CN110849743B - Ground mechanical property testing device for underwater operation of crawler vehicle - Google Patents
Ground mechanical property testing device for underwater operation of crawler vehicle Download PDFInfo
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- CN110849743B CN110849743B CN201910993584.XA CN201910993584A CN110849743B CN 110849743 B CN110849743 B CN 110849743B CN 201910993584 A CN201910993584 A CN 201910993584A CN 110849743 B CN110849743 B CN 110849743B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/24—Investigating strength properties of solid materials by application of mechanical stress by applying steady shearing forces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
- G01N3/10—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces generated by pneumatic or hydraulic pressure
- G01N3/12—Pressure testing
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Abstract
The invention discloses a ground mechanical property testing device for underwater operation of a crawler vehicle, which comprises an experiment bench support, a transverse shear stress generating unit, a vertical sinking pressure generating unit, a sediment simulating unit, a crawler plate motion simulating unit and a testing unit. The test bench support, the sediment simulation unit and the creeper tread movement simulation unit are used for simulating the operation condition of the crawler vehicle in underwater operation, the transverse shear stress generation unit and the vertical subsidence pressure generation unit generate shear stress and subsidence pressure, and the ground mechanics characteristic between the creeper tread and the sediment is determined by the test unit. The invention can change the structural parameters of the track shoe and the road condition of sediments under the experimental environmental condition, and improve the passing performance of the tracked vehicle during underwater operation.
Description
Technical Field
The invention belongs to the field of crawler vehicle operation, and particularly relates to a ground mechanical property testing device for crawler vehicle underwater operation.
Background
With the increasing progress of urbanization and the influence of global climate change, cities in our country, particularly coastal cities, are at risk of waterlogging. According to survey, urban rainwater waterlogging events in China are frequent in recent years, and the waterlogging frequency shows a trend of rising continuously. Urban inland inundation inevitably causes problems of inland river rock or sediment siltation, river course narrowing and shallowing and the like, so that the function of inland river flood season water drainage is limited, the public life and property safety is threatened, and the national economy or regional economy is seriously influenced. The dredging of river channels is an important measure for rapidly recovering the drainage function of urban rivers in the flood season. However, the traditional mechanical dredging equipment (such as a dredger) has the defects of large size, single function, high operation cost, poor maneuverability, low intelligent degree and the like, and cannot meet the requirement of dredging operation of urban inland river channels. Compared with the traditional dredger, the crawler-type vehicle is necessary equipment for completing dredging and dredging of rivers in cities in flood season. The working environment of the crawler-type vehicle is severe, complex and changeable, and the analysis of the dynamic coupling characteristics of the vehicle in the aspects of underwater walking, operation and the like is the key for researching the dynamic performance of the vehicle. The mechanical property between the track plate and soft sediments at the bottom of a river in an urban area can influence the trafficability parameters of the tracked vehicle such as pressure-settlement displacement, shearing force-shearing displacement, traction force-slip rate and the like during running at the bottom of the river. When the existing crawler-type vehicle works, the requirements of operation under such specific environments cannot be met by the small adhesive force between the overlarge output torque of an engine and soft sediments and the structural design of the traditional land crawler plate, so that the defects of overlarge slip rate, poor trafficability and the like occur.
Disclosure of Invention
The invention provides a ground mechanical property testing device for underwater operation of a tracked vehicle, which solves the problem of overlarge slippage rate on the road surface of various sediments during the underwater operation of the tracked vehicle and improves the trafficability and the working efficiency of the tracked vehicle.
