CN106644514B - A kind of celestial body vehicle single-wheel bench frame apparatus of load continuously adjustable - Google Patents
A kind of celestial body vehicle single-wheel bench frame apparatus of load continuously adjustable Download PDFInfo
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- CN106644514B CN106644514B CN201611237710.1A CN201611237710A CN106644514B CN 106644514 B CN106644514 B CN 106644514B CN 201611237710 A CN201611237710 A CN 201611237710A CN 106644514 B CN106644514 B CN 106644514B
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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 celestial body vehicle single-wheel bench frame apparatus technical fields, and in particular to a kind of celestial body vehicle single-wheel bench frame apparatus of load continuously adjustable.The present invention has advantageous effect：Host computer by control load maintainer motor continuous movement, to realize test wheel and soil between load consecutive variations；By the way that the clump weight of different weight to be symmetrically fixed on the nut of ball-screw, so as to change the range of single-wheel rack continuously loaded；The rotary motion of the shaft of load maintainer motor is converted into the linear motion of nut after the transmission by planetary gear reduction box and ball-screw, absolute position encoder is installed on motor shaft, because there are reduction ratio and helical pitch, the angular displacement that the small straight-line displacement of nut corresponds to load maintainer motor is very big, numerical value change range thus on absolute encoder is very big, because driver can control the precise motion of load maintainer motor position, so the position control accuracy of nut is very high, i.e. the load loading accuracy of single-wheel rack is very high.
Description
Technical field
The invention belongs to celestial body vehicle single-wheel bench frame apparatus technical fields, and in particular to a kind of celestial body of load continuously adjustable
Vehicle single-wheel bench frame apparatus.
Background technology
Celestial body vehicle 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 influences very big.Because the physical characteristic on celestial body surface is different from earth surface, so needing according to the celestial body table
The characteristic in face designs celestial body vehicle, to ensure that the celestial body vehicle designed disclosure satisfy that requirement.So needing at the earth's surface
Celestial body vehicle is tested and tested by the method for simulation.In the depression problem that research celestial body vehicle is walked on celestial body surface
On, existing approach is then intended by curve by loading different size of discrete load, sinkage being measured by many experiments
It closes to obtain the relationship between sinkage and magnitude of load, the disadvantage is that result is inaccurate, and wastes a large amount of time and essence
Power.
Application No. is 201310751504.2 patents of invention to disclose a kind of control of 1/6g low gravitations balance erecting by overhang
System processed, it is detected the measured value of force snesor, and fixed pulling force is provided by the action of PID control electric cylinder.
The system structure is complicated, and energy consumption is more, and can not achieve the stable and continuous variation of load.
Invention content
(1) technical problems to be solved
The technical problem to be solved by the present invention is to：To solve accurate measure between celestial body vehicle wheel sinkage and magnitude of load
Relationship, how a kind of celestial body vehicle single-wheel bench frame apparatus of load continuously adjustable is provided, it is accurate that too small amount of experiment can be led to
The relationship between the sinkage and magnitude of load of different wheels is obtained, the design for celestial body vehicle provides foundation.
(2) technical solution
In order to solve the above technical problems, the present invention provides a kind of celestial body vehicle single-wheel bench frame apparatus of load continuously adjustable,
It includes：
A pair of of concrete wall 1, a pair of of rack guide rail 2, rack car body 3, sinkage measuring mechanism 4, single wheel drive motor
5, retarder 6, test wheel 7, the groove 8 for holding soil, four-bar mechanism platform 9, the movable quarter butt 10 of a pair of of four-bar mechanism,
A pair of of four-bar mechanism crossbeam 11, absolute encoder 12, load maintainer motor 13, planetary gear reduction box 14, a pair of of guide rod
15, leading screw 16, nut 17, the movable stock 18 of a pair of of four-bar mechanism, driver 19, angle measuring mechanism 20, a pair of of double leval jib
Mechanism shaft 21, the first installation base plate 22, the second installation base plate 23, first bearing 24, second bearing 25；
The direction extended along a pair of of concrete wall 1 in parallel face and contour a pair of of concrete wall 1 is parallel just
Pair and wait highland to place a pair of of rack guide rail 2；Structure gantry coordinates system first, using vertical direction as Z-direction, a pair of of rack guide rail 2
Extending direction be Y-direction, the direction vertical with Y-Z plane is X to thus building gantry coordinates system X-Y-Z；
