CN109406172B - Soil tank test device suitable for wheel travelling performance test - Google Patents
Soil tank test device suitable for wheel travelling performance test Download PDFInfo
- Publication number
- CN109406172B CN109406172B CN201811430259.4A CN201811430259A CN109406172B CN 109406172 B CN109406172 B CN 109406172B CN 201811430259 A CN201811430259 A CN 201811430259A CN 109406172 B CN109406172 B CN 109406172B
- Authority
- CN
- China
- Prior art keywords
- wheel
- trolley
- soil
- test
- frame
- 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.)
- Active
Links
- 239000002689 soil Substances 0.000 title claims abstract description 125
- 238000012360 testing method Methods 0.000 title claims abstract description 109
- 238000011056 performance test Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims description 65
- 230000001360 synchronised effect Effects 0.000 claims description 35
- 239000003638 chemical reducing agent Substances 0.000 claims description 22
- 238000003825 pressing Methods 0.000 claims description 16
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 238000007667 floating Methods 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 7
- 238000007790 scraping Methods 0.000 claims description 7
- 238000003860 storage Methods 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000003466 welding Methods 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 30
- 230000008569 process Effects 0.000 abstract description 27
- 238000001514 detection method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000011160 research Methods 0.000 description 5
- 230000003993 interaction Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
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
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/013—Wheels
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
The invention discloses a soil tank test device suitable for testing the running performance of wheels, which comprises a soil tank system, a single-wheel test system, a loosening and leveling system and a control system, wherein the single-wheel test system is movably arranged on the soil tank system and moves back and forth along the length direction of the soil tank system, the loosening and leveling system is arranged at the front part of the single-wheel test system, and the control system is electrically connected with the soil tank system, the single-wheel test system and the loosening and leveling system. The invention can simulate different loading conditions of the wheels, can control running conditions such as speed, slip rate and the like, meets the running performance test of different types of wheels under different soil conditions, realizes the automatic control of the test process and acquires and saves relevant running performance parameters in real time; the influence of driving condition factors, wheel related factors and soil factors on the passing performance of the vehicle can be researched through indoor tests, and the method has the advantages of controllable test conditions and environment factors, good test repeatability, high test precision and the like.
Description
Technical Field
The invention relates to automatic control test equipment integrating a power driving technology, an air pressure loading technology and a PLC control technology, in particular to a soil tank test device suitable for testing the running performance of wheels.
Background
The ground mechanics of the vehicle is a subject for researching the interaction between wheels and the ground, and the interaction mechanism between the running mechanism and the soil under different soil conditions and running conditions is researched by theoretical, simulation, test and other methods, so that the method has important guiding significance for improving the trafficability of the vehicle on complex roads, optimizing the structure of the running mechanism and predicting and evaluating the running performance of various roads.
The vehicle ground mechanics is also a theoretical and experimental discipline, and the indoor soil horizon test is an important means for researching the interaction between wheels and soil, and has the following advantages compared with the field test: firstly, the indoor soil tank test is not influenced by external natural conditions, and the test conditions and the test parameters can be accurately controlled; secondly, the soil tank test device can accurately record relevant performance parameters in the test process, and has higher test precision; thirdly, due to the controllability of test conditions, the repeatability and the comparability of the test are good; fourth, the indoor soil box test can shorten the research period, accelerate the research progress and save the research cost. Therefore, it is very important to develop a high-performance and high-precision indoor soil tank testing device capable of simulating different testing conditions.
In the field of agricultural mechanization, the soil tank test equipment is mainly used for performance test of agricultural machinery and working parts thereof, universities and related agricultural research institutions such as China agricultural universities and the like successively establish various soil tank test platforms for performance test of agricultural machinery, under the condition of simulating soil conditions in the field, the soil tank test equipment tests parameters such as force, torque and the like applied to the agricultural machinery in the working process and observes abrasion condition of the agricultural machinery by controlling working speed, cultivation depth and rotating speed of rotating parts of the agricultural machinery, and analyzes the working characteristics of the agricultural machinery to be tested and influences of different working conditions on the performance of the agricultural machinery, thereby providing guiding ideas for development and structural optimization of the agricultural machinery, advanced technical research of the agricultural machinery and the like. In the beginning of the 21 st century, with the rise of new planetary detection hot-air, the soil-slot test is the only effective test means for researching the interaction between planetary detection wheels and the ground at present because the test conditions of a real vehicle in the field are not provided. The soil box test system suitable for the planet detection wheel movement performance test is successively established in all countries of the world, such as a Ma province institute soil box test system established under the support of the Mars basic technical program, a Kaneki-Mei Long university soil box test system established under the support of the Antarctic merle search program and a deep space detection special soil box test system established by the Beijing aviation aerospace university in China. Therefore, the currently developed soil bin test bed is mainly applied to the field of agricultural machinery and planetary detection, is not suitable for running performance tests of different types of wheels under different soil conditions, wheel loading conditions and running conditions, and is urgent to develop in order to promote the development of vehicle ground mechanics.
Disclosure of Invention
The invention aims at: aiming at the defects in the prior art, the soil tank test device suitable for testing the running performance of the wheels is provided, and can load the wheels in a large range through a load loading mechanism so as to simulate different loading conditions of the wheels, control the running conditions such as the speed of the wheels, the slip rate and the like through a driving mechanism, accurately measure the performance parameters of the wheels during running, meet the running performance test of the wheels of different types under different soil conditions, and provide theoretical basis for improving the trafficability of the vehicle during running on a complex road surface.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
The utility model provides a soil tank test device suitable for wheel travelling performance test, includes soil tank system, single round test system, the system of leveling that plows and control system, single round test system activity set up on the soil tank system follow soil tank system length direction reciprocating motion, the system of leveling that plows is in single round test system front portion, control system with soil tank system, single round test system, the system of leveling that plows electrical connection for control the action parameter of soil tank system, single round test system, the system of leveling that plows and relevant test data gathers, stores, shows and handles.
Further, the soil tank system comprises a soil tank body, a soil tank frame and a running track, wherein the soil tank body is provided with a tank body space formed by the soil tank frame in a tank body structure with an opening at the top, the running track is arranged on the upper parts of two sides of the soil tank frame in parallel along the length direction, an electric circuit track groove is formed in one side of the soil tank frame, a plurality of supporting beams extending towards two sides are arranged at the bottom of the soil tank frame in parallel, and two ends of each supporting beam are respectively provided with supporting feet.
