CN111366381A - Manned lunar vehicle wheel soil box test bed - Google Patents
Manned lunar vehicle wheel soil box test bed Download PDFInfo
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- CN111366381A CN111366381A CN202010417282.0A CN202010417282A CN111366381A CN 111366381 A CN111366381 A CN 111366381A CN 202010417282 A CN202010417282 A CN 202010417282A CN 111366381 A CN111366381 A CN 111366381A
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- 238000012360 testing method Methods 0.000 title claims abstract description 75
- 239000002689 soil Substances 0.000 title claims abstract description 69
- 238000006073 displacement reaction Methods 0.000 claims abstract description 33
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 20
- 238000005096 rolling process Methods 0.000 claims abstract description 13
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 9
- 239000010959 steel Substances 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 39
- 230000003014 reinforcing effect Effects 0.000 claims description 28
- 238000005303 weighing Methods 0.000 claims description 26
- 230000007547 defect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 3
- 238000000034 method Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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- G01M17/007—Wheeled or endless-tracked vehicles
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Abstract
A manned lunar vehicle wheel soil box test bed belongs to the technical field of spaceflight, wherein a roller of the test bed is in rolling connection with a U-shaped rail, the front end of a steel wire rope is fixedly connected with a roller of a traction resistance system, and the rear end of the steel wire rope is fixedly connected with a tension sensor of the test bed; the horizontal displacement sensor, the vertical displacement sensor, the tension sensor, the reducer assembly and the dynamic torque sensor are all controlled by a computer. The test bed can overcome the defects of small size load, low speed, unstable traction resistance and the like of a tested wheel of a small lunar vehicle wheel soil groove test bed, can test large size, large load, high speed, constant traction force and more accurate test result of the wheel, is convenient to operate, safe and reliable, can test the wheel performance under different conditions by changing the load size, the rotating speed, the traction resistance and the like of the tested wheel, can realize the effect of multiple test conditions, can increase the test diversity, can output data of test rotating speed, test time, power and the like at any time through a sensor and a computer, and is convenient to record.
Description
Technical Field
The invention belongs to the technical field of spaceflight, and particularly relates to a manned lunar vehicle wheel soil box test bed.
Background
In recent years, with the increase of interest of people in moon exploration, people carrying lunar vehicles are increasingly emphasized. Since the surface of the moon is covered with a thick layer of lunar soil and the gravity is only 1/6 of the earth, the manned lunar vehicle is easy to sink and slip. As a result, manned lunar vehicle wheels have received extensive attention and research for maneuverability. The wheel structure of the manned lunar vehicle is optimized, the driving performance of the wheels of the manned lunar vehicle is evaluated and predicted, and the method has important significance for guaranteeing the work of the manned lunar vehicle and detecting the moon. The basic data are measured by using the soil box test bed, and the evaluation of the trafficability, the traction and the reliability of the wheels of the lunar vehicle is a basic means for researching the wheels of the lunar vehicle.
The existing soil box test bed mainly aims at small unmanned lunar vehicle wheels, the tested wheels are small in size, small in load, low in running speed and unstable in traction resistance, and the test requirements of large manned lunar vehicle wheels cannot be met.
Disclosure of Invention
The invention aims to provide a manned lunar vehicle soil box test bed which can test a manned lunar vehicle soil box with larger size, larger load and higher speed.
The soil tank and track system consists of a test trolley A, a traction resistance system B, a soil tank and track system C and a computer 1, wherein the test trolley A is positioned above the soil tank and track system C, and a roller I2 and a roller IV 6 of the test trolley A are in rolling connection with the outer surface of a left U-shaped rail 63 of the soil tank and track system C; a roller II 3 and a roller III 5 of the test trolley A are in rolling connection with the inner surface of the soil tank and the left U-shaped rail 63 of the rail system C; a roller V11 and a roller VIII 15 of the test trolley A are in rolling connection with the outer surface of the soil tank and the right U-shaped rail 62 of the rail system C; the roller VI 12 and the roller VII 14 of the test trolley A are in rolling connection with the inner surface of the right U-shaped rail 62 of the soil tank and track system C; the traction resistance system B is positioned in front of the soil tank and track system C, and a right frame 42 and a left frame 52 of the traction resistance system B are fixedly connected to the ground; the rear end of a steel wire rope 46 of the traction resistance system B is fixedly connected with a tension sensor 16 of the test trolley A; the soil tank 64 of the soil tank and track system C is fixedly connected to the ground; the horizontal displacement sensor 9, the vertical displacement sensor 10 and the tension sensor 16 of the chassis D in the test trolley A, the reducer assembly 33 and the dynamic torque sensor 34 of the wheel driving system F in the test trolley A are controlled by the computer 1.
