY COMPANY Address before: 430072 Hubei Province, Wuhan city Wuchang District of Wuhan University Luojiashan Applicant before: Wuhan University |
|
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170104 |