Further, the single-wheel test system comprises a platform trolley, wheels, a wheel driving mechanism, a sliding frame mechanism, an additional load mechanism and a trolley traction mechanism, wherein the platform trolley is arranged on the running track in a sliding fit manner, the sliding frame mechanism is hinged to the platform trolley, the wheel driving mechanism is arranged on a movable part of the sliding frame mechanism, the output end of the wheel driving mechanism is in driving connection with the wheels, one end of the additional load mechanism is hinged to the platform trolley, and the other end of the additional load mechanism acts on the sliding part of the sliding frame mechanism; the trolley traction mechanism is arranged on the soil tank frame and drives the platform trolley to reciprocate along the running track.
Further, the platform trolley comprises a trolley frame and rail rollers, wherein the trolley frame is formed by welding rectangular hollow pipes and comprises a loading cylinder mounting bracket and a lifting cylinder mounting bracket, reinforcing ribs are arranged between the loading cylinder mounting bracket and the trolley frame, and the rail rollers are arranged at the inner sides of four corners of the lower part of the trolley frame and matched with steel grooves at the inner sides of a running rail; the platform trolley roof end all be provided with the counter weight support along wheel direction of travel and wheel central axis direction, install the counter weight threaded rod on the counter weight support, the counter weight threaded rod on be provided with the balancing weight that can increase and decrease.
Further, the wheel driving mechanism comprises a driving motor, a planetary gear reducer, a helical bevel gear reducer, an Oldham coupling, a torque sensor, a wheel driving shaft and a wheel mounting plate which are sequentially connected, an expansion sleeve is arranged between the wheel mounting plate and the wheel driving shaft, a plurality of groups of screw holes and a replaceable center positioning ring are arranged on the wheel mounting plate, and the wheel driving shaft is connected with a movable part of the sliding frame mechanism through two spherical bearings and a bearing seat.
Further, the sliding frame mechanism comprises a hinge bracket, two vertical guide rails, two groups of sliding blocks, a sliding bracket and a stay wire displacement sensor, wherein the upper end of the hinge bracket is hinged to the upper part of the platform trolley through a hinge, the two vertical guide rails are arranged on the hinge bracket in parallel, the two groups of sliding blocks are arranged on the sliding bracket and are in sliding fit with the two vertical guide rails, and a bearing plate acted by the externally applied load mechanism is arranged on the sliding bracket; the stay wire displacement sensor is fixed at the top end of the platform trolley, and the moving end of the stay wire displacement sensor is connected with the sliding support.
Further, the additional load mechanism comprises an air compressor, a loading cylinder, a floating joint and a pressure sensor, wherein the loading cylinder is connected to a loading cylinder mounting bracket of the platform trolley through a pin shaft double-lug seat, a loading rod of the loading cylinder is connected with the floating joint, and the pressure sensor is mounted at the other end of the floating joint.
Further, the trolley traction mechanism comprises racks arranged on two sides of the soil trough frame along the length direction, traction motors fixed on two sides of the platform trolley and meshed with the racks through gears, and worm and gear reducers;
Or alternatively
The trolley traction mechanism comprises a traction motor, a worm gear reducer, a driving shaft, a driven shaft, synchronous pulleys, synchronous belts, deep groove ball bearings, bearing seats and synchronous belt pressing plates, wherein the driving shaft and the driven shaft are respectively arranged at two ends of the soil tank frame in the length direction through a pair of deep groove ball bearings and the bearing seats, two pairs of synchronous pulleys are respectively arranged at two ends of the driving shaft and the driven shaft through expansion sleeves, and the two synchronous belts are respectively matched with the synchronous pulleys along the long edges of two sides of the soil tank frame; the traction motor is fixed on one side of the soil trough frame through a motor torque arm, an output shaft of the traction motor is connected with the driving shaft through a worm gear reducer, two ends of the driving shaft are connected with synchronous pulleys at two ends of the driven shaft through synchronous pulleys, two synchronous belts in a driving mode to drive the driven shaft to rotate, synchronous belt pressing plates are fixed on two sides of the platform trolley and meshed with the synchronous belts, a bearing seat of the driven shaft is connected with a sliding plate with adjustable positions, and the tensioning force of the sliding plate is adjusted through a tension adjusting bolt.
Further, the loosening and leveling system comprises a lifting cylinder, a plow frame, a scraping plate, a pressing plate and a loosening plow, wherein the loosening plow comprises a long plow and a short plow, vertical through grooves are formed in an installation handle of the loosening plow, the long plow and the short plow are arranged at intervals and are fastened on the front side of the plow frame through bolts penetrating through the through grooves, and the pressing plate and the scraping plate are also provided with vertical through grooves and are fixed on the rear side of the plow frame through bolts; the upper end of the lifting cylinder is hinged to a lifting cylinder mounting bracket at the front end of the platform trolley, the lower end of the lifting cylinder is hinged to the middle part of the top end of the plow frame, and two sides of the plow frame are movably hinged to the lower end of the front part of the platform trolley.
Further, the control system comprises a PC computer, a control cabinet, a control circuit and a data acquisition module, wherein the control circuit and the data acquisition module are arranged in and out of the control cabinet, the control circuit comprises a switch control circuit, a wheel driving control circuit and a trolley traction control circuit, the switch control circuit comprises four trolley proximity switches for detecting in-place signals of a trolley, two cylinder proximity switches for detecting in-place signals of a cylinder, two emergency stop switches arranged on an operation platform and the trolley, and two safety proximity switches arranged at two ends of the soil tank body, and the two emergency stop switches are connected with the input ends of the wheel driving control circuit and the trolley traction control circuit and cut off the circuit in a hardware power-off mode; the safety proximity switch is used for sending out a signal to stop the motor when the platform trolley is detected to reach the limit positions at the two ends of the soil tank body; the motor of the wheel driving mechanism is connected with the PLC through a servo driver, a driving motor contactor and a driving motor protection switch in the wheel driving control circuit; the motor of the trolley traction mechanism is connected with the PLC through a frequency converter, a traction motor contactor and a traction motor protection switch in a trolley traction control circuit; the output end of the data acquisition card of the data acquisition module is connected with the input interface of the PC computer, the input end of the data acquisition card is connected with the signal output port of each sensor, and the data acquisition module transmits sensor signals into the PC in real time, so that acquisition, storage, display and processing of test data are realized.
