CN106644514A - Planetary vehicle single-wheel rack device capable of continuously adjusting load - Google Patents
Planetary vehicle single-wheel rack device capable of continuously adjusting load Download PDFInfo
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- CN106644514A CN106644514A CN201611237710.1A CN201611237710A CN106644514A CN 106644514 A CN106644514 A CN 106644514A CN 201611237710 A CN201611237710 A CN 201611237710A CN 106644514 A CN106644514 A CN 106644514A
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- quadric chain
- bindiny mechanism
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
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Abstract
The invention belongs to the technical field of planetary vehicle single-wheel rack devices, and specifically relates to a planetary vehicle single-wheel rack device capable of continuously adjusting a load. The beneficial effects of the invention are that an upper computer achieves the continuous change of a load between a test wheel and soil through controlling the continuous movement of a loading mechanism motor; balancing weights with different weight are symmetrically fixed on a nut of a ball screw, thereby changing the continuous loading range of a single-wheel rack; the rotating motion of the rotating shaft of the loading mechanism motor is transmitted through a planetary gear speed-reducing box and the ball screw, and then is converted into the linear motion of the nut; the motor shaft is provided with an absolute position coder; the miniature linear displacement of the nut is corresponding to a very big angular displacement of the loading mechanism motor because of a speed-reducing ratio and lead, so the value change range of the coder is very large; the driver can control the precise motion of the loading mechanism motor, so the position control precision of the nut is very high, i.e., the high loading precision of a single-wheel rack load.
Description
Technical field
The invention belongs to celestial body car single-wheel bench frame apparatus technical field, and in particular to a kind of celestial body of load continuously adjustable
Car single-wheel bench frame apparatus.
Background technology
Celestial body car can carry personnel and equipment and walk on celestial body surface, be the important tool that the mankind carry out celestial body detecting,
The quality of its performance affects very big.Because the physical characteristics on celestial body surface are different from earth surface, so needing according to the celestial body table
The characteristic in face designing celestial body car, to ensure that the celestial body car designed disclosure satisfy that use requirement.So needing at the earth's surface
By the method simulated celestial body car is tested and tested.In the depression problem that research celestial body car is walked on celestial body surface
On, existing approach is, by loading different size of discrete load, by many experiments sinkage being measured, then to be intended by curve
Close to obtain the relation between sinkage and magnitude of load, it has the disadvantage that result is not accurate enough, and waste substantial amounts of time and essence
Power.
The patent of invention of Application No. 201310751504.2 discloses the control that a kind of 1/6g low gravitations balance erecting by overhang
System processed, its measured value to force transducer detects, fixed pulling force is provided by the action of PID control electric cylinder.
The system structure is complicated, consumes energy more, and can not realize the stable and continuous change of load.
The content of the invention
(1) technical problem to be solved
The technical problem to be solved in the present invention is：To solve accurately to measure between celestial body car wheel sinkage and magnitude of load
Relation, how a kind of celestial body car single-wheel bench frame apparatus of load continuously adjustable are provided, too small amount of test can be led to accurate
The relation between the sinkage and magnitude of load of different wheels is obtained, the design for celestial body car provides foundation.
(2) technical scheme
To solve above-mentioned technical problem, the present invention provides a kind of celestial body car single-wheel bench frame apparatus of load continuously adjustable,
It includes：
A pair of concrete walls 1, a pair of stand guide rails 2, stand car body 3, sinkage measuring mechanism 4, single wheel drive motors
5th, decelerator 6, test wheel 7, the groove 8 for holding soil, quadric chain platform 9, the movable quarter butt 10 of a pair of quadric chains,
A pair of quadric chain crossbeams 11, absolute encoder 12, load maintainer motor 13, planetary gear reduction box 14, a pair of guide posts
15th, the movable stock 18 of leading screw 16, nut 17, a pair of quadric chains, driver 19, angle measuring mechanism 20, a pair of double leval jibs
Mechanism's rotating shaft 21, the first installation base plate 22, the second installation base plate 23, clutch shaft bearing 24, second bearing 25；
The parallel direction extended along a pair of concrete walls 1 just pair and on contour a pair of concrete walls 1 is parallel just
Pair and wait highland lay a pair of stand guide rails 2；Gantry coordinates system, with vertical direction as Z-direction, a pair of stand guide rails 2 are built first
Bearing of trend be Y-direction, the direction vertical with Y-Z plane is X to thus building gantry coordinates system X-Y-Z；
Stand car body 3 carries wheel, can move along Y-direction, and stand car body 3 is in the centre position of the anterior-posterior horizontal beam of Y-direction