In order to achieve the technical purpose, the invention adopts the following scheme:
a ground mechanical property testing device for underwater operation of a crawler vehicle comprises a transverse shear stress generating unit, a vertical sinking pressure generating unit, a crawler plate motion simulation unit and a testing unit, wherein the transverse shear stress generating unit comprises a motor A, the motor A is fixed with a support A, and the motor A is connected with a connecting plate through a tension line A; the vertical sinking pressure generating unit comprises a motor B, the motor B is connected with a hydraulic oil pump, the hydraulic oil pump is respectively communicated with a hydraulic oil tank and a single piston cylinder through an oil inlet pipeline and an oil return pipeline, and the single piston cylinder is communicated with the hydraulic oil tank; the creeper tread motion simulation unit comprises a creeper tread and a connecting plate which are connected together, and the connecting plate is contacted with the lower end of a piston rod of the single piston cylinder; the testing unit comprises a force sensor A, a pressure sensor B, a displacement sensor A and a displacement sensor B, wherein the force sensor A is arranged on a tension line A, the pressure sensor B is arranged between a connecting plate and the lower end of a piston rod of the single piston cylinder, the displacement sensor A is connected with the upper end of the piston rod of the single piston cylinder through the tension line B, and the displacement sensor B is arranged on a support B and is connected with the connecting plate through a tension line C;
and a hydraulic valve is arranged on a pipeline between the single piston cylinder and the hydraulic oil tank.
Among the above-mentioned technical scheme, still include experiment bench support and deposit analog unit, experiment bench support is used for installing vertical subsidence pressure generation unit and deposit analog unit.
In the above technical scheme, the sediment simulation unit comprises a sediment storage tank and sediment filled in the sediment storage tank, and the sediment storage tank is respectively fixed with the U-shaped support frames of the support A and the support B.
In the technical scheme, the experiment bench support is of a frame structure and is provided with a supporting beam A and a supporting beam B, the supporting beam A is located on the upper portion of the supporting beam B, the vertical subsidence pressure generating unit is installed on the supporting beam A, and the sediment storage box is fixed on the supporting beam B.
Among the above-mentioned technical scheme, the support includes U template and U type support frame, and U type support frame is fixed on U template side, and it has the spout to open on the U template, and the spout top is fixed with the screw hole, joint support C in the spout, and support C includes the mounting panel of semicircular seat face and cuboid form, and processing has the through-hole the same with the screw hole shape, the position corresponds on the seat face.
In the technical scheme, the number of the U-shaped support frames is two, the two U-shaped support frames are symmetrically fixed on the side face of the U-shaped plate, and a certain angle is formed between the plane where the U-shaped support frames are located and the normal plane of the U-shaped plate.
In the technical scheme, the support C is connected with the displacement regulator into a whole, and specifically, the threaded rod of the displacement regulator penetrates through the threaded hole of the support and the through hole in the support surface to be connected into a whole.
Among the above-mentioned technical scheme, in the experimentation, make fixed pulley, tension line A, force sensor A, connecting plate, tension line C, displacement sensor B be in same water flat line through the displacement adjustment ware.
In the technical scheme, a wire spool is arranged on a motor shaft of the motor A, one end of a tension wire A is fixed on the wire spool, bypasses the motor shaft, passes through a fixed pulley and then passes through a sediment storage box to be connected with a connecting plate; the fixed pulley is fixed on a support mounting plate of the bracket A.
Through the technical scheme, the invention can achieve the following beneficial effects:
(1) the ground mechanics performance testing device is applied to ground mechanics research tests of underwater operation of the tracked vehicle, the tracked plate to be tested is placed in the sediment storage box, the pressure of the tracked vehicle on the ground is simulated by applying vertical sinking pressure, the horizontal traction force in the running process of the tracked vehicle is simulated by applying transverse shear stress, and the interaction relation between the tracked vehicle tracked plate and the soil is explored. The test device has the advantages of simulating the pavement conditions of underwater sediments, controlling test parameters, shortening test period, reducing test cost, easily observing and processing test results and the like, solves the problem of overlarge slippage rate of the tracked vehicle on the pavement of various underwater sediments, and improves the passing efficiency of the tracked vehicle.
(2) The transverse shear stress generating unit is driven by a permanent magnet brushless direct current motor, so that the transverse shear stress can be linearly changed, and the tension generated by the torque of the motor can be accurately recorded by a force sensor and a data acquisition instrument, so that the experiment can be operated and controlled.