According to the technical scheme, compared with the prior art, the invention has the following beneficial effects:
The invention can control the rotation speed of the wheels through the wheel driving mechanism, and can control the horizontal speed of the platform trolley through the trolley traction mechanism, thereby realizing the slip rate control when the wheels run; the wheels can be loaded with loads of different magnitudes through the externally-applied load mechanism so as to simulate different loading conditions of the wheels; different soil test conditions can be simulated by changing the types of test soil contained in the soil tank or changing the properties of the same test soil; the wheel mounting plate is suitable for replacing and mounting wheels with different specifications, the loosening and leveling system can ensure the consistency of soil conditions in each repeatability test, the control system can realize automatic control in the test process, and the real-time acquisition, storage, display and processing of related running performance parameters can be realized in the test process, so that the invention can meet the running performance test of different wheels under different test conditions, and the influence of running condition factors (load, running speed, slip rate and the like), wheel related factors (tire type, tire pressure, tread patterns and the like) and soil factors (soil property, soil moisture content and the like) on the trafficability of vehicles can be researched through indoor tests. The device has the advantages of controllable test conditions and environmental factors, good test repeatability, high test precision and the like.
Drawings
The invention is best understood in the figures, which are schematic, as follows:
Fig. 1 is a schematic perspective view of a soil trough test device according to an embodiment of the invention.
Fig. 2 is a front view of a soil horizon testing apparatus according to an embodiment of the invention.
FIG. 3 is a left side view of the soil horizon testing apparatus according to the embodiment of the invention.
Fig. 4 is a schematic structural view of a soil trough system according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of a soil trough frame according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a platform truck according to an embodiment of the present invention.
Fig. 7 is a schematic structural view of a wheel driving mechanism according to an embodiment of the present invention.
Fig. 8 is a schematic structural view of a carriage mechanism according to an embodiment of the present invention.
Fig. 9 is a schematic structural view of an additional loading mechanism according to an embodiment of the present invention.
Fig. 10 is a schematic structural view of a trolley traction mechanism according to an embodiment of the present invention.
Fig. 11 is a schematic structural view of a plow and leveling system according to an embodiment of the present invention.
Fig. 12 is a partial control circuit diagram of an embodiment of the present invention.
FIG. 13 is a schematic view of a main control panel according to an embodiment of the present invention.
FIG. 14 is a schematic view of the process of loosening soil when tested using the present invention.
FIG. 15 is a schematic illustration of a wheel test procedure using the test of the present invention.
In the figure: 1-soil tank body, 2-soil tank frame, 3-running rail, 4-test soil, 5-end frame, 6-middle frame, 7-longitudinal beam, 8-cross beam, 9-upright post, 10-reinforcing rod, 11-supporting beam, 12-supporting leg, 13-electric circuit rail tank, 14-trolley frame, 15-rail roller, 16-synchronous belt pressing plate, 17-loading cylinder mounting bracket, 18-lifting cylinder mounting bracket, 19-reinforcing rib, 20-planetary gear reducer, 21-helical gear reducer, 22-cross slider coupler, 23-spherical bearing and UCAP type narrow vertical bearing seat, 24-wheel driving shaft, 25-wheel mounting plate, 26-expansion sleeve, 27-hinge bracket, 28-vertical guide rails, 29-sliding blocks, 30-sliding supports, 31-floating joints, 32-pin shaft double-lug seats, 33-bearing plates, 34-worm gear speed reducers, 35-driving shafts, 36-driven shafts, 37-synchronous pulleys, 38-synchronous belts, 39-deep groove ball bearings and bearing seats, 40-motor torque arms, 41-sliding plates, 42-plow frames, 43-scraping plates, 44-pressing plates, 45-scarifiers, C1-loading cylinders, C2-lifting cylinders, M1-driving motors, M2-traction motors, L1-torque sensors, L2-pressure sensors, L3-stay wire displacement sensors, S1, S2, S3, S4-trolley proximity switches, S5, S6-cylinder proximity switches, s7, S8-safety proximity switches, S9, S10-emergency stop switches, P1, P2, P3, P4-trolley positions relative to trolley proximity switches S1-S4.
Detailed Description
In order to more clearly illustrate the technical solution and the technical purpose of the present invention, a further detailed description is provided below by means of a specific embodiment in combination with the accompanying drawings.
The embodiment provides a soil box test device suitable for wheel travelling performance test, it is used for carrying out the travelling performance test of certain cross-country wheel, and its overall structure schematic is as shown in fig. 1, and fig. 2 and fig. 3 are its front view and left view respectively, including soil box system, single wheel test system, plough system and control system that levels. The soil tank system mainly comprises a soil tank body 1, a soil tank frame 2 and two running rails 3, as shown in fig. 4. The soil tank body 1 is a tank body structure with an open top formed by welding steel plates with the thickness of 16mm, the size of the soil tank body is 4m long, 0.65m wide and 0.4m high, and test soil 4 is filled in the soil tank body; the soil tank body 1 is installed in a tank space formed by the soil tank frame 2, and the soil tank frame 2 is formed by splicing two sections of end frames 5 and one section of middle frame 6 through bolts, as shown in fig. 5. The end frames 5 and the middle frames 6 are formed by welding hollow square pipes with the length of 50 multiplied by 3mm and 100 multiplied by 50 multiplied by 3mm, the two sections of end frames 5 are frame structures with the upper end face and one side face being opened and formed by four cross beams 8, five longitudinal beams 7 and ten upright posts 9, and the middle frames 6 are frame structures with the upper end face and two opposite side faces being opened and formed by two cross beams 8, five longitudinal beams 7 and six upright posts 9. Because the load applied by the wheels in the test process is larger, a reinforcing rod 10 is arranged between the upright posts 9 of the end frame 5 and the middle frame 6 and the bottom cross beams 8, and a supporting beam 11 is arranged below each cross beam 8 at the bottom of the soil trough frame 2, the cross beams 8 are connected with the supporting beams 11 through four supporting legs 12, and the supporting legs 12 are fixed on the ground, so that the test load is uniformly transferred into the floor. An electric circuit track groove 13 is formed in one side of the soil groove frame 2, and two parallel-mounted channel steels are arranged on the longitudinal beams 7 on the upper portion of the soil groove frame 2 and serve as the travelling tracks 3 for the reciprocating motion of the platform trolley.