Steel wire is respectively fixed with, can be under the traction of two servomotors along Y-direction bidirectional-movement；Sinkage measuring mechanism 4 is one
Individual linear displacement transducer, its fixing end is fixed on stand car body 3, and sliding end hangs under gravity to four companies naturally
On linkage platform 9, sinkage is calculated in the displacement difference of Z-direction by quadric chain platform before and after measurement wheel loading；
The stationary part of single wheel drive motor 5 is fixedly connected on quadric chain platform 9, single wheel drive motor 5 turn
Subdivision is connected with the input shaft of decelerator 6, and the shell of decelerator 6 is fixedly connected on the stationary part of single wheel drive motor 5,
Test wheel 7 is fixedly attached on the output shaft of decelerator 6, tests the axle center of wheel 7 and the axis coinciding of the output shaft of decelerator 6
And along X to.The groove 8 for holding soil is arranged horizontally in the Y-direction between a pair of concrete walls 1, and test wheel 7 is existed
Sinkage measuring mechanism 4 does not outrange during maximum subsidence；
Quadric chain platform 9 is a rectangular platform mechanism, and it is set to identical strip shape body along the both ends of Y-direction, should
Strip shape body length direction, to setting, is each provided with a pair of bindiny mechanisms, thus for certain one end along X on two strip shape bodies
For a pair of bindiny mechanisms at strip shape body, it is divided into X to preceding the first bindiny mechanism and the X of being set to posterior second connection machine
Structure, and first bindiny mechanism, in strip shape body outside, second bindiny mechanism is in strip shape body inner side；
First bindiny mechanism is used to for one of movable quarter butt 10 of the pair of quadric chain to pass through axle connected mode
The end of quadric chain platform 9 is arranged at, i.e., a certain strip shape body outside, second bindiny mechanism is used to connect the pair of four
One of movable stock 18 of linkage is arranged at the end of quadric chain platform 9 by axle connected mode, i.e. the strip shape body inner side；From
And for another strip shape body, again by the first bindiny mechanism and the second bindiny mechanism on the strip shape body, realize another
One of movable quarter butt 10 of quadric chain is arranged at the other end of quadric chain platform 9 outside by axle connected mode, and
One of movable stock 18 of another quadric chain is arranged at the tip inside of quadric chain platform 9 by axle connected mode；
Quadric chain crossbeam 11 described in a pair is identical along the thickness of Y-direction with the strip shape body along the thickness of Y-direction；Described one
To X is each provided with quadric chain crossbeam 11 to preceding 3rd bindiny mechanism and X to posterior 4th bindiny mechanism；It is described
3rd bindiny mechanism connects in the outside of the pair of quadric chain crossbeam 11, the 4th bindiny mechanism in the pair of four
The inner side of linkage crossbeam 11；
3rd attachment structure is used to arrange one of movable quarter butt 10 of a pair of quadric chains by axle connected mode
In the outside of one of a pair of quadric chain crossbeams 11, the 4th bindiny mechanism is used for the pair of quadric chain is movable
One of stock 18 is arranged at the inner side of one of the quadric chain crossbeam 11 by axle connected mode；Hence for another double leval jib
For one of mechanism's crossbeam 11, connect again by the 3rd bindiny mechanism on one of a pair of quadric chain crossbeams 11 and the 4th
Connection mechanism, realizes that one of movable quarter butt 10 of another pair quadric chain is arranged at another pair double leval jib by axle connected mode
One of mechanism's crossbeam 11 outside, and one of the movable stock 18 of another pair quadric chain is arranged at separately by axle connected mode
One of outer a pair of quadric chains crossbeam 11 inner side；
First bindiny mechanism and the second bindiny mechanism along X to distance with the 3rd bindiny mechanism and the 4th bindiny mechanism along X
To distance it is equal；The distance of the first bindiny mechanism and the 3rd bindiny mechanism and the second bindiny mechanism and the 4th bindiny mechanism away from
From equal；Thus, the movable quarter butt 10 of quadric chain platform 9, a pair of quadric chains, a pair of quadric chain crossbeams 11,
Parallelogram sturcutre is constituted to the movable stock 18 of quadric chain, the plane being made up of the movable quarter butt 10 of a pair of quadric chains
Be parallel to each other with the plane being made up of the movable stock 18 of a pair of quadric chains, the plane that quadric chain platform 9 is located with by
The plane of a pair of compositions of quadric chain crossbeam 11 is parallel to each other；
The pair of quadric chain crossbeam 11 along X to being horizontally fixed on stand car body 3, i.e., it is vertical with stand guide rail 2,
According to parallelogram sturcutre, it is ensured that quadric chain platform 9 is always maintained at level, so as to realize that loading direction is vertical；
A pair of quadric chain rotating shafts 21 are located at the 4th bindiny mechanism described in a pair；
Set up space coordinates again, the line midpoint with a pair of quadric chain rotating shafts 21 as zero, with a pair
The bearing of trend of the movable stock 18 of quadric chain is X0 axles, with the line direction of a pair of quadric chain rotating shafts 21 as Y0 axles,
With the direction vertical with X0-Y0 planes as Z0 axles；
First installation base plate 22 and the second installation base plate 23 are separately fixed on the movable stock 18 of a pair of quadric chains, and