The test trolley A comprises a chassis D and a wheel mounting bracket E, wherein the chassis D comprises a roller I2, a roller II 3, a left beam 4, a roller III 5, a roller IV 6, a rear beam 7, a bracket 8, a horizontal displacement sensor 9, a vertical displacement sensor 10, a roller V11, a roller VI 12, a right beam 13, a roller VII 14, a roller VIII 15, a tension sensor 16, a front beam 17, a jack 18, a bearing seat I19 and a bearing seat II 20, and the front beam 17, the left beam 4, the rear beam 7 and the right beam 13 are fixedly connected end to form a chassis frame; the roller I2, the roller IV 6, the roller V11 and the roller VIII 15 are movably connected below four corners of the chassis frame; the bearing seat I19 is fixedly connected to the right front corner of the chassis frame; the bearing seat II 20 is fixedly connected to the upper surface of the left front corner of the chassis frame; the roller II 3 is fixedly connected below the front part of the left beam 4, and the roller III 5 is fixedly connected below the rear part of the left beam 4; the roller VII 14 is fixedly connected below the front part of the right beam 13, and the roller VI 12 is fixedly connected below the rear part of the right beam 13; the central lines of the roller II 3 and the roller VII 14 are parallel to the central lines of the roller III 5 and the roller VI 12; the bracket 8 is fixedly connected to the center of the back beam 7; the horizontal displacement sensor 9 and the vertical displacement sensor 10 are fixedly connected to the bracket 8; the jack 18 is fixedly connected to the center of the upper surface of the rear beam 7; the tension sensor 16 is fixedly connected to the front center of the front beam 17; the wheel mounting bracket E consists of a bracket I21, a rotating shaft 22, a bracket II 23, a front beam I24, a right beam I25, a right longitudinal beam 26, a loading box I27, a rear beam I28, a loading box II 29, a mounting plate 30, a wheel driving system F, a left beam I31 and a left longitudinal beam 32, wherein the front beam I24, the right beam I25, the rear beam I28 and the left beam I31 are fixedly connected end to end in sequence to form a frame structure; the right longitudinal beam 26 and the left longitudinal beam 32 are arranged in parallel, the front ends of the right longitudinal beam and the left longitudinal beam are fixedly connected to the back of the front beam I24, and the rear ends of the right longitudinal beam and the left longitudinal beam are fixedly connected to the front of the rear beam I28; the loading box I27 is fixedly connected to the rear parts of the right beam I25 and the right longitudinal beam 26; the loading box II 29 is fixedly connected to the upper parts of the rear parts of the left beam I31 and the left longitudinal beam 32; the rotating shaft 22 is fixedly connected in front of the front beam I24 through a support I21 and a connecting support II 23, and two ends of the rotating shaft 22 are movably connected with a bearing seat I19 and a bearing seat II 20 of the chassis D through bearings respectively.
The wheel driving system F consists of a speed reducer assembly 33, a dynamic torque sensor 34, a bearing seat III 35, a transmission shaft I36, a flange I37, a flange II 38, a transmission shaft II 39, a bearing seat IV 40 and an angular displacement sensor 41, wherein the speed reducer assembly 33, the dynamic torque sensor 34, the transmission shaft I36, the flange I37, the flange II 38, the transmission shaft II 39 and the angular displacement sensor 41 are sequentially arranged from left to right; the output end of the reducer assembly 33 is fixedly connected with the left end of a transmission shaft I36 through a dynamic torque sensor 34; a flange I37 is fixedly connected to the right end of a transmission shaft I36, a flange II 38 is fixedly connected to the left end of a transmission shaft II 39, and an angular displacement sensor 41 is fixedly connected to the right end of the transmission shaft II 39; the flange I37 is fixedly connected with the flange II 38 through bolts; the bearing seat III 35 is movably connected to the left end of the transmission shaft I36; the bearing seat IV 40 is movably connected to the near right end of the transmission shaft II 39; the transmission shaft I36 and the transmission shaft II 39 are concentric; the wheel driving system F33 is fixedly connected to the reducer mounting plate 30 of the wheel mounting bracket E; a bearing seat III 35 of the wheel driving system F is fixedly connected to the upper part of the middle part of 32 of the wheel mounting bracket E; and a bearing seat IV 40 of the wheel driving system F is fixedly connected to the upper part of the middle part 26 of the wheel mounting bracket E.