Rack car body 3 carries wheel, can be moved along Y-direction, rack car body 3 is in the centre position of the anterior-posterior horizontal beam of Y-direction
It is respectively fixed with steel wire, it can be under the traction of two servo motors along Y-direction bidirectional-movement；Sinkage measuring mechanism 4 is one
A linear displacement transducer, fixing end are fixed on rack car body 3, and sliding end, which hangs naturally under gravity to four, to be connected
On linkage platform 9, sinkage is calculated in the displacement difference of Z-direction by measuring the front and back four-bar mechanism platform of wheel load；
The stationary part of single wheel drive motor 5 is fixedly connected on four-bar mechanism platform 9, and single wheel drive motor 5 turns
Subdivision is connected with the input shaft of retarder 6, and the shell of retarder 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 retarder 6, and the axle center for testing 6 output shaft of axle center and retarder of wheel 7 overlaps
And along X to.The groove 8 for holding soil is arranged horizontally in the Y-direction between a pair of of concrete wall 1, and test wheel 7 is existed
Sinkage measuring mechanism 4 does not outrange when maximum subsidence；
Four-bar mechanism platform 9 is a rectangular platform mechanism, and identical strip shape body is set as along the both ends of Y-direction, should
Strip shape body length direction to setting, is each provided with a pair of of bindiny mechanism, thus for certain one end along X on two strip shape bodies
For a pair of of bindiny mechanism at strip shape body, it is divided into X to preceding the first bindiny mechanism and the X of being set as to posterior second connection machine
Structure, and first bindiny mechanism is on the outside of the strip shape body, second bindiny mechanism is on the inside of the strip shape body；
First bindiny mechanism is used to one of movable quarter butt of the pair of four-bar mechanism 10 passing through axis connection mode
It is set to 9 end of four-bar mechanism platform, i.e., on the outside of a certain strip shape body, second bindiny mechanism by the pair of four for connecting
One of movable stock of linkage 18 is set to 9 end of four-bar mechanism platform by axis connection mode, i.e., on the inside of the strip shape body；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 of four-bar mechanism 10 is set to by axis connection mode on the outside of 9 the other end of four-bar mechanism platform, and
One of movable stock of another four-bar mechanism 18 is set to 9 tip inside of four-bar mechanism platform by axis connection mode；
A pair of four-bar mechanism crossbeam 11 is identical along the thickness of Y-direction as the strip shape body along the thickness of Y-direction；Described one
To being each provided with X on four-bar mechanism crossbeam 11 to preceding third bindiny mechanism and X to posterior 4th bindiny mechanism；It is described
Third bindiny mechanism is in 11 outside of the pair of four-bar mechanism crossbeam, and the 4th bindiny mechanism is in the pair of four and connects
11 inside of linkage crossbeam；
The third connection structure is used to one of movable quarter butt of a pair of of four-bar mechanism 10 by axis connection mode being arranged
In the outside of one of a pair of of four-bar mechanism crossbeam 11, the 4th bindiny mechanism is used for the pair of four-bar mechanism is movable
One of stock 18 is set to the inside of one of the four-bar mechanism crossbeam 11 by axis connection mode；Hence for another double leval jib
For one of mechanism crossbeam 11, connect again by the third bindiny mechanism and the 4th on one of a pair of four-bar mechanism crossbeam 11
Connection mechanism realizes that one of movable quarter butt of another pair four-bar mechanism 10 is set to another pair double leval jib by axis connection mode
On the outside of one of mechanism crossbeam 11 and one of the movable stock of another pair four-bar mechanism 18 is set to separately by axis connection mode
One of outer a pair of four-bar mechanism crossbeam 11 inside；
First bindiny mechanism and the second bindiny mechanism along X to distance with third bindiny mechanism and the 4th bindiny mechanism along X
To distance it is equal；The distance of first bindiny mechanism and third bindiny mechanism and the second bindiny mechanism and the 4th bindiny mechanism away from
From equal；Four-bar mechanism platform 9, the movable quarter butt 10 of a pair of of four-bar mechanism, a pair of of four-bar mechanism crossbeam 11, one as a result,
Parallelogram sturcutre is constituted to the movable stock of four-bar mechanism 18, the plane being made of the movable quarter butt of a pair of of four-bar mechanism 10
Be mutually parallel with the plane being made of the movable stock of a pair of of four-bar mechanism 18, the plane where four-bar mechanism platform 9 with by
The plane that a pair of of four-bar mechanism crossbeam 11 is constituted is mutually parallel；
The pair of four-bar mechanism crossbeam 11 along X to being horizontally fixed on rack car body 3, i.e., it is vertical with rack guide rail 2,
According to parallelogram sturcutre, it is ensured that four-bar mechanism platform 9 is always maintained at level, to realize that loading direction is vertical；
A pair of of four-bar mechanism shaft 21 is located at a pair of 4th bindiny mechanism；