Ensure that the plane of the first installation base plate 22 and the plane of the second installation base plate 23 are respectively perpendicular to X0 axles；In the first installation base plate 22
Plane and the second installation base plate 23 on be respectively mounted identical second bearing 25 and clutch shaft bearing 24, and second bearing 25 and
The axis of rotation of one bearing 24 is simultaneously on X0 axles；Leading screw 16, leading screw are installed between second bearing 25 and clutch shaft bearing 24
16 only rotate around X0 axles, and nut 17 is provided with leading screw 16, there is the smooth pilot hole of two same sizes on nut 17,
Described two guiding centerline holes are located in X0-Y0 planes, and are distributed with X0 axles Parallel Symmetric；Lead through two on nut 17
It is a pair smooth guide posts 15 to hole, the end points of a pair of guide posts 15 is respectively fixedly connected with installation base plate 22 and installs base
The corresponding position of plate 23, such that it is able to realize under the constraint of a pair of guide posts 15, the convert rotational motion by leading screw 16 is
The linear motion of nut 17；
At the 4th bindiny mechanism described in a pair, a pair of quadric chain rotating shafts 21 and the movable stock of a pair of quadric chains
It is to be fixedly connected between 18, is axle connection between a pair of quadric chain rotating shafts 21 and a pair of quadric chain crossbeams 11；Angle
The rotary shaft of measuring mechanism 20 is fixedly connected on one of a pair of quadric chain rotating shafts 21 above and ensures axle center point-blank,
The shell of angle measuring mechanism 20 is fixed on one of a pair of quadric chain crossbeams 11, it is possible thereby to measure a pair of double leval jib machines
Angle between one of movable stock 18 of structure and one of a pair of quadric chain crossbeams 11；
Be fixedly connected the shell of planetary gear reduction box 14 on the first installation base plate 22, planetary gear reduction box 14 it is defeated
Shaft be connected with the leading screw 16 through the hole on the first installation base plate 22 and ensure planetary gear reduction box 14 output shaft axle
The heart is fixedly connected the shell of load maintainer motor 13, load maintainer motor on X0 axles on the shell of planetary gear reduction box 14
13 rotor one end is connected on the input shaft of planetary gear reduction box 14 and ensures axle center point-blank, load maintainer electricity
The rotor other end of machine 13 is connected in the rotary shaft of absolute encoder 12 and ensures axle center point-blank, absolute encoder
12 being fixed on the stator of motor in addition to rotary shaft, driver 19 is fixedly mounted on the first installation base plate 22.
(3) beneficial effect
Compared with prior art, the present invention possesses following beneficial effect：
(1) the continuous motion that host computer passes through controlled loading mechanism motor, it is achieved thereby that between test wheel and soil
The consecutive variations of load；
(2) by the way that the balancing weight of Different Weight is symmetrically fixed on the nut of ball-screw such that it is able to change single-wheel
The scope of the continuous loading of stand；
(3) rotary motion of the rotating shaft of load maintainer motor is turned after the transmission of planetary gear reduction box and ball-screw
The linear motion of nut (thereon can fixed weight block) is turned to, absolute position encoder is installed on motor shaft, because exist subtracting
Speed ratio and helical pitch, the angular displacement that the small straight-line displacement of nut corresponds to load maintainer motor is very big, thus on absolute encoder
Change in value scope it is very big, because driver is capable of the precise motion of controlled loading mechanism motor position, so nut (thereon may be used
Fixed weight block) position control accuracy it is very high, namely the load loading accuracy of single-wheel stand is very high；
(4) can realize that the relation tested between load of wheel when static in sinkage and all range abilities is surveyed
Examination；
(5) can realize testing wheel in motion (including uniform motion, uniform variable motion, non-uniform variable motion) and load
Depression measurement in the case of changing (including constantly acting load, at the uniform velocity live load, non-at the uniform velocity live load)；
(6) than firmly sensing by way of the position control to load maintainer motor to control single-wheel stand magnitude of load
The flexible mode of device feedback control electric cylinder saves energy and more stable.
Description of the drawings
Fig. 1 is the single-wheel movable stand schematic diagram of the present invention.
Fig. 2 is the single-wheel loading quadric chain schematic diagram of the load continuously adjustable of the present invention.
Description of reference numerals：
1st, a pair of mixed mud bodies of wall；2nd, a pair of stand guide rails；3rd, stand car body；4th, sinkage measuring mechanism；5th, single-wheel is driven
Galvanic electricity machine；6th, decelerator；7th, wheel is tested；8th, the groove of soil is held；9th, quadric chain platform；10th, a pair of double leval jib machines
The movable quarter butt of structure；11st, a pair of quadric chain crossbeams；12nd, absolute encoder；13rd, load maintainer motor；14th, planetary gear reduction
Fast case；15th, a pair of guide posts；16th, leading screw；17th, nut (thereon can fixed weight block)；18th, a pair of quadric chains are movably long
Bar；19th, driver；20th, angle measuring mechanism；21st, a pair of quadric chain rotating shafts；22nd, installation base plate；23rd, installation base plate；
24th, bearing；25th, bearing.