The single-wheel test system comprises a platform trolley, cross-country wheels, a wheel driving mechanism, a sliding frame mechanism, an external load mechanism and a trolley traction mechanism.
Fig. 6 is a schematic structural view of a platform trolley comprising a trolley frame 14, rail rollers 15. The trolley frame 14 is formed by welding rectangular hollow pipes with the diameter of 100 multiplied by 50 multiplied by 3mm, a loading cylinder mounting bracket 17 and a lifting cylinder mounting bracket 18 are arranged on the trolley frame and used for fixing a lifting cylinder and a loading cylinder, and a reinforcing rib 19 is arranged between the loading cylinder bracket and the trolley frame; four steel rail rollers 15 are arranged on the inner sides of four corners of the lower part of the trolley frame 14, and the rail rollers 15 are matched with steel grooves on the inner sides of the running rails 3.
Fig. 7 is a schematic structural view of a wheel driving mechanism for driving wheels to travel at a certain angular velocity, which mainly consists of a driving motor M1, a planetary gear reducer 20, a bevel gear reducer 21, an oldham coupling 22, a torque sensor L1, a wheel driving shaft 24, a wheel mounting plate 25, a spherical bearing and a UCAP type narrow vertical bearing housing 23. The power and torque of the driving motor M1 are reduced in speed and increased in torque through a planetary gear reducer 20 and a bevel gear reducer 21 which are connected in series, and then are transmitted to a wheel driving shaft 24 through an Oldham coupling 22, so that the cross-country wheel is driven to rotate. The cross-country wheel is arranged on the wheel driving shaft 24 through the wheel mounting plate 25, an expansion sleeve 26 is arranged between the wheel mounting plate 25 and the wheel driving shaft 24, and the expansion sleeve 26 has the advantages of high concentricity, reliable and firm connection, overload protection and the like. The wheel mounting plate 25 is provided with a plurality of groups of screw holes and replaceable center positioning rings, so that the wheel mounting plate can be suitable for rim mounting of wheels with different specifications. The wheel drive shaft 24 is connected to the sliding bracket 30 through a pair of spherical bearings and a UCAP type narrow vertical bearing housing 23, and a torque sensor L1 for measuring driving torque of the wheel during running is mounted on the wheel drive shaft 24. The driving motor M1 is a Yifeng brand servo motor with the model of 130STM10025, the rated power of the motor is 2600W, the output rotating speed is 0-2500r/min, and the rotating speed range of a wheel driving shaft after being decelerated by a speed reducer is 0-416r/min.
Fig. 8 is a schematic structural view of a carriage mechanism, which can ensure freedom of the wheel in the vertical direction and simulate wheel sagging, and mainly includes a hinge bracket 27, a vertical guide rail 28, a slider 29 and a carriage 30. The hinge bracket 27 is hinged to the upper part of the platform trolley through a hinge and can drive the wheel driving mechanism and the wheels to be tested to rotate around the hinge; two parallel vertical guide rails 28 are fixed on the hinge bracket, four sliding blocks 29 are fixed on the sliding bracket 30, and the two groups of sliding blocks 29 are respectively matched with the two vertical guide rails 28 and can move up and down along the vertical guide rails 28, so that wheels can do reciprocating motion along the vertical guide rails 28 in the vertical direction. The stay wire displacement sensor L3 is fixed at the top end of the platform trolley, the moving end of the stay wire displacement sensor L3 is connected with the sliding support 30, and the sliding support 30 can be driven to move in the vertical direction when the vehicle wheels run, so that the stay wire displacement sensor L3 can measure the sinking amount of the rim of the vehicle wheels in the running process.
Fig. 9 is a schematic structural diagram of an additional load mechanism, which is used for loading a vertical load on a wheel and simulating a loading condition during driving of the wheel, and mainly includes an air compressor, a loading cylinder C1, a floating joint 31 and a pressure sensor L2. The loading cylinder C1 is connected to the loading cylinder mounting bracket 17 of the platform wagon through the pin double-lug seat 32, and the loading cylinder C1 has a degree of freedom to swing around the pin axis. The loading rod of the loading cylinder C1 is connected with the floating joint 31, and a pressure sensor L2 is arranged below the floating joint 31. The floating joint 31 has the characteristics of reduced eccentricity and high compressive strength, and the pressure sensor L2 is used for measuring the vertical load applied to the wheel during running. The action point of the wheel loading mechanism is a bearing plate 33 arranged on the sliding support 30, load is transmitted to the wheel driving mechanism by the sliding support 30 and then transmitted to the wheels, and the size of the loading load can be adjusted through an air cylinder electromagnetic valve. The loading cylinder C1 is a cylinder with the model DN160, the diameter of the piston is 16cm, the effective area is 201cm 2, the loading range of the load is 0kgf-1400kgf, and the cylinder electromagnetic valve is a three-position five-way electromagnetic valve.
Fig. 10 is a schematic structural diagram of a trolley traction mechanism, which is used for traction of a platform trolley to reciprocate in a running track and realizing speed control, and mainly comprises a traction motor M2, a worm gear reducer 34, a driving shaft 35, a driven shaft 36, a synchronous pulley 37, a synchronous belt 38, deep groove ball bearings, a bearing seat 39 and a synchronous belt pressing plate 16. The traction motor M2 is fixed on the soil trough frame 2 through a motor torque arm 40, the power and torque of the traction motor M2 are transmitted to the driving shaft 35 after being reduced and increased in torque through the worm gear reducer 34, then the driven shaft 36 is driven to rotate through belt transmission, four synchronous belt pressing plates 16 are welded on two sides of the platform trolley, and the synchronous belt pressing plates 16 on two sides of the platform trolley are meshed with the synchronous belt 38, so that the platform trolley is pulled to reciprocate along the running track 3 when the synchronous belt 38 moves. The driving shaft 35 and the driven shaft 36 are respectively arranged on the short sides of the two sides of the soil tank frame 2 through a pair of deep groove ball bearings and bearing blocks 39, two pairs of synchronous pulleys 37 are respectively arranged on the two ends of the driving shaft 36 and the driven shaft 37 through expansion sleeves, and two synchronous belts 38 are respectively matched with the synchronous pulleys 37 along the long sides of the two sides of the soil tank frame 2. The synchronous belt 38 has a tensioning design, a bearing seat of the driven shaft 36 is connected with the sliding plate 41, a tensioning force adjusting bolt can control the position of the sliding plate 41 and further control the position of the bearing seat, the tightness of the synchronous belt 38 can be adjusted by fixedly adjusting the tensioning force adjusting bolt, and when the bolt is screwed down, the synchronous belt 38 can be tensioned.