The traction resistance system B consists of a right frame 42, a right shaft 43, a roller bearing seat I44, a roller 45, a steel wire rope 46, a rotary handle group 47, a roller bearing seat II 48, a brake rod 49, a left shaft 50, a weight tray 51, a left frame 52, a reinforcing plate I53, a reinforcing plate II 54, a brake rod mounting bracket 55, a reinforcing plate III 56, a reinforcing plate IV 57, a rope I58, a rope II 59, a rope III 60 and a pin shaft 61, wherein 5 handles of the rotary handle group 47 are uniformly distributed and fixedly connected on the circumferential surface of the roller 45 close to the left end; the roller bearing seat I44 is fixedly connected to the upper end of the right frame 42, the left end of the right shaft 43 is fixedly connected to the center of the right surface of the roller 45, and the right part of the right shaft 43 is movably connected with the roller bearing seat I44; a roller bearing seat II 48 is fixedly connected to the upper end of the left frame 52, the right end of a left shaft 50 is fixedly connected to the center of the left surface of the roller 45, and the left part of the left shaft 50 is movably connected with the roller bearing seat II 48; the front end of the wire rope 46 is fixedly connected with the circumferential surface of the roller 45 close to the left; the right frame 42 and the left frame 52 are both trapezoidal and arranged in parallel left and right; the front sides of the two are fixedly connected through a reinforcing plate I53 and a reinforcing plate I54, and the rear sides of the two are fixedly connected through a reinforcing plate III 56 and a reinforcing plate IV 57; the brake rod mounting bracket 55 is positioned behind the roller bearing seat II 48 and fixedly connected to the left frame 52; the brake lever 49 is movably connected to the brake lever mounting bracket 55 by a pin 61; the lower ends of the ropes I58, II 59 and III 60 are fixedly connected with a weight tray 51, and the upper ends of the ropes I58, II 59 and III 60 are fixedly connected with the front end of the brake rod 49.
The soil tank and track system C consists of a right U-shaped rail 62, a left U-shaped rail 63, a soil tank 64, a weighing instrument bracket I65, a weighing instrument bracket II 66 and a weighing instrument 67, wherein the right U-shaped rail 62 is fixedly connected to the top end of the right side wall of the soil tank 64, and the left U-shaped rail 63 is fixedly connected to the top end of the left side wall of the soil tank 64; the weighing instrument support I65 and the weighing instrument support II 66 are fixedly connected to the left side wall and the right side wall of the front portion of the soil tank 64 in parallel, and the weighing instrument 67 is fixedly connected to the weighing instrument support I65 and the weighing instrument support II 66.
The working process of the manned lunar vehicle wheel soil box test bed comprises the following steps:
the tested wheel is arranged between the flange I37 and the flange II 38, the reducer assembly 33 drives the tested wheel to roll in the soil tank through the transmission shaft I36, and the tested wheel rolls to drive the test trolley A to roll on the right U-shaped rail 62 and the left U-shaped rail 63 of the soil tank and track system C. The wheel to be tested is driven onto the weighing instrument 67 through the control of the computer 1, then the load on the wheel is changed by adding weights into the loading box I27 and the loading box II 29 until the reading of the weighing instrument 67 meets the test requirement, and when the load on the wheel is changed, the wheel mounting bracket E can rotate around the axis of the rotating shaft 22. The braking force applied to the left shaft 50 by the brake lever 49 can be adjusted by adjusting the weight of the weight in the weight tray 51, so that the traction resistance can be adjusted, and the purpose of changing the wheel slip rate is achieved.