Specific embodiment
To make the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to the present invention's
Specific embodiment is described in further detail.
To solve above-mentioned technical problem, the present invention provides a kind of celestial body car single-wheel bench frame apparatus of load continuously adjustable,
It includes：
A pair of concrete walls 1, a pair of stand guide rails 2, stand car body 3, sinkage measuring mechanism 4, single wheel drive motors
5th, decelerator 6, test wheel 7, the groove 8 for holding soil, quadric chain platform 9, the movable quarter butt 10 of a pair of quadric chains,
A pair of quadric chain crossbeams 11, absolute encoder 12, load maintainer motor 13, planetary gear reduction box 14, a pair of guide posts
15th, the movable stock 18 of leading screw 16, nut (thereon can fixed weight block) 17, a pair of quadric chains, driver 19, angular surveying
Mechanism 20, a pair of quadric chain rotating shafts 21, the first installation base plate 22, the second installation base plate 23, clutch shaft bearing 24, second bearing
25；
Fig. 1 and Fig. 2 are the principle schematic diagram.s of the present invention；Parallel edge just pair and on contour a pair of concrete walls 1
That direction that a pair of concrete walls 1 extend is parallel just pair and to wait highland to lay a pair of stand guide rails 2；Gantry coordinates are built first
System, with vertical direction as Z-direction, the bearing of trend of a pair of stand guide rails 2 is Y-direction, and the direction vertical with Y-Z plane is X to thus
Build gantry coordinates system X-Y-Z；
Stand car body 3 carries wheel, can move along Y-direction, and stand car body 3 is in the centre position of the anterior-posterior horizontal beam of Y-direction
Steel wire is respectively fixed with, can be under the traction of two servomotors along Y-direction bidirectional-movement；Sinkage measuring mechanism 4 is one
Individual linear displacement transducer, its fixing end is fixed on stand car body 3, and sliding end hangs under gravity to four companies naturally
On linkage platform 9, sinkage is calculated in the displacement difference of Z-direction by quadric chain platform before and after measurement wheel loading；
The stationary part of single wheel drive motor 5 is fixedly connected on quadric chain platform 9, single wheel drive motor 5 turn
Subdivision is connected with the input shaft of decelerator 6, and the shell of decelerator 6 is fixedly connected on the stationary part of single wheel drive motor 5,
Test wheel 7 is fixedly attached on the output shaft of decelerator 6, tests the axle center of wheel 7 and the axis coinciding of the output shaft of decelerator 6
And along X to.The groove 8 for holding soil is arranged horizontally in the Y-direction between a pair of concrete walls 1, and test wheel 7 is existed
Sinkage measuring mechanism 4 does not outrange during maximum subsidence；
Quadric chain platform 9 is a rectangular platform mechanism, and it is set to identical strip shape body along the both ends of Y-direction, should
Strip shape body length direction, to setting, is each provided with a pair of bindiny mechanisms, thus for certain one end along X on two strip shape bodies
For a pair of bindiny mechanisms at strip shape body, it is divided into X to preceding the first bindiny mechanism and the X of being set to posterior second connection machine
Structure, and first bindiny mechanism, in strip shape body outside, second bindiny mechanism is in strip shape body inner side；
First bindiny mechanism is used to for one of movable quarter butt 10 of the pair of quadric chain to pass through axle connected mode
The end of quadric chain platform 9 is arranged at, i.e., a certain strip shape body outside, second bindiny mechanism is used to connect the pair of four
One of movable stock 18 of linkage is arranged at the end of quadric chain platform 9 by axle connected mode, i.e. the strip shape body inner side；From
And for another strip shape body, again by the first bindiny mechanism and the second bindiny mechanism on the strip shape body, realize another
One of movable quarter butt 10 of quadric chain is arranged at the other end of quadric chain platform 9 outside by axle connected mode, and
One of movable stock 18 of another quadric chain is arranged at the tip inside of quadric chain platform 9 by axle connected mode；
Quadric chain crossbeam 11 described in a pair is identical along the thickness of Y-direction with the strip shape body along the thickness of Y-direction；Described one
To X is each provided with quadric chain crossbeam 11 to preceding 3rd bindiny mechanism and X to posterior 4th bindiny mechanism；It is described
3rd bindiny mechanism connects in the outside of the pair of quadric chain crossbeam 11, the 4th bindiny mechanism in the pair of four
The inner side of linkage crossbeam 11；
3rd attachment structure is used to arrange one of movable quarter butt 10 of a pair of quadric chains by axle connected mode
In the outside of one of a pair of quadric chain crossbeams 11, the 4th bindiny mechanism is used for the pair of quadric chain is movable
One of stock 18 is arranged at the inner side of one of the quadric chain crossbeam 11 by axle connected mode；Hence for another double leval jib