Space coordinates are established again, using the line midpoint of a pair of of four-bar mechanism shaft 21 as coordinate origin, with a pair
The extending direction of the movable stock of four-bar mechanism 18 is X0 axis, with the line direction of a pair of of four-bar mechanism shaft 21 for Y0 axis,
With the direction vertical with X0-Y0 planes for Z0 axis；
First installation base plate 22 and the second installation base plate 23 are separately fixed on the movable stock of a pair of of four-bar mechanism 18, and
The plane of the plane and the second installation base plate 23 that ensure the first installation base plate 22 is respectively perpendicular to X0 axis；In the first installation base plate 22
Plane and the second installation base plate 23 on identical second bearing 25 and first bearing 24, and second bearing 25 and are installed respectively
The axis of rotation of one bearing 24 is simultaneously on X0 axis；Leading screw 16, leading screw are installed between second bearing 25 and first bearing 24
16 is only dynamic around X0 shaft rotations, is equipped with nut 17 on leading screw 16, there are two the smooth pilot hole of same size on nut 17,
Described two guiding centerline holes are located in X0-Y0 planes, and are distributed with X0 axis Parallel Symmetrics；Two on nut 17 are led
It is a pair of smooth guide rod 15 to hole, the endpoint of a pair of of guide rod 15 is respectively fixedly connected in installation base plate 22 and installation base
The corresponding position of plate 23, so as to realize under the constraint of a pair of of guide rod 15, the convert rotational motion by leading screw 16 is
The linear motion of nut 17；
At a pair of 4th bindiny mechanism, a pair of of four-bar mechanism shaft 21 and the movable stock of a pair of of four-bar mechanism
It is to be fixedly connected between 18, is axis connection between a pair of of four-bar mechanism shaft 21 and a pair of of four-bar mechanism crossbeam 11；Angle
The rotary shaft of measuring mechanism 20 is fixedly connected on one of a pair of of four-bar mechanism shaft 21 above and ensures axle center point-blank,
The shell of angle measuring mechanism 20 is fixed on one of a pair of of four-bar mechanism crossbeam 11, it is possible thereby to measure a pair of of double leval jib machine
Angle between one of movable stock of structure 18 and one of a pair of of four-bar mechanism crossbeam 11；
Be fixedly connected with the shell of planetary gear reduction box 14 on the first installation base plate 22, planetary gear reduction box 14 it is defeated
Shaft connect and ensures the axis of the output shaft of planetary gear reduction box 14 with the leading screw 16 in the hole on the first installation base plate 22
The heart is fixedly connected with the shell of load maintainer motor 13, load maintainer motor on X0 axis 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 are fixedly mounted on the first installation base plate 22.
(3) advantageous effect
Compared with prior art, the present invention has following advantageous effect：
(1) host computer is tested to realize between wheel and soil by the continuous movement of control load maintainer motor
The consecutive variations of load；
(2) by the way that the clump weight of different weight to be symmetrically fixed on the nut of ball-screw, so as to change single-wheel
The range of rack continuously loaded；
(3) turn after the transmission that the rotary motion of the shaft of load maintainer motor passes through 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 in the presence of 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
Numerical value change range it is very big, because driver can control the precise motion of load maintainer motor position, so nut (thereon may be used
Fixed weight block) position control accuracy is very high namely the load loading accuracy of single-wheel rack is very high；
(4) it can realize that the relationship between load of test wheel when static in sinkage and all range abilities is surveyed
Examination；
(5) test wheel can be realized in movement (including uniform motion, uniform variable motion, non-uniform variable motion) and load
Depression measurement in the case of variation (including constantly acting load, at the uniform velocity live load, non-at the uniform velocity live load)；
(6) than firmly sensing by way of controlling single-wheel rack magnitude of load controlling the position of load maintainer motor
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 load four-bar mechanism schematic diagram of the load continuously adjustable of the present invention.
Reference sign：
1, a pair of of mixed mud wall；2, a pair of of rack guide rail；3, rack car body；4, sinkage measuring mechanism；5, single-wheel is driven
Dynamic motor；6, retarder；7, wheel is tested；8, the groove of soil is held；9, four-bar mechanism platform；10, a pair of of double leval jib machine
The movable quarter butt of structure；11, a pair of of four-bar mechanism crossbeam；12, absolute encoder；13, load maintainer motor；14, planetary gear reduction
Fast case；15, a pair of of guide rod；16, leading screw；17, nut (thereon can fixed weight block)；18, a pair of of four-bar mechanism is movably grown
Bar；19, driver；20, angle measuring mechanism；21, a pair of of four-bar mechanism shaft；22, installation base plate；23, installation base plate；
24, bearing；25, bearing.