The invention controls the reducer assembly 33 to drive the tested wheel to roll through the computer, the tested wheel drives the test trolley A to move on the soil tank and the track system C to complete the performance test of the manned lunar vehicle, the data measured by each sensor is collected and processed by the computer 1, and the test bench can meet the test requirements of different loads, different speeds and different slip ratios.
The invention controls the reducer assembly 33 to drive the tested wheel to roll through the computer, the tested wheel drives the test trolley A to move on the soil tank and the track system C to complete the performance test of the manned lunar vehicle, the data measured by each sensor is collected and processed by the computer 1, and the test bench can meet the test requirements of different loads, different speeds and different slip ratios.
The test bed of the invention can overcome the defects of small size, small load, low speed, unstable traction resistance and the like of the tested wheel of the previous small lunar vehicle wheel soil trough test bed, and can test large size, large load, high speed, constant traction force and more accurate test result of the wheel.
The invention has convenient operation, safety and reliability, can test the wheel performance under different conditions by changing the load size, the rotating speed, the traction resistance and the like of the tested wheel, can realize the effect of multiple test conditions, increases the test diversity, can output data such as test rotating speed, test time, power and the like at any time through a sensor and a computer, and is convenient to record.
Drawings
FIG. 1 is a front view of a manned lunar vehicle wheel soil box test bed
FIG. 2 is a left side view of a manned lunar vehicle wheel soil box test bed
FIG. 3 is a bottom view of the chassis D
FIG. 4 is a top view of the chassis D
FIG. 5 is a top view of the wheel mounting bracket E
FIG. 6 is a top view of the wheel drive system F
FIG. 7 is a left side view of the traction resistance system B
FIG. 8 is a front view of the traction resistance system B
FIG. 9 is an enlarged view of a in FIG. 2
FIG. 10 is an enlarged view of b in FIG. 8
FIG. 11 is a schematic view of a soil trough and track system C
Wherein: A. test trolley B, traction resistance system C, soil groove and track system D, chassis E, wheel mounting bracket F, wheel driving system 1, computer 2, roller I3, roller II 4, left beam 5, roller III 6, roller IV 7, rear beam 8, bracket 9, horizontal displacement sensor 10, vertical displacement sensor 11, roller V12, roller VI 13, right beam 14, roller VII 15, roller VIII 16, tension sensor 17, front beam 18, jack 19, bearing seat I20, bearing seat II 21, bracket I22, rotating shaft 23, bracket II 24, front beam I25, right beam I26, right longitudinal beam 27, loading box I28, rear beam I29, loading box II 30, mounting plate 31, left beam I32, left longitudinal beam 33, speed reducer assembly 34, torque sensor 35, bearing seat III, transmission shaft I37, flange II 38, transmission shaft II 39, bearing seat II 40, sensor 42, right frame 43, left longitudinal beam IV 29, loading box II 30, mounting plate I32, left longitudinal beam I46 roller bearing 47, angular displacement drum 47, 47 angular displacement drum The rotary handle set 48, the roller bearing seat II 49, the brake lever 50, the left shaft 51, the weight tray 52, the left frame 53, the reinforcing plate I54, the reinforcing plate II 55, the brake lever mounting bracket 56, the reinforcing plate III 57, the reinforcing plate IV 58, the rope I59, the rope II 60, the rope III 61, the pin shaft 62, the right U-shaped rail 63, the left U-shaped rail 64, the soil groove 65, the weighing instrument bracket I66, the weighing instrument bracket II 67 and the weighing instrument
Detailed Description
As shown in fig. 1, 2 and 9, the soil tank and track system consists of a test trolley A, a traction resistance system B, a soil tank and track system C and a computer 1, wherein the test trolley A is positioned above the soil tank and track system C, and a roller I2 and a roller IV 6 of the test trolley A are in rolling connection with the outer surface of a left U-shaped rail 63 of the soil tank and track system C; a roller II 3 and a roller III 5 of the test trolley A are in rolling connection with the inner surface of the soil tank and the left U-shaped rail 63 of the rail system C; a roller V11 and a roller VIII 15 of the test trolley A are in rolling connection with the outer surface of the soil tank and the right U-shaped rail 62 of the rail system C; the roller VI 12 and the roller VII 14 of the test trolley A are in rolling connection with the inner surface of the right U-shaped rail 62 of the soil tank and track system C; the traction resistance system B is positioned in front of the soil tank and track system C, and a right frame 42 and a left frame 52 of the traction resistance system B are fixedly connected to the ground; the rear end of a steel wire rope 46 of the traction resistance system B is fixedly connected with a tension sensor 16 of the test trolley A; the soil tank 64 of the soil tank and track system C is fixedly connected to the ground; the horizontal displacement sensor 9, the vertical displacement sensor 10 and the tension sensor 16 of the chassis D in the test trolley A, the reducer assembly 33 and the dynamic torque sensor 34 of the wheel driving system F in the test trolley A are controlled by the computer 1.