For one of mechanism's crossbeam 11, connect again by the 3rd bindiny mechanism on one of a pair of quadric chain crossbeams 11 and the 4th
Connection mechanism, realizes that one of movable quarter butt 10 of another pair quadric chain is arranged at another pair double leval jib by axle connected mode
One of mechanism's crossbeam 11 outside, and one of the movable stock 18 of another pair quadric chain is arranged at separately by axle connected mode
One of outer a pair of quadric chains crossbeam 11 inner side；
First bindiny mechanism and the second bindiny mechanism along X to distance with the 3rd bindiny mechanism and the 4th bindiny mechanism along X
To distance it is equal；The distance of the first bindiny mechanism and the 3rd bindiny mechanism and the second bindiny mechanism and the 4th bindiny mechanism away from
From equal；Thus, the movable quarter butt 10 of quadric chain platform 9, a pair of quadric chains, a pair of quadric chain crossbeams 11,
Parallelogram sturcutre is constituted to the movable stock 18 of quadric chain, the plane being made up of the movable quarter butt 10 of a pair of quadric chains
Be parallel to each other with the plane being made up of the movable stock 18 of a pair of quadric chains, the plane that quadric chain platform 9 is located with by
The plane of a pair of compositions of quadric chain crossbeam 11 is parallel to each other；
The pair of quadric chain crossbeam 11 along X to being horizontally fixed on stand car body 3, i.e., it is vertical with stand guide rail 2,
According to parallelogram sturcutre, it is ensured that quadric chain platform 9 is always maintained at level, so as to realize that loading direction is vertical；
A pair of quadric chain rotating shafts 21 are located at the 4th bindiny mechanism described in a pair；
Set up space coordinates again, the line midpoint with a pair of quadric chain rotating shafts 21 as zero, with a pair
The bearing of trend of the movable stock 18 of quadric chain is X0 axles, with the line direction of a pair of quadric chain rotating shafts 21 as Y0 axles,
With the direction vertical with X0-Y0 planes as Z0 axles；
First installation base plate 22 and the second installation base plate 23 are separately fixed on the movable stock 18 of a pair of quadric chains, and
Ensure that the plane of the first installation base plate 22 and the plane of the second installation base plate 23 are respectively perpendicular to X0 axles；In the first installation base plate 22
Plane and the second installation base plate 23 on be respectively mounted identical second bearing 25 and clutch shaft bearing 24, and second bearing 25 and
The axis of rotation of one bearing 24 is simultaneously on X0 axles；Leading screw 16, leading screw are installed between second bearing 25 and clutch shaft bearing 24
16 only rotate around X0 axles, and nut 17 is provided with leading screw 16, there is the smooth pilot hole of two same sizes on nut 17,
Described two guiding centerline holes are located in X0-Y0 planes, and are distributed with X0 axles Parallel Symmetric；Lead through two on nut 17
It is a pair smooth guide posts 15 to hole, the end points of a pair of guide posts 15 is respectively fixedly connected with installation base plate 22 and installs base
The corresponding position of plate 23, such that it is able to realize under the constraint of a pair of guide posts 15, the convert rotational motion by leading screw 16 is
The linear motion of nut 17；
At the 4th bindiny mechanism described in a pair, a pair of quadric chain rotating shafts 21 and the movable stock of a pair of quadric chains
It is to be fixedly connected between 18, is axle connection between a pair of quadric chain rotating shafts 21 and a pair of quadric chain crossbeams 11；Angle
The rotary shaft of measuring mechanism 20 is fixedly connected on one of a pair of quadric chain rotating shafts 21 above and ensures axle center point-blank,
The shell of angle measuring mechanism 20 is fixed on one of a pair of quadric chain crossbeams 11, it is possible thereby to measure a pair of double leval jib machines
Angle between one of movable stock 18 of structure and one of a pair of quadric chain crossbeams 11；
Be fixedly connected the shell of planetary gear reduction box 14 on the first installation base plate 22, planetary gear reduction box 14 it is defeated
Shaft be connected with the leading screw 16 through the hole on the first installation base plate 22 and ensure planetary gear reduction box 14 output shaft axle
The heart is fixedly connected the shell of load maintainer motor 13, load maintainer motor on X0 axles on the shell of planetary gear reduction box 14
13 rotor one end is connected on the input shaft of planetary gear reduction box 14 and ensures axle center point-blank, load maintainer electricity
The rotor other end of machine 13 is connected in the rotary shaft of absolute encoder 12 and ensures axle center point-blank, absolute encoder
12 being fixed on the stator of motor in addition to rotary shaft, driver 19 is fixedly mounted on the first installation base plate 22.
The invention device has following function：
(1) host computer drags stand car body 3 positive and negative at different rates by controlling two servomotors by steel wire
To the various location for moving to Y-direction, so as to realize testing motion of the wheel in Y-direction.