In another possible embodiment, the trolley traction mechanism comprises racks arranged on two sides of the soil trough frame along the length direction, a traction motor M2 fixed on two sides of the platform trolley and meshed with the racks through gears, and a worm gear reducer 34, wherein the traction motor M2 drives the worm gear reducer 34 and the gears, and when the gears rotate, the platform trolley is driven to reciprocate along the running track 3.
Fig. 11 is a schematic structural view of a scarification leveling system for scarifying soil and leveling road surfaces before each test, so as to keep soil conditions consistent during each repeatability test and ensure accuracy of test result data, and mainly comprises a lifting cylinder C2, a plow frame 42, a scraper 43, a pressing plate 44 and a scarification plow 45. The scarification plow 45 is provided with a long plow and a short plow, the mounting handle of the scarification plow is provided with vertical through grooves, the long plow and the short plow are alternately arranged and fastened on the front side of the plow frame 42 through bolts penetrating through the through grooves, and the pressing plate 44 and the scraping plate 43 are also provided with vertical through grooves and are fixed on the rear side of the plow frame 42 through bolts, so that the vertical positions of the scarification plow 45, the scraping plate 43 and the pressing plate 44 can be controlled through adjusting bolts, and the depth of scarification is further controlled. The upper end of the lifting cylinder C2 is hinged to the lifting cylinder mounting bracket 18 at the front end of the platform trolley, the lower end of the lifting cylinder C2 is hinged to the middle of the top end of the plow frame 42, the lifting cylinder C2 descends to enable the scarification plow 45 to penetrate into soil during the scarification process, the pressure is maintained to perform the scarification process, and the scarification plow 45 is lifted after the scarification process is finished. The plow frame 42 is connected to the lower front end of the platform trolley by double nuts at both sides thereof and is rotatable about the connecting bolts so that the scarifier plow 45 can be raised or lowered.
The platform trolley roof is characterized in that a counterweight support is arranged at the platform trolley roof along the running direction of the wheels and the central axis direction of the wheels, a counterweight threaded rod is arranged on the counterweight support, and a balancing weight is arranged on the counterweight threaded rod and can be increased or decreased to realize counterweight adjustment. And a counterweight is arranged to balance the platform trolley, so that the moving process of the platform trolley is smoother.
The control system can realize the automatic control of the test process, can control the rotating speed of the wheels and the horizontal speed of the platform trolley to realize the control of the slip rate, can control the loading load of the wheels, can realize the real-time acquisition, storage, display and processing of relevant running performance parameters in the test process, and can also ensure the safety of the test process. The control system comprises a PC computer, a control cabinet, a control circuit and a data acquisition module, wherein the control circuit is arranged in the control cabinet and outside the control cabinet. As shown in fig. 12, which is a wiring diagram of a part of the control circuit, the control circuit includes a switch control circuit, a wheel drive control circuit, and a truck traction control circuit. The switch control circuit comprises trolley proximity switches S1-S4 for detecting in-place signals of the platform trolley, cylinder proximity switches S5-S6 for detecting in-place signals of the cylinders, and emergency stop switches S9-S10 mounted on the operation platform trolley, wherein the emergency stop switches are connected with the wheel drive control circuit and the input end of the trolley traction control circuit, the circuit is cut off in a hardware power-off mode, and in an emergency, when one of the emergency stop switches is pressed, the two motors stop rotating and interrupt all air paths so as to ensure safety. And safety proximity switches S7-S8 are arranged at the two ends of the soil tank, and when the platform trolley is detected to reach the limit positions at the two ends of the soil tank, the safety switches send out signals to stop the motor so as to prevent the platform trolley from rushing out of a running track in the running process. The driving motor M1 in the wheel driving control circuit is connected with the PLC through a servo driver, a driving motor contactor and a driving motor protection switch. And a traction motor M2 in the trolley traction control circuit is connected with the PLC through a frequency converter, a traction motor contactor and a traction motor protection switch. The output end of the data acquisition card of the data acquisition module is connected with the input interface of the PC computer, the input end of the data acquisition card is connected with the signal output ports of the torque sensor L1, the stay wire displacement sensor L3, the pressure sensor L2 and the like, and the data acquisition module transmits sensor signals into the PC computer in real time so as to realize acquisition, storage, display and processing of test data.
The man-machine control panel is developed by taking a PC (personal computer) as a platform and utilizing InTouch software as a development tool, and an operator can control soil tank test equipment through the PC. The control panel comprises a main control panel, a parameter setting panel, a real-time trend display panel and a report generation panel. The main control panel is shown in fig. 13, and comprises a state detection area and an operation area, wherein the state detection area displays a schematic diagram of the soil tank test device, can clearly observe the state of the device, can display the actual value of each parameter in real time, and enables an operator to intuitively and rapidly monitor the experimental condition. The operation area is divided into manual operation and automatic operation, wherein the manual operation realizes the ascending or descending, forward rotation or reverse rotation of the wheels and the ascending or descending of the plow frame and the advancing or retreating of the platform trolley through a manual button; the automatic operation is selected to realize the automatic operation of the soil loosening process, the test process and the trolley regression process. The parameter setting panel may perform settings of test parameters (tire diameter, tire linear speed, platform speed, loading load, etc.) and system parameters. The real-time trend display panel can observe real-time trends of driving performance parameters such as wheel load, wheel torque, wheel sag and the like in the test process. The report generation panel can select the time length and sampling interval of the report generation, and store the test data in the form of a table so as to facilitate the processing of the test data.