Specific implementation mode
To keep the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to the present invention's
Specific implementation mode is described in further detail.
In order to solve the above technical problems, the present invention provides a kind of celestial body vehicle single-wheel bench frame apparatus of load continuously adjustable,
It includes：
A pair of of concrete wall 1, a pair of of rack guide rail 2, rack car body 3, sinkage measuring mechanism 4, single wheel drive motor
5, retarder 6, test wheel 7, the groove 8 for holding soil, four-bar mechanism platform 9, the movable quarter butt 10 of a pair of of four-bar mechanism,
A pair of of four-bar mechanism crossbeam 11, absolute encoder 12, load maintainer motor 13, planetary gear reduction box 14, a pair of of guide rod
15, leading screw 16, nut (thereon can fixed weight block) 17, the movable stock 18 of a pair of of four-bar mechanism, driver 19, angle measurement
Mechanism 20, a pair of of four-bar mechanism shaft 21, the first installation base plate 22, the second installation base plate 23, first bearing 24, second bearing
25；
Fig. 1 and Fig. 2 is the principle schematic diagram of the present invention；Parallel face and contour 1 upper edge of a pair of of concrete wall
It the parallel face in direction that a pair of of concrete wall 1 extends and highland is waited to place a pair of of rack guide rail 2；Gantry coordinates are built first
System, using vertical direction as Z-direction, the extending direction of a pair of of rack guide rail 2 is Y-direction, and the direction vertical with Y-Z plane is X to thus
Build gantry coordinates system X-Y-Z；
Rack car body 3 carries wheel, can be moved along Y-direction, rack car body 3 is in the centre position of the anterior-posterior horizontal beam of Y-direction
It is respectively fixed with steel wire, it can be under the traction of two servo motors along Y-direction bidirectional-movement；Sinkage measuring mechanism 4 is one
A linear displacement transducer, fixing end are fixed on rack car body 3, and sliding end, which hangs naturally under gravity to four, to be connected
On linkage platform 9, sinkage is calculated in the displacement difference of Z-direction by measuring the front and back four-bar mechanism platform of wheel load；
The stationary part of single wheel drive motor 5 is fixedly connected on four-bar mechanism platform 9, and single wheel drive motor 5 turns
Subdivision is connected with the input shaft of retarder 6, and the shell of retarder 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 retarder 6, and the axle center for testing 6 output shaft of axle center and retarder of wheel 7 overlaps
And along X to.The groove 8 for holding soil is arranged horizontally in the Y-direction between a pair of of concrete wall 1, and test wheel 7 is existed
Sinkage measuring mechanism 4 does not outrange when maximum subsidence；
Four-bar mechanism platform 9 is a rectangular platform mechanism, and identical strip shape body is set as along the both ends of Y-direction, should
Strip shape body length direction to setting, is each provided with a pair of of bindiny mechanism, thus for certain one end along X on two strip shape bodies
For a pair of of bindiny mechanism at strip shape body, it is divided into X to preceding the first bindiny mechanism and the X of being set as to posterior second connection machine
Structure, and first bindiny mechanism is on the outside of the strip shape body, second bindiny mechanism is on the inside of the strip shape body；
First bindiny mechanism is used to one of movable quarter butt of the pair of four-bar mechanism 10 passing through axis connection mode
It is set to 9 end of four-bar mechanism platform, i.e., on the outside of a certain strip shape body, second bindiny mechanism by the pair of four for connecting
One of movable stock of linkage 18 is set to 9 end of four-bar mechanism platform by axis connection mode, i.e., on the inside of the strip shape body；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 of four-bar mechanism 10 is set to by axis connection mode on the outside of 9 the other end of four-bar mechanism platform, and
One of movable stock of another four-bar mechanism 18 is set to 9 tip inside of four-bar mechanism platform by axis connection mode；
A pair of four-bar mechanism crossbeam 11 is identical along the thickness of Y-direction as the strip shape body along the thickness of Y-direction；Described one
To being each provided with X on four-bar mechanism crossbeam 11 to preceding third bindiny mechanism and X to posterior 4th bindiny mechanism；It is described
Third bindiny mechanism is in 11 outside of the pair of four-bar mechanism crossbeam, and the 4th bindiny mechanism is in the pair of four and connects
11 inside of linkage crossbeam；
The third connection structure is used to one of movable quarter butt of a pair of of four-bar mechanism 10 by axis connection mode being arranged