(2) under the control of host computer order, single wheel drive motor 5 forward and reverse can be moved at different rates not
Same position, the power output shaft of single wheel drive motor 5 drives test carriage wheel 7 at different rates after the deceleration of decelerator 6
It is forward and reverse to move to different positions.So as to realize testing the motion of wheel 7, with reference to the motion of stand car body 3, can realize not
With the experimental study under slippage rate and slip rate.
(3) driver 19 receives the feedback information of absolute encoder 12, and according to the control instruction controlled loading of host computer
Mechanism motor 13 drives planetary gear reduction box 14 to rotate, and planetary gear reduction box 14 is connected with leading screw 16, and rotary motion is passed
Pass leading screw 16；Leading screw 16 and nut 17 are a pair of ball screw assembly,s, and nut 17 is in the presence of a pair of guide posts 15 by leading screw
16 convert rotational motion is the linear motion of nut (thereon can fixed weight block) 17, and the change in location of nut 17 will cause
The torque of a pair of quadric chain rotating shafts 21 is changed, in the torque centered on a pair of quadric chain rotating shafts 21
In balance system, soil necessarily changes to the active force for testing wheel 7, is so achieved that by controlled loading mechanism electricity
The continuous motion of machine 13, realizes the continuous motion of nut 17, it is achieved thereby that the continuous controllable loading to testing wheel 7.On
Median function enough reads in real time the information of driver 19 and absolute encoder 12.
(4) data that host computer passes through reading angular measuring mechanism 20 such that it is able to measure a pair of quadric chains movable
Angle between one of stock 18 and one of a pair of quadric chain crossbeams 11, can interpolate that by the analysis to the variable angle
Whether test wheel 7 touches the soil held in the groove 8 of soil.
The invention device can be tested as follows：
(1) wheel 7 is tested static, the relation test between load in sinkage and all range abilities
Now stand car body 3 is static, and single wheel drive motor 5 is static, the drive nut of PC control load maintainer motor 13
17, from the slowly varying position maximum to load in the minimum position of load, record at any time in this process sinkage measuring mechanism
4 and the value of feedback of absolute encoder 12, so as to obtain the relation curve between sinkage and load.
(2) relation test of the test under constantly acting load, between sinkage and the motion of wheel 7
Now 13 drive nut of PC control load maintainer motor 17 is reached at the corresponding position of constantly acting load specified,
Stand car body 3 is moved (including uniform motion, uniform variable motion, non-uniform variable motion etc.) under servomotor dragging, and single-wheel is driven
Galvanic electricity machine 5 drives test wheel 7 to move at the same speed with stand car body 3, the value of feedback of sinkage measuring mechanism 4 is recorded, so as to obtain
Under constantly acting load sinkage with motion change relation curve.
(3) test wheel 7 to move and the sinkage curve in the case of load change.
PC control servomotor drags stand car body 3 and moves (including uniform motion, uniform variable motion, non-even speed change
Motion etc.), single wheel drive motor 5 drives test wheel 7 to move at the same speed with stand car body 3, PC control load maintainer motor
13 drive nuts 17, from the corresponding position of initial load, speed is correspondence load change (including at the uniform velocity live load, even speed change
Live load, non-at the uniform velocity live load) speed, move to the corresponding position of final load, record sinkage measuring mechanism 4
Value of feedback, the depression measurement so as to realize in wheel movement and in the case of load change.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, on the premise of without departing from the technology of the present invention principle, some improvement and deformation can also be made, these improve and deform
Also should be regarded as protection scope of the present invention.