As shown in fig. 3 to 6, the test trolley a comprises a chassis D and a wheel mounting bracket E, wherein the chassis D comprises a roller i 2, a roller ii 3, a left beam 4, a roller iii 5, a roller iv 6, a rear beam 7, a bracket 8, a horizontal displacement sensor 9, a vertical displacement sensor 10, a roller v 11, a roller vi 12, a right beam 13, a roller vii 14, a roller viii 15, a tension sensor 16, a front beam 17, a jack 18, a bearing seat i 19 and a bearing seat ii 20, wherein the front beam 17, the left beam 4, the rear beam 7 and the right beam 13 are fixedly connected end to form a chassis frame; the roller I2, the roller IV 6, the roller V11 and the roller VIII 15 are movably connected below four corners of the chassis frame; the bearing seat I19 is fixedly connected to the right front corner of the chassis frame; the bearing seat II 20 is fixedly connected to the upper surface of the left front corner of the chassis frame; the roller II 3 is fixedly connected below the front part of the left beam 4, and the roller III 5 is fixedly connected below the rear part of the left beam 4; the roller VII 14 is fixedly connected below the front part of the right beam 13, and the roller VI 12 is fixedly connected below the rear part of the right beam 13; the central lines of the roller II 3 and the roller VII 14 are parallel to the central lines of the roller III 5 and the roller VI 12; the bracket 8 is fixedly connected to the center of the back beam 7; the horizontal displacement sensor 9 and the vertical displacement sensor 10 are fixedly connected to the bracket 8; the jack 18 is fixedly connected to the center of the upper surface of the rear beam 7; the tension sensor 16 is fixedly connected to the front center of the front beam 17.
The wheel mounting bracket E consists of a bracket I21, a rotating shaft 22, a bracket II 23, a front beam I24, a right beam I25, a right longitudinal beam 26, a loading box I27, a rear beam I28, a loading box II 29, a mounting plate 30, a wheel driving system F, a left beam I31 and a left longitudinal beam 32, wherein the front beam I24, the right beam I25, the rear beam I28 and the left beam I31 are fixedly connected end to end in sequence to form a frame structure; the right longitudinal beam 26 and the left longitudinal beam 32 are arranged in parallel, the front ends of the right longitudinal beam and the left longitudinal beam are fixedly connected to the back of the front beam I24, and the rear ends of the right longitudinal beam and the left longitudinal beam are fixedly connected to the front of the rear beam I28; the loading box I27 is fixedly connected to the rear parts of the right beam I25 and the right longitudinal beam 26; the loading box II 29 is fixedly connected to the upper parts of the rear parts of the left beam I31 and the left longitudinal beam 32; the rotating shaft 22 is fixedly connected in front of the front beam I24 through a support I21 and a connecting support II 23, and two ends of the rotating shaft 22 are movably connected with a bearing seat I19 and a bearing seat II 20 of the chassis D through bearings respectively.