(3) The sediment storage unit adopted by the invention can select the sediment required by the experiment according to the specific experimental object, so as to simulate the real environment.
(4) The track shoe motion simulation unit can simulate the stress condition of a single track shoe obtained by the data acquisition instrument and the sensor when the track vehicle operates at the bottom of a river in a city more truly, and the experimental result is accurate and reliable.
(5) The vertical subsidence pressure generating unit adopted by the crawler plate loading and unloading device can linearly load and unload the crawler plate, data is convenient to record and control, and the stress of the crawler plate is more stable.
(6) The gasket can weaken the vibration transmitted from the piston rod to the track shoe motion simulation unit, and meanwhile, the pressure sensor can be prevented from being damaged by vibration caused by hydraulic impact, so that the experimental data are more accurate.
Drawings
FIG. 1 is an isometric view of a ground mechanics performance testing apparatus for underwater operation of a tracked vehicle according to the present invention;
FIG. 2 is a front view of a ground mechanical property testing device for underwater operation of a tracked vehicle according to the present invention;
FIG. 3 is a side view of a ground mechanics performance testing apparatus for underwater operation of a tracked vehicle according to the present invention;
FIG. 4 is a top view of a ground mechanics performance testing apparatus for underwater operation of a tracked vehicle according to the present invention;
FIG. 5 is an isometric view of a stent of the present invention;
FIG. 6 is an isometric view of a single piston cylinder of the present invention;
FIG. 7 is a partial isometric view of a transverse tension generating unit of the present invention;
FIG. 8 is an isometric view of a hydraulic system power source in a vertical subsidence pressure generating unit of the present invention;
FIG. 9 is an enlarged view of a portion of FIG. 1 of the present invention.
The reference numerals are illustrated below: 1-motor A; 2-a wire spool; 3-support A; 4-fixed pulley; 5-displacement adjuster a; 6-a displacement sensor A; 7-force sensor a; 8-tensile strand A; 9-displacement sensor B; 10-pressure sensor B; 11-a pillar; 12-a transverse arm beam; 13-supporting beam a; 14-supporting beam B; 15-a grounding steel plate; 16-scaffold a; 17-scaffold B; 18-a coupling; 19-a hydraulic oil pump; 20-a hydraulic oil pipe; 21-a single piston cylinder; 22-a hydraulic valve; 23-a hydraulic oil tank; 24-a sediment storage tank; 25-scaffold C; 26-deposition; 27-a track shoe; 28-a connecting plate; 29-a washer; 30-displacement regulator B; 31-motor B; 32-support B; 33-oil outlet; 34-an oil inlet; 35-hanging hooks; 36-tensile strand B; 37-tension line C; 38-support C; 39-U-shaped support frames; 40-U-shaped plates; 41-a threaded hole; 42-hydraulic oil pipe B; 43-hydraulic tubing C.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, but the scope of the invention is not limited thereto.
As shown in fig. 1 to 4, the ground mechanical property testing device for the underwater operation of the tracked vehicle comprises an experiment bench support, a transverse shear stress generating unit, a vertical subsidence pressure generating unit, a sediment simulating unit, a track shoe motion simulating unit and a testing unit.
The transverse shear stress generating unit comprises a motor A1, a support A3, a wire spool 2, a fixed pulley 4, a displacement regulator A5 and a tension wire A8, wherein the motor A1 is preferably a permanent magnet brushless direct current motor in the embodiment; as shown in fig. 7, the motor a1 is fixed on the support A3 by screws, and the support A3 is fixed with the bracket a16 by welding; a wire spool 2 is arranged on a motor shaft of the motor A1, one end of a tension wire A8 is fixed on the wire spool 2, the tension wire A is wound around the motor shaft, passes through the sediment storage box 24 and is connected with the connecting plate 28 after passing through the fixed pulley 4, and a force sensor A7 is arranged on the tension wire A8; the fixed pulley 4 is fixed on a support mounting plate of a support A16 through a bolt, and a threaded rod of a displacement regulator A5 penetrates through a threaded hole of a support A16 and a through hole on a support seat surface to be connected into a whole.