Claims (1)
1. celestial body car single-wheel bench frame apparatus of a kind of load continuously adjustable, it is characterised in that it includes：A pair of concrete walls
(1), a pair of stand guide rails (2), stand car body (3), sinkage measuring mechanism (4), single wheel drive motor (5), decelerator (6),
Test wheel (7), the groove (8) for holding soil, quadric chain platform (9), the movable quarter butt (10) of a pair of quadric chains, one
To quadric chain crossbeam (11), absolute encoder (12), load maintainer motor (13), planetary gear reduction box (14), a pair
The movable stock (18) of guide post (15), leading screw (16), nut (17), a pair of quadric chains, driver (19), angular surveying machine
Structure (20), a pair of quadric chain rotating shafts (21), the first installation base plate (22), the second installation base plate (23), clutch shaft bearing (24),
Second bearing (25)；
The parallel direction extended along a pair of concrete walls (1) just pair and on contour a pair of concrete walls (1) is parallel just
Pair and wait highland lay a pair of stand guide rails (2)；Gantry coordinates system, with vertical direction as Z-direction, a pair of stand guide rails are built first
(2) bearing of trend is Y-direction, and the direction vertical with Y-Z plane is X to thus building gantry coordinates system X-Y-Z；
Stand car body (3) can be moved with wheel along Y-direction, and stand car body (3) is in the centre position of the anterior-posterior horizontal beam of Y-direction
Steel wire is respectively fixed with, can be under the traction of two servomotors along Y-direction bidirectional-movement；Sinkage measuring mechanism (4) is
One linear displacement transducer, its fixing end is fixed on stand car body (3), sliding end hang naturally under gravity to
It is heavy to calculate in the displacement difference of Z-direction by quadric chain platform before and after measurement wheel loading on quadric chain platform (9)
Fall into amount；
The stationary part of single wheel drive motor (5) is fixedly connected on quadric chain platform (9), single wheel drive motor (5)
Rotor portion is connected with the input shaft of decelerator (6), and the shell of decelerator (6) is fixedly connected on determining for single wheel drive motor (5)
In subdivision, test wheel (7) is fixedly attached on the output shaft of decelerator (6), tests axle center and the decelerator of wheel (7)
(6) axis coinciding of output shaft and along X to.The groove (8) for holding soil is arranged horizontally between a pair of concrete walls (1)
In Y-direction, and test wheel (7) the sinkage measuring mechanism (4) in maximum subsidence is not outranged；
Quadric chain platform (9) is a rectangular platform mechanism, and it is set to identical strip shape body along the both ends of Y-direction, this
Shape body length direction, to setting, on two strip shape bodies a pair of bindiny mechanisms is each provided with along X, thus for certain one end bar
For a pair of bindiny mechanisms at shape body, it is divided into X to preceding the first bindiny mechanism and the X of being set to posterior second connection machine
Structure, and first bindiny mechanism, in strip shape body outside, second bindiny mechanism is in strip shape body inner side；
First bindiny mechanism is used to set one of the movable quarter butt of the pair of quadric chain (10) by axle connected mode
Quadric chain platform (9) end is placed in, i.e., a certain strip shape body outside, second bindiny mechanism is used to connect the pair of four
One of the movable stock of linkage (18) is arranged at quadric chain platform (9) end by axle connected mode, i.e., in the strip body
Side；For hence for another strip shape body, again by the first bindiny mechanism and the second bindiny mechanism on the strip shape body, realize
One of movable quarter butt (10) of another quadric chain is arranged at outside quadric chain platform (9) the other end by axle connected mode
Side, and one of the movable stock of another quadric chain (18) is arranged at quadric chain platform (9) end by axle connected mode
Portion inner side；
Quadric chain crossbeam (11) is identical along the thickness of Y-direction with the strip shape body along the thickness of Y-direction described in a pair；It is the pair of
X is each provided with quadric chain crossbeam (11) to preceding 3rd bindiny mechanism and X to posterior 4th bindiny mechanism；It is described
3rd bindiny mechanism is in the pair of four in the pair of quadric chain crossbeam (11) outside, the 4th bindiny mechanism
Linkage crossbeam (11) inner side；
3rd attachment structure is used to be arranged at one of movable quarter butt (10) of a pair of quadric chains by axle connected mode
The outside of one of a pair of quadric chain crossbeams (11), the 4th bindiny mechanism is used for the pair of quadric chain is movable
One of stock (18) is arranged at the inner side of one of the quadric chain crossbeam (11) by axle connected mode；Hence for another four
For one of linkage crossbeam (11), again by the 3rd bindiny mechanism on one of a pair of quadric chain crossbeams (11)
With the 4th bindiny mechanism, realize that one of the movable quarter butt of another pair quadric chain (10) is arranged in addition by axle connected mode
One of a pair of quadric chain crossbeams (11) outside, and one of the movable stock of another pair quadric chain (18) connected by axle
The mode of connecing is arranged at one of another pair quadric chain crossbeam (11) inner side；
First bindiny mechanism and the second bindiny mechanism along X to distance and the 3rd bindiny mechanism and the 4th bindiny mechanism along X to
Apart from equal；The distance of the first bindiny mechanism and the 3rd bindiny mechanism and the second bindiny mechanism and the distance phase of the 4th bindiny mechanism
Deng；Thus, the movable quarter butt (10) of quadric chain platform (9), a pair of quadric chains, a pair of quadric chain crossbeams (11),
The movable stock (18) of a pair of quadric chains constitutes parallelogram sturcutre, is made up of the movable quarter butt (10) of a pair of quadric chains