The wheel driving system F consists of a speed reducer assembly 33, a dynamic torque sensor 34, a bearing seat III 35, a transmission shaft I36, a flange I37, a flange II 38, a transmission shaft II 39, a bearing seat IV 40 and an angular displacement sensor 41, wherein the speed reducer assembly 33, the dynamic torque sensor 34, the transmission shaft I36, the flange I37, the flange II 38, the transmission shaft II 39 and the angular displacement sensor 41 are sequentially arranged from left to right; the output end of the reducer assembly 33 is fixedly connected with the left end of a transmission shaft I36 through a dynamic torque sensor 34; a flange I37 is fixedly connected to the right end of a transmission shaft I36, a flange II 38 is fixedly connected to the left end of a transmission shaft II 39, and an angular displacement sensor 41 is fixedly connected to the right end of the transmission shaft II 39; the flange I37 is fixedly connected with the flange II 38 through bolts; the bearing seat III 35 is movably connected to the left end of the transmission shaft I36; the bearing seat IV 40 is movably connected to the near right end of the transmission shaft II 39; the transmission shaft I36 and the transmission shaft II 39 are concentric; the wheel driving system F33 is fixedly connected to the reducer mounting plate 30 of the wheel mounting bracket E; a bearing seat III 35 of the wheel driving system F is fixedly connected to the upper part of the middle part of 32 of the wheel mounting bracket E; and a bearing seat IV 40 of the wheel driving system F is fixedly connected to the upper part of the middle part 26 of the wheel mounting bracket E.
As shown in fig. 7, 8 and 10, the traction resistance system B comprises a right frame 42, a right shaft 43, a roller bearing seat i 44, a roller 45, a steel wire rope 46, a rotary handle set 47, a roller bearing seat ii 48, a brake lever 49, a left shaft 50, a weight tray 51, a left frame 52, a reinforcing plate i 53, a reinforcing plate ii 54, a brake lever mounting bracket 55, a reinforcing plate iii 56, a reinforcing plate iv 57, a rope i 58, a rope ii 59, a rope iii 60 and a pin shaft 61, wherein 5 handles of the rotary handle set 47 are uniformly distributed and fixedly connected on the circumferential surface of the near left end of the roller 45; the roller bearing seat I44 is fixedly connected to the upper end of the right frame 42, the left end of the right shaft 43 is fixedly connected to the center of the right surface of the roller 45, and the right part of the right shaft 43 is movably connected with the roller bearing seat I44; a roller bearing seat II 48 is fixedly connected to the upper end of the left frame 52, the right end of a left shaft 50 is fixedly connected to the center of the left surface of the roller 45, and the left part of the left shaft 50 is movably connected with the roller bearing seat II 48; the front end of the wire rope 46 is fixedly connected with the circumferential surface of the roller 45 close to the left; the right frame 42 and the left frame 52 are both trapezoidal and arranged in parallel left and right; the front sides of the two are fixedly connected through a reinforcing plate I53 and a reinforcing plate I54, and the rear sides of the two are fixedly connected through a reinforcing plate III 56 and a reinforcing plate IV 57; the brake rod mounting bracket 55 is positioned behind the roller bearing seat II 48 and fixedly connected to the left frame 52; the brake lever 49 is movably connected to the brake lever mounting bracket 55 by a pin 61; the lower ends of the ropes I58, II 59 and III 60 are fixedly connected with a weight tray 51, and the upper ends of the ropes I58, II 59 and III 60 are fixedly connected with the front end of the brake rod 49.
As shown in fig. 11, the soil trough and track system C is composed of a right U-shaped rail 62, a left U-shaped rail 63, a soil trough 64, a scale bracket i 65, a scale bracket ii 66 and a scale 67, wherein the right U-shaped rail 62 is fixedly connected to the top end of the right side wall of the soil trough 64, and the left U-shaped rail 63 is fixedly connected to the top end of the left side wall of the soil trough 64; the weighing instrument support I65 and the weighing instrument support II 66 are fixedly connected to the left side wall and the right side wall of the front portion of the soil tank 64 in parallel, and the weighing instrument 67 is fixedly connected to the weighing instrument support I65 and the weighing instrument support II 66.