In the outside of one of a pair of of four-bar mechanism crossbeam 11, the 4th bindiny mechanism is used for the pair of four-bar mechanism is movable
One of stock 18 is set to the inside of one of the four-bar mechanism crossbeam 11 by axis connection mode；Hence for another double leval jib
For one of mechanism crossbeam 11, connect again by the third bindiny mechanism and the 4th on one of a pair of four-bar mechanism crossbeam 11
Connection mechanism realizes that one of movable quarter butt of another pair four-bar mechanism 10 is set to another pair double leval jib by axis connection mode
On the outside of one of mechanism crossbeam 11 and one of the movable stock of another pair four-bar mechanism 18 is set to separately by axis connection mode
One of outer a pair of four-bar mechanism crossbeam 11 inside；
First bindiny mechanism and the second bindiny mechanism along X to distance with third bindiny mechanism and the 4th bindiny mechanism along X
To distance it is equal；The distance of first bindiny mechanism and third bindiny mechanism and the second bindiny mechanism and the 4th bindiny mechanism away from
From equal；Four-bar mechanism platform 9, the movable quarter butt 10 of a pair of of four-bar mechanism, a pair of of four-bar mechanism crossbeam 11, one as a result,
Parallelogram sturcutre is constituted to the movable stock of four-bar mechanism 18, the plane being made of the movable quarter butt of a pair of of four-bar mechanism 10
Be mutually parallel with the plane being made of the movable stock of a pair of of four-bar mechanism 18, the plane where four-bar mechanism platform 9 with by
The plane that a pair of of four-bar mechanism crossbeam 11 is constituted is mutually parallel；
The pair of four-bar mechanism crossbeam 11 along X to being horizontally fixed on rack car body 3, i.e., it is vertical with rack guide rail 2,
According to parallelogram sturcutre, it is ensured that four-bar mechanism platform 9 is always maintained at level, to realize that loading direction is vertical；
A pair of of four-bar mechanism shaft 21 is located at a pair of 4th bindiny mechanism；
Space coordinates are established again, using the line midpoint of a pair of of four-bar mechanism shaft 21 as coordinate origin, with a pair
The extending direction of the movable stock of four-bar mechanism 18 is X0 axis, with the line direction of a pair of of four-bar mechanism shaft 21 for Y0 axis,
With the direction vertical with X0-Y0 planes for Z0 axis；
First installation base plate 22 and the second installation base plate 23 are separately fixed on the movable stock of a pair of of four-bar mechanism 18, and
The plane of the plane and the second installation base plate 23 that ensure the first installation base plate 22 is respectively perpendicular to X0 axis；In the first installation base plate 22
Plane and the second installation base plate 23 on identical second bearing 25 and first bearing 24, and second bearing 25 and are installed respectively
The axis of rotation of one bearing 24 is simultaneously on X0 axis；Leading screw 16, leading screw are installed between second bearing 25 and first bearing 24
16 is only dynamic around X0 shaft rotations, is equipped with nut 17 on leading screw 16, there are two the smooth pilot hole of same size on nut 17,
Described two guiding centerline holes are located in X0-Y0 planes, and are distributed with X0 axis Parallel Symmetrics；Two on nut 17 are led
It is a pair of smooth guide rod 15 to hole, the endpoint of a pair of of guide rod 15 is respectively fixedly connected in installation base plate 22 and installation base
The corresponding position of plate 23, so as to realize under the constraint of a pair of of guide rod 15, the convert rotational motion by leading screw 16 is
The linear motion of nut 17；
At a pair of 4th bindiny mechanism, a pair of of four-bar mechanism shaft 21 and the movable stock of a pair of of four-bar mechanism
It is to be fixedly connected between 18, is axis connection between a pair of of four-bar mechanism shaft 21 and a pair of of four-bar mechanism crossbeam 11；Angle
The rotary shaft of measuring mechanism 20 is fixedly connected on one of a pair of of four-bar mechanism shaft 21 above and ensures axle center point-blank,
The shell of angle measuring mechanism 20 is fixed on one of a pair of of four-bar mechanism crossbeam 11, it is possible thereby to measure a pair of of double leval jib machine
Angle between one of movable stock of structure 18 and one of a pair of of four-bar mechanism crossbeam 11；
Be fixedly connected with the shell of planetary gear reduction box 14 on the first installation base plate 22, planetary gear reduction box 14 it is defeated
Shaft connect and ensures the axis of the output shaft of planetary gear reduction box 14 with the leading screw 16 in the hole on the first installation base plate 22
The heart is fixedly connected with the shell of load maintainer motor 13, load maintainer motor on X0 axis 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 are fixedly mounted on the first installation base plate 22.