Plane be parallel to each other with the plane being made up of the movable stock (18) of a pair of quadric chains, quadric chain platform (9) is located
Plane be parallel to each other with the plane being made up of a pair of quadric chain crossbeams (11)；
The pair of quadric chain crossbeam (11) to being horizontally fixed on stand car body (3), i.e., is hung down along X with stand guide rail (2)
Directly, according to parallelogram sturcutre, it is ensured that quadric chain platform (9) is always maintained at level, so as to realize that loading direction is
It is vertical；
A pair of quadric chain rotating shafts (21) are at the 4th bindiny mechanism described in a pair；
Set up space coordinates again, the line midpoint with a pair of quadric chain rotating shafts (21) as zero, with a pair four
The bearing of trend of the movable stock of linkage (18) is X0 axles, and the line direction with a pair of quadric chain rotating shafts (21) is as Y0
Axle, with the direction vertical with X0-Y0 planes as Z0 axles；
First installation base plate (22) and the second installation base plate (23) are separately fixed on the movable stock (18) of a pair of quadric chains,
And ensure that the plane of the first installation base plate (22) and the plane of the second installation base plate (23) are respectively perpendicular to X0 axles；Install first
Identical second bearing (25) and clutch shaft bearing (24) are respectively mounted in the plane and the second installation base plate (23) of substrate (22), and
The axis of rotation of second bearing (25) and clutch shaft bearing (24) is simultaneously on X0 axles；In second bearing (25) and clutch shaft bearing (24)
Between leading screw (16) is installed, leading screw (16) is only rotated around X0 axles, and nut (17), nut (17) are provided with leading screw (16)
On have the smooth pilot hole of two same sizes, described two guiding centerline holes are located in X0-Y0 planes, and flat with X0 axles
Row is symmetrical；It is a pair smooth guide posts (15) through two pilot holes on nut (17), a pair of guide posts (15)
End points be respectively fixedly connected with the corresponding position of the first installation base plate (22) and the second installation base plate (23), such that it is able to reality
Under the constraint of present a pair of guide posts (15), by the linear motion that the convert rotational motion of leading screw (16) is nut (17)；
At the 4th bindiny mechanism described in a pair, a pair of quadric chain rotating shafts (21) and the movable stock of a pair of quadric chains
(18) it is to be fixedly connected between, is that axle connects between a pair of quadric chain rotating shafts (21) and a pair of quadric chain crossbeams (11)
Connect；It is upper and ensure that axle center exists that the rotary shaft of angle measuring mechanism (20) is fixedly connected on one of a pair of quadric chain rotating shafts (21)
On straight line, the shell of angle measuring mechanism (20) is fixed on one of a pair of quadric chain crossbeams (11), it is possible thereby to
Measure the angle between one of one of movable stock (18) of a pair of quadric chains and a pair of quadric chain crossbeams (11)；
The shell of planetary gear reduction box (14) is fixedly connected on the first installation base plate (22), planetary gear reduction box (14)
Output shaft is connected and ensures the defeated of planetary gear reduction box (14) with the leading screw (16) through the hole on the first installation base plate (22)
The axle center of shaft is fixedly connected the shell of load maintainer motor (13) on X0 axles on the shell of planetary gear reduction box (14),
Rotor one end of load maintainer motor (13) is connected on the input shaft of planetary gear reduction box (14) and ensures axle center at one
On straight line, the rotor other end of load maintainer motor (13) is connected in the rotary shaft of absolute encoder (12) and ensures that axle center exists
On straight line, absolute encoder (12) being fixed on the stator of motor in addition to rotary shaft, the fixed peace of driver (19)
It is mounted on the first installation base plate (22).
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| CN201611237710.1A CN106644514B (en) | 2016-12-28 | 2016-12-28 | A kind of celestial body vehicle single-wheel bench frame apparatus of load continuously adjustable |
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| CN201611237710.1A CN106644514B (en) | 2016-12-28 | 2016-12-28 | A kind of celestial body vehicle single-wheel bench frame apparatus of load continuously adjustable |
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| CN106644514B CN106644514B (en) | 2018-10-19 |
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Cited By (5)
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|---|---|---|---|---|
| CN106895984A (en) * | 2017-03-13 | 2017-06-27 | 太原理工大学 | A kind of scale model wheel sinkage and traction force test device |
| CN110375862A (en) * | 2019-07-26 | 2019-10-25 | 朱清 | A kind of Hot disaster detection device for restricted clearance |
| CN110793421A (en) * | 2019-11-14 | 2020-02-14 | 珠海丽亭智能科技有限公司 | Length-variable robot stretching length measuring device |
| CN111238849A (en) * | 2020-01-22 | 2020-06-05 | 哈尔滨工业大学 | Performance testing device for Mars vehicle moving system |
| CN112179547A (en) * | 2020-08-12 | 2021-01-05 | 上汽通用五菱汽车股份有限公司 | Six-component force sensor rotary application device |
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| CN106895984A (en) * | 2017-03-13 | 2017-06-27 | 太原理工大学 | A kind of scale model wheel sinkage and traction force test device |
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| CN110793421A (en) * | 2019-11-14 | 2020-02-14 | 珠海丽亭智能科技有限公司 | Length-variable robot stretching length measuring device |
| CN111238849A (en) * | 2020-01-22 | 2020-06-05 | 哈尔滨工业大学 | Performance testing device for Mars vehicle moving system |
| CN112179547A (en) * | 2020-08-12 | 2021-01-05 | 上汽通用五菱汽车股份有限公司 | Six-component force sensor rotary application device |
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| Publication number | Publication date |
|---|---|
| CN106644514B (en) | 2018-10-19 |
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