The automatic operation is selected to perform the test, and the automatic operation mainly comprises a soil loosening process and a wheel testing process. As shown in fig. 14, which is a schematic view of the soil loosening process, the platform trolley moves from an initial position P2 to a position P1, and after reaching the position P1, the lifting cylinder C2 is started to lower the plow frame, so that the soil loosening plow penetrates into the test soil; then the traction motor M2 starts to operate, the platform trolley runs to a position P3 from the position P1 at a set speed, the traction motor stops operating after the platform trolley reaches the position P3, the lifting cylinder C2 lifts the plow frame to a position S6, and finally the traction motor M2 operates to enable the platform trolley to return to the initial position P2, so that the soil loosening process is completed. Fig. 15 is a schematic diagram of a wheel testing process, the platform trolley is at an initial position P2, an operator inputs relevant test parameters in a computer, then starts an automatic test program, a loading cylinder C1 starts to load the wheels, after loading the preset load, a driving motor M1 and a traction motor M2 start to operate, the wheels and the platform trolley respectively travel from the position P2 to the position P4 at set speeds, and in the process, the sensors collect the relevant parameters and transmit the parameters to a PC computer in real time for storage and display. After the trolley reaches the position P4, the driving motor M1 and the traction motor M2 stop running, the loading cylinder C1 unloads and lifts the trolley in place S5, and finally the traction motor M2 runs to enable the platform trolley to return to the initial position P2, so that the wheel testing process is completed.
The above examples of the present invention are merely illustrative of the present invention and are not intended to limit the embodiments of the present invention. Other variations or modifications of the above description will be apparent to those of skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (6)
1. Soil box test device suitable for wheel travelling performance test, its characterized in that: the device comprises a soil tank system, a single-wheel test system, a loosening and leveling system and a control system, wherein the single-wheel test system is movably arranged on the soil tank system and moves back and forth along the length direction of the soil tank system, the loosening and leveling system is arranged at the front part of the single-wheel test system, and the control system is electrically connected with the soil tank system, the single-wheel test system and the loosening and leveling system and is used for controlling the acquisition, storage, display and processing of action parameters of the soil tank system, the single-wheel test system and the loosening and leveling system and related test data;
the soil tank system comprises a soil tank body, a soil tank frame and a running track, wherein the soil tank body is in a tank body space formed by the soil tank frame and is in a tank body structure with an opening at the top, the running track is arranged at the upper parts of two sides of the soil tank frame in parallel along the length direction, an electric circuit track groove is formed in one side of the soil tank frame, a plurality of supporting beams extending towards two sides are arranged at the bottom of the soil tank frame in parallel, and supporting feet are respectively supported at two ends of each supporting beam;
The single-wheel test system comprises a platform trolley, wheels, a wheel driving mechanism, a sliding frame mechanism, an additional load mechanism and a trolley traction mechanism, wherein the platform trolley is arranged on the running track in a sliding fit manner, the sliding frame mechanism is hinged to the platform trolley, the wheel driving mechanism is arranged on a movable part of the sliding frame mechanism, the output end of the wheel driving mechanism is in driving connection with the wheels, one end of the additional load mechanism is hinged to the platform trolley, and the other end of the additional load mechanism acts on a sliding part of the sliding frame mechanism; the trolley traction mechanism is arranged on the soil tank frame and drives the platform trolley to reciprocate along the running track;
The plough loosening and leveling system comprises a lifting cylinder, a plough frame, a scraping plate, a pressing plate and a scarifying plough, wherein the scarifying plough comprises a long plough and a short plough, vertical through grooves are formed in an installation handle of the scarifying plough, the long plough and the short plough are arranged at intervals and are fastened on the front side of the plough frame through bolts penetrating through the through grooves, and the pressing plate and the scraping plate are also provided with vertical through grooves and are fixed on the rear side of the plough frame through bolts; the upper end of the lifting cylinder is hinged to a lifting cylinder mounting bracket at the front end of the platform trolley, the lower end of the lifting cylinder is hinged to the middle part of the top end of the plow frame, and two sides of the plow frame are movably hinged to the lower end of the front part of the platform trolley;
The external load mechanism comprises an air compressor, a loading cylinder, a floating joint and a pressure sensor, wherein the loading cylinder is connected to a loading cylinder mounting bracket of the platform trolley through a pin shaft double-lug seat, a loading rod of the loading cylinder is connected with the floating joint, and the pressure sensor is arranged at the other end of the floating joint.
2. The soil box test device suitable for wheel traveling performance test of claim 1, wherein: the platform trolley comprises a trolley frame and rail rollers, wherein the trolley frame is formed by welding rectangular hollow pipes and comprises a loading cylinder mounting bracket and a lifting cylinder mounting bracket, reinforcing ribs are arranged between the loading cylinder mounting bracket and the trolley frame, and the rail rollers are arranged on the inner sides of four corners of the lower part of the trolley frame and matched with steel grooves on the inner sides of travelling rails; the platform trolley roof end all be provided with the counter weight support along wheel direction of travel and wheel central axis direction, install the counter weight threaded rod on the counter weight support, the counter weight threaded rod on be provided with the balancing weight that can increase and decrease.
3. The soil box test device suitable for wheel traveling performance test of claim 1, wherein: the wheel driving mechanism comprises a driving motor, a planetary gear reducer, a helical bevel gear reducer, an Oldham coupling, a torque sensor, a wheel driving shaft and a wheel mounting plate which are sequentially connected, an expansion sleeve is arranged between the wheel mounting plate and the wheel driving shaft, a plurality of groups of screw holes and a replaceable center positioning ring are arranged on the wheel mounting plate, and the wheel driving shaft is connected with a movable part of the sliding frame mechanism through two spherical bearings and a bearing seat.
4. The soil box test device suitable for wheel traveling performance test of claim 1, wherein: the sliding frame mechanism comprises a hinge bracket, two vertical guide rails, two groups of sliding blocks, a sliding bracket and a stay wire displacement sensor, wherein the upper end of the hinge bracket is hinged to the upper part of the platform trolley through a hinge; the stay wire displacement sensor is fixed at the top end of the platform trolley, and the moving end of the stay wire displacement sensor is connected with the sliding support.