Claims (4)
1. A manned lunar vehicle wheel soil box test bed is characterized by comprising a test bed vehicle (A), a traction resistance system (B), a soil box and track system (C) and a computer (1), wherein the test bed vehicle (A) is positioned above the soil box and track system (C), and a roller I (2) and a roller IV (6) of the test bed vehicle (A) are in rolling connection with the outer surface of a left U-shaped rail (63) of the soil box and track system (C); a roller II (3) and a roller III (5) of the test trolley (A) are in rolling connection with the inner surface of a left U-shaped rail (63) of the soil tank and track system (C); a roller V (11) and a roller VIII (15) of the test trolley (A) are in rolling connection with the outer surface of a right U-shaped rail (62) of the soil tank and track system (C); a roller VI (12) and a roller VII (14) of the test trolley (A) are in rolling connection with the inner surface of a right U-shaped rail (62) of the soil tank and track system (C); the traction resistance system (B) is positioned in front of the soil tank and the track system (C), and a right frame (42) and a left frame (52) of the traction resistance system (B) are fixedly connected to the ground; the rear end of a steel wire rope (46) of the traction resistance system (B) is fixedly connected with a tension sensor (16) of the test trolley (A); the soil tank (64) of the soil tank and track system (C) is fixedly connected to the ground; a horizontal displacement sensor (9) and a vertical displacement sensor (10) of a chassis (D) in the test trolley (A), a tension sensor (16), a reducer assembly (33) of a wheel driving system (F) in the test trolley (A) and a dynamic torque sensor (34) are controlled by a computer (1).
2. The manned lunar vehicle wheel soil box test bed according to claim 1, wherein: the test trolley (A) consists of a chassis (D) and a wheel mounting bracket (E), wherein the chassis (D) consists of a roller I (2), a roller II (3), a left beam (4), a roller III (5), a roller IV (6), a rear beam (7), a bracket (8), a horizontal displacement sensor (9), a vertical displacement sensor (10), a roller V (11), a roller VI (12), a right beam (13), a roller VII (14), a roller VIII (15), a tension sensor (16), a front beam (17), a jack (18), a bearing seat I (19) and a bearing seat II (20), wherein the front beam (17), the left beam (4), the rear beam (7) and the right beam (13) are fixedly connected end to end in sequence to form a chassis frame; the roller I (2), the roller IV (6), the roller V (11) and the roller VIII (15) are movably connected below four corners of the chassis frame; the bearing seat I (19) is fixedly connected to the upper surface of the right front corner of the chassis frame; a bearing seat II (20) is fixedly connected to the upper surface of the left front corner of the chassis frame; the roller II (3) is fixedly connected below the front part of the left beam (4), and the roller III (5) is fixedly connected below the rear part of the left beam (4); the roller VII (14) is fixedly connected below the front part of the right beam (13), and the roller VI (12) is fixedly connected below the rear part of the right beam (13); the central lines of the roller II (3) and the roller VII (14) are parallel to the central lines of the roller III (5) and the roller VI (12); the bracket (8) is fixedly connected with the center of the back beam (7); the horizontal displacement sensor (9) and the vertical displacement sensor (10) are fixedly connected to the bracket (8); the jack (18) is fixedly connected to the center of the upper surface of the rear beam (7); the tension sensor (16) is fixedly connected to the front center of the front beam (17); the wheel mounting support (E) is composed of a support I (21), a rotating shaft (22), a support II (23), a front beam I (24), a right beam I (25), a right longitudinal beam (26), a loading box I (27), a rear beam I (28), a loading box II (29), a mounting plate (30), a wheel driving system (F), a left beam I (31) and a left longitudinal beam (32), wherein the front beam I (24), the right beam I (25), the rear beam I (28) and the left beam I (31) are fixedly connected end to form a frame structure; the right longitudinal beam (26) and the left longitudinal beam (32) are arranged in parallel, the front ends of the right longitudinal beam and the left longitudinal beam are fixedly connected to the back of the front beam I (24), and the rear ends of the right longitudinal beam and the left longitudinal beam are fixedly connected to the front of the rear beam I (28); the loading box I (27) is fixedly connected to the upper surfaces of the rear parts of the right beam I (25) and the right longitudinal beam (26); the loading box II (29) is fixedly connected to the upper parts of the left beam I (31) and the left longitudinal beam (32); a rotating shaft (22) is fixedly connected in front of a front beam I (24) through a support I (21) and a connecting support II (23), and two ends of the rotating shaft (22) are movably connected with a bearing seat I (19) and a bearing seat II (20) of a chassis (D) through bearings respectively; the wheel driving system (F) is composed of a speed reducer assembly (33), a dynamic torque sensor (34), a bearing seat III (35), a transmission shaft I (36), a flange I (37), a flange II (38), a transmission shaft II (39), a bearing seat IV (40) and an angular displacement sensor (41), wherein the speed reducer assembly (33), the dynamic torque sensor (34), the transmission shaft I (36), the flange I (37), the flange II (38), the transmission shaft II (39) and the angular displacement sensor (41) are sequentially arranged from left to right; the output end of the reducer assembly (33) is fixedly connected with the left end of the transmission shaft I (36) through a dynamic torque sensor (34); the flange I (37) is fixedly connected to the right end of the transmission shaft I (36), the flange II (38) is fixedly connected to the left end of the transmission shaft II (39), and the angular displacement sensor (41) is fixedly connected to the right end of the transmission shaft II (39); the flange I (37) is fixedly connected with the flange II (38) through bolts; the bearing seat III (35) is movably connected to the left end of the transmission shaft I (36); the bearing seat IV (40) is movably connected to the near right end of the transmission shaft II (39); the transmission shaft I (36) and the transmission shaft II (39) are concentric; the wheel driving system (F) (33) is fixedly connected to the reducer mounting plate (30) of the wheel mounting bracket (E); a bearing seat III (35) of the wheel driving system (F) is fixedly connected to the upper surface of the middle part of the wheel mounting bracket (32); and a bearing seat IV (40) of the wheel driving system (F) is fixedly connected to the upper part of the middle part of the wheel mounting bracket (26).
3. The manned lunar vehicle wheel soil box test bed according to claim 1, wherein: the traction resistance system (B) consists of a right frame (42), a right shaft (43), a roller bearing seat I (44), a roller (45), a steel wire rope (46), a rotating handle group (47), a roller bearing seat II (48), a brake rod (49), a left shaft (50), a weight tray (51), a left frame (52), a reinforcing plate I (53), a reinforcing plate II (54), a brake rod mounting bracket (55), a reinforcing plate III (56), a reinforcing plate IV (57), a rope I (58), a rope II (59), a rope III (60) and a pin shaft (61), wherein 5 handles of the rotating handle group (47) are uniformly distributed and fixedly connected on the circumferential surface of the roller (45) close to the left end; the roller bearing seat I (44) is fixedly connected to the upper end of the right frame (42), the left end of the right shaft (43) is fixedly connected to the center of the right surface of the roller (45), and the right part of the right shaft (43) is movably connected with the roller bearing seat I (44); the roller bearing seat II (48) is fixedly connected to the upper end of the left frame (52), the right end of the left shaft (50) is fixedly connected to the center of the left surface of the roller (45), and the left part of the left shaft (50) is movably connected with the roller bearing seat II (48); the front end of the steel wire rope (46) is fixedly connected to the left circumferential surface of the roller (45); the right frame (42) and the left frame (52) are both trapezoidal and arranged in parallel left and right, the front surfaces of the right frame and the left frame are fixedly connected through a reinforcing plate I (53) and a reinforcing plate I (54), and the rear surfaces of the right frame and the left frame are fixedly connected through a reinforcing plate III (56) and a reinforcing plate IV (57); the brake rod mounting bracket (55) is positioned behind the roller bearing seat II (48) and fixedly connected to the left frame (52); the brake rod (49) is movably connected to the brake rod mounting bracket (55) through a pin shaft (61); the lower ends of the ropes I (58), II (59) and III (60) are fixedly connected with a weight tray (51), and the upper ends of the ropes I (58), II (59) and III (60) are fixedly connected with the front end of the brake rod (49).
4. The manned lunar vehicle wheel soil box test bed according to claim 1, wherein: the soil tank and track system (C) consists of a right U-shaped rail (62), a left U-shaped rail (63), a soil tank (64), a weighing instrument bracket I (65), a weighing instrument bracket II (66) and a weighing instrument (67), wherein the right U-shaped rail (62) is fixedly connected to the top end of the right side wall of the soil tank (64), and the left U-shaped rail (63) is fixedly connected to the top end of the left side wall of the soil tank (64); the first weighing instrument support (65) and the second weighing instrument support (66) are fixedly connected to the left side wall and the right side wall of the front portion of the soil tank (64) in parallel, and the weighing instrument (67) is fixedly connected to the first weighing instrument support (65) and the second weighing instrument support (66).
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