The invention device has following function：
(1) it is positive and negative at different rates to drag rack car body 3 by controlling two servo motors by steel wire for host computer
To moving at the different location of Y-direction, to realize movement of the test wheel in Y-direction.
(2) under the control of host computer order, single wheel drive motor 5 forward and reverse at different rates can move to not
The power output shaft of same position, single wheel drive motor 5 drives test carriage wheel 7 at different rates after the deceleration of retarder 6
It is forward and reverse to move to different positions.To realize that the movement of test wheel 7 can be realized not in conjunction with the movement of rack car body 3
With the experimental study under slippage rate and slip rate.
(3) driver 19 receives the feedback information of absolute encoder 12, and is controlled and loaded according to the control instruction of host computer
Mechanism motor 13 drives planetary gear reduction box 14 to rotate, and planetary gear reduction box 14 connect with leading screw 16, rotary motion is passed
Pass leading screw 16；Leading screw 16 and nut 17 are a pair of of ball screw assembly,s, and nut 17 is under the action of a pair of of guide rod 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
It changes to the torque of a pair of of four-bar mechanism shaft 21, torque centered on one by a pair of of four-bar mechanism shaft 21
In balance system, soil necessarily changes to the active force for testing wheel 7, thereby realizes by controlling load maintainer electricity
The continuous movement of machine 13 realizes the continuous movement of nut 17, to realize the continuous controllable load to testing wheel 7.On
The enough information for reading driver 19 and absolute encoder 12 in real time of median function.
(4) host computer is movable so as to measure a pair of of four-bar mechanism by the data of reading angular measuring mechanism 20
Angle between one of stock 18 and one of a pair of of four-bar mechanism crossbeam 11, can be judged 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) test wheel 7 is static, the relation test between load in sinkage and all range abilities
Rack car body 3 is static at this time, and single wheel drive motor 5 is static, and PC control load maintainer motor 13 drives nut
17 is slowly varying to the maximum position of load from the position of load minimum, records sinkage measuring mechanism at any time in this process
4 and absolute encoder 12 value of feedback, to obtain the relation curve between sinkage and load.
(2) test is under constantly acting load, the relation test between sinkage and the movement of wheel 7
PC control load maintainer motor 13 drives nut 17 to reach at the specified corresponding position of constantly acting load at this time,
Rack car body 3 moves (including uniform motion, uniform variable motion, non-uniform variable motion etc.) in the servo motor drag, and single-wheel is driven
The dynamic driving of motor 5 test wheel 7 moves at the same speed with rack car body 3, the value of feedback of record sinkage measuring mechanism 4, to obtain
Under constantly acting load sinkage with motion change relation curve.
(3) the sinkage curve in the case of the movement of wheel 7 and load change is tested.
3 movement of PC control servo motor dragging rack car body (including uniform motion, uniform variable motion, non-even speed change
Movement etc.), the driving of single wheel drive motor 5 test wheel 7 moves at the same speed with rack car body 3, PC control load maintainer motor
13 driving nuts 17, from the corresponding position of initial load, speed is corresponding 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, to realize the depression measurement in wheel movement and load change.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (1)
1. a kind of celestial body vehicle single-wheel bench frame apparatus of load continuously adjustable, which is characterized in that it includes：A pair of of concrete wall
(1), a pair of of rack guide rail (2), rack car body (3), sinkage measuring mechanism (4), single wheel drive motor (5), retarder (6),
Test wheel (7), the groove (8) for holding soil, four-bar mechanism platform (9), a pair of of movable quarter butt of four-bar mechanism (10), one
To four-bar mechanism crossbeam (11), absolute encoder (12), load maintainer motor (13), planetary gear reduction box (14), a pair
Guide rod (15), leading screw (16), nut (17), a pair of of movable stock of four-bar mechanism (18), driver (19), angle measurement machine
Structure (20), a pair of of four-bar mechanism shaft (21), the first installation base plate (22), the second installation base plate (23), first bearing (24),
Second bearing (25)；
The direction extended along a pair of of concrete wall (1) in parallel face and contour a pair of of concrete wall (1) is parallel just