5. The soil box test device suitable for wheel traveling performance test of claim 1, wherein: the trolley traction mechanism comprises racks arranged on two sides of the soil trough frame along the length direction, traction motors fixed on two sides of the platform trolley and meshed with the racks through gears, and worm and gear reducers;
Or alternatively
The trolley traction mechanism comprises a traction motor, a worm gear reducer, a driving shaft, a driven shaft, synchronous pulleys, synchronous belts, deep groove ball bearings, bearing seats and synchronous belt pressing plates, wherein the driving shaft and the driven shaft are respectively arranged at two ends of the soil tank frame in the length direction through a pair of deep groove ball bearings and the bearing seats, two pairs of synchronous pulleys are respectively arranged at two ends of the driving shaft and the driven shaft through expansion sleeves, and the two synchronous belts are respectively matched with the synchronous pulleys along the long edges of two sides of the soil tank frame; the traction motor is fixed on one side of the soil trough frame through a motor torque arm, an output shaft of the traction motor is connected with the driving shaft through a worm gear reducer, two ends of the driving shaft are connected with synchronous pulleys at two ends of the driven shaft through synchronous pulleys, two synchronous belts in a driving mode to drive the driven shaft to rotate, synchronous belt pressing plates are fixed on two sides of the platform trolley and meshed with the synchronous belts, a bearing seat of the driven shaft is connected with a sliding plate with adjustable positions, and the tensioning force of the sliding plate is adjusted through a tension adjusting bolt.
6. The soil box test device suitable for wheel traveling performance test of claim 1, wherein: the control system comprises a PC computer, a control cabinet, a control circuit and a data acquisition module, wherein the control circuit and the data acquisition module are arranged in and out of the control cabinet, the control circuit comprises a switch control circuit, a wheel driving control circuit and a trolley traction control circuit, the switch control circuit comprises four trolley proximity switches for detecting in-place signals of a platform trolley, two cylinder proximity switches for detecting in-place signals of a cylinder, two emergency stop switches arranged on an operation platform and the platform trolley, and two safety proximity switches arranged at two ends of the soil tank body, and the two emergency stop switches are connected with the input ends of the wheel driving control circuit and the trolley traction control circuit and cut off the circuit in a hardware power-off mode; the safety proximity switch is used for sending out a signal to stop the motor when the platform trolley is detected to reach the limit positions at the two ends of the soil tank body; the motor of the wheel driving mechanism is connected with the PLC through a servo driver, a driving motor contactor and a driving motor protection switch in the wheel driving control circuit; the motor of the trolley traction mechanism is connected with the PLC through a frequency converter, a traction motor contactor and a traction motor protection switch in a trolley traction control circuit; the output end of the data acquisition card of the data acquisition module is connected with the input interface of the PC computer, the input end of the data acquisition card is connected with the signal output port of each sensor, and the data acquisition module transmits sensor signals into the PC in real time, so that acquisition, storage, display and processing of test data are realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811430259.4A CN109406172B (en) | 2018-11-28 | 2018-11-28 | Soil tank test device suitable for wheel travelling performance test |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811430259.4A CN109406172B (en) | 2018-11-28 | 2018-11-28 | Soil tank test device suitable for wheel travelling performance test |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109406172A CN109406172A (en) | 2019-03-01 |
| CN109406172B true CN109406172B (en) | 2024-07-12 |
Family
ID=65455914
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811430259.4A Active CN109406172B (en) | 2018-11-28 | 2018-11-28 | Soil tank test device suitable for wheel travelling performance test |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109406172B (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110220687B (en) * | 2019-06-28 | 2024-08-30 | 华南农业大学 | Farm machinery test platform |
| CN110285983B (en) * | 2019-08-03 | 2024-05-07 | 江西农业大学 | Single-wheel soil tank test bed of rocker arm type mini-tiller for paddy field soil |
| CN111044080B (en) * | 2019-12-30 | 2023-10-27 | 珠海一微半导体股份有限公司 | Calibration parameter acquisition device and method based on optical flow sensor |
| CN111238947A (en) * | 2020-02-28 | 2020-06-05 | 重庆凯瑞汽车试验设备开发有限公司 | Device for accelerating and loading test of road surface |
| CN111366381B (en) * | 2020-05-18 | 2024-08-23 | 吉林大学 | Manned lunar rover wheel soil tank test bed |
| CN113092009B (en) * | 2021-04-11 | 2022-09-13 | 荆丽丽 | Performance stabilizing equipment for power grid energy storage flywheel |
| CN113264447A (en) * | 2021-06-08 | 2021-08-17 | 中冶宝钢技术服务有限公司 | Traction device for travelling crane wheel set |
| CN115165401B (en) * | 2022-09-09 | 2022-11-22 | 山东孟子居生态农业股份有限公司 | Agricultural machinery wheel performance test device |
| CN115266151B (en) * | 2022-09-28 | 2023-02-07 | 山东孟子居生态农业股份有限公司 | Agricultural machinery wheel test bench |
| CN115541263A (en) * | 2022-10-28 | 2022-12-30 | 深圳市英联达自动化装备有限公司 | Outdoor energy storage supply vehicle wheel test fixture |
| CN116519340B (en) * | 2023-04-21 | 2023-12-12 | 石家庄铁道大学 | Train operation performance test bed under aerodynamic force effect |
| CN116754264A (en) * | 2023-07-06 | 2023-09-15 | 盐城工学院 | Tire-soil interaction test platform |
| CN118500766A (en) * | 2023-07-25 | 2024-08-16 | 吉林云帆智能工程有限公司 | Be used for rail vehicle running gear performance detection device |
| CN117191425A (en) * | 2023-11-02 | 2023-12-08 | 湖南大学 | Vehicle moving load loading device suitable for indoor model test |