The experimental bench support comprises pillars 11, a transverse arm beam 12, a supporting beam A13, a supporting beam B14, a grounding steel plate 15, a support A16 and a support B17, wherein two ends of the transverse arm beam 12 are fixedly connected with the top ends of the pillars 11 through bolts respectively, the bottom ends of the two pillars 11 are connected with the grounding steel plate 15 through bolts respectively, and the grounding steel plate 15 is fixed on the ground; a supporting beam A13 and a supporting beam B14 are fixed between the two pillars 11 through bolts, the supporting beam A13 is positioned at the upper part of the supporting beam B14, a sediment storage box 24 is fixed on the supporting beam B14, and the sediment storage box 24 is respectively welded with U-shaped supporting frames of a bracket A16 and a bracket B17.
As shown in fig. 5, which is a schematic view of a bracket a16 and a bracket B17, the bracket includes a U-shaped plate 40 and U-shaped support frames 39, the two U-shaped support frames 39 are symmetrically fixed on the side surfaces of the U-shaped plate 40, and an angle between the plane of the U-shaped support frames 39 and the normal plane of the U-shaped plate 40 is 26 °; open on the U template 40 has the spout, and the spout top is fixed with screw hole 41, joint support C38 in the spout, and support C38 includes two parts: a semicircular support seat surface and a rectangular mounting plate, wherein the support seat surface is provided with a through hole which has the same shape with the threaded hole 41 and corresponds to the threaded hole in position.
The vertical sinking pressure generating unit is arranged on the supporting beam A13 and comprises a motor B31, a coupler 18, a hydraulic oil pump 19, a hydraulic oil pipe 20, a single piston cylinder 21, a hydraulic valve 22 and a hydraulic oil tank 23, wherein the motor B31 is preferably a permanent magnet brushless direct current motor in the embodiment; as shown in fig. 8, the motor B31 is fixed on the supporting beam a13 through a support B32, a motor shaft of the motor B31 is connected with a rotating shaft of the hydraulic oil pump 19 through the coupling 18, and the hydraulic oil pump 19 is communicated with the hydraulic oil tank 23 through a hydraulic oil pipe a 20; as shown in fig. 6, the hydraulic oil pump 19 is further communicated with an oil inlet 33 of the single piston cylinder 21 through a hydraulic oil pipe B42, an oil outlet 33 of the single piston cylinder 21 is communicated with the hydraulic oil tank 23 through a hydraulic oil pipe C43, a hydraulic valve 22 is arranged on the hydraulic oil pipe C43, and when the single piston cylinder 21 works, the hydraulic valve 22 is closed to keep a certain pressure on an upper cavity of the single piston cylinder 21, so that the piston rod is pushed to move downwards; the lower end of the piston rod of the single piston cylinder 21 is fixed with a pressure sensor B10 through a bolt, as shown in FIG. 6. The hydraulic oil pump 19 has a pump shaft driving a vane to provide pressure for hydraulic oil, and the hydraulic oil is pressed into the single piston cylinder 21 and is connected with the hydraulic oil pipe B42, the hydraulic oil pipe C43, the hydraulic valve 22 and the hydraulic oil tank 23 to form a hydraulic loop.
The sediment simulation unit comprises a sediment storage tank 24, a bracket C25 and sediment 26, wherein the bottom of the sediment storage tank 24 is supported by the bracket C25, the sediment storage tank 24 is filled with the sediment 26, and the lower end of the sediment storage tank 24 is provided with a drain valve. Sediment 26 may take on different urban inland river bottom sediments depending on the real environment being simulated.
The track shoe motion simulation unit comprises a track shoe 27, a connecting plate 28 and a gasket 29, as shown in fig. 9, the track shoe 27 is connected with the connecting plate 28 through a bolt, the connecting plate 28 is flexibly connected with the lower end of a piston rod of the single piston cylinder 21 through the gasket 29, and a force sensor B10 is arranged between the lower end of the piston rod and the connecting plate 28, so that the force sensor B10 is prevented from being damaged due to rigid contact with the track shoe motion simulation unit. The track plate 27 may be determined based on dimensional parameters of the tracked vehicle measured by the subject. Track shoes 27 extend into deposit bin 24 and during testing, track shoes 27 are in contact with deposit 26.
The testing unit comprises a displacement sensor A6, a pressure sensor B10, a force sensor A7, a displacement sensor B9, a displacement regulator B30 and a tension line B36, wherein the displacement sensor A6 is mounted on the cross arm beam 12, the displacement sensor A6 is connected with the upper end of the piston rod of the single piston cylinder 21 through the tension line B36 and the hook 35, the tension line B36 is wound and fixed on the hook 35, and the pressure sensor B10 is fixed between the lower end of the piston rod of the single piston cylinder 21 and the connecting plate 28 through bolts; the displacement sensor B9 is fixed on a support mounting plate of the bracket B17 through a bolt, and a threaded rod of the displacement regulator B30 penetrates through a threaded hole of the bracket B17 and a through hole on the support seat surface to be connected into a whole; the displacement sensor B9 is also connected with one end of a tension line C37, and the tension line C37 is connected with the connecting plate 28 after passing through the sediment storage box 24; the displacement sensor A6, the pressure sensor B10, the force sensor A7 and the displacement sensor B9 are in signal connection with a data acquisition instrument (multifunctional data acquisition system, Siemens LMS SCADAS).
During the experiment, the fixed pulley 4, the tension line A8, the force sensor A7, the connecting plate 28, the tension line C37 and the displacement sensor B9 are positioned on the same horizontal line through the displacement regulator A5 and the displacement regulator B30.
The motor A1 and the motor B31 are in signal connection with the motor controller, and during experiments, the rotating speed of the motor is controlled through the motor controller, so that the horizontal shearing stress and the vertical sinking pressure provided by the transverse shearing stress generating unit and the vertical sinking pressure generating unit have the linear adjustable property, and stable shearing force and sinking pressure can be provided.
A ground mechanical property testing device for underwater operation of a crawler vehicle comprises the following working processes: the motor controller drives the motor B31 to work, the vertical sinking pressure generating unit starts to work, the motor B31 drives the hydraulic oil pump 19 to pump hydraulic oil with certain pressure into the single piston cylinder 21, the hydraulic oil pushes the piston rod to move downwards, the track shoe 27 sinks to move downwards, and the pressure of the tracked vehicle on the ground is simulated; meanwhile, the displacement sensor A6 and the pressure sensor B10 transmit the acquired sinking displacement and sinking pressure to a computer through a data acquisition instrument, and a relation curve between the sinking pressure and the displacement required by an experiment is obtained. The motor controller drives the motor A1 to work, the transverse shear stress generation unit starts to work, a tension line A8 is tensioned through the rotation motion of the motor shaft, the track shoe 27 is pulled to generate transverse shear stress on the sediment 26, and the pressure of the tracked vehicle on the ground is simulated; meanwhile, the displacement sensor B9 and the force sensor A7 transmit the collected shearing stress and shearing displacement to a computer, so that a relation curve between the shearing stress and the shearing displacement required by an experiment is obtained. The interaction relation between the track shoe of the crawler vehicle and the sediment is explored according to the relation curve between the sinking pressure/displacement and the relation curve between the shearing stress/displacement, the structural parameters of the track shoe are optimized and designed, and the passing performance of the crawler vehicle during underwater operation is improved.
The present invention is not limited to the above-described embodiments, and any obvious modifications, substitutions or alterations can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (6)
1. The utility model provides a ground mechanics performance testing arrangement of tracked vehicle underwater operation which characterized in that: the device comprises a transverse shear stress generating unit, a vertical sinking pressure generating unit, a creeper tread motion simulation unit, a testing unit and a sediment simulation unit, wherein the transverse shear stress generating unit comprises a motor A (1), the motor A (1) is fixed with a support A (16), and the motor A (1) is connected with a connecting plate (28) through a tension line A (8); the vertical sinking pressure generating unit comprises a motor B (31), the motor B (31) is connected with a hydraulic oil pump (19), the hydraulic oil pump (19) is respectively communicated with a hydraulic oil tank (23) and a single piston cylinder (21) through an oil inlet pipeline and an oil return pipeline, and the single piston cylinder (21) is communicated with the hydraulic oil tank (23); the creeper tread motion simulation unit comprises a creeper tread (27) and a connecting plate (28) which are connected together, wherein the connecting plate (28) is in contact with the lower end of a piston rod of the single piston cylinder (21); the testing unit comprises a force sensor A (7), a pressure sensor B (10), a displacement sensor A (6) and a displacement sensor B (9), wherein the force sensor A (7) is arranged on a tension line A (8), the pressure sensor B (10) is arranged between a connecting plate (28) and the lower end of a piston rod of a single piston cylinder (21), the displacement sensor A (6) is connected with the upper end of the piston rod of the single piston cylinder (21) through a tension line B (36), and the displacement sensor B (9) is arranged on a support B (17) and connected with the connecting plate (28) through a tension line C (37);
a hydraulic valve (22) is arranged on a pipeline between the single piston cylinder (21) and the hydraulic oil tank (23);
the sediment simulation unit comprises a sediment storage tank (24) and sediment (26) filled in the sediment storage tank, wherein the sediment storage tank (24) is fixed with the U-shaped supporting frames of the bracket A (16) and the bracket B (17) respectively;
the support A (16) and the support B (17) both comprise a U-shaped plate (40) and a U-shaped support frame (39), the U-shaped support frame (39) is fixed on the side face of the U-shaped plate (40), a sliding groove is formed in the U-shaped plate (40), a threaded hole (41) is fixed at the top end of the sliding groove, a support C (38) is clamped in the sliding groove, the support C (38) comprises a semicircular support surface and a rectangular mounting plate, and through holes which are the same as the threaded hole (41) in shape and correspond to the threaded hole in position are formed in the support surface;
the support C (38) is connected with the displacement regulator into a whole, and specifically, a threaded rod of the displacement regulator penetrates through a threaded hole of the support and a through hole in the support surface to be connected into a whole.
2. The ground mechanical property testing device for the underwater operation of the tracked vehicle as claimed in claim 1, wherein: the device also comprises an experiment bench support, and the experiment bench support is used for installing the vertical subsidence pressure generating unit and the sediment simulating unit.
3. The ground mechanical property testing device for underwater operation of the tracked vehicle as recited in claim 2, wherein: the experiment bench support is of a frame structure and is provided with a supporting beam A (13) and a supporting beam B (14), the supporting beam A (13) is located on the upper portion of the supporting beam B (14), the vertical subsidence pressure generating unit is installed on the supporting beam A (13), and the sediment storage box (24) is fixed on the supporting beam B (14).
4. The ground mechanical property testing device for underwater operation of the tracked vehicle as recited in claim 1, wherein: the number of the U-shaped supporting frames (39) is two, the two U-shaped supporting frames are symmetrically fixed on the side face of the U-shaped plate (40), and a certain angle is formed between the plane where the U-shaped supporting frames (39) are located and the normal plane of the U-shaped plate (40).
5. Ground mechanical property testing device for underwater operation of a track vehicle according to any of claims 1 to 4, characterized in that: in the experimental process, the fixed pulley (4), the tension line A (8), the force sensor A (7), the connecting plate (28), the tension line C (37) and the displacement sensor B (9) are positioned on the same horizontal line through the displacement regulator.
6. The ground mechanical property testing device for the underwater operation of the tracked vehicle as claimed in claim 1, wherein: a wire spool (2) is arranged on a motor shaft of the motor A (1), one end of a tension wire A (8) is fixed on the wire spool (2), bypasses the motor shaft, passes through the fixed pulley (4) and then passes through the sediment storage tank (24) to be connected with the connecting plate (28); the fixed pulley (4) is fixed on a support mounting plate of the bracket A (16).
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