Pair and wait highland to place a pair of of rack guide rail (2)；Structure gantry coordinates system first, using vertical direction as Z-direction, a pair of of rack guide rail
(2) extending direction is Y-direction, and the direction vertical with Y-Z plane is X to thus building gantry coordinates system X-Y-Z；
Rack car body (3) carries wheel, can be moved along Y-direction, rack car body (3) is in the centre position of the anterior-posterior horizontal beam of Y-direction
It is respectively fixed with steel wire, it can be under the traction of two servo motors along Y-direction bidirectional-movement；Sinkage measuring mechanism (4) is
One linear displacement transducer, fixing end are fixed on rack car body (3), sliding end hang naturally under gravity to
On four-bar mechanism platform (9), it is heavy to be calculated in the displacement difference of Z-direction by the front and back four-bar mechanism platform of measurement wheel load
Fall into amount；
The stationary part of single wheel drive motor (5) is fixedly connected on four-bar mechanism platform (9), single wheel drive motor (5)
Rotor portion is connected with the input shaft of retarder (6), and the shell of retarder (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 retarder (6), the axle center of test wheel (7) and retarder
(6) output shaft axle center overlap and along X to；The groove (8) for holding soil is arranged horizontally between a pair of of concrete wall (1)
In Y-direction, and test wheel (7) sinkage measuring mechanism (4) in maximum subsidence is not outranged；
Four-bar mechanism platform (9) is a rectangular platform mechanism, and identical strip shape body is set as along the both ends of Y-direction, this
Shape body length direction to setting, is each provided with a pair of of bindiny mechanism, thus for certain one end item along X on two strip shape bodies
For a pair of of bindiny mechanism at shape body, it is divided into X to preceding the first bindiny mechanism and the X of being set as to posterior second connection machine
Structure, and first bindiny mechanism is on the outside of the strip shape body, second bindiny mechanism is on the inside of the strip shape body；
First bindiny mechanism is for setting one of movable quarter butt of the pair of four-bar mechanism (10) by axis connection mode
It is placed in four-bar mechanism platform (9) end, i.e., on the outside of a certain strip shape body, second bindiny mechanism by the pair of four for connecting
One of movable stock of linkage (18) is set to four-bar mechanism platform (9) end by axis connection mode, i.e., in the strip shape body
Side；For another strip shape body, again by the first bindiny mechanism and the second bindiny mechanism on the strip shape body, realize
One of another movable quarter butt of four-bar mechanism (10) is set to by axis connection mode outside four-bar mechanism platform (9) the other end
One of side and the movable stock of another four-bar mechanism (18) are set to four-bar mechanism platform (9) end by axis connection mode
On the inside of portion；
A pair of four-bar mechanism crossbeam (11) is identical along the thickness of Y-direction as the strip shape body along the thickness of Y-direction；It is the pair of
X is each provided on four-bar mechanism crossbeam (11) to preceding third bindiny mechanism and X to posterior 4th bindiny mechanism；It is described
Third bindiny mechanism is on the outside of the pair of four-bar mechanism crossbeam (11), and the 4th bindiny mechanism is in the pair of four
On the inside of link mechanism crossbeam (11)；
The third bindiny mechanism is for one of movable quarter butt of a pair of of four-bar mechanism (10) to be set to by axis connection mode
The outside of one of a pair of of four-bar mechanism crossbeam (11), the 4th bindiny mechanism are used for the pair of four-bar mechanism is movable
One of stock (18) is set to the inside of one of the four-bar mechanism crossbeam (11) by axis connection mode；Hence for another four
For one of link mechanism crossbeam (11), again by the third bindiny mechanism on one of a pair of four-bar mechanism crossbeam (11)
With the 4th bindiny mechanism, realize in addition one of movable quarter butt of another pair four-bar mechanism (10) is set to by axis connection mode
One of one of a pair of of four-bar mechanism crossbeam (11) outside and the movable stock of another pair four-bar mechanism (18) are connected by axis
The mode of connecing is set on the inside of one of another pair four-bar mechanism crossbeam (11)；
First bindiny mechanism and the second bindiny mechanism along X to distance and third bindiny mechanism and the 4th bindiny mechanism along X to
Apart from equal；The distance of first bindiny mechanism and third bindiny mechanism phase at a distance from the second bindiny mechanism and the 4th bindiny mechanism
Deng；As a result, four-bar mechanism platform (9), a pair of of movable quarter butt of four-bar mechanism (10), a pair of of four-bar mechanism crossbeam (11),
A pair of of movable stock of four-bar mechanism (18) constitutes parallelogram sturcutre, is made of the movable quarter butt of a pair of of four-bar mechanism (10)
Plane be mutually parallel with the plane being made of the movable stock of a pair of of four-bar mechanism (18), where four-bar mechanism platform (9)
Plane be mutually parallel with the plane being made of a pair of of four-bar mechanism crossbeam (11)；
The pair of four-bar mechanism crossbeam (11) to being horizontally fixed on rack car body (3), i.e., is hung down along X with rack guide rail (2)
Directly, according to parallelogram sturcutre, it is ensured that four-bar mechanism platform (9) is always maintained at level, to realize that loading direction is
It is vertical；
A pair of of four-bar mechanism shaft (21) is located at a pair of 4th bindiny mechanism；
Space coordinates are established again, using the line midpoint of a pair of of four-bar mechanism shaft (21) as coordinate origin, with a pair four
The extending direction of the movable stock of link mechanism (18) is X0 axis, with the line direction of a pair of of four-bar mechanism shaft (21) for Y0
Axis, with the direction vertical with X0-Y0 planes for Z0 axis；
First installation base plate (22) and the second installation base plate (23) are separately fixed on the movable stock of a pair of of four-bar mechanism (18),
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 axis；In the first installation
Identical second bearing (25) and first bearing (24) are installed respectively in the plane and the second installation base plate (23) of substrate (22), and
The axis of rotation of second bearing (25) and first bearing (24) is simultaneously on X0 axis；In second bearing (25) and first bearing (24)
Between leading screw (16) is installed, leading screw (16) is only dynamic around X0 shaft rotations, and nut (17), nut (17) are equipped on leading screw (16)
Upper there are two the smooth pilot hole of same size, described two guiding centerline holes are located in X0-Y0 planes, and flat with X0 axis
Row is symmetrical；Two pilot holes on nut (17) are a pair of smooth guide rod (15), a pair of of guide rod (15)
Endpoint be respectively fixedly connected in the corresponding position of the first installation base plate (22) and the second installation base plate (23), so as to reality
Now under the constraint of a pair of guide rod (15), by the linear motion that the convert rotational motion of leading screw (16) is nut (17)；
At a pair of 4th bindiny mechanism, a pair of of four-bar mechanism shaft (21) and the movable stock of a pair of of four-bar mechanism
(18) it is to be fixedly connected between, is that axis connects between a pair of of four-bar mechanism shaft (21) and a pair of of four-bar mechanism crossbeam (11)
It connects；The rotary shaft of angle measuring mechanism (20) is fixedly connected on one of a pair of of four-bar mechanism shaft (21) above and ensures that axle center exists
On straight line, the shell of angle measuring mechanism (20) is fixed on one of a pair of of four-bar mechanism crossbeam (11), it is possible thereby to
Measure the angle between one of a pair of of movable stock of four-bar mechanism (18) and one of a pair of of four-bar mechanism crossbeam (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 connect with the leading screw (16) in the hole on the first installation base plate (22) and ensures the defeated of planetary gear reduction box (14)
The axle center of shaft is fixedly connected with the shell of load maintainer motor (13) on X0 axis 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)
On the first installation base plate (22).
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| 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 |
| 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 |
| CN111238849B (en) * | 2020-01-22 | 2022-09-09 | 哈尔滨工业大学 | Performance testing device for Mars vehicle moving system |
| CN112179547B (en) * | 2020-08-12 | 2022-05-24 | 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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| CN203323992U (en) * | 2013-07-15 | 2013-12-04 | 中国船舶重工集团公司第七○二研究所 | A two-dimension measurement mechanism for hydrodynamic performances of a seaworthiness water surface model |
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| EP1361087B1 (en) * | 2002-05-08 | 2014-08-06 | Mando Corporation | Active toe angle adjustment mechanism |
| CN101788376B (en) * | 2010-01-18 | 2013-04-10 | 清华大学 | Wind-tunnel model supporting device |
| CN104743145B (en) * | 2013-12-31 | 2017-02-15 | 中国科学院沈阳自动化研究所 | Control system of 1/6 g low-gravity balance crane device |
| CN105699098B (en) * | 2016-01-25 | 2018-08-21 | 华中科技大学 | Device for measuring wheel alignment parameter and KC testing stands |
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| CN203323992U (en) * | 2013-07-15 | 2013-12-04 | 中国船舶重工集团公司第七○二研究所 | A two-dimension measurement mechanism for hydrodynamic performances of a seaworthiness water surface model |
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