| CN117405419B (en) * | 2023-12-14 | 2024-04-05 | 中国农业大学 | Fixed tire test bench |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101000282A (en) * | 2006-12-15 | 2007-07-18 | 哈尔滨工业大学 | Multifunction test device for wheel motion performance of planetary detection robot |
| CN101424592A (en) * | 2008-12-09 | 2009-05-06 | 哈尔滨工业大学 | Plough-loosing and flattening mechanism of wheel for testing earth groove |
| CN105043788A (en) * | 2015-07-30 | 2015-11-11 | 南京农业大学 | Single-wheel soil bin test stand |
| CN105388031A (en) * | 2015-12-08 | 2016-03-09 | 南京农业大学 | Soil bin test trolley |
| CN209513283U (en) * | 2018-11-28 | 2019-10-18 | 华南理工大学 | A kind of soil bin test device suitable for wheels travel performance test |
Family Cites Families (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100498270C (en) * | 2006-04-21 | 2009-06-10 | 北京航空航天大学 | Trolley for testing planetary detection vehicle wheel moving performance |
| CN101246091B (en) * | 2008-03-25 | 2010-09-08 | 长安大学 | Engineering machinery multifunctional testing bench |
| CN101368806B (en) * | 2008-09-27 | 2011-06-01 | 武汉人天包装技术有限公司 | Rail type conveyer |
| JP2012215550A (en) * | 2011-03-30 | 2012-11-08 | Sumitomo Rubber Ind Ltd | Tire bench test device and bench test method using the same |
| CN202582881U (en) * | 2012-03-22 | 2012-12-05 | 现代农装科技股份有限公司 | General soil groove testing stand |
| CN203432749U (en) * | 2013-07-15 | 2014-02-12 | 锦州万得机械装备有限公司 | Tire dynamic balancing subsidiary engine |
| CN103487264A (en) * | 2013-10-14 | 2014-01-01 | 中国农业大学 | Testing device for single-wheel traction performance |
| CN104122102B (en) * | 2014-07-02 | 2017-05-10 | 上海大学 | Soil strength test board for wheel |
| CN104568421B (en) * | 2015-01-27 | 2017-02-22 | 重庆理工大学 | Dynamic load testing testbed for agricultural mechanical rotary cultivation part |
| CN104568420B (en) * | 2015-01-27 | 2017-01-25 | 重庆理工大学 | Small multifunctional trolley based on soil bin testbed |
| CN204461724U (en) * | 2015-01-27 | 2015-07-08 | 重庆理工大学 | Based on the soil restoration device of the band synchronization lifting mechanism of soil slot test stand |
| CN104990714B (en) * | 2015-07-15 | 2018-05-22 | 北京神州龙鼎科技有限公司 | Vehicle-terra mechanics soil slot test stand soil box |
| CN204963846U (en) * | 2015-09-14 | 2016-01-13 | 西北农林科技大学 | Tire and experimental deflection measuring device of soil contact deformation |
| CN105547727B (en) * | 2016-01-08 | 2017-10-17 | 华南农业大学 | Test the soil bin test platform of agricultural machinery and implement |
| CN106053046A (en) * | 2016-07-19 | 2016-10-26 | 农业部南京农业机械化研究所 | Soil bin test table |
| CN106092413A (en) * | 2016-07-19 | 2016-11-09 | 农业部南京农业机械化研究所 | Soil bin test test platform |
| 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 |
| CN107860591A (en) * | 2017-07-05 | 2018-03-30 | 上海宇航系统工程研究所 | Celestial body detecting vehicle bench test device |
| CN108332984B (en) * | 2018-04-08 | 2019-08-20 | 浙江大学 | Equipment-soil active force soil bin test detection device and its method |
| CN110220687B (en) * | 2019-06-28 | 2024-08-30 | 华南农业大学 | Farm machinery test platform |
-
2018
- 2018-11-28 CN CN201811430259.4A patent/CN109406172B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101000282A (en) * | 2006-12-15 | 2007-07-18 | 哈尔滨工业大学 | Multifunction test device for wheel motion performance of planetary detection robot |
| CN101424592A (en) * | 2008-12-09 | 2009-05-06 | 哈尔滨工业大学 | Plough-loosing and flattening mechanism of wheel for testing earth groove |
| CN105043788A (en) * | 2015-07-30 | 2015-11-11 | 南京农业大学 | Single-wheel soil bin test stand |
| CN105388031A (en) * | 2015-12-08 | 2016-03-09 | 南京农业大学 | Soil bin test trolley |
| CN209513283U (en) * | 2018-11-28 | 2019-10-18 | 华南理工大学 | A kind of soil bin test device suitable for wheels travel performance test |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109406172A (en) | 2019-03-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109406172B (en) | Soil tank test device suitable for wheel travelling performance test | |
| CN105388031A (en) | Soil bin test trolley | |
| CN102607842B (en) | Multi-operating condition extreme load testing system and method for wheel loader transmission system | |
| CN202836915U (en) | Single-leg impact control experiment platform for robot | |
| CN102840959B (en) | Single-leg impact control experiment platform for robot | |
| CN106872355B (en) | Low-speed adjustable slip rate tire friction coefficient testing device for ground and smooth road surface | |
| CN107870135A (en) | The cable life test device and method of testing of a kind of variable element | |
| CN105466702A (en) | Integrated detection and testing apaprtus for Mecanum wheel | |
| CN207537053U (en) | Lifting and walking mechanism for three combined test chambers | |
| CN204439380U (en) | A kind of crawler belt property test platform | |
| CN113758665B (en) | Assembled building steel construction antidetonation check out test set | |
| CN209513283U (en) | A kind of soil bin test device suitable for wheels travel performance test | |
| CN106895984A (en) | A kind of scale model wheel sinkage and traction force test device | |
| CN112051137B (en) | Quick wearing and tearing test device in road surface | |
| CN102496329B (en) | Physical experimental apparatus for simulation of mudstone smearing, forming and evolution and usage of apparatus | |
| CN111362200B (en) | Vehicle-mounted self-leveling operation device for overhead working truck | |
| CN211202009U (en) | Automatic laying device for waterproof material in tunnel construction | |
| CN216899665U (en) | Remove soil box test bench | |
| CN207423518U (en) | Safety unit of tractor testing stand | |
| CN114216710A (en) | Remove soil box test bench | |
| CN208729837U (en) | A kind of robot traveling Performance Test System | |
| CN209542116U (en) | A kind of device of quick adjusting gyrocar performance test slope surface angle | |
| CN110296832B (en) | Drive test system and method of monorail crane | |
| CN208937433U (en) | A kind of portable hydraulic engineering masonry full seam shear resisting strength detector | |
| CN109357859B (en) | Dislocation adjusting mechanism, car coupler coupling test bed and